CN106236274B - A kind of operating robot equipped with swing arm - Google Patents
A kind of operating robot equipped with swing arm Download PDFInfo
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- CN106236274B CN106236274B CN201610838376.9A CN201610838376A CN106236274B CN 106236274 B CN106236274 B CN 106236274B CN 201610838376 A CN201610838376 A CN 201610838376A CN 106236274 B CN106236274 B CN 106236274B
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Abstract
The invention discloses a kind of operating robot equipped with swing arm, the brake structure braked including robot body, to robot body, the swing arm, the mechanical claw hand of installation on a swing arm that are mounted on robot body.The mechanical claw hand includes cleft hand rack, two pairs of cleft hands being hinged in cleft hand rack, is mounted in cleft hand rack for driving the cleft hand driving mechanism of two pairs of cleft hands movement；Under the driving of cleft hand driving mechanism, two pairs of cleft hands make gathering and expansion action.In operation, medical worker acts robot body and swing arm, is in mechanical claw hand at item to get body；Later, mechanical claw hand takes out the intracorporal fifth wheel of sufferer, simple to operate.
Description
Technical field
The present invention relates to medical instruments, in particular to a kind of operating robot equipped with swing arm.
Background technique
During surgery, medical worker takes object out of doctors and patients body, such as cotton balls, gauze, other internal fifth wheels, commonly use hand,
Tweezers, scissors, such tool is not easy and inconvenience exhausts internal fifth wheel completely, alternatively, internal fifth wheel is exhausted ratio completely
It is cumbersome.
Summary of the invention
Technical problem solved by the invention: the medical worker in operation is not easy or inconvenience is complete by fifth wheel in patient
It exhausts.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of operating robot equipped with swing arm,
Including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the operation being mounted in large arm
Hand, the forearm being fixed in large arm, the swing arm for being articulated in forearm front end, driving swing the first driving unit of arm swing, peace
The second driving unit that mechanical claw hand, driving mechanical claw hand mounted in swing arm front end rotate；In when the swing arm swing
Heart line is perpendicular to the rotation centerline of mechanical claw hand, and waist rotation member is around base body rotation, and large arm is around the rotation of waist rotation member；
The mechanical claw hand includes cleft hand rack, two pairs of cleft hands being hinged in cleft hand rack, is mounted in cleft hand rack
Cleft hand driving mechanism for driving two pairs of cleft hands to act；The cleft hand driving mechanism includes support body, the first locking body, second
Locking body；The left hand thread bar and right-handed thread bar of connection from beginning to end are equipped on the support body vertically, for driving left hand thread
The power device of bar and right-handed thread bar rotation；First locking body is spirally connected with left hand thread bar, the second locking body and dextrorotation
Threaded rod is spirally connected, and support body is equipped with the guide rod being oriented to the lifting of the first locking body and the second locking body；Described two
Two cleft hands in first pair of cleft hand in cleft hand are symmetrical set, two pawls in second pair of cleft hand in two pairs of cleft hands
It is symmetrical arranged before and after hand, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot being obliquely installed, second pair of pawl
The bottom of two cleft hands in hand opens up the second slide slot being obliquely installed, and the top of first locking body is equipped with to be slided with first
The first sliding pin that row slot is slidably matched, the top of the second locking body are equipped with the second sliding pin being slidably matched with the second slide slot.
According to the above technical scheme, a kind of working principle of operating robot equipped with swing arm of the present invention is as follows: the
One, medical worker holds manipulation hand, rotates large arm or waist rotation member, is in the mechanical claw hand on swing arm at item to get body；
Second, left hand thread bar and the right-handed thread bar head and the tail being linked together are fixed together, left hand thread bar and right-handed thread bar
Coaxial arrangement, left hand thread bar and right-handed thread bar rotate simultaneously, and left hand thread bar drives the decline of the first locking body, right-handed thread
Bar drives the second locking body to rise, and the first locking body drives the decline of the first sliding pin, since the first slide slot is obliquely installed,
The first sliding pin being vertically lowered can drive any cleft hand in first pair of cleft hand to rotate around the hinged place of itself and cleft hand rack, such as
This, first pair of cleft hand makees opposite swing；Meanwhile second locking body drive the second sliding pin rise, due to the second slide slot inclination set
(the inclined direction of the second slide slot and the first slide slot are inclined contrary) is set, therefore, the second sliding pin risen vertically drives
Rotate any cleft hand in second pair of cleft hand around the hinged place of itself and cleft hand rack, in this way, second pair of cleft hand makees opposite swing；
So far, two pairs of cleft hands are in shape is collapsed, for grabbing object；Third, under the driving of the first driving unit, the swing of swing arm can
Mechanical claw hand thereon is driven to swing, under the driving of the second driving unit, mechanical claw hand is rotatable.
Through the above technical solutions, first pair of cleft hand connects the first locking body, second pair of cleft hand connects the second locking body, and
The left hand thread bar being spirally connected with the first locking body and the right-handed thread bar being spirally connected with the second locking body are linked together, and are integrated knot
Structure can make second pair of cleft hand simultaneously operation and transport in this way, the present invention can make first pair of cleft hand simultaneously operation and motion amplitude is identical
Dynamic amplitude is identical, can make first pair of cleft hand and second pair of cleft hand simultaneously operation and motion amplitude is identical, so that mechanical claw hand is accurate
Fully grab sufferer intrabody object.Above-mentioned mechanical claw hand cooperates rotatable waist rotation member and large arm and swing arm, side
Just medical worker takes object out of patient.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack includes the cleft hand for being mounted on swing arm front end
Framework soleplate, is fixed on cleft hand rack support bar top at the cleft hand rack support rod being vertically arranged on cleft hand framework soleplate
Cleft hand rack top plate；The cleft hand driving mechanism is mounted on the lower section on cleft hand framework soleplate and being located at cleft hand rack top plate, institute
It states and opens up four hinge holes on cleft hand rack top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
As described above, swivel pin is fixed in each hinge hole, four cleft hands pass through swivel pin in a manner of one-to-one and are hinged on four
In a hinge hole.The bottom end of any cleft hand is located at the lower section of hinge hole, that is, inclined first slide slot and the equal position of the second slide slot
In the lower section of hinge hole.The cleft hand rack is equipped with integrated camera and lighting device, the integrated camera and photograph
Bright device is located between two pairs of cleft hands.The camera is electrically connected with display, and under the illumination of lighting device, medical worker can
The object in front of mechanical claw hand is observed from display.
As the present invention to a kind of explanation of mechanical claw hand, the support body includes pedestal, supporting plate；The pedestal fixation is set
It sets in cleft hand rack, the guide rod is fixed on the base, and the supporting plate is horizontally fixed on the top of guide rod；Described first
Locking body includes the first lifting chassis, a pair of first guide post, the first latch segment, the first concave block；First lifting chassis
It is screwed onto left hand thread bar, the first lifting chassis opens up the first guiding slot port, and first guiding slot port and guide rod slide
Cooperation；The pair of first guide post is vertically arranged on the first lifting chassis, and a pair of first pilot hole is opened up on the supporting plate,
A pair of first guide post cooperates in a manner of one-to-one in a pair of first pilot hole, and first latch segment is mounted on first and leads
To the top of column, first concave block is mounted on the top of the first latch segment, and first sliding pin is mounted on the first concave block
Top；Second locking body includes the second lifting chassis, the second guide post, locking plate, the second concave block；Described second liter
Drop chassis is screwed onto right-handed thread bar, and the second lifting chassis opens up the second guiding slot port, second guiding slot port and guiding
Bar is slidably matched；Second guide post is vertically arranged on the second lifting chassis, and the second lifting chassis is located at the first lifting bottom
The lower section of disk；First lifting chassis opens up the second pilot hole, and third pilot hole, second guiding are opened up on the supporting plate
Column is upward through the second pilot hole and third pilot hole；The locking plate is horizontally arranged at the top of the second guide post, and described
Two concave blocks are mounted on locking plate, and second sliding pin is mounted on the top of the second concave block；Is opened up on the locking plate
Four pilot holes, first guide post pass through the 4th pilot hole, and first latch segment is located at the top of locking plate.
As described above, the left hand thread bar being linked together rotates simultaneously with right-handed thread bar, left hand thread bar driving
First lifting chassis lifting, right-handed thread bar driving the second lifting chassis lifting, the lifting on the first lifting chassis is in the first guiding
Carried out under the guiding of notch and guide rod, second lifting chassis lifting under the guiding of the second guiding slot port and guide rod into
Row.
As the present invention to a kind of explanation of mechanical claw hand, the right-handed thread bar is located at the lower section of left hand thread bar, right
The bottom end of rotation threaded rod is articulated on pedestal, and the top of left hand thread bar is articulated on supporting plate, the bottom installation of right-handed thread bar
There is worm gear, worm gear is engaged with worm screw, and worm screw is horizontally disposed, and worm screw is articulated on pedestal, and worm screw couples with first servo motor, the
One servo motor is mounted on the base.As described above, the rotation of left hand thread bar and right-handed thread bar is by first servo motor
The worm and gear of driving drives, since worm and gear has good self-locking function, two pairs of cleft hands of the present invention exist
Any position in space can be steadily rested in swing process.
As the present invention to a kind of explanation of base body, the base body be equipped with symmetrical first level guide rail and
Second horizontal guide rail is sliding combined with first level sliding block on first level guide rail, is sliding combined on the second horizontal guide rail
Two horizontal sliders, the waist rotation member horizontal cross setting, the left and right ends of waist rotation member are cylindrical, the left end of waist rotation member
It is articulated in first level sliding block, the right end of waist rotation member is articulated in the second horizontal slider；The large arm is vertically arranged, large arm
Bottom end be articulated in the middle part of waist rotation member, the manipulator is mounted on the top of large arm, and the forearm is fixed in large arm
Portion, the swing arm are mounted on the top of forearm.As described above, waist rotation member can be led along first level guide rail and the second level
Rail is mobile, to increase the space of mechanical claw hand.
As the present invention to a kind of explanation of base body, the base body is equipped with brake structure, and brake structure includes solid
The brake rotation that a pair of of supporting plate for being scheduled on base body, the brake lever being articulated on a pair of of supporting plate, one end are fixedly connected with brake lever
Turn component, one end and the hinged brake connection component of the brake rotary components other end, hinged with the brake connection component other end
Lever assembly is hinged on supporting plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Described second is horizontal
Sliding block is equipped with brake plate, and brake plate is connect with the second horizontal slider by adjustable spring, and brake plate is located at waist rotation member right end
The side in face, the brake lever are close to brake plate.As described above, one end of medical worker's presses lever component, lever assembly
Around itself and supporting plate hinged place tilting, lever assembly drives brake rotary components rotation, brake rotation by brake connection component
The rotation of Component driver brake lever, the crest line of brake lever are against on brake plate towards a left side, are against waist transfer part in turn, on the left of brake plate
On part right side, waist rotation member is braked；When staff's presses lever component the other end and reset lever assembly
When, lever assembly drives brake rotary components to reversely rotate by brake connection component, and brake rotary components driving brake bar is anti-
To rotation, the crest line of brake lever leaves brake plate and no longer brake plate is driven to be moved to the left and brake waist rotation member.
In above-mentioned brake structure, the brake rotary components include the brake rotating seat being fixedly connected with brake lever and stop
The brake swingle that vehicle rotating seat is fixedly connected；The brake connection component includes that second brake hinged with brake swingle connects
Extension bar, the first brake connecting rod being fixedly connected with the second brake connecting rod；The lever assembly includes connecting with first brake
The hinged brake support of bar, the brake liner plate being fixedly connected with brake support, the brake support are hinged on supporting plate.
The base body is equipped with the second brake structure, and the second brake structure includes a pair second being fixed on base body
The second brake rotation that supporting plate, the second brake lever being articulated on a pair of second supporting plate, one end are fixedly connected with the second brake lever
Component, one end second brake connection component hinged with the second brake rotary components other end, the connection component that brakes with second are another
The second hinged lever assembly of one end is hinged on the second supporting plate in the middle part of the second lever assembly, the cross of second brake lever
Section is in regular hexagon；The first level sliding block is equipped with the second brake plate, and the second brake plate passes through with first level sliding block
The connection of second adjustable spring, the second brake plate are located at the side of waist rotation member left side, and second brake lever is close to the second system
Movable plate；The base body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, is combined with lever on third sliding pin, lever
Middle part opens up the bar shaped sliding slot being slidably matched with third sliding pin, and the lever assembly in the left end and brake structure of lever is hinged, thick stick
The right end of bar and the second lever assembly in the second brake structure are hinged.As described above, brake structure and the second brake structure
It is symmetrical set, the structure and function of the two is identical, and in operation, medical worker presses lever assembly, can be driven by lever
Dynamic second lever assembly linkage, similarly, medical worker presses the second lever assembly, can be joined by lever activation lever component
It is dynamic.The brake structure of linkage and the second brake structure simultaneously brake the right end of waist rotation member and left end.
As the present invention to a kind of explanation of forearm and swing arm connection relationship, the front end of the forearm opens up a spill and slits
Mouthful, the swing arm is articulated in spill gap.As described above, the swing arm is swung in the spill gap of forearm.
As the present invention to a kind of explanation of the first driving unit, first driving unit includes being mounted on forearm
First motor, the first gear unit for coupling first motor and swing arm；First gear unit includes being articulated on forearm
And it the second gear and third gear of coaxial arrangement, is articulated on forearm and the 4th gear being coaxially disposed and the first synchronous belt
The third axis take turns, being articulated on forearm, the second synchronous pulley being fixedly mounted on third axis；The output shaft of the first motor
On first gear is installed, first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley is logical
It crosses synchronous belt to couple with the second synchronous pulley, third axis is fixedly connected with swing arm.As described above, first motor by power according to
It is secondary to pass to third axis through first gear, second gear, third gear, the 4th gear, the first synchronous belt, the second synchronous belt, the
Three-axis drive swings arm swing.
As the present invention to a kind of explanation of the second driving unit, second driving unit includes installing on a swing arm
The second motor, couple the second motor and mechanical claw hand the second gear unit；Second gear unit includes and second is electric
The retarder of machine output shaft connection, the rotating disk connecting with retarder output end, mechanical claw hand are installed on the rotating pan.
As the present invention to a kind of explanation of relationship between waist rotation member and large arm, the waist rotation member is stopped equipped with large arm
Bassinet structure, the large arm brake structure include the basal disc being fixed on waist rotation member, a pair of the braking being mounted on basal disc
Piece, the solution lock slide being slidably arranged on basal disc；Brake disc is fixed in the large arm, a pair of of brake(-holder) block is symmetrical set
The periphery of brake disc, one end of a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection is in basal disc
On, solution lock slide be equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one end to open the wedge block of a pair of of brake(-holder) block.By upper
State bright, in operation, four finger grippings in medical worker's proficiency live in manipulator, and residue one refers to pressable wedge block, push unlock
For sliding block to the center translation of basal disc, wedge block travels in one end of a pair of of brake(-holder) block elastic connection to open a pair of of brake(-holder) block, such as
This, large arm is changed into rotatable state by the initial state by a pair of of brake(-holder) block friction catch.
About above-mentioned large arm brake structure, the basal disc is fixed on waist rotation member by support column；On the support column
Equipped with swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, and first
The left end of brake(-holder) block and the left end of the second brake(-holder) block are hinged on swivel pin, the right side of the right end of the first brake(-holder) block and the second brake(-holder) block
End passes through the first adjustable spring elastic connection；The right end of first brake(-holder) block is equipped with the first top pillar, and the right end of the second brake(-holder) block is equipped with
Second top pillar, the first top pillar and the second top pillar are oppositely arranged, and the first top pillar and the second top pillar are located in the first adjustable spring；It is described
First brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above,
First adjustable spring has the trend for closing up the first brake(-holder) block and the second brake(-holder) block, and the setting of the first top pillar and the second top pillar
Then have the function of stopping this kind of trend.
About above-mentioned large arm brake structure, the solution lock slide is equipped with a pair of of positioning pin, a pair of of positioning pin and wedge block
Front and back setting is on solution lock slide；The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set,
The right end of first brake(-holder) block is equipped with first positioning hole, and the right end of the second brake(-holder) block is equipped with second location hole, flexible first
Under the elastic force of spring, when the first top pillar and the second top pillar offset, the first positioning pin and second on the solution lock slide of translation are fixed
Position pin can be correspondingly inserted into first positioning hole and second location hole.As described above, when medical worker push solution lock slide to
When the center translation of basal disc, the first positioning pin and the second positioning pin are detached from first positioning hole and second location hole, meanwhile, wedge block
It protrudes between the first brake(-holder) block right end and the second brake(-holder) block right end, and is opened；After medical worker discharges solution lock slide, solution
Lock slide resets, and wedge block leaves the first brake(-holder) block right end and the second brake(-holder) block right end, meanwhile, the first positioning pin and the second positioning
Pin is correspondingly inserted into first positioning hole and second location hole, to lock a pair of of brake(-holder) block.
About above-mentioned large arm brake structure, the basal disc, which is equipped with, erects block, erects block and is equipped with the second adjustable spring, the
Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of two adjustable springs.
Detailed description of the invention
Following further describes the present invention with reference to the drawings:
Fig. 1 is a kind of structural schematic diagram of the operating robot equipped with swing arm of the present invention；
Fig. 2 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 1；
Fig. 3 is the structural schematic diagram of brake structure 70 in Fig. 2；
Fig. 4 is the combining structure schematic diagram of forearm 24, swing arm 80, mechanical claw hand 30 in Fig. 1；
Fig. 5 is the structural schematic diagram of mechanical claw hand 30 in Fig. 4；
Fig. 6 is the structural schematic diagram of any cleft hand in first pair of cleft hand 51 in Fig. 5；
Fig. 7 is the structural schematic diagram of any cleft hand in second pair of cleft hand 52 in Fig. 5；
Fig. 8 is the structural schematic diagram of the first concave block 625 in Fig. 5；
Fig. 9 is the structural schematic diagram of large arm brake structure 90 in Fig. 1；
Figure 10 is the structural schematic diagram that lock slide 923 is solved in Fig. 9.
Symbol description in figure:
10, base body；11, first level guide rail；12, the second horizontal guide rail；13, first level sliding block；130, the second system
Movable plate；14, the second horizontal slider；140, brake plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, mechanical claw hand；
40, cleft hand rack；41, cleft hand framework soleplate；42, cleft hand rack support rod；43, cleft hand rack top plate；44, it integrates
Camera and lighting device；
50, two pairs of cleft hands；51, first pair of cleft hand；511, the first slide slot；512, the first hinge hole；52, second pair of pawl
Hand；521, the second slide slot；522, the second hinge hole；
60, cleft hand driving mechanism；611, left hand thread bar；612, right-handed thread bar；613, guide rod；614, pedestal；
615, supporting plate；616, worm gear；617, worm screw；618, first servo motor；621, the first sliding pin；622, the first lifting chassis；
623, the first guide post；624, the first latch segment；625, the first concave block；626, the first guiding slot port；632, the second lifting bottom
Disk；633, the second guide post；634, locking plate；635, the second concave block；636, the second guiding slot port；
70, brake structure；701, supporting plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, it stops
Vehicle swingle；73, brake connection component；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake support；742, brake liner plate；700, the second brake structure；75, upright bar；76, third sliding pin；77, lever；
80, swing arm；81, first gear；82, second gear；84, the 4th gear；85, the first synchronous pulley；86, third
Axis；87, the second synchronous pulley；88, synchronous belt；89, rotating disk；
90, large arm brake structure；912, brake disc；921, basal disc；922, brake(-holder) block；9221, the first adjustable spring；
9222, location hole；923, lock slide is solved；924, wedge block；925, support column；927, positioning pin；928, block is erect；9281,
Two adjustable springs.
Specific embodiment
Such as Fig. 1, a kind of operating robot equipped with swing arm, including base body 10, the waist transfer part being articulated on base body
Part 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 being mounted in large arm, forearm 24, the pivot being fixed in large arm
It connects and swings the first driving unit of arm swing in the swing arm 80 of forearm front end, driving, be mounted on the gripper of swing arm front end
The second driving unit that hand 30, driving mechanical claw hand rotate；Central axis when the swing arm swing is in mechanical claw hand
Rotation centerline, waist rotation member are rotated around base body, and large arm is rotated around waist rotation member.
Such as Fig. 4, the front end of the forearm 24 opens up a spill gap, and the swing arm 80 is articulated in spill gap.Institute
State the first transmission list that the first driving unit includes the first motor being mounted on forearm 24, connection first motor and swing arm
Member；First gear unit include be articulated on forearm and be coaxially disposed second gear 82 and third gear, be articulated in it is small
On arm and coaxial arrangement the 4th gear 84 and the first synchronous pulley 85, be articulated on forearm third axis 86, be fixedly mounted on
The second synchronous pulley 87 on third axis；First gear 81 is installed, first gear and the on the output shaft of the first motor
The engagement of two gears, third gear are engaged with the 4th gear, and the first synchronous pulley is coupled by synchronous belt 88 with the second synchronous pulley,
Third axis is fixedly connected with swing arm.Second driving unit includes installation the second motor on a swing arm, the second transmission
Unit；Second gear unit includes and the retarder of the second motor output shaft connection, the rotation that connect with retarder output end
Turntable 89, mechanical claw hand 30 are installed on the rotating pan.
In conjunction with Fig. 5 to Fig. 8, the mechanical claw hand include cleft hand rack 40, two pairs of cleft hands 50 being hinged in cleft hand rack,
It is mounted on the cleft hand driving mechanism 60 in cleft hand rack for driving two pairs of cleft hands to act.The cleft hand driving mechanism includes bracket
Body, the first locking body, the second locking body；The left hand thread bar 611 and dextrorotation spiral shell of head and the tail connection are equipped on the support body vertically
Rasp bar 612, the power device for driving left hand thread bar and right-handed thread bar to rotate；First locking body and left hand thread
Bar is spirally connected, and the second locking body is spirally connected with right-handed thread bar, and support body is equipped with the lifting to the first locking body and the second locking body
The guide rod 613 being oriented to.Two cleft hands in first pair of cleft hand 51 in two pairs of cleft hands are symmetrical set, and two pairs
It is symmetrical arranged before and after two cleft hands in second pair of cleft hand 52 in cleft hand, the bottom of two cleft hands in first pair of cleft hand opens up
The bottom of the first slide slot 511 being obliquely installed, two cleft hands in second pair of cleft hand opens up the second slide slot being obliquely installed
521, the top of first locking body is equipped with the first sliding pin 621 being slidably matched with the first slide slot, the top of the second locking body
Portion is equipped with the second sliding pin being slidably matched with the second slide slot.
In mechanical claw hand 30, the cleft hand rack 40 includes the cleft hand framework soleplate 41 for being mounted on swing arm front end, vertical
The cleft hand rack support rod 42 that is arranged on cleft hand framework soleplate, the cleft hand rack top plate for being fixed on cleft hand rack support bar top
43；The cleft hand driving mechanism 60 is mounted on the lower section on cleft hand framework soleplate and being located at cleft hand rack top plate, the cleft hand machine
Four hinge holes are opened up on frame top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.The cleft hand
Rack is equipped with integrated camera and lighting device 44, the integrated camera and lighting device be located at two pairs of cleft hands it
Between.
In mechanical claw hand 30, the support body includes pedestal 614, supporting plate 615；The pedestal is fixed at cleft hand rack
On 40, the guide rod 613 is fixed on the base, and the supporting plate is horizontally fixed on the top of guide rod.First locking body
Including the first lifting chassis 622, a pair of first guide post 623, the first latch segment 624, the first concave block 625；Described first liter
Drop chassis is screwed onto left hand thread bar 611, and the first lifting chassis opens up the first guiding slot port 626, first guiding slot port
It is slidably matched with guide rod；The pair of first guide post is vertically arranged on the first lifting chassis, opens up one on the supporting plate
To the first pilot hole, a pair of first guide post cooperates in a manner of one-to-one in a pair of first pilot hole, first locking
Block is mounted on the top of the first guide post, and first concave block is mounted on the top of the first latch segment, first sliding pin 621
It is mounted on the top of the first concave block.Second locking body includes the second lifting chassis 632, the second guide post 633, locking plate
634, the second concave block 635；Second lifting chassis is screwed onto right-handed thread bar 612, and the second lifting chassis opens up second
Guiding slot port 636, second guiding slot port are slidably matched with guide rod；Second guide post is vertically arranged in the second lifting
On chassis, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second pilot hole, described
Third pilot hole is opened up on supporting plate, second guide post is upward through the second pilot hole and third pilot hole；The locking plate
It is horizontally arranged at the top of the second guide post, second concave block is mounted on locking plate, and second sliding pin is mounted on
The top of two concave blocks；Opening up the 4th pilot hole on the locking plate, first guide post passes through the 4th pilot hole, and described the
One latch segment is located at the top of locking plate.
In mechanical claw hand 30, the right-handed thread bar 612 is located at the lower section of left hand thread bar 611, the bottom of right-handed thread bar
End is articulated on pedestal 614, and the top of left hand thread bar is articulated on supporting plate 615, and the power device includes being mounted on dextrorotation
The worm gear 616 of threaded rod bottom, the worm screw 617 engaged with worm gear, the first servo motor 618 coupled with worm screw, worm screw are horizontal
Setting, worm screw are articulated on pedestal, and first servo motor is mounted on the base.
Such as Fig. 1, the base body 10 is equipped with symmetrical first level guide rail 11 and the second horizontal guide rail 12, and first
It is sliding combined with first level sliding block 13 on horizontal guide rail, the second horizontal slider 14, institute are sliding combined on the second horizontal guide rail
The setting of 21 horizontal cross of waist rotation member is stated, the left and right ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first
In horizontal slider, the right end of waist rotation member is articulated in the second horizontal slider；The large arm 22 is vertically arranged, the bottom end pivot of large arm
It connects at the middle part of waist rotation member, the manipulator 23 is mounted on the top of large arm, and the forearm 24 is fixed on the middle part of large arm, institute
State the top that swing arm 80 is mounted on forearm.
In conjunction with Fig. 2, Fig. 3, the base body 10 is equipped with brake structure 70, and brake structure includes being fixed on base body
Brake rotary components 72 that a pair of of supporting plate 701, the brake lever 71 being articulated on a pair of of supporting plate, one end are fixedly connected with brake lever,
One end and the hinged brake connection component 73 of the brake rotary components other end, the lever group hinged with the brake connection component other end
Part 74 is hinged on supporting plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Second horizontal slider
14 are equipped with brake plate 140, and brake plate is connect with the second horizontal slider by adjustable spring, and it is right that brake plate is located at waist rotation member 21
The side of end face, the brake lever are close to brake plate.
In above-mentioned brake structure, the brake rotary components 72 include the brake rotating seat being fixedly connected with brake lever 71
721, the brake swingle 722 being fixedly connected with brake rotating seat；The brake connection component 73 includes and brake swingle is cut with scissors
The the second brake connecting rod 732 connect, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever group
The brake liner plate 742 that part 74 includes the brake support 741 hinged with first brake connecting rod, is fixedly connected with the support that brakes, institute
Brake support is stated to be hinged on supporting plate 701.
Above-mentioned base body 10 is equipped with the second brake structure 700, and the second brake structure includes being fixed on base body 10
A pair of second supporting plate, the second brake lever being articulated on a pair of second supporting plate, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake connection component hinged with the second brake rotary components other end and the second brake connect
The second hinged lever assembly of the connected components other end is hinged on the second supporting plate in the middle part of the second lever assembly, and described second stops
The cross section of vehicle bar is in regular hexagon；The first level sliding block 13 is equipped with the second brake plate 130, the second brake plate and first
Horizontal slider is connected by the second adjustable spring, and the second brake plate is located at the side of 21 left side of waist rotation member, and described second stops
Vehicle bar is close to the second brake plate.The base body is equipped with upright bar 75, and the top of upright bar is equipped with third sliding pin 76, on third sliding pin
It is combined with lever 77, the bar shaped sliding slot being slidably matched with third sliding pin, the left end of lever and brake structure are opened up in the middle part of lever
Lever assembly 74 in 70 is hinged, and the right end of lever and the second lever assembly in the second brake structure 700 are hinged.
In conjunction with Fig. 1, Fig. 9, Figure 10, the waist rotation member 21 is equipped with large arm brake structure 90, the large arm brake structure
Including the basal disc 921 being fixed on waist rotation member, a pair of of the brake(-holder) block 922 being mounted on basal disc, it is slidably arranged in basal disc
On solution lock slide 923；Brake disc is fixed in the large arm, a pair of of brake(-holder) block is symmetrical set in the periphery of brake disc,
One end of a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection solves on lock slide on basal disc
Equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one end to open the wedge block 924 of a pair of of brake(-holder) block.
In above-mentioned large arm brake structure 90, the basal disc is fixed on waist rotation member by support column 925；It is set on support column
There is swivel pin；The pair of brake(-holder) block includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the first system
The left end of movable plate and the left end of the second brake(-holder) block are hinged on swivel pin, the right end of the right end of the first brake(-holder) block and the second brake(-holder) block
Pass through 9221 elastic connection of the first adjustable spring；The right end of first brake(-holder) block is equipped with the first top pillar, and the right end of the second brake(-holder) block is set
There is the second top pillar, the first top pillar and the second top pillar are oppositely arranged, and the first top pillar and the second top pillar are located in the first adjustable spring；Institute
The first brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block are stated, the first brake(-holder) block and the second brake(-holder) block surround brake disc 912.
In above-mentioned large arm brake structure 90, the solution lock slide is equipped with a pair of of positioning pin 927, a pair of of positioning pin and wedge shape
Setting is on solution lock slide before and after block；The pair of positioning pin includes the first positioning pin being symmetrical set and the second positioning
Pin, the right end of first brake(-holder) block are equipped with first positioning hole 9222, and the right end of the second brake(-holder) block is equipped with second location hole, the
Under the elastic force of one adjustable spring, when the first top pillar and the second top pillar offset, the first positioning pin on the solution lock slide of translation and
Second positioning pin can be correspondingly inserted into first positioning hole and second location hole.
In above-mentioned large arm brake structure 90, the basal disc, which is equipped with, erects block 928, erects block and is equipped with the second adjustable spring
9281, block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of the second adjustable spring.
In practical operation, a kind of workflow of the operating robot equipped with swing arm of the present invention is as follows:
First, medical worker holds manipulation hand 23, unlocks large arm brake structure 90 to the locking of large arm 22, and brake knot
Structure 70 and the second brake structure 700 rotate large arm 22 or waist rotation member 21, or make waist rotation member to the locking of waist rotation member 21
21 translate along first level guide rail 11 and the second horizontal guide rail 12, make mechanical claw hand 30 on swing arm 80 close to item to get body
Place.
Second, under the driving of the first driving unit, the swing of swing arm 80 can drive mechanical claw hand 30 thereon to swing,
Under the driving of the second driving unit, mechanical claw hand 30 is rotatable.
Third, in mechanical claw hand 30, first servo motor 618 drives the movement of 616 worm screw 617 of worm gear, worm and gear driving
Left hand thread bar 611 and right-handed thread bar 612 rotation being fixedly connected；Left hand thread bar drives the first lifting in the first locking body
Chassis 622 declines, and the first lifting chassis drives the decline of the first latch segment 624, and the first latch segment drives the decline of the first sliding pin 621,
Since the first slide slot 511 is obliquely installed, the first sliding pin being vertically lowered can drive the cleft hand in first pair of cleft hand 51 around it
It is rotated with the hinged place of cleft hand rack 40, first pair of cleft hand is made to make opposite swing；Right-handed thread bar 612 drives in the second locking body
Second lifting chassis 632 rise, second lifting chassis drive locking plate 634 rise, locking plate drive the second sliding pin rise, by
It is obliquely installed (the inclined direction of the second slide slot and the first slide slot are inclined contrary) in the second slide slot 521, therefore,
The second sliding pin risen vertically drives the cleft hand in second pair of cleft hand 52 to rotate around the hinged place of itself and cleft hand rack 40, makes the
Two pairs of cleft hands make opposite swing；In this way, two pairs of cleft hands 50 are in collapse shape, for grabbing object.
The above content is only better embodiment of the invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (8)
1. a kind of operating robot equipped with swing arm, including base body (10), the waist rotation member (21) being articulated on base body,
The large arm (22) that is articulated on waist rotation member, the manipulator (23) being mounted in large arm, forearm (24), the pivot being fixed in large arm
It connects and swings the first driving unit of arm swing in the swing arm (80) of forearm front end, driving, be mounted on the machinery of swing arm front end
The second driving unit that cleft hand (30), driving mechanical claw hand rotate；Central axis when the swing arm swing is in gripper
The rotation centerline of hand, waist rotation member are rotated around base body, and large arm is rotated around waist rotation member；It is characterized by:
The mechanical claw hand includes cleft hand rack (40), two pairs of cleft hands (50) being hinged in cleft hand rack, is mounted on cleft hand machine
Cleft hand driving mechanism (60) on frame for driving two pairs of cleft hands to act；
The cleft hand driving mechanism includes support body, the first locking body, the second locking body；Head and the tail are equipped on the support body vertically
It is the left hand thread bar (611) and right-handed thread bar (612) of connection, dynamic for driving left hand thread bar and right-handed thread bar to rotate
Power device；First locking body is spirally connected with left hand thread bar, and the second locking body is spirally connected with right-handed thread bar, and support body is equipped with
The guide rod (613) that the lifting of first locking body and the second locking body is oriented to；
Two cleft hands in first pair of cleft hand (51) in two pairs of cleft hands are symmetrical set, second pair in two pairs of cleft hands
It is symmetrical arranged before and after two cleft hands in cleft hand (52), the bottom of two cleft hands in first pair of cleft hand opens up the be obliquely installed
The bottom of one slide slot (511), two cleft hands in second pair of cleft hand opens up the second slide slot (521) being obliquely installed, described
The top of first locking body is equipped with the first sliding pin (621) being slidably matched with the first slide slot, and the top of the second locking body is equipped with
The second sliding pin being slidably matched with the second slide slot；
The base body (10) is equipped with symmetrical first level guide rail (11) and the second horizontal guide rail (12), first level
It is sliding combined on guide rail first level sliding block (13), the second horizontal slider (14), institute is sliding combined on the second horizontal guide rail
The setting of waist rotation member (21) horizontal cross is stated, the left and right ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in the
In one horizontal slider, the right end of waist rotation member is articulated in the second horizontal slider；The large arm (22) is vertically arranged, the bottom of large arm
End is articulated in the middle part of waist rotation member, and the manipulator (23) is mounted on the top of large arm, and the forearm (24) is fixed on large arm
Middle part, the swing arm (80) is mounted on the top of forearm；
The base body (10) is equipped with first brake structure (70), and first brake structure includes a pair being fixed on base body
First supporting plate (701), the first brake bar (71) being articulated on a pair of first supporting plate, one end are fixedly connected with first brake bar
First brake rotary components (72), one end and the hinged first brake connection component (73) of the first brake rotary components other end,
Hinged the first lever assembly (74) with the first brake connection component other end is hinged on first in the middle part of the first lever assembly
On plate, the cross section of the first brake bar is in regular hexagon；Second horizontal slider (14) is equipped with the first brake plate
(140), the first brake plate is connect with the second horizontal slider by the first spring, and the first brake plate is located at waist rotation member (21) right end
The side in face, the first brake bar are close to the first brake plate.
2. a kind of operating robot equipped with swing arm as described in claim 1, it is characterised in that: in mechanical claw hand (30),
The cleft hand rack (40) includes the cleft hand framework soleplate (41) for being mounted on swing arm front end, is vertically arranged in cleft hand framework soleplate
On cleft hand rack support rod (42), be fixed on the cleft hand rack top plate (43) of cleft hand rack support bar top；The cleft hand drives
Motivation structure (60) is mounted on the lower section on cleft hand framework soleplate and being located at cleft hand rack top plate, opens up on the cleft hand rack top plate
Four hinge holes, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；
The cleft hand rack is equipped with integrated camera and lighting device (44), the integrated camera and lighting device position
Between two pairs of cleft hands.
3. a kind of operating robot equipped with swing arm as described in claim 1, it is characterised in that: in mechanical claw hand (30),
The support body includes pedestal (614), supporting plate (615)；The pedestal is fixed on cleft hand rack (40), the guide rod
(613) it is fixed on the base, the supporting plate is horizontally fixed on the top of guide rod；
First locking body include the first lifting chassis (622), a pair of first guide post (623), the first latch segment (624),
First concave block (625)；First lifting chassis is screwed on left hand thread bar (611), and the first lifting chassis opens up first
Guiding slot port (626), first guiding slot port are slidably matched with guide rod；The pair of first guide post is vertically arranged in
On one lifting chassis, a pair of first pilot hole is opened up on the supporting plate, a pair of first guide post cooperates in a manner of one-to-one
In a pair of first pilot hole, a pair of first latch segment is mounted on the top of a pair of first guide post in a manner of one-to-one, described
First concave block is mounted on the top of the first latch segment, and first sliding pin (621) is mounted on the top of the first concave block；
Second locking body includes the second lifting chassis (632), the second guide post (633), locking plate (634), the second spill
Block (635)；Second lifting chassis is screwed on right-handed thread bar (612), and the second lifting chassis opens up the second guiding slot port
(636), second guiding slot port is slidably matched with guide rod；Second guide post is vertically arranged in the second lifting chassis
On, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second pilot hole, the supporting plate
On open up third pilot hole, second guide post is upward through the second pilot hole and third pilot hole；The locking plate is horizontal
It is mounted on the top of the second guide post, second concave block is mounted on locking plate, and it is recessed that second sliding pin is mounted on second
The top of shape block；A pair of 4th pilot hole is opened up on the locking plate, a pair of first guide post passes through one in a manner of one-to-one
To the 4th pilot hole, first latch segment is located at the top of locking plate.
4. a kind of operating robot equipped with swing arm as claimed in claim 3, it is characterised in that: in mechanical claw hand (30),
The right-handed thread bar (612) is located at the lower section of left hand thread bar (611), and the bottom end of right-handed thread bar is articulated in pedestal (614)
On, the top of left hand thread bar is articulated on supporting plate (615), and the power device includes being mounted on the snail of right-handed thread bar bottom
Wheel (616), the worm screw (617) engaged with worm gear, the first servo motor (618) coupled with worm screw, worm screw is horizontally disposed, worm screw
It is articulated on pedestal, first servo motor is mounted on the base.
5. a kind of operating robot equipped with swing arm as described in claim 1, it is characterised in that: in first brake structure,
The first brake rotary components (72) include the brake rotating seat (721) being fixedly connected with first brake bar (71) and brake
The brake swingle (722) that rotating seat is fixedly connected；The first brake connection component (73) includes hinged with brake swingle
The second brake connecting rod (732), the first brake connecting rod (731) that is fixedly connected of connecting rod of braking with second；Described first
Lever assembly (74) include the brake support (741) hinged with first brake connecting rod, with the brake that is fixedly connected of brake support
Liner plate (742), the brake support are hinged on the first supporting plate (701).
6. a kind of operating robot equipped with swing arm as described in claim 1, it is characterised in that: on the base body (10)
Equipped with the second brake structure (700), the second brake structure includes the second supporting plate of a pair being fixed on base body (10), is articulated in
The second brake rotary components that the second brake lever, one end on a pair of second supporting plate are fixedly connected with the second brake lever, one end and
The second hinged brake connection component of the second brake rotary components other end, hinged with the second brake connection component other end the
Two lever assemblies are hinged on the second supporting plate in the middle part of the second lever assembly, and the cross section of second brake lever is in positive six side
Shape；The first level sliding block (13) is equipped with the second brake plate (130), and the second brake plate and first level sliding block pass through second
Adjustable spring connection, the second brake plate are located at the side of waist rotation member (21) left side, and second brake lever is close to the second system
Movable plate；
The base body is equipped with upright bar (75), and the top of upright bar is equipped with third sliding pin (76), is combined with lever on third sliding pin
(77), the bar shaped sliding slot being slidably matched with third sliding pin is opened up in the middle part of lever, in the left end and brake structure (70) of lever
Hingedly, the right end of lever and the second lever assembly in the second brake structure (700) are hinged for lever assembly (74).
7. a kind of operating robot equipped with swing arm as described in claim 1, it is characterised in that: before the forearm (24)
End opens up a spill gap, and the swing arm (80) is articulated in spill gap；
First driving unit includes the first of the first motor being mounted on forearm (24), connection first motor and swing arm
Gear unit；First gear unit include be articulated on forearm and be coaxially disposed second gear (82) and third gear,
It is articulated in the 4th gear (84) and the first synchronous pulley (85) that on forearm and are coaxially disposed, the third axis being articulated on forearm
(86), the second synchronous pulley (87) being fixedly mounted on third axis；First tooth is installed on the output shaft of the first motor
It takes turns (81), first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley passes through synchronous belt
(88) couple with the second synchronous pulley, third axis is fixedly connected with swing arm；
Second driving unit includes the second motor, the second gear unit of installation on a swing arm；Second transmission is single
Member includes and the retarder of the second motor output shaft connection, the rotating disk (89) that connect with retarder output end mechanical claw hand
(30) it installs on the rotating pan.
8. a kind of operating robot equipped with swing arm as described in claim 1, it is characterised in that: the waist rotation member (21)
It is equipped with large arm brake structure (90), the large arm brake structure includes the basal disc (921) being fixed on waist rotation member, peace
A pair of of brake(-holder) block (922) on basal disc, the solution lock slide (923) being slidably arranged on basal disc；It is fixed in the large arm
Brake disc, a pair of of brake(-holder) block are symmetrical set in the periphery of brake disc, and one end of a pair of of brake(-holder) block is hinged and the other end is elastic
Connection；The solution lock slide elastic connection on basal disc, solution lock slide be equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one
It holds to open the wedge block (924) of a pair of of brake(-holder) block；
The basal disc is fixed on waist rotation member by support column (925)；Support column is equipped with swivel pin；The pair of brake(-holder) block
Including being located at first brake(-holder) block in left side and positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block and the second brake(-holder) block
Left end is hinged on swivel pin, and the right end of the right end of the first brake(-holder) block and the second brake(-holder) block passes through the first adjustable spring elasticity
(9221) it connects；The right end of first brake(-holder) block is equipped with the first top pillar, and the right end of the second brake(-holder) block is equipped with the second top pillar, the first top pillar
It is oppositely arranged with the second top pillar, the first top pillar and the second top pillar are located in the first adjustable spring；First brake(-holder) block and second
The equal semicircular in shape of brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (912)；
The solution lock slide is equipped with a pair of of positioning pin (927), and setting is on solution lock slide before and after a pair of of positioning pin and wedge block；
The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set, and the right end of first brake(-holder) block is set
Have first positioning hole (9222), the right end of the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring, when the
When one top pillar and the second top pillar offset, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into
In a positioning hole and second location hole；
The basal disc, which is equipped with, erects block (928), erects block and is equipped with the second adjustable spring (9281), and the one of the second adjustable spring
Block, the other end connection solution lock slide of the second adjustable spring are erect in end connection.
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| CN201610838376.9A CN106236274B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with swing arm |
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|---|---|---|---|
| CN201610838376.9A CN106236274B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with swing arm |
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| CN106236274B true CN106236274B (en) | 2018-12-04 |
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| CN115281588B (en) * | 2022-06-30 | 2023-02-03 | 中国科学院自动化研究所 | Flexible tail end controllable medical instrument motion control system and medical equipment |
| CN117357043A (en) * | 2022-06-30 | 2024-01-09 | 中国科学院自动化研究所 | Flexible end controllable medical instrument motion control system and medical equipment |
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| CN105881524A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with small arm provided with execution terminal with fixed rotation angle |
| CN105881514A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with manipulator assembly on paired small arms |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9002518B2 (en) * | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| MX353717B (en) * | 2011-11-04 | 2018-01-24 | Univ Johns Hopkins | Steady hand micromanipulation robot. |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881524A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with small arm provided with execution terminal with fixed rotation angle |
| CN105881514A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with manipulator assembly on paired small arms |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
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Inventor after: Luan Houqiang Inventor after: Chen Shuxiang Inventor after: Wang Wenqing Inventor before: Wang Wenqing |
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Effective date of registration: 20181018 Address after: 271500 Department of surgery, Dongping County Hospital of traditional Chinese medicine, Shandong Applicant after: Luan Houqiang Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
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