CN106625637A - Mechanical arm and endoscope-assisted mechanical arm device - Google Patents
Mechanical arm and endoscope-assisted mechanical arm device Download PDFInfo
- Publication number
- CN106625637A CN106625637A CN201611120452.9A CN201611120452A CN106625637A CN 106625637 A CN106625637 A CN 106625637A CN 201611120452 A CN201611120452 A CN 201611120452A CN 106625637 A CN106625637 A CN 106625637A
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- Prior art keywords
- joint
- arm
- mechanical arm
- key
- principal arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a mechanical arm and an endoscope-assisted mechanical arm device, and relates to the field of medical instruments. The mechanical arm comprises a mechanical arm body and a one-key operation system; the mechanical arm body comprises a first-level cantilever, a joint main arm, a joint auxiliary arm, a buckling mechanism and a universal joint which are sequentially connected; the one-key operation system comprises an electromagnetic control system and a driving system and can control the electromagnetic control system and the driving system to be started or stopped simultaneously; the electromagnetic control system can control the first-level cantilever to rotate on a base or lock the first-level cantilever; the driving system can control the joint main arm to rotate relative to the first-level cantilever and control the joint auxiliary arm to rotate relative to the joint main arm simultaneously, or lock the joint main arm and the joint auxiliary arm simultaneously. The invention further provides an endoscope-assisted mechanical arm device comprising the mechanical arm. According to the mechanical arm, multi-dimension large-range joint arm adjusting and moving can be achieved, and any-angle dead-corner-free moving of a joint arm can be controlled through one-key operation.
Description
Technical field
The present invention relates to field of medical appliances, in particular to a kind of mechanical arm and scope Aided Machine arm assembly.
Background technology
Existing endoscope minimally invasive operation is held mirror to realize by assistant doctor's auxiliary.But prolonged operation and not side
Just erect-position makes assistant doctor very tired out, is affected by the factors such as heartbeat, long-time are helped, erect-position is not good are breathed, assistant doctor
Life being situations such as occur unavoidably hand shaking, ache, and it is unintelligible to directly result in operation picture, affects operating doctor to judge.
At present, during scope minimally invasive medical procedures, with Aided Machine people assistant doctor is replaced, auxiliary adjustment is simultaneously accurate
Fixed, mobile endoscope, with facilitate to be difficult during operation hand steered danger zone or inconvenient hand steered equipment and
Small space is operated increasingly to be widely used.Replace assistant doctor's assistant endoscopic surgery with robot, can improve
The automaticity of operation, reduces the accident that the human error of operation may cause, and reduces injury of the manual operation to human body, reaches
To more preferable stablizing effect, the workload of personnel is reduced, increase the safe coefficient of danger zone operating personnel.
Robot on market cannot mostly realize that various dimensions adjust on a large scale linear joint arm, cannot also realize a key
Operational control joint arm is arbitrarily angled without dead angle movement.
Therefore, researching and developing one kind can realize that various dimensions adjust on a large scale linear joint arm, and can key operation control joint
The arbitrarily angled mechanical arm without dead angle movement of arm is to need the urgent technical problem for solving at present.
The content of the invention
It is an object of the invention to provide a kind of mechanical arm, the mechanical arm is capable of achieving various dimensions and adjusts mobile pass on a large scale
Joint arm, and it is arbitrarily angled without dead angle movement to be capable of achieving key operation control joint arm.
Another object of the present invention is to a kind of scope Aided Machine arm assembly is provided, the scope Aided Machine arm assembly energy
Realize that key operation control joint arm is arbitrarily angled without dead angle movement.
The present invention solves its technical problem to be realized using following technical scheme：
A kind of mechanical arm, including mechanical arm body and a key operation system.The mechanical arm body is including pedestal and at least
One tower crane；The tower crane includes one-level cantilever, joint principal arm, joint auxiliary, snap device and universal joint.The one-level cantilever
One end be connected with the pedestal, and the one-level cantilever can rotate on the pedestal.One end of the joint principal arm and institute
The other end for stating one-level cantilever is hinged, and one end of the joint auxiliary is hinged with the other end of the joint principal arm.The joint
The other end of auxiliary is connected with the snap device, and the universal joint is connected with the snap device.
One key control system includes electromagnetic control system and drive system, and a key control system can be controlled simultaneously
The electromagnetic control system and the drive system are turned on and off.When the electromagnetic control system is opened, the one-level cantilever
Can rotate on the pedestal.When the electromagnetic control system is closed, the one-level cantilever can be locked.The drive system is opened
When, the joint principal arm can be rotated relative to the one-level cantilever, and the joint auxiliary can be rotated relative to the joint principal arm.Institute
When stating drive system closing, the joint principal arm and the joint auxiliary can be simultaneously locked.
Further, the drive system includes the first dynamical system and the second dynamical system.The joint principal arm passes through
First dynamical system is connected with the one-level cantilever, and when first dynamical system is opened, the joint principal arm can be relative
The one-level cantilever is rotated, and when first dynamical system is closed, can lock the joint principal arm.The joint auxiliary passes through institute
State the second dynamical system to be connected with the joint principal arm, when second dynamical system is opened, the joint auxiliary can be with respect to institute
State joint principal arm to rotate, when second dynamical system is closed, the joint auxiliary can be locked.
Further, the drive system also includes driving source, and first dynamical system is connected with the driving source, institute
State the second dynamical system to be connected with the driving source, the driving source can simultaneously control first dynamical system and described second
Dynamical system is turned on and off.One key control system can control the driving source and be turned on and off.
Further, a key control system also includes a key control key, the driving source and the key control key
Connection, the electromagnetic control system is bonded with a key control, and the key control key can simultaneously control the driving source
It is turned on and off with the electromagnetic control system.
Further, the key control key is arranged on the joint auxiliary.
Further, first dynamical system is hydraulic system, baric systerm or servo electrical machinery system.
Further, first dynamical system is hydraulic system, and the joint principal arm and the joint auxiliary pass through
Cam mechanism connects, and the cam mechanism includes coaxially connected cam and gear, and the gear is engaged with the joint auxiliary,
The cam is connected with first dynamical system.
Further, the electromagnetic control system includes electromagnetic control apparatus and limited location snap ring, and the limited location snap ring is arranged
In the electromagnetic control apparatus, the electromagnetic control system can control the limited location snap ring action, be hanged with limiting the one-level
The rotation angle range of arm, and the rotation angle range is 0-270 °.
Further, the snap device is fixedly connected with the joint auxiliary, the universal joint and the snap device
Rotate connection.
The present invention also provides a kind of scope Aided Machine arm assembly, and it includes carrier arrangement, clamping device and above-mentioned machine
Tool arm, the clamping device is arranged on the pedestal, and the mechanical arm and the carrier arrangement are connected by the clamping device
Connect.
The beneficial effect of the embodiment of the present invention is：Mechanical arm provided in an embodiment of the present invention, including mechanical arm body and one
Key operation system.Mechanical arm body includes one-level cantilever, joint principal arm, joint auxiliary, the snap device and universal being sequentially connected
Section.One key control system includes electromagnetic control system and drive system, and a key control system can simultaneously control electromagnetic control system
It is turned on and off with drive system.When electromagnetic control system is opened, one-level cantilever can rotate on pedestal；Electromagnetic control system is closed
When closing, one-level cantilever can be locked.When drive system is opened, joint principal arm can versus primary cantilever rotate, and joint auxiliary can phase
Joint principal arm is rotated；When drive system is closed, joint principal arm and joint auxiliary can be simultaneously locked.Therefore, the present invention is provided
Mechanical arm can realize that various dimensions adjust on a large scale linear joint arm, and can realize the arbitrarily angled behaviour without dead angle of a key control
Make.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only the present invention certain embodiment, therefore be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little accompanying drawings obtain other related accompanying drawings.
First viewing angle constructions schematic diagram of the mechanical arm that Fig. 1 is provided for first embodiment of the invention.
Second viewing angle constructions schematic diagram of the mechanical arm that Fig. 2 is provided for first embodiment of the invention.
The partial cross sectional views of the electromagnetic control apparatus of the mechanical arm that Fig. 3 is provided for first embodiment of the invention.
The structural representation of the scope Aided Machine arm assembly that Fig. 4 is provided for second embodiment of the invention.
Icon：100- mechanical arms；110- mechanical arm bodies；112- pedestals；114- tower cranes；1141- one-level cantilevers；1142-
Joint principal arm；1143- joints auxiliary；1144- snap devices；1145- universal joints；1146- cam mechanisms；11461- gears；
11462- cams；The key operation systems of 120- mono-；The key control keys of 122- mono-；124- drive systems；1241- driving sources；1243- first
Dynamical system；The dynamical systems of 1245- second；126- electromagnetic control systems；1261- electromagnetic control apparatus；1263- limited location snap rings；
151- first hydraulic cylinders；153- second hydraulic cylinders；1531- piston rods；200- scope Aided Machine arm assemblies；212- clamps dress
Put；220- carrier arrangements.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Present invention enforcement generally described and illustrated in accompanying drawing herein
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model of present invention protection
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and is explained in subsequent accompanying drawing.
In describing the invention, it should be noted that term " on " etc. instruction orientation or position relationship be based on attached
Orientation or position relationship shown in figure, or the orientation usually put when using of the invention product or position relationship, be only for
It is easy to the description present invention and simplifies description, rather than indicates or imply that the device or element of indication there must be specific side
Position, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Additionally, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important
Property.
In describing the invention, in addition it is also necessary to explanation, unless had more specific regulation in addition and limited, term " sets
Put ", " connection " more broadly understanding should be done, for example, " connection " can be fixedly connected, or be detachably connected, or one
The connection of body ground；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, can be with concrete condition understanding
State term concrete meaning in the present invention.
Below in conjunction with the accompanying drawings, multiple embodiments of the present invention are elaborated, it is following in the case where not conflicting
Feature in embodiment can be mutually combined.
First embodiment
First viewing angle constructions schematic diagram of the mechanical arm 100 that Fig. 1 is provided for first embodiment of the invention.Fig. 2 is the present invention
Second viewing angle constructions schematic diagram of the mechanical arm 100 that first embodiment is provided.Incorporated by reference to seeing figures.1.and.2, the present embodiment is provided
Mechanical arm 100, including the key operation system 120 of mechanical arm body 110 and, a key operation system 120 is arranged on mechanical arm sheet
In body 110.
Mechanical arm body 110 includes the tower crane 114 of pedestal 112 and at least one.Tower crane 114 is arranged on pedestal 112, and often
Individual tower crane 114 can rotate on pedestal 112.
Preferably, the mechanical arm 100 that the present embodiment is provided only includes a tower crane 114, and tower crane 114 can be around its own rotation
Rotating shaft rotates.It is understood that in other preferred embodiments, the quantity of tower crane 114 can be two, three, four etc..
Tower crane 114 includes one-level cantilever 1141, joint principal arm 1142, joint auxiliary 1143, snap device 1144 and universal
Section 1145.One end of one-level cantilever 1141 is hinged with one end of joint principal arm 1142, the other end of joint principal arm 1142 and joint
One end of auxiliary 1143 is hinged, and the other end snap device 1144 of joint auxiliary 1143 connects, snap device 1144 and universal joint
1145 connections.
The other end of one-level cantilever 1141 is connected with pedestal 112, and one-level cantilever 1141 can rotate on pedestal 112.
One key operation system 120 includes drive system 124, the key control key 122 of electromagnetic control system 126 and.Drivetrain
System 124 and electromagnetic control system 126 are connected respectively with a key control key 122.It is understood that a key control key 122 can be same
When control drive system 124 and electromagnetic control system 126 be turned on and off, realize a key operation effect.
Preferably, in the present embodiment, a key control key 122 is arranged on joint auxiliary 1143.It is understood that in reality
During the use of border, a key control key 122 is arranged on joint auxiliary 1143, is pressed conveniently, with good operability.
Certainly, in actual production, a key control key 122 can be arranged on by machinery according to the experience of those skilled in the art
Other positions of arm 100.
Meanwhile, it should be noted that in other preferred embodiments, remote control system or voice activated control can also be set, with
Drive system 124 and electromagnetic control system 126 connect, and while control drive system 124 and electromagnetic control system 126, realize
The effect of one key operation.
Drive system 124 is rotated for controlling the versus primary cantilever 1141 of joint principal arm 1142, while controlling joint auxiliary
1143 opposed articulation principal arms 1142 are rotated, or, while locking joint principal arm 1142 and joint auxiliary 1143.May be appreciated
It is that when drive system 124 is opened, the controllable versus primary cantilever 1141 of joint principal arm 1142 is rotated, while controlling joint auxiliary
1143 opposed articulation principal arms 1142 are rotated.When drive system 124 is closed, joint principal arm 1142 and joint auxiliary can be simultaneously locked
1143。
Drive system 124 includes driving source 1241, the first dynamical system 1243 and the second dynamical system 1245, the first power
The dynamical system 1245 of system 1243 and second is connected respectively with driving source 1241.Driving source 1241 is connected with a key control key 122.
Controllable first dynamical system 1243 of driving source 1241 and the second dynamical system 1245 are turned on and off simultaneously.May be appreciated
It is that a key control key 122 can control the first dynamical system 1243 by driving source 1241 and the second dynamical system 1245 is opened simultaneously
Open or close.
First dynamical system 1243 is rotated for controlling the versus primary cantilever 1141 of joint principal arm 1142, or locking joint
Principal arm 1142.It should be noted that when the first dynamical system 1243 is opened, joint principal arm 1142 can 1141 turns of versus primary cantilever
It is dynamic.When first dynamical system 1243 is closed, joint principal arm 1142 can be locked.
Preferably, in the present embodiment, the first dynamical system 1243 is first hydraulic cylinder 151, is arranged on one-level cantilever
In 1141, for connecting joint principal arm 1142 and one-level cantilever 1141, and the versus primary cantilever 1141 of joint principal arm 1142 is controlled
Rotate, or locking joint principal arm 1142.Certainly, in other preferred embodiments, the concrete shape of the first dynamical system 1243
Formula can have different changes, if can realize driving the versus primary cantilever 1141 of joint principal arm 1142 to rotate, and can be certain
Under state lock joint principal arm 1142, the first dynamical system 1243 can for hydraulic system, baric systerm, servo electrical machinery system or
Other have the dynamical system of corresponding function.
Second dynamical system 1245 is rotated for controlling the opposed articulation principal arm 1142 of joint auxiliary 1143, or locking joint
Auxiliary 1143.It should be noted that when the second dynamical system 1245 is opened, joint auxiliary 1143 can 1142 turns of opposed articulation principal arm
It is dynamic.When first dynamical system 1243 is closed, joint auxiliary 1143 can be locked.
Preferably, in the present embodiment, the second dynamical system 1245 is second hydraulic cylinder 153, is arranged on joint principal arm
In 1142, for connecting joint principal arm 1142 and joint auxiliary 1143, and the opposed articulation principal arm 1142 of joint auxiliary 1143 is controlled
Rotate, or locking joint auxiliary 1143.Certainly, in other preferred embodiments, the concrete shape of the first dynamical system 1243
Formula can have different changes, if can realize driving the versus primary cantilever 1141 of joint principal arm 1142 to rotate, and can be certain
Under state lock joint principal arm 1142, the first dynamical system 1243 can for hydraulic system, baric systerm, servo electrical machinery system or
Other have the dynamical system of corresponding function.
It is understood that joint principal arm 1142 can versus primary cantilever 1141 rotate, while joint auxiliary 1143 can phase
Joint principal arm 1142 is rotated, the mechanical arm 100 that the present embodiment is provided is capable of achieving the rotation of three degree of freedom, and adjusts mobile pass
Joint arm, it is easy to operate, it is practical.
Certainly, in other preferred embodiments, mechanical arm 100 can also comprising other joint arms, and with joint pair
Arm 1143, joint principal arm 1142 or one-level cantilever 1141 are hinged, meanwhile, mechanical arm 100 also includes the dynamical system of respective numbers,
Rotated with controlling these joint arms, realize the rotation of more freedom.
Electromagnetic control system 126 rotates or locks one-level cantilever 1141 for controlling one-level cantilever 1141 on pedestal 112.
It is understood that when electromagnetic control system 126 is opened, can control one-level cantilever 1141 and rotate on pedestal 112.Electromagnetic Control
When system 126 is closed, one-level cantilever 1141 can be locked.
It is to be appreciated that, one-level cantilever 1141 is capable of achieving 360 ° of all-direction rotations, or quilt under the control of electromagnetic system
Locking.
The partial cross sectional views of the electromagnetic control apparatus 1261 of the mechanical arm 100 that Fig. 3 is provided for first embodiment of the invention.
Incorporated by reference to reference picture 1- Fig. 3, electromagnetic control system 126 is arranged in pedestal 112, and electromagnetic control system 126 includes Electromagnetic Control
Device 1261, electromagnetic control apparatus 1261 are used to connect pedestal 112 and one-level cantilever 1141, and control one-level cantilever 1141 in base
Rotation or locking one-level cantilever 1141 on seat 112.Electromagnetic control apparatus 1261 are connected with a key control key 122, a key control key
122 controllable electromagnetic control apparatus 1261 are turned on and off.It is understood that when electromagnetic control apparatus 1261 are opened, one-level
Cantilever 1141 and opposite base 112 are rotated, and when electromagnetic control apparatus 1261 are closed, can lock one-level cantilever 1141.
Preferably, in the present embodiment, electromagnetic control system 126 also includes limited location snap ring 1263, limited location snap ring 1263 sets
Put in electromagnetic control apparatus 1261, and electromagnetic control system 126 can control the action of limited location snap ring 1263, it is preferable that this enforcement
In example, electromagnetic control system 126 can control limited location snap ring 1263 and eject, so as to limit the anglec of rotation model of one-level cantilever 1141
Enclose.
Preferably, in the present embodiment, the rotation angle range of one-level cantilever 1141 is 0-270 °.It is understood that
It is preferably use state when the rotation angle range of one-level cantilever 1141 is 0-270 ° in practical operation application, is conducive to improving
The operability and the possible invalid rotation energy of saving of mechanical arm 100.
Certainly, in actual production process, the position of limited location snap ring 1263 can according to the experience of those skilled in the art, be set
Put or quantity, limit one-level cantilever 1141 rotation angle range other preferably use angle.
See figures.1.and.2 continuing with combining, preferably, in the present embodiment, joint principal arm 1142 and joint auxiliary 1143
Connected by cam mechanism 1146, cam mechanism 1146 includes coaxially connected cam 11462 and gear 11461, gear 11461
Engage with joint auxiliary 1143, cam 11462 is connected with the first dynamical system 1243.Preferably, the second of the present embodiment offer
Hydraulic cylinder 153 includes piston rod 1531, and piston rod 1531 is connected with cam 11462, so as to realize controlling by second hydraulic cylinder 153
The opposed articulation principal arm 1142 of joint auxiliary processed 1143 is rotated, or locks the joint auxiliary 1143.
Preferably, in the present embodiment, snap device 1144 is fixed on joint auxiliary 1143 away from the one of joint principal arm 1142
End.Universal joint 1145 is rotated with snap device 1144 and is connected.It is understood that between universal joint 1145 and snap device 1144
Quick connection can be realized by attachment structures such as rolling bearing type, bayonet type, suspension hook, screws.
Second embodiment
The structural representation of the scope Aided Machine arm assembly 200 that Fig. 4 is provided for second embodiment of the invention.Refer to figure
4, the present embodiment provides a kind of scope Aided Machine arm assembly 200, and it includes that carrier arrangement 220, clamping device 212 and first are real
The mechanical arm 100 of example offer is provided.Clamping device 212 is arranged on pedestal 112, and mechanical arm 100 and carrier arrangement 220 are by clamping
Device 212 connects.
It is understood that carrier arrangement 220 can be the arbitrarily object construction such as operating theater instruments, pipeline, steel wire.It is preferred that
, in the present embodiment, carrier arrangement 220 is operation table.When using, clamping device 212 is fixed on the edge of bed of operation table.
The operation principle of mechanical arm provided in an embodiment of the present invention 100 is：Mechanical arm 100 includes to rotate against and connecting
Tower crane 114 and pedestal 112, tower crane 114 include be connected with each other and with three degree of freedom one-level cantilever 1141, shutdown principal arm and
Joint auxiliary 1143, and one-level cantilever 1141 can be connected with the relative rotation with pedestal 112.Mechanical arm 100 also includes a key operation
System 120, the key operation system 120 includes a key control key 122, electromagnetic control system 126 and drive system 124, the electricity
Magnetic control system 126 can control the opposite base 112 of one-level cantilever 1141 and rotate, or, lock the one-level cantilever 1141, the driving
System 124 can control the versus primary cantilever 1141 of joint principal arm 1142 and rotate, while controlling the opposed articulation master of joint auxiliary 1143
Arm 1142 is rotated, or, while locking joint principal arm 1142 and joint auxiliary 1143.One key control key 122 can simultaneously control electricity
Magnetic system and the action of drive system 124.It is understood, therefore, that by the key operation key, being capable of achieving mechanical arm more than 100
Dimension adjusts on a large scale linear joint arm, and energy one key operation control joint arm is arbitrarily angled without dead angle movement.
In sum, when mechanical arm provided in an embodiment of the present invention 100 is applied, it is capable of achieving the big model of the various dimensions of mechanical arm 100
Exclosure adjusts linear joint arm, and energy one key operation control joint arm is arbitrarily angled without dead angle movement, easy to use, operation letter
It is single.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of mechanical arm, it is characterised in that including mechanical arm body and a key operation system；The mechanical arm body includes base
Seat and at least one tower crane；The tower crane includes one-level cantilever, joint principal arm, joint auxiliary, snap device and universal joint；It is described
One end of one-level cantilever is connected with the pedestal, and the one-level cantilever can rotate on the pedestal；The joint principal arm
One end is hinged with the other end of the one-level cantilever, and one end of the joint auxiliary is hinged with the other end of the joint principal arm；
The other end of the joint auxiliary is connected with the snap device, and the universal joint is connected with the snap device；
One key control system includes electromagnetic control system and drive system, the electromagnetic control system and the drive system
Can be turned on and off simultaneously；When the electromagnetic control system is opened, the one-level cantilever can rotate on the pedestal；The electricity
When magnetic control system is closed, the one-level cantilever can be locked；When the drive system is opened, the joint principal arm can be relatively described
One-level cantilever is rotated, and the joint auxiliary can be rotated relative to the joint principal arm；When the drive system is closed, can lock simultaneously
The tight joint principal arm and the joint auxiliary.
2. mechanical arm as claimed in claim 1, it is characterised in that the drive system includes the first dynamical system and second dynamic
Force system；The joint principal arm is connected by first dynamical system with the one-level cantilever, and first dynamical system is opened
Qi Shi, the joint principal arm can be rotated relative to the one-level cantilever, when first dynamical system is closed, can lock the joint
Principal arm；The joint auxiliary is connected by second dynamical system with the joint principal arm, and second dynamical system is opened
When, the joint auxiliary can be rotated relative to the joint principal arm, when second dynamical system is closed, can lock the joint pair
Arm.
3. mechanical arm as claimed in claim 2, it is characterised in that the drive system also includes driving source, described first moves
Force system is connected with the driving source, and second dynamical system is connected with the driving source, and the driving source can be controlled simultaneously
First dynamical system and second dynamical system are turned on and off.
4. mechanical arm as claimed in claim 3 a, it is characterised in that key control system also includes a key control key, institute
State driving source bonded with a key control, the electromagnetic control system is bonded with a key control, a keying
Key processed can simultaneously control the driving source and the electromagnetic control system is turned on and off.
5. mechanical arm as claimed in claim 4, it is characterised in that the key control key is arranged on the joint auxiliary.
6. mechanical arm as claimed in claim 2, it is characterised in that first dynamical system is hydraulic system, baric systerm
Or servo electrical machinery system.
7. mechanical arm as claimed in claim 6, it is characterised in that first dynamical system is hydraulic system, and the pass
Section principal arm and the joint auxiliary are connected by cam mechanism, and the cam mechanism includes coaxially connected cam and gear, institute
State gear to engage with the joint auxiliary, the cam is connected with first dynamical system.
8. mechanical arm as claimed in claim 1, it is characterised in that the electromagnetic control system includes electromagnetic control apparatus and limit
Position snap ring, the limited location snap ring is arranged in the electromagnetic control apparatus, and the electromagnetic control system can control the limiting card
Gyration is made, and to limit the rotation angle range of the one-level cantilever, and the rotation angle range is 0-270 °.
9. mechanical arm as claimed in claim 1, it is characterised in that the snap device is fixedly connected with the joint auxiliary,
The universal joint is rotated with the snap device and is connected.
10. a kind of scope Aided Machine arm assembly, it is characterised in that including carrier arrangement, clamping device and such as claim 1-9
Mechanical arm described in any one, the clamping device is arranged on the pedestal, and the mechanical arm and the carrier arrangement are logical
Cross the clamping device connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611120452.9A CN106625637A (en) | 2016-12-08 | 2016-12-08 | Mechanical arm and endoscope-assisted mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611120452.9A CN106625637A (en) | 2016-12-08 | 2016-12-08 | Mechanical arm and endoscope-assisted mechanical arm device |
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| Publication Number | Publication Date |
|---|---|
| CN106625637A true CN106625637A (en) | 2017-05-10 |
Family
ID=58819071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611120452.9A Pending CN106625637A (en) | 2016-12-08 | 2016-12-08 | Mechanical arm and endoscope-assisted mechanical arm device |
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| CN108175506A (en) * | 2017-12-25 | 2018-06-19 | 宁波杨古诚文化传播有限公司 | A kind of medical mechanism arm for assisting operation |
| CN108420535A (en) * | 2018-04-25 | 2018-08-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of mechanical arm for spinal operation |
| CN108992182A (en) * | 2018-08-07 | 2018-12-14 | 华志微创医疗科技（北京）有限公司 | A kind of cranial surgery stereotactic apparatus and locking means with double locking function |
| WO2020063949A1 (en) * | 2018-09-30 | 2020-04-02 | 泗洪县正心医疗技术有限公司 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
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| CN108992182A (en) * | 2018-08-07 | 2018-12-14 | 华志微创医疗科技（北京）有限公司 | A kind of cranial surgery stereotactic apparatus and locking means with double locking function |
| WO2020063949A1 (en) * | 2018-09-30 | 2020-04-02 | 泗洪县正心医疗技术有限公司 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
| CN112006786A (en) * | 2020-08-28 | 2020-12-01 | 无锡华飞杰希科技有限公司 | Medical auxiliary tool |
| CN115122388A (en) * | 2022-06-27 | 2022-09-30 | 天津大学 | Mechanically adjustable cantilever |
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