CN109549699B - Automatic moulding mechanism of medical interior fixed plate of pitch arc type titanium alloy - Google Patents
Automatic moulding mechanism of medical interior fixed plate of pitch arc type titanium alloy Download PDFInfo
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- CN109549699B CN109549699B CN201811470285.XA CN201811470285A CN109549699B CN 109549699 B CN109549699 B CN 109549699B CN 201811470285 A CN201811470285 A CN 201811470285A CN 109549699 B CN109549699 B CN 109549699B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8863—Apparatus for shaping or cutting osteosynthesis equipment by medical personnel
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Abstract
The invention discloses an arc-shaped automatic shaping mechanism for a medical inner fixing plate made of titanium alloy, wherein a clamping mechanism comprises a first rotating device, a second rotating device, a third rotating device and a first clamping assembly; the feeding mechanism comprises an upright post, a second clamping assembly, a third clamping assembly, a first linear driving assembly and a second linear driving assembly; the rotating shaft of the second rotating device is perpendicular to the rotating shaft of the first rotating device, the rotating shaft of the third rotating device is perpendicular to the rotating shaft of the second rotating device, the first clamping assembly and the second clamping assembly are arranged in a staggered mode relatively and used for clamping two ends of a section to be bent of a workpiece to be machined from the side portion, and the third clamping assembly is used for clamping the tail end of the workpiece to be machined from the side portion. The invention can realize the twisting of the titanium alloy medical internal fixation plate in the X-axis, Y-axis and Z-axis directions at specific angles and the compound bending twisting in three directions, thereby not only reducing the workload of doctors, but also having very compact structure of the whole mechanism.
Description
Technical Field
The invention relates to a shaping mechanism, in particular to an automatic shaping mechanism for an arc-shaped titanium alloy medical inner fixing plate.
Background
The fracture, the fragmentation or the partial loss of the human jaw can be caused by traumatic factors such as car accidents, falling injuries, collisions and the like. Jaw bone lesions (benign and malignant tumors, etc.) cause morphological destruction or loss of function of jaw bones, and medical staff have to cut or resect the diseased jaw bones during treatment of diseases, which causes destruction of jaw bone continuity. The incompleteness of the jaw bone not only affects the beauty of the face of a patient, but also directly affects the functions of chewing, speaking and the like of the patient and the physical and psychological health of the patient.
Aiming at the defects or the loss of the jaw bone, a titanium alloy internal fixing instrument is needed to be used for connecting all bone sections in the medical process, part of patients need to use part of fibula of legs to fill up the missing part of the jaw bone of the patients in the more frontier operation, the repairing process is developed around how to better recover the jaw face shape of the patients, and an important maintaining device of the final shape is the personalized bent titanium alloy internal fixing instrument. The titanium alloy internal fixation instrument is mainly made of titanium alloy, and the titanium alloy has the advantages of small density, high strength, good corrosion resistance, high heat resistance, no toxicity and the like. In the shaping and fixing of jaw bone, the titanium alloy used in general is TC4, the composition of which is Ti6Al4V belongs to (alpha + beta) type titanium alloy and has good comprehensive mechanical property.
At present, the shape of the individual jaw bone of a patient can be obtained by using an imaging technology in the medical treatment process; then through surgery simulation, the expected postoperative jaw bone morphology can be determined before surgery; the target jaw bone form can be made into an equal proportion real object by means of 3D printing and the like; then, the manufacturing of the personalized operation guide plate is completed through a digital design manufacturing process, and the guide plate can enable a doctor to cut and cut bone segments according to expected cutting; preoperative or intraoperative doctors can bend a titanium alloy internal fixation instrument through a manual tool to enable the instrument to be attached to the final jaw bone of a patient, the instrument needs to be continuously compared with a jaw bone object, a jaw bone expected model or a soft aluminum alloy strip in the bending process, and the titanium alloy fixing piece is continuously subjected to bending fine adjustment until the shape of the titanium alloy fixing piece meets the requirement.
The existing bending method of the medical titanium alloy internal fixing plate has the following problems: 1) the manual bending wastes time and labor, the average high-precision bending time before the operation is close to 2 hours, and the quick bending precision in the operation is extremely low; 2) due to the fatigue strength of the titanium alloy fixing plate, the titanium alloy fixing plate can be broken and has insufficient service life when the bending times are more; 3)3, the bent shape of the titanium alloy medical internal fixing plate completely depends on the experience of doctors, and the bent curve precision cannot be ensured. The low-precision titanium alloy medical internal fixing plate not only influences the beauty and comfort degree of a patient when in use, but also influences the healing of the jaw bone of the patient and the function of the jaw bone after operation, and even directly determines the success or failure of the operation; 4) the jaw bone of each patient needs to be 3D printed for 10-20 hours, and the material cost is high.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, one of the objectives of the present invention is to provide an automatic shaping mechanism capable of implementing compound bending of an arc type titanium alloy medical internal fixation plate.
In order to solve the technical problems, the invention adopts the following technical scheme:
an arc-shaped automatic shaping mechanism for a titanium alloy medical inner fixing plate comprises a base, and a clamping mechanism and a feeding mechanism which are arranged on the base;
the clamping mechanism comprises a first rotating device arranged on the base, a second rotating device arranged on the first rotating device, a third rotating device arranged on the second rotating device and a first clamping assembly arranged on the third rotating device;
the feeding mechanism comprises an upright post, a second clamping assembly and a third clamping assembly which are arranged on the upright post in parallel, and a first linear driving assembly and a second linear driving assembly which respectively drive the second clamping assembly and the third clamping assembly to move towards the first clamping assembly;
the rotary shaft of the second rotating device is perpendicular to the rotary shaft of the first rotating device, the rotary shaft of the third rotating device is perpendicular to the rotary shaft of the second rotating device, the first clamping assembly and the second clamping assembly are arranged in a relatively staggered mode and used for clamping two ends of a section to be bent of a workpiece to be machined from the side portion, and the third clamping assembly is used for clamping the tail end of the workpiece to be machined from the side portion.
Further, the first clamping assembly comprises a first clamping portion and a first power portion for driving the first clamping portion to clamp, and the second clamping assembly comprises a second clamping portion and a second power portion for driving the second clamping portion to clamp; the third clamping assembly comprises a third clamping part and a third power part for driving the third clamping part to clamp.
Furthermore, the first clamping assembly is slidably mounted on the third rotating device through a base, and a third linear driving assembly for driving the first clamping assembly to be close to or far away from the processed workpiece is further arranged on the base.
Further, fixed mounting has a fixing base on the second rotary device, be equipped with the spout on the fixing base, slide card is equipped with the slider in the spout, the slider with third rotary device fixed connection, be equipped with on the fixing base and be used for the drive the fourth linear drive assembly that the slider removed, the extending direction of spout is on a parallel with the rotation axis of third rotary device, the slip direction perpendicular to of first centre gripping subassembly the rotation axis of third rotary device, the rotation axis of third rotary device with the rotation axis of second rotary device is crossing.
Further, the third rotary device includes third fixing base, arc slide rail and third power device, be formed with the arc spout on the third fixing base, the arc slide rail matches to be installed in the arc spout and one end extend to the third fixing base outer with pedestal connection, third fixing base fixed mounting is in on the slider, the arc slide rail passes through third power device's drive is in slide in the arc spout.
Further, the top of the third fixing seat is provided with a groove penetrating through two ends, an upper row of idler wheels and a lower row of idler wheels are arranged between the inner side walls of the grooves, each row of idler wheels comprises a plurality of idler wheels arranged at arc intervals, an arc-shaped sliding groove is formed between the two rows of idler wheels, and stroke limiting parts are arranged at two ends of the bottom of the arc-shaped sliding rail.
Furthermore, the third power device comprises a third speed reduction motor and a driving gear arranged on an output shaft of the third speed reduction motor, and the arc-shaped slide rail is provided with transmission teeth meshed with the driving gear.
Further, the first rotating device comprises a first rotating base rotatably arranged on the base and a first power device driving the first rotating base to rotate.
Furthermore, a U-shaped outer support is fixedly arranged at the top of the first rotating base, and the second rotating device comprises a second rotating base which is connected with the inner two sides of the U-shaped outer support in a rotatable manner through a connecting shaft and a second power device which drives the second rotating base to rotate.
Further, the second rotating seat comprises a U-shaped inner support rotatably arranged in the U-shaped outer support, and the fixed seat is arranged at the central bottom of the U-shaped inner support.
Furthermore, the rotating shafts of the first rotating device, the second rotating device and the third rotating device are intersected at one point, and the first clamping part is positioned at the common intersection point.
Compared with the prior art, the invention has the following advantages:
after receiving corresponding instruction signals, the invention can automatically feed, hold, bend and twist the titanium alloy fixing piece with a specific model, and bend the titanium alloy fixing piece into an angle meeting the requirements in a discrete bending mode; the bending comprises bending the titanium alloy fixing piece at a specific angle around an X axis and a Y axis and twisting the titanium alloy fixing piece at a specific angle around a Z axis, and combined bending and twisting are carried out in three directions, so that the workload of doctors can be reduced, the bending efficiency is improved, the precision of the bending curve of the medical titanium alloy inner fixing plate is ensured, the reliability of skeleton shaping is improved, and the whole mechanism is very compact in structure.
Drawings
FIG. 1 is a first isometric view of the present invention;
FIG. 2 is a second axial view of the present invention;
FIG. 3 is a third isometric view of the present invention;
FIG. 4 is a schematic view of the present invention rotated about the X-axis;
FIG. 5 is a schematic view of the present invention rotated about the Y axis;
FIG. 6 is a schematic view of the present invention rotated about the Z-axis.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, an arc-shaped automatic shaping mechanism for a titanium alloy medical internal fixation plate includes a base 1, and a clamping mechanism 2 and a feeding mechanism 3 disposed on the base 1, where the clamping mechanism 2 includes a first rotating device 21 disposed on the base 1, a second rotating device 22 disposed on the first rotating device 21, a third rotating device 23 disposed on the second rotating device 22, and a first clamping assembly 24 disposed on the third rotating device 23.
The feeding mechanism 3 comprises a column 31, a second clamping assembly 32 and a third clamping assembly 33 which are arranged on the column 31 in parallel, and a first linear driving assembly 34 and a second linear driving assembly 35 which respectively drive the second clamping assembly 32 and the third clamping assembly 33 to move towards the first clamping assembly 24.
Specifically, the first clamping assembly 24 includes a first clamping portion 241 and a first power portion 242 for driving the first clamping portion 241 to clamp, and the second clamping assembly 32 includes a second clamping portion 321 and a second power portion 322 for driving the second clamping portion 321 to clamp; the third clamping assembly 33 includes a third clamping portion 331 and a third power portion 332 for driving the third clamping portion 331 to clamp.
The rotation axis of the second rotating device 22 is perpendicular to the rotation axis of the first rotating device 21, the rotation axis of the third rotating device 23 is perpendicular to the rotation axis of the second rotating device 22, the first clamping portion 241 and the second clamping portion 321 are arranged in a staggered manner and are used for clamping two ends of a to-be-bent section of the workpiece 4 from a side portion, the third clamping portion 331 is used for clamping the tail end of the workpiece 4 from the side portion, and the moving directions of the second clamping assembly 32 and the third clamping assembly 33 are perpendicular to the rotation axis of the first rotating device 21.
In this embodiment, when the arc-shaped titanium alloy medical internal fixation plate is formed, bending process parameters of each bending step in the bending process are calculated by using plate forming analysis software, the bending process parameters are guided into control software of a shaping mechanism control system according to the bending process parameters, the rotation driving assembly is driven to perform corresponding actions by using the bending process parameters to perform actual bending, and specific control processes and process parameter solving processes are the prior art and are not described herein again.
After receiving corresponding instruction signals, the embodiment can automatically feed, hold, bend and twist the titanium alloy fixing piece with a specific model, and bend the titanium alloy fixing piece into an angle meeting the requirement in a discrete bending mode; the bending comprises bending the titanium alloy fixing piece by a specific angle around an X axis (a rotating shaft of a third rotating device), bending the titanium alloy fixing piece by a specific angle around a Y axis (a rotating shaft of a second rotating device), twisting the titanium alloy fixing piece by a specific angle around a Z axis (a rotating shaft of a first rotating device), and performing combined bending and twisting in three directions, so that the workload of doctors can be reduced, the bending efficiency is improved, the precision of the bending curve of the medical titanium alloy inner fixing plate is ensured, the reliability of skeleton shaping is improved, and the structure of the whole device is very compact.
Preferably, the first clamping portion 241 includes two clamping plates disposed oppositely, and the first power portion 242 is a driving motor for driving the two clamping plates to move relatively. Of course, the first clamping portion 241 and the first power portion 242 may also adopt other existing structures such as pneumatic clamping jaws, and will not be described herein again. The specific structure of the second clamping assembly 32 is the same as that of the first clamping assembly 24, and will not be repeated here.
It is envisaged that in a practical design, the first clamp assembly 24 is slidably mounted on the third rotation means 23 via the base 5, and the base 5 is further provided with a third linear drive assembly 6 for driving the first clamp assembly 24 towards or away from the work piece 4. Through the arrangement of the third linear driving assembly 6, the first linear driving assembly can drive the first clamping part to move towards the X axis to realize that the side clamping mechanism clamps the workpiece, and the second linear driving assembly retracts for a certain distance after finishing a certain bending action so as not to interfere the feeding of the workpiece.
Fixed mounting has fixing base 7 on the second rotary device 22, be equipped with the spout on the fixing base 7, it is equipped with slider 8 to slide the card in the spout, slider 8 and third rotary device 23 fixed connection, be equipped with the fourth linear drive assembly 9 that is used for driving slider 8 to remove on the fixing base 7, the extending direction of spout is on a parallel with the rotation axis of third rotary device 23, the slip direction perpendicular to third rotary device 23's of first centre gripping subassembly 24 rotation axis, the rotation axis of third rotary device intersects with second rotary device's rotation axis.
In this embodiment, the positions of the rotation axes of the second rotating means 22 and the third rotating means 23 can be adjusted by the fourth linear driving unit 9, and when the rotation axes of the first rotating means 21, the second rotating means 22 and the third rotating means 23 intersect at one point and the first clamping portion 241 is adjusted to be exactly located at the common intersection point by the third linear driving unit 6, the design not only can regularize the curved shape of the titanium alloy medical internal fixation plate, but also, more importantly, in the development process of the subsequent control program, can make the development of the algorithm simpler.
After a certain bending section is finished, the first clamping part 241 releases a workpiece to be processed, the control circuit controls the third linear driving assembly 6 to drive the first clamping assembly 24 to retreat from the workpiece to be processed, the first rotary driving device, the second rotary driving device and the third rotary driving device drive the first clamping assembly 24 to reset, so that the first clamping part is just located at the intersection point of three shafts, the third linear driving assembly 6 and the fourth linear driving assembly 9 are arranged, the first clamping assembly 24 has the X-direction and Y-direction moving functions when X, Y and Z-direction rotation are achieved, and therefore the first clamping assembly 24 has five-shaft free adjustment capacity.
As a preferred aspect of the present invention, the third rotating device 23 of the shaping mechanism of this embodiment includes a third fixing seat 231, an arc-shaped sliding rail 232 and a third power device 233, the third fixing seat 231 is formed with an arc-shaped sliding slot, the arc-shaped sliding rail 232 is installed in the arc-shaped sliding slot in a matching manner, and one end of the arc-shaped sliding rail extends out of the third fixing seat 231 and is connected to the base 5, the third fixing seat 231 is fixedly installed on the slider 8, and the central axis of the arc-shaped sliding rail forms an X-axis.
Specifically, the third power device 233 includes a third reduction motor 2331 and a driving gear 2332 disposed on an output shaft of the third reduction motor 2331, and the arc-shaped sliding rail 232 is provided with a gear engaged with the driving gear 2332. The embodiment adopts the arc-shaped sliding groove, so that the bending motion along the X axis can be smooth, and the position of the third power device 233 can be fixed, so that the whole structure is more reliable.
Preferably, the top of the third fixing seat 231 is provided with a groove penetrating through both ends, two rows of upper and lower rollers 10 are arranged between the inner side walls of the groove, each row of rollers 10 includes a plurality of rollers 10 arranged at arc intervals, an arc-shaped sliding groove is formed between the two rows of rollers, and both ends of the bottom of the arc-shaped sliding rail 232 are provided with the stroke limiting parts 11. When the third gear motor 2331 moves, the driving gear 2332 is driven to rotate, the driving gear 2332 drives the transmission gear to move, so that the sliding rail is driven to slide on the roller, and the sliding rail slides on the roller.
The first rotating device 21 includes a first rotating base 211 rotatably disposed on the base 1 and a first power device 212 for driving the first rotating base 21 to rotate. The top of the first rotary base 211 is fixedly provided with a U-shaped outer support 12, and the second rotary device 22 comprises a second rotary base 221 which is rotatably connected with the inner two sides of the U-shaped outer support 12 through a connecting shaft and a second power device 222 which drives the second rotary base 221 to rotate. The second rotary seat 221 comprises a U-shaped inner bracket rotatably disposed inside the U-shaped outer bracket 12, and the fixed seat 7 is disposed at the central bottom of the U-shaped inner bracket.
The shapes and the gap sizes of the first clamping part 241 and the second clamping part 321 are designed according to the actual shape of the medical titanium alloy fixing plate, and different types of titanium plates are provided with different clamping parts as long as the titanium plates can be clamped and held.
In this embodiment, the first power device 212 may adopt a worm and gear direct current speed reduction motor, the second power device 222 may adopt a speed reduction motor, and the first linear driving assembly 34, the second linear driving assembly 35, the third linear driving assembly 6 and the fourth linear driving assembly 9 may adopt hydraulic cylinders or linear motors.
In this embodiment, the two ends of the bottom of the arc-shaped slide rail 232 are provided with travel limiting parts, so as to realize X-direction rotational positioning, the top of the U-shaped outer bracket 12 is provided with an arc-shaped limiting groove, the U-shaped inner bracket is provided with a limiting rod 13 inserted into the arc-shaped limiting groove, when the U-shaped inner bracket rotates, the limiting rod 13 can only move in the arc-shaped limiting groove, so as to realize Y-direction rotational positioning, and the base is provided with a limiting blocking part 14 for limiting the rotational travel of the first rotating base 212; by virtue of the above-described limiting structure, the maximum bending angle of the first clamping assembly 24 about the X-axis is about + -20 deg., the maximum twisting angle about the Y-axis is about + -20 deg., and the maximum bending angle about the Z-axis is about + -30 deg..
The specific working process of this embodiment is as follows:
step 1: the medical titanium alloy inner fixing plate (titanium alloy strip) is divided into a plurality of sections to be bent along the arc-shaped trajectory line direction, bending technological parameters of all the bending sections in the bending process are calculated through plate forming analysis software, and the bending technological parameters are led into control software of a shaping mechanism control system according to the bending technological parameters;
step 2: when a first linear driving assembly and a second linear driving assembly (a miniature electric cylinder CSH20) of the feeding mechanism are at initial positions, a second clamping part 321 (an electric clamping jaw) is in an opening state, the tail end of a section to be bent of a first section of a titanium alloy strip is manually aligned and placed between two clamping plates of the electric clamping jaw, a control system controls a second power part 322 to drive the electric clamping jaw to clamp the titanium alloy strip, and a third clamping part 331 clamps the tail end of the titanium alloy strip;
and step 3: then the first linear driving component and the second linear driving component feed forward at the same time, when the position of the first linear driving component reaches the maximum stroke, the head end of the section to be bent extends into between the two clamping plates of the first clamping part 241;
and 4, step 4: the first clamping part 241 is controlled to be closed, the linear titanium alloy strip is clamped through 2 electric clamping jaws, the control system controls the rotary driving mechanism to make corresponding actions according to the bending technological parameters which are controlled and led in, and the first clamping part 241 is driven to make corresponding actions to realize the bending of the first section to be bent;
and 5: after the bending of the first section to be bent is finished, the second clamping part 321 is loosened, the first clamping assembly 24 loosens the titanium alloy strip and resets under the control of the control system, the third clamping assembly is driven by the second linear driving assembly to feed forwards, and after the feeding reaches a set length, the second clamping part is driven by the second power part 322 to clamp the titanium alloy strip again;
step 6: the control system controls the first clamping part 241 to clamp the titanium alloy strip, and the second section to be bent is bent according to the bending process;
and 7: and (5) repeating the step (5) and the step (6), so that the bending of the rest sections to be bent can be realized, and finally, the precise forming of the titanium alloy strip is realized.
The above examples are merely illustrative for clearly illustrating the present invention and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Nor is it intended to be exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the scope of the invention.
Claims (9)
1. The utility model provides an automatic moulding mechanism of medical interior fixed plate of pitch arc type titanium alloy, include the base and set up in press from both sides on the base and get mechanism and feeding mechanism, its characterized in that:
the clamping mechanism comprises a first rotating device arranged on the base, a second rotating device arranged on the first rotating device, a third rotating device arranged on the second rotating device and a first clamping assembly arranged on the third rotating device;
the feeding mechanism comprises an upright post, a second clamping assembly and a third clamping assembly which are arranged on the upright post in parallel, and a first linear driving assembly and a second linear driving assembly which respectively drive the second clamping assembly and the third clamping assembly to move towards the first clamping assembly;
the rotating shaft of the second rotating device is vertical to the rotating shaft of the first rotating device, the rotating shaft of the third rotating device is vertical to the rotating shaft of the second rotating device, the first clamping assembly and the second clamping assembly are arranged in a relatively staggered mode and used for clamping two ends of a section to be bent of a machined workpiece from the side portion, and the third clamping assembly is used for clamping the tail end of the machined workpiece from the side portion;
the first clamping assembly is slidably mounted on the third rotating device through a base, and a third linear driving assembly for driving the first clamping assembly to be close to or far away from the processed workpiece is further arranged on the base.
2. The shaping mechanism of claim 1, wherein: fixed mounting has a fixing base on the second rotary device, be equipped with the spout on the fixing base, it is equipped with the slider to slide the card in the spout, the slider with third rotary device fixed connection, be equipped with on the fixing base and be used for the drive the fourth linear drive assembly that the slider removed, the extending direction of spout is on a parallel with third rotary device's rotation axis, the slip direction perpendicular to of first centre gripping subassembly third rotary device's rotation axis, third rotary device's rotation axis with second rotary device's rotation axis is crossing.
3. The shaping mechanism of claim 2, wherein: the third rotary device comprises a third fixing seat, an arc-shaped sliding rail and a third power device, an arc-shaped sliding groove is formed in the third fixing seat, the arc-shaped sliding rail is matched and installed in the arc-shaped sliding groove, one end of the arc-shaped sliding rail extends to the outside of the third fixing seat and is connected with the base, the third fixing seat is fixedly installed on the sliding block, and the arc-shaped sliding rail is driven by the third power device to slide in the arc-shaped sliding groove.
4. The shaping mechanism of claim 3, wherein: the top of the third fixing seat is provided with a groove penetrating through two ends, an upper row of idler wheels and a lower row of idler wheels are arranged between the inner side walls of the grooves, each row of idler wheels comprise a plurality of idler wheels which are arranged at arc intervals, the arc sliding grooves are formed between the two rows of idler wheels, and stroke limiting parts are arranged at two ends of the bottom of the arc sliding rail.
5. The shaping mechanism of claim 3, wherein: the third power device comprises a third speed reduction motor and a driving gear arranged on an output shaft of the third speed reduction motor, and transmission teeth meshed with the driving gear are arranged on the arc-shaped sliding rail.
6. The shaping mechanism of claim 3, wherein: the first rotating device comprises a first rotating seat rotatably arranged on the base and a first power device driving the first rotating seat to rotate.
7. The shaping mechanism of claim 6, wherein: the top of the first rotating seat is fixedly provided with a U-shaped outer support, and the second rotating device comprises a second rotating seat and a second power device, wherein the second rotating seat is connected with the inner two sides of the U-shaped outer support in a rotatable mode through a connecting shaft, and the second power device drives the second rotating seat to rotate.
8. The shaping mechanism of claim 7, wherein: the second rotating seat comprises a U-shaped inner support which is rotatably arranged in the U-shaped outer support, and the fixed seat is arranged at the central bottom of the U-shaped inner support.
9. The shaping mechanism of any of claims 1-8, wherein: the rotating shafts of the first rotating device, the second rotating device and the third rotating device are intersected at one point.
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| CN201811470285.XA CN109549699B (en) | 2018-12-04 | 2018-12-04 | Automatic moulding mechanism of medical interior fixed plate of pitch arc type titanium alloy |
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| CN201811470285.XA CN109549699B (en) | 2018-12-04 | 2018-12-04 | Automatic moulding mechanism of medical interior fixed plate of pitch arc type titanium alloy |
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| CN108742893A (en) * | 2018-06-16 | 2018-11-06 | 哈尔滨理工大学 | A kind of bending of arch edgewise robot and bend arch wire motion model method for building up |
| CN108858872A (en) * | 2018-08-21 | 2018-11-23 | 明光顺和自动化设备科技有限公司 | A kind of automation electromechanical equipment being quickly cooled down moulding |
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