CN106473795B - Pickup robot in a kind of operation - Google Patents
Pickup robot in a kind of operation Download PDFInfo
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- CN106473795B CN106473795B CN201610839058.4A CN201610839058A CN106473795B CN 106473795 B CN106473795 B CN 106473795B CN 201610839058 A CN201610839058 A CN 201610839058A CN 106473795 B CN106473795 B CN 106473795B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/50—Instruments, other than pincettes or toothpicks, for removing foreign bodies from the human body
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- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention discloses pickup robots in a kind of operation, including robot body, the mechanical claw hand being 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, is in mechanical claw hand at item to get body；Later, mechanical claw hand takes out the intracorporal fifth wheel of sufferer, convenient and efficient pollution-free.
Description
Technical field
The present invention relates to medical instruments, in particular to pickup robot in a kind of operation.
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: pickup robot in a kind of operation, including bottom
Pedestal, the large arm being articulated on waist rotation member, the manipulator being mounted in large arm, is consolidated the waist rotation member being articulated on base body
The forearm being scheduled in large arm, the mechanical claw hand being mounted on forearm, waist rotation member are rotated around base body, and large arm turns around waist rotation member
It is dynamic；
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, the second locking body；The support body is equipped with crank
Rocker Driving Mechanism, crank rocker driving gear include and the slide bar of cleft hand housing slide cooperation, first company hinged with slide bar
Bar and second connecting rod and the hinged telescopic rod of slide bar, crank and rocker mechanism；The first connecting rod and the first locking body are hinged, the
Two connecting rods and the second locking body are hinged, and the rocking bar in crank and rocker mechanism is hollow, and telescopic rod activity is plugged in rocking bar；Support body
It is equipped with the guide rod being oriented to the lifting of the first locking body and the second locking body；
Two cleft hands in first pair of cleft hand 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, it is sliding that the bottom of two cleft hands in first pair of cleft hand opens up first be obliquely installed
The bottom of row slot, two cleft hands in second pair of cleft hand opens up the second slide slot being obliquely installed, the top of first locking body
Portion is equipped with the first sliding pin being slidably matched with the first slide slot, and the top of the second locking body is equipped with to be slidably matched with the second slide slot
The second sliding pin.
According to the above technical scheme, the working principle of pickup robot is as follows in a kind of operation of the present invention: first, medical matters
Personnel hold manipulation hand, rotate large arm or waist rotation member, are in the mechanical claw hand on forearm at item to get body；Second, crank
Rocking bar in rocker device is swung, and rocking bar is moved laterally by telescopic rod driving slider with respect to cleft hand rack, and first connecting rod drives
Dynamic first locking body decline, second connecting rod drive the second locking body to rise, and the first locking body drives the decline of the first sliding pin, due to the
One slide slot is obliquely installed, and therefore, the first sliding pin being vertically lowered can drive any cleft hand in first pair of cleft hand to surround itself and pawl
The hinged place of handset mounting rotates, in this way, first pair of cleft hand makees opposite swing；Meanwhile second locking body drive the second sliding pin rise,
Since the second slide slot is obliquely installed (the inclined direction of the second slide slot and the first slide slot are inclined contrary),
The second sliding pin risen vertically drives any cleft hand in second pair of cleft hand to rotate 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, at this point, rocking bar is rocked to left end
And rest on left end；Third, after object is removed doctors and patients' body by manipulator by medical worker, in crank and rocker mechanism
Rocking bar acts again, is rocked to right end from left end, driving slider makees reversed transverse shifting, the first lock of first connecting rod driving
Tight body rises, and second connecting rod drives the decline of the second locking body, and the first locking body drives the first sliding pin to rise, meanwhile, the second locking
Body drives the decline of the second sliding pin, and two pairs of cleft hands are in shape is actuated out, for discharging the object of crawl.
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, bent
Handle rocker device drives the first locking body and the second locking body to make reversed movement by first connecting rod and second connecting rod, makes first
To cleft hand and second pair of cleft hand moves at the same time and motion amplitude is identical, convenient for accurately and fully grabbing sufferer intrabody object.On
It states mechanical claw hand and cooperates rotatable waist rotation member and large arm, medical worker is facilitated to take 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 machine for being mounted on forearm front end
Frame bottom plate, the cleft hand rack support rod being vertically arranged on cleft hand framework soleplate, the pawl for being fixed on cleft hand rack support bar top
Handset mounting 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, described
Four hinge holes are opened up on cleft hand rack top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.It presses
Above description is fixed with swivel pin in each hinge hole, and four cleft hands pass through swivel pin in a manner of one-to-one and are hinged on four
In 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 second slide slot are respectively positioned on
The lower section of hinge hole.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack is equipped with integrated camera and illumination dress
It sets, the integrated camera and lighting device are located between two pairs of cleft hands.The camera is electrically connected with display, is being illuminated
Under the illumination of device, medical worker can observe the object in front of mechanical claw hand 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；The first connecting rod is hinged
On the first lifting chassis, the first lifting chassis opens up the first guiding slot port, and first guiding slot port is matched with guide rod sliding
It closes；The pair of first guide post is vertically arranged on the first lifting chassis, opens up a pair of first pilot hole on the supporting plate, and one
First guide post is cooperated in a manner of one-to-one in a pair of first pilot hole, first latch segment is mounted on the first guiding
The top of column, first concave block are 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；The second connecting rod
It is hinged on the second lifting chassis, the second lifting chassis opens up the second guiding slot port, and second guiding slot port and guide rod are sliding
Dynamic cooperation；Second guide post is vertically arranged on the second lifting chassis, and the second lifting chassis is located at the first lifting chassis
Lower section；First lifting chassis opens up the second pilot hole, opens up third pilot hole on the supporting plate, second guide post to
On across the second pilot hole and third pilot hole；The locking plate is horizontally arranged at the top of the second guide post, and described second is recessed
Shape block is mounted on locking plate, and second sliding pin is mounted on the top of the second concave block；The 4th is opened up on the locking plate to lead
Xiang Kong, 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 rocking bar in crank and rocker mechanism drives first connecting rod and second connecting rod to act simultaneously, and first connects
Bar driving the first lifting chassis lifting, second connecting rod driving the second lifting chassis lifting, the lifting on the first lifting chassis is first
It is carried out under the guiding of guiding slot port and guide rod, the lifting on the second lifting chassis is under the guiding of the second guiding slot port and guide rod
It carries out.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack is equipped with laterally steering block, laterally steering
Block opens up laterally steering slot, and the first lifting chassis is located at the top of laterally steering block, and the second lifting chassis is located at laterally steering block
Lower section, the slide bar is equipped with square slider, and square slider is slidably matched with laterally steering slot；In the crank and rocker mechanism
Rocking bar be hinged on the pedestal of support body, the crank in crank and rocker mechanism couples with first motor, and first motor is mounted on
On pedestal.As described above, slide bar is slided in laterally steering slot by square slider thereon.
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, forearm is L-shaped, and the mechanical claw hand is mounted on the top of forearm.As described above, waist rotation member can be along first level guide rail
It is mobile with the second horizontal guide rail, 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.
Detailed description of the invention
Following further describes the present invention with reference to the drawings:
Fig. 1 is the structural schematic diagram of pickup robot in a kind of operation of the present invention；
Fig. 2 is enlarged drawing at A in Fig. 1；
Fig. 3 is the structural schematic diagram of mechanical claw hand 30 in Fig. 1；
Fig. 4 is the structural schematic diagram of any cleft hand in first pair of cleft hand 51 in Fig. 3；
Fig. 5 is the structural schematic diagram of any cleft hand in second pair of cleft hand 52 in Fig. 3；
Fig. 6 is the structural schematic diagram of the first concave block 625 in Fig. 3.
Symbol description in figure:
10, base body；11, first level guide rail；12, the second horizontal guide rail；13, first level sliding block；14, second is horizontal
Sliding block；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 images
Head and lighting device；45, laterally steering block；
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；613, guide rod；614, pedestal；615, supporting plate；621, the first sliding pin；622, first liter
Chassis drops；623, the first guide post；624, the first latch segment；625, the first concave block；626, the first guiding slot port；632, second
Go up and down chassis；633, the second guide post；634, locking plate；635, the second concave block；636, the second guiding slot port；641, slide bar；
642, first connecting rod；643, second connecting rod；644, telescopic rod；645, rocking bar；646, first motor；
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.
Specific embodiment
Such as Fig. 1, pickup robot in a kind of operation, including base body 10, the waist rotation member 21, the pivot that are articulated on base body
It connects the large arm 22 on waist rotation member, the manipulator 23 being mounted in large arm, the forearm 24 being fixed in large arm, be mounted on forearm
On mechanical claw hand 30, waist rotation member around base body rotate, large arm around waist rotation member rotate.
In conjunction with Fig. 3 to Fig. 6, 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 support body is equipped with crank rocker driving gear, crank rocker driving gear packet
Include slide bar 641, the first connecting rod 642 hinged with slide bar and the second connecting rod 643, hinged with slide bar with the cooperation of cleft hand housing slide
Telescopic rod 644, crank and rocker mechanism；The first connecting rod and the first locking body are hinged, and second connecting rod and the second locking body are cut with scissors
It connects, the rocking bar 645 in crank and rocker mechanism is hollow, and telescopic rod activity is plugged in rocking bar；Support body is equipped with locks to first
The guide rod 613 that the lifting of body and the second locking body is oriented to.Two in first pair of cleft hand 51 in two pairs of cleft hands
Cleft hand is symmetrical set, and is symmetrical arranged before and after two cleft hands in second pair of cleft hand 52 in two pairs of cleft hands, first pair of cleft hand
In the bottoms of two cleft hands open up the first slide slot 511 being obliquely installed, the bottom of two cleft hands in second pair of cleft hand is opened
If the second slide slot 521 being obliquely installed, the top of first locking body is equipped be slidably matched with the first slide slot first
Sliding pin 621, the top of the second locking body are 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 forearm front end, sets vertically
The cleft hand rack top plate set the cleft hand rack support rod 42 on cleft hand framework soleplate, be 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.
In mechanical claw hand 30, the cleft hand rack is equipped with integrated camera and lighting device 44, and described integrated takes the photograph
As head and lighting device are located between two pairs of cleft hands.
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 connects
Bar 642 is hinged on the first lifting chassis, and the first lifting chassis opens up the first guiding slot port 626, first guiding slot port with
Guide rod is slidably matched；The pair of first guide post is vertically arranged on the first lifting chassis, opens up a pair on the supporting plate
First pilot hole, a pair of first guide post cooperate in a manner of one-to-one in a pair of first pilot hole, first latch segment
It is mounted on the top of the first guide post, first concave block is mounted on the top of the first latch segment, and first sliding pin 621 is pacified
Mounted in 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；The second connecting rod 643 is hinged on the second lifting chassis, and the second lifting chassis opens up second and leads
To notch 636, second guiding slot port is slidably matched with guide rod；Second guide post is vertically arranged in the second lifting bottom
On disk, 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 branch
Third pilot hole is opened up on plate, second guide post is upward through the second pilot hole and third pilot hole；The locking plate water
Safety is mounted in the top of the second guide post, and second concave block is mounted on locking plate, and second sliding pin is mounted on second
The top of concave block；Opening up the 4th pilot hole on the locking plate, first guide post passes through the 4th pilot hole, and described first
Latch segment is located at the top of locking plate.
In mechanical claw hand 30, the cleft hand rack 40 is equipped with laterally steering block 45, and laterally steering block opens up laterally steering
Slot, the first lifting chassis 622 are located at the top of laterally steering block, and the second lifting chassis 632 is located at the lower section of laterally steering block, institute
Slide bar 641 is stated equipped with square slider, square slider is slidably matched with laterally steering slot；Rocking bar in the crank and rocker mechanism
645 are hinged on the pedestal 614 of support body, and the crank in crank and rocker mechanism couples with first motor 646, first motor installation
On pedestal.
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, small
Arm is L-shaped, and the mechanical claw hand 30 is mounted on the top of forearm.
In conjunction with Fig. 1, Fig. 2, 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 brake structure 70, the brake rotary components 72 include the brake rotating seat 721 being fixedly connected with brake lever 71,
The brake swingle 722 being fixedly connected with brake rotating seat；The brake connection component 73 includes hinged with brake swingle
Second brake connecting rod 732, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever assembly 74
Including the brake support 741 hinged with first brake connecting rod, the brake liner plate 742 being fixedly connected with brake support, the brake
Vehicle support is hinged on supporting plate 701.
In practical operation, the workflow of pickup robot is as follows in a kind of operation of the present invention:
First, medical worker holds manipulation hand 23, rotates large arm 22 or waist rotation member 21, or makes waist rotation member 21 along the
One horizontal guide rail 11 and the translation of the second horizontal guide rail 12, make the mechanical claw hand 30 on forearm 24 close at item to get body.
Second, the rocking bar 645 in crank and rocker mechanism is swung, and rocking bar is by 644 driving slider 641 of telescopic rod in cleft hand machine
The laterally steering slot of laterally steering block 45 on frame 40 moves laterally, and first connecting rod 642 drives the first locking body to decline, and second
Connecting rod 643 drives the second locking body to rise, and the first locking body drives the decline of the first sliding pin 621, since the first slide slot 511 tilts
Setting, therefore, the first sliding pin being vertically lowered can drive any cleft hand in first pair of cleft hand 51 to surround itself and cleft hand rack 40
Hinged place rotation, in this way, first pair of cleft hand 51 is swung in opposite directions；Meanwhile second locking body drive the second sliding pin to rise, due to the
Two slide slots are obliquely installed (the inclined direction of the second slide slot and the first slide slot inclined contrary), therefore, it is vertical on
The second sliding pin risen drives any cleft hand in second pair of cleft hand 52 to rotate around the hinged place of itself and cleft hand rack 40, in this way, the
Two pairs of cleft hands make opposite swing；So far, two pairs of cleft hands are in shape is collapsed, for grabbing object, at this point, rocking bar 645 be rocked to it is most left
It holds and rests on left end.
Third, the rocking bar after object is removed doctors and patients' body by manipulator 23 by medical worker, in crank and rocker mechanism
645 act again, are rocked to right end from left end, driving slider 641 makees reversed transverse shifting, and first connecting rod 642 drives
First locking body rises, and second connecting rod 643 drives the decline of the second locking body, and the first locking body drives the first sliding pin 621 to rise, together
When, the second locking body drives the decline of the second sliding pin, and two pairs of cleft hands are in shape is actuated out, for discharging the object of crawl.
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 (7)
1. pickup robot in a kind of operation including base body (10), the waist rotation member (21) being articulated on base body, is articulated in
Large arm (22) on waist rotation member, the manipulator (23) being mounted in large arm, the forearm (24) being fixed in large arm, be mounted on it is small
Mechanical claw hand (30) on arm, 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；The support body is equipped with crank rocker
Driving mechanism, crank rocker driving gear include and the slide bar (641) of cleft hand housing slide cooperation, first company hinged with slide bar
Bar (642) and second connecting rod (643) and the hinged telescopic rod of slide bar (644), crank and rocker mechanism；The first connecting rod and
One locking body is hinged, and second connecting rod and the second locking body are hinged, and the rocking bar (645) in crank and rocker mechanism is hollow, and telescopic rod is living
It is dynamic to be plugged in rocking bar；Support body is equipped with the guide rod being oriented to the lifting of the first locking body and the second locking body
(613)；
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, forearm is L-shaped, and the mechanical claw hand (30) is mounted on the top of forearm.
2. pickup robot in a kind of operation as described in claim 1, it is characterised in that: in mechanical claw hand (30), the pawl
Handset mounting (40) includes that be mounted on forearm front end cleft hand framework soleplate (41), the cleft hand that is vertically arranged on cleft hand framework soleplate
Rack support rod (42), the cleft hand rack top plate (43) for being fixed on cleft hand rack support bar top；The cleft hand driving mechanism
(60) it is mounted on cleft hand framework soleplate and is located at the lower section of cleft hand rack top plate, opens up four hinges on the cleft hand rack top plate
Hole is connect, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
3. pickup robot in a kind of operation as described in claim 1, it is characterised in that: in mechanical claw hand (30), the pawl
Handset mounting is equipped with integrated camera and lighting device (44), and the integrated camera and lighting device are located at two pairs of cleft hands
Between.
4. pickup robot in a kind of operation as described in claim 1, it is characterised in that: in mechanical claw hand (30), the branch
Frame 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)；The first connecting rod (642) is hinged on the first lifting chassis, and the first lifting chassis opens up first and leads
To notch (626), first guiding slot port is slidably matched with guide rod；The pair of first guide post is vertically arranged in first
It goes up and down on 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 one
To in the first pilot hole, first latch segment is installed at the top of every one first guide post, first concave block is mounted on
The top of first latch segment, first sliding pin (621) are 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)；The second connecting rod (643) is hinged on the second lifting chassis, 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；Opening up the 4th pilot hole on the locking plate, every one first guide post passes through the 4th pilot hole, and described the
One latch segment is located at the top of locking plate.
5. pickup robot in a kind of operation as claimed in claim 4, it is characterised in that: in mechanical claw hand (30), the pawl
Handset mounting (40) is equipped with laterally steering block (45), and laterally steering block opens up laterally steering slot, and the first lifting chassis (622) is located at
The top of laterally steering block, the second lifting chassis (632) are located at the lower section of laterally steering block, and the slide bar (641) is equipped with side
Shape sliding block, square slider are slidably matched with laterally steering slot；Rocking bar (645) in the crank and rocker mechanism is hinged on support body
Pedestal (614) on, the crank in crank and rocker mechanism couples with first motor (646), and first motor is mounted on the base.
6. pickup robot in a kind of operation as described in claim 1, it is characterised in that: the base body (10), which is equipped with, stops
Bassinet structure (70), brake structure include be fixed on base body a pair of of supporting plate (701), the brake lever that is articulated on a pair of of supporting plate
(71), the hinged brake of brake rotary components (72), one end and the brake rotary components other end that one end is fixedly connected with brake lever
Vehicle connection component (73) and the hinged lever assembly (74) of the connection component other end that brakes, are hinged on branch in the middle part of lever assembly
On plate, the cross section of the brake lever is in regular hexagon；Second horizontal slider (14) is equipped with brake plate (140), braking
Plate is connect with the second horizontal slider by adjustable spring, and brake plate is located at the side of waist rotation member (21) right side, the brake
Bar is close to brake plate.
7. pickup robot in a kind of operation as claimed in claim 6, it is characterised in that: in brake structure, the brake rotation
Turn the brake that component (72) includes the brake rotating seat (721) being fixedly connected with brake lever (71), is fixedly connected with brake rotating seat
Vehicle swingle (722)；Brake connection component (73) include second brake connecting rod (732) hinged with brake swingle,
The first brake connecting rod (731) being fixedly connected with the second brake connecting rod；The lever assembly (74) includes and first brake
The hinged brake support (741) of connecting rod, the brake liner plate (742) being fixedly connected with brake support, the brake support are hinged
On supporting plate (701).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839058.4A CN106473795B (en) | 2016-09-21 | 2016-09-21 | Pickup robot in a kind of operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839058.4A CN106473795B (en) | 2016-09-21 | 2016-09-21 | Pickup robot in a kind of operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106473795A CN106473795A (en) | 2017-03-08 |
| CN106473795B true CN106473795B (en) | 2019-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610839058.4A Active CN106473795B (en) | 2016-09-21 | 2016-09-21 | Pickup robot in a kind of operation |
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| Country | Link |
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| CN (1) | CN106473795B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108143492A (en) * | 2017-12-13 | 2018-06-12 | 四川知创空间孵化器管理有限公司 | A kind of operating robot nipper |
| CN107970067A (en) * | 2017-12-13 | 2018-05-01 | 四川知创空间孵化器管理有限公司 | A kind of titanium alloy operating robot nipper |
Citations (4)
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|---|---|---|---|---|
| WO2003099152A1 (en) * | 2002-05-28 | 2003-12-04 | Calabrian High Tech S.R.L. | Navigator-robot for surgical procedures |
| 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 |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| 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 (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8961537B2 (en) * | 2011-08-24 | 2015-02-24 | The Chinese University Of Hong Kong | Surgical robot with hybrid passive/active control |
-
2016
- 2016-09-21 CN CN201610839058.4A patent/CN106473795B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003099152A1 (en) * | 2002-05-28 | 2003-12-04 | Calabrian High Tech S.R.L. | Navigator-robot for surgical procedures |
| 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 |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| 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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| CN106473795A (en) | 2017-03-08 |
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Inventor after: He Kailan Inventor after: Feng Xiuli Inventor after: Yu Zhenhai Inventor after: Wang Wenqing Inventor before: Wang Wenqing |
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Effective date of registration: 20190104 Address after: 317700 Baiyue Village 149, Wanyuan Street, Jiaojiang District, Taizhou City, Zhejiang Province Applicant after: Xu Changhu 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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