CN107320194A - A kind of stopping means with Redundancy Design - Google Patents
A kind of stopping means with Redundancy Design Download PDFInfo
- Publication number
- CN107320194A CN107320194A CN201710646127.4A CN201710646127A CN107320194A CN 107320194 A CN107320194 A CN 107320194A CN 201710646127 A CN201710646127 A CN 201710646127A CN 107320194 A CN107320194 A CN 107320194A
- Authority
- CN
- China
- Prior art keywords
- supporting part
- stopping means
- connecting portion
- redundancy design
- design according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention discloses a kind of stopping means with Redundancy Design, it is characterized in that, including the first supporting part being fixedly installed on column outer wall, the side of first supporting part is provided with the buffer unit for absorbing impulsive force, the buffer unit includes the second supporting part for being arranged on the first supporting part side, second supporting part connects first supporting part by first connecting portion, the 3rd supporting part is fixedly installed in the side of second supporting part, the side of the 3rd supporting part is provided with the buffer part for absorbing impulsive force；Also connected between first supporting part and second supporting part by second connecting portion.The present invention can control machinery arm moved in limit travel, and safety and stability is good.
Description
Technical field
The present invention relates to a kind of stopping means with Redundancy Design, belong to technical field of medical instruments.
Background technology
Operation chassis operating personnel need to work in an aseptic environment, help master operating station doctor to complete instrument and endoscope more
Other work needed for changing and performing the operation.In order to ensure patient safety, the action of operation chassis operating personnel will be prior to main behaviour
Make platform doctor action.Operation chassis operating personnel help doctor to complete various complicated behaviour in surgical operation by operating table side board
Make, corrective surgery risk can be effectively reduced and shorten operating time.Therefore, operation chassis need enough flexibilities,
Rigidity and intensity, fine operation requirement is carried out to meet doctor.Because mechanical arm driving operating theater instruments completes operation, therefore,
Surgical procedure has higher requirement to the driving force of mechanical arm, it is necessary to which mechanical arm realizes that multi-angle is acted in limit travel.
But, conventionally, as mechanical arm is in moving process, collide, produce impact, be easily caused stopping means mistake
Effect, therefore the overall security and stability of operation chassis are reduced, cause surgical quality to reduce.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide one kind can control machinery arm moved in limit travel, and
The good stopping means with Redundancy Design of safety and stability.
To achieve the above object, the present invention takes following technical scheme：A kind of stopping means with Redundancy Design, it is special
Levy and be, including the first supporting part being fixedly installed on column outer wall, being provided with the side of first supporting part is used for
The buffer unit of impulsive force is absorbed, the buffer unit includes the second supporting part for being arranged on the first supporting part side, institute
State the second supporting part and first supporting part is connected by first connecting portion, be fixedly installed in the side of second supporting part
3rd supporting part, the buffer part for absorbing impulsive force is provided with the side of the 3rd supporting part；First supporting part
Also it is connected between second supporting part by second connecting portion.
The first connecting portion is bearing pin or termination.
When the first connecting portion is termination, the top of the termination is fixedly installed on second supporting part, described
The end of termination passes first supporting part.
The number of the second connecting portion is two, and second connecting portion described in two is disposed on the first connecting portion
Both sides.
Second connecting portion described in two is screw, and two screws are each passed through the screw thread being arranged on first supporting part
Hole.
The buffer part is connected by screw in the side of the 3rd supporting part.
The buffer part is arranged to cushion pad, and the cushion pad is made of silicon rubber.
Vertical direction guiding rail is provided with the outer wall of the column, is slided on the vertical direction guiding rail and is provided with sliding block, in institute
The pedestal being fixedly installed on sliding block for installing mechanical arm is stated, the buffer part is connected to the 3rd supporting part described in
The side of pedestal.
The vertical direction guiding rail for it is multiple when, multiple vertical direction guiding rail arranged for interval on the outer wall of the column surrounding,
Outer wall of each vertical direction guiding rail with the column side is fixedly connected.
Cantilever beams are respectively arranged with the top and bottom of the pedestal, the pedestal is located at the pole of the vertical direction guiding rail
During restricted driving journey, the cantilever beams are contacted with the buffer part.
The present invention is due to taking above technical scheme, and it has advantages below：
1st, the present invention is provided with first connecting portion, and the first supporting part and the second supporting part can be made rapidly to be connected to one
Rise, can not only prevent buffer unit from being released under the operating mode of collision with first connecting portion, and can prevent buffer unit because
The effect of gravity is with the first support section from security of the present invention is good, and stability is good.
2nd, the present invention is provided with two second connecting portions, makes further to fasten between the first supporting part and the second supporting part, and
And the stability of stopping means can be ensured in the case where first connecting portion fails, further improve the security of the present invention.
3rd, buffer part of the present invention is arranged to cushion pad, and cushion pad is made of silicon rubber, because cushion pad has necessarily
Hardness, therefore, it is possible to absorb the part produced when pedestal is collided with corresponding cushion pad impact, further improves the peace of the present invention
Full property and stability.
4th, the number of the vertical direction guiding rail of the present invention can be one or more, and mechanical arm can realize an arm to four arms, and
The installation combination of diverse location, flexibility of the present invention is good, disclosure satisfy that the working environment needed for operation.
5th, stopping means of the invention, can be widely used in needs to carry out spacing and needs to buffer the work of collision impact
Under condition, the present invention is simple in construction, easy to use.
Other features and advantages of the present invention will be illustrated in the following description, also, the partial change from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and obtained in claim and accompanying drawing.
Brief description of the drawings
In order to it is clearer explanation the embodiment of the present invention in technical scheme, in being described below to embodiment required for
Accompanying drawing does simple introduction：
Fig. 1 is the structural representation of the present invention.
Embodiment
Describe embodiments of the present invention in detail below with reference to drawings and Examples, how the present invention is applied whereby
Technological means solves technical problem, and reaches the implementation process of technique effect and can fully understand and implement according to this.Need explanation
As long as not constituting each embodiment in conflict, the present invention and each feature in each embodiment can be combined with each other,
The technical scheme formed is within protection scope of the present invention.The direction term that the present invention is previously mentioned for example " on ", "
Under ", " interior ", " outer " etc., be only the mode with reference to annexed drawings.Therefore, the direction term used is to illustrate and understand this
Invention, and it is not used to the limitation present invention.
As shown in figure 1, the stopping means proposed by the present invention with Redundancy Design, including it is fixedly installed on the outer wall of column 1
On the first supporting part 2, the side of the first supporting part 2 is provided with the buffer unit 3 for absorbing impulsive force.Buffer unit 3
The second supporting part 31 including being arranged on the side of the first supporting part 2, the second supporting part 31 connects first by first connecting portion 32
Supporting part 2.The 3rd supporting part 33 is fixedly installed in the side of the second supporting part 31, is provided with the side of the 3rd supporting part 33
Buffer part 34 for absorbing impulsive force, is also connected between the first supporting part 2 and the second supporting part 31 by second connecting portion.
In above-described embodiment, first connecting portion 32 is bearing pin or termination.Buffer unit 3 can not only be prevented in the work of collision
Released under condition with the first supporting part 2, and can prevent buffer unit 3 from being separated because of the effect of gravity with the first supporting part 2.
In above-described embodiment, when first connecting portion 32 is termination, the top of termination 32 is fixedly installed on the second supporting part 31
On, the end of termination 32 passes the first supporting part 2.
In above-described embodiment, termination 32 is arranged to cylinder.
In above-described embodiment, the number of second connecting portion is one or more, can be designed according to actual needs.
In above-described embodiment, when the number of second connecting portion is two, two second connecting portions are disposed on the first connection
The both sides in portion 32.
In above-described embodiment, two second connecting portions are screw, and two screws, which are each passed through, to be arranged on the first supporting part 2
Screwed hole 21.
In above-described embodiment, buffer part 34 is connected by screw in the side of the 3rd supporting part 33, simple in construction, user
Just.
In above-described embodiment, buffer part 34 is arranged to cushion pad, and cushion pad 34 is made of silicon rubber.Cushion pad 34 has
Certain hardness, can absorb part impact.
In above-described embodiment, vertical direction guiding rail is provided with the outer wall of column 1, is slided on vertical direction guiding rail and is provided with sliding block
4, the pedestal 5 for installing mechanical arm is fixedly installed on sliding block 4, buffer part 34 is connected to the 3rd supporting part 33 towards pedestal
5 side.
In above-described embodiment, when vertical direction guiding rail is multiple, outer wall of multiple vertical direction guiding rail arranged for interval in the surrounding of column 1
On, outer wall of each vertical direction guiding rail with the side of column 1 is fixedly connected.
In above-described embodiment, cantilever beams 6 are respectively arranged with the top and bottom of pedestal 5, pedestal 5 is located at vertical direction guiding rail
Limit travel when, cantilever beams 6 are collided with buffer part 34, contacted.When cantilever beams 6 and buffer part 34 are collided, generation is rushed
Hit and be transferred to by cantilever beams 6 in buffer part 34.
In use, the present invention to be fixedly mounted on to the top and bottom of column 1, mechanical arm can be realized in the pole of column 1
Moved in restricted driving journey.When pedestal 5 moves to limit travel, when cantilever beams 6 are collided with buffer part 34, the impact of generation passes through
Cantilever beams 6 are transferred in buffer part 34, and buffer part 34 can absorb part impact.Meanwhile, in first connecting portion 32 and second
Under the collective effect of connecting portion, it ensure that stopping means is stable, safe.Both lose first connecting portion 32 or second connecting portion
Effect, also ensure that stopping means is stable, safe.
While it is disclosed that embodiment as above, but described content is only to facilitate understanding the present invention and adopting
Embodiment, is not limited to the present invention.Any those skilled in the art to which this invention pertains, are not departing from this
On the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But the scope of patent protection of the present invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of stopping means with Redundancy Design, it is characterised in that including first be fixedly installed on column outer wall
Support part, the buffer unit for absorbing impulsive force is provided with the side of first supporting part, and the buffer unit includes setting
The second supporting part in the first supporting part side is put, second supporting part connects described first by first connecting portion
Support part, the 3rd supporting part is fixedly installed in the side of second supporting part, is provided with the side of the 3rd supporting part
Buffer part for absorbing impulsive force；Also connected between first supporting part and second supporting part by second connecting portion
Connect.
2. a kind of stopping means with Redundancy Design according to claim 1, it is characterised in that the first connecting portion
For bearing pin or termination.
3. a kind of stopping means with Redundancy Design according to claim 2, it is characterised in that the first connecting portion
During for termination, the top of the termination is fixedly installed on second supporting part, and the end of the termination passes described first
Supporting part.
4. a kind of stopping means with Redundancy Design according to claim 1 or 2 or 3, it is characterised in that described second
The number of connecting portion is two, and second connecting portion described in two is disposed on the both sides of the first connecting portion.
5. a kind of stopping means with Redundancy Design according to claim 4, it is characterised in that the second connection described in two
Portion is screw, and two screws are each passed through the screwed hole being arranged on first supporting part.
6. a kind of stopping means with Redundancy Design according to claim 1, it is characterised in that the buffer part passes through
Mode connects for screw is in the side of the 3rd supporting part.
7. a kind of stopping means with Redundancy Design according to claim 1 or 6, it is characterised in that the buffer part
It is arranged to cushion pad, the cushion pad is made of silicon rubber.
8. a kind of stopping means with Redundancy Design according to claim 1 or 6, it is characterised in that in the column
Outer wall on be provided with vertical direction guiding rail, on the vertical direction guiding rail slide be provided with sliding block, be fixedly installed on the sliding block
Pedestal for installing mechanical arm, the buffer part is connected to the 3rd supporting part towards the side of the pedestal.
9. a kind of stopping means with Redundancy Design according to claim 8, it is characterised in that the vertical direction guiding rail is
When multiple, multiple vertical direction guiding rail arranged for interval are on the outer wall of the column surrounding, and each vertical direction guiding rail is and institute
The outer wall for stating column side is fixedly connected.
10. a kind of stopping means with Redundancy Design according to claim 8, it is characterised in that in the pedestal
Top and bottom are respectively arranged with cantilever beams, when the pedestal is located at the limit travel of the vertical direction guiding rail, and the cantilever is horizontal
Beam is contacted with the buffer part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646127.4A CN107320194B (en) | 2017-07-31 | 2017-07-31 | Stop device with redundant design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646127.4A CN107320194B (en) | 2017-07-31 | 2017-07-31 | Stop device with redundant design |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107320194A true CN107320194A (en) | 2017-11-07 |
| CN107320194B CN107320194B (en) | 2023-04-11 |
Family
ID=60199813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710646127.4A Active CN107320194B (en) | 2017-07-31 | 2017-07-31 | Stop device with redundant design |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107320194B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0679660A (en) * | 1992-09-03 | 1994-03-22 | Matsushita Electric Ind Co Ltd | Robot |
| US20010013764A1 (en) * | 1998-08-04 | 2001-08-16 | Blumenkranz Steven J. | Manipulator positioning linkage for robotic surgery |
| CN103846928A (en) * | 2012-11-29 | 2014-06-11 | 许俊荣 | Limit and slide mechanism |
| CN203911648U (en) * | 2014-04-29 | 2014-10-29 | 上海宇航系统工程研究所 | Redundancy position-restricted damping system |
| CN205272028U (en) * | 2015-11-12 | 2016-06-01 | 李有明 | Collateral branch props formula single armed manipulator |
| CN106001640A (en) * | 2016-05-13 | 2016-10-12 | 韩永亮 | Mechanical arm stroke limiting device for automatic lathe |
| CN106737562A (en) * | 2016-11-25 | 2017-05-31 | 南陵县襄荷产业协会 | A kind of mechanical arm with anticollision mechanism |
| CN207870970U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | A kind of limiting device with Redundancy Design |
-
2017
- 2017-07-31 CN CN201710646127.4A patent/CN107320194B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0679660A (en) * | 1992-09-03 | 1994-03-22 | Matsushita Electric Ind Co Ltd | Robot |
| US20010013764A1 (en) * | 1998-08-04 | 2001-08-16 | Blumenkranz Steven J. | Manipulator positioning linkage for robotic surgery |
| CN103846928A (en) * | 2012-11-29 | 2014-06-11 | 许俊荣 | Limit and slide mechanism |
| CN203911648U (en) * | 2014-04-29 | 2014-10-29 | 上海宇航系统工程研究所 | Redundancy position-restricted damping system |
| CN205272028U (en) * | 2015-11-12 | 2016-06-01 | 李有明 | Collateral branch props formula single armed manipulator |
| CN106001640A (en) * | 2016-05-13 | 2016-10-12 | 韩永亮 | Mechanical arm stroke limiting device for automatic lathe |
| CN106737562A (en) * | 2016-11-25 | 2017-05-31 | 南陵县襄荷产业协会 | A kind of mechanical arm with anticollision mechanism |
| CN207870970U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | A kind of limiting device with Redundancy Design |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107320194B (en) | 2023-04-11 |
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| CB02 | Change of applicant information |
Address after: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Applicant after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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| GR01 | Patent grant |