CN104758035A - Six-degree-of-freedom series- reduction robot for fracture of pelvis - Google Patents
Six-degree-of-freedom series- reduction robot for fracture of pelvis Download PDFInfo
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- CN104758035A CN104758035A CN201510144378.3A CN201510144378A CN104758035A CN 104758035 A CN104758035 A CN 104758035A CN 201510144378 A CN201510144378 A CN 201510144378A CN 104758035 A CN104758035 A CN 104758035A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
Abstract
The invention provides a six-degree-of-freedom series- reduction robot for fracture of pelvis. The six-degree-of-freedom series- reduction robot comprises a chassis assembly, a serial-connection platform assembly, a series- connection assembly, a parallel-connection platform assembly and an outer fixing frame assembly, wherein the chassis assembly is arranged at the bottom end of the robot and in contact with the ground through four universal wheels; the serial-connection platform assembly is positioned above the chassis assembly and fixedly connected with the chassis assembly; the outer fixing frame assembly is connected with the parallel-connection platform assembly and integrally connected with the series-connection platform assembly through the series-parallel connection assembly. The robot can replace a doctor to perform the reduction of fracture of pelvis, so that the labor intensity of the doctors can be reduced; the series-parallel platform assembly is a three-degree-of-freedom linear moving mechanism and the parallel-connection platform assembly is a three-degree-of-freedom rotary moving mechanism, and the series-parallel connection mechanism formed by combining the two mechanisms can perform six-degree-of-freedom movement; the robot has the advantages of being high in precision, high in loading capacity and rigidity, reasonable in working space, and compact in structure.
Description
Technical field
The present invention relates to a kind of six degree of freedom connection in series-parallel fracture of pelvis reset robot, belong to surgical medical equipment field.
Background technology
Fracture of pelvis is a kind of serious wound, and fatality rate is high, comparatively common in the disaster such as earthquake, traffic accident.Traditional pelvis-repositioning method, by repeatedly taking X-ray in art, determines reset path, and the amount of radiation that doctor and patient accept is large, and doctor cannot grasp accurate fracture condition information by two dimensional image, brings difficulty to path planning; When there is unstable fracture, also need open reattachment surgery, the wound caused sufferer is large, and the operation strength of doctor is large, very easily causes malreduction.In current research, more to the achievement in research of fracture of pelvis resetting-mechanism both at home and abroad, such as, disclose a kind of mechanism configuration for pelvis-repositioning in the Cheng Shanbao " pelvis fracture operation repositor " of Jiyang County, Jinan City, Shandong Province the People's Hospital.But most of mechanism can only complete the operation of pelvis-repositioning by the hand-held assist physician of doctor, initiatively can not complete pelvis-repositioning, can reach a conclusion, and current achievement in research also exists the problems such as specific aim is strong, operability is not strong.
Summary of the invention
Instant invention overcomes shortcoming of the prior art, propose a kind of six degree of freedom connection in series-parallel fracture of pelvis reset robot, assist physician realizes the function that fracture of pelvis resets.
The object of the present invention is achieved like this:
A kind of six degree of freedom connection in series-parallel fracture of pelvis reset robot, it comprises chassis assembly, series connection platform assembly, connection in series-parallel coupling assembling, parallel connection platform assembly, external fixer assembly; Position annexation between them is: chassis assembly is positioned at this robot bottom and by its 4 universal wheels and earth surface; Series connection platform assembly is positioned on chassis assembly and is also connected with it; External fixer assembly is connected with parallel connection platform assembly and is linked together with platform assembly of connecting by connection in series-parallel coupling assembling.
Described chassis assembly comprises bottom support platform 1 and 4 universal wheels 2, and bottom support platform 1 and 4 universal wheels 2 are connected respectively; This bottom support platform 1 is plate-type structural piece, and for supporting robot body and placing other components, this universal wheel 2 is commercial common universal wheels, for providing support and locomotive function for robot;
Described series connection platform assembly comprises 3 linear motion unit assemblies, straight line connecting plate 3, right-angle connecting plate 4 and pilot unit assembly, this linear motion unit assembly comprises straight line units base plate 5, motor baffle plate 6, motor 7, shaft coupling 8, support 9, 2 guide rails 10, screw mandrel 11, screw mandrel backboard 12, slide block installing plate 13, 2 slide blocks 14, screw rod transmission nut 15, its annexation is: motor baffle plate 6 and screw mandrel backboard 12 are connected with the two ends of straight line units base plate 5 respectively, motor 7 and motor baffle plate 6 are connected, the motor shaft of motor 7 is connected with screw mandrel 11 by shaft coupling 8 through the hole on motor baffle plate 6, screw rod bracket 9 and straight line units base plate 5 are connected, screw mandrel 11 is successively through the hole on support 9, the screwed hole of screw rod transmission nut 15 is connected with screw mandrel backboard 12, screw rod transmission nut 15 and slide block installing plate 13 are connected, 2 guide rails 10 are connected with the both sides of straight line units base plate 5 respectively, 2 slide blocks 14 are connected respectively with 2 guide rails 10, 2 slide blocks and slide block installing plate 13 are connected, this straight line units base plate 5 is rectangular plate-like structural member, for supporting linear motion unit, this motor baffle plate 6 is rectangular plate-like structural member with holes, for support motor 7, this motor 7 is ordinary city power purchase machine, for providing the power of rotary motion for mechanism, this shaft coupling 8 is common commercial shaft coupling, for connecting two axles and transmitting rotational motion and moment of torsion, this support 9 is block structure part with holes, for support screw 11, this guide rail 10 is list structure part, for providing guiding for slide block 14, this screw mandrel 11 is common commercial screw mandrel, for the rotation of motor 7 motor shaft being converted into the rotation of screw mandrel 11, this screw mandrel backboard 12 is rectangular plate-like structural member with holes, for support screw 11, this slide block installing plate 13 is rectangular plate-like structural member, for connection sliding block 14 and screw rod transmission nut 15, this slide block 14 is the list structure part of band groove, guiding is provided for coordinating guide rail 10, this screw rod transmission nut 15 is block structure part with threaded hole, for being rectilinear motion by the convert rotational motion of screw mandrel 11, this pilot unit assembly comprises straight line units base plate 5,2 supports 9,2 guide rails 10,2 slide blocks 14, the axis of guide 16, slide block installing plate 13 and unthreaded hole leading trucks 17, its annexation is: 2 supports 9 are connected with straight line units base plate 5 respectively, the axis of guide 16 is connected through the hole on unthreaded hole leading truck 17 and 2 supports 9, unthreaded hole leading truck 17 and slide block installing plate 13 are connected, 2 guide rails 10 are connected with straight line units base plate 5 respectively, 2 slide blocks 14 are connected with 2 guide rails 10 respectively, and 2 slide blocks 14 are connected with slide block installing plate 13 respectively, this axis of guide 16 is round bar shape structural member, and for providing the guiding of rectilinear direction for mechanism, this unthreaded hole leading truck 17 is the block structure part of band unthreaded hole, provides the guiding of rectilinear direction for coordinating the axis of guide 16 for mechanism, in the side of this straight line connecting plate 3 and the slide block installing plate 13 of the first linear motion unit and guidance set, slide block installing plate 13 is connected respectively, the opposite side of this straight line connecting plate 3 and the straight line units base plate 5 of the second linear motion unit are connected, this straight line connecting plate 3 is plate-type structural piece, for the connection between assembly, a right-angle surface of this right-angle connecting plate 4 and the slide block installing plate 13 of the second linear motion unit are connected, another right-angle surface of this right-angle connecting plate 4 and the straight line units base plate 5 of the 3rd linear motion unit are connected, this right-angle connecting plate 4 is L-type plate-type structural piece, for the vertical connection between assembly,
Described series connection platform assembly with the annexation of chassis assembly is: in platform assembly of connecting, the straight line units base plate 5 of the first linear motion unit is connected with backplanes support plate 1 in chassis assembly, and in series connection platform assembly, the straight line units base plate 5 of pilot unit assembly is connected with backplanes support plate 1 in chassis assembly;
Described connection in series-parallel coupling assembling comprises connection in series-parallel installing plate 18, connection in series-parallel installing rack 19,2 angle bar connectors 20, and its annexation is: connection in series-parallel installing plate 18 is connected with the bottom of connection in series-parallel installing rack 19; Connection in series-parallel installing rack 19 and angle bar connector 20 are connected at top; This connection in series-parallel installing plate 18 is slab construction parts, and for the connection of two parts, this connection in series-parallel installing rack 19 is common commercial square iron pipe, and for the connection of two parts, this angle bar connector 20 is the connection that common commercial angle bar part is used for two parts;
Described connection in series-parallel coupling assembling with the annexation of platform assembly of connecting is: in connection in series-parallel coupling assembling, connection in series-parallel installing plate 18 is connected with the slide block installing plate 13 of the 3rd linear motion unit in platform assembly of connecting;
Described parallel connection platform assembly comprises upper mounting plate unit block and lower platform unit block; Be interconnected with one another between the two.
This lower platform unit block comprises lower platform installing plate 21, upper lower platform power transmission shaft 22, lower platform axle sleeve 23, lower platform shaft-cup 24, gear wheel 25, pinion 26, motor 7, its annexation is: lower platform installing plate 21 and lower platform axle sleeve 23 are connected, lower platform axle sleeve 23 and lower platform shaft-cup 24 are connected, upper lower platform power transmission shaft 22 is connected by the macropore on lower platform shaft-cup 24 and gear wheel 25, motor 7 and lower platform shaft-cup 24 are connected, and the motor shaft of motor 7 is connected through the aperture on lower platform shaft-cup 24 and pinion 26, pinion 26 is connected with gear wheel 25, this lower platform installing plate 21 is the block structure part of band face of cylinder breach, its breach is consistent with the surface of lower plane axle sleeve 23, for fixing lower plane axle sleeve 23, this lower plane shaft-cup 24 is the plate-type structural piece in band two holes, for the motor shaft of motor 7 and the connection of upper lower platform power transmission shaft 22, this gear wheel 30 is commercial ordinary gear with pinion 31, can intermesh, for realizing the transmission of rotary motion, on this, lower platform turning cylinder 22 is the thin multidiameter in thick side, side, for rotary motion is passed to upper mounting plate unit block,
This upper mounting plate unit block comprises upper mounting plate connecting plate 27, 4 rotary support frames 28, hollow bracing frame 29, 2 electric cylinders 30, 2 electric cylinder connectors 31, 3 Double-directional rotary blocks 32, electric cylinder connects minor axis 33, electric cylinder connects major axis 34, U-shaped platform 35, upper mounting plate bracing frame 36, upper mounting plate support bar 37, its annexation is: upper mounting plate connecting plate 27 and the first rotary support frame 28 and the second rotary support frame 28 are connected, hollow bracing frame 29 is connected with the first rotary support frame 28 and the second rotary support frame 28 by axle, first electric cylinder 30 is connected with back-shaped bracing frame 29 by axle, the push rod of the first electric cylinder 30 is connected with the first electric cylinder connector 31 by screw thread, first electric cylinder connector 31 is connected with the first Double-directional rotary block 32 by axle, first Double-directional rotary block 32 connects minor axis 33 by electric cylinder and is connected with U-shaped platform 35, upper mounting plate connecting plate 27 and the 3rd rotary support frame 28 and the 4th rotary support frame 28 are connected, second electric cylinder 30 is connected with the 3rd rotary support frame 28 and the 4th rotary support frame 28 by axle, the push rod of the second electric cylinder 30 is connected with the second electric cylinder connector 31 by screw thread, second electric cylinder connector 31 is connected with the second Double-directional rotary block 32 by axle, second Double-directional rotary block 32 connects major axis 34 by electric cylinder and is connected with U-shaped platform 35, upper mounting plate connecting plate 27 and upper mounting plate support bar 37 are connected, upper mounting plate support bar 37 and upper mounting plate bracing frame 36 are connected, upper mounting plate bracing frame 36 is connected with the 3rd Double-directional rotary block 32 by axle, 3rd Double-directional rotary block 32 connects major axis 34 by electric cylinder and is connected with U-shaped platform 35, this upper mounting plate connecting plate 27 is the plate-type structural piece of band two U-shaped grooves, for supporting the part on upper mounting plate, this transmission support frame 28 is block structure part with holes, for supporting hollow bracing frame 29 and the second electric cylinder 30, the block structure part of this hollow bracing frame 29 to be the coherent perforated sections in both sides be hollow, for supporting the first electric cylinder 30, this electric cylinder 30 purchases electric cylinder for push rod end fills threaded ordinary city, for mechanism provides the power of rectilinear direction, this electric cylinder connector 31 is with threaded hole and at the block structure part of screwed hole vertical direction with axle installing hole, the screwed hole of side is for connecting the push rod of electric cylinder 31, the hole of opposite side is used for and is connected Double-directional rotary block and is connected by axle, this Double-directional rotary block is the block structure part respectively having a through hole on the vertical plane, for connecting two parts, second part is rotated in the two directions relative to first part, it is rod-like structure part that this electric cylinder connects minor axis 33, for connecting the first Double-directional rotary block 32 and U-shaped platform and increasing axial rotary motion, it is rod-like structure part that this electric cylinder connects major axis 34, for connecting second, three Double-directional rotary blocks 32 and U-shaped platform 35 and increase the rotary motion of part axial, this U-shaped platform 35 for interface be U-shaped block structure part, minor axis 33 and electric cylinder connection major axis 34 is connected for connecting electric cylinder, this upper mounting plate bracing frame 36 wears the block structure part of through hole for Intermediate Gray groove side, for connecting the 3rd Double-directional rotary block 32, this upper mounting plate support bar 37 is the rod-like structure part of bottom belt disc face, for supporting U-shaped platform 35, the upper mounting plate connecting plate 27 of this upper mounting plate unit block is connected with the upper lower platform power transmission shaft of lower platform unit block,
Described parallel connection platform assembly and the annexation of connection in series-parallel coupling assembling are: in parallel connection platform assembly, the lower platform installing plate 21 of lower platform unit block is connected with 2 angle bar connectors 19 in connection in series-parallel coupling assembling;
Described external fixer assembly comprises outer stationary plates 38,2 shaft holders 39,2 universal joints 40, horizontal fixed axis 41, longitudinal fixed axis 42, its annexation is: 2 shaft holders 39 are connected with outer stationary plates 38, horizontal fixed axis 41 and 2 shaft holders 39 are connected, longitudinal fixed axis 42 is connected with outer stationary plates 38, first universal joint 40 is connected with horizontal fixed axis 41, and the second universal joint 40 is connected with longitudinal fixed axis 42; This outer stationary plates 38 is rectangular plate-like structural member, for supporting the part of external fixer, this shaft holder 39 is block structure part with holes, for fixed lateral fixed axis 41, this horizontal fixed axis is rod-like structure part, for placing the first universal joint 40, this longitudinal fixed axis 42 is rod-like structure part, for placing the second universal joint 40, this universal joint 40 is common commercial universal joints, for the locking pin of the pelvis that is clamped and connected;
Described external fixer assembly and the annexation of parallel connection platform assembly are: in external fixer assembly, outer stationary plates 38 is connected with the U-shaped platform 35 of upper mounting plate unit block in parallel connection platform assembly.
Compared with prior art, the invention has the beneficial effects as follows:
1. this robot can replace doctor to realize fracture of pelvis reset operation, reduces doctor's labor intensity;
2. this robot series connection platform assembly is 3DOF straight-line motion mechanism, parallel connection platform assembly is 3DOF rotational motion mechanism, both serial parallel mechanisms of being combined into can realize 6DOF motion, have that precision is high, load capacity and rigidity is large, work space rationally, the advantage such as compact conformation;
3. this robot can make doctor away from operative region, reduces the danger that doctor is subject to x radiation x in operation;
Accompanying drawing explanation
Fig. 1 is six degree of freedom connection in series-parallel fracture of pelvis reset robot overall diagram
Fig. 2 is chassis assembly
Fig. 3 is series connection platform assembly
Fig. 4 is linear motion unit assembly
Fig. 5 is pilot unit assembly
Fig. 6 is connection in series-parallel coupling assembling
Fig. 7 is parallel connection platform assembly
Fig. 8 is lower platform unit block
Fig. 9 is upper mounting plate unit block
Figure 10 is external fixer assembly
In figure: 1, bottom support platform, 2, universal wheel, 3, straight line connecting plate, 4, right-angle connecting plate, 5, straight line units base plate, 6, motor baffle plate, 7, motor, 8, shaft coupling, 9, support, 10, guide rail, 11, screw mandrel, 12, screw mandrel backboard, 13, slide block installing plate, 14, slide block, 15, screw rod transmission nut, 16, the axis of guide, 17, unthreaded hole leading truck, 18, connection in series-parallel installing plate, 19, connection in series-parallel installing rack, 20, angle bar connector, 21, lower platform installing plate, 22, upper lower platform power transmission shaft, 23, lower platform axle sleeve, 24, lower platform shaft-cup, 25, gear wheel, 26, pinion, 27, upper mounting plate connecting plate, 28, rotary support frame, 29, hollow bracing frame, 30, electric cylinder, 31, electric cylinder connector, 32, Double-directional rotary block, 33, electric cylinder connects minor axis, and 34, electric cylinder connects major axis, and 35, U-shaped platform, 36, upper mounting plate bracing frame, 37, upper mounting plate support bar, 38, outer stationary plates, 39, shaft holder, 40, universal knot, 41, horizontal fixed axis, 42, longitudinal fixed axis
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described further.
Population structure of the present invention as shown in Figures 1 to 10.
A kind of six degree of freedom connection in series-parallel fracture of pelvis reset robot is made up of chassis assembly, series connection platform assembly, connection in series-parallel coupling assembling, parallel connection platform assembly, external fixer assembly.In bottom deck assembly, universal wheel 2 can straight line moving or turning.
In linear motion unit assembly, slide block 14 can do rectilinear motion along guide rail 10, motor 7 can drive screw mandrel 11 to rotate by shaft coupling 8, because screw rod transmission nut 15 and screw mandrel 11 are by threaded engagement, move linearly along guide rail 10 so the convert rotational motion of screw mandrel 11 can be screw rod transmission nut 15 and the slide block installing plate 13 that is connected with it by screw rod transmission nut 15 with slide block 14.In pilot unit assembly, slide block 14 can do rectilinear motion along guide rail 10, when slide block installing plate 13 moves, the slide block 14 be connected with slide block installing plate 13 can do rectilinear motion along guide rail 10, the unthreaded hole leading truck 17 be connected with slide block installing plate 13 also does rectilinear motion along the axis of guide 16 simultaneously, mechanism is played to the effect of guiding.First straight line units moving parts, the second straight line units moving parts, the 3rd straight line units moving parts provide the linear translation degree of freedom in a direction respectively, the translational degree of freedom in 3 directions that series connection platform assembly entirety provides for robot, the slide block installing plate 13 of end the 3rd linear motion unit of series connection platform assembly can realize 3 direction linear translation.Series connection platform assembly and parallel connection platform assembly are connected by connection in series-parallel coupling assembling.In parallel connection platform assembly, the motor 7 of lower platform assembly drives pinion 26 to rotate, by the meshing relation of gear wheel 25 and pinion 26, rotation can be passed to the upper lower platform power transmission shaft 22 be connected with gear wheel 25, the upper mounting plate assembly be simultaneously connected with upper lower platform power transmission shaft 22 also can along with rotation.The extension bar of upper mounting plate assembly first electric cylinder 30 can stretch along its axis, mutually can be rotated by axle wherein between first electric cylinder 30 and the first Double-directional rotary block 32, first Double-directional rotary block 32 can connect minor axis 33 along electric cylinder and rotate, first electric cylinder 30 and hollow bracing frame 29 can rotate around the axle by the two, mutually can rotate around by the axle between the two between hollow bracing frame 29 and rotary support frame 28, the extension bar of the second electric cylinder 30 can stretch along its axis, mutually can rotate around the axle by the two between second electric cylinder 30 and the second Double-directional rotary block 32, second Double-directional rotary block 32 can connect major axis 34 along electric cylinder and rotate, first electric cylinder 30 and back-shaped bracing frame 29 can rotate mutually around the axle by the two, mutually can rotate around the axle by the two between upper mounting plate bracing frame 36 and the 3rd Double-directional rotary block 32, 3rd Double-directional rotary block 32 connects major axis 34 around electric cylinder and rotates.In upper mounting plate assembly, 2 electric cylinders 30 provide the rotational freedom of both direction for mechanism, in lower platform assembly, motor 7 provides the rotational freedom in a direction for mechanism, parallel connection platform component integration can provide the rotational freedom in 3 directions for robot, add the translational degree of freedom in 3 directions that series connection platform assembly provides for robot, the U-shaped platform 39 of end of parallel connection platform assembly can realize 6 degree of freedom.
The present invention works in the following manner: implant two pieces of staples at fracture of pelvis end, adjusts 2 positions of universal joint 40 on horizontal fixed axis 41 and longitudinal fixed axis 42, and staple fixed clamp can be lived by 2 universal knots 40.The position of the slide block installing plate 13 of the first linear motion unit is determined by the rotation direction and amount of spin controlling the motor 7 of the first linear motion unit in series connection platform assembly, the position of the slide block installing plate 13 of the second linear motion unit is determined by the rotation direction and amount of spin controlling the motor 7 of the second linear motion unit in series connection platform assembly, the position of the slide block installing plate 13 of the 3rd linear motion unit is determined by the rotation direction and amount of spin controlling the motor 7 of the 3rd linear motion unit in series connection platform assembly, the position of upper mounting plate connecting plate 27 is determined by the rotation direction and amount of spin controlling the motor 7 of parallel connection platform assembly linear movement unit, the position of U-shaped platform 35 is determined by the extension elongation controlling 2 electric cylinder 30 extension bars in parallel connection platform assembly, the position of the external fixer assembly fixing with U-shaped platform 35 can be determined, the locking pin fixed with external fixer assembly and the position of fracture of pelvis can be determined.Realized the motion of robot six degree of freedom by the rotation direction of the motor of 4 in control 7 and the extension elongation of amount of spin and 2 electric cylinder 30 extension bars, finally realize the reduction of the fracture operation of pelvis.
Be schematic with reference to the accompanying drawing description of this invention above, do not have restricted, those skilled in the art should be understood that, in reality is implemented, in the present invention, the shape of each component and layout type some all may occur change; And under enlightenment of the present invention, other staff also can make the design similar with the present invention or to the present invention make revise and certain component be equal to replacement.Special needs to be pointed out is, only otherwise depart from design aim of the present invention, all apparent changes and have equivalent similar Design of replacing, are all included within protection scope of the present invention.
Claims (1)
1. a six degree of freedom connection in series-parallel fracture of pelvis reset robot, is characterized in that: it comprises chassis assembly, series connection platform assembly, connection in series-parallel coupling assembling, parallel connection platform assembly and external fixer assembly; Chassis assembly is positioned at this robot bottom and by its 4 universal wheels and earth surface; Series connection platform assembly is positioned on chassis assembly and is also connected with it; External fixer assembly is connected with parallel connection platform assembly and is linked together with platform assembly of connecting by connection in series-parallel coupling assembling;
Described chassis assembly comprises bottom support platform (1) and 4 universal wheels (2), and bottom support platform (1) and 4 universal wheels (2) are connected respectively; This bottom support platform (1) is plate-type structural piece, for supporting robot body and placing other component; This universal wheel (2) is used to robot and provides support and locomotive function;
Described series connection platform assembly comprises 3 linear motion unit assemblies, straight line connecting plate (3), right-angle connecting plate (4) and pilot unit assembly, this linear motion unit assembly comprises straight line units base plate (5), motor baffle plate (6), motor (7), shaft coupling (8), support (9), 2 guide rails (10), screw mandrel (11), screw mandrel backboard (12), slide block installing plate (13), 2 slide blocks (14) and screw rod transmission nut (15), motor baffle plate (6) and screw mandrel backboard (12) are connected with the two ends of straight line units base plate (5) respectively, motor (7) and motor baffle plate (6) are connected, the motor shaft of motor (7) is connected with screw mandrel (11) by shaft coupling (8) through the hole on motor baffle plate (6), screw rod bracket (9) and straight line units base plate (5) are connected, screw mandrel (11) is successively through the hole on support (9), the screwed hole of screw rod transmission nut (15) is connected with screw mandrel backboard (12), screw rod transmission nut (15) and slide block installing plate (13) are connected, 2 guide rails (10) are connected with the both sides of straight line units base plate (5) respectively, 2 slide blocks (14) are connected respectively with 2 guide rails (10), 2 slide blocks and slide block installing plate (13) are connected, this straight line units base plate (5) is rectangular plate-like structural member, for supporting linear motion unit, this motor baffle plate (6) is rectangular plate-like structural member with holes, for support motor (7), this motor (7) is for providing the power of rotary motion for mechanism, this shaft coupling (8) is for connecting two axles and transmitting rotational motion and moment of torsion, this support (9) is block structure part with holes, for support screw (11), this guide rail (10) is list structure part, for providing guiding for slide block (14), this screw mandrel (11) is for being converted into the rotation of screw mandrel (11) by the rotation of motor (7) motor shaft, this screw mandrel backboard (12) is rectangular plate-like structural member with holes, for support screw (11), this slide block installing plate (13) is rectangular plate-like structural member, for connection sliding block (14) and screw rod transmission nut (15), this slide block (14) is the list structure part of band groove, provides guiding for coordinating guide rail (10), this screw rod transmission nut (15) is block structure part with threaded hole, for being rectilinear motion by the convert rotational motion of screw mandrel (11), this pilot unit assembly comprises straight line units base plate (5), 2 supports (9), 2 guide rails (10), 2 slide blocks (14), the axis of guide (16), slide block installing plate (13) and unthreaded hole leading truck (17), 2 supports (9) are connected with straight line units base plate (5) respectively, the axis of guide (16) is connected through the hole on unthreaded hole leading truck (17) and 2 supports (9), unthreaded hole leading truck (17) and slide block installing plate (13) are connected, 2 guide rails (10) are connected with straight line units base plate (5) respectively, 2 slide blocks (14) are connected with 2 guide rails (10) respectively, 2 slide blocks (14) are connected with slide block installing plate (13) respectively, this axis of guide (16) is round bar shape structural member, for providing the guiding of rectilinear direction for mechanism, this unthreaded hole leading truck (17) is the block structure part of band unthreaded hole, provides the guiding of rectilinear direction for coordinating the axis of guide (16) for mechanism, in the side of this straight line connecting plate (3) and the slide block installing plate (13) of the first linear motion unit and guidance set, slide block installing plate (13) is connected respectively, the opposite side of this straight line connecting plate (3) and the straight line units base plate (5) of the second linear motion unit are connected, this straight line connecting plate (3) is plate-type structural piece, for the connection between assembly, a right-angle surface of this right-angle connecting plate (4) and the slide block installing plate (13) of the second linear motion unit are connected, another right-angle surface of this right-angle connecting plate (4) and the straight line units base plate (5) of the 3rd linear motion unit are connected, this right-angle connecting plate (4) is L-type plate-type structural piece, for the vertical connection between assembly, in series connection platform assembly, the straight line units base plate (5) of the first linear motion unit is connected with backplanes support plate (1) in chassis assembly, and in series connection platform assembly, the straight line units base plate (5) of pilot unit assembly is connected with backplanes support plate (1) in chassis assembly,
Described connection in series-parallel coupling assembling comprises connection in series-parallel installing plate (18), connection in series-parallel installing rack (19) and 2 angle bar connectors (20), and connection in series-parallel installing plate (18) is connected with the bottom of connection in series-parallel installing rack (19); Connection in series-parallel installing rack (19) and angle bar connector (20) are connected at top; This connection in series-parallel installing plate (18) is slab construction part, for the connection of two parts; This connection in series-parallel installing rack (19) is square iron pipe, for the connection of two parts; This angle bar connector (20) is for angle bar part is for the connection of two parts; In connection in series-parallel coupling assembling, connection in series-parallel installing plate (18) is connected with the slide block installing plate (13) of the 3rd linear motion unit in platform assembly of connecting;
Described parallel connection platform assembly comprises upper mounting plate unit block and lower platform unit block; Be interconnected with one another between the two;
This lower platform unit block comprises lower platform installing plate (21), upper lower platform power transmission shaft (22), lower platform axle sleeve (23), lower platform shaft-cup (24), gear wheel (25), pinion (26) and motor (7), lower platform installing plate (21) and lower platform axle sleeve (2) are connected, lower platform axle sleeve (23) and lower platform shaft-cup (24) are connected, upper lower platform power transmission shaft (22) is connected by the macropore on lower platform shaft-cup (24) and gear wheel (25), motor (7) and lower platform shaft-cup (24) are connected, and the motor shaft of motor (7) is connected through the aperture on lower platform shaft-cup (24) and pinion (26), pinion (26) is connected with gear wheel (25), this lower platform installing plate (21) is the block structure part of band face of cylinder breach, and its breach is consistent with the surface of lower plane axle sleeve (23), for fixing lower plane axle sleeve (23), the plate-type structural piece that this lower plane shaft-cup (24) is band two holes, for the motor shaft of motor (7) and the connection of upper lower platform power transmission shaft (22), this gear wheel (30) and pinion (31) can intermesh, for realizing the transmission of rotary motion, on this, lower platform turning cylinder (22) is the thin multidiameter in thick side, side, for rotary motion is passed to upper mounting plate unit block,
This upper mounting plate unit block comprises upper mounting plate connecting plate (27), 4 rotary support frames (28), hollow bracing frame (29), 2 electric cylinders (30), 2 electric cylinder connectors (31), 3 Double-directional rotary blocks (32), electric cylinder connects minor axis (33), electric cylinder connects major axis (34), U-shaped platform (35), upper mounting plate bracing frame (36) and upper mounting plate support bar (37), upper mounting plate connecting plate (27) is connected with the first rotary support frame (28) and the second rotary support frame (28), hollow bracing frame (29) is connected with the first rotary support frame (28) and the second rotary support frame (28) by axle, first electric cylinder (30) is connected with back-shaped bracing frame (29) by axle, the push rod of the first electric cylinder (30) is connected with the first electric cylinder connector (31) by screw thread, first electric cylinder connector (31) is connected with the first Double-directional rotary block (32) by axle, first Double-directional rotary block (32) connects minor axis (33) by electric cylinder and is connected with U-shaped platform (35), upper mounting plate connecting plate (27) is connected with the 3rd rotary support frame (28) and the 4th rotary support frame (28), second electric cylinder (30) is connected with the 3rd rotary support frame (28) and the 4th rotary support frame (28) by axle, the push rod of the second electric cylinder (30) is connected with the second electric cylinder connector (31) by screw thread, second electric cylinder connector (31) is connected with the second Double-directional rotary block (32) by axle, second Double-directional rotary block (32) connects major axis (34) by electric cylinder and is connected with U-shaped platform (35), upper mounting plate connecting plate (27) and upper mounting plate support bar (37) are connected, upper mounting plate support bar (37) and upper mounting plate bracing frame (36) are connected, upper mounting plate bracing frame (36) is connected with the 3rd Double-directional rotary block (32) by axle, 3rd Double-directional rotary block (32) connects major axis (34) by electric cylinder and is connected with U-shaped platform (35), the plate-type structural piece that this upper mounting plate connecting plate (27) is band two U-shaped grooves, for supporting the part on upper mounting plate, this transmission support frame (28) is block structure part with holes, for supporting hollow bracing frame (29) and the second electric cylinder (30), this hollow bracing frame (29) for the coherent perforated sections in both sides be the block structure part of hollow, for supporting the first electric cylinder (30), this electric cylinder (30) fills threaded electric cylinder, for mechanism provides the power of rectilinear direction for push rod end, this electric cylinder connector (31) is for threaded hole and at the block structure part of screwed hole vertical direction with axle installing hole, the screwed hole of side is for connecting the push rod of electric cylinder (31), and the hole of opposite side is used for and is connected Double-directional rotary block and is connected by axle, this Double-directional rotary block (32) is the block structure part respectively having a through hole on the vertical plane, for connecting two parts, second part is rotated in the two directions relative to first part, it is rod-like structure part that this electric cylinder connects minor axis (33), for connecting the first Double-directional rotary block (32) and U-shaped platform and increasing axial rotary motion, it is rod-like structure part that this electric cylinder connects major axis (34), for connecting second and third Double-directional rotary block (32) and U-shaped platform (35) and increasing the rotary motion of part axial, this U-shaped platform (35) is U-shaped block structure part for interface, connects minor axis (33) and electric cylinder connection major axis (34) for connecting electric cylinder, this upper mounting plate bracing frame (36) wears the block structure part of through hole, for connecting the 3rd Double-directional rotary block (32) for Intermediate Gray groove side, the rod-like structure part that this upper mounting plate support bar (37) is bottom belt disc face, for supporting U-shaped platform (35), the upper mounting plate connecting plate (27) of this upper mounting plate unit block and the upper lower platform power transmission shaft of lower platform unit block are connected, in parallel connection platform assembly, the lower platform installing plate (21) of lower platform unit block is connected with 2 angle bar connectors (20) in connection in series-parallel coupling assembling,
Described external fixer assembly comprises outer stationary plates (38), 2 shaft holders (39), 2 universal joints (40), horizontal fixed axis (41) and longitudinal fixed axis (42), 2 shaft holders (39) are connected with outer stationary plates (38), horizontal fixed axis (41) is connected with 2 shaft holders (39), longitudinal fixed axis (42) is connected with outer stationary plates (38), first universal joint (40) is connected with horizontal fixed axis (41), and the second universal joint (40) is connected with longitudinal fixed axis (42); This outer stationary plates (38) is rectangular plate-like structural member, for supporting the part of external fixer; This shaft holder (39) is block structure part with holes, for fixed lateral fixed axis (41); This horizontal fixed axis is rod-like structure part, for placing the first universal joint (40); This longitudinal fixed axis (42) is rod-like structure part, for placing the second universal joint (40); This universal joint (40) is the locking pin for the pelvis that is clamped and connected; In external fixer assembly, outer stationary plates (38) is connected with the U-shaped platform (35) of upper mounting plate unit block in parallel connection platform assembly.
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| CN201510144378.3A CN104758035B (en) | 2015-03-30 | 2015-03-30 | A kind of six degree of freedom connection in series-parallel fracture of pelvis reset robot |
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| CN107028661A (en) * | 2017-05-16 | 2017-08-11 | 周国庆 | Full series connection upper and lower extremities pelvic fracture resets robot and remote real_time control system |
| CN107374912A (en) * | 2017-08-28 | 2017-11-24 | 哈尔滨理工大学 | A kind of upper-limbs rehabilitation training robot |
| CN107802333A (en) * | 2017-11-21 | 2018-03-16 | 杭州三坛医疗科技有限公司 | Bone reduction device |
| CN107965645A (en) * | 2017-11-17 | 2018-04-27 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of six degree of freedom series connection platform |
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| CN113208794A (en) * | 2021-04-20 | 2021-08-06 | 哈尔滨工业大学 | Lower limb fracture reduction parallel robot |
| CN113331946A (en) * | 2021-05-25 | 2021-09-03 | 上海大学 | Series-parallel connection pelvis fracture reduction robot |
| CN113648065A (en) * | 2021-07-30 | 2021-11-16 | 上海大学 | Clamping apparatus of pelvic fracture reduction robot |
| CN113662643A (en) * | 2021-08-20 | 2021-11-19 | 苏州大学 | Multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system |
| CN114191080A (en) * | 2021-11-25 | 2022-03-18 | 燕山大学 | Decoupling type bonesetting robot |
| WO2022095289A1 (en) * | 2020-11-03 | 2022-05-12 | 中国人民解放军总医院第一医学中心 | Spatial series-parallel pelvic fracture reduction robot |
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| CN107374912A (en) * | 2017-08-28 | 2017-11-24 | 哈尔滨理工大学 | A kind of upper-limbs rehabilitation training robot |
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| CN109335030A (en) * | 2018-11-20 | 2019-02-15 | 中国空气动力研究与发展中心超高速空气动力研究所 | A kind of four-dimension regulating device |
| CN109335030B (en) * | 2018-11-20 | 2023-08-22 | 中国空气动力研究与发展中心超高速空气动力研究所 | Four-dimensional adjusting device |
| WO2022095289A1 (en) * | 2020-11-03 | 2022-05-12 | 中国人民解放军总医院第一医学中心 | Spatial series-parallel pelvic fracture reduction robot |
| CN113208794A (en) * | 2021-04-20 | 2021-08-06 | 哈尔滨工业大学 | Lower limb fracture reduction parallel robot |
| CN113331946A (en) * | 2021-05-25 | 2021-09-03 | 上海大学 | Series-parallel connection pelvis fracture reduction robot |
| CN113648065A (en) * | 2021-07-30 | 2021-11-16 | 上海大学 | Clamping apparatus of pelvic fracture reduction robot |
| CN113648065B (en) * | 2021-07-30 | 2023-12-19 | 上海大学 | Clamping apparatus of pelvis fracture reduction robot |
| CN113662643A (en) * | 2021-08-20 | 2021-11-19 | 苏州大学 | Multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system |
| CN113662643B (en) * | 2021-08-20 | 2022-08-30 | 苏州大学 | Multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system |
| WO2023020237A1 (en) * | 2021-08-20 | 2023-02-23 | 苏州大学 | Multiple-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system |
| CN114191080A (en) * | 2021-11-25 | 2022-03-18 | 燕山大学 | Decoupling type bonesetting robot |
| CN114191080B (en) * | 2021-11-25 | 2024-01-30 | 燕山大学 | Decoupling type bone setting robot |
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Effective date of registration: 20220907 Address after: Room 401, Building 7, No. 188, Fuchunjiang Road, High-tech Zone, Suzhou City, Jiangsu Province, 215000 Patentee after: SUZHOU ZHUZHENG ROBOT CO.,LTD. Address before: 100191 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |