CN215606256U - Active and passive parallel reset robot - Google Patents
Active and passive parallel reset robot Download PDFInfo
- Publication number
- CN215606256U CN215606256U CN202120539406.2U CN202120539406U CN215606256U CN 215606256 U CN215606256 U CN 215606256U CN 202120539406 U CN202120539406 U CN 202120539406U CN 215606256 U CN215606256 U CN 215606256U
- Authority
- CN
- China
- Prior art keywords
- parallel
- passive
- mechanical arm
- rotating shaft
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to the technical field of medical equipment, and discloses an active and passive parallel reset robot, which comprises: the driving mechanical arm is provided with a driving output end with multiple degrees of freedom; the synchronous motion platform is fixedly provided with a fracture reduction needle, and the driving output end of the driving mechanical arm is connected with the synchronous motion platform; the passive mechanical arm is fixedly arranged at one end, the other end is provided with a passive output end with multiple degrees of freedom, and the passive output end can be slidably arranged on the synchronous motion platform; the passive mechanical arm can keep freedom degree locking when the driving mechanical arm drives the synchronous motion platform to insert the fracture reduction needle into the fracture end needing reduction, and the driving mechanical arm drives the synchronous motion platform to execute reduction operation under the support of the passive mechanical arm. The active and passive parallel reduction robot realizes the reduction operation of the fracture through the active mechanical arm, the passive mechanical arm and the synchronous motion platform, occupies small space and is more beneficial to the operation of an operating doctor.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to an active and passive parallel reset robot.
Background
The fracture reduction operation is a key link of bone treatment, and complex and powerful muscle soft tissues exist around the fractured bone, so the reduction operation needs powerful reduction force and smart reduction operation. Meanwhile, due to the limited operation space, the reset mechanism occupies space and movement space, and can not occupy the space of an operator and a patient.
Traditional canceling release mechanical system is in order to accomplish dexterous heavy load motion, and surgical robot need realize multi freedom's space motion, and structure and assembly are more complicated, often bulky, need more space to install and arrange, and more encroaches on operation doctor's space, is unfavorable for doctor's operation, can't satisfy clinical need.
In view of the above, the present invention is particularly proposed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to: how to solve the problem that the fracture reduction robot has complex structure assembly and large occupied space, and provides an active and passive parallel reduction robot which has simple structure, small volume and reliability.
In order to achieve the purpose, the utility model provides the following technical scheme:
an active and passive parallel reset robot, comprising:
the driving mechanical arm is provided with a driving output end with multiple degrees of freedom;
the synchronous motion platform is fixedly provided with a fracture reduction needle, and the driving output end of the driving mechanical arm is connected with the synchronous motion platform;
the passive mechanical arm is fixedly arranged at one end, the other end is provided with a passive output end with multiple degrees of freedom, and the passive output end can be slidably arranged on the synchronous motion platform;
the passive mechanical arm can keep freedom degree locking when the driving mechanical arm drives the synchronous motion platform to insert the fracture reduction needle into the fracture end needing reduction, and the driving mechanical arm drives the synchronous motion platform to execute reduction operation under the support of the passive mechanical arm.
As an embodiment of the present invention, the synchronous motion platform includes:
the platform main body comprises a robot end moving platform connected with the driving mechanical arm and a parallel transmission mechanism connected with the robot end moving platform for power parallel transmission;
the uniform-strength wrist is fixedly installed on the fracture reduction needle and is fixedly connected with the parallel transmission mechanism of the platform main body.
As an embodiment of the present invention, the parallel transmission mechanism includes a first parallel transmission mechanism performing parallel motion in a first plane and a second parallel transmission mechanism performing parallel motion in a second plane, and the first plane and the second plane intersect each other.
As an implementation mode of the utility model, the parallel transmission mechanism comprises a follow-up end platform which is fixedly connected with a uniform-strength wrist;
the first parallel transmission mechanism comprises a first supporting rod and a second supporting rod parallel to the first supporting rod, a first rotating shaft and a second rotating shaft parallel to the first rotating shaft, two ends of the first supporting rod are respectively and fixedly connected with a first parallel hinge seat and a second parallel hinge seat, one end of the first rotating shaft is fixedly connected with the robot-end moving platform, the other end of the first rotating shaft is rotatably connected with the first parallel hinge seat, one end of the second rotating shaft is fixedly connected with the follow-up end platform, and the other end of the second rotating shaft is rotatably connected with the second parallel hinge seat;
the second parallel transmission mechanism comprises a third supporting rod, a fourth rotating shaft and a fifth rotating shaft, the third supporting rod is parallel to the second supporting rod, the fifth rotating shaft is parallel to the fourth rotating shaft, two ends of the second supporting rod are respectively and fixedly connected with a third parallel hinge seat and a fourth parallel hinge seat, two ends of the third supporting rod are respectively and fixedly connected with a fifth parallel hinge seat and a sixth parallel hinge seat, the fourth rotating shaft can rotatably penetrate through the robot end moving platform, two ends of the fourth rotating shaft are respectively and rotatably arranged on the third parallel hinge seat and the fifth parallel hinge seat, the fifth rotating shaft can rotatably penetrate through the follow-up end platform, and two ends of the fifth rotating shaft are respectively and rotatably arranged on the fourth parallel hinge seat and the sixth parallel hinge seat.
As an embodiment of the present invention, the robot end-moving platform includes a platform body, and a first connecting block and a second connecting block fixedly connected to the platform body, wherein one end of the first rotating shaft is fixedly connected to the first connecting block; the fourth rotating shaft can rotatably penetrate through the second connecting block.
As an embodiment of the present invention, the following end platform includes a horizontal arm and a vertical arm fixedly connected to the horizontal arm, the second rotating shaft is fixedly connected to the vertical arm, and the fifth rotating shaft rotatably penetrates through the horizontal arm.
As an embodiment of the present invention, the synchronous motion platform includes a spherical hinge slidably disposed on the second support rod, and the passive output end of the passive mechanical arm is connected to the spherical hinge.
As an implementation mode of the utility model, the even-strong wrist comprises a bracket, a motor output shaft screw, a sliding shaft, a stress adjusting rod, a universal locking buckle, a sliding shaft fixing plate and a universal locking bayonet fixing shaft;
the motor is fixed on the bracket, a screw rod of an output shaft of the motor is fixed on an output shaft of the motor, the screw rod of the output shaft of the motor is in threaded transmission with the fixed plate of the sliding shaft, and the motor can drive the fixed plate of the sliding shaft to move up and down by rotating; the sliding shaft is fixedly connected with the sliding shaft fixing plate; the stress adjusting rod is fixedly connected with the bracket; one end of the universal locking buckle is connected with the fracture reduction needle, and the other end of the universal locking buckle can be connected with the stress adjusting rod or the universal locking bayonet fixing shaft;
when the fracture reduction needle is inserted into the fracture reduction end, the universal locking buckle fixedly connects the fracture reduction needle with the rack part, and the motor rotates to drive the sliding shaft fixing plate to move up and down so as to adjust the force arm of the stress adjusting rod and the bracket.
As an embodiment of the present invention, the active output end of the active mechanical arm is an end connection flange with six spatial degrees of freedom.
As an embodiment of the present invention, the passive mechanical arm includes a first moving member, a second moving member connected to the first moving member by a first spherical hinge, a third moving member rotatably connected to the second moving member by a rotational hinge, a fourth moving member connected to the third moving member by a second spherical hinge, and a locking member for locking the first spherical hinge, the rotational hinge, and the second spherical hinge.
Compared with the prior art, the utility model has the beneficial effects that:
the utility model provides an active and passive parallel reset robot structure which comprises: the parallel mechanism of the driving mechanical arm and the driven mechanical arm is adopted, the driven mechanical arm with small volume and large load is arranged in an operation space, and the large-rigidity support auxiliary robot is utilized to complete large-strength load output; the driving mechanical arm completes large-power and flexible movement, and the power requirement of the driving mechanical arm is reduced by means of the support of the driven branched chain; the synchronous motion platform outputs the motion crow bar type of the driving mechanical arm to complete the large-load flexible reset operation. Therefore, the active and passive parallel reduction robot structure realizes the reduction operation of the fracture through the active mechanical arm, the passive mechanical arm and the synchronous motion platform, has simple, stable and reliable structure, convenient assembly and disassembly and small occupied space, and is more favorable for the cooperation with the operating doctor to carry out the operation.
Description of the drawings:
FIG. 1 is a schematic diagram of the use state of a master-slave parallel reset robot of the present invention;
FIG. 2 is a schematic perspective view of an active mechanical arm of the active and passive parallel resetting robot according to the present invention;
FIG. 3 is a schematic perspective view of a synchronous motion platform of the active and passive parallel reset robot according to the present invention;
FIG. 4 is a schematic perspective view of a platform body of the present invention;
FIG. 5 is a schematic view of a three-dimensional structure of a uniform strength wrist of the synchronous motion platform of the present invention;
fig. 6 is a schematic perspective view of a passive mechanical arm of the active and passive parallel reset robot according to the present invention.
Reference numbers in the drawings illustrate: 1-driving mechanical arm 101-tail end connecting flange 2-synchronous motion platform 200-platform main body 201-robot end moving platform 202-first parallel hinge base 203-first supporting rod 204-fourth rotating shaft 205-second supporting rod 206-fifth parallel hinge base 207-third supporting rod 208-follow-up end platform 209-fifth rotating shaft 2010-second rotating shaft 2011-spherical hinge 2012-second parallel hinge base 2013-first rotating shaft 2014-third parallel hinge base 2016-sixth parallel hinge base 2017-fourth parallel hinge base 210-uniform strength wrist 211-support 212-motor 213-motor output shaft screw 214-sliding shaft 215-stress adjusting rod 216-universal locking buckle 217-fracture reduction needle 218 Sliding shaft fixed plate 219-universal locking bayonet fixed shaft 3-passive mechanical arm 301-first spherical hinge 302-rotation hinge 303-second spherical hinge 304-fourth moving member 305-locking member 306-first moving member 307-second moving member 308-third moving member.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.
Thus, the following detailed description of the embodiments of the utility model is not intended to limit the scope of the utility model as claimed, but is merely representative of some embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper" and "lower" indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship which is usually placed when the utility model is used, or the orientation or position relationship which is usually understood by those skilled in the art, and these terms are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element which is referred to must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, the active and passive parallel reset robot provided in this embodiment includes:
the driving mechanical arm 1 is provided with a driving output end with multiple degrees of freedom;
the synchronous motion platform 2 is fixedly provided with a fracture reduction needle, and the driving output end of the driving mechanical arm is connected with the synchronous motion platform;
the driven mechanical arm 3 is fixedly arranged at one end, a driven output end with multiple degrees of freedom is arranged at the other end, and the driven output end can be slidably arranged on the synchronous motion platform;
the passive mechanical arm 3 can keep freedom degree locking when the active mechanical arm 1 drives the synchronous motion platform 2 to insert the fracture reduction needle into the fracture end to be reduced, and the active mechanical arm 1 drives the synchronous motion platform 2 to execute reduction operation under the support of the passive mechanical arm 3.
This embodiment has proposed the parallelly connected robot structure that resets of an active passive form: the parallel mechanism of the driving mechanical arm 1 and the driven mechanical arm 3 is adopted, the driven mechanical arm 3 with small volume and large load is arranged in an operation space, and the large-rigidity support auxiliary robot is utilized to complete large-strength load output; the driving mechanical arm 1 completes high-power and flexible movement, and the power requirement of the driving mechanical arm 1 is reduced by means of the support of the driven branched chain; the synchronous motion platform 2 outputs the motion crow bar type of the driving mechanical arm 1 to complete the large-load flexible reset operation.
Therefore, the active and passive parallel reduction robot structure of the embodiment realizes reduction operation of fracture through the active mechanical arm 1, the passive mechanical arm 3 and the synchronous motion platform 2, has simple, stable and reliable structure, convenient assembly and disassembly and small occupied space, and is more favorable for operation with cooperation of an operator.
Further, the active-passive parallel reset robot of the present embodiment includes an active mechanical arm 1 with six degrees of freedom, a passive mechanical arm 3 with seven degrees of freedom, and a synchronous motion platform 2 including two synchronous motions.
The driving mechanical arm 1 can be fixed on an operation trolley or a permanent support; the active mechanical arm 1 can actively move according to a planned route before or during an operation; the driving mechanical arm 1 has six degrees of freedom, and can realize the movement and rotation of a space coordinate system. One end of the synchronous motion platform 2 is fixed on the driving mechanical arm 1, and the other end of the synchronous motion platform can synchronously move according to the movable platform fixed on the driving mechanical arm 1. One end of the driven mechanical arm 3 is fixed on a spherical hinge of the synchronous motion platform 2, and the other end of the driven mechanical arm is fixed on an operating bed or a permanent support, and can also be fixed on a trolley; the passive mechanical arm 3 has seven degrees of freedom, comprises two spherical hinges and a rotating hinge, can be passively locked and is used as a motion support of the synchronous motion platform 2.
The specific implementation mode is as follows: the driving mechanical arm 1 is fixed on a trolley and can also be fixed on a permanent support; one end of the synchronous motion platform 2 is arranged on the driving mechanical arm 1. One end of the driven mechanical arm 3 is arranged on the operating bed and can also be fixed on the trolley, the other end of the driven mechanical arm is fixed on a spherical hinge of the synchronous motion platform 2, and the spherical hinge can slide on a supporting rod of the synchronous motion platform 2. When the driving mechanical arm 1 does not reach the preset position, the driving mechanical arm is in a relaxed state, and each joint can move freely. After the driving mechanical arm 1 drives the synchronous motion platform 2 to reach a preset position, a fracture reduction needle is nailed into a fracture end to be reduced, the driven mechanical arm 3 is locked, and at the moment, the driven mechanical arm 3 has no degree of freedom and is equivalent to a rigid fixing support rod. The synchronous motion platform 2 can rotate around a spherical hinge of the synchronous motion platform with three degrees of freedom and slide along a support rod. The active and passive parallel reset robot can execute reset operation at the moment, and the passive mechanical arm 3 provides support for the active mechanical arm 1 to reduce the load of the active mechanical arm. When the spherical hinge of the synchronous motion platform 2 does not move, the driving mechanical arm 1 drives the synchronous motion platform 2 to move, so that the fracture end is moved. When the spherical hinge of the synchronous motion platform 2 moves, the synchronous motion platform 2 can rotate around the spherical hinge of the synchronous motion platform 2 with three degrees of freedom and slide along the support rod, and the crow bar type motion is generated by the spherical hinge to drive the movement of the tail end fracture end, so that the load of the driving mechanical arm 1 is reduced.
Referring to fig. 2, the driving output end of the driving mechanical arm 1 of the present embodiment is a terminal connecting flange 101 with six degrees of freedom in space, which can realize random movement of spatial posture and provide power for fracture end reduction operation.
Referring to fig. 6, the passive mechanical arm 3 according to the present embodiment includes a first moving member 306, a second moving member 307 connected to the first moving member 306 through a first spherical hinge 301, a third moving member 308 rotatably connected to the second moving member 307 through a rotary hinge 302, a fourth moving member 304 connected to the third moving member 308 through a second spherical hinge 303, and a locking member 305 for locking the first spherical hinge 301, the rotary hinge 302, and the second spherical hinge 303.
The first spherical hinge connection 301 and the second spherical hinge connection 303 of the passive mechanical arm 3 in this embodiment each have three degrees of freedom of movement around the center of sphere; the swivel hinge 302 has one degree of freedom of rotation; the fourth motion member 304 has six degrees of freedom in space; when the locking member 305 is in a released state, the first spherical hinge connection 301, the second spherical hinge 303 and the rotating hinge 302 can move freely, and the fourth moving member 304 has six degrees of freedom, and when the locking member 305 is in a locked state, the first spherical hinge connection 301, the second spherical hinge 303 and the rotating hinge 302 are all in a locked state, and the fourth moving member 304 is also not movable, and at the moment, the seven-degree-of-freedom passive branched chain is also in a locked state, so that a rigid part is formed.
As an embodiment of this embodiment, the locking member 305 includes a transmission link and a locking block respectively contacting with the first spherical hinge 301 and the second spherical hinge 303, and the transmission link is driven by rotation to drive the locking block to respectively lock with the first spherical hinge 301 and the second spherical hinge 303 in close contact.
Referring to fig. 3, the synchronous motion platform 2 according to the present embodiment includes:
the platform main body 200 comprises a robot end moving platform 201 connected with the driving mechanical arm 1 and a parallel transmission mechanism which is connected with the robot end moving platform 201 and performs parallel power transmission;
the uniform strength wrist 210 is fixedly provided with the fracture reduction needle 217, and the uniform strength wrist 210 is fixedly connected with the parallel transmission mechanism of the platform main body 200.
Referring to fig. 4, the parallel transmission mechanism according to the present embodiment includes a first parallel transmission mechanism performing parallel motion in a first plane and a second parallel transmission mechanism performing parallel motion in a second plane, and the first plane and the second plane intersect with each other. The first parallel transmission mechanism and the second parallel transmission mechanism are respectively positioned on a first plane and a second plane which are intersected, so that the servo end moving platform can be kept parallel to the robot end moving platform in space
Specifically, the parallel drive mechanism of the present embodiment includes a follower end platform 208 for fixedly coupling with a uniform wrist 210.
The first parallel transmission mechanism in this embodiment includes a first support rod 203, a second support rod 205 parallel to the first support rod 203, a first rotation shaft 2013, and a second rotation shaft 2010 parallel to the first rotation shaft 2013, two ends of the first support rod 203 are respectively and fixedly connected to a first parallel hinge base 202 and a second parallel hinge base 2012, one end of the first rotation shaft 2013 is fixedly connected to the robot end-moving platform 201, the other end is rotatably connected to the first parallel hinge base 202, one end of the second rotation shaft 2010 is fixedly connected to the following end platform 208, and the other end is rotatably connected to the second parallel hinge base 2012.
The second parallel transmission mechanism in this embodiment includes a third support rod 207 parallel to the second support rod 205, a fourth rotation shaft 204 and a fifth rotation shaft 209 parallel to the fourth rotation shaft 204, two ends of the second support rod 205 are respectively and fixedly connected to a third parallel hinge seat 2014 and a fourth parallel hinge seat 2017, two ends of the third support rod 207 are respectively and fixedly connected to a fifth parallel hinge seat 206 and a sixth parallel hinge seat 2016, the fourth rotation shaft 204 can rotatably pass through the robot end-moving platform 201, two ends of the fourth rotation shaft can respectively and rotatably mounted on the third parallel hinge seat 2014 and the fifth parallel hinge seat 206, the fifth rotation shaft 209 can rotatably pass through the follower end platform 208, and two ends of the fifth rotation shaft can respectively and rotatably mounted on the fourth parallel hinge seat 2017 and the sixth parallel hinge seat 2016.
Specifically, the robot end-moving platform 201 of this embodiment includes a platform body, and a first connecting block and a second connecting block fixedly connected to the platform body, where one end of the first rotating shaft 2013 is fixedly connected to the first connecting block; the fourth rotating shaft 204 rotatably passes through the second connecting block. Preferably, the platform body be circular flange, first connecting block, second connecting block fix respectively on circular flange's periphery wall.
Specifically, the servo end platform according to this embodiment includes a horizontal arm and a vertical arm fixedly connected to the horizontal arm, the second rotating shaft 2010 is fixedly connected to the vertical arm, and the fifth rotating shaft 209 rotatably penetrates through the horizontal arm. Preferably, the follow-up end platform comprises a cross arm and two vertical arms positioned at two ends of the cross arm, and the whole platform is of a U-shaped structure.
The axis a, the axis b, the axis c and the axis d shown in fig. 4 form a first parallelogram mechanism, the axis a and the axis c of the mechanism move, and the axis b and the axis d move in parallel; the axis a1, the axis b1, the axis c1 and the axis d form a second parallelogram mechanism, the mechanism moves in a manner that the central axis a1 and the axis c1 are parallel, and the axis b1 and the axis d move in a parallel manner. The first and second parallelograms are perpendicular to each other, with axis a and axis a1 perpendicular to and intersecting one another at a point, and axis c1 perpendicular to and intersecting one another at a point. The first parallelogram mechanism and the second parallelogram mechanism can realize that the follow-up end moving platform is parallel to the robot end moving platform in space.
Further, the synchronous motion platform 2 according to this embodiment includes a spherical hinge 2011 slidably disposed on the second support rod 205, and the passive output end of the passive mechanical arm 3 is connected to the spherical hinge 2011. The spherical hinge 2011 comprises three rotational degrees of freedom around the center of the sphere, is mounted on the second support rod 205, and can slide along the second support rod 205; the platform main body 200 can rotate around the spherical hinge 2011 and can also slide along the second support rod 205, so as to realize the synchronous reset motion of the space mechanism.
Referring to fig. 5, the uniform wrist 210 according to the embodiment includes a bracket 211, a motor 212, a motor output shaft screw 213, a sliding shaft 214, a stress adjusting rod 215, a universal locking buckle 216, a fracture reduction needle 217, a sliding shaft fixing plate 218, and a universal locking bayonet fixing shaft 219.
The motor 212 is fixed on the bracket 211, the motor output shaft screw 213 is fixed on the motor output shaft, the motor output shaft screw 213 is in threaded transmission with the sliding shaft fixing plate 218, and the motor 212 rotates to drive the sliding shaft fixing plate 218 to move up and down; the sliding shaft 214 is fixedly connected with the sliding shaft fixing plate 218; the stress adjusting rod 215 is fixedly connected with the bracket 211; one end of the universal locking buckle 216 is connected with the fracture reduction needle 217, and the other end of the universal locking buckle can be connected with the stress adjusting rod 215 or the universal locking bayonet fixing shaft 219; when the universal locking buckle 216 is in a relaxed state, the buckles at the two ends can move freely, and the buckles at the two ends are relatively fixed after being locked; when the fracture reduction needle 217 is inserted into the fracture reduction end, the universal locking buckle 216 fixedly connects the fracture reduction needle 217 with the frame part, the motor 212 rotates to drive the sliding shaft fixing plate 218 to move up and down to adjust the force arm of the stress adjusting rod 215 and the bracket 211, and secondary fracture and other conditions caused by overlarge stress of the fracture reduction needle 217 and the fracture reduction end are prevented.
Preferably, the nail 211 of the present embodiment is an L-shaped bracket, and the uniform wrist of the present embodiment includes two sets of fracture reduction needles 217 and corresponding clamping, fixing and adjusting mechanisms.
The above embodiments are only used for illustrating the utility model and not for limiting the technical solutions described in the utility model, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; all the technical solutions and modifications without departing from the spirit and scope of the present invention are within the scope of the claims of the present invention.
Claims (10)
1. An active and passive parallel reset robot, comprising:
the driving mechanical arm is provided with a driving output end with multiple degrees of freedom;
the synchronous motion platform is fixedly provided with a fracture reduction needle, and the driving output end of the driving mechanical arm is connected with the synchronous motion platform;
the passive mechanical arm is fixedly arranged at one end, the other end is provided with a passive output end with multiple degrees of freedom, and the passive output end can be slidably arranged on the synchronous motion platform;
the passive mechanical arm can keep freedom degree locking when the driving mechanical arm drives the synchronous motion platform to insert the fracture reduction needle into the fracture end needing reduction, and the driving mechanical arm drives the synchronous motion platform to execute reduction operation under the support of the passive mechanical arm.
2. The active-passive parallel reset robot according to claim 1, wherein the synchronous motion platform comprises:
the platform main body comprises a robot end moving platform connected with the driving mechanical arm and a parallel transmission mechanism connected with the robot end moving platform for power parallel transmission;
the uniform-strength wrist is fixedly installed on the fracture reduction needle and is fixedly connected with the parallel transmission mechanism of the platform main body.
3. An active-passive parallel repositioning robot according to claim 2, wherein the parallel transmission mechanism includes a first parallel transmission mechanism for parallel movement in a first plane and a second parallel transmission mechanism for parallel movement in a second plane, the first plane intersecting the second plane.
4. The active-passive parallel reset robot as claimed in claim 3, wherein the parallel transmission mechanism comprises a follow-up end platform fixedly connected with a uniform-strength wrist;
the first parallel transmission mechanism comprises a first supporting rod and a second supporting rod parallel to the first supporting rod, a first rotating shaft and a second rotating shaft parallel to the first rotating shaft, two ends of the first supporting rod are respectively and fixedly connected with a first parallel hinge seat and a second parallel hinge seat, one end of the first rotating shaft is fixedly connected with the robot-end moving platform, the other end of the first rotating shaft is rotatably connected with the first parallel hinge seat, one end of the second rotating shaft is fixedly connected with the follow-up end platform, and the other end of the second rotating shaft is rotatably connected with the second parallel hinge seat;
the second parallel transmission mechanism comprises a third supporting rod, a fourth rotating shaft and a fifth rotating shaft, the third supporting rod is parallel to the second supporting rod, the fifth rotating shaft is parallel to the fourth rotating shaft, two ends of the second supporting rod are respectively and fixedly connected with a third parallel hinge seat and a fourth parallel hinge seat, two ends of the third supporting rod are respectively and fixedly connected with a fifth parallel hinge seat and a sixth parallel hinge seat, the fourth rotating shaft can rotatably penetrate through the robot end moving platform, two ends of the fourth rotating shaft are respectively and rotatably arranged on the third parallel hinge seat and the fifth parallel hinge seat, the fifth rotating shaft can rotatably penetrate through the follow-up end platform, and two ends of the fifth rotating shaft are respectively and rotatably arranged on the fourth parallel hinge seat and the sixth parallel hinge seat.
5. The active-passive parallel reset robot as claimed in claim 4, wherein the robot end moving platform comprises a platform body, and a first connecting block and a second connecting block which are fixedly connected with the platform body, and one end of the first rotating shaft is fixedly connected with the first connecting block; the fourth rotating shaft can rotatably penetrate through the second connecting block.
6. The active-passive parallel resetting robot as claimed in claim 4, wherein the follow-up end platform comprises a cross arm and a vertical arm fixedly connected with the cross arm, the second rotating shaft is fixedly connected with the vertical arm, and the fifth rotating shaft rotatably penetrates through the cross arm.
7. The active-passive parallel reduction robot of claim 4, wherein the synchronous motion platform comprises a spherical hinge slidably disposed on the second support rod, and the passive output end of the passive mechanical arm is connected to the spherical hinge.
8. The active and passive parallel reset robot as claimed in claim 2, wherein the uniform strong wrist comprises a bracket, a motor output shaft screw, a sliding shaft, a stress adjusting rod, a universal locking buckle, a sliding shaft fixing plate and a universal locking bayonet fixing shaft;
the motor is fixed on the bracket, a screw rod of an output shaft of the motor is fixed on an output shaft of the motor, the screw rod of the output shaft of the motor is in threaded transmission with the fixed plate of the sliding shaft, and the motor can drive the fixed plate of the sliding shaft to move up and down by rotating; the sliding shaft is fixedly connected with the sliding shaft fixing plate; the stress adjusting rod is fixedly connected with the bracket; one end of the universal locking buckle is connected with the fracture reduction needle, and the other end of the universal locking buckle can be connected with the stress adjusting rod or the universal locking bayonet fixing shaft;
when the fracture reduction needle is inserted into the fracture reduction end, the universal locking buckle fixedly connects the fracture reduction needle with the rack part, and the motor rotates to drive the sliding shaft fixing plate to move up and down so as to adjust the force arm of the stress adjusting rod and the bracket.
9. The active and passive parallel resetting robot as claimed in claim 1, wherein the active output end of the active mechanical arm is an end connection flange with six spatial degrees of freedom.
10. The active-passive parallel reduction robot according to claim 1, wherein the passive mechanical arm comprises a first moving member, a second moving member connected with the first moving member through a first spherical hinge, a third moving member rotatably connected with the second moving member through a rotary hinge, a fourth moving member connected with the third moving member through a second spherical hinge, and a locking member for locking the first spherical hinge, the rotary hinge and the second spherical hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120539406.2U CN215606256U (en) | 2021-03-16 | 2021-03-16 | Active and passive parallel reset robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120539406.2U CN215606256U (en) | 2021-03-16 | 2021-03-16 | Active and passive parallel reset robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215606256U true CN215606256U (en) | 2022-01-25 |
Family
ID=79913378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120539406.2U Active CN215606256U (en) | 2021-03-16 | 2021-03-16 | Active and passive parallel reset robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215606256U (en) |
-
2021
- 2021-03-16 CN CN202120539406.2U patent/CN215606256U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11911124B2 (en) | Active-passive parallel-connected reduction robot | |
| EP3572027A1 (en) | Robot having stereotactic function | |
| CN113081277B (en) | Deployable instrument arm | |
| CN216495633U (en) | Laparoscopic surgery robot collaboration system | |
| EP3117966A1 (en) | Hybrid robot | |
| EP4356862A1 (en) | Guiding and positioning structure of sterile adapter and surgical instrument | |
| WO2019200773A1 (en) | Laparoscope-holding robot system for laparoscopic surgery | |
| CN110179543A (en) | A kind of laparoscopic surgery robot | |
| CN113662643A (en) | Multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system | |
| CN114533276A (en) | Positioning mechanical arm and auxiliary operation system for vascular intervention operation | |
| CN215606256U (en) | Active and passive parallel reset robot | |
| CN114683314B (en) | Mechanical arm joint, mechanical arm and surgical robot | |
| CN114191097B (en) | Portal frame convenient to adjust and have intervention operation robot system of this portal frame | |
| CN210056222U (en) | Double-control cooperative operation laparoscopic surgery robot and system | |
| RU2491161C1 (en) | Robotic system for minimally invasive surgery | |
| CN112998864B (en) | Parallel robot system for lower limb fracture reduction operation | |
| CN114521967A (en) | Mechanical arm and medical trolley | |
| JP2003504147A (en) | Remote control system for patient consultation / treatment device positioning | |
| US20230035946A1 (en) | Surgical robotic systems | |
| CN109171970A (en) | A kind of fixed device of laparoscopic surgery robot | |
| CN115568957A (en) | Surgical robot and surgical system | |
| CN109770970B (en) | Abdominal cavity minimally invasive surgery robot | |
| CN113796962A (en) | Instrument arm | |
| CN113967075A (en) | Surgical robot system with multi-joint positioning mechanical arm | |
| CN105963017B (en) | A kind of space multiple degrees of freedom operation nondominant hand arm mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |