CN107374731A - Jacking system and operating robot for mechanical arm - Google Patents
Jacking system and operating robot for mechanical arm Download PDFInfo
- Publication number
- CN107374731A CN107374731A CN201710641715.9A CN201710641715A CN107374731A CN 107374731 A CN107374731 A CN 107374731A CN 201710641715 A CN201710641715 A CN 201710641715A CN 107374731 A CN107374731 A CN 107374731A
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- mechanical arm
- jacking system
- fixed pulley
- steel wire
- column
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- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1001—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto specially adapted for specific applications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of jacking system and operating robot for mechanical arm, and jacking system includes：Fixed pulley, each fixed pulley are installed on the top of each vertical plane of column；Movable pulley, each two movable pulley is installed on the lower section of the fixed pulley positioned at same vertical plane, and the movable pulley links with the mechanical arm；Fag end seat, each two fag end seat are installed on the both sides of the fixed pulley positioned at same vertical plane；Steel wire rope, via fixed pulley rotating around being located on two movable pulleys and being finally connected with fag end seat, the other end of two steel wire ropes is then connected with weight compensation means for wherein one end of two steel wire ropes.The described jacking system for mechanical arm, wherein, the fag end seat is tightened up to steel wire rope all the time.The present invention can easy adjustment mechanical arm be vertically moved up or down；Be advantageous to the light-weight design of equipment；Potential safety hazard will not be caused；Can safe transfer patient in the event of accident power-off.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of jacking system and surgical machine for mechanical arm
People.
Background technology
Operating robot is found as a new development of medical field, receives increasing attention, thus, it is right
Its research also seems all the more important.And it experienced to a certain degree as the foundation structure of medical hand robot, mechanical arm
Development after there is miscellaneous form and structure.
Generally, mechanical arm needs to have spatial movement ability, because it is mainly used in operating robot front end apparatus
Surgery location is determined.Wherein, mechanical arm is adjusted using passive type more, i.e., applying power artificial to mechanical arm, makes its motion
Motion is realized to desired position, rather than using motor or other driving means.Because in surgical procedure, mechanical arm
Locking state can be in, and is easily broken down by the way that the progress such as motor is locked.Finally, mechanical arm is also commonly configured with gravity compensation
Mechanism, make it more simple and quick during passive adjustment.
For the structure or function requirement of above-mentioned mechanical arm, also there is following ask in the jacking system of current mechanical arm
Topic：
1st, very big operating physical force is needed when manual adjusting mechanical arm is vertically moved up or down, is one big for staff
Burden；
2nd, because the weight of mechanical arm is very big, therefore the weight of the gravity-compensated device of corresponding mechanical arm is also very big, unfavorable
In the light-weight design of equipment；
3rd, the steel wire rope for pulling mechanical arm is once broken, then easily causes potential safety hazard；
4th, in the event of accident power-off, mechanical arm easily slides or is still within downwards operating position, to the peace of patient
Full property causes a hidden trouble, due to mechanical arm can not be removed, therefore can not transporting patient.
Therefore, the present inventor designs a kind of jacking system and hand for mechanical arm that can overcome above-mentioned technological deficiency
Art robot.
The content of the invention
It is an object of the invention to provide a kind of jacking system and operating robot for mechanical arm, it need not be very big
Operating physical force, and beneficial to equipment light-weight design, it is safe, even if occur accident power-off also patient will not be caused appoint
What potential safety hazard.
For the above-mentioned purpose, the present invention provides a kind of jacking system for mechanical arm, and it is installed on column, described vertical
Slided respectively on four vertical planes of post and be provided with mechanical arm and weight compensation means, wherein, the jacking system includes：
Fixed pulley, each fixed pulley are installed on the top of each vertical plane of column；
Movable pulley, each two movable pulley are installed on the lower section of the fixed pulley positioned at same vertical plane, and the movable pulley
Linked with the mechanical arm；
Fag end seat, each two fag end seat are installed on the both sides of the fixed pulley positioned at same vertical plane；
Steel wire rope, wherein one end of two steel wire ropes via fixed pulley rotating around be located on two movable pulleys and finally with rope
Headstock is connected, and the other end of two steel wire ropes is then connected with weight compensation means.
The described jacking system for mechanical arm, wherein, the fag end seat is tightened up to steel wire rope all the time.
The described jacking system for mechanical arm, wherein, there is parallel two lines groove on the wheel rim of the fixed pulley
For accommodating steel wire rope.
The described jacking system for mechanical arm, wherein, rotating shaft is provided with the movable pulley, for installing mechanical arm
Mechanical arm mounting seat be connected with the rotating shaft.
The described jacking system for mechanical arm, wherein, the mechanical arm mounting seat passes through rotary shaft with the rotating shaft
Hold connection.
The described jacking system for mechanical arm, wherein, the weight of the weight compensation means is equal to the weight of mechanical arm
The half of amount.
The described jacking system for mechanical arm, wherein, it is provided with each vertical plane of the column vertical
Outside track and inner orbit, wherein the outside track is used as the guide rail of mechanical arm mounting seat, the inner orbit is used as weight compensating
The guide rail of device.
The described jacking system for mechanical arm, wherein, have in the mechanical arm mounting seat and be used to mechanical arm be installed
Installation site.
The described jacking system for mechanical arm, wherein, in the central axis of the movable pulley and the fixed pulley
Mandrel line antarafacial is vertical.
The present invention also provides a kind of operating robot, and it includes the above-mentioned jacking system for mechanical arm.
The beneficial effects of the invention are as follows：
1st, operating physical force that need not be very big, you can easy adjustment mechanical arm is vertically moved up or down, and alleviates staff's
Burden；
2nd, as a result of the design of double acting pulley, therefore the weight of weight compensation means can be sheared, be advantageous to
The light-weight design of equipment；
3rd, it is used in and pulls the wherein steel cable of mechanical arm that abrasion occurs or is broken, another steel cable still may be used
To adhere to stress, potential safety hazard will not be caused；
4th, braked in the event of accident power-off, fixed pulley by electromagnetic power-off brake, effectively prevent mechanical arm
Further move down, now only need moving up for manually operated i.e. achievable mechanical arm, and safe transfer patient.
Brief description of the drawings
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.Wherein：
Fig. 1 is the front view for installing the column of mechanical arm；
Fig. 2 is Fig. 1 partial enlarged drawing；
Fig. 3 is the stereogram for installing the column of mechanical arm；
Fig. 4 is Fig. 3 partial enlarged drawing；
Fig. 5 is the schematic diagram along column longitudinal cross-section.
Description of reference numerals：1- columns；11- outside tracks；12- inner orbits；2- jacking systems；21- fixed pulleys；22- is dynamic to be slided
Wheel；221- rotating shafts；23- steel wire ropes；24- fag end seats；25- electromagnetic power-off brakes；3- bases；4- mechanical arm mounting seats；41- pacifies
Holding position；5- weight compensation means.
In the accompanying drawings, identical part uses identical reference.Accompanying drawing is not according to the ratio of reality.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
" vertical " mentioned herein refers to respect to the horizontal plane vertical.
As shown in figures 1 and 3, it is respectively for installing the front view of the column 1 of mechanical arm (not shown) and standing
Body figure, the jacking system are installed on the column.Wherein, on Fig. 1, in order to show main structure, invention
People eliminates the jacking system in other three faces of column.
Especially as shown in figure 1, the column 1 substantially rectangular parallelepiped structure, and the top of the column 1 is provided with and is used for
The jacking system 2 for lifting mechanical arm, bottom is provided with for making column 1 stablize upright base 3.
By taking the wherein one side of column 1 as an example, vertical outside track 11 is provided with each vertical plane of the column 1
With inner orbit 12, wherein the outside track 11 is used as the guide rail of mechanical arm mounting seat 4, the inner orbit 12 fills as weight compensating
Put 5 guide rail.There is the installation site 41 for being used for installing mechanical arm (not shown) in the mechanical arm mounting seat 4.
Specific such as Fig. 2 and Fig. 4, the jacking system 2 of combining includes a fixed pulley 21, two movable pulleys 22, steel wires again
Rope 23 and fag end seat 24.Wherein, the fixed pulley 21 is installed on the top of the column wherein one side, and fixed pulley 21
Central axis is horizontally extending and the face with place column is parallel.Two movable pulleys 22 are then symmetrically installed on and determine cunning
The lower section of wheel 21, and the central axis of movable pulley 22 is vertical with the central axis antarafacial of fixed pulley 21.The fag end seat 24 is then
It is fixedly installed in the both sides of fixed pulley 21.There is parallel two lines groove, on the wheel rim of the fixed pulley 21 in every wire casing
Be disposed with steel cable 23, wherein one end of two steel wire ropes 23 rotating around be located on two movable pulleys and finally with fag end seat
24 connections, the other end of two steel wire ropes 23 are then connected (especially as shown in Figure 5) with weight compensation means 5.Two bar steels are set
The purpose of cord 23 is in order to improve the security of jacking system, if wherein abrasion even fracture occurs in steel cable, separately
Steel cable can avoid the occurrence of danger with normal work.
Wherein, the fag end seat 24 plays a part of tightening up steel wire rope 23 all the time, and the function can be by setting spring
To realize.
Rotating shaft 221 is provided with described two movable pulleys 22, the mechanical arm mounting seat 4 for installing mechanical arm is slided with dynamic
The rotating shaft 221 of wheel 22 is attached by rolling bearing, therefore no matter movable pulley is rotated clockwise or rotated counterclockwise,
Mechanical arm mounting seat 4 can be lifted along outside track 11, so as to which driving mechanical arm is lifted.
In general, in order to reach counterweight balance, it is necessary to make being equal in weight for weight compensation means and mechanical arm.But by
A fixed pulley 21 and two movable pulleys 22 are used in the present embodiment, therefore each movable pulley 22 is equivalent to point having walked machinery
The weight of arm half, then the weight for only needing to make weight compensation means 5 is about the half of mechanical arm, and this is undoubtedly realized
The purpose of light-weight design.Further, since the weight of weight compensation means 5 reduces half or so, then staff's energy
Enough more easily height of manual adjusting mechanical arm.
Although foregoing describes only the jacking system of the wherein one side of column 1, but other three faces of column 1 are also with identical
Jacking system, will not be described here.
In addition, the jacking system 2 can also include electromagnetic power-off brake 25, the electromagnetic power-off brake 25 is with determining
Pulley 21 is coaxially disposed, and when accident power-off occurs, electromagnetic power-off brake 25 is braked to fixed pulley 21, avoids mechanical arm
Continue to move down.Now, mechanical arm is only manually moved up, you can make steel wire rope 23 to the side of weight compensation means 5
To delivering, weight compensation means 5 are moved up so that mechanical arm can be moved up successfully.Once there is accident power-off in operation,
Mechanical arm and transporting patient can be then removed by this way.
Present invention also offers a kind of operating robot, and it includes the above-mentioned jacking system for mechanical arm.
The present invention operation principle be：
In normal operation, it is only necessary to staff with the power of mechanical arm half weight come manually make mechanical arm along
Outside track 11 carries out elevating movement, and the thing followed is that weight compensation means 5 carry out lifting moving along inner orbit 12.Two steel
Cord can carry larger power, if wherein steel cable occurs wearing or is broken, then can rely on another steel wire
Rope continues to ensure the operation of safety.If there is accident power-off, fixed pulley 21 is braked by electromagnetic power-off brake 25, effectively
Ground prevents mechanical arm further to move down, and now only needs moving up for manually operated i.e. achievable mechanical arm, and safe transfer disease
People.
In summary, the beneficial effects of the invention are as follows：
1st, operating physical force that need not be very big, you can easy adjustment mechanical arm is vertically moved up or down, and alleviates staff's
Burden；
2nd, as a result of the design of double acting pulley, therefore the weight of weight compensation means can be sheared, be advantageous to
The light-weight design of equipment；
3rd, it is used in and pulls the wherein steel cable of mechanical arm that abrasion occurs or is broken, another steel cable still may be used
To adhere to stress, potential safety hazard will not be caused；
4th, braked in the event of accident power-off, fixed pulley by electromagnetic power-off brake, effectively prevent mechanical arm
Further move down, now only need moving up for manually operated i.e. achievable mechanical arm, and safe transfer patient.
Although by reference to preferred embodiment, invention has been described, is not departing from the situation of the scope of the present invention
Under, various improvement can be carried out to it and part therein can be replaced with equivalent.Especially, as long as being rushed in the absence of structure
Prominent, the every technical characteristic being previously mentioned in each embodiment can combine in any way.The invention is not limited in text
Disclosed in specific embodiment, but all technical schemes including falling within the scope of the appended claims.
Claims (10)
1. a kind of jacking system for mechanical arm, it is installed on column, is slided respectively on four vertical planes of the column
It is provided with mechanical arm and weight compensation means, it is characterised in that the jacking system includes：
Fixed pulley, each fixed pulley are installed on the top of each vertical plane of column；
Movable pulley, each two movable pulley are installed on the lower section of the fixed pulley positioned at same vertical plane, and the movable pulley and institute
State mechanical arm linkage；
Fag end seat, each two fag end seat are installed on the both sides of the fixed pulley positioned at same vertical plane；
Steel wire rope, wherein one end of two steel wire ropes via fixed pulley rotating around be located on two movable pulleys and finally with fag end seat
Connection, the other end of two steel wire ropes are then connected with weight compensation means.
2. the jacking system according to claim 1 for mechanical arm, it is characterised in that the fag end seat is all the time to steel wire
Rope is tightened up.
3. the jacking system according to claim 1 for mechanical arm, it is characterised in that have on the wheel rim of the fixed pulley
There is parallel two lines groove to be used to accommodate steel wire rope.
4. the jacking system according to claim 1 for mechanical arm, it is characterised in that be provided with and turn on the movable pulley
Axle, the mechanical arm mounting seat for installing mechanical arm are connected with the rotating shaft.
5. the jacking system according to claim 4 for mechanical arm, it is characterised in that the mechanical arm mounting seat and institute
Rotating shaft is stated to connect by rolling bearing.
6. the jacking system according to claim 1 for mechanical arm, it is characterised in that the weight of the weight compensation means
Half of the amount equal to the weight of mechanical arm.
7. the jacking system according to claim 1 for mechanical arm, it is characterised in that each of the column is vertical
Vertical outside track and inner orbit are provided with face, wherein the outside track is used as the guide rail of mechanical arm mounting seat, it is described interior
Track is used as the guide rail of weight compensation means.
8. the jacking system according to claim 1 for mechanical arm, it is characterised in that have in the mechanical arm mounting seat
There is the installation site for fitting machine tool arm.
9. the jacking system according to claim 1 for mechanical arm, it is characterised in that the central axis of the movable pulley
It is vertical with the central axis antarafacial of the fixed pulley.
10. a kind of operating robot, it includes the lifting system according to any one of claim 1 to 9 for mechanical arm
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710641715.9A CN107374731B (en) | 2017-07-31 | 2017-07-31 | Lifting system for mechanical arm and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710641715.9A CN107374731B (en) | 2017-07-31 | 2017-07-31 | Lifting system for mechanical arm and surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107374731A true CN107374731A (en) | 2017-11-24 |
| CN107374731B CN107374731B (en) | 2021-09-14 |
Family
ID=60343140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710641715.9A Active CN107374731B (en) | 2017-07-31 | 2017-07-31 | Lifting system for mechanical arm and surgical robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107374731B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112245009A (en) * | 2020-09-18 | 2021-01-22 | 极限人工智能有限公司 | Carrying device for surgical robot |
| CN113855255A (en) * | 2021-10-27 | 2021-12-31 | 哈尔滨思哲睿智能医疗设备有限公司 | Lifting and rotating mechanism, mechanical arm and master-slave surgical robot |
| CN118145316A (en) * | 2024-05-11 | 2024-06-07 | 张家港江苏科技大学产业技术研究院 | Robot lifting mechanism |
| CN118145316B (en) * | 2024-05-11 | 2024-07-02 | 张家港江苏科技大学产业技术研究院 | Robot lifting mechanism |
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