CN205964108U - Urology echo stone crusher with multiaxis multi -angle robotic arm - Google Patents
Urology echo stone crusher with multiaxis multi -angle robotic arm Download PDFInfo
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- CN205964108U CN205964108U CN201620455527.8U CN201620455527U CN205964108U CN 205964108 U CN205964108 U CN 205964108U CN 201620455527 U CN201620455527 U CN 201620455527U CN 205964108 U CN205964108 U CN 205964108U
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Abstract
The utility model relates to an urology echo stone crusher with multiaxis multi -angle robotic arm, it includes: the board body, lifting base, moving platform, first arm, the second arm, the third arm, and seismic wave unit. Borrow by the utility model discloses an implement, when the seismic wave unit is used at the urology echo rubble, can go on in the multiaxis to and the multi -angle, including relevant motion such as flexible, removals, rotation, swing, messenger's seismic wave uses can have isotropic directivity's advantage to arrive the specific seismic wave of each application demand and use the position. More can be with the mobile auxiliary structure, satisfy whole urology echo stone crusher with multiaxis multi -angle robotic arm in response to the removal demand with producing, if the in addition combination of urology echo probe, then more can provide the function that the urology echo listened or formed images simultaneously.
Description
Technical field
This utility model is a kind of ultrasound lithotrite, and particularly a kind of have can be with the machinery of polyaxial multi-angle movement
The ultrasound lithotrite with multiaxis multi-angle mechanical arm of arm.
Background technology
The detection of ultrasound or seismic wave is with low-yield high-frequency ultrasound, to the flaw of body or inner in addition
Detection, its penetration power height can detect very thick object.In addition, when seismic wave uses ultrasound, harmless, and can grind immediately
Sentence internal flaw, for its maximum advantage.
So in general ultrasound or seismic wave detection, because the movement of seismic wave head or rotatory power are not enough, its seismic wave head institute energy
The position reaching, is often subject to greatly limit, and the sphere of action of whole ultrasound or seismic geophone device is also very limited.
If carrying out the detection of specifically difficult in-position reluctantly, not only mobile process is complicated, labor intensive and preciousness
Treatment time, because ultrasound or seismic wave system are all linked with complexity and the pipeline structure for high pressure, slightly imprudence mostly, and easily
Cause high price ultrasound or the damage of seismic wave system.
In view of this, how innovation goes out a kind of structure is simply saved manufacturing cost again, and shape-designing elasticity is big, and easily
With the environment using space and other devices of being used in conjunction with or facility collocation, polyaxial and multi-angle shifting can be carried out at
Dynamic, make seismic wave utilization can have the advantage of isotropic directivity, and make seismic wave unit can arrive at the specific of each application demand
Position, must would is that the user of ultrasound or seismic waves medical device and ultrasound or seismic waves medical technology are drawn with equipment industry
Neck is expected and the progress urgently seen in pleasure.
Content of the invention
The purpose of this utility model is to provide a kind of ultrasound lithotrite with multiaxis multi-angle mechanical arm, its bag
Include：Platform body；Lifting base；Mobile platform；First mechanical arm；Second mechanical arm；Three-mechanical arm；And seismic wave unit.
By enforcement of the present utility model, seismic wave unit, when ultrasound rubble is applied, can be carried out at polyaxial and multi-angle, bag
Include motion that is flexible, mobile, the correlation such as rotating, swing, make seismic wave utilization can have the advantage of isotropic directivity, and arrive at each
The specific seismic wave application site of individual application demand.
The object of the invention to solve the technical problems employs the following technical solutions to realize.This utility model provides
A kind of ultrasound lithotrite with multiaxis multi-angle mechanical arm, it includes：Platform body, it has lifting unit, along Z axis
Direction moves；Lifting base, is incorporated into lifting unit；Mobile platform, it is with X-axis mobile unit and Y-axis mobile unit knot
Together in lifting base；First mechanical arm, it is fixedly arranged on mobile platform with the first rotary unit；Second mechanical arm, it is with the second rotation
Turn unit and be fixedly arranged on first mechanical arm；Three-mechanical arm, it is fixedly arranged on second mechanical arm with the 3rd rotary unit；And seismic wave list
Unit, is fixedly arranged on three-mechanical arm and produces and send seismic wave, wherein Z-direction extends out corresponding Y direction and X-axis side
To X-direction, Y direction and Z-direction are simultaneously collectively forming 3 D stereo coordinate.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid ultrasound lithotrite, wherein this lifting unit are made up of Z axis gear, Z axis motor and Z axis screw rod.
Aforesaid ultrasound lithotrite, wherein this X-axis mobile unit are made up of X-axis motor and X-axis screw rod.
Aforesaid ultrasound lithotrite, wherein this Y-axis mobile unit are made up of Y-axis motor and Y-axis screw rod.
Aforesaid ultrasound lithotrite, this first rotary unit is to include rotary module, the first rotary shaft and the first horse
Reach, wherein this rotary module is revolvable to be incorporated on this mobile platform and have first gear；This first rotary shaft be by
This first mechanical arm is fixedly arranged on this rotary module；This first motor is to be fixedly arranged on this mobile platform and have second gear coupling
Crossed belt moves this first gear.
Aforesaid ultrasound lithotrite, this second rotary unit is to include the second rotary shaft and the first telescopic drive list
Unit, wherein this second mechanical arm are to be fixedly arranged in this first mechanical arm by this second rotary shaft, and this first telescopic drive list
One end of unit is to be incorporated into this rotary module, and the other end of this first telescopic drive unit is be incorporated into this second mechanical arm one
End.
Aforesaid ultrasound lithotrite, wherein this first telescopic drive unit is oil hydraulic cylinder or pneumatic cylinder.
Aforesaid ultrasound lithotrite, this three-mechanical arm is provided with the 3rd gear, and the 3rd rotary unit is provided with the 3rd rotation
Rotating shaft and connect and be fixedly arranged on the rotary drive unit of this second mechanical arm, wherein this three-mechanical arm is by the 3rd rotary shaft
It is fixedly arranged in this second mechanical arm, and this rotary drive unit is that have the 4th gear coupling to drive the 3rd gear.
Aforesaid ultrasound lithotrite, wherein this three-mechanical arm are the left sides driving this seismic wave unit to carry out this Y direction
Right swing.
Aforesaid ultrasound lithotrite, wherein this seismic wave unit are to connect ultrasound driver element to produce seismic wave.
Aforesaid ultrasound lithotrite, it is further combined with there being ultrasound scanner head.
Aforesaid ultrasound lithotrite, wherein this ultrasound scanner head are by telescopic moving.
By enforcement of the present utility model, can reach following progressive effect：
First, structure is simple, saves manufacturing cost.
2nd, shape-designing elasticity is big, easily with the environment using space and other devices of being used in conjunction with or facility collocation.
3rd, polyaxial and multi-angle movement can be carried out at, make seismic wave utilization can have the advantage of isotropic directivity, and
Make seismic wave unit can arrive at the ad-hoc location of each application demand.
In order that any be familiar with relevant art's understanding technology contents of the present utility model and implement according to this, and according to this theory
Content disclosed by bright book, the protection domain applying for a patent requirement and schema, any be familiar with relevant art and can be readily understood upon
The related purpose of this utility model and advantage, therefore will describe in detail in embodiments detailed features of the present utility model and
Advantage.
Brief description
Fig. 1 is a kind of solid of ultrasound lithotrite with multiaxis multi-angle mechanical arm of this utility model embodiment
Schematic diagram.
Fig. 2 is a kind of the another of ultrasound lithotrite with multiaxis multi-angle mechanical arm of this utility model embodiment
Schematic perspective view.
Fig. 3 is a kind of the another of ultrasound lithotrite with multiaxis multi-angle mechanical arm of this utility model embodiment
Schematic perspective view.
Fig. 4 is a kind of front of ultrasound lithotrite with multiaxis multi-angle mechanical arm of this utility model embodiment
View.
Fig. 5 is a kind of lifting base of this utility model embodiment, mobile platform, first mechanical arm, second mechanical arm and
The side view of three-mechanical arm.
Fig. 6 is the enlarged diagram of first mechanical arm, second mechanical arm and three-mechanical arm in Fig. 5 embodiment.
Fig. 7 is the enlarged diagram of lifting base and mobile platform in Fig. 5 embodiment.
Fig. 8 is another kind of lifting base of this utility model embodiment and the enlarged diagram of mobile platform.
Fig. 9 is a kind of lifting base of this utility model embodiment and the amplification of mobile platform and its moving direction is illustrated
Figure.
Figure 10 is that a kind of of this utility model embodiment has multiaxis multi-angle machine further combined with have a ultrasound scanner head
The schematic perspective view of the ultrasound lithotrite of tool arm.
Figure 11 is the schematic perspective view that in Figure 10 embodiment, ultrasound scanner head carries out telescopic moving.
Figure 12 A is a kind of sectional perspective schematic diagram that swung of seismic wave unit of this utility model embodiment.
Figure 12 B is the partial schematic diagram at another visual angle of Figure 12 A embodiment.
【Main element symbol description】
100：There is the ultrasound lithotrite 10 of multiaxis multi-angle mechanical arm：Platform body
11：Lifting unit 111：Z axis gear
112：Z axis motor 113：Z axis screw rod
20：Lifting base 30：Mobile platform
31：X-axis mobile unit 311：X-axis motor
312：X-axis screw rod 32：Y-axis mobile unit
321：Y-axis motor 322：Y-axis screw rod
40：First mechanical arm 41：First rotary unit
411：Rotary module 412：First gear
413：First rotary shaft 414：First motor
415：Second gear 50：Second mechanical arm
51：Second rotary unit 511：Second rotary shaft
512：First telescopic drive unit 60：Three-mechanical arm
61：3rd rotary unit 611：3rd rotary shaft
612：3rd gear 613：Rotary drive unit
614：4th gear 70：Seismic wave unit
80：Ultrasound scanner head 90：Mobile supplementary structure
Specific embodiment
Refer to as shown in Figures 1 and 2, be a kind of ultrasound rubble with multiaxis multi-angle mechanical arm of embodiment
Machine 100, it includes：Platform body 10；Lifting base 20；Mobile platform 30；First mechanical arm 40；Second mechanical arm 50；3rd
Mechanical arm 60；And seismic wave unit 70.
As shown in Figures 1 to 4, there is the platform body 10 of the ultrasound lithotrite 100 of multiaxis multi-angle mechanical arm, be
Can be the airtight or open framework of single or multiple lift or workbench.And in order that the convenience used, platform body 10
Assembly pulley etc. can be set, the balance of ultrasound lithotrite 100 not affecting to have multiaxis multi-angle mechanical arm or just
The often mobile supplementary structure 90 of operation.
And for example shown in Fig. 1, Fig. 3 and Fig. 4, platform body 10 has lifting unit 11, and lifting unit 11 is in platform body 10
On move along Z-direction, and the lifting unit 11 being used is can be by Z axis gear 111, Z axis motor 112 and Z axis
Screw rod 113 is formed.
And described Z-direction, and according to stereoscopic three-dimensional vector vertical relation extend define corresponding X-direction and
Y direction, X-direction, Y direction and Z-direction are simultaneously collectively forming 3 D stereo coordinate, and provide with multiaxis multi-angle machine
The three dimensional space coordinate axle that ultrasound lithotrite 100 embodiment of tool arm is used.
As shown in Figure 1 to Figure 2, lifting base 20, are to be incorporated into lifting unit 11, and are controlled in machine by lifting unit 11
Playscript with stage directions body 10 carries out moving up and down of Z-direction.
Equally as shown in Figure 1, Figure 2, shown in Fig. 5 and Fig. 7 to Fig. 9, mobile platform 30, it is to be moved with X-axis mobile unit 31 and Y-axis
Moving cell 32 is incorporated into lifting base 20.X-axis mobile unit 31 and the start of Y-axis mobile unit 32, make mobile platform 30 permissible
Two-dimensional movement along X-direction and Y direction is carried out on lifting base 20.
As can be seen from figures 8 and 9, as mobile platform 30 can be carried out along X-direction and Y-axis side on lifting base 20
To two-dimensional movement signal performance, wherein X-axis mobile unit 31 is can be made up of X-axis motor 311 and X-axis screw rod 312；
And Y-axis mobile unit 32 is then can be made up of Y-axis motor 321 and Y-axis screw rod 322.
Please be back to and refer to as shown in Figures 1 to 4, first mechanical arm 40, it is to be fixedly arranged on movement with the first rotary unit 41
On platform 30.First mechanical arm 40 and being rotated by the driving of the first rotary unit 41.
The first rotary unit 41 as shown in Figures 1 to 4 can include rotary module 411, the first rotary shaft 413 and
One motor 414, wherein rotary module 411 are rotatable to be incorporated on mobile platform 30 and have first gear 412；First rotation
Rotating shaft 413 is that first mechanical arm 40 is fixedly arranged on rotary module 411；First motor 414 is then to be fixedly arranged on mobile platform 30
And there is second gear 415, couple by second gear 415 and drive first gear 412, rotary module 411 can be made to drive the
One mechanical arm 40 is rotated.
As shown in Figure 1 to Figure 3, second mechanical arm 50, are to be fixedly arranged on first mechanical arm 40 with the second rotary unit 51, and
Second mechanical arm 50 is driven and is rotated by the second rotary unit 51.
As shown in Fig. 2, Fig. 3, Fig. 5 and Fig. 6, the second described rotary unit 51 is to include the second rotary shaft 511
And the first telescopic drive unit 512, now, second mechanical arm 50 is to be fixedly arranged on first mechanical arm 40 by the second rotary shaft 511
On.
Separately, one end of the first telescopic drive unit 512 is to be incorporated into rotary module 411, the first telescopic drive unit 512
The other end is then the one end being incorporated into second mechanical arm 50, so, rotary module 411 can be made to drive second mechanical arm 50 to carry out
Rotation.And the first telescopic drive unit 512 is can be oil hydraulic cylinder or pneumatic cylinder.
Then refer to as shown in Fig. 1 to Fig. 3, Fig. 5 and Fig. 6, three-mechanical arm 60, is fixed with the 3rd rotary unit 61
In second mechanical arm 50, and three-mechanical arm 60 is to be driven by the 3rd rotary unit 61 and is rotated.
As shown in fig. 6, three-mechanical arm 60 can be provided with the 3rd gear 612, and the 3rd rotary unit 61 can be arranged
There is the 3rd rotary shaft 611 and connect the rotary drive unit 613 being fixedly arranged on second mechanical arm 50.So, three-mechanical arm 60 is
It is fixedly arranged in second mechanical arm 50 by the 3rd rotary shaft 611, and rotary drive unit 613 is and can have the 4th gear
614 couplings drive the 3rd gear 612, so that three-mechanical arm 60 is rotated.
And when application needs, three-mechanical arm 60 can also drive seismic wave unit 70 to carry out the pendulum of the left and right in Y direction
Dynamic, make seismic wave unit 70 can be easier to arrive at the position of the upper demand of application.
As shown in Figures 1 to 4, seismic wave unit 70, then be to be fixedly arranged on one end of three-mechanical arm 60 and produce and send shake
Ripple.It produces and sends the mode of seismic wave, can be to connect ultrasound driver element (not shown) via by seismic wave unit 70, and
The ultrasound driver element being connected then can be disposed in seismic wave unit 70, in platform body 10 or be with multiaxis
The outside of the ultrasound lithotrite 100 of multi-angle mechanical arm.
As shown in Figure 10, the ultrasound lithotrite 100 with multiaxis multi-angle mechanical arm can be in seismic wave unit 70
Close position, further combined with ultrasound scanner head 80.Being used in combination of ultrasound scanner head 80, then can consider not affect seismic wave list
The normal operation of unit 70 or the ultrasound lithotrite 100 entirely with multiaxis multi-angle mechanical arm is main restriction.
Furthermore, as shown in figure 11, described ultrasound scanner head 80 is can to carry out telescopic moving or move up and down, and makes
Ultrasound scanner head 80 can with seismic wave unit 70 mobile to applying desired position, auxiliary seismic wave unit 70 and to have multiaxis many
The ultrasound lithotrite 100 of angle mechanical arm, provides ultrasonography or imaging.
And for another example shown in Figure 12 A and Figure 12 B, seismic wave unit 70 can also be swung, increase seismic wave unit 70
The seismic wave projecting can irradiate the selection elasticity of in-position.The mode swinging as seismic wave unit 70 is then generally permissible
It is to carry out along Y direction.
For after all, as described in the various embodiments described above, there is the ultrasound lithotrite 100 of multiaxis multi-angle mechanical arm,
Can be by platform body 10, lifting unit 11, lifting base 20, mobile platform 30, first mechanical arm 40, second mechanical arm
50th, the setting of three-mechanical arm 60 and seismic wave unit 70, seismic wave unit 70, when ultrasound rubble is applied, can be carried out at multiaxis
To and multi-angle, including flexible, mobile, rotation, the related movement such as swing, make the seismic wave utilization can have isotropic directivity
Advantage, and make seismic wave unit 70 can arrive at the specific seismic wave application site of each application demand.
And moved supplementary structure 90 again, more can facilitate the overall ultrasound rubble with multiaxis multi-angle mechanical arm
Machine 100 is in response to the mobile demand with producing.If along with the combination of ultrasound scanner head 80, seismic wave unit 70 and tool more can be assisted
There is the ultrasound lithotrite 100 of multiaxis multi-angle mechanical arm, the function of ultrasonography or imaging is provided.
The above, be only preferred embodiment of the present utility model, not this utility model is done any formal
Restriction although this utility model is disclosed above with preferred embodiment, but be not limited to this utility model, any ripe
Know professional and technical personnel, in the range of without departing from technical solutions of the utility model, when in the technology of available the disclosure above
Hold and make a little Equivalent embodiments changing or be modified to equivalent variations, as long as without departing from technical solutions of the utility model
Hold, according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, equivalent variations and modification, all still
Belong in the range of technical solutions of the utility model.
Claims (12)
1. a kind of ultrasound lithotrite with multiaxis multi-angle mechanical arm is it is characterised in that it includes：
Platform body, it has lifting unit, moves along Z-direction；
Lifting base, is incorporated into this lifting unit；
Mobile platform, it is incorporated into this lifting base with X-axis mobile unit and Y-axis mobile unit；
First mechanical arm, it is fixedly arranged on this mobile platform with the first rotary unit；
Second mechanical arm, it is fixedly arranged on this first mechanical arm with the second rotary unit；
Three-mechanical arm, it is fixedly arranged on this second mechanical arm with the 3rd rotary unit；And
Seismic wave unit, is fixedly arranged on this three-mechanical arm and produces and send seismic wave,
Wherein this Z-direction extends out corresponding Y direction and X-direction, this X-direction, this Y direction and this Z axis
Direction is simultaneously collectively forming 3 D stereo coordinate.
2. ultrasound lithotrite according to claim 1 it is characterised in that：Wherein this lifting unit is by Z axis gear, Z
Axle motor and Z axis screw rod are formed.
3. ultrasound lithotrite according to claim 1 it is characterised in that：Wherein this X-axis mobile unit is by X-axis motor
And X-axis screw rod is formed.
4. ultrasound lithotrite according to claim 1 it is characterised in that：Wherein this Y-axis mobile unit is by Y-axis motor
And Y-axis screw rod is formed.
5. ultrasound lithotrite according to claim 1 it is characterised in that：This first rotary unit is to include rotating mould
Block, the first rotary shaft and the first motor, wherein this rotary module are revolvable to be incorporated on this mobile platform and have first
Gear；This first rotary shaft is that this first mechanical arm is fixedly arranged on this rotary module；This first motor is to be fixedly arranged on this movement
On platform and have second gear coupling drive this first gear.
6. ultrasound lithotrite according to claim 1 it is characterised in that：This second rotary unit is to include the second rotation
Rotating shaft and the first telescopic drive unit, wherein this second mechanical arm are to be fixedly arranged on this first mechanical arm by this second rotary shaft
On, and one end of this first telescopic drive unit is to be incorporated into this rotary module, the other end of this first telescopic drive unit is
It is incorporated into one end of this second mechanical arm.
7. ultrasound lithotrite according to claim 6 it is characterised in that：Wherein this first telescopic drive unit is oil pressure
Cylinder or pneumatic cylinder.
8. ultrasound lithotrite according to claim 1 it is characterised in that：This three-mechanical arm is provided with the 3rd gear, should
3rd rotary unit is provided with the 3rd rotary shaft and connects the rotary drive unit being fixedly arranged on this second mechanical arm, the wherein the 3rd machine
Tool arm is to be fixedly arranged in this second mechanical arm by the 3rd rotary shaft, and this rotary drive unit is that have the 4th gear coupling
Drive the 3rd gear.
9. ultrasound lithotrite according to claim 1 it is characterised in that：Wherein this three-mechanical arm is to drive this seismic wave
Unit carries out swinging of this Y direction.
10. ultrasound lithotrite according to claim 1 it is characterised in that：Wherein this seismic wave unit is to connect ultrasound
Driver element is to produce seismic wave.
11. ultrasound lithotrites according to claim 1 it is characterised in that：It is further combined with there being ultrasound scanner head.
12. ultrasound lithotrites according to claim 11 it is characterised in that：Wherein this ultrasound scanner head is by stretching
Mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620455527.8U CN205964108U (en) | 2016-05-18 | 2016-05-18 | Urology echo stone crusher with multiaxis multi -angle robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620455527.8U CN205964108U (en) | 2016-05-18 | 2016-05-18 | Urology echo stone crusher with multiaxis multi -angle robotic arm |
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| Publication Number | Publication Date |
|---|---|
| CN205964108U true CN205964108U (en) | 2017-02-22 |
Family
ID=58019522
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620455527.8U Active CN205964108U (en) | 2016-05-18 | 2016-05-18 | Urology echo stone crusher with multiaxis multi -angle robotic arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737559A (en) * | 2017-02-24 | 2017-05-31 | 榆林学院 | A kind of mechanical arm |
| CN107080570A (en) * | 2017-06-16 | 2017-08-22 | 北京索迪医疗器械开发有限责任公司 | A kind of new extra chock wave lithotriptor |
| CN107487618A (en) * | 2017-07-27 | 2017-12-19 | 中国航天科技集团公司长征机械厂 | Repair tank installation equipment in end |
| CN107736917A (en) * | 2017-09-20 | 2018-02-27 | 范海盟 | A kind of medical lithotripsy |
| CN111061132A (en) * | 2018-10-17 | 2020-04-24 | 聚昌科技股份有限公司 | Triple-supporting-fork type mechanical arm structure and angle monitoring module thereof |
-
2016
- 2016-05-18 CN CN201620455527.8U patent/CN205964108U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737559A (en) * | 2017-02-24 | 2017-05-31 | 榆林学院 | A kind of mechanical arm |
| CN107080570A (en) * | 2017-06-16 | 2017-08-22 | 北京索迪医疗器械开发有限责任公司 | A kind of new extra chock wave lithotriptor |
| CN107487618A (en) * | 2017-07-27 | 2017-12-19 | 中国航天科技集团公司长征机械厂 | Repair tank installation equipment in end |
| CN107487618B (en) * | 2017-07-27 | 2019-01-25 | 四川航天长征装备制造有限公司 | Repair tank installation equipment in end |
| CN107736917A (en) * | 2017-09-20 | 2018-02-27 | 范海盟 | A kind of medical lithotripsy |
| CN111061132A (en) * | 2018-10-17 | 2020-04-24 | 聚昌科技股份有限公司 | Triple-supporting-fork type mechanical arm structure and angle monitoring module thereof |
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