CN209091622U - A kind of operating robot that can dismount cutter head automatically - Google Patents
A kind of operating robot that can dismount cutter head automatically Download PDFInfo
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- CN209091622U CN209091622U CN201821205272.5U CN201821205272U CN209091622U CN 209091622 U CN209091622 U CN 209091622U CN 201821205272 U CN201821205272 U CN 201821205272U CN 209091622 U CN209091622 U CN 209091622U
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- cutter head
- straight line
- connecting rod
- driving
- guide rail
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000001939 inductive effect Effects 0.000 claims description 4
- 230000006698 induction Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a kind of operating robot that can dismount cutter head automatically, first driving device, the second driving device first straight line guide rail along pedestal length direction be arranged in parallel in base top, the first sliding block of horizontal end and the first straight line guide rail of L-type link block are slidably connected；First straight line driving motor is for driving the first cutter head connecting rod or the second cutter head connecting rod to move in a straight line through screw rod, first straight line guide rail, the first sliding block；The first cutter head connecting rod, the second cutter head connecting rod one end drive and rotate through rotary drive motor, the other end connect with cutter head；Cutter head attaching/detaching apparatus is arranged in the second perpendicular end outside of U-shaped mounting plate, is moved to the first cutter head connecting rod or the second cutter head connecting rod for clamp or release cutter head and by cutter head.The utility model includes two sets of driving devices, can may continue to work after the failure of a set of driving device, and cutter head attaching/detaching apparatus and rotary drive motor cooperation can automatically realize the disassembling, assembling and replacing of cutter head.
Description
Technical field
The utility model relates to the field of medical instrument technology, more particularly to a kind of surgical machine that can dismount cutter head automatically
People.
Background technique
It is more and more in existing medical operating to be operated using operating robot, effect of the operating robot to operation
Rate has very big promotion, but has high requirements in operating robot to the stroke of scalpel and accurate guiding.Medical robot at present
It drives the guiding smoothness of scalpel not high, and when driving device breaks down, needs replacing entire operating robot, do not have
Spare driving device.
Utility model content
The purpose of the utility model is to provide the operating robots that one kind can dismount cutter head automatically, including two sets of driving dresses
It sets, work can be may continue to after the failure of a set of driving device, and cutter head attaching/detaching apparatus and rotary drive motor cooperation can
The full-automatic disassembling, assembling and replacing for realizing cutter head.
To achieve the above object, using following technical scheme:
A kind of operating robot that can dismount cutter head automatically, including it is first driving device, the second driving device, pedestal, U-shaped
Mounting plate, the first cutter head connecting rod, the second cutter head connecting rod, cutter head, cutter head attaching/detaching apparatus；The first driving device, second
Driving device include first straight line guide rail, L-type link block, the first sliding block, rotary drive motor, first straight line driving motor,
Screw rod；The first driving device, the second driving device first straight line guide rail along pedestal length direction be arranged in parallel the bottom of in
Seat top, the first sliding block of horizontal end and the first straight line guide rail of L-type link block are slidably connected；The rotary drive motor, first
Linear drive motor is mounted on the inside of the perpendicular end of L-type link block, and rotary drive motor is located at first straight line driving motor
Top；The first straight line driving motor is for driving the first cutter head connecting rod or the second cutter head connecting rod through screw rod, first straight
Line guide rail, the first sliding block move in a straight line；The U-shaped mounting plate is installed at the top of two first straight line guide rail one end, and U-shaped the
The height at end is erected less than second close to base end arrangement, the height at the first perpendicular end close to the middle of the base, the second perpendicular end in one perpendicular end；
The first perpendicular end of U-shaped mounting plate is fixed in one end of the screw rod；The one of the first cutter head connecting rod, the second cutter head connecting rod
The rotary drive motor through first driving device, the second driving device drives rotation respectively at end, and the other end passes through U-shaped mounting plate
Behind second perpendicular end with cutter head detachable connection；The cutter head attaching/detaching apparatus is arranged in the second perpendicular end outside of U-shaped mounting plate, uses
The first cutter head connecting rod or the second cutter head connecting rod are moved in clamp or release cutter head and by cutter head.
Preferably, the cutter head attaching/detaching apparatus includes second straight line guide rail, the second sliding block, flexible driving cylinder, clamping jaw, the
Two linear drive motors；The second straight line driving motor is for driving the second sliding block to drive clamping jaw sliding along second straight line guide rail
It is dynamic；The flexible driving cylinder is for driving clamping jaw clamp or release cutter head.
Preferably, the operating robot further includes master controller, two obstacle avoidance sensors；The two obstacle avoidance sensors installation
The two sides near end are erected in the first of U-shaped mounting plate, are respectively used to two L-type link blocks of induction and the perpendicular end of U-shaped mounting plate first
Distance, and inductive signal is back to master controller to control the work of first straight line driving motor.
Preferably, the master controller is installed between two first straight line guide rails, and positioned at the another of the U-shaped mounting plate of pedestal
One end.
Preferably, the screw rod is parallel to first straight line guide rail arrangement, and pass through perpendicular end and the first straight line of L-type link block
Driving motor arrangement.
Preferably, the cutter head is set as being threadedly coupled with the first cutter head connecting rod or the second cutter head connecting rod.
Using the above scheme, the beneficial effects of the utility model are:
1) include two sets of driving devices, work can be may continue to after the failure of a set of driving device, and cutter head dismounts
Device and rotary drive motor cooperation can automatically realize the disassembling, assembling and replacing of cutter head；
2) first driving device, the second driving device are easy to disassembling, assembling and replacing or increase and decrease driving device with modularized design；
3) advance and retreat of cutter head are oriented to through first straight line guide rail and screw rod, and guiding is steady, improve the mobile accuracy of scalpel.
Detailed description of the invention
Fig. 1 is the perspective view of the utility model；
Fig. 2 is the perspective view of the U-shaped mounting plate of the utility model, cutter head attaching/detaching apparatus；
Fig. 3 is the perspective view of the cutter head attaching/detaching apparatus of the utility model；
Fig. 4 is the structural schematic diagram of the cutter head of the utility model；
Wherein, description of drawing identification:
1-first driving device, the 2-the second driving device,
3-pedestals, 4-U-shaped mounting plates,
5-the first cutter head connecting rod, the 6-the second cutter head connecting rod,
7-cutter heads, 8-cutter head attaching/detaching apparatus,
9-master controllers, 10-obstacle avoidance sensors,
11-first straight line guide rails, 12-L-type link blocks,
13-the first sliding block, 14-rotary drive motors,
15-first straight line driving motors, 16-screw rods,
41-the first perpendicular end, the 42-the second perpendicular end,
71-interconnecting pieces, 72-blade parts,
81-second straight line guide rails, the 82-the second sliding block,
83-flexible driving cylinders, 84-clamping jaws.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Shown in 4, the utility model provides a kind of operating robot that can dismount cutter head automatically, including first
Driving device 1, the second driving device 2, pedestal 3, U-shaped mounting plate 4, the first cutter head connecting rod 5, the second cutter head connecting rod 6, cutter head
7, cutter head attaching/detaching apparatus 8；The first driving device 1, the second driving device 2 include first straight line guide rail 11, L-type link block
12, the first sliding block 13, rotary drive motor 14, first straight line driving motor 15, screw rod 16；The first driving device 1, second
The first straight line guide rail 11 of driving device 2 is arranged in parallel along the length direction of pedestal 3 in 3 top of pedestal, the cross of L-type link block 12
End is slidably connected through the first sliding block 13 with first straight line guide rail 11；The rotary drive motor 14, first straight line driving motor 15
It is mounted on the inside of the perpendicular end of L-type link block 12, and rotary drive motor 14 is located at the top of first straight line driving motor 15；Institute
First straight line driving motor 15 is stated for driving the first cutter head connecting rod 5 or the second cutter head connecting rod 6 through screw rod 16, first straight line
Guide rail 11, the first sliding block 13 move in a straight line；The U-shaped mounting plate 4 is installed at the top of two first straight line guide rails, 11 one end, and U
The perpendicular end 41 of the first of type arranges that the height at the first perpendicular end 41 is less than close to 3 end of pedestal close to 3 middle part of pedestal, the second perpendicular end 42
The height at the second perpendicular end 42；The first perpendicular end 41 of U-shaped mounting plate 4 is fixed in one end of the screw rod 16；First cutter head connects
One end rotary drive motor 14 through first driving device 1, the second driving device 2 respectively of extension bar 5, the second cutter head connecting rod 6
Driving rotation, the other end pass through behind the second perpendicular end 42 of U-shaped mounting plate 4 with 7 detachable connection of cutter head；The cutter head dismounting dress
8 the second perpendicular 42 outsides of end for being arranged in U-shaped mounting plate 4 are set, are moved to the first knife for clamp or release cutter head 7 and by cutter head 7
Head connecting rod 5 or the second cutter head connecting rod 6.
Wherein, the cutter head attaching/detaching apparatus 8 includes second straight line guide rail 81, the second sliding block 82, flexible driving cylinder 83, folder
Pawl 84, second straight line driving motor (not shown)；The second straight line driving motor is for driving the second sliding block 82 to drive
Clamping jaw 84 is slided along second straight line guide rail 81；The flexible driving cylinder 83 is for driving 84 clamp or release cutter head 7 of clamping jaw.
The operating robot further includes master controller 9, two obstacle avoidance sensors 10；Two obstacle avoidance sensor 10 is installed on
Two sides near the perpendicular end 41 of the first of U-shaped mounting plate 4, are respectively used to two L-type link block 12 of induction and U-shaped mounting plate 4 first is perpendicular
The distance at end 41, and inductive signal is back to master controller 9 and is worked with controlling first straight line driving motor 15.
The master controller 9 is installed between two first straight line guide rails 11, and positioned at the another of the U-shaped mounting plate 4 of pedestal 3
End.The screw rod 16 is parallel to the arrangement of first straight line guide rail 11, and passes through perpendicular end and the first straight line driving electricity of L-type link block 12
Machine 15 is arranged.The cutter head 7 is set as being threadedly coupled with the first cutter head connecting rod 5 or the second cutter head connecting rod 6.
Utility model works principle:
First straight line driving motor 15 in the utility model is for driving the first cutter head connecting rod 5 or the connection of the second cutter head
Bar 6 is moved forward or back with dynamic cutter head 7, and is oriented to through first straight line guide rail 11 and screw rod 16, and guiding is steady；Obstacle avoidance sensor 10 is pacified
Two sides near the first perpendicular end 41 loaded on U-shaped mounting plate 4, reach set distance close to U-shaped mounting plate 4 in L-type link block 12
When, inductive signal is back to master controller 9, master controller 9 controls first straight line driving motor 15 and stops working, and prevents L-type
Link block 12 bumps against U-shaped mounting plate 4.
As shown in figure 4, the cutter head 7 in the utility model includes interconnecting piece 71 and blade part 72, in disassembling, assembling and replacing cutter head 7
When, clamping jaw 84 clamps the interconnecting piece of cutter head 7.
The course of work of automatic dismounting cutter head:
1) cutter head 7 is mounted in the first cutter head connecting rod 5, when first driving device 1 breaks down, cutter head attaching/detaching apparatus
8 clamp cutter head 7, in the rotary drive motor 14 of first driving device 1 and the first knife of driving of first straight line driving motor 15
The rotation of head connecting rod 5 is separated with realizing with the disassembly of cutter head 7；
2) second straight line driving motor driving clamping jaw 84 moves to the second cutter head along second straight line guide rail 81 with dynamic cutter head 7 and connects
The lower section of extension bar 6；
3) the second cutter head connecting rod 6 of the driving of first straight line driving motor 15 of the second driving device 2 is inserted in the connection of cutter head 7
In portion 71, and realize under the driving of rotary drive motor 14 threaded connection of second cutter head connecting rod 6 and cutter head 7.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all practical at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the guarantor of the utility model within novel spirit and principle
Within the scope of shield.
Claims (6)
1. the operating robot that one kind can dismount cutter head automatically, which is characterized in that including first driving device, the second driving dress
It sets, pedestal, U-shaped mounting plate, the first cutter head connecting rod, the second cutter head connecting rod, cutter head, cutter head attaching/detaching apparatus；Described first drives
Dynamic device, the second driving device include first straight line guide rail, L-type link block, the first sliding block, rotary drive motor, first straight
Line driving motor, screw rod；The first driving device, the first straight line guide rail of the second driving device are flat along the length direction of pedestal
Row is arranged in base top, and the first sliding block of horizontal end and the first straight line guide rail of L-type link block are slidably connected；The rotation driving
Motor, first straight line driving motor are mounted on the inside of the perpendicular end of L-type link block, and rotary drive motor is located at first straight line drive
The top of dynamic motor；The first straight line driving motor is for driving the first cutter head connecting rod or the second cutter head connecting rod organizine
Bar, first straight line guide rail, the first sliding block move in a straight line；The U-shaped mounting plate is installed at the top of two first straight line guide rail one end,
And the first U-shaped perpendicular end, close to the middle of the base, the second perpendicular end is erected close to base end arrangement, the height at the first perpendicular end less than second
The height at end；The first perpendicular end of U-shaped mounting plate is fixed in one end of the screw rod；The first cutter head connecting rod, the second cutter head
The rotary drive motor through first driving device, the second driving device drives rotation respectively for one end of connecting rod, and the other end passes through U
Behind the perpendicular end of the second of type mounting plate with cutter head detachable connection；The cutter head attaching/detaching apparatus is arranged in the second of U-shaped mounting plate
Perpendicular end outside, is moved to the first cutter head connecting rod or the second cutter head connecting rod for clamp or release cutter head and by cutter head.
2. the operating robot according to claim 1 that cutter head can be dismounted automatically, which is characterized in that the cutter head dismounting dress
It sets including second straight line guide rail, the second sliding block, flexible driving cylinder, clamping jaw, second straight line driving motor；The second straight line is driven
Dynamic motor is for driving the second sliding block that clamping jaw is driven to slide along second straight line guide rail；The flexible driving cylinder is for driving clamping jaw
Clamp or release cutter head.
3. the operating robot according to claim 1 that cutter head can be dismounted automatically, which is characterized in that the operating robot
It further include master controller, two obstacle avoidance sensors；Two obstacle avoidance sensor is installed on two near the first perpendicular end of U-shaped mounting plate
Side is respectively used to two L-type link blocks of induction at a distance from the perpendicular end of U-shaped mounting plate first, and inductive signal is back to main control
Device is to control the work of first straight line driving motor.
4. the operating robot according to claim 3 that cutter head can be dismounted automatically, which is characterized in that the master controller peace
The other end loaded on the U-shaped mounting plate between two first straight line guide rails, and positioned at pedestal.
5. the operating robot according to claim 1 that cutter head can be dismounted automatically, which is characterized in that the screw rod is parallel to
First straight line guide rail arrangement, and pass through perpendicular end and the first straight line driving motor arrangement of L-type link block.
6. the operating robot according to claim 1 that cutter head can be dismounted automatically, which is characterized in that the cutter head and first
Cutter head connecting rod or the second cutter head connecting rod are set as being threadedly coupled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821205272.5U CN209091622U (en) | 2018-07-27 | 2018-07-27 | A kind of operating robot that can dismount cutter head automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821205272.5U CN209091622U (en) | 2018-07-27 | 2018-07-27 | A kind of operating robot that can dismount cutter head automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209091622U true CN209091622U (en) | 2019-07-12 |
Family
ID=67150037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821205272.5U Active CN209091622U (en) | 2018-07-27 | 2018-07-27 | A kind of operating robot that can dismount cutter head automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209091622U (en) |
-
2018
- 2018-07-27 CN CN201821205272.5U patent/CN209091622U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231117 Address after: 518000 Room 201, building A, 1 front Bay Road, Shenzhen Qianhai cooperation zone, Shenzhen, Guangdong Patentee after: Shenzhen Frontier Life Science Application Co.,Ltd. Address before: Building 203, D, Chuangye No.1, No. 43 Yanshan Road, Shekou Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Patentee before: SHENZHEN JUJIAO MEDICAL ROBOT TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right |