CN103800082A - Rotating unfolding disc typed multi-layer storage device - Google Patents
Rotating unfolding disc typed multi-layer storage device Download PDFInfo
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- CN103800082A CN103800082A CN201410061766.0A CN201410061766A CN103800082A CN 103800082 A CN103800082 A CN 103800082A CN 201410061766 A CN201410061766 A CN 201410061766A CN 103800082 A CN103800082 A CN 103800082A
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Abstract
The invention provides a rotating unfolding disc typed multi-layer storage device. The rotating unfolding disc typed multi-layer storage device comprises a storage disc position control device and at least one layer of storage disc. The storage disc position control device comprises a base, and a motor installed on the base. Each layer of storage disc comprises a chassis, at least two sector disks, connecting rods equal to the sector discs in number, a pole plate and a driving device. The driving device is fixed on the chassis, the pole plate is connected to the output shaft of the driving device, one end of each connecting rod is connected with the pole plate in a revolute pair mode, the connecting point of each sector disc with another end of a connecting rod of the chassis also forms a revolute pair, the chassis of the lowest layer storage disc is connected with the motor output shaft of the storage disc position control device, and the chassis of the upper storage disc is connected with the lower storage disc through the protruding pin column at the bottom of the upper storage disc. The rotating unfolding disc typed multi-layer storage device is reasonable in structure design, convenient to operate, safe and reliable, and capable of recognizing surgical instruments in the work process of surgical nurse assistant robots.
Description
Technical field
What this invention related to is a kind of disc type Multi-layer Store device of Multi-layer Store device, particularly a kind of rotary expansion, and classified storage and the auxiliary robot that can realize article are identified article, belong to robot field.
Background technology
Intelligent robot's development be unable to do without the identification to object, or by means of people, object is identified, or relies on robot self hardware to identify.For the latter, robot is limited to the identification ability of object.Transfer robot can only autonomous classification certain volume and the object of shape, carries; Welding robot can be realized specific several positions of the object of accurate positioning are welded, once object localization mistake will cause welding unsuccessfully; The flexible manufacturing system of unmanned intelligent plant is by sticking on that electronic tag on article carries out that electron scanning realizes identification but the interference that is subject to wireless signal; The powerful information processing capability of unmanned plane dependence self and powerful rear method, system carry out image recognition to object; Operating robot often need to be implemented operation under doctor's manipulation.Except above-mentioned recognition method, also have a kind of recognition method, the tool magazine system of numerical control machining center, by different cutters are carried out to classified storage, identifies and stores cutter.
At surgical field, surgical operation helpmate robot is for substituting instrument nurse specially for operating doctor transmits this part excessive risk of operating theater instruments, intensive work designs.Do not have in the market a this surgical operation helpmate robot product.But some developed countries are developing such helpmate robot.Storage and the identification of the robot of their development to operating theater instruments is independently to separate, and operating theater instruments is normally placed on preprepared operation tray, is unordered placement; Be mainly two kinds to the recognition method of operating theater instruments, one is image recognition, and one is to stick electronic tag to operating theater instruments, carries out electronic tag scanning recognition.Image recognition difficulty is larger, and the operating theater instruments kind that can identify is more limited, and accuracy is not high yet; Electronic tag scanning recognition is than the interference that is easier to be subject to wireless signal, and Anti-interference Design is more difficult.Therefore, these two kinds have greatly been limited the Development Schedule of surgical operation helpmate robot to the recognition method of operating theater instruments.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, easy to operate, safe and reliable, for the disc type Multi-layer Store device of the rotary expansion of the classified storage operating theater instruments of surgical operation helpmate robot system.
The object of the present invention is achieved like this:
Comprise storage disks position control and one deck storage disks at least, described storage disks position control comprises pedestal, be arranged on the motor on pedestal, the mechanism of every layer of storage disks is identical, every layer of storage disks comprises a chassis, at least two sector disks, the connecting rod equating with sector disk quantity, a bar dish and a driving device, described driving device is fixed on chassis, described bar dish is connected on the output shaft of driving device, one end of every connecting rod is connected with bar dish with the form of revolute pair, the junction of the other end of a connecting rod connecting rod of each sector disk and chassis also forms revolute pair, the chassis of orlop storage disks is connected with the output shaft of the motor of storage disks position control, it is that installing hole and lower one deck on the each sector disk in every layer of storage disks links together by the mechanical interface on lower one deck that the chassis of last layer storage disks utilizes its pin of stretching out of bottom.
The present invention can also comprise:
1, described storage disks position control also comprises motor mounting plate, main shaft, flange, rotating disk, lubricating gasket and supporting disk, motor is fixed on motor mounting plate, motor mounting plate is fixed on supporting disk, supporting disk is arranged on pedestal and both can not relatively rotate, rotating disk is connected with the output shaft of motor, flange and rotating disk are fixed, rotating disk is supported in supporting disk and can be relatively rotated by lubricating pad, also can rotate relative to pedestal, the chassis of described orlop storage disks is connected with the output shaft of the motor of storage disks position control and refers to that the chassis of orlop storage disks is fixed on flange.
2, every layer of storage disks comprises 2-6 sector disk.
In order to accelerate to develop surgical operation helpmate robot, the invention provides a kind of Multilayer disc type storage device of rotary expansion, it can realize the classified storage to operating theater instruments, can conveniently realize the identification to operating theater instruments.The implementation of this identification: first the sector disk in the accumulation layer to this device and every layer is numbered, and then different operating theater instruments is put into numbered sector disk in advance, realizes the classified storage to operating theater instruments; Secondly, data storing is carried out in the position of sector disk and its corresponding operating theater instruments information, be convenient to call; Finally, when receiving after the instruction of certain operating theater instruments, call the positional information of its corresponding operating theater instruments place sector disk, control motor and the steering wheel of this storage device, make this sector disk move to precalculated position, thereby realize the identification to operating theater instruments.Through verification experimental verification, to operating theater instruments identification accurately, rapidly, easy to operate, safe and reliable, compact conformation, can significantly improve speed and the accuracy of surgical operation helpmate robot to operating theater instruments to this device in response.
Reasonable in design of the present invention, easy to operate, safe and reliable, in surgery operating nurse assistant robot work process, can realize the recognition function to operating theater instruments.
The Multilayer disc type storage device of rotary expansion of the present invention mainly comprises three parts, is respectively bottom storage dish position control and top storage disks and rotary expansion retraction mechanism thereof.
Bottom storage dish position control, by driven by motor main shaft and sabot rotation, the angle that control flange turns over, makes the sector disk of top developer layer can turn to surgical operation helpmate robot and picks up the wherein precalculated position of operating theater instruments.
Top rotary expansion retraction mechanism, realizes expansion and the closure of this layer of sector disk by the independent driving device of every layer of installation.The similar of every layer, rod member is wherein identical with component specifications such as sector disks, has versatility and interchangeability.And every layer of storage disks is all independently.
Every layer of storage disks all leaves mechanical interface: the installing hole on the each sector disk in this layer of storage disks.Can realize easily increase and the minimizing of the storage disks number of plies by installing hole, the sector disk number of plies of this device does not have the upper limit in theory.
Because this device is mainly used in surgical operation helpmate robot system, in order to place operating theater instruments, therefore while design, taken into full account the size of the sector disk in order to place operating theater instruments, sector disk launches and closed driving mechanism and its type of drive, and the versatility of every layer of structural detail and interchangeability, to guarantee this apparatus structure compactness, safe and reliable.
Accompanying drawing explanation
The Multilayer disc type storage device overall structure schematic diagram of Fig. 1 rotary expansion.
The monolayer disc type storage device structure top view (deployed condition) of Fig. 2 rotary expansion.
The layer structural principle sketch that Fig. 3 a-Fig. 3 b monolayer contains two and six dishes.
The monolayer disc type storage device structural representation of Fig. 4 rotary expansion.
The monolayer disc type storage device structure top view (closure state) of Fig. 5 rotary expansion.
The specific embodiment
Main points of the present invention are: drive superstructure to rotate by the flange 5 of bottom storage dish position control, make certain sector disk of certain layer of expansion move to precalculated position F, reach " identification " object to operating theater instruments, be also convenient to robot and from sector disk, pick up operating theater instruments.The Multi-layer Store device of this rotary expansion, its structure embodiment as shown in Figure 1, storage disks position control comprises that (present embodiment adopts reducing motor to drive for pedestal 1, motor 2, motor mounting plate 3, main shaft 4, flange 5, rotating disk 6, lubricating gasket 7 and supporting disk 8, do not adopt independently actuating device, except the form of present embodiment, also can adopt alternate manner or type of belt drive); Top multi-layer rotating deploying portion comprises that (number of plies can increase or reduce according to reality for a layer A, layer B, layer C, tetra-layers of D of layer, the number of plies can unrestrictedly increase in theory), and the structure of every layer composition is similar, layer is that structure or control mode are all mutually independently with interlayer.Take layer A as example, as shown in Figure 2, by 11, four, chassis sector disk 9,13,17,19 and four connecting rods 10,12,16,18, and bar dish 14 and driving device 15 form.In addition, the sector disk number of accumulation layer is not fixed, can be according to the size of different objects, select the accumulation layer of different dish numbers.Be illustrated in figure 3 the accumulation layer structure principle chart of two dishes and six dishes, it is respectively used to place the article of " size is larger " and " size is less ".
Assembling mode in detail: this device assembles by order from bottom to top.Motor 2 is fixed on motor mounting plate 3, and motor mounting plate 3 is fixed by screws on supporting disk 8, and supporting disk 8 is arranged on pedestal 1, and both can not relatively rotate; Rotating disk 6 is connected with the output shaft of motor 2, and flange 5 is fixed by screw with rotating disk 6, and rotating disk 6 is supported in supporting disk 8 by lubricating pad 7, and can relatively rotate, and also can rotate relative to pedestal 1; Layer A is fixed by screws on flange 5 simultaneously, layer B utilizes the pin that stretch out its bottom to link together with layer A by the mechanical interface (installing hole on the each sector disk in every layer of storage disks) on layer A, the rest may be inferred, adopt same methods, layer C is arranged on layer B, layer D be arranged on layer C upper (when the number of plies increases, by that analogy), as shown in Figure 1.Layer is independent mutually with layer, but structural similarity, take layer A as example, as shown in Figure 2, driving device 15 is fixed on chassis 11, bar dish 14 is connected on the output shaft of driving device 15, and four connecting rod connecting rods 10,12,16,18 link together with form and the bar dish 14 of revolute pair respectively, and the junction of four sector disks 9,13,17,19 and chassis 11 and four connecting rod connecting rods 10,12,16,18 also forms revolute pair.Complete the assembling of whole device by this step.
When the disc type Multi-layer Store device of rotary expansion is worked, for fear of influencing each other between layers, have and the sector disk that can only expand one level at every turn; Marking line F in Fig. 4 is the precalculated position F that robot picks up article.
Might as well suppose, pick up the article of placing in sector disk 9 in layer A.
The disc type Multi-layer Store device work process of rotary expansion: first, the driving device 15 of controlling A layer start working (other layer of driving device do not worked), as shown in Figure 2, its driven rod dish 14 rotates, by the connecting rod 10,12,16,18 being attached thereto, sector disk 9,13,17,19 is launched, the action that the sector disk of complete layer A launches; Secondly, calculate sector disk 9 in layer A turns to precalculated position F angle [alpha] from existing position, control motor 2 and rotate, drive the flange 4 being attached thereto to rotate the angle [alpha] calculating, thereby the sector disk 9 of realizing in layer A moves to precalculated position F, as shown in Figure 4; Finally, after these article are removed, the driving device 15 of key-course A and motor 2 counteragents, restPose this device, as shown in Figure 5, waits for next step instruction.
Claims (3)
1. the disc type Multi-layer Store device of a rotary expansion, it is characterized in that: comprise storage disks position control and one deck storage disks at least, described storage disks position control comprises pedestal, be arranged on the motor on pedestal, the mechanism of every layer of storage disks is identical, every layer of storage disks comprises a chassis, at least two sector disks, the connecting rod equating with sector disk quantity, a bar dish and a driving device, described driving device is fixed on chassis, described bar dish is connected on the output shaft of driving device, one end of every connecting rod is connected with bar dish with the form of revolute pair, the junction of the other end of a connecting rod connecting rod of each sector disk and chassis also forms revolute pair, the chassis of orlop storage disks is connected with the output shaft of the motor of storage disks position control, it is that installing hole and lower one deck on the each sector disk in every layer of storage disks links together by the mechanical interface on lower one deck that the chassis of last layer storage disks utilizes its pin of stretching out of bottom.
2. the disc type Multi-layer Store device of rotary expansion according to claim 1, it is characterized in that: described storage disks position control also comprises motor mounting plate, main shaft, flange, rotating disk, lubricating gasket and supporting disk, motor is fixed on motor mounting plate, motor mounting plate is fixed on supporting disk, supporting disk is arranged on pedestal and both can not relatively rotate, rotating disk is connected with the output shaft of motor, flange and rotating disk are fixed, rotating disk is supported in supporting disk and can be relatively rotated by lubricating pad, also can rotate relative to pedestal, the chassis of described orlop storage disks is connected with the output shaft of the motor of storage disks position control and refers to that the chassis of orlop storage disks is fixed on flange.
3. the disc type Multi-layer Store device of rotary expansion according to claim 1 and 2, is characterized in that: every layer of storage disks comprises 2-6 sector disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410061766.0A CN103800082B (en) | 2014-02-24 | 2014-02-24 | The disc type Multi-layer Store device of rotary expansion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410061766.0A CN103800082B (en) | 2014-02-24 | 2014-02-24 | The disc type Multi-layer Store device of rotary expansion |
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| CN103800082A true CN103800082A (en) | 2014-05-21 |
| CN103800082B CN103800082B (en) | 2015-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410061766.0A Expired - Fee Related CN103800082B (en) | 2014-02-24 | 2014-02-24 | The disc type Multi-layer Store device of rotary expansion |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104490104A (en) * | 2014-12-15 | 2015-04-08 | 广西大学 | Remote-control rotary locker |
| CN108791572A (en) * | 2018-06-15 | 2018-11-13 | 浙江国自机器人技术有限公司 | A kind of merchandising machine people |
| CN109106453A (en) * | 2018-07-10 | 2019-01-01 | 佳木斯大学 | A kind of mechanical arm for placing materials for use in skull-fixing in skull repairing link |
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| US3961830A (en) * | 1973-11-26 | 1976-06-08 | Eulit-Werk Staude & Co. Kg | Sales display, in particular for watchband transparent packages |
| CN2255203Y (en) * | 1996-07-31 | 1997-06-04 | 卢明山 | Self-rotating display table shelf stopping when being touched |
| CN2285581Y (en) * | 1996-05-14 | 1998-07-08 | 美快化妆品有限公司 | Cosmetic box |
| US6175779B1 (en) * | 1998-09-29 | 2001-01-16 | J. Todd Barrett | Computerized unit dose medication dispensing cart |
| CN2466713Y (en) * | 2001-02-26 | 2001-12-19 | 沈阳市盛京银行电子设备厂 | Auto-controlled manipulator recept case |
| US20080159084A1 (en) * | 2005-03-04 | 2008-07-03 | Roland Iten | Self-Locking Expansion Device For a Watch |
| CN202399249U (en) * | 2011-12-30 | 2012-08-29 | 厦门多威电子有限公司 | Automatic induction rotary accommodating table |
| CN103590020A (en) * | 2012-08-13 | 2014-02-19 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Tray assembly and MOCVD equipment with the same |
-
2014
- 2014-02-24 CN CN201410061766.0A patent/CN103800082B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3961830A (en) * | 1973-11-26 | 1976-06-08 | Eulit-Werk Staude & Co. Kg | Sales display, in particular for watchband transparent packages |
| CN2285581Y (en) * | 1996-05-14 | 1998-07-08 | 美快化妆品有限公司 | Cosmetic box |
| CN2255203Y (en) * | 1996-07-31 | 1997-06-04 | 卢明山 | Self-rotating display table shelf stopping when being touched |
| US6175779B1 (en) * | 1998-09-29 | 2001-01-16 | J. Todd Barrett | Computerized unit dose medication dispensing cart |
| CN2466713Y (en) * | 2001-02-26 | 2001-12-19 | 沈阳市盛京银行电子设备厂 | Auto-controlled manipulator recept case |
| US20080159084A1 (en) * | 2005-03-04 | 2008-07-03 | Roland Iten | Self-Locking Expansion Device For a Watch |
| CN202399249U (en) * | 2011-12-30 | 2012-08-29 | 厦门多威电子有限公司 | Automatic induction rotary accommodating table |
| CN103590020A (en) * | 2012-08-13 | 2014-02-19 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Tray assembly and MOCVD equipment with the same |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104490104A (en) * | 2014-12-15 | 2015-04-08 | 广西大学 | Remote-control rotary locker |
| CN108791572A (en) * | 2018-06-15 | 2018-11-13 | 浙江国自机器人技术有限公司 | A kind of merchandising machine people |
| CN109106453A (en) * | 2018-07-10 | 2019-01-01 | 佳木斯大学 | A kind of mechanical arm for placing materials for use in skull-fixing in skull repairing link |
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| Publication number | Publication date |
|---|---|
| CN103800082B (en) | 2015-12-02 |
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