CN106361437A - Surgical robot with fixed tool replacement angle - Google Patents
Surgical robot with fixed tool replacement angle Download PDFInfo
- Publication number
- CN106361437A CN106361437A CN201610839056.5A CN201610839056A CN106361437A CN 106361437 A CN106361437 A CN 106361437A CN 201610839056 A CN201610839056 A CN 201610839056A CN 106361437 A CN106361437 A CN 106361437A
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- China
- Prior art keywords
- brake
- block
- pair
- holder
- tool changing
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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Abstract
The invention discloses a surgical robot with a fixed tool replacement angle. The surgical robot comprises a tool replacement device, wherein the tool replacement device comprises a tool clamping plate and a driving mechanism for driving the tool clamping plate to rotate; the driving mechanism comprises a rotating assembly, a lock catch assembly, a driving assembly and a cover plate; a rail for guiding the driving assembly is formed on the cover plate. During operation, the driving assembly which does rotating motion is matched with the cover plate to release the restriction of the lock catch assembly to the rotating assembly and drive the rotating assembly to rotate a preset angle; tools mounted on the tool clamping plate rotate a corresponding angle along with the rotation of the rotating assembly, so that a required surgical tool can be located at a working position.
Description
Technical field
The present invention relates to medical apparatus and instruments, in particular to the operating robot that a kind of tool changing angle is fixing.
Background technology
Traditional operation, the hand-held surgical knife tool of operative doctor, fixture, other operation tools are operated to sufferer.
Content of the invention
Technical problem solved by the invention: in traditional operation, the hand-held surgical knife tool of operative doctor, fixture, other operations
Instrument is operated to sufferer, high labor intensive, inefficiency, sufferer susceptible.
For solving above-mentioned technical problem, the present invention provides a kind of following technical scheme: the fixing surgical machine of tool changing angle
People, including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, is arranged in large arm
Manipulator, the forearm being fixed in large arm, the swing arm being articulated in forearm front end, driving swing the first of arm swing and drive list
Unit, the tool changing device being arranged on swing arm front end, the second driver element of driving tool changing device rotation；During described swing arm swing
Central axis in the rotation centerline of tool changing device, waist rotation member rotates around base body, and large arm rotates around waist rotation member；
Described tool changing device includes cutter clamping disk, drives the drive mechanism of cutter clamping disc spins；Described drive mechanism
Including rotary components, latch components, drive component, cover plate；
Described rotary components include rotating seat, fixation is set in the peripheral brake disc of rotating seat and the 6th gear；Described knife
Tool clamping disk is fixedly connected rotating seat；
Described latch components include the basal disc being fixedly installed in housing, a pair of brake(-holder) block being arranged on basal disc, slip
It is arranged on the solution lock slide on basal disc；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair of brake(-holder) block
One end is hinged and other end elastic connection；Described solution lock slide elastic connection on basal disc, solution lock slide be provided with translatable enter
A pair of brake(-holder) block elastic connection one end is to open the wedge of a pair of brake(-holder) block；
Described drive component includes the annulus being driven and being rotated by driving means, and the centrage of annulus rotation deviates rotating seat
The centrage of rotation, the medial wall of annulus is provided with tooth section and multiple push rod, and tooth section is fixedly installed and push rod slides and arranges, tooth section
Can engage with the 6th gear；
Described cover plate is fixedly installed on tool changing device, and cover plate is provided with circular orbit, the centrage of circular orbit and circle
The centrage of ring overlaps, and described push rod is provided with the slide bar with circular orbit cooperation, and circular orbit is provided with the curved track of one section of indent
Road；When slide bar is located in arc track, push rod promotion solves lock slide and so that wedge is translated, meanwhile, the 6th gear and tooth section
Start to engage；
The rotation centerline of described rotating seat is perpendicular to the rotation centerline of tool changing device.
By technique scheme, a kind of operation principle of the fixing operating robot of tool changing angle of the present invention is as follows:
First, operative doctor holds manipulation handss, rotation large arm or waist rotation member, so that the tool changing device on swing arm is in and treats
At operation.
Second, in tool changing device, the driving means in drive mechanism drive annulus rotation, and annulus drives push rod rotation thereon
Turn, the slide bar on push rod moves in circular orbit.When running one section of arc track to circular orbit when slide bar, slide bar orders about
Push rod moves to the center of annulus, and the end continuous action of multiple push rods, on solution lock slide, promotes solution lock slide to basal disc
Center translation, solution lock slide on wedge travel in a pair of brake(-holder) block elastic connection one end to open a pair of brake(-holder) block, such as
This, rotating seat is changed into rotatable state by the initial state by a pair of brake(-holder) block frictional damping.Brake with a pair
Piece no longer brakes rotating seat synchronously, the tooth section on annulus medial wall, and that is, one section of tooth on annulus medial wall, is opened with the 6th gear
Begin to engage, and drive the 6th gear and be secured to the rotating seat rotation connecting, rotating seat drives cutter clamping disc spins；Work as rotation
Swivel base rotates to an angle, and when such as 90 degree, tooth Duan Yu six gear disengages, and meanwhile, multiple push rods are all through annular
One section of arc track of track, so, solution lock slide on basal disc for the elastic connection resets, and wedge leaves a pair of brake(-holder) block bullet
Property one end of connecting and reset, one end of a pair of brake(-holder) block elastic connection resets, a pair of brake(-holder) block frictional damping brake disc again,
And then braking rotating seat.So far, cutter clamping disk rotates a certain angle with the rotation of rotating seat, and clamping is in cutter clamping
The operation tool of disk rotates with certain angle, operative doctor need to operation tool be in operating position.
3rd, under the swing, the turning effort of the rotation of whole tool changing device, large arm and waist rotation member of swing arm, handss
Art doctor be operated to sufferer.
By technique scheme, cutter clamping disk is provided with the instrument of some operations, such as cutter, fixture, operation
When doctor need to use corresponding operation tool, tool changing device automatically can change operation tool so as to be in operating position, and,
In order to improve the accuracy of operation, it is to avoid the generation of error, during each tool changing of tool changing device, the angle of cutter clamping disc spins is
Certain, the angle that is, operation tool on cutter clamping disk rotates every time is certain.
As one kind explanation to tool changing device for the present invention, described tool changing device includes installing connection on a swing arm
Arm, described housing is arranged on the connecting arm；Described cover plate is sealed on housing, and described drive mechanism is arranged in housing, drives
Rotating seat in mechanism passes through cover plate, and cutter clamping disk is located at outside housing.As described above, the second driver element drive connection arm
Rotation, linking arm drives whole tool changing device rotation.
As one kind explanation to tool changing device for the present invention, in rotary components, described rotating seat is articulated on basal disc, rotation
Seat is provided with a pair of locating rod, and described cutter clamping disk is fixedly connected rotating seat by a pair of locating rod.
As one kind explanation to tool changing device for the present invention, in latch components, described basal disc is fixed on shell by support column
In vivo, described support column is located in annulus and is located at the side of rotating seat.
As one kind explanation to tool changing device for the present invention, in latch components, described basal disc is provided with a pillar, on pillar
It is provided with swivel pin；The second brake(-holder) block that the pair of brake(-holder) block includes the first brake(-holder) block positioned at left side and is located at right side, first
The left end of the left end of brake(-holder) block and the second brake(-holder) block is hinged on swivel pin, the right side of the right-hand member of the first brake(-holder) block and the second brake(-holder) block
The first coil tension spring elastic connection is passed through at end；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with
Second fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first coil tension spring；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 coil tension spring has the trend making that the first brake(-holder) block and the second brake(-holder) block close up, and the setting of the first fore-set and the second fore-set
Then there is the effect stopping this kind of trend.
As one kind explanation to tool changing device for the present invention, in latch components, described solution lock slide is provided with a pair of positioning
Pin, is arranged on before and after a pair of alignment pin and wedge on solution lock slide；The pair of alignment pin includes being symmetrical set
One alignment pin and the second alignment pin, the right-hand member of described first brake(-holder) block is provided with the first location hole, and the right-hand member of the second brake(-holder) block is provided with
Second location hole, under the elastic force of the first coil tension spring, when the first fore-set and the second fore-set offset, on the solution lock slide of translation
The first alignment pin and the second alignment pin can correspondingly insert the first location hole and second positioning in the hole.As described above, when pushing away
Bar promote center translation from solution lock slide to basal disc when, the first alignment pin and the second alignment pin depart from the first location hole and second fixed
Position hole, meanwhile, wedge stretches between the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, and is opened；Push rod with
The rotation of annulus and after leaving away, solution lock slide resets, and wedge leaves the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, with
When, the first alignment pin and the second alignment pin correspondingly insert the first location hole and the second location hole, to lock a pair of brake(-holder) block.
As one kind explanation to tool changing device for the present invention, in latch components, described basal disc is provided with setting block, erects block
It is provided with the second coil tension spring, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects unblock
Slide block.
As one kind explanation to tool changing device for the present invention, in drive component, described annulus is articulated in housing, described drive
Dynamic device include the 7th gear that the ring gear that is set on annulus lateral wall of fixation engaged with ring gear couple with the 7th gear and
It is arranged on the 3rd motor in housing.As described above, the 3rd Motor drive the 7th gear rotation, the 7th gear passes through sliding tooth
Ring and drive annulus rotate.
As one kind explanation to tool changing device for the present invention, in drive component, the medial wall of described annulus is provided with radially
Interior projection, radially in projection be provided with multiple push rod pedestals, the quantity of push rod pedestal is same as the quantity of push rod, multiple push rods with
Man-to-man mode is slidably fitted in multiple push rod pedestals, and the end of push rod projects push rod pedestal and points to the center of annulus.
The quantity of multiple push rods determines in the following manner: when rotating seat rotates to an angle and tooth Duan Yu six gear disengages,
Multiple push rods all no longer act on solution lock slide through the one of circular orbit section of arc track.
As one kind explanation to swing arm for the present invention, the front end of described forearm opens up a spill gap, described swing arm
It is articulated in spill gap.Described first driver element includes the first motor, connection the first motor and the pendulum being arranged on forearm
First gear unit of swing arm；Described first gear unit includes the second gear and the 3rd being articulated on forearm and being coaxially disposed
Gear, the 4th gear being articulated on forearm and being coaxially disposed and the first synchronous pulley, the 3rd axle being articulated on forearm, fixation
It is arranged on the second synchronous pulley on the 3rd axle；First gear is provided with the output shaft of described first motor, first gear with
Second gear engages, and the 3rd gear is engaged with the 4th gear, and the first synchronous pulley is coupled with the second synchronous pulley by Timing Belt,
3rd axle is fixedly connected with swing arm.Described second driver element includes installing the second motor on a swing arm, the second transmission
Unit；Described second gear unit includes the rotation being connected with the decelerator of the second motor output shaft connection with decelerator outfan
Rotating disk, tool changing device is installed on the rotating pan.
As the present invention to base body one kind explanation, described base body be provided with symmetrical first level guide rail and
Second horizontal guide rail, first level guide rail is sliding combined with first level slide block, and the second horizontal guide rail is sliding combined with
Two cross sliding clocks, described waist rotation member horizontal cross setting, the left and right two ends of waist rotation member are cylindrical, the left end of waist rotation member
It is articulated in first level slide block, the right-hand member of waist rotation member is articulated in the second cross sliding clock；Described large arm is vertically arranged, large arm
Bottom be articulated in the middle part of waist rotation member, described manipulator is arranged on the top of large arm, and described forearm is fixed in large arm
Portion, described swing arm is arranged on the top of forearm.As described above, waist rotation member can be led along first level guide rail and the second level
Rail moves, to increase the space of mechanical claw hand.
As one kind explanation to base body for the present invention, described base body is provided with brake structure, and brake structure includes solid
The brake rotation that a pair of support plate being scheduled on base body, the brake lever being articulated on a pair of support plate, one end are fixedly connected with brake lever
Turn assembly, one end and the hinged brake coupling assembly of the rotary components other end of braking is hinged with the brake coupling assembly other end
Lever assembly, the middle part of lever assembly is hinged on support plate, and the cross section of described brake lever is in regular hexagon；Described second level
Slide block is provided with keep plate, and keep plate is connected by spring with the second cross sliding clock, and keep plate is located at waist rotation member right side
Side, described brake lever is close to keep plate.As described above, one end of operative doctor presses lever assembly, lever assembly around
With support plate hinged place tilting, lever assembly coupling assembly of passing through to brake drives brake rotary components rotation, and brake rotary components for it
Driving brake bar rotates, and the crest line of brake lever is against on keep plate towards a left side, and then, the left side of keep plate is against the waist rotation member right side
On end face, waist rotation member is braked；When the other end of staff's presses lever assembly makes lever assembly reset, thick stick
Bar assembly passes through coupling assembly drive brake rotary components reverse rotation of braking, and brake rotary components driving brake bar reversely revolves
Turn, the crest line of brake lever leaves keep plate and no longer orders about keep plate and be moved to the left and brake waist rotation member.
In above-mentioned brake structure, described brake rotary components are included the brake rotating seat that is fixedly connected with brake lever and stop
The brake swingle that car rotating seat is fixedly connected；Described brake coupling assembly includes second brake hinged with brake swingle even
The first brake connecting rod that extension bar is fixedly connected with the second brake connecting rod；Described lever assembly includes being connected with first brake
The brake liner plate that the hinged brake bearing of bar is fixedly connected with brake bearing, described brake bearing is hinged on support plate.
Described base body is provided with the second brake structure, and the second brake structure includes be fixed on base body a pair second
The second brake rotation that support plate, the second brake lever being articulated on a pair second support plates, one end are fixedly connected with the second brake lever
Assembly, one end second brake coupling assembly hinged with the second brake rotary components other end is another with the second brake coupling assembly
The second hinged lever assembly of one end, the middle part of the second lever assembly is hinged on the second support plate, the horizontal stroke of described second brake lever
Section is in regular hexagon；Described first level slide block is provided with the second keep plate, and the second keep plate is passed through with first level slide block
Second spring connects, and the second keep plate is located at the side of waist rotation member left side, and described second brake lever is close to the second keep plate；
Described base body is provided with vertical rod, and the top of vertical rod is provided with the 3rd sliding pin, the 3rd sliding pin is combined with lever, and the middle part of lever is opened
If the bar shaped chute being slidably matched with the 3rd sliding pin, the left end of lever is hinged with the lever assembly in brake structure, the right side of lever
End is hinged with the second lever assembly in the second brake structure.As described above, right about brake structure and the second brake structure
Claim setting, both 26S Proteasome Structure and Functions are identical, and in operation, operative doctor presses lever assembly, you can by lever actuated second
Lever assembly links, and in the same manner, operative doctor presses the second lever assembly, you can linked by lever actuated lever assembly.Linkage
Brake structure and the second brake structure the right-hand member and left end of waist rotation member is braked simultaneously.
As a kind of explanation to relation between waist rotation member and large arm for the present invention, described waist rotation member is provided with large arm and stops
Bassinet structure, described large arm brake structure include the annular solid being fixedly installed on waist rotation member, a pair that is arranged on annular solid
Brake hoop, second being slidably arranged on annular solid solution lock slide；Second brake disc, a pair of brake hoop are fixed with described large arm
It is symmetrical set the periphery in the second brake disc, one end of a pair of brake hoop is hinged and other end elastic connection；Described second
Solution lock slide elastic connection on annular solid, the second solution lock slide be provided with translatable enter a pair of brake hoop elastic connection one end with
Open the second wedge of a pair of brake hoop.As described above, in operation, four finger gripping in operative doctor proficiency live to operate
Handss, remaining finger pressable second wedge, promote the second solution center translation to annular solid for the lock slide, the second wedge translation
To open a pair of brake hoop, so, large arm is rubbed by a pair of brake hoop by initial for the one end entering a pair of brake hoop elastic connection
The state of braking is changed into rotatable state.
With regard to above-mentioned large arm brake structure, described annular solid is fixed on waist rotation member by support block；Set in support block
There is the second swivel pin；The pair of brake hoop includes the first brake hoop and the second brake hoop being located at right side positioned at left side, the
The left end of the left end of one brake hoop and the second brake hoop is hinged on the second swivel pin, and the right-hand member of the first brake hoop and second is braked
The right-hand member of ring passes through the 3rd coil tension spring elastic connection；The right-hand member of the first brake hoop is provided with the 3rd fore-set, the right side of the second brake hoop
End is provided with the 4th fore-set, and the 3rd fore-set and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are located at the 3rd coil tension spring
Interior；Described first brake hoop and the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second brake disc.
As described above, the 3rd coil tension spring has the trend making that the first brake hoop and the second brake hoop close up, and the 3rd fore-set and
The setting of four fore-sets then has the effect stopping this kind of trend.
Described second solution lock slide is provided with a pair of alignment pin, is arranged on before and after a pair of alignment pin and the second wedge
On second solution lock slide；The pair of alignment pin includes the first alignment pin being symmetrical set and the second alignment pin,
The right-hand member of described first brake hoop is provided with the 3rd location hole, and the right-hand member of the second brake hoop is provided with the 4th location hole, flexible the 3rd
Under the elastic force of spring, when the 3rd fore-set and the 4th fore-set offset, translation second solution lock slide on the first alignment pin and
Second alignment pin can correspondingly insert the 3rd location hole and the 4th positioning in the hole.As described above, when operative doctor promotes the
Center translation from two solution lock slides to annular solid when, the first alignment pin and the second alignment pin depart from the 3rd location hole and the 4th
Location hole, meanwhile, the second wedge stretches between the first brake hoop right-hand member and the second brake hoop right-hand member, and is opened；In handss
After art doctor release the second solution lock slide, the second solution lock slide resets, and the second wedge leaves the first brake hoop right-hand member and second
Brake hoop right-hand member, meanwhile, the first alignment pin and the second alignment pin correspondingly insert the 3rd location hole and the 4th location hole, with
Lock a pair of brake hoop.
With regard to above-mentioned large arm brake structure, described annular solid is provided with the second setting block, and the second setting block is provided with the 4th
Coil tension spring, one end of the 4th coil tension spring connects the second setting block, and the other end of the 4th coil tension spring connects the second unblock and slides
Block.
Brief description
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is a kind of structural representation of the fixing operating robot of present invention tool changing angle；
Fig. 2 is forearm 24, swing arm 80, the combining structure schematic diagram of tool changing device 30 in Fig. 1；
Fig. 3 is that in Fig. 2, tool changing device 30 conceals the structural representation after cutter clamping disk 300 and cover plate 64；
Fig. 4 is the structural representation of drive mechanism 60 in Fig. 3；
Fig. 5 is the combining structure schematic diagram of rotary components 61 and latch components 62 in Fig. 4；
Fig. 6 is the structural representation solving lock slide 623 in Fig. 5；
Fig. 7 is the structural representation of drive component 63 in Fig. 4；
Fig. 8 is enlarged drawing at a in Fig. 7；
Fig. 9 is the structural representation of cover plate 64 involved by the present invention, and cover plate 64 covers in figure 3 on housing 52；
Figure 10 is brake structure 70, the combining structure schematic diagram of the second brake structure 700 in Fig. 1；
Figure 11 is the structural representation of brake structure 70 in Figure 10；
Figure 12 is the structural representation of large arm brake structure 90 in Fig. 1；
Figure 13 is the structural representation of the second solution lock slide 923 in Figure 12.
In figure symbol description:
10th, base body；11st, first level guide rail；12nd, the second horizontal guide rail；13rd, first level slide block；130th, the second system
Dynamic plate；14th, the second cross sliding clock；140th, keep plate；
21st, waist rotation member；22nd, large arm；23rd, manipulator；24th, forearm；
30th, tool changing device；300th, cutter clamping disk；
51st, linking arm；52nd, housing；
60th, drive mechanism；61st, rotary components；611st, rotating seat；612nd, brake disc；613rd, the 6th gear；614th, position
Bar；
62nd, latch components；621st, basal disc；622nd, brake(-holder) block；6221st, the first coil tension spring；6222nd, location hole；623rd, solve
Lock slide；624th, wedge；625th, support column；626th, pillar；627th, alignment pin；628th, erect block；6281st, the second flexible bullet
Spring；
63rd, drive component；631st, annulus；632nd, tooth section；633rd, push rod；634th, slide bar；635th, ring gear；636th, the 7th tooth
Wheel；637th, projection in radial direction；638th, push rod pedestal；
64th, cover plate；641st, circular orbit；642nd, arc track；
70th, brake structure；701st, support plate；71st, brake lever；72nd, brake rotary components；721st, brake rotating seat；722nd, stop
Car swingle；73rd, brake coupling assembly；731st, first brake connecting rod；732nd, the second brake connecting rod；74th, lever assembly；
741st, brake bearing；742nd, brake liner plate；700th, the second brake structure；75th, vertical rod；76th, the 3rd sliding pin；77th, lever；
80th, swing arm；81st, first gear；82nd, second gear；84th, the 4th gear；85th, the first synchronous pulley；86th, the 3rd
Axle；87th, the second synchronous pulley；88th, Timing Belt；89th, rotating disk；
90th, large arm brake structure；912nd, the second brake disc；921st, annular solid；922nd, brake hoop；9221st, the 3rd flexible bullet
Spring；9222nd, the 3rd location hole；923rd, the second solution lock slide；924th, the second wedge；925th, support block；927th, alignment pin；
928th, the second setting block；9281st, the 4th coil tension spring.
Specific embodiment
In conjunction with Fig. 1, Fig. 2, a kind of fixing operating robot of tool changing angle, including base body 10, it is articulated on base body
Waist rotation member 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 being arranged in large arm, be fixed on little in large arm
Arm 24, the swing arm 80 being articulated in forearm front end, driving swing the first driver element of arm swing, are arranged on swing arm front end
Tool changing device 30, the second driver element of driving tool changing device rotation；The described central axis swinging during arm swing are in tool changing
The rotation centerline of device, waist rotation member rotates around base body, and large arm rotates around waist rotation member.
In conjunction with Fig. 2 to Fig. 9, described tool changing device includes cutter clamping disk 300, drives the driving machine of cutter clamping disc spins
Structure 60；Described drive mechanism includes rotary components 61, latch components 62, drive component 63, cover plate 64.Described rotary components include
Rotating seat 611, fixation are set in brake disc 612 and the 6th gear 613 of rotating seat periphery；Described cutter clamping disk is fixedly connected
Rotating seat.Described latch components include the basal disc 621 being fixedly installed in housing, a pair of the brake(-holder) block 622 being arranged on basal disc,
It is slidably arranged in the solution lock slide 623 on basal disc；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair of system
One end of moving plate is hinged and other end elastic connection；, on basal disc, solution lock slide is provided with can for described solution lock slide elastic connection
Travel in a pair of brake(-holder) block elastic connection one end to open the wedge 624 of a pair of brake(-holder) block.Described drive component includes by driving
The annulus 631 that dynamic device drives and rotates, the centrage of annulus rotation deviates the centrage of rotating seat rotation, the medial wall of annulus
It is provided with tooth section 632 and multiple push rod 633, tooth section is fixedly installed and push rod slides and arranges, and tooth Duan Keyu the 6th gear engages.Institute
State cover plate to be fixedly installed on tool changing device, cover plate is provided with circular orbit 641, the centrage of circular orbit and the center of annulus
Line overlaps, and described push rod is provided with the slide bar 634 with circular orbit cooperation, and circular orbit is provided with the arc track 642 of one section of indent；
When slide bar is located in arc track, push rod promotes solution lock slide so that wedge is translated, and meanwhile, the 6th gear and tooth section start
Engagement.
Above-mentioned tool changing device 30 includes the linking arm 51 being arranged on swing arm 80, and described housing 52 is arranged on linking arm
On；Described cover plate 64 is sealed on housing, and described drive mechanism 60 is arranged in housing, and the rotating seat 611 in drive mechanism is worn
Cross cover plate, cutter clamping disk 300 is located at outside housing.
In the rotary components 61 of above-mentioned tool changing device 30, described rotating seat 611 is articulated on basal disc 621, and rotating seat sets
There is a pair of locating rod 614, described cutter clamping disk 300 is fixedly connected rotating seat by a pair of locating rod.
In the latch components 62 of above-mentioned tool changing device 30, described basal disc 621 is fixed in housing 52 by support column 625,
Described support column is located in annulus 631 and is located at the side of rotating seat 611.
In the latch components 62 of above-mentioned tool changing device 30, described basal disc 621 is provided with a pillar 626, and pillar is provided with hinge
Pin；The pair of brake(-holder) block 622 includes the first brake(-holder) block and the second brake(-holder) block being located at right side positioned at left side, the first braking
The left end of the left end of piece and the second brake(-holder) block is hinged on swivel pin, and the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block leads to
Cross the first coil tension spring elasticity 6221 connection；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with
Second fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first coil tension spring；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 612.
In the latch components 62 of above-mentioned tool changing device 30, described solution lock slide 623 is provided with a pair of alignment pin 627, a pair
It is arranged on solution lock slide before and after alignment pin and wedge 624；It is first fixed that the pair of alignment pin includes being symmetrical set
Position pin and the second alignment pin, the right-hand member of described first brake(-holder) block is provided with the first location hole 6222, and the right-hand member of the second brake(-holder) block is provided with
Second location hole, under the elastic force of the first coil tension spring 6221, when the first fore-set and the second fore-set offset, the unblock of translation is slided
The first alignment pin on block and the second alignment pin can correspondingly insert the first location hole and the second positioning in the hole.
In the latch components 62 of above-mentioned tool changing device 30, described basal disc 621 is provided with setting block 628, erects block and is provided with
Second coil tension spring 6281, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects unblock and slides
Block 623.
In the drive component 63 of above-mentioned tool changing device 30, described annulus 631 is articulated in housing 52, described driving means bag
Include the 7th gear 636 that the ring gear 635 that is set on annulus lateral wall of fixation engaged with ring gear to couple and pacify with the 7th gear
It is contained in the 3rd motor in housing.
In the drive component 63 of above-mentioned tool changing device 30, the medial wall of described annulus is provided with projection 637 in radially, radially
Interior projection is provided with multiple push rod pedestals 638, and the quantity of push rod pedestal is same as the quantity of push rod 633, and multiple push rods are with a pair
One mode is slidably fitted in multiple push rod pedestals, and the end of push rod projects push rod pedestal and points to the center of annulus.
In conjunction with Fig. 1, Fig. 2, the front end of described forearm 24 opens up a spill gap, and described swing arm 80 is articulated in spill gap
Interior.Described first driver element includes the first motor being arranged on forearm 24, the first biography coupling the first motor and swing arm
Moving cell；Described first gear unit includes the second gear 82 being articulated on forearm and being coaxially disposed and the 3rd gear, pivot joint
On forearm and the 4th gear 84 that is coaxially disposed and the first synchronous pulley 85, the 3rd axle 86 being articulated on forearm, fixing peace
It is contained in the second synchronous pulley 87 on the 3rd axle；On the output shaft of described first motor, first gear 81, first gear are installed
Engage with second gear, the 3rd gear is engaged with the 4th gear, the first synchronous pulley passes through Timing Belt 88 and the second synchronous pulley
Connection, the 3rd axle is fixedly connected with swing arm.Described second driver element include installing the second motor on a swing arm, second
Gear unit；Described second gear unit includes being connected with decelerator outfan with the decelerator of the second motor output shaft connection
Rotating disk 89, tool changing device 30 installs on the rotating pan.
In conjunction with Fig. 1, Figure 10, Figure 11, described base body 10 is provided with symmetrical first level guide rail 11 and the second water
Level gauge 12, first level guide rail is sliding combined with first level slide block 13, the second horizontal guide rail is sliding combined with second
Cross sliding clock 14, described waist rotation member 21 horizontal cross setting, the left and right two ends of waist rotation member are cylindrical, a left side for waist rotation member
End is articulated in first level slide block, and the right-hand member of waist rotation member is articulated in the second cross sliding clock；Described large arm 22 is vertically arranged,
The bottom of large arm is articulated in the middle part of waist rotation member, and described manipulator 23 is arranged on the top of large arm, and described forearm 24 is fixed on
The middle part of large arm, described swing arm 80 is arranged on the top of forearm.
Above-mentioned base body 10 is provided with brake structure 70, a pair of support plate 701 that brake structure includes being fixed on base body,
Brake rotary components 72, one end and brake rotation that the brake lever 71 that is articulated on a pair of support plate, one end are fixedly connected with brake lever
Turn the hinged brake coupling assembly 73 of the assembly other end lever assembly 74 hinged with the brake coupling assembly other end, lever group
The middle part of part is hinged on support plate, and the cross section of described brake lever is in regular hexagon；Described second cross sliding clock 14 is provided with system
Dynamic plate 140, keep plate is connected by spring with the second cross sliding clock, and keep plate is located at the side of waist rotation member 21 right side, institute
State brake lever and be close to keep plate.Described brake rotary components 72 include the brake rotating seat 721 that is fixedly connected with brake lever 71 and
The brake swingle 722 that brake rotating seat is fixedly connected；Described brake coupling assembly 73 includes the hinged with the swingle that brakes
The first brake connecting rod 731 that two brake connecting rods 732 are fixedly connected with the second brake connecting rod；Described lever assembly 74 wraps
Include the brake liner plate 742 that the brake bearing 741 hinged with first brake connecting rod is fixedly connected, described brake with brake bearing
Bearing is hinged on support plate 701.
Above-mentioned base body 10 is provided with the second brake structure 700, and the second brake structure includes being fixed on base body 10
A pair second support plates, the second brake lever being articulated on a pair second support plates, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake coupling assembly hinged with the second brake rotary components other end and the second brake are even
The second hinged lever assembly of the connected components other end, the middle part of the second lever assembly is hinged on the second support plate, and described second stops
The cross section of car bar is in regular hexagon；Described first level slide block 13 is provided with the second keep plate 130, the second keep plate and first
Cross sliding clock is connected by second spring, and the second keep plate is located at the side of waist rotation member 21 left side, described second brake lever
It is close to the second keep plate.Described base body is provided with vertical rod 75, and the top of vertical rod is provided with the 3rd sliding pin 76, and the 3rd sliding pin coordinates
There is lever 77, the middle part of lever opens up the bar shaped chute being slidably matched with the 3rd sliding pin, in the left end of lever and brake structure 70
Lever assembly 74 hinged, the right-hand member of lever is hinged with the second lever assembly in the second brake structure 700.
In conjunction with Fig. 1, Figure 12, Figure 13, described waist rotation member 21 is provided with large arm brake structure 90, described large arm brake structure
Including the annular solid 921 being fixedly installed on waist rotation member, a pair of the brake hoop 922 being arranged on annular solid, it is slidably arranged in
The second solution lock slide 923 on annular solid；Second brake disc 912 is fixed with described large arm, a pair of brake hoop is symmetrical to be set
Put the periphery in the second brake disc, one end of a pair of brake hoop is hinged and other end elastic connection；Described second solution lock slide bullet
Property be connected on annular solid, second solution lock slide be provided with translatable enter a pair of brake hoop elastic connection one end to open a pair of system
Second wedge 924 of rotating ring.
In large arm brake structure 90, described annular solid is fixed on waist rotation member by support block 925；Support block is provided with
Second swivel pin；The second brake hoop that the pair of brake hoop includes the first brake hoop positioned at left side and is located at right side, first
The left end of the left end of brake hoop and the second brake hoop is hinged on the second swivel pin, the right-hand member of the first brake hoop and the second brake hoop
Right-hand member pass through the 3rd coil tension spring elasticity 9221 connection；The right-hand member of the first brake hoop is provided with the 3rd fore-set, the second brake hoop
Right-hand member is provided with the 4th fore-set, and the 3rd fore-set and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are located at the 3rd flexible bullet
In spring；Described first brake hoop and the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second braking
Disk 912.
In large arm brake structure 90, described second solution lock slide is provided with a pair of alignment pin 927, a pair of alignment pin with
It is arranged on before and after second wedge on the second solution lock slide；The pair of alignment pin includes the first positioning being symmetrical set
Bearing pin and the second alignment pin, the right-hand member of described first brake hoop is provided with the 3rd location hole 9222, and the right-hand member of the second brake hoop sets
There is the 4th location hole, under the elastic force of the 3rd coil tension spring, when the 3rd fore-set and the 4th fore-set offset, the second unblock of translation
The first alignment pin on slide block and the second alignment pin can correspondingly insert the 3rd location hole and the 4th positioning in the hole.
In large arm brake structure 90, described annular solid is provided with the second setting block 928, and the second setting block is provided with the 4th and stretches
Contracting spring 9281, one end of the 4th coil tension spring connects the second setting block, and the other end of the 4th coil tension spring connects the second unblock
Slide block.
In practical operation, a kind of workflow of the fixing operating robot of tool changing angle of the present invention is as follows:
First, operative doctor holds manipulation handss 23, rotation large arm 22 or waist rotation member 21, or makes waist rotation member 21 along the
One horizontal guide rail 11 and the second horizontal guide rail 12 translate, and make tool changing device 30 on swing arm 80 close to treating at operation.
Second, under the driving of the first driver element, the swing of swing arm 80 can drive tool changing device 30 thereon to swing,
Under the driving of the second driver element, tool changing device 30 is rotatable.
3rd, in tool changing device 30, the driving means in drive mechanism 60 drive annulus 631 to rotate, and annulus drives thereon
Push rod 633 rotate, the slide bar 634 on push rod moves in circular orbit 641.When slide bar 634 runs to circular orbit 641
During one section of arc track 642, slide bar orders about push rod 633 and moves to the center of annulus 631, the end continuous action of multiple push rods in
On solution lock slide 623, promote the solution center translation to basal disc 621 for the lock slide, the wedge 624 on solution lock slide is travelled in a pair
To open a pair of brake(-holder) block, so, rotating seat 611 is rubbed by a pair of brake(-holder) block by initial for one end of brake(-holder) block 622 elastic connection
The state wiping braking is changed into rotatable state.No longer brake rotating seat 611 with a pair of brake(-holder) block 622 synchronously, circle
Tooth section 632 on ring 631 medial wall, that is, one section of tooth on annulus medial wall, starts to engage with the 6th gear 613, and drives
Six gears and the rotating seat 611 being secured to connect rotate, and rotating seat drives cutter clamping disk 300 to rotate；When rotating seat 611 revolves
When turning 90 degree, tooth section 632 is disengaged with the 6th gear 613, and meanwhile, multiple push rods 633 are all through the one of circular orbit
Section arc track 642, so, solution lock slide 623 on basal disc 621 for the elastic connection resets, and wedge 624 leaves a pair of braking
One end of piece 622 elastic connection and reset, one end of a pair of brake(-holder) block elastic connection resets, a pair of brake(-holder) block frictional damping again
Brake disc 612, and then brake rotating seat 611.So far, cutter clamping disk horizontally rotates predetermined with the rotation of rotating seat 611
Angle.Clamping rotates with certain angle in the operation tool of cutter clamping disk 300, operative doctor need to operation tool at
In operating position.
4th, make in the swing of swing arm 80, the rotation of the rotation of whole tool changing device 30, large arm 22 and waist rotation member 21
With under, operative doctor is operated to sufferer.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, all will change in specific embodiments and applications, this specification content should not be construed as to this
Bright restriction.
Claims (10)
1. the fixing operating robot of a kind of tool changing angle, including base body (10), the waist rotation member that is articulated on base body
(21) large arm (22), being articulated on waist rotation member, the manipulator (23) being arranged in large arm, the forearm being fixed in large arm
(24), it is articulated in the swing arm (80) of forearm front end, drive the first driver element of swing arm swing, be arranged on swing arm front end
Tool changing device (30), drive tool changing device rotation the second driver element；Described swing arm swing when central axis in
The rotation centerline of tool changing device, waist rotation member rotates around base body, and large arm rotates around waist rotation member；It is characterized in that:
Described tool changing device includes cutter clamping disk (300), drives the drive mechanism (60) of cutter clamping disc spins；Described driving
Mechanism includes rotary components (61), latch components (62), drive component (63), cover plate (64)；
Described rotary components include rotating seat (611), fixation is set in the peripheral brake disc (612) of rotating seat and the 6th gear
(613)；Described cutter clamping disk is fixedly connected rotating seat；
Described latch components include the basal disc (621) being fixedly installed in housing, a pair of brake(-holder) block being arranged on basal disc
(622), it is slidably arranged in the solution lock slide (623) on basal disc；The pair of brake(-holder) block is symmetrical set outer in brake disc
Enclose, one end of a pair of brake(-holder) block is hinged and other end elastic connection；Described solution lock slide elastic connection, on basal disc, solves lock slide
Be provided with translatable enter a pair of brake(-holder) block elastic connection one end to open the wedge (624) of a pair of brake(-holder) block；
Described drive component includes the annulus (631) being driven and being rotated by driving means, and the centrage of annulus rotation deviates rotation
The centrage of seat rotation, the medial wall of annulus is provided with tooth section (632) and multiple push rod (633), and tooth section is fixedly installed and push rod
Slide and arrange, tooth Duan Keyu the 6th gear engages；
Described cover plate is fixedly installed on tool changing device, and cover plate is provided with circular orbit (641), the centrage of circular orbit and circle
The centrage of ring overlaps, and described push rod is provided with the slide bar (634) with circular orbit cooperation, and circular orbit is provided with the arc of one section of indent
Shape track (642)；When slide bar is located in arc track, push rod promotes solution lock slide so that wedge is translated, meanwhile, the 6th tooth
Wheel starts to engage with tooth section.
2. as claimed in claim 1 a kind of fixing operating robot of tool changing angle it is characterised in that:
Described tool changing device (30) includes the linking arm (51) being arranged on swing arm (80), and described housing (52) is arranged on connection
On arm；Described cover plate (64) is sealed on housing, and described drive mechanism (60) is arranged in housing, the rotating seat in drive mechanism
(611) pass through cover plate, cutter clamping disk (300) is located at outside housing.
3. as claimed in claim 1 a kind of fixing operating robot of tool changing angle it is characterised in that: rotary components (61)
In, described rotating seat (611) is articulated on basal disc (621), and rotating seat is provided with a pair of locating rod (614), described cutter clamping
Disk (300) is fixedly connected rotating seat by a pair of locating rod.
4. as claimed in claim 1 a kind of fixing operating robot of tool changing angle it is characterised in that: latch components (62)
In, described basal disc (621) is fixed in housing (52) by support column (625), and described support column is located in annulus (631) and position
Side in rotating seat (611)；
In latch components (62), described basal disc (621) is provided with a pillar (626), and pillar is provided with swivel pin；The pair of system
The second brake(-holder) block that moving plate (622) includes the first brake(-holder) block positioned at left side and is located at right side, the left end of the first brake(-holder) block and the
The left end of two brake(-holder) blocks is hinged on swivel pin, and the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block is by the first flexible bullet
Spring elasticity (6221) connects；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, the
One fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first coil tension spring；Described first brake(-holder) block
The equal semicircular in shape with the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (612)；
In latch components (62), described solution lock slide (623) is provided with a pair of alignment pin (627), a pair of alignment pin and wedge
(624) it is arranged on before and after on solution lock slide；The pair of alignment pin includes the first alignment pin being symmetrical set and second to be determined
Position pin, the right-hand member of described first brake(-holder) block is provided with the first location hole (6222), and the right-hand member of the second brake(-holder) block is provided with the second location hole,
Under the elastic force of the first coil tension spring (6221), when the first fore-set and the second fore-set offset, on the solution lock slide of translation the
One alignment pin and the second alignment pin can correspondingly insert the first location hole and the second positioning in the hole；
In latch components (62), described basal disc (621) is provided with setting block (628), erects block and is provided with the second coil tension spring
(6281), one end of the second coil tension spring connects setting block, and the other end of the second coil tension spring connects solution lock slide (623).
5. as claimed in claim 1 a kind of fixing operating robot of tool changing angle it is characterised in that: drive component (63)
In, described annulus (631) is articulated in housing (52), and described driving means include the ring gear that fixation is set on annulus lateral wall
(635) the 7th gear (636) being engaged with ring gear is coupled with the 7th gear and is arranged on the 3rd motor in housing；
In drive component (63), the medial wall of described annulus is provided with projection (637) in radially, radially in projection be provided with multiple
Push rod pedestal (638), the quantity of push rod pedestal is same as the quantity of push rod (633), and multiple push rods are slided in man-to-man mode
In multiple push rod pedestals, the end of push rod projects push rod pedestal and points to the center of annulus for cooperation.
6. as claimed in claim 1 a kind of fixing operating robot of tool changing angle it is characterised in that: described forearm (24)
Front end opens up a spill gap, and described swing arm (80) is articulated in spill gap；
The first of the first motor, connection the first motor and the swing arm that described first driver element includes being arranged on forearm (24)
Gear unit；Described first gear unit include the second gear (82) being articulated on forearm and being coaxially disposed and the 3rd gear,
The 4th gear (84) being articulated on forearm and being coaxially disposed and the first synchronous pulley (85), the 3rd axle being articulated on forearm
(86), it is fixedly mounted on the second synchronous pulley (87) on the 3rd axle；On the output shaft of described first motor, the first tooth is installed
Wheel (81), first gear is engaged with second gear, and the 3rd gear is engaged with the 4th gear, and the first synchronous pulley passes through Timing Belt
(88) couple with the second synchronous pulley, the 3rd axle is fixedly connected with swing arm；
Described second driver element includes installing the second motor on a swing arm, the second gear unit；Described second transmission is single
Unit includes the rotating disk (89) being connected with the decelerator of the second motor output shaft connection, tool changing device with decelerator outfan
(30) install on the rotating pan.
7. as claimed in claim 1 a kind of fixing operating robot of tool changing angle it is characterised in that: described base body (10)
It is provided with symmetrical first level guide rail (11) and the second horizontal guide rail (12), first level guide rail is sliding combined with
One cross sliding clock (13), the second horizontal guide rail is sliding combined with the second cross sliding clock (14), described waist rotation member (21) level
Horizontally set, the left and right two ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first level slide block, waist transfer part
The right-hand member of part is articulated in the second cross sliding clock；Described large arm (22) is vertically arranged, and the bottom of large arm is articulated in waist rotation member
Middle part, described manipulator (23) is arranged on the top of large arm, and described forearm (24) is fixed on the middle part of large arm, described swing arm
(80) it is arranged on the top of forearm.
8. as claimed in claim 7 a kind of fixing operating robot of tool changing angle it is characterised in that: described base body (10)
It is provided with brake structure (70), a pair of support plate (701) that brake structure includes being fixed on base body, be articulated on a pair of support plate
Brake lever (71), one end be fixedly connected with brake lever brake rotary components (72), one end with brake the rotary components other end
Hinged brake coupling assembly (73) lever assembly (74) hinged with the brake coupling assembly other end, the middle part of lever assembly
It is hinged on support plate, the cross section of described brake lever is in regular hexagon；Described second cross sliding clock (14) is provided with keep plate
(140), keep plate is connected by spring with the second cross sliding clock, and keep plate is located at the side of waist rotation member (21) right side, institute
State brake lever and be close to keep plate；
Described brake rotary components (72) includes the brake rotating seat (721) being fixedly connected with brake lever (71) and brake rotation
The brake swingle (722) that seat is fixedly connected；Described brake coupling assembly (73) includes second hinged with brake swingle and stops
The first brake connecting rod (731) that car connecting rod (732) is fixedly connected with the second brake connecting rod；Described lever assembly (74)
The brake liner plate (742) being fixedly connected with brake bearing including brake bearing (741) hinged with first brake connecting rod, institute
State brake bearing to be hinged on support plate (701).
9. as claimed in claim 8 a kind of fixing operating robot of tool changing angle it is characterised in that: described base body (10)
It is provided with the second brake structure (700), the second brake structure includes a pair second support plates, pivot joints being fixed on base body (10)
The second brake lever on a pair second support plates, one end be fixedly connected with the second brake lever second brake rotary components, one end
The second brake coupling assembly hinged with the second brake rotary components other end is hinged with the second brake coupling assembly other end
Second lever assembly, the middle part of the second lever assembly is hinged on the second support plate, and the cross section of described second brake lever is in positive six
Side shape；Described first level slide block (13) is provided with the second keep plate (130), and the second keep plate and first level slide block pass through the
Two springs connect, and the second keep plate is located at the side of waist rotation member (21) left side, and described second brake lever is close to the second braking
Plate；
Described base body is provided with vertical rod (75), and the top of vertical rod is provided with the 3rd sliding pin (76), the 3rd sliding pin is combined with lever
(77), the middle part of lever opens up the bar shaped chute being slidably matched with the 3rd sliding pin, in the left end of lever and brake structure (70)
Lever assembly (74) is hinged, and the right-hand member of lever is hinged with the second lever assembly in the second brake structure (700).
10. as claimed in claim 1 a kind of fixing operating robot of tool changing angle it is characterised in that: described waist rotation member
(21) it is provided with large arm brake structure (90), described large arm brake structure includes the annular solid being fixedly installed on waist rotation member
(921) a pair of the brake hoop (922), being arranged on annular solid, the second solution lock slide (923) being slidably arranged on annular solid；
Second brake disc (912) is fixed with described large arm, a pair of brake hoop is symmetrical set the periphery in the second brake disc, a pair
One end of brake hoop is hinged and other end elastic connection；On annular solid, second unlocks described second solution lock slide elastic connection
Slide block be provided with translatable enter a pair of brake hoop elastic connection one end to open second wedge (924) of a pair of brake hoop；
Described annular solid is fixed on waist rotation member by support block (925)；Support block is provided with the second swivel pin；The pair of
Brake hoop includes the first brake hoop and the second brake hoop being located at right side positioned at left side, the left end of the first brake hoop and the second system
The left end of rotating ring is hinged on the second swivel pin, and the right-hand member of the right-hand member of the first brake hoop and the second brake hoop is by the 3rd flexible bullet
Spring elasticity (9221) connects；The right-hand member of the first brake hoop is provided with the 3rd fore-set, and the right-hand member of the second brake hoop is provided with the 4th fore-set, the
Three fore-sets and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are located in the 3rd coil tension spring；Described first brake hoop
The equal semicircular in shape with the second brake hoop, the first brake hoop and the second brake hoop surround the second brake disc (912)；
Described second solution lock slide is provided with a pair of alignment pin (927), arranges before and after a pair of alignment pin and the second wedge
On the second solution lock slide；The pair of alignment pin includes the first alignment pin being symmetrical set and the second alignment pin
Axle, the right-hand member of described first brake hoop is provided with the 3rd location hole (9222), and the right-hand member of the second brake hoop is provided with the 4th location hole,
Under the elastic force of the 3rd coil tension spring, when the 3rd fore-set and the 4th fore-set offset, first on the second solution lock slide of translation is fixed
Position bearing pin and the second alignment pin can correspondingly insert the 3rd location hole and the 4th positioning in the hole；
Described annular solid is provided with the second setting block (928), and the second setting block is provided with the 4th coil tension spring (9281), and the 4th stretches
One end of contracting spring connects the second setting block, and the other end of the 4th coil tension spring connects the second solution lock slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839056.5A CN106361437B (en) | 2016-09-21 | 2016-09-21 | A kind of fixed operating robot of tool changing angle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839056.5A CN106361437B (en) | 2016-09-21 | 2016-09-21 | A kind of fixed operating robot of tool changing angle |
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| CN106361437B CN106361437B (en) | 2018-10-12 |
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| CN107598399A (en) * | 2017-09-20 | 2018-01-19 | 苏州威百斯特智能科技有限公司 | A kind of track of marking machine conveying products |
| CN107876989A (en) * | 2017-09-20 | 2018-04-06 | 苏州威百斯特智能科技有限公司 | A kind of laser marking machine |
| CN109350244A (en) * | 2018-11-07 | 2019-02-19 | 北京邮电大学 | A kind of Soft tissue cutting robot system with notch separation function |
| US11857351B2 (en) | 2018-11-06 | 2024-01-02 | Globus Medical, Inc. | Robotic surgical system and method |
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| CN106361437B (en) | 2018-10-12 |
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