CN107198577B - A kind of intelligent operation seat - Google Patents
A kind of intelligent operation seat Download PDFInfo
- Publication number
- CN107198577B CN107198577B CN201710376051.8A CN201710376051A CN107198577B CN 107198577 B CN107198577 B CN 107198577B CN 201710376051 A CN201710376051 A CN 201710376051A CN 107198577 B CN107198577 B CN 107198577B
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- electric cylinders
- fixedly mounted
- pillar
- hinged
- fixed frame
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- 239000004744 fabric Substances 0.000 claims description 6
- 229920000742 Cotton Polymers 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 238000002406 microsurgery Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 206010033425 Pain in extremity Diseases 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/60—Supports for surgeons, e.g. chairs or hand supports
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Dentistry (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
A kind of intelligent operation seat, including two leg restraints, three the first electric cylinders, the first connecting plate, back fixation device, mechanical arms, gripper, since present invention employs above-mentioned technical proposals, the invention has the following advantages that the present invention is fixed on leg by two leg restraints, the normal walking of user is not on the one hand interfered by hinged electric cylinders, on the other hand user can be assisted to keep stance, to guarantee loosening for leg；When user needs to lean forward, the present invention passes through the cooperation of electric cylinders, vacuum generator and sucker, and sucker is inhaled on the ground, can alleviate the pressure of user leg and waist, so as to make doctor more put into the treatment of patient；The present invention, come the operational tool in accurate pick tool case, can be prevented doctor from making a fault because of fatigue and take tool by mistake by mechanical arm, and then influence procedure.
Description
Technical field
The present invention relates to medical accessory machinery technical field, in particular to a kind of intelligent operation seat.
Background technique
During operation, the time is very urgent, and every one minute and one second is all related to the life of patient, so attending physician
In the course of surgery almost without the time of having a rest, especially when the state of an illness is more serious, doctor keep for a long time stance or
Person is the posture for bending over to lean forward, and leads to waist, leg pain, or even will affect being normally carried out for operation, is had already appeared at present
Corresponding mechanical equipment, such as application No. is " the microsurgery seat " of 201620331560.X, a kind of microsurgeries
Seat a comprising support base and the Chain cushion being placed in the support base can revolve under the support base
Turn to be connected with a pillar, is fixedly connected with support leg below the pillar, microsurgery seat two sides respectively include one
A L shape support post being rotatably connected with the support base, the L shape support post upper end rotation are connected with a lifting
Handrail.The invention is inflexible when in use, may interfere the movement of arm in use, in addition influence operation into
Row, needs to manually adjust when in use, cumbersome, influences efficiency.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of intelligent operation seat, high degree of automation, compact, operating spirit
It is living.
The technical scheme adopted by the invention is as follows: a kind of intelligent operation seat, it is characterised in that: including the fixed dress in two legs
It sets, three the first electric cylinders, the first connecting plate, back fixation device, mechanical arms, gripper, the leg restraint includes inhaling
Disk, vacuum generator, two first servo motors, the second electric cylinders, the first pillar, third electric cylinders, the second pillar, third pillar,
First fixed frame, the 4th electric cylinders, the 5th electric cylinders, the second fixed frame, after the second electric cylinders bottom is hinged on the second fixed frame
The lower part in face, telescopic rod top are hinged on the bottom of vacuum generator, and sucker couples with vacuum generator straight down, and two
One in first servo motor is fixedly mounted on vacuum generator bottom, turns at the top of motor shaft and the second electric cylinders telescopic rod
Dynamic center is fixed together, another first servo motor is fixedly mounted on the subsequent lower part of the second fixed frame, motor shaft with
The center of rotation of second electric cylinders bottom is fixed together, and the first pillar is fixedly mounted on behind the second fixed frame, and with second
Vertical behind fixed frame, the second pillar is fixedly mounted on behind the first fixed frame, and vertical with behind the first fixed frame,
Third electric cylinders bottom is hinged on the first pillar top, and telescopic rod top end is hinged on the second post top portion, the 4th electric cylinders vertically to
Under be fixedly mounted on the first fixed frame bottom surface, the 5th electric cylinders are fixedly mounted on straight up at the top of the second fixed frame, the 4th electric cylinders
Telescopic rod top end and the 5th electric cylinders telescopic rod top end it is hinged, third pillar be rectangular slab, on it behind surface
Portion is equipped with hinged ball seat, and third pillar is fixedly mounted on behind the first fixed frame, and vertical with behind the first fixed frame；
The back fixation device include the 4th pillar, support plate, two waist harnesses, three the second buckles, pocket set,
Two shoulder harnesses, tool boxes, support plate are rectangular slab, and tool box is fixedly mounted on the subsequent middle part of support plate, the 4th pillar
For rectangular slab, it is equipped with hinged ball seat straight down at the rear portion of its bottom surface, it is subsequent that the 4th pillar is fixedly mounted on support plate
Lower part, and it is vertical with behind support plate, and two shoulder harness head ends are respectively and fixedly installed to the right and left on support plate top,
It is respectively fixed with the second buckle two shoulder harness ends, two waist harness head ends are respectively and fixedly installed to support plate or so
The lower part of two sides is fixed with the second buckle on the end of the waist harness of right part, on the end of the waist harness of left part
It is fixed with pocket set, two shoulder harnesses and two waist harnesses are made of flexible cloth；
The mechanical arm include the second servo motor, three parallel institutions, three telescoping cylinders, three third servo motors,
Camera, it includes a parallel machine in three groups, every group that three parallel institutions, three telescoping cylinders and three third servo motors, which are divided into,
Structure, a telescoping cylinder and a third servo motor, telescoping cylinder is fixedly mounted on parallel institution upper surface, third servo in every group
Motor is fixedly mounted at the top of the telescopic rod of telescoping cylinder, and the parallel institution in first group is fixedly mounted on the electricity of the second servo motor
On arbor, the parallel institution in second group is fixedly mounted on the motor shaft of third servo motor in the first set, in third group
Parallel institution be fixedly mounted on the motor shaft of third servo motor in the second set, camera is fixedly mounted in third group
Third servo motor side；
The gripper includes cylinder, body frame, connecting rod, pawl, central plate, and cylinder bottom is fixedly mounted on inside body frame
At center, the Kong Houyu central plate that telescopic rod passes through body frame upper end is fixed together, hinged uniformly distributed four of central plate periphery
Frame, the inner end of four pawls are respectively hinged on four body cradles on central plate periphery, and four connecting rod one end are respectively hinged at
On four faces of body frame, the other end is respectively hinged at four pawl bottoms；
First fixed frame is identical as the second fixed rack structure, and the second fixed frame includes two the first card slots, the second company
Fishplate bar, leg harness, two the first buckles, the second connecting plate is rectangular slab, negative camber is equipped on the front thereof, on negative camber
Equipped with soft cotton pad, leg harness is made of flexible cloth, and leg harness head end is fixed on the second connecting plate curved surface
Right side is respectively fixed with one first buckle in the top and the bottom of leg harness end, above and below the left side of the second connecting plate curved surface
Two each to fix first card slot, and the first card slot is corresponding with the first buckle；
The pocket set includes three the second card slots, third connecting plate, and third connecting plate lower half is rectangular slab, upper half
Portion be it is trapezoidal, be respectively mounted with second card slot on the trapezoidal side of left and right two of third connecting plate, third connect
Fixed second card slot of plate bottom level；
The parallel institution include two plectanes, six the 6th electric cylinders, the plectane be it is cylindric, upper surface is circumferentially equal
Even to be equipped with three groups of ball seats, every group includes two ball seats, six one group of the 6th electric cylinders every two, the bottom of every group of two the 6th electric cylinders
It is installed therein in the corresponding ball seat in a plectane upper surface by ball-joint respectively, the telescopic rod top of every group of two the 6th electric cylinders
End is mounted in another corresponding ball seat in plectane upper surface by ball-joint respectively；
First connecting plate upper half is rectangle, and lower half is trapezoidal, surface middle part and trapezoidal left and right on it
Hinged ball seat is respectively equipped on side, ball-joint is distinguished in three hinged ball seats of the first connecting plate in the bottom of three the first electric cylinders
On, third pillar of the ball-joint in two leg restraints respectively at the top of the telescoping cylinder of two the first electric cylinders of lower part
On hinged ball seat, hinged ball seat of the ball-joint in the 4th pillar at the top of the telescopic rod of the first electric cylinders on the first connecting plate upper surface
On, mechanical arm is fixedly mounted on the rear portion of the 4th pillar upper surface, and gripper is fixedly mounted on mechanical arm top.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that the present invention is solid by two legs
Determine device and be fixed on leg, does not on the one hand interfere the normal walking of user by hinged electric cylinders, on the other hand may be used
To assist user to keep stance, to guarantee loosening for leg；When user needs to lean forward, the present invention passes through electric cylinders, true
Sucker is inhaled on the ground, can alleviate the pressure of user leg and waist, so as to make by the cooperation of empty generator and sucker
Doctor more puts into the treatment of patient；The present invention, come the operational tool in accurate pick tool case, can be prevented by mechanical arm
Doctor makes a fault because of fatigue takes tool by mistake, and then influences procedure.
Detailed description of the invention
Fig. 1 is the schematic perspective view that the present invention integrally assembles.
Fig. 2 is the whole schematic perspective view for assembling another angle of the present invention.
Fig. 3 is the schematic perspective view of leg restraint of the present invention.
Fig. 4 is the schematic perspective view of back fixation device of the present invention.
Fig. 5 is the schematic perspective view of pocket set of the present invention.
Fig. 6 is the schematic perspective view of the second fixed frame of the invention.
Fig. 7 is the schematic perspective view of gripper of the present invention.
Fig. 8 is the schematic perspective view of parallel institution of the present invention.
Fig. 9 is the schematic perspective view of mechanical arm of the present invention.
Drawing reference numeral: 1- leg restraint；The first electric cylinders of 2-；The first connecting plate of 3-；4- back fixation device；5- is mechanical
Arm；6- gripper；
101- sucker；102- vacuum generator；103- first servo motor；The second electric cylinders of 104-；The first pillar of 105-；
106- third electric cylinders；The second pillar of 107-；108- third pillar；The first fixed frame of 109-；The 4th electric cylinders of 110-；The 5th electricity of 111-
Cylinder；The second fixed frame of 112-；
The first card slot of 1121-；The second connecting plate of 1122-；The leg 1123- harness；1124- first is buckled；
The 4th pillar of 401-；402- support plate；403- waist harness；404- second is buckled；405- pocket set；406- shoulder
Harness；The tool box 407-；
The second card slot of 4051-；4052- third connecting plate；
The second servo motor of 501-；502- parallel institution；503- telescoping cylinder；504- third servo motor；505- camera；
5021- plectane；The 6th electric cylinders of 5022-；
601- cylinder；602- body frame；603- connecting rod；604- pawl；605- central plate.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and a kind of intelligent operation seat shown in Fig. 9, feature exist
In: including two leg restraints, 1, three the first electric cylinders 2, the first connecting plate 3, back fixation device 4, mechanical arm 5, machinery
Pawl 6, the leg restraint 1 include sucker 101, vacuum generator 102, two first servo motors 103, the second electric cylinders
104, the first pillar 105, third electric cylinders 106, the second pillar 107, third pillar 108, the first fixed frame 109, the 4th electric cylinders
110, the 5th electric cylinders 111, the second fixed frame 112, it is subsequent that 104 bottom of the second electric cylinders is hinged on the second fixed frame 112
Lower part, is hinged on the bottom of vacuum generator 102 at the top of telescopic rod, sucker 101 straight down with vacuum generator 102
It connects, one in two first servo motors 103 is fixedly mounted on 102 bottom of vacuum generator, motor shaft and the second electric cylinders
Center of rotation at the top of 104 telescopic rods is fixed together, another first servo motor 103 is fixedly mounted on the second fixed frame
112 subsequent lower parts, motor shaft and the center of rotation of 104 bottom of the second electric cylinders are fixed together, the fixed peace of the first pillar 105
Behind the second fixed frame 112, and it is vertical with behind the second fixed frame 112, and the second pillar 107 is fixedly mounted on first
Behind fixed frame 109, and it is vertical with behind the first fixed frame 109, and 106 bottom of third electric cylinders is hinged on the first pillar 105
Top, telescopic rod top end are hinged on 107 top of the second pillar, and it is fixed that the 4th electric cylinders 110 are fixedly mounted on first straight down
109 bottom surface of frame, the 5th electric cylinders 111 are fixedly mounted on 112 top of the second fixed frame, the telescopic rod of the 4th electric cylinders 110 straight up
The telescopic rod top end of top and the 5th electric cylinders 111 is hinged, and third pillar 108 is rectangular slab, on it the rear portion on surface
Equipped with hinged ball seat, third pillar 108 is fixedly mounted on behind the first fixed frame 109, and with behind the first fixed frame 109
Vertically；
The back fixation device 4 includes the 4th pillar 401, the waist harness 403, three second of support plate 402, two card
404, pocket set 405, two shoulder harnesses 406, tool boxes 407 are detained, support plate 402 is rectangular slab, and tool box 407 is fixedly mounted
At the subsequent middle part of support plate 402, the 4th pillar 401 is rectangular slab, is equipped with hinged ball straight down at the rear portion of its bottom surface
Seat, the 4th pillar 401 is fixedly mounted on the subsequent lower part of support plate 402, and, two shoulders vertical with behind support plate 402
406 head end of harness is respectively and fixedly installed to the right and left on 402 top of support plate, solid respectively two 406 ends of shoulder harness
Surely there is the second buckle 404, two 403 head ends of waist harness are respectively and fixedly installed to the lower part of 402 left and right sides of support plate,
It is fixed with the second buckle 404 on the end of the waist harness 403 of right part, is fixed on the end of the waist harness 403 of left part
Pocket set 405, two shoulder harnesses 406 and two waist harnesses 403 are made of flexible cloth；
The mechanical arm 5 includes the parallel institution 502, three of the second servo motor 501, three 503, three thirds of telescoping cylinder
Servo motor 504, camera 505, three parallel institutions, 502, three telescoping cylinders 503 and three third servo motors 404, which divide, is
Include 502, telescoping cylinders 503 of a parallel institution and a third servo motor 504 in three groups, every group, stretches in every group
Cylinder 503 is fixedly mounted on 502 upper surface of parallel institution, and third servo motor 504 is fixedly mounted on the telescopic rod top of telescoping cylinder 503
Portion, the parallel institution 502 in first group are fixedly mounted on the motor shaft of the second servo motor 501, the parallel machine in second group
Structure 502 is fixedly mounted on the motor shaft of third servo motor 504 in the first set, and the parallel institution 502 in third group is fixed
On the motor shaft of the third servo motor 504 of installation in the second set, the third that camera 505 is fixedly mounted in third group is watched
Take 504 side of motor；
The gripper 6 includes cylinder 601, body frame 602, connecting rod 603, pawl 604, central plate 605,601 bottom of cylinder
It is fixedly mounted at the center inside body frame 602, the Kong Houyu central plate 605 that telescopic rod passes through 602 upper end of body frame is fixed on
Together, four body cradles are evenly distributed on 605 periphery of central plate, the inner end of four pawls 604 is respectively hinged at 605 periphery of central plate
On four body cradles, four 603 one end of connecting rod are respectively hinged on 602 4 faces of body frame, and the other end is respectively hinged at four
604 bottom of pawl；
First fixed frame 109 is identical as 112 structure of the second fixed frame, and the second fixed frame 112 includes two first cards
Slot 1121, the second connecting plate 1122, leg harness 1123, two first buckles 1124, the second connecting plate 1122 are rectangular slab,
The front is equipped with negative camber, and soft cotton pad is equipped on negative camber, and leg harness 1123 is made of flexible cloth, leg
Harness 1123 head end in portion's is fixed on the right side of 1122 curved surface of the second connecting plate, each fixation in top and the bottom of 1223 end of harness in leg
Have one first buckle 1124, the left side of 1122 curved surface of the second connecting plate up and down two each fix first card slot
1121, and the first card slot 1121 is corresponding with the first buckle 1124；
The pocket set 405 includes three the second card slots 4051, third connecting plates 4052,4052 lower half of third connecting plate
For rectangular slab, the upper half be it is trapezoidal, be respectively mounted with one on the trapezoidal side of left and right two of third connecting plate 4052
Second card slot 4051, in fixed second card slot 4051 of 4052 bottom level of third connecting plate；
The parallel institution 502 includes two plectanes, 5021, six the 6th electric cylinders 5022, and the plectane 5021 is cylinder
Shape, upper surface are circumferentially uniformly provided with three groups of ball seats, and every group includes two ball seats, six one group of 5022 every two of the 6th electric cylinders,
The bottom of every group of two the 6th electric cylinders 5022 passes through ball-joint respectively and is installed therein the corresponding ball in 5021 upper surface of plectane
In seat, the telescopic rod top end of every group of two the 6th electric cylinders 5022 passes through ball-joint respectively and is mounted on another 5021 upper surface of plectane
In corresponding ball seat；
First connecting plate, 3 upper half is rectangle, and lower half is trapezoidal, surface middle part and trapezoidal left and right on it
Hinged ball seat is respectively equipped on side, ball-joint is distinguished in three hinged balls of the first connecting plate 3 in the bottom of three the first electric cylinders 2
On seat, third branch of the difference ball-joint in two leg restraints 1 at the top of the telescoping cylinder of two the first electric cylinders 2 of lower part
On the hinged ball seat of column 108, ball-joint is in the 4th pillar at the top of the telescopic rod of the first electric cylinders 2 on 3 upper surface of the first connecting plate
On 401 hinged ball seat, mechanical arm 5 is fixedly mounted on the rear portion of 401 upper surface of the 4th pillar, and gripper 6 is fixedly mounted on machine
5 top of tool arm.
Working principle of the present invention are as follows: in the use of the present invention, outfit of performing the operation to be placed on to the certain bits in tool box first
It sets, further according to user's height, to adjust the spread length of three the first electric cylinders 2, then user's back back fixation device
4, two waist harnesses 403 are connected by the second buckle 404 and pocket set 405, two shoulder harnesses 406 are passed through into the second card
Button 404 and pocket set 405 connect, then long electric to adjust third electric cylinders 106, the 4th electric cylinders 110 and the 5th according to user's leg
Then two leg secure mounting arrangements 1 are separately fixed on the leg of left and right by the spread length of cylinder 111, in the normal row of user
When walking, three the first electric cylinders 2, third electric cylinders 106, the 4th electric cylinders 110 and the 5th electric cylinders 111 according to the stretching, extensions of user's both legs,
Get adjustment length in real time back；When user needs to keep stance, third electric cylinders 106, the 4th electric cylinders 110 and the 5th electric cylinders
111 keep its length constant, and such user can rely on support of the invention, and leg is suitably loosened；When user needs
To keep bending over for a long time, forward-lean state when, third electric cylinders 106, the 4th electric cylinders 110 and the 5th electric cylinders 111 keep its length not
Become, while two first servo motors 103 work, adjust 104 angle of the second electric cylinders, the work of vacuum generator 102 makes sucker 101
It inhales on ground, so that user leg, waist be made to obtain a degree of loosen；When user needs tool, mechanical arm 5 is logical
505 identification facility of camera is crossed, gives doctor by 6 pick tool of gripper.
Claims (1)
1. a kind of intelligent operation seat, it is characterised in that: including two leg restraints (1), three the first electric cylinders (2),
One connecting plate (3), back fixation device (4), mechanical arm (5), gripper (6), the leg restraint (1) includes sucker
(101), vacuum generator (102), two first servo motors (103), the second electric cylinders (104), the first pillar (105), third
Electric cylinders (106), the second pillar (107), third pillar (108), the first fixed frame (109), the 4th electric cylinders (110), the 5th electric cylinders
(111), the second fixed frame (112), described the second electric cylinders (104) bottom are hinged on the second fixed frame (112) subsequent lower part,
The bottom of vacuum generator (102) is hinged at the top of its telescopic rod, sucker (101) joins with vacuum generator (102) straight down
It connects, one in two first servo motors (103) is fixedly mounted on vacuum generator (102) bottom, motor shaft and second
Center of rotation at the top of electric cylinders (104) telescopic rod is fixed together, another first servo motor (103) is fixedly mounted on second
Fixed frame (112) subsequent lower part, motor shaft and the center of rotation of the second electric cylinders (104) bottom are fixed together, and first
Column (105) is fixedly mounted on behind the second fixed frame (112), and with vertical, the second pillar behind the second fixed frame (112)
(107) be fixedly mounted on behind the first fixed frame (109), and with vertical, third electric cylinders behind the first fixed frame (109)
(106) bottom is hinged on the first pillar (105) top, and telescopic rod top end is hinged at the top of the second pillar (107), the 4th electric cylinders
(110) it is fixedly mounted on the first fixed frame (109) bottom surface straight down, the 5th electric cylinders (111) are fixedly mounted on straight up
At the top of two fixed frames (112), the telescopic rod top end of the 4th electric cylinders (110) and the telescopic rod top end of the 5th electric cylinders (111) are hinged on
Together, third pillar (108) is rectangular slab, and the rear portion on surface is equipped with hinged ball seat on it, and third pillar (108) is fixedly mounted
Behind the first fixed frame (109), and it is vertical with behind the first fixed frame (109)；
The back fixation device (4) includes the 4th pillar (401), support plate (402), two waist harnesses (403), three the
Two buckle (404), pocket set (405), two shoulder harnesses (406), tool box (407), support plate (402) are rectangular slab, work
Tool case (407) is fixedly mounted on support plate (402) subsequent middle part, and the 4th pillar (401) is rectangular slab, at the rear portion of its bottom surface
Equipped with hinged ball seat straight down, the 4th pillar (401) is fixedly mounted on support plate (402) subsequent lower part, and with support
Vertical behind plate (402), two shoulder harness (406) head ends are respectively and fixedly installed to the left and right two on support plate (402) top
Side is respectively fixed with the second buckle (404) two shoulder harness (406) ends, and two waist harness (403) head ends are solid respectively
Dingan County is mounted in the lower part of support plate (402) left and right sides, is fixed with the second card on the end of the waist harness (403) of right part
It detains (404), is fixed with pocket set (405) on the end of the waist harness (403) of left part, two shoulder harnesses (406) and two
A waist harness (403) is made of flexible cloth；
The mechanical arm (5) includes the second servo motor (501), three parallel institutions (502), three telescoping cylinders (503), three
Third servo motor (504), camera (505), three parallel institutions (502), three telescoping cylinders (503) and three third servos
It includes a parallel institution (502), a telescoping cylinder (503) and a third servo electricity in three groups, every group that motor (404), which is divided into,
Machine (504), telescoping cylinder (503) is fixedly mounted on parallel institution (502) upper surface in every group, and third servo motor (504) is fixed
It is mounted at the top of the telescopic rod of telescoping cylinder (503), the parallel institution (502) in first group is fixedly mounted on the second servo motor
(501) on motor shaft, third servo motor (504) in the first set is fixedly mounted in the parallel institution (502) in second group
Motor shaft on, the motor of third servo motor (504) in the second set is fixedly mounted in parallel institution (502) in third group
On axis, camera (505) is fixedly mounted on third servo motor (504) side in third group；
The gripper (6) includes cylinder (601), body frame (602), connecting rod (603), pawl (604), central plate (605), cylinder
(601) bottom is fixedly mounted at the internal center of body frame (602), and telescopic rod passes through in the Kong Houyu of body frame (602) upper end
Core (605) is fixed together, and is evenly distributed with four body cradles on central plate (605) periphery, the inner end of four pawls (604) is cut with scissors respectively
It connects on four body cradles on central plate (605) periphery, four connecting rod (603) one end are respectively hinged at body frame (602) four
On face, the other end is respectively hinged at four pawl (604) bottoms；
First fixed frame (109) is identical as the second fixed frame (112) structure, and the second fixed frame (112) includes two first
Card slot (1121), the second connecting plate (1122), leg harness (1123), two the first buckles (1124), the second connecting plate
(1122) be rectangular slab, be equipped with negative camber on the front thereof, be equipped with soft cotton pad on negative camber, leg harness (1123) by
Flexible cloth is made, and leg harness (1123) head end is fixed on the right side of the second connecting plate (1122) curved surface, carries on the back in leg
The top and the bottom of band (1223) end are respectively fixed with one first buckle (1124), in the left side of the second connecting plate (1122) curved surface
Upper and lower two each to fix first card slot (1121), and the first card slot (1121) is corresponding with the first buckle (1124)；
The pocket set (405) includes three the second card slots (4051), third connecting plate (4052), under third connecting plate (4052)
Half portion is rectangular slab, and the upper half is trapezoidal, the respectively installation fixation on the trapezoidal side of left and right two of third connecting plate (4052)
There is second card slot (4051), in fixed second card slot (4051) of third connecting plate (4052) bottom level；
The parallel institution (502) includes two plectanes (5021), six the 6th electric cylinders (5022), and the plectane (5021) is circle
Column, upper surface are circumferentially uniformly provided with three groups of ball seats, and every group includes two ball seats, six the 6th electric cylinders (5022) every two one
Group, the bottom of every group two the 6th electric cylinders (5022) pass through ball-joint respectively and are installed therein plectane (5021) upper surface pair
In the ball seat answered, the telescopic rod top end of every group two the 6th electric cylinders (5022) passes through ball-joint respectively and is mounted on another plectane
(5021) in the corresponding ball seat in upper surface；
First connecting plate (3) upper half is rectangle, and lower half is trapezoidal, surface middle part and trapezoidal left and right sides on it
It is respectively equipped with hinged ball seat on face, the bottom difference ball-joints of three the first electric cylinders (2) is hinged at three of the first connecting plate (3)
On ball seat, at the top of the telescoping cylinder of two the first electric cylinders (2) of lower part respectively ball-joint in two leg restraints (1)
On the hinged ball seat of third pillar (108), flexural pivot at the top of the telescopic rod of the first electric cylinders (2) on the first connecting plate (3) upper surface
It connects on the hinged ball seat of the 4th pillar (401), mechanical arm (5) is fixedly mounted on the rear portion of the 4th pillar (401) upper surface, machine
Machinery claw (6) is fixedly mounted on mechanical arm (5) top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710376051.8A CN107198577B (en) | 2017-05-25 | 2017-05-25 | A kind of intelligent operation seat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710376051.8A CN107198577B (en) | 2017-05-25 | 2017-05-25 | A kind of intelligent operation seat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107198577A CN107198577A (en) | 2017-09-26 |
| CN107198577B true CN107198577B (en) | 2019-06-11 |
Family
ID=59906317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710376051.8A Expired - Fee Related CN107198577B (en) | 2017-05-25 | 2017-05-25 | A kind of intelligent operation seat |
Country Status (1)
| Country | Link |
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| CN (1) | CN107198577B (en) |
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| CN107877483A (en) * | 2017-11-27 | 2018-04-06 | 倪立秧 | A kind of full-automatic Respiratory Medicine medical treatment glass wares suction means |
| CN108453749B (en) * | 2018-04-01 | 2021-11-12 | 万静丹 | Auxiliary resting robot |
| CN108969118A (en) * | 2018-08-10 | 2018-12-11 | 章立美 | A kind of Orthopedic operation assist device |
| CN108789484B (en) * | 2018-08-14 | 2023-10-03 | 芜湖星电自动化科技有限公司 | Medical robot arm connection structure |
| CN112294455A (en) * | 2019-07-25 | 2021-02-02 | 中国福利会国际和平妇幼保健院 | Intelligent voice recognition remote control operation chair |
| CN112587874B (en) * | 2020-12-08 | 2022-05-03 | 南京昕陌智能科技有限公司 | Portable intelligent exercise equipment and use method |
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| CN204932177U (en) * | 2015-08-11 | 2016-01-06 | 华南理工大学 | A kind of tool for helping for fatigue alleviating |
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| WO2014024506A1 (en) * | 2012-08-08 | 2014-02-13 | 株式会社クボタ | Posture holder |
| CN105899176A (en) * | 2014-01-15 | 2016-08-24 | 松下电器产业株式会社 | Working posture holding device |
| WO2016203348A1 (en) * | 2015-06-13 | 2016-12-22 | Faculdade De Arquitetura | Body support device for surgery |
| CN204932177U (en) * | 2015-08-11 | 2016-01-06 | 华南理工大学 | A kind of tool for helping for fatigue alleviating |
| CN205569131U (en) * | 2016-03-24 | 2016-09-14 | 董晓林 | Antifatigue chair |
| CN205988336U (en) * | 2016-06-22 | 2017-03-01 | 郑昌祈 | Anti- fatigue sitting formula operation bracket |
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