CN108113753B - A kind of operating robot electric coagulation forceps attachment device - Google Patents
A kind of operating robot electric coagulation forceps attachment device Download PDFInfo
- Publication number
- CN108113753B CN108113753B CN201810085171.7A CN201810085171A CN108113753B CN 108113753 B CN108113753 B CN 108113753B CN 201810085171 A CN201810085171 A CN 201810085171A CN 108113753 B CN108113753 B CN 108113753B
- Authority
- CN
- China
- Prior art keywords
- link block
- connecting shaft
- attachment device
- block
- slot
- 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.)
- Active
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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of operating robot electric coagulation forceps attachment devices, belong to machinery field, comprising: the first link block；Second link block, the first link block and the second link block connect the first connecting shaft, and the first connecting shaft connect with the first link block, the first connecting shaft in terms of the axis on and the sliding of the first link block, vertically with fixation in axis direction；Pedestal is equipped with spring between pedestal and the first link block (1)；Second connecting shaft, the second connecting shaft are connected with the second link block；Control device, the control device include sensor, the controller being connect with sensor, the controller with control the first connecting shaft power device connect.
Description
Technical field
The present invention relates to a kind of attachment devices, belong to machinery field.
Background technique
When routine work, it is often necessary to connect multiple devices, connection can be to be fixedly connected, movably connect
It connects.
In being fixedly connected, a component is exactly installed on another component by a very big purposes, one of them
Power is provided for another, so having high-precision requirement in fit on, in existing assembly, it usually needs artificial by portion
It is assembled between part, one side assembly precision is inadequate, on the other hand troublesome in poeration.
When minimally invasive medical procedures, especially when having operating robot operation, need to fill electric coagulation forceps etc.
It sets and is mounted on surgical robot arm, existing installation is usually fixed installation, and needing to find accurate position could install.
Summary of the invention
The present invention is directed to above-mentioned problem, discloses a kind of attachment device for capableing of automatic assembling, can be realized automatic dress
Match, The technical solution adopted by the invention is as follows:
A kind of operating robot electric coagulation forceps attachment device, comprising:
First link block, first link block are generally initiating structure, i.e. offer power source, when it is dynamic
Power source is mounted in the tail end arm of robot；
Second link block, the first link block and the second link block are by the connection of joinery and its construction, the first connecting shaft and the
The connection of one link block, the first connecting shaft in terms of the axis on and the sliding of the first link block, vertically with it is fixed in axis direction；
Pedestal is equipped with spring between pedestal and the first link block；
Second connecting shaft, the second connecting shaft are connected with the second link block；
Control device, the control device include sensor, the controller being connect with sensor, the controller with
Control the power device connection of the first connecting shaft.
The operation principle of the present invention is that: when need with the second link block components and the first link block cooperation when
It waits, first contacts the first link block and the first link block, if assembly can just work normally, if do not filled
It is fitted on suitable position, then one on link block, which protrudes part, is fixed with another recess, this protrusion
As soon as part will give the first link block pressure, the first link block has a movement under the effect of the pressure.And the sensing
Device can detecte this pressure or displacement, controls the first link block by a slight rotation by controller, works as rotation
When to so that protrusion part and recess meet, the first connection block reset, components are assembled.
In the present invention, the shape of first link block and the second link block can any possibility use
Shape, such as cylinder, gengon, prism, circular cone, wherein first link block and the second link block can be, but not limited to for
Same shape.In the preferred case, in order to guarantee to enable the first link block and the second link block smoothly to cooperate, one
Kind can be by joinery and its construction or other structures that can fix the first link block, preferably, described first connects
Block and the second link block wherein contain at least one groove, another contains the convex block with groove cooperation, the groove and
The second link block can be allowed to rotate under the rotation of the first link block for convex block cooperation or/and the first link block can be the
It is rotated under the rotation of two link blocks.Simultaneously the contact surface of the first link block and the second link block can for plane or curve or
Other can be realized the face etc. being fixed to each other.
Preferably, the cross section of first link block is circle, the cross section of corresponding second link block is
The contact surface of circle, the first link block and the second link block is a plane, on the first link block and the second link block respectively
It cooperates equipped with concave block and convex block, preferably, the part with two or more male-female engagement in contact.
As an improvement, the first link block circular interior is equipped with a slot, the section of slot is round and circular ring shape, the
Two link blocks are equipped with the protrusion (202) that can go deep into the first link block circular groove, and the cross section of the protrusion is round or circle
Protrusion can be easily put into the slot of the first link block always by annular when needing to cooperate, and the cooperation of slot
Mutual connection Chengdu is increased, slot can be a circular groove, be also possible to an annular groove, the first link block and the second connection
The specific structure of block can be with designed, designed.
As an improvement, the convex block is located at the side of protrusion, concave block is equipped at corresponding position.
As an improvement, first connecting shaft is connected with linkage, linkage is connected with power device, in power
Device drives linkage, and linkage is moved or rotated in the first connecting shaft of drive.
As an improvement, the part that the linkage connect axis connection with first is gear.
Excellent effect of the invention is:
The present invention realize one kind can automatic assembling, the time of operation and the complexity of operation is greatly saved, and
Be not in mutual sliding between fit on, component, position transmits high sensitivity, especially it is some have finely assemble
Field has very big application value such as the assembly between operating robot consumptive material and robot arm pedestal.
Existing surgical machine end will be influenced by gravity, impact force etc., generate biggish deformation, influence operation
Accuracy, higher to its stability requirement, in improving embodiment, it is big, rigid that structure of the invention uses a kind of bending strength
Big Cu alloy material is spent, Cu alloy material is prepared using the copper vacuum fusion of high-purity (99.9% copper of electrolytic preparation), tool
Body includes 100 parts of copper, 2 parts of nickel, 2 parts of zinc, 1 part of tin, 1 part of gallium according to parts by weight, and 1 part of lead, by conventional vacuum-fusion technique,
The preparation of its structure, bending strength can achieve 1200mpa or more, elasticity modulus reaches 300KN/mm2 or more.Using above-mentioned design
The influence of pressure that rotational structure is subject to its size and spatial position can be reduced, the accuracy of operation is improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is the structure chart of 1 first link block of embodiment；
Fig. 3 is the structure chart of 1 second link block of embodiment
Marked in the figure: the first link block of 1-, 101- groove, 102- slot, the second link block of 2-, 201- convex block, the protrusion 202-,
3- pedestal, 4- spring, the first connecting shaft of 5-, the second connecting shaft of 6-.
Claims (6)
1. a kind of operating robot electric coagulation forceps attachment device characterized by comprising
First link block (1)；
Second link block (2), one of first link block (1) and the second link block (2) are recessed containing at least one
Slot (101), another contains the convex block (201) with groove (101) cooperation, and the groove (101) and convex block (201) cooperation can
So that the second link block can rotate under the rotation of the first link block or/and the first link block can be in the second link block
The lower rotation of rotation；
First connecting shaft (5), the first connecting shaft (5) and the first link block (1) connection, the first connecting shaft is on the direction of axis and the
One link block sliding, perpendicular to fixed in axis direction；
Pedestal (3) is equipped with spring (4) between pedestal (3) and the first link block (1)；
Second connecting shaft (6), the second connecting shaft are connected with the second link block；
Control device, the control device includes sensor, the controller that connect with sensor, the controller and control
Make the power device connection of the first connecting shaft.
2. attachment device according to claim 1, which is characterized in that the cross section of first link block (1) is circle
Shape, the cross section of corresponding second link block are circle.
3. attachment device according to claim 2, which is characterized in that the first link block circular interior is equipped with one
Slot, the section of slot are round or circular ring shape, and the second link block (2) is equipped with the protrusion that can go deep into the slot of the first link block
(202), the cross section of the protrusion is round or circular ring shape.
4. attachment device according to claim 3, which is characterized in that the convex block (201) is located at the side of protrusion.
5. attachment device according to claim 1-4, which is characterized in that the first connecting shaft (5) connection
There is linkage, linkage is connected with power device.
6. attachment device according to claim 5, which is characterized in that the linkage connect axis connection with first
Part is gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810085171.7A CN108113753B (en) | 2018-01-29 | 2018-01-29 | A kind of operating robot electric coagulation forceps attachment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810085171.7A CN108113753B (en) | 2018-01-29 | 2018-01-29 | A kind of operating robot electric coagulation forceps attachment device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108113753A CN108113753A (en) | 2018-06-05 |
| CN108113753B true CN108113753B (en) | 2019-05-03 |
Family
ID=62233195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810085171.7A Active CN108113753B (en) | 2018-01-29 | 2018-01-29 | A kind of operating robot electric coagulation forceps attachment device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108113753B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111568553B (en) * | 2020-04-26 | 2021-05-11 | 青岛大学附属医院 | Quick-replaceable minimally invasive robot end surgical instrument |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626184A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot palm and dexterous robot hand |
| CN206479343U (en) * | 2016-12-27 | 2017-09-08 | 赛默飞世尔（上海）仪器有限公司 | Balance weight, slicer handwheel and slicer for slicer handwheel |
| CN107320193A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | Connection component, the operating theater instruments of operating robot and operating robot |
| CN107498550A (en) * | 2017-08-30 | 2017-12-22 | 歌尔科技有限公司 | It is a kind of can close contact automatically transmission mechanism and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203665475U (en) * | 2013-12-19 | 2014-06-25 | 麦太保电动工具(中国)有限公司 | Connector used for connecting electric tool with adaptor |
-
2018
- 2018-01-29 CN CN201810085171.7A patent/CN108113753B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626184A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot palm and dexterous robot hand |
| CN206479343U (en) * | 2016-12-27 | 2017-09-08 | 赛默飞世尔（上海）仪器有限公司 | Balance weight, slicer handwheel and slicer for slicer handwheel |
| CN107320193A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | Connection component, the operating theater instruments of operating robot and operating robot |
| CN107498550A (en) * | 2017-08-30 | 2017-12-22 | 歌尔科技有限公司 | It is a kind of can close contact automatically transmission mechanism and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108113753A (en) | 2018-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102059697B (en) | Translating branch chain and parallel robot using same | |
| CN108113753B (en) | A kind of operating robot electric coagulation forceps attachment device | |
| CN109202114A (en) | A kind of intelligent multiaxis perforating device based on Internet of Things | |
| EP2631034A2 (en) | Power Tool | |
| CN103084913A (en) | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture | |
| CN111700683A (en) | Quick change device for minimally invasive surgical instrument | |
| CN110897725A (en) | Full-active 8-degree-of-freedom tandem type main manipulator | |
| CN113349876A (en) | Robot bone drill | |
| CN113440257A (en) | Hand-held type spinal surgery high accuracy location arm | |
| CN201124406Y (en) | Multifunctional converter for electric drill | |
| CN207971949U (en) | A kind of six-joint robot of gear transmission structure | |
| CN211590186U (en) | Mechanical automation arm | |
| CN204827831U (en) | High pressure plunger transfer pump | |
| CN211433291U (en) | Full-active 8-degree-of-freedom tandem type main manipulator | |
| CN211039574U (en) | Ball screw | |
| CN209887583U (en) | Connecting device and have its drive mechanism and robot | |
| CN209734147U (en) | Force feedback device and lung puncture robot | |
| CN209868597U (en) | Auxiliary mechanical arm for mechanical manufacturing | |
| CN109620413B (en) | Force feedback device and lung puncture robot | |
| CN217118587U (en) | Mechanical arm | |
| CN220305708U (en) | Conversion rocker arm | |
| CN107228192B (en) | Gear adjusting device and method | |
| CN221145197U (en) | Z-axis screw module | |
| CN108283522B (en) | It is a kind of for installing the fixing seat of medical equipment | |
| CN207771734U (en) | A kind of lock screw device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Meng Xianglei Inventor after: Zhao Shujuan Inventor after: Guan Xiangqin Inventor after: Liao Rong Inventor before: Liao Rong |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190410 Address after: 262200 Unit 401, Unit 4, Building 6, 280 Longdu Street, Zhucheng City, Weifang City, Shandong Province Applicant after: Meng Xianglei Applicant after: Zhao Shujuan Address before: 610000 Sichuan Province Chengdu Tianfu New District Lugang 3 Building 1 Unit 601 Applicant before: Liao Rong |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221101 Address after: 610041 Chengdu Tianfu international biological city, Chengdu, Sichuan (No. 18, Section 2, biological city middle road, Shuangliu District) Patentee after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 262200 Unit 401, Unit 4, Building 6, 280 Longdu Street, Zhucheng City, Weifang City, Shandong Province Patentee before: Meng Xianglei Patentee before: Zhao Shujuan |