CN104647455A - Clamping device for allogeneic bone cutting equipment - Google Patents
Clamping device for allogeneic bone cutting equipment Download PDFInfo
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- CN104647455A CN104647455A CN201310589874.0A CN201310589874A CN104647455A CN 104647455 A CN104647455 A CN 104647455A CN 201310589874 A CN201310589874 A CN 201310589874A CN 104647455 A CN104647455 A CN 104647455A
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Abstract
The invention discloses a clamping device for allogeneic bone cutting equipment. The device comprises a base, a support, a translation cylinder, a rotation cylinder mounting seat, a rotation cylinder, a mechanical wrist, a finger driving motor, rotation fingers, a pressure sensor and a displacement sensor. By means of the device, allogeneic bone materials can be mounted, clamped and cut on machining equipment conveniently, and accordingly, the machining safety and the material usage rate are improved; the whole cutting equipment structure is optimized, so that the cutting equipment can be applied to accurate cutting of allogeneic bones, and production quality code requirements of medical apparatuses can be met.
Description
Technical field
The present invention relates to a kind of medicine equipment, particularly a kind of clamping device of homogeneous allogenic bone cutting equipment.
Background technology
Bone cutting machine is the important apparatus preparing bone implant material, all has a wide range of applications in many fields such as medical treatment, amusement, scientific research, industrial production.Manipulator is one of key technology of bone cutting equipment research, clamping fastener is played a part in cutting equipment, manipulator is also bone cutting machine mechanical part the most flexibly, and therefore the development of manipulator technology has vital status in the research of bone cutting equipment.
Germany's DLR series mechanical hand had four generation product, the object of development provides in cabin and out of my cabin to serve in space.The manipulator The Smart Award Hand of Shadow company of Britain has the identical free degree of same staff, finger motion space and grip.Its size is close with staff, heavily about 5-10 kilogram, and the actuating speed of its " finger " is approximately the half of the finger constant speed of people.Beijing Institute of Aeronautics has issued three generations BH manipulator, and wherein BH-3 type is comparative maturity, sells to Hong Kong, and Australia is as the model of laboratory experiment.The beginning of domestic manipulator research has been started in the issue of BH Dextrous Hand series, has filled up the research blank of domestic multi-finger clever hand at that time, for solid foundation has been established in the development of China's multifinger hand manufacture and control technology.Also has gondola DIST manipulator in addition, the Okada manipulator of Japan, manipulator of Honda Company etc.
The research and development of homogeneous allogenic bone cutter sweep meet the requirement of medicine equipment quality of production management regulation, and require that it adapts to the processing of irregularly shaped allogeneic bone material, meet the clinical demand to products of different specifications, improve the security of operation, aggregate utilization rate, reach dust-proof, the anti-pollution and purity requirements of production environment.On the other hand manipulator replaces the manual operations adopted clinically that bone tissue is cut into required form, not only reduces time and manpower, also assures that medical worker safely, improve cut lengths precision.
Summary of the invention
Object of the present invention, exactly in order to solve the problem, a kind of clamping device of homogeneous allogenic bone cutting equipment is provided, to realize clamping, the athletic performance such as propelling and rotation of holding hand in bone grafting material cutting equipment, adapts to the processing of irregularly shaped bone material.
In order to achieve the above object, present invention employs following technical scheme: a kind of clamping device of homogeneous allogenic bone cutting equipment, it comprises:
Base;
Support, it is arranged on the rear portion of base;
Flat-removing air cyclinder, its level is rack-mount;
Rotary cylinder mount pad, it is connected to the piston nose of flat-removing air cyclinder;
Rotary cylinder, it is arranged on the front end of rotary cylinder mount pad;
Wrist, the rotating shaft being connected to rotary cylinder can rotate under the driving of rotary cylinder;
Finger actuation motor, totally four are uniformly distributed and are arranged on after wrist;
Rotary finger, totally four are uniformly set at before wrist, and four rotary fingers are each passed through wrist and are connected with four finger actuation motor-drivens;
Pressure sensor, totally four are arranged on the finger tip of four rotary fingers respectively;
Displacement transducer, totally four are arranged on the finger tip of four rotary fingers respectively.
Be respectively equipped with spherical structure inside the finger tip of described each rotary finger, described pressure sensor and displacement transducer are arranged on corresponding spherical structure respectively.
Described each rotary finger is respectively to wrist center curvature, and the finger tip of four rotary fingers forms clamp structure.
By worm-and-wheel gear transmission between described rotary finger and finger actuation motor.
Described flat-removing air cyclinder is that air pressure drives cylinder.
The present invention has following advantage and disadvantage:
1), the type of drive that adopts is air pressure transmission dynamic formula, and Pneumatic Transmission power output is little, convenient, is pneumaticly swift in motion, and structure is simple, and cost is low, is applicable to carry out work in the environment of underloading.
2), finger be the component directly contacted with object, in order to various bone tissue in irregular shape effectively can be grasped, in finger section, pressure sensor and displacement transducer are housed, the forms of motion of finger is rotary type structure, rotary finger structure is simple, easily manufactures, is widely used.
3), this clamping device is Intelligent Installation fixture, can adapt to the processing of the bone material of difformity size, improves the utilization rate of security and material.
Accompanying drawing explanation
Fig. 1 of the present inventionly faces structural representation;
Fig. 2 is plan structure schematic diagram of the present invention.
Detailed description of the invention
See Fig. 1, coordinate see Fig. 2, the clamping device of homogeneous allogenic bone cutting equipment of the present invention, comprises base 1, support 2, flat-removing air cyclinder 3, rotary cylinder mount pad 4, rotary cylinder 5, wrist 6, finger actuation motor 7, rotary finger 8, pressure sensor 9 and displacement transducer 10.Wherein, support 2 is arranged on the rear portion of base 1; Flat-removing air cyclinder 3 level is rack-mount; Rotary cylinder mount pad 4 is connected to the piston nose of flat-removing air cyclinder; Rotary cylinder 5 is arranged on the front end of rotary cylinder mount pad; The rotating shaft that wrist 6 is connected to rotary cylinder can rotate under the driving of rotary cylinder; 7 four, finger actuation motor is uniformly distributed and is arranged on after wrist; Rotary finger 8 totally four be uniformly set at before wrist, four rotary fingers are each passed through wrist and are connected with four finger actuation motor-drivens; Pressure sensor 9 totally four be arranged on the finger tip of four rotary fingers respectively; Displacement transducer 10 totally four be arranged on respectively on the finger tip of four rotary fingers.
Be respectively equipped with spherical structure 81 inside the finger tip of above-mentioned each rotary finger 8, each pressure sensor and displacement transducer are arranged on corresponding spherical structure respectively.
Above-mentioned each rotary finger is respectively to wrist center curvature, and the finger tip of four rotary fingers forms clamp structure.
By worm-and-wheel gear transmission between above-mentioned rotary finger and finger actuation motor.
Above-mentioned flat-removing air cyclinder is that air pressure drives cylinder.
Clamping device of the present invention adopts Pneumatic Transmission, by air cylinder driven cylinder piston, by the movement of cylinder piston promotion robot horizontal direction.Its advantage is swift in motion, and is quick on the draw.
Wrist portion in the present invention is driven by rotary cylinder, and rotary cylinder drives rotary finger to rotate, and can realize 360 degree of rotations of bone material, make scanner scanning to the cross section of bone material, for clipping operation is submitted necessary information.
By worm-and-wheel gear transmission between four rotary fingers and finger actuation motor, direct Bonding pressure sensor and displacement transducer above finger tip, judge to help it to clamp irregularly shaped bone by force analysis and displacement, the clinical demand that products of different specifications is produced can be met, improve the security of operation, the utilization rate of bone material.
Adopt the clamping device of homogeneous allogenic bone cutting equipment of the present invention, homogeneous allogenic bone transplantation material can be made to carry out easily installing, clamp and cutting on process equipment, with the utilization rate of the security and material that improve processing.On the other hand optimize whole cutter sweep structure, can flexible Application in the precise cutting of homogeneous allogenic bone, the requirement of implanted medical device manufacturing practices can be met simultaneously.
Claims (5)
1. a clamping device for homogeneous allogenic bone cutting equipment, is characterized in that comprising:
Base;
Support, it is arranged on the rear portion of base;
Flat-removing air cyclinder, its level is rack-mount;
Rotary cylinder mount pad, it is connected to the piston nose of flat-removing air cyclinder;
Rotary cylinder, it is arranged on the front end of rotary cylinder mount pad;
Wrist, the rotating shaft being connected to rotary cylinder can rotate under the driving of rotary cylinder;
Finger actuation motor, totally four are uniformly distributed and are arranged on after wrist;
Rotary finger, totally four are uniformly set at before wrist, and four rotary fingers are each passed through wrist and are connected with four finger actuation motor-drivens;
Pressure sensor, totally four are arranged on the finger tip of four rotary fingers respectively;
Displacement transducer, totally four are arranged on the finger tip of four rotary fingers respectively.
2. the clamping device of homogeneous allogenic bone cutting equipment according to claim 1, is characterized in that: be respectively equipped with spherical structure inside the finger tip of described each rotary finger, described pressure sensor and displacement transducer are arranged on corresponding spherical structure respectively.
3. the clamping device of homogeneous allogenic bone cutting equipment according to claim 1, is characterized in that: described each rotary finger is respectively to wrist center curvature, and the finger tip of four rotary fingers forms clamp structure.
4. the clamping device of homogeneous allogenic bone cutting equipment according to claim 1, is characterized in that: by worm-and-wheel gear transmission between described rotary finger and finger actuation motor.
5. the clamping device of homogeneous allogenic bone cutting equipment according to claim 1, is characterized in that: described flat-removing air cyclinder is that air pressure drives cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310589874.0A CN104647455B (en) | 2013-11-20 | 2013-11-20 | The clamping device of homogeneous allogenic bone cutting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310589874.0A CN104647455B (en) | 2013-11-20 | 2013-11-20 | The clamping device of homogeneous allogenic bone cutting equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104647455A true CN104647455A (en) | 2015-05-27 |
| CN104647455B CN104647455B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310589874.0A Active CN104647455B (en) | 2013-11-20 | 2013-11-20 | The clamping device of homogeneous allogenic bone cutting equipment |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5052736A (en) * | 1990-02-02 | 1991-10-01 | The University Of Maryland | Modular dexterous hand |
| US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
| CN2734438Y (en) * | 2004-08-26 | 2005-10-19 | 龙超祥 | Perforated manipulator for plastic rubber fuel oil tank |
| CN100999076A (en) * | 2007-01-12 | 2007-07-18 | 西北工业大学 | Pneumatic mechanical hand and method of implementing automatic sheet taking using said mechanical hand |
| CN101934523A (en) * | 2009-06-30 | 2011-01-05 | 和硕联合科技股份有限公司 | Clamping device |
| CN201998197U (en) * | 2010-12-31 | 2011-10-05 | 慈溪市东南复合材料有限公司 | Automatic edge trimmer |
| CN202480095U (en) * | 2012-03-27 | 2012-10-10 | 嵊州市圣烈自动化设备有限公司 | Finger manipulator |
| CN203600308U (en) * | 2013-11-20 | 2014-05-21 | 上海理工大学 | Clamping device for allograft bone cutting equipment |
-
2013
- 2013-11-20 CN CN201310589874.0A patent/CN104647455B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5052736A (en) * | 1990-02-02 | 1991-10-01 | The University Of Maryland | Modular dexterous hand |
| US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
| CN2734438Y (en) * | 2004-08-26 | 2005-10-19 | 龙超祥 | Perforated manipulator for plastic rubber fuel oil tank |
| CN100999076A (en) * | 2007-01-12 | 2007-07-18 | 西北工业大学 | Pneumatic mechanical hand and method of implementing automatic sheet taking using said mechanical hand |
| CN101934523A (en) * | 2009-06-30 | 2011-01-05 | 和硕联合科技股份有限公司 | Clamping device |
| CN201998197U (en) * | 2010-12-31 | 2011-10-05 | 慈溪市东南复合材料有限公司 | Automatic edge trimmer |
| CN202480095U (en) * | 2012-03-27 | 2012-10-10 | 嵊州市圣烈自动化设备有限公司 | Finger manipulator |
| CN203600308U (en) * | 2013-11-20 | 2014-05-21 | 上海理工大学 | Clamping device for allograft bone cutting equipment |
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| Publication number | Publication date |
|---|---|
| CN104647455B (en) | 2016-08-17 |
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Effective date of registration: 20171128 Address after: 201203 Shanghai city Chinese (Shanghai) free trade zone 351 GuoShouJing Road No. 1 building 520 room Patentee after: Shanghai Asia Biological Technology Co., Ltd. Address before: 200093 Shanghai military road, Yangpu District, No. 516 Patentee before: University of Shanghai for Science and Technology |