CN108272509B - Suspension type multi-operation-arm system - Google Patents
Suspension type multi-operation-arm system Download PDFInfo
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- CN108272509B CN108272509B CN201810126073.3A CN201810126073A CN108272509B CN 108272509 B CN108272509 B CN 108272509B CN 201810126073 A CN201810126073 A CN 201810126073A CN 108272509 B CN108272509 B CN 108272509B
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention discloses a suspension type multi-operation-arm system, which consists of a suspension positioning arm and a light-load operation arm, wherein the two light-load operation arms are fixed at the tail ends of the suspension positioning arm, and the suspension positioning arm can lift, push and pull and rotate the whole tail ends; the tail end of the light-load operation arm is fixed with the surgical instrument, so that the posture and the position of the surgical instrument can be positioned and controlled. The suspension operating arm can be used for carrying out large-scale deployment on surgical instruments, and interference with other instruments in an operating room is avoided. The invention has the advantages that a plurality of surgical tools and surgical instruments can be positioned, and the surgical instruments can be arranged in a large range to avoid interference with other instruments; the operation arm positioning surgical instrument can lighten the labor intensity of doctors, the doctors can operate for a long time without fatigue, the communication links of the main doctor and the auxiliary doctor are reduced, and the operation efficiency can be improved.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a suspension type multi-operation-arm system.
Background
In the medical operation, because a plurality of instruments are needed to be used in the operation, a doctor cannot independently complete the task of the surgical operation and cannot operate a plurality of instruments at the same time, so that an additional assistant doctor is needed to assist in completing the operation. Because of the existence of an assistant doctor, the main doctor needs to communicate with the assistant to enable the assistant to move the instrument to a designated position, once the communication link is unclear, the operation time can be prolonged, in addition, the problem of unstable instrument positioning exists after the assistant doctor works for long time, and therefore the auxiliary doctor needs to be able to stably position the instrument positioning device capable of helping the doctor to position and operate the surgical instrument, and the operation quality is improved.
Patent CN201710683947.0 discloses a medical auxiliary device scheme, in which a screw pair is adopted to squeeze the configuration mode of the ball joint for locking, but all the motion joints cannot be simultaneously locked and unlocked, and the surgical instrument cannot be deployed and positioned in a large range.
Disclosure of Invention
The invention provides a suspension type multi-operation-arm system capable of positioning surgical instruments in a large range in an operating room, which aims at the problem that a doctor cannot position the surgical instruments in a large range and simultaneously operate a plurality of surgical instruments in a medical operation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the suspended multi-operation-arm system is mainly characterized by comprising a suspended positioning arm and a light-load operation arm, wherein the light-load operation arm is arranged on the suspended positioning arm, the suspended positioning arm consists of a lifting joint, a rotary joint, a telescopic joint and a cross rod adjusting device, a rotary joint base of the rotary joint is arranged at the upper end of a lifting joint lifting beam, a telescopic joint shell of the telescopic joint is fixedly arranged on the rotary joint shell of the rotary joint, a vertical rod of the cross rod adjusting device is connected with the telescopic beam of the telescopic joint, and a fixing clamp of the cross rod adjusting device is connected with the light-load operation arm;
the lifting joint consists of a lifting beam, a lifting joint shell, a base plate, wheels, an air pump system, a lifting motor, a linear motion joint base A, a coupler A, a ball screw, a sliding block, a guide rail base A, a guide rail, a guide sleeve seat and a guide rail base B, wherein the air pump system is arranged on the base plate; the linear motion joint base A is of a hollow shell-shaped structure, the lower end of the linear motion joint base A is fixedly connected with a lifting motor, the middle of the linear motion joint base A is hinged with a ball screw A, the ball screw A is connected with the lifting motor through a coupler A, cylindrical optical axes are inlaid at two sides of the linear motion joint base A and matched with bearings of a sliding block, the sliding block is fixedly connected and matched with a ball screw, the ball screw A is matched with the ball screw, and the lifting motor drives the sliding block to reciprocate along a straight line through the ball screw A; the guide rail is fixed at the upper part of the lifting joint shell and an accessory structure thereof, the guide rail base A is fixed on the base, the guide rail is also fixed on the base, and the guide sleeve is sleeved on the guide rail and fixedly connected with the guide sleeve seat; the lifting beam is respectively and fixedly connected with the sliding block and the guide sleeve seat, the lifting motor drives the sliding block, and the lifting beam moves along the guide rail and the guide rail in the linear motion joint base A;
the rotary joint consists of a rotary joint upper cover, a rotary joint shell, a crossed roller bearing, a rotary joint base, a rotary joint stepped shaft, an electromagnetic clutch lower claw disc, an electromagnetic clutch main body, an upper claw disc and a clutch fixing cover, wherein an inner ring of the crossed roller bearing is sleeved on the rotary joint stepped shaft and is fixed on the rotary joint base, an outer ring of the crossed roller bearing is connected with the rotary joint shell, the rotary joint shell is connected with the electromagnetic clutch lower claw disc, and the clutch fixing cover is respectively fixedly connected with the stepped shaft, the electromagnetic clutch main body and the upper claw disc;
the telescopic joint consists of a telescopic beam, a telescopic joint shell, a telescopic joint upper cover, ball screws, a sliding block, a driving motor, a coupler B, a linear motion joint base B and a ball screw B, wherein the telescopic joint shell is connected with a rotary joint shell;
the light-load operation arm consists of a modularized locking joint, a module connecting rod and a joint connecting rod;
preferably, the cross rod adjusting device consists of a fixed clamp, a tooth-shaped direction-adjusting cross rod, a tooth-shaped locking disc, a vertical rod and a locking handle; the locking handle is connected with a tooth-shaped locking disc, the tooth-shaped locking disc is connected to the lower end of the vertical rod, and the upper end of the vertical rod is connected with a telescopic beam of the telescopic joint; the tooth-shaped locking disc is of a structure of combining a central shaft and a flange disc, a cylindrical structure matched with the central shaft of the tooth-shaped locking disc is arranged on the tooth-shaped direction-adjusting cross rod, the central shaft of the tooth-shaped locking disc penetrates through the cylindrical structure on the tooth-shaped direction-adjusting cross rod to be connected with a locking handle, and the locking handle is used for being connected with the tooth-shaped locking disc, so that the tooth-shaped direction-adjusting cross rod and the tooth-shaped locking disc do not rotate relatively; the fixing clamp is arranged on the tooth-shaped direction-adjusting cross rod, two round holes perpendicular to each other are formed in the fixing clamp, and the round holes are used for installing the joint connecting rod of the operation arm.
Preferably, the modularized locking joint consists of an outer shell, a modularized connecting rod, a joint connecting rod, a ball joint outer sleeve, a pressing block, an inner cylinder body, a push rod, a spring, a front piston, a rear piston, a cylinder body plug, an air pipe joint, an air pipe, an inner cylinder inner sealing ring, an outer piston sealing ring, an inner sealing ring, an outer sealing ring and a joint sealing ring; the ball joint is the spheroid and goes up to establish the through hole, and ball joint overcoat inner chamber is partial sphere design, and ball joint installs in ball joint overcoat, and ball joint meets for the one end of indent sphere design with the briquetting, and the other end of briquetting is equipped with the round hole around the central axis equidistance, round hole and push rod looks adaptation, the push rod passes the round hole of interior cylinder body and briquetting, and the spring housing is on the push rod, and push rod and preceding piston and back piston fixed connection are as an organic whole, piston and sealing washer adaptation, interior cylinder body is cylinder step shaft structure, inside cavity, interior cylinder body long axle head is in deep cylinder body stopper inner chamber and is sealed by interior sealing washer, is equipped with the outer sealing washer in the cylinder body stopper, and the rear end is the external screw thread, and cylinder body stopper center is equipped with one and link up the inner chamber of cylinder body stopper, and the inner chamber is equipped with the tracheal joint and connects the tracheal joint, cylinder body stopper skew center pin department is equipped with the through-hole, and interior cylinder body major axis stretches into the cylinder body inner chamber and is sealed by interior sealing washer, and tracheal joint can remove in the inner chamber of cylinder body stopper.
Preferably, the central axis of the tooth-shaped direction-regulating cross rod can be linear, arc-shaped or fold-line-shaped, and the cross section of the tooth-shaped direction-regulating cross rod is circular or other polygonal structures; the clamping hole characteristics of the corresponding fixation clamps vary with the cross-section of the crossbar.
Preferably, the tooth-shaped locking disc can be replaced by an electromagnetic clutch main body and an upper claw disc in the rotary joint, the tooth-shaped steering cross rod is replaced by an electromagnetic clutch lower claw disc, the locking handle is replaced by a clutch fixing cover, the tail end of the vertical rod is fixed with a stepped shaft of the rotary joint, and the tooth-shaped steering cross rod is fixed with the clutch lower claw disc.
Preferably, the air pump system may be a hydraulic pump, and the working fluid in the device is changed from gas to liquid when the air pump is replaced by the hydraulic pump.
The invention has the advantages that a plurality of surgical tools and surgical instruments can be positioned, and the surgical instruments can be arranged in a large range to avoid interference with other instruments; the operation arm positioning surgical instrument can lighten the labor intensity of doctors, the doctors can operate for a long time without fatigue, the communication links of the main doctor and the auxiliary doctor are reduced, and the operation efficiency can be improved.
Drawings
FIG. 1 is a schematic illustration of the overall structure of a suspended multi-arm system according to the present invention.
Fig. 2 is a view showing a lifting joint assembly of a suspension type multi-operation arm system according to the present invention.
FIG. 3 is a schematic illustration of a rotary joint assembly of a suspended multi-arm system according to the present invention.
Fig. 4 shows a telescopic joint assembly of a suspension type multi-operating arm system according to the present invention.
FIG. 5 illustrates a combination of end dual operator arm configurations for a suspended multi-operator arm system according to the present invention.
Fig. 6 shows a tooth lock disk structure of a suspension type multi-operating arm system according to the present invention.
Fig. 7 shows a tooth-shaped steering cross bar structure of a suspension type multi-operation arm system according to the invention.
Fig. 8 illustrates the tooth-shaped steering cross bar steering principle of the suspension type multi-operation-arm system.
FIG. 9 is a diagram illustrating a structure and an installation of a suspension type multi-arm system mounting clip according to the present invention.
FIG. 10 is a block diagram of a pneumatic lock joint of a suspended multi-operating arm system according to the present invention.
In the figure, 1 a light load operation arm; 2, a light load operation arm; 3, fixing clips; 4 tooth-shaped direction-regulating cross bars; 5 tooth-shaped locking discs; 6, a vertical rod; 7, locking a handle; 8, a telescopic beam; 9, telescoping joint outer shell; 10, a telescopic joint upper cover; 11, rotating an upper cover of the joint; 12 rotating the joint housing; 13 crossed roller bearings; 14 rotating the joint base; 15 lifting beams; 16 lifting joint housing; 17 a base housing; 18 base plates; a 19-wheel; 20 an air pump system; 21 a lifting motor; 22 linear motion joint base a;23 a coupling A;24 ball screw a;25 ball screw; a 26 slider; 27 a guide rail base a;28 guide rails; 29 guide sleeves; 30 guide sleeve seats; 31 a guide rail base B;32 rotating the joint stepped shaft; 33 lower jaw plate of electromagnetic clutch; 34 an electromagnetic clutch body and an upper jaw plate; 35 a clutch securing cover; 36 a drive motor; 37 coupling B;38 linear motion joint base B;39 ball screw B;40 telescopic joints; 41 a rotary joint; 42 lifting joints; 43 modular locking joints; 3-1 clamping the round hole; 3-2 round holes; 3-3 round holes; 4-1 tooth structure; 5-1 tooth structure; 5-2 external threads; 5-3 check rings; 43 locking the joint module; 44 air valve switch; 1-1 an outer shell; 1-2 module connecting rods; 1-3 joint connecting rods; 1-4 ball joints; 1-5 ball joint jackets; 1-6 briquetting; 1-7 inner cylinder bodies; 1-8 push rods; 1-9 springs; 1-10 front pistons; 1-11 rear pistons; 1-12 cylinder plugs; 1-13 tracheal tube joints; 1-14 trachea; 1-15 inner cylinder inner and outer sealing rings; 1-16 piston inner and outer sealing rings; 1-17 inner sealing rings; 1-18 outer sealing rings; 1-19 joint sealing rings; 1-20 sealing cavities.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
Referring to fig. 1, the suspended multi-arm system is composed of a lifting joint 42, a rotary joint 41, a telescopic joint 40, and two light-load arms, each of which includes a light-load arm A1 and a light-load arm B2. The two light-load operation arms are fixed at the tail ends of the suspension type positioning arms, and the suspension type positioning arms can lift, push and pull and rotate the whole tail ends; the tail end of the light-load operation arm is fixed with a surgical instrument, the posture and the position of the surgical instrument can be positioned and controlled, the lifting joint 42 is used for adjusting the overall height of the suspension arm, the rotary joint 41 is used for adjusting the swing angle of the telescopic joint 40, and the telescopic joint 40 is used for adjusting the working range of the light-load operation arm connected with the telescopic joint relative to an operating table; the light load operation arm is relative to a large load which can be borne by the suspension type positioning arm, and the load of the light load operation arm is mainly determined by the pressure of compressed gas, so that the light load operation arm is not required to be light; two light-load operating arms can be used to position the surgical instrument, and the wheels 19 with brakes can move the whole operating arm system when needed; the four wheels 19 remain locked, allowing the entire system to remain stable on the ground.
Referring to fig. 2, the lifting joint 42 is formed by a base plate 18 and four wheels 19 fixed under the base plate 18, on which base plate 18 an air pump system 20 is fixed, said air pump system 20 being formed by an air pump and air tank device and other pneumatic parts (valves, air pipes, etc.), and a base housing 17 is mounted on the base plate 18. The lifting joint housing 16 is fixed on the base plate 18, and the linear motion joint base a22, the coupler a23, the lifting motor 21, the ball screw a24, the ball screw 25, the sliding block 26, the guide rail base a27, the guide rail 28, the guide sleeve 29, the guide sleeve seat 30 and the guide rail base B31 are fixedly installed in the lifting joint housing 16. The linear motion joint base A22 is of a hollow shell-shaped structure, one end of the linear motion joint base A22 is fixedly connected with the lifting motor 21, the middle is hinged with the ball screw A24, the ball screw A24 is connected with the lifting motor 21 through the coupler A23, the two sides of the base A22 are inlaid with cylindrical optical axes and are matched with bearings on the sliding blocks 26, the sliding blocks 26 are fixedly connected with the ball screw 25, and the lifting motor 21 can drive the sliding blocks 26 to linearly reciprocate. The upper part of the lifting joint shell 16 is provided with a fixed guide rail 28 and an accessory structure thereof, a guide rail base A27 and a guide rail base B31 are fixed on the base A22, the guide rail 28 is also fixed on the base A22, and a guide sleeve 29 is sleeved on the guide rail 28 and fixedly connected with a guide sleeve seat 30. The lifting beam 15 is fixed with the slide block 26 and the guide sleeve seat 30, and the lifting motor 21 drives the slide block 26, so that the lifting beam 15 can stably lift along the guide sleeve 29.
Referring to fig. 3, the rotary joint 41 may adjust the swing angle of the telescopic joint 40. The rotary joint base 14 is fixedly connected with the lifting beam 15, the inner ring of the crossed roller bearing 13 is fixed on the rotary joint base 14, the outer ring of the crossed roller bearing 13 is fixed with the rotary joint shell 12, the rotary joint shell upper cover 11 is fixed on the rotary joint shell 12, the inner ring of the bearing 13 is sleeved on the rotary joint stepped shaft 32, the upper part of the stepped shaft 32 is fixedly provided with a clutch fixing cover 35, the clutch fixing cover 35 is fixedly provided with an electromagnetic clutch main body and an upper claw disk 34, and the rotary joint shell 12 is fixedly provided with an electromagnetic clutch lower claw disk 33. When the electromagnetic clutch is de-energized, the clutch body and the upper jaw plate 34 lock the clutch lower jaw plate 33 and the rotary joint housing 12 and its telescopic joint 40 cannot rotate relative to the lifting joint 42. When the electromagnetic clutch is energized, the locking claw disk in the clutch main body and the upper claw disk 34 is sucked open, the clutch lower claw disk 33 and the clutch main body are separated from the upper claw disk 34, and the rotary joint housing 12 and the telescopic joint 40 can rotate relative to the lifting joint 42.
Referring to fig. 4, the telescopic joint housing 9 is fixedly connected with the rotary joint housing 12, the telescopic joint upper cover 10 is fixed on the telescopic joint housing 9, the linear motion joint base B38 is a hollow shell-shaped member, the driving motor 36 is fixed on the base B38, the middle part of the linear motion joint base B is provided with a ball screw B39, the ball screw B39 is connected with the driving motor 36 through a coupler B37, both sides of the base B38 are inlaid with cylindrical optical axes and are matched with bearings on the sliding blocks 26, the sliding blocks 26 are fixedly connected with the ball screws 25, the sliding blocks 26 on the telescopic joint 40 are fixedly connected with the telescopic beams 8, the driving motor 36 rotates the ball screw a39 to drive the screws 25, the sliding blocks 26 and the telescopic beams 8 realize telescopic motion, and the working area of the light load operation arm is adjusted.
Referring to fig. 5, the vertical rod 6 is fixedly connected to the telescopic beam 8, the vertical rod 6 has a hollow shaft structure, and air pipe connectors are arranged on two sides of the middle of the vertical rod, so that gas generated by the air pump can be transmitted to the light-load operation arm A1 and the light-load operation arm B2; the tooth-shaped locking disc 5 is fixed at the tail end of the vertical rod 6.
Referring to fig. 6 and 7, the tooth-shaped locking disc 5 is a central shaft and flange disc-shaped structure, and the outer circle end of the flange disc is processed with a trapezoid tooth structure 5-1 by a broach; the center of the tooth-shaped direction-adjusting cross rod 4 is provided with a cylindrical structure with the same diameter as the tooth-shaped locking disc 5, two sides of the cylinder respectively extend out of a cylindrical long shaft structure, a round hole structure is formed in the center of the long shaft, namely in the center of the cylinder, and the round hole is sleeved on the central shaft of the tooth-shaped locking disc 5; the tooth-shaped direction-adjusting cross rod 4 is provided with a tooth-shaped structure 4-1 which is complementary with the tooth-shaped locking disc 5 and can be meshed with each other; the end of the central shaft of the tooth-shaped locking disc 5 is provided with an external thread 5-2, the center of the locking handle 7 is an internal thread, the locking handle 7 can be screwed with the external thread 5-2, and the retainer ring 5-3 prevents the locking handle 7 from falling.
Referring to fig. 8, when the internal thread of the locking handle 7 is separated from the thread on the central shaft of the tooth-shaped locking disc 5, the tooth-shaped direction-adjusting cross rod 4 is completely separated from the tooth-shaped structure of the tooth-shaped locking disc 5, an operator can hold the cross rod structure 4-2 of the tooth-shaped direction-adjusting cross rod 4 to rotate the adjusting rod to a proper position, then screw the locking handle 7, when the thread of the locking handle 7 is screwed with the thread on the central shaft of the tooth-shaped locking disc 5, the tooth-shaped direction-adjusting cross rod 4 and the tooth-shaped locking disc 5 are meshed with each other again, and the relative rotation of the direction-adjusting rod 4 and the tooth-shaped locking disc 5 is limited.
Referring to fig. 9, fixing clips 3 with cuboid shapes are arranged on the cross bars at two ends of the tooth-shaped direction-adjusting cross bar 4, the fixing clips 3 are provided with clamping round hole features 3-1 and can be clamped on the cylindrical cross bars at two ends of the direction-adjusting bar 4, and the inclination angles of the fixing clips 3 and the cross bars of the direction-adjusting bar 4 can be adjusted before clamping; the other end of the fixed clamp 3 is provided with two mutually perpendicular and orthogonal round holes, an operation arm joint connecting rod can be placed in the round holes, and the tail end of the light-load operation arm is fixed with the fixed clamp 3 by using threads and screws; the light-load operation arms can be fixed perpendicular to the fixing clamp 3, and can be fixed coaxially with the central axis of the fixing clamp 3, and the fixing mode of the two operation arms and the fixing clamp 3 can be shown in fig. 5.
Referring to fig. 10, the locking joint 43 is composed of an outer shell 1-1, a module connecting rod 1-2, a joint connecting rod 1-3, a ball joint 1-4, a ball joint outer sleeve 1-5, a pressing block 1-6, an inner cylinder 1-7, a push rod 1-8, a spring 1-9, a front piston 1-10, a rear piston 1-11, a cylinder plug 1-12, an air pipe joint 1-13, an air pipe 1-14, an inner cylinder inner and outer sealing ring 1-15, an inner piston inner and outer sealing ring 1-16, an inner sealing ring 1-17, an outer sealing ring 1-18 and a joint sealing ring 1-19. The outer shell 1-1 is a cylindrical hollow cavity; the ball joint 1-4 is in a sphere shape, a hollow rod sleeve structure is arranged at the central shaft, external threads are arranged on the outer surface of the sleeve and can be connected with the joint connecting rod 1-3, and the hollow part of the ball joint 1-4 allows the air pipe 1-14 to pass through; the bottom of the inner cavity of the ball joint outer sleeve 1-5 is a part of spherical surface, the outer surface of the pressing block 1-6 is a cylindrical surface, the end part of the pressing block is provided with a concave spherical surface shape, and round holes are uniformly distributed around the axis of the cylindrical surface; the inner cylinder body 1-7 is of a cylindrical stepped shaft structure, a through hole is formed in the center of the inner cylinder body, round holes are uniformly distributed on the large end shaft, and an inner sealing ring 1-15 and an outer sealing ring of the inner cylinder are arranged on the outer surface of the inner cylinder body; the push rod 1-8 is fixed with the front piston 1-10, and passes through round holes of the inner cylinder body 1-7 and the pressing block 1-6, and the spring 1-9 is sleeved on the push rod 1-8 and props against the pressing block 1-6; the joint outer sleeve 1-5 is screwed on the outer shell 1-1 to seal the ball joint 1-4, the pressing block 1-6 and the inner cylinder body 1-7 in the outer shell 1-1.
Further, the rear end of the front piston 1-10 is fixed with the rear piston 1-11, and the outer circumferences of the two pistons and the circular ring sleeved on the inner cylinder body are provided with the inner and outer sealing rings 1-16 of the piston; the front piston 1-10, the rear piston 1-11 and the push rod 1-8 can slide between the long shaft surface of the inner cylinder body 1-7 and the inner cavity of the outer shell 1-1; the front end of the cylinder body plug 1-12 is provided with an outer sealing ring 1-18 on a round shaft, the rear end is provided with an outer thread, the outer sealing ring is screwed on the outer shell 1-1, an inner cavity is arranged in the center of the outer shell, an inner sealing ring 1-17 is arranged at the rear end of the inner sealing ring 1-17, an air pipe joint 1-13 and a joint sealing ring 1-19 are arranged at the rear end of the inner sealing ring, a small hole is arranged at the bottom of the inner cavity to be communicated, a through hole is arranged at the position, deviating from the central shaft, of the cylinder body plug 1-12, and the through hole is led to a closed space enclosed by the rear piston 1-11 and the outer shell 1-1; the long axis end of the inner cylinder body 1-7 goes deep into the inner cavity of the cylinder body plug 1-12 and is sealed by the inner sealing ring 1-17.
Further, the light load operation arm A1 and the light load operation arm B2 can be formed by the connecting rod 1-3 and the module connecting rod 1-2, see fig. 5. After compressed gas of the air pump system 20 is sent into the sealing cavity 1-20 through the gas path and the gas pipe 1-14, the gas enters a closed space formed by the rear piston 1-11 and the outer shell 1-1 through the eccentric through hole of the cylinder plug 1-12 and pushes the rear piston 1-11, the front piston 1-10 and the push rod 1-8 to move towards the ball joint 1-4 together; the front part of the push rod 1-8 is a cone, all the ball joints 1-4 are pressed, and the operation tools at the tail ends of the light-load operation arm A1 and the light-load operation arm B2 are kept static. The air valve switch 44 is connected with the ball joint module at the tail end, when the air valve switch 44 is pressed, air is unloaded, an operator can rotate the ball joints 1-4 again, and the light-load operation arm A1 and the light-load operation arm B2 can change the positions and reposition the operation tool. The rotation resistance during unloading is determined by the springs 1-9 and the pressing blocks 1-6.
Example two
The embodiment is obtained by conversion on the basis of the first embodiment, in the embodiment, the ball screw and the screw in the lifting joint and the telescopic joint are replaced by a sliding screw and a screw, other parts and structures are unchanged, and the positioning function of tools and apparatuses can be completed.
Example III
In this embodiment, the central axis of the straight cylindrical cross bar at the two ends of the tooth-shaped steering cross bar 4 in the first embodiment is replaced by a contour with an arc shape or a fold line shape, the cross section of the contour is in a circular shape or other polygonal structures, and other parts are kept unchanged. The relative mounting positions and mounting directions of the pneumatically operated arms 1 and 2 can also be adjusted.
Example IV
In this embodiment, the tooth-shaped locking disc 5 in the first embodiment is replaced by the electromagnetic clutch main body and the upper claw disc 34 in the rotary joint 41, the tooth-shaped steering cross rod 4 and the locking handle 7 are replaced by the electromagnetic clutch lower claw disc 33, the locking handle 7 is changed into the clutch fixing cover 35, the tail end of the vertical rod 6 is fixed with the rotary joint stepped shaft 32, and the cross rod and the rest part of the tooth-shaped steering cross rod 4 are fixed with the clutch lower claw disc 33, so that the function of adjusting the angle of the tooth-shaped adjusting rod can be realized similarly.
Example five
In this embodiment, the exhaust valve 44 at the end of the first embodiment is replaced by a sealing plug, the air pipe 1-14 of the last ball joint is sealed, the air pump 20 is replaced by a hydraulic pump, the compressed gas is changed into liquid, and the pressure of the hydraulic fluid in the 1-20 cavity is controlled by an on-off switch, so that the whole system can realize the same positioning function.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (1)
1. The suspended multi-operation-arm system is mainly characterized by comprising a suspended positioning arm and a light-load operation arm, wherein the light-load operation arm is arranged on the suspended positioning arm, the suspended positioning arm consists of a lifting joint, a rotary joint, a telescopic joint and a cross rod adjusting device, a rotary joint base of the rotary joint is arranged at the upper end of a lifting joint lifting beam, a telescopic joint shell of the telescopic joint is fixedly arranged on the rotary joint shell of the rotary joint, a vertical rod of the cross rod adjusting device is connected with the telescopic beam of the telescopic joint, and a fixing clamp of the cross rod adjusting device is connected with the light-load operation arm;
the lifting joint consists of a lifting beam, a lifting joint shell, a base plate, wheels, an air pump system, a lifting motor, a linear motion joint base A, a coupler A, a ball screw, a sliding block, a guide rail base A, a guide rail, a guide sleeve seat and a guide rail base B, wherein the air pump system is arranged on the base plate; the linear motion joint base A is of a hollow shell-shaped structure, the lower end of the linear motion joint base A is fixedly connected with a lifting motor, the middle of the linear motion joint base A is hinged with a ball screw A, the ball screw A is connected with the lifting motor through a coupler A, cylindrical optical axes are inlaid at two sides of the linear motion joint base A and matched with bearings of a sliding block, the sliding block is fixedly connected and matched with a ball screw, the ball screw A is matched with the ball screw, and the lifting motor drives the sliding block to reciprocate along a straight line through the ball screw A; the guide rail is fixed at the upper part of the lifting joint shell and an accessory structure thereof, the guide rail base A and the guide rail base B are fixed on the base, the guide rail is also fixed on the base, and the guide sleeve is sleeved on the guide rail and fixedly connected with the guide sleeve seat; the lifting beam is respectively and fixedly connected with the sliding block and the guide sleeve seat, the lifting motor drives the sliding block, and the lifting beam moves along the guide rail and the guide rail in the linear motion joint base A;
the rotary joint consists of a rotary joint upper cover, a rotary joint shell, a crossed roller bearing, a rotary joint base, a rotary joint stepped shaft, an electromagnetic clutch lower claw disc, an electromagnetic clutch main body, an upper claw disc and a clutch fixing cover, wherein an inner ring of the crossed roller bearing is sleeved on the rotary joint stepped shaft and is fixed on the rotary joint base, an outer ring of the crossed roller bearing is connected with the rotary joint shell, the rotary joint shell is connected with the electromagnetic clutch lower claw disc, and the clutch fixing cover is respectively fixedly connected with the stepped shaft, the electromagnetic clutch main body and the upper claw disc;
the telescopic joint consists of a telescopic beam, a telescopic joint shell, a telescopic joint upper cover, ball screws, a sliding block, a driving motor, a coupler B, a linear motion joint base B and a ball screw B, wherein the telescopic joint shell is connected with a rotary joint shell;
the light-load operation arm consists of a modularized locking joint, a module connecting rod and a joint connecting rod;
the cross rod adjusting device consists of a fixed clamp, a tooth-shaped direction-adjusting cross rod, a tooth-shaped locking disc, a vertical rod and a locking handle; the locking handle is connected with a tooth-shaped locking disc, the tooth-shaped locking disc is connected to the lower end of the vertical rod, and the upper end of the vertical rod is connected with a telescopic beam of the telescopic joint; the tooth-shaped locking disc is of a structure of combining a central shaft and a flange disc, a cylindrical structure matched with the central shaft of the tooth-shaped locking disc is arranged on the tooth-shaped direction-adjusting cross rod, the central shaft of the tooth-shaped locking disc penetrates through the cylindrical structure on the tooth-shaped direction-adjusting cross rod to be connected with a locking handle, and the locking handle is used for being connected with the tooth-shaped locking disc, so that the tooth-shaped direction-adjusting cross rod and the tooth-shaped locking disc do not rotate relatively; the fixed clamp is arranged on the tooth-shaped direction-adjusting cross rod, and is provided with two mutually perpendicular and orthogonal round holes for installing the joint connecting rod of the operation arm;
the modularized locking joint consists of an outer shell, a module connecting rod, a joint connecting rod, a ball joint outer sleeve, a pressing block, an inner cylinder body, a push rod, a spring, a front piston, a rear piston, a cylinder body plug, an air pipe joint, an air pipe, an inner cylinder inner sealing ring, an outer piston sealing ring, an inner sealing ring, an outer sealing ring and a joint sealing ring; the ball joint is the spheroid and goes up to establish the through hole, and ball joint overcoat inner chamber is partial sphere design, and ball joint installs in ball joint overcoat, and ball joint meets for the one end of indent sphere design with the briquetting, and the other end of briquetting is equipped with the round hole around the central axis equidistance, round hole and push rod looks adaptation, the push rod passes the round hole of interior cylinder body and briquetting, and the spring housing is on the push rod, and push rod and preceding piston and back piston fixed connection are as an organic whole, piston and sealing washer adaptation, interior cylinder body is cylinder step shaft structure, inside cavity, interior cylinder body long axle head is in deep cylinder body stopper inner chamber and is sealed by interior sealing washer, is equipped with the outer sealing washer in the cylinder body stopper, and the rear end is the external screw thread, and cylinder body stopper center is equipped with one and link up the inner chamber of cylinder body stopper, and the inner chamber is equipped with the tracheal joint and connects the tracheal joint, cylinder body stopper skew center pin department is equipped with the through-hole, and interior cylinder body major axis stretches into the cylinder body inner chamber and is sealed by interior sealing washer, and tracheal joint can remove in the inner chamber of cylinder body stopper.
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| CN201810126073.3A CN108272509B (en) | 2018-02-08 | 2018-02-08 | Suspension type multi-operation-arm system |
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| CN201810126073.3A CN108272509B (en) | 2018-02-08 | 2018-02-08 | Suspension type multi-operation-arm system |
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| CN108272509B true CN108272509B (en) | 2023-05-02 |
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| CN108953954B (en) * | 2018-08-28 | 2024-02-23 | 南通理工学院 | Recorder for computer graphic image processing |
| CN109176568B (en) * | 2018-09-28 | 2021-10-01 | 北京邮电大学 | Tendon rope-electromagnetic force combined driven rigid-soft coupling multi-finger dexterous hand |
| CN110925163A (en) * | 2019-12-11 | 2020-03-27 | 安徽冠东科技有限公司 | Flat miniature air pump |
| CN114027988B (en) * | 2021-12-07 | 2023-07-07 | 临沂大学 | Main manipulator of three-degree-of-freedom continuum robot and working method thereof |
| WO2023172422A2 (en) * | 2022-03-10 | 2023-09-14 | Titan Medical Inc. | Robotic surgery system |
| CN114748167A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible endoscope minimally invasive surgery instrument arm |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
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