CN108294826A - Mechanical transmission-type absorber for operating robot - Google Patents
Mechanical transmission-type absorber for operating robot Download PDFInfo
- Publication number
- CN108294826A CN108294826A CN201810080559.8A CN201810080559A CN108294826A CN 108294826 A CN108294826 A CN 108294826A CN 201810080559 A CN201810080559 A CN 201810080559A CN 108294826 A CN108294826 A CN 108294826A
- Authority
- CN
- China
- Prior art keywords
- guide post
- cylinder
- controller
- piston
- motor
- 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
- A61B34/32—Surgical robots operating autonomously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B90/17—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins for soft tissue, e.g. breast-holding 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Neurosurgery (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the mechanical transmission-type absorbers for operating robot,Including cylinder,Guide post,Adsorption section,The connecting seat being connect with the mechanical arm of operating robot is provided on cylinder,Cylinder upper end is equipped with cover,Cylinder is equipped with mounting base,Motor is equipped in mounting base,Controller,Battery,Motor,Controller,Battery is connected by conducting wire and constitutes electrical circuit,The output shaft of motor is provided with the transmission gear for driving guide post oscilaltion,Guide post is vertically equipped with the transmission spur rack with transmission gear engaged transmission,It is formed with guide member in the middle part of cylinder,To guide vertically moving for guide post,Adsorption section includes connecting tube,Piston cylinder assembly,Piston,Sucker,Appendix,Piston cylinder assembly is set in cylinder,Piston cylinder assembly is made of multiple piston cylinders,N is natural number,Piston upper end is connected with pull rod,The pull rod other end is connected on pulling plate,Avoid misoperation that organ epidermis is caused to injure,Machine driving is reliable and stable.
Description
Technical field
The present invention relates to the field of medical instrument technology, refer to the mechanical transmission-type suction for operating robot specifically
Adnexa.
Background technology
Medically described operation refers to skin or mucous membrane, its hetero-organization being blocked or splitting using medical instrument, or pass through
It operates the process cured the disease, especially since the skin at cutting operation position and being treated to the organ etc. of its inside, shaping
Or the abdominal etc. of removal, cause bleeding, side effect, the pain of patient, scar the problems such as, therefore recently as countermeasure case,
It is just being attracted attention using the operation of robot.
This operating robot has mechanical arm for the operation of operation, and the front end of mechanical arm is equipped with operation
Instrument, and the driving force by being generated, being transmitted by robot, necessary action in making surgical instrument be performed the operation.
When generally performing the operation to human organ, needs to use tweezers gripper and the epidermis of organ is guided and assists separation, clamp
Tissue, but because clamping when misoperation, the secondary injury to organ epidermis can be caused.
Since organ epidermis is soft and has certain wriggling, when surgical procedure of such operating robot, can cause whole
Shape, removal or suture are inaccurate, if when operating robot is performed the operation, local intestinal epidermis is fixed, and will be improved minimally invasive
The flexibility and accuracy of surgical operation robot surgical procedure.
Invention content
The technical problem to be solved by the present invention is to present situations for the above-mentioned prior art, and provide for operating robot
Mechanical transmission-type absorber, reasonable design of the invention, low cost simple in structure, can be to avoid operation using negative-pressure adsorption principle
It is improper to cause the injury of organ epidermis, be adapted to that epidermis at operation is adsorbed to fix when operating robot is performed the operation to prevent its wriggling, machine
Tool transmission is more reliable and more stable.
Technical solution is used by the present invention solves above-mentioned technical problem：
For the mechanical transmission-type absorber of operating robot, including cylinder, guide post, adsorption section, it is provided with and performs the operation on cylinder
The connecting seat of the mechanical arm connection of robot, cylinder upper end are equipped with cover, and cylinder is equipped with mounting base, electricity is equipped in mounting base
Machine, controller, battery, motor, controller, battery connect by conducting wire and constitute electrical circuit, and the output shaft of motor is provided with band
The transmission gear of dynamic guide post oscilaltion, guide post are vertically equipped with the transmission spur rack with transmission gear engaged transmission, cylinder middle part
It is formed with guide member, guide member is equipped with drives the anti-rotation device for preventing guide post from rotating when guide post lifting in motor, from
And vertically moving for guide post is guided, controller is connect with control switching signal, and control switch is equipped with a key switch key, and motor connects
It is connected to the current sensing means of detection current of electric size, current sensing means is connect with controller, and controller is connected with control
The lifting controller of motor rotation, guide post lower end are connected with pulling plate, and pulling plate is slidably connected with cylinder inboard wall, and adsorption section includes
Connecting tube, piston cylinder assembly, piston, sucker, appendix, piston cylinder assembly are set in cylinder, and piston cylinder assembly is by N number of piston
Cylinder forms, and N is natural number, and piston is both provided in each piston cylinder, and piston upper end is connected with pull rod, and the pull rod other end is connected to
On pulling plate, the lower end of connecting tube upper end and cylinder connects, and connecting tube lower end is connected with sucker, is evenly distributed on sucker N number of
Negative pressure cavity, N are natural number, and each negative pressure cavity upper end is equipped with gas port, and piston cylinder lower end is connected with appendix, and appendix is another
One end is set in connecting tube and is correspondingly connected with gas port, and piston cylinder is connected to corresponding negative pressure cavity by appendix and forms independence
Absorbing unit, when sucker and human epidermal contact, control switch control controller is to electrical power, motor band nutating gear
Rotation drives guide post to rise and drives pulling plate, and pulling plate pulls piston by pull rod, so that negative pressure cavity is formed and is inhaled far below extraneous air pressure
Attached human epidermal.
To optimize above-mentioned technical proposal, the measure taken further includes：
Above-mentioned anti-rotation device is made of the through hole for being formed in lifting guide member center, so that guide post penetrates through and is risen
Drop, through hole be fillet quadrilateral shape to prevent guide post from rotating, and guide post be configured as it is corresponding with the shape of through hole.
The quantity of the quantity of above-mentioned negative pressure cavity, the quantity of appendix and piston cylinder is identical, and appendix corresponds to connection and lives
Above-mentioned control switch is equipped with lifting key from vernier control signal to controller and Pause key for sending out.
Above-mentioned control switch is connect with controller wireless signal.
Above-mentioned sucker is made of flexible rubber or silica gel.
Above-mentioned controller switches may be disposed in the control lever of operating robot.
The distance of above-mentioned guide member to cover is more than guide post length.
Above-mentioned pulling plate is provided with gas vent.
The mechanical transmission-type absorber for operating robot of the present invention, including cylinder, guide post, adsorption section, on cylinder
It is provided with the connecting seat being connect with the mechanical arm of operating robot, cylinder upper end is equipped with cover, and cylinder is equipped with mounting base, installation
Be equipped with motor, controller, battery in seat, motor, controller, battery connect by conducting wire and constitute electrical circuit, motor it is defeated
Shaft is provided with the transmission gear for driving guide post oscilaltion, and guide post is vertically equipped with the transmission straight-tooth with transmission gear engaged transmission
Item, cylinder middle part are formed with guide member, and guide member is equipped with drives prevent guide post from rotating when guide post lifting to prevent in motor
Rotating device, to guide vertically moving for guide post, controller to be connect with control switching signal, control switch is opened equipped with a key
Key, motor are connected with the current sensing means of detection current of electric size, and current sensing means is connect with controller, controller
It is connected with the lifting controller of control motor rotation, guide post lower end is connected with pulling plate, and pulling plate is slidably connected with cylinder inboard wall,
Adsorption section includes connecting tube, piston cylinder assembly, piston, sucker, appendix, and piston cylinder assembly is set in cylinder, piston cylinder group
Part is made of N number of piston cylinder, and N is natural number, and piston is both provided in each piston cylinder, and piston upper end is connected with pull rod, pull rod
The other end is connected on pulling plate, the connection of the lower end of connecting tube upper end and cylinder, and connecting tube lower end is connected with sucker, on sucker
Even that N number of negative pressure cavity is distributed with, N is natural number, and each negative pressure cavity upper end is equipped with gas port, and piston cylinder lower end is connected with gas transmission
Pipe, the appendix other end are set in connecting tube and are correspondingly connected with gas port, and piston cylinder is connected to corresponding negative by appendix
Pressure chamber forms independent absorbing unit, and when sucker is contacted with human epidermal, control switch control controller is to electrical power, motor
Band nutating gear rotates, and drives guide post to rise and drives pulling plate, and pulling plate pulls piston by pull rod, and negative pressure cavity generation is made to be far below
Human epidermal is adsorbed in extraneous air pressure, reasonable design, low cost simple in structure, can be to avoid operation not using negative-pressure adsorption principle
It is fixed to epidermis absorption at operation when causing the injury of organ epidermis, being adapted to operating robot operation to prevent its wriggling, machinery
Transmission is more reliable and more stable.
The invention has the advantages that：
1, control switch control controller rotates to electrical power, motor band nutating gear, drives guide post to rise and drive pulling plate,
Mechanical transmission, more reliable and more stable, piston, which moves up, makes negative pressure trough generate far below extraneous air pressure to adsorb operation place
Epidermis, prevents its wriggling, and effective solution operating robot during operation influences caused by operation place epidermis is wriggled；
2, sucker of the invention can effectively adsorb operation place epidermis using principle of negative pressure；
3, simple in structure cheap, effective solution medical instrument cost high problem reduces medical treatment cost.
1）Original state, piston are in the cylinder bottom of piston cylinder, and the spur rack of guide post upper end is engaged with transmission gear；
2）It will be inhaled by the key switch via controller control motor rotation on control switch when needing to adsorb fixed to epidermis
Disk is contacted with human epidermal, after patient presses a key switch key of control switch, after controller detects switching signal, and controller
Control signal is sent out to lifting controller, lifting controller driving motor works, and motor is engaged by transmission gear with spur rack
Transmission drives guide post to rise, and guide post is moved up by pulling plate and pull rod band piston；
3）Whether current detector detection motor drives guide post to rise in place, after rising in place, detects current of electric, horse when stall
It will increase up to electric current, curent change is fed back to controller by current sensing means, and controller judges that guide post rises in place, controller
Stop signal is sent out to lifting controller, lifting controller control motor is stopped, while controller memory guide post is in upper
It is raised to a state, piston, which moves up, at this time causes the air pressure in negative pressure cavity less than the external world, therefore adsorbs human epidermal；
4）After patient presses next key switch again, controller detects a key switch signal, the memory based state of controller into
Row judges that controller sends out control signal to lifting controller, and lifting controller controls motor work, and motor drives under guide post
Drop, guide post descent tape piston decline；
5）Current sensing means detects that current of electric changes again, and current sensing means feedback signal is to controller, controller
It is fallen into place according to current sensing means signal determining guide post, controller sends out stop signal to lifting controller, elevating control
Device control motor is stopped, and controller memory electric elevatable table, which is in, falls into place state, and the negative pressure cavity of sucker is by human body table
Skin discharges；
6）Lifting key on control switch and Pause key play the role of lifting fine tuning, negative to control by finely tuning guide post lifting amount
The air pressure of intracavitary and extraneous pressure difference, patient is pressed to be carried out to the negative pressure of negative pressure cavity according to the degree of absorption of the epidermis of not organ
It increases or reduces.
The present invention realizes the electrified control adsorbed to human epidermal, and guide post of the present invention is in raising and lowering process
In only need patient by next key switch, controlled convenient for the overall process to raising and lowering, have higher stability, operation side
Just.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the sectional view of A-A in Fig. 1；
Fig. 3 is the upward view of sucker；
Fig. 4 is that the present invention implements schematic diagram when operation；
Fig. 5 is the structural schematic diagram of guide post；
Fig. 6 is control principle block diagram.
Specific implementation mode
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
Fig. 1 to Fig. 6 is the structural schematic diagram of the present invention.
Reference numeral therein is：Cylinder 1, gas vent 10, connecting seat 11, mounting base 12, motor 13, controller 14, electricity
Pond 15, transmission gear 16, guide member 17, through hole 18, pulling plate 19, guide post 2, transmission spur rack 21, adsorption section 3, connecting tube
31, piston cylinder assembly 32, piston 33, sucker 34, appendix 35, piston cylinder 36, pull rod 37, negative pressure cavity 38, gas port 39, control
Switch 4, a key switch key 41, lifting key 42, Pause key 43, current sensing means 5, lifting controller 6, charging module 7, USB
Mouth 8, mechanical arm 9.
Fig. 1 to Fig. 6 is the structural schematic diagram of the present invention.
Embodiment 1：
As shown in the figure：
For the mechanical transmission-type absorber of operating robot, including cylinder 1, guide post 2, adsorption section 3, be provided on cylinder 1 with
The connecting seat 11 that the mechanical arm 9 of operating robot connects, the engaging of 1 upper end of cylinder have cover, cylinder 1 to be equipped with mounting base 12, peace
It is equipped with motor 13, controller 14, battery 15 in dress seat 12, motor 13, controller 14, battery 15 are connected and constituted by conducting wire
Electrical circuit is connected with charging module 7 on battery, and charging module 7 is connect with charging USB port 8, and the charging module and USB of setting connect
Mouthful it is that existing equipment provides charging interface, controller, which can receive control signal and send out, controls signal and can be according to feedback letter
Number memory current state, the output shaft of motor 13 are provided with the transmission gear 16 for driving 2 oscilaltion of guide post, and guide post 2 is vertically set
There are the transmission spur rack 21 with 16 engaged transmission of transmission gear, 1 middle part of cylinder to be formed with guide member 17, set on guide member 17
There are the anti-rotation device for preventing guide post 2 from rotating when motor 13 drives guide post 2 to lift, to guide vertically moving for guide post 2, control
Device 14 processed is connect with control 4 signal of switch, and control switch 4 is equipped with a key switch key 41 and is used to send out one-key start to controller
Signal, motor 13 are connected with the current sensing means 5 of detection 13 size of current of motor, and motor current will increase when stall, electric current
Curent change is fed back to controller by detection device, and current sensing means 5 is connect with controller 14, and controller 14 is connected with control
The lifting controller 6 that motor 13 rotates, lifting controller 6 are connect with motor, and 2 lower end of guide post is by Stud connection in pulling plate 19
In center screw, pulling plate 19 is slidably matched with 1 inner wall of cylinder, adsorption section 3 include connecting tube 31, piston cylinder assembly 32, piston 33,
Sucker 34, appendix 35, piston cylinder assembly 32 are set in cylinder 1, and piston cylinder assembly 32 connects with 1 inner wall of cylinder interference fit
It connects, piston cylinder assembly 32 is made of 14 piston cylinders 36, and piston 33, the connection of 33 upper end of piston are both provided in each piston cylinder 36
There are pull rod 37, pull rod lower end to be inserted into piston and be fitting to connection, 37 other end of pull rod is fixedly connected on pulling plate 19, in connecting tube 31
End is threadedly coupled with the lower end of cylinder 1, and 31 lower end of connecting tube is connected with sucker 34, and sucker 34 and the inner wall interference of connecting tube are matched
It closes and fixes, 14 negative pressure cavities 38 are evenly distributed on sucker 34, is recessed upwards at negative pressure cavity center and forms arc surface, each negative pressure
38 upper end of chamber is equipped with gas port 39, and 36 lower end of piston cylinder is equipped with connector, and appendix 35 is nested on connector, appendix
35 other ends are set in connecting tube 31 and are correspondingly connected with gas port 39, and appendix 35 is connected with the interference fit of gas port 39,
Piston cylinder 36 is connected to corresponding negative pressure cavity 38 by appendix 35 and forms independent absorbing unit, and sucker 34 is contacted with human epidermal
When, control switch 4 controls controller 14 and is powered to motor 13, and motor 13 is rotated with nutating gear 16, and guide post 2 is driven to rise band
Dynamic pulling plate 19, pulling plate 19 pull piston 33 by pull rod 37, and negative pressure cavity 38 is made to be formed far below extraneous air pressure absorption human body table
Skin.
Anti-rotation device is made of the through hole 18 for being formed in lifting guide member 17 center, so as to guide post 2 penetrates through and into
Row lifting, through hole 18 are the quadrilateral shape of fillet to prevent guide post 2 from rotating, and guide post 2 is configured as and through hole 18
Shape corresponds to.
The quantity of the quantity of negative pressure cavity 38, the quantity of appendix 35 and piston cylinder 36 is identical, and appendix 35 corresponds to connection
Piston cylinder 36 and negative pressure cavity 38.
Switch 4 is controlled equipped with lifting key 42 from vernier control signal to controller 14 and Pause key 43 for sending out, it can be with
Negative pressure ability to bear is finely adjusted adjustable height according to Different Organs.
Control switch 4 is connect with 14 wireless signal of controller, is avoided the trouble of line traffic control wiring, is also eliminated control
Limitation of the line to controller installation site；In addition, wireless control, structure is simpler, and use is also safer.
Sucker 34 is made of flexible rubber or silica gel, when sucker is contacted with epidermis, is more bonded epidermis, while not hindering
Evil epidermis.
Controller switches 4 may be disposed in the control lever of operating robot, and buckle is provided on controller switches 4 (in figure
Do not show), being buckled in control lever keeps operation more convenient.
The distance of guide member 17 to cover is more than 2 length of guide post, and guide post is enable to be promoted completely.
The internal diameter of appendix 35 is less than the internal diameter of piston cylinder 36, and the internal diameter of appendix is less than the internal diameter of piston cylinder, and piston exists
Very short distance is moved up in piston cylinder can be so that the negative pressure cavity of sucker be obtained far below extraneous air pressure.
Pulling plate 19 is provided with gas vent 10, and pulling plate can cause the air pressure above pulling plate to increase, pass through during moving up
Gas vent keeps the air pressure of pulling plate or more identical.
Embodiment 2：
Negative pressure cavity is N number of, and piston cylinder is N number of, and N is natural number, N >=2, the quantity of negative pressure cavity 20, the quantity of appendix 25 and
The quantity of piston cylinder 26 is identical.
Not described part is the same as embodiment 1.
The operation principle and operating method of the present invention：
1）Original state, piston are in the cylinder bottom of piston cylinder, and the spur rack of guide post upper end is engaged with transmission gear；
2）It will be inhaled by the key switch via controller control motor rotation on control switch when needing to adsorb fixed to epidermis
Disk is contacted with human epidermal, after patient presses a key switch key of control switch, after controller detects switching signal, and controller
Control signal is sent out to lifting controller, lifting controller driving motor works, and motor is engaged by transmission gear with spur rack
Transmission drives guide post to rise, and guide post is moved up by pulling plate and pull rod band piston；
3）Whether current detector detection motor drives guide post to rise in place, after rising in place, detects current of electric, horse when stall
It will increase up to electric current, curent change is fed back to controller by current sensing means, and controller judges that guide post rises in place, controller
Stop signal is sent out to lifting controller, lifting controller control motor is stopped, while controller memory guide post is in upper
It is raised to a state, piston, which moves up, at this time causes the air pressure in negative pressure cavity less than the external world, therefore adsorbs human epidermal；
4）After patient presses next key switch again, controller detects a key switch signal, the memory based state of controller into
Row judges that controller sends out control signal to lifting controller, and lifting controller controls motor work, and motor drives under guide post
Drop, guide post descent tape piston decline；
5）Current sensing means detects that current of electric changes again, and current sensing means feedback signal is to controller, controller
It is fallen into place according to current sensing means signal determining guide post, controller sends out stop signal to lifting controller, elevating control
Device control motor is stopped, and controller memory electric elevatable table, which is in, falls into place state, and the negative pressure cavity of sucker is by human body table
Skin discharges；
6）Lifting key on control switch and Pause key play the role of lifting fine tuning, negative to control by finely tuning guide post lifting amount
The air pressure of intracavitary and extraneous pressure difference, patient is pressed to be carried out to the negative pressure of negative pressure cavity according to the degree of absorption of the epidermis of not organ
It increases or reduces.
The present invention realizes the electrified control adsorbed to human epidermal, and guide post of the present invention is in raising and lowering process
In only need patient by next key switch, controlled convenient for the overall process to raising and lowering, have higher stability, operation side
Just.
Schematic diagram when implementing to perform the operation such as Fig. 4, only one embodiment of performing the operation, is to be sutured to wound suture in figure,
Because wound can be because contraction of muscle causes wound just to differ after cutting, while wound can be crimped to both sides, thus be needed
It is operated using two absorbers, after patient's operating robotic arm makes the sucker of absorber be adjacent to epidermis, controller can be pressed
Switch, makes sucker suction live epidermis, then drives absorber to drawing close from wound center from operating robotic arm, while operating machinery
Arm keeps wound both sides epidermis highly consistent, and suture and the later stage speed of wound healing for being conducive to wound after suturing in this way are fast etc.
Advantage.
Highly preferred embodiment of the present invention has illustrated, and the various change or remodeling made by those of ordinary skill in the art are not
It can depart from the scope of the present invention.
Claims (9)
1. for the mechanical transmission-type absorber of operating robot, it is characterized in that：Including cylinder (1), guide post (2), adsorption section
(3), the connecting seat (11) being connect with the mechanical arm of operating robot (9) is provided on the cylinder (1), on the cylinder (1)
End is equipped with cover, and the cylinder (1) is equipped with mounting base (12), be equipped in mounting base (12) motor (13), controller (14),
Battery (15), the motor (13), controller (14), battery (15) connect by conducting wire and constitute electrical circuit, motor (13)
Output shaft is provided with the transmission gear (16) for driving guide post (2) oscilaltion, and the guide post (2) is vertically equipped with and transmission gear
(16) the transmission spur rack (21) of engaged transmission, cylinder (1) middle part are formed with guide member (17), the guide member
(17) it is equipped with the anti-rotation device for preventing guide post (2) from rotating when the motor (13) drives guide post (2) to lift, to guide
Guide post (2) vertically move, and the controller (14) connect with control switch (4) signal, is set on the control switch (4)
There is a key switch key (41), the motor (13) is connected with the current sensing means (5) of detection motor (13) size of current, described
Current sensing means (5) is connect with the controller (14), and the controller (14) is connected with the liter that control motor (13) rotates
Drop controller (6), guide post (2) lower end are provided with pulling plate (19), and the pulling plate (19) is slidably matched with cylinder (1) inner wall,
The adsorption section (3) includes connecting tube (31), piston cylinder assembly (32), piston (33), sucker (34), appendix (35), described
Piston cylinder assembly (32) is set in the cylinder (1), and the piston cylinder assembly (32) is made of N number of piston cylinder (36), and N is certainly
So number, each piston cylinder (36) is interior to be both provided with piston (33), and piston (33) upper end is connected with pull rod (37), the pull rod
(37) other end is connected on pulling plate (19), and connecting tube (31) upper end is connect with the lower end of the cylinder (1), the company
It takes over (31) lower end and is connected with sucker (34), be evenly distributed with N number of negative pressure cavity (38) on the sucker (34), N is natural number, often
A negative pressure cavity (38) upper end is equipped with gas port (39), and piston cylinder (36) lower end is connected with appendix (35), appendix
(35) other end is set in the connecting tube (31) and is correspondingly connected with the gas port (39), and piston cylinder (36) passes through gas transmission
It manages (35) and is connected to the independent absorbing unit of corresponding negative pressure cavity (38) formation, when the sucker (34) contacts with human epidermal, control
System switch (4) control controller (14) is powered to motor (13), and motor (13) band nutating gear (16) rotates, and drives guide post
(2) rise and drive pulling plate (19), pulling plate (19) pulls piston (33) by pull rod (37), and negative pressure cavity (38) is made to be formed far below outer
Human epidermal is adsorbed in the air pressure on boundary.
2. the mechanical transmission-type absorber according to claim 1 for operating robot, it is characterized in that：It is described anti-rotational
Device by be formed in it is described lifting guide member (17) center through hole (18) constitutes, so as to the guide post (2) perforation and into
Row lifting, the through hole (18) are the quadrilateral shape of fillet to prevent the guide post (2) rotation, and the guide post (2) quilt
It is configured to corresponding with the shape of the through hole (18).
3. the mechanical transmission-type absorber according to claim 2 for operating robot, it is characterized in that：The negative pressure cavity
(38) quantity of quantity, appendix (35) and the quantity of piston cylinder (36) are identical, the corresponding connection piston cylinder of appendix (35)
(36) with negative pressure cavity (38).
4. the mechanical transmission-type absorber according to claim 3 for operating robot, it is characterized in that：The control is opened
(4) are closed equipped with the lifting key (42) and Pause key (43) for sending out vernier control signal to controller (14).
5. the mechanical transmission-type absorber according to claim 4 for operating robot, it is characterized in that：The control is opened
(4) are closed to connect with the controller (14) wireless signal.
6. the mechanical transmission-type absorber according to claim 5 for operating robot, it is characterized in that：The sucker
(34) it is made of flexible rubber or silica gel.
7. the mechanical transmission-type absorber according to claim 6 for operating robot, it is characterized in that：The controller
Switch (4) may be disposed in the control lever of operating robot.
8. the mechanical transmission-type absorber according to claim 7 for operating robot, it is characterized in that：The guide portion
The distance of part (17) to cover is more than guide post (2) length.
9. the mechanical transmission-type absorber according to claim 8 for operating robot, it is characterized in that：The pulling plate
(19) it is provided with gas vent (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810080559.8A CN108294826B (en) | 2018-01-28 | 2018-01-28 | Mechanical transmission-type absorber for operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810080559.8A CN108294826B (en) | 2018-01-28 | 2018-01-28 | Mechanical transmission-type absorber for operating robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108294826A true CN108294826A (en) | 2018-07-20 |
| CN108294826B CN108294826B (en) | 2019-08-27 |
Family
ID=62866830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810080559.8A Expired - Fee Related CN108294826B (en) | 2018-01-28 | 2018-01-28 | Mechanical transmission-type absorber for operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108294826B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112842559A (en) * | 2021-01-18 | 2021-05-28 | 青岛大学附属医院 | Supplementary suturing device of liver operation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1119144A (en) * | 1997-07-01 | 1999-01-26 | Corona Kogyo Kk | Suction type facial treatment equipment |
| CN2390594Y (en) * | 1999-10-25 | 2000-08-09 | 徐彦革 | Physical therapeutical pot body |
| CN201790874U (en) * | 2010-09-25 | 2011-04-13 | 张喜清 | Simple skin segregation device |
| CN203090007U (en) * | 2013-01-05 | 2013-07-31 | 毕博学 | Neurosurgery operation negative pressure type tumor extraction device |
| CN205514523U (en) * | 2016-02-03 | 2016-08-31 | 大连医科大学附属第二医院 | Eyelid turning device for ophthalmonogy |
| CN206534745U (en) * | 2016-12-08 | 2017-10-03 | 中国人民解放军第四军医大学 | A kind of polynary nipple circulation rectification and recovery device |
| CN107320799A (en) * | 2017-08-17 | 2017-11-07 | 烟台毓璜顶医院 | A kind of cupping device of flexible modulation pressure inside the tank |
-
2018
- 2018-01-28 CN CN201810080559.8A patent/CN108294826B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1119144A (en) * | 1997-07-01 | 1999-01-26 | Corona Kogyo Kk | Suction type facial treatment equipment |
| CN2390594Y (en) * | 1999-10-25 | 2000-08-09 | 徐彦革 | Physical therapeutical pot body |
| CN201790874U (en) * | 2010-09-25 | 2011-04-13 | 张喜清 | Simple skin segregation device |
| CN203090007U (en) * | 2013-01-05 | 2013-07-31 | 毕博学 | Neurosurgery operation negative pressure type tumor extraction device |
| CN205514523U (en) * | 2016-02-03 | 2016-08-31 | 大连医科大学附属第二医院 | Eyelid turning device for ophthalmonogy |
| CN206534745U (en) * | 2016-12-08 | 2017-10-03 | 中国人民解放军第四军医大学 | A kind of polynary nipple circulation rectification and recovery device |
| CN107320799A (en) * | 2017-08-17 | 2017-11-07 | 烟台毓璜顶医院 | A kind of cupping device of flexible modulation pressure inside the tank |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112842559A (en) * | 2021-01-18 | 2021-05-28 | 青岛大学附属医院 | Supplementary suturing device of liver operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108294826B (en) | 2019-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108324371B (en) | Human organ epidermis absorber for operating robot | |
| CN108113752B (en) | Induction absorber for operating robot | |
| CN108294826B (en) | Mechanical transmission-type absorber for operating robot | |
| CN209004110U (en) | A kind of cutter for orthopaedics surgery | |
| CN209595841U (en) | A kind of Urology Surgery rock crushing plant | |
| CN202699277U (en) | High-frequency operation therapeutic apparatus | |
| CN209004099U (en) | Double balloon blood vessel blocking devices | |
| CN209059323U (en) | Site of puncture press device after a kind of cardiovascular intervention | |
| CN109938808A (en) | A kind of sting device based on marmem | |
| CN215821870U (en) | Portable internal medicine drainage device of breathing | |
| CN201055511Y (en) | Respiration protecting equipment for newborn | |
| CN114767525A (en) | Acupuncture rehabilitation training device and acupuncture rehabilitation training system based on different crowds | |
| CN113712761A (en) | Postoperative patient's recovered integrative device of bed nursing is transplanted to kidney | |
| CN113180917A (en) | Cesarean section postoperative pressure belly band device | |
| CN209004808U (en) | A kind of gastrointestinal decompression auxiliary device | |
| CN105662555A (en) | Intelligent obstetrics comprehensive surgical apparatus | |
| CN214828111U (en) | Multifunctional lead wire storage device | |
| CN213439817U (en) | Gynaecology and obstetrics uses chinese mugwort grass cutting device | |
| CN205569258U (en) | Circuit system of electronic operation table | |
| CN212913732U (en) | Emergency midwifery device for obstetrics and gynecology department | |
| CN217938362U (en) | Production plasma multifunctional surgical knife head automation equipment | |
| CN114504340B (en) | Medical ultrasonic instrument for anesthesia | |
| CN113331808A (en) | Intracardiac branch of academic or vocational study intervention postoperative limbs nursing device | |
| CN214857097U (en) | Heart intervention nursing device | |
| CN201631389U (en) | Portable high-frequency shielding controller |
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 |
Inventor after: Zhou Yan Inventor after: Han Dan Inventor after: Lu Le Inventor before: Lu Le |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190731 Address after: Xi'an City, Shaanxi province 710061 Yanta West No. 277 Applicant after: The First Affiliated Hospital of Medical College of Xi'an Jiaotong University Address before: Room 601, Unit N2, Huimin District, Yunlong District, Xuzhou City, Jiangsu Province Applicant before: Lu Le |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190827 Termination date: 20210128 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |