CN109602493A - A kind of Needle-driven Robot - Google Patents
A kind of Needle-driven Robot Download PDFInfo
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- CN109602493A CN109602493A CN201811553177.9A CN201811553177A CN109602493A CN 109602493 A CN109602493 A CN 109602493A CN 201811553177 A CN201811553177 A CN 201811553177A CN 109602493 A CN109602493 A CN 109602493A
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- adjusting nut
- needle
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- 230000007246 mechanism Effects 0.000 claims abstract description 56
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 235000004443 Ricinus communis Nutrition 0.000 claims abstract description 11
- 240000000528 Ricinus communis Species 0.000 claims abstract description 5
- 239000011148 porous material Substances 0.000 claims description 11
- 238000004804 winding Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000004308 accommodation Effects 0.000 claims description 5
- 241000237858 Gastropoda Species 0.000 claims description 3
- 230000013011 mating Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
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- 235000007926 Craterellus fallax Nutrition 0.000 description 1
- 240000007175 Datura inoxia Species 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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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
- A61B17/34—Trocars; Puncturing needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a kind of Needle-driven Robots, including pedestal, the mechanical arm being set on the base, the sting device of mechanical arm end is set, pedestal includes base body, base body is provided with several castors and adjustment block, adjustment block includes screw rod and adjusting nut, pedestal further includes the first transmission mechanism for driving adjusting nut to rotate, and for so that the linkage mechanism that each adjusting nut rotates synchronously, pedestal further includes sliding block, and the second transmission mechanism for driving slide block movement, base body is slidably provided with a driving motor, driving gear is coaxially installed in the shaft of driving motor, when driving motor is located at first position, driving gear drives the first transmission mechanism to move, when driving motor is located at the second position, the movement of the second transmission mechanism of sliding tooth wheel drive.The robot can adjust each adjustment block simultaneously, easy to operate；And driving motor can both drive adjusting nut rotation, can also drive slide block movement, be conducive to cost control.
Description
Technical field
The present invention relates to a kind of Needle-driven Robots.
Background technique
In existing puncturing operation, doctor is generally required by personal experience, and constantly adjust by medical image result
Angle is punctured manually, such surgical procedure very elapsed time and energy, and surgical effect fluctuation is larger.In order to reduce people
The problem of causing for factor, more and more puncturing operations begin to use mechanical arm to replace artificial puncture.In the prior art, it punctures
The operation of robot has inconvenience more, and structure is often also complex.
Summary of the invention
Aiming at the problems existing in the prior art, the object of the present invention is to provide a kind of Needle-driven Robot, structure is simple,
It is easily operated.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of Needle-driven Robot, including pedestal, setting exist
Mechanical arm on the pedestal, the sting device that the mechanical arm end is arranged in, the pedestal includes base body, the bottom
The lower part of seat ontology is provided with several castors and several adjustment blocks, the adjustment block include the screw rod vertically extended, with
The adjusting nut of the screw flight cooperation, the pedestal further include for driving the first of an adjusting nut rotation to pass
Motivation structure and linkage mechanism for enabling each adjusting nut to rotate synchronously, the adjusting nut with it is described
Base body is relatively fixed in the up-down direction, and the pedestal further includes the cunning for capableing of the relatively described base body up and down motion
Block and the second transmission mechanism for driving the slide block movement, the mechanical arm setting on the slide block, the pedestal
Ontology is slidably provided with a driving motor, and driving gear, the drive are coaxially installed in the shaft of the driving motor
Dynamic motor can move to first position and the second position, and when the driving motor is located at first position, the driving gear is driven
The first transmission mechanism movement is moved, when the driving motor is located at the second position, second described in the sliding tooth wheel drive
Transmission mechanism movement.
Preferably, the mechanical arm includes several pivoted arms, between the pivoted arm and pivoted arm, the pivoted arm and the sliding block it
Between, be all connected by rotary self-locking joint between the pivoted arm and the sting device, the rotary self-locking joint include around
The upper rotating seat and lower rotating seat that same rotation centerline mutually rotationally connects, the lower part of the upper rotating seat is provided with downwards
Protrusion and axial line first tapered surface coaxial with the shaft center line, the top of the lower rotating seat are provided with and described the
The second recessed tapered surface that one tapered surface matches, the lower part of the upper rotating seat offer several upper hopper chutes, all institutes
It states upper hopper chute all to radially extend from the center of first tapered surface, the top of the lower rotating seat offers several downslides
Slot, all gliding grooves are all radially extended from the center of second tapered surface, the upper hopper chute and gliding groove alignment
When constitute slideway, the slideway is radially extended obliquely upward from the rotation centerline, and the lower rotating seat is along the rotation
The direction for turning center line offers intercommunicating pore, and all gliding grooves are all connected with the intercommunicating pore, in the intercommunicating pore
It is provided with several balls that can ordinatedly slide in the slideway and for pushing what the ball moved upwards to push away
Bar.
Preferably, first transmission mechanism include the first rotating shaft being arranged on the base body in relative rotation,
The first gear and second gear that are coaxially installed in the first rotating shaft and the third being meshed with the second gear
Gear, the third gear are coaxially fixedly connected on the adjusting nut, when the driving motor is located at first
When setting, the first gear is meshed with the driving gear.
Preferably, the linkage mechanism include synchronous belt and with the adjusting nut several belt wheels correspondingly, institute
It states belt wheel to be coaxially fixedly connected with the corresponding adjusting nut, the synchronous belt matches company with each belt wheel
It connects.
Preferably, second transmission mechanism includes the worm gear mechanism being arranged on the base body, coaxially
The 4th gear being installed on the worm shaft of the worm gear mechanism, it is described when the driving motor is located at the second position
Driving gear is meshed with the 4th gear, and second transmission mechanism further includes for by the snail of the worm gear mechanism
Wheel shaft is converted into the switching mechanism for driving the linear motion of the sliding block.
It is further preferred that the switching mechanism includes coaxially being installed on the worm gear shaft of the worm gear mechanism
5th gear can slide up and down to the rack gear being arranged on the base body, and the rack gear is mutually nibbled with the 5th gear
It closes, the rack gear setting is on the slide block.
It is further preferred that the switching mechanism includes the rotation centerline winding post coaxial with the worm gear shaft, winding
In the winding post line of pull, be rotatably arranged on the base body and be located at the sliding block above fixed pulley,
Described line of pull one end is stretched out from the winding post, is fixed on the slide block after fixed pulley described in pile warp.
Preferably, several installation through-holes are offered on the base body, the adjusting nut is rotatably threaded through described
In installation through-hole, the adjusting nut is installed with the upper limit position block and lower position block that diameter is both greater than the installation through-hole, described
Upper limit position block and the lower position block are located above and below the base body.
Preferably, the base body includes two and is fixed to each other and the concordant base plate of height, two base plates
Between there are accommodation spaces.
Preferably, the driving mechanism for driving the driving motor sliding is provided on the base body.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages: puncture of the invention
Robot can adjust each adjustment block simultaneously, and when the screw rod of adjustment block moves downward and is supported in ground, the pedestal is opposite
Ground is fixed, and when screw rod moves upwards, makes caster support when ground, which can slide with respect to ground, entire to convert
Process is easy to operate without artificial；And driving motor can both drive adjusting nut rotation, sliding block can also have been driven to transport
It is dynamic, number of motors needed for saving pedestal, therefore the program realizes adjusting adjustment block in the case where no increase motor
Function, be conducive to cost control.
Detailed description of the invention
Attached drawing 1 is that driving motor is in first position and caster support when ground, the bottom of Needle-driven Robot of the invention
The schematic diagram of seat；
When attached drawing 2 is that driving motor is in first position and adjustment block is supported in ground, the pedestal of Needle-driven Robot of the invention
Schematic diagram；
Attached drawing 3 is that driving motor is in the second position and caster support when ground, the pedestal of Needle-driven Robot of the invention
Schematic diagram；
Attached drawing 4 is the schematic diagram of the pedestal another embodiment of Needle-driven Robot of the invention；
Attached drawing 5 is cross-sectional view when rotary self-locking joint is in the unlocked state；
Attached drawing 6 is cross-sectional view when rotary self-locking joint is in the lock state；
Attached drawing 7 is the top view of lower rotating seat；
Attached drawing 8 is the cross-sectional view of lower rotating seat；
Attached drawing 9 is the axis surveys view of mechanical arm；
Attached drawing 10 is the axis surveys view of Needle-driven Robot of the invention；
Wherein: 1, base body；11, first rotating shaft；2, castor；3, adjustment block；31, screw rod；32, adjusting nut；4, sliding block；5,
Driving motor；6, gear is driven；7, synchronous belt；8, worm gear mechanism；81, worm shaft；82, worm gear shaft；9, winding post；10,
First gear；20, second gear；30, third gear；40, the 4th gear；50, the 5th gear；100, pedestal；200, mechanical arm；
201, upper rotating seat；211, the first tapered surface；212, upper hopper chute；213, annular protrusion；202, lower rotating seat；221, the second taper
Face；222, gliding groove；223, intercommunicating pore；224, annular groove；203, ball；204, push rod；205, limited block；206, pivoted arm；
210, rotary self-locking joint；300, sting device.
Specific embodiment
The technical solution of the present invention will be further described below with reference to the accompanying drawings.
Shown in Figure 10 is Needle-driven Robot of the invention comprising pedestal 100, the machinery being arranged on pedestal 100
Arm 200, the sting device 300 that 200 end of mechanical arm is set.
It is referring to FIG. 1 to FIG. 4 a kind of pedestal 100 of Needle-driven Robot of the invention, pedestal 100 includes base body
1, the lower part of base body 1 is provided with several castors 2 and several adjustment blocks 3, and adjustment block 3 includes the screw rod vertically extended
31, the adjusting nut 32 being threadedly engaged with screw rod 31, adjusting nut 32 is relatively fixed in the up-down direction with base body 1, when
When rotating adjusting nut 32, screw rod 31 can move up and down with respect to base body 1.When all screw rods 31 move downwardly under it
When portion is supported in ground, castor 2 is detached from ground, which fixes with respect to ground；When all screw rods 31 move up to it
When lower part is detached from ground, pedestal 100 is supported in ground by castor 2, and pedestal 100 can be slided with respect to ground.Pedestal 100 also wraps
Include the first transmission mechanism for driving adjusting nut 32 to rotate and for enabling each adjusting nut 32 to synchronize
The linkage mechanism of rotation, therefore the movement of an adjusting nut 32 can drive all adjusting nuts 32 to move synchronously.
Pedestal 100 further includes can be with respect to the sliding block 4 of the up and down motion of base body 1 and for driving the sliding block 4 to transport
The second dynamic transmission mechanism, mechanical arm 200 is arranged on sliding block 4, therefore mechanical arm 200 can move up and down with respect to pedestal 100.
Base body 1 is slidably provided with a driving motor 5, is coaxially installed with drive in the shaft 51 of driving motor 5
Moving gear 6, driving motor 5 can move to first position and the second position, when driving motor 5 is located at first position, sliding tooth
6 driving the first transmission mechanism movement of wheel, when driving motor 5 is located at the second position, driving gear 6 drives second driver
Structure movement.Therefore driving motor 5 can not only drive the rotation of adjusting nut 32 to realize the fixation of pedestal 100 but also can drive sliding block 4
Slide up and down the height adjustment for realizing mechanical arm 200.
First transmission mechanism includes the first rotating shaft 11 being arranged on base body 1 in relative rotation, is coaxially installed in
First gear 10 and second gear 20 in first rotating shaft 11 and the third gear 30 being meshed with second gear 20, third
Gear 30 is coaxially fixedly connected on an adjusting nut 32.
Linkage mechanism include synchronous belt 7 and with the one-to-one several belt wheels of adjusting nut 32, belt wheel with it is corresponding
Adjusting nut 32 is coaxially fixedly connected, and synchronous belt 7 and each belt wheel are in mating connection.
Referring to figure 1 and figure 2, when driving motor 5 is located at first position, first gear 10 is nibbled with driving 6 phase of gear
It closes, when driving motor 5 rotates, the adjusting nut 32 coaxial with third gear 30 is rotated with it, in synchronous belt 7 and each belt wheel
Under effect, all adjusting nuts 32 are rotated synchronously, therefore all screw rods 31 can synchronize up and down motion.
Second transmission mechanism includes the worm gear mechanism 8 being arranged on base body 1, and worm gear mechanism 8 has snail
Bar axis 81 and worm gear shaft 82 are coaxially installed with the 4th gear 40 on worm shaft 81, when driving motor 5 is located at the second position,
Driving gear 6 is meshed with the 4th gear 40, and the second transmission mechanism further includes for by the worm gear shaft 82 of worm gear mechanism 8
It is converted into the switching mechanism of the linear motion of driving sliding block 4.Since worm gear mechanism 8 has self-lock ability, work as
Not at the second position, sliding block 4 will not move downward driving motor 5 under gravity.
It is shown a kind of preferred embodiment of switching mechanism referring to Fig. 1 to Fig. 3, which includes coaxially fixed
The 5th gear 50 on worm gear shaft 82 is provided with the rack gear 41 being meshed with the 5th gear 50 on sliding block 4.The biography of rack-and-pinion
Flowing mode is more steady, and position precision is higher.
Shown in Figure 4 is switching mechanism another preferred embodiment, the switching mechanism include rotation centerline with
The coaxial winding post 9 of worm gear shaft 82, is rotatably arranged on base body 1 and is located at the line of pull 60 being wrapped in winding post 9
The fixed pulley 70 of 4 top of sliding block, 60 one end of line of pull are stretched out from winding post 9, are fixed on sliding block 4 after pile warp fixed pulley 70.It adopts
Sliding block 4 is driven to move with the mode of pulley, structure is relatively simple, and cost is relatively low.
Several installation through-holes are offered on base body 1, adjusting nut 32 is rotatably threaded through in installation through-hole, adjusts spiral shell
Mother 32 is installed with upper limit position block 321 and lower position block 322 that diameter is both greater than installation through-hole, upper limit position block 321 and lower position block
322 are located above and below base body 1, and upper limit position block 321 and lower position block 322 limit adjusting nut 32 in axis
To movement.
Shown in Figure 9, base body 1 includes two and is fixed to each other and the concordant base plate 12 of height, two base plates
There are accommodation spaces 13 between 12.Since the center of gravity of Needle-driven Robot is higher, the size of pedestal 100 is larger, due to this hair
Bright pedestal 100 is provided with accommodation space 13, and hospital bed, seat etc. can be placed in the accommodation space 13, improves space benefit
With rate.
The both ends of each 12 length direction of base plate are each provided with a castor 2, are provided at least two between two castors 2
Adjustment block 3.Setting is because when pushing pedestal 100 to move in this way, and the center of gravity of Needle-driven Robot is more unstable, is easy to happen and inclines
It covers, therefore the distance between castor 2 is greater than the distance between adjustment block 3.
The driving mechanism 80 for driving driving motor 5 to slide is provided on base body 1, as preferred embodiment party
Formula, the driving mechanism 80 are electromagnet, and when the solenoid is energized, driving motor 5 is in first position, when the electromagnet is powered off,
Driving motor 5 is in the second position.
Shown in Figure 9, mechanical arm 200 includes several pivoted arms 206, between pivoted arm 206 and pivoted arm 206, pivoted arm 206 and sliding
All be connected by rotary self-locking joint 210 between block 4, between pivoted arm 206 and sting device 300, mechanical arm 200 be able to rotate to
Different posture is simultaneously self-locking.
Specifically, rotary self-locking joint 210 is shown referring to Fig. 5 to Fig. 8 comprising mutually turn around same rotation centerline
The upper rotating seat 201 and lower rotating seat 202 connected dynamicly, the lower part of upper rotating seat 201 be provided with downwardly convex and axial line with
The first coaxial tapered surface 211 of shaft center line, the top of lower rotating seat 202 is provided with to be matched with the first tapered surface 211
The second recessed tapered surface 221, the lower part of upper rotating seat 201 offer several upper hopper chutes 212, and all upper hopper chutes 212 are all certainly
The center of first tapered surface 211 radially extends, and the top of lower rotating seat 202 offers several gliding grooves 222, all downslides
Slot 222 is all radially extended from the center of the second tapered surface 211, and upper hopper chute 212 and gliding groove 222 constitute slideway when being aligned, should
Slideway spinning centerline radially extends obliquely upward, and lower rotating seat 202 offers connection along the direction of rotation centerline
Hole 223, all gliding grooves 222 are all connected with intercommunicating pore 223, and be provided in intercommunicating pore 223 several can match in slideway
Close the ball 203 of ground sliding and the push rod 204 for pushing ball 203 to move upwards.
The rotary self-locking joint 210 has unlocked state and lock state.It is shown in Figure 5, when ball 203 is entirely located in
When in intercommunicating pore 223, upper rotating seat 201 and lower rotating seat 202 can be relatively rotated, when rotary self-locking joint 206 turn to it is specified
Position and at least one group upper hopper chute 212 and 222 position of gliding groove are opposite when forming slideway, push rod 204 push ball 203 into
Enter slideway, shown in Figure 6, under the blocking of ball 203, upper rotating seat 201 and lower rotating seat 202 can be relatively fixed；When need
When rotating the rotary self-locking joint 210, push rod 204 is moved downward, and under gravity, ball 203 is rolled into from slideway
In intercommunicating pore 223, upper rotating seat 201 and lower rotating seat 202 are relatively rotatable to each other again.The quantity of upper hopper chute 212 and gliding groove 222
More, then the posture of rotary self-locking joint 210 in the locked state is abundanter.
Upper hopper chute 212 is equal with 222 quantity of gliding groove and all circumferentially uniformly arranges, therefore upper rotating seat 201 can be opposite
Lower rotating seat 202 rotates fixed angle.Shown in Figure 7, in the present embodiment, upper hopper chute 212 and gliding groove 222 are all arranged
There are eight, and circumferentially uniformly arrangement, upper rotating seat 201 can rotate 45 ° of multiple relative to lower rotating seat 202.
Upper hopper chute 212 is equal with the width of gliding groove 222 and depth is all the half of width, the diameter of ball 203 with it is upper
The width of sliding slot 212 is equal, therefore the vertical cross-section of slideway is square and the side length of the square is the diameter of ball 203.
After ball 203 enters slideway, 203 the widest part of ball is located just at the intersection of rotating seat 201 Yu lower rotating seat 202, because
This locking effect is best, not will form gap.
Referring to shown in Fig. 5, Fig. 6, Fig. 8, the peripheral part of upper rotating seat 201 is provided with several coaxial annular protrusions 213, under
The peripheral part of rotating seat 202 is provided with several annular grooves 224 for the cooperation insertion of annular protrusion 213.Setting is avoided that in this way
Dust enters in rotary self-locking joint 210, improves life of product.
Lower rotating seat 202 is installed with electromagnet, and electromagnet includes electromagnet ontology and can be opposite along itself extending direction
The telescopic rod of electromagnet ontology stretching motion, the telescopic rod constitute push rod 204.Cost is relatively low and small volume for electromagnet, therefore
Use it as the power source for pushing ball 203.
In the present embodiment, the radially outer end of upper hopper chute 212 and gliding groove 222 is provided with along axial raised limited block
205, prevent ball 203 from leaking out from slideway.It, can also be only in upper hopper chute 212 or gliding groove in other some embodiments
Limited block 205. is set on 222
The quantity of upper hopper chute 12 is different in each rotary self-locking joint 10 and the quantity of gliding groove 22 is also different, respectively
A pivoted arm 6 can determine the structure in coupled rotary self-locking joint 10 according to actual needs, the posture of mechanical arm 200 compared with
Horn of plenty.
In conclusion Needle-driven Robot of the invention can adjust each adjustment block 3 simultaneously, when the screw rod 31 of adjustment block 3
When moving downward and being supported in ground, which is fixed with respect to ground, when screw rod 31 moves upwards, is supported in castor 2
When ground, which can slide with respect to ground, and entire conversion process is easy to operate without artificial；And driving motor
5 can both drive the movement of adjusting nut 32, sliding block 4 can also be driven to move, number of motors needed for saving pedestal 100, because
This program realizes the function of adjusting adjustment block 3 in the case where no increase motor, is conducive to cost control.The rotation is certainly
Lock 210 structure of joint is simple, and easy switching between unlocked state and lock state is low in cost.When using the Needle-driven Robot,
Adjustment pedestal 100 and mechanical arm 200 make the alignment of sting device 300 need the position that punctures, then operate sting device 300 into
Row punctures.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of Needle-driven Robot exists including pedestal (100), the mechanical arm (200) being arranged on the pedestal (100), setting
The sting device (300) of mechanical arm (200) end, the pedestal (100) include base body (1), the base body
(1) lower part is provided with several castors (2) and several adjustment blocks (3), and the adjustment block (3) includes the spiral shell vertically extended
Bar (31), the adjusting nut (32) being threadedly engaged with the screw rod (31), it is characterised in that: the pedestal (100) further includes using
In the first transmission mechanism for driving adjusting nut (32) rotation and for so that each adjusting nut (32)
The linkage mechanism that can be rotated synchronously, the adjusting nut (32) and the base body (1) are relatively fixed in the up-down direction,
The pedestal (100) further includes capableing of the sliding block (4) of relatively described base body (1) up and down motion and for driving
Second transmission mechanism of sliding block (4) movement, the mechanical arm (200) are arranged on the sliding block (4),
The base body (1) is slidably provided with a driving motor (5), same in the shaft (51) of the driving motor (5)
It is installed with to axis driving gear (6), the driving motor (5) can move to first position and the second position, when the driving electricity
When machine (5) is located at first position, the driving gear (6) drives the first transmission mechanism movement, when the driving motor (5)
When positioned at the second position, the driving gear (6) drives the second transmission mechanism movement.
2. a kind of Needle-driven Robot according to claim 1, it is characterised in that: the mechanical arm (200) includes several turns
Arm (206), between the pivoted arm (206) and pivoted arm (206), between the pivoted arm (206) and the sliding block (4), the pivoted arm
(206) all it is connected by rotary self-locking joint (210) between the sting device (300), the rotary self-locking joint
(210) include the upper rotating seat (201) and lower rotating seat (202) mutually rotationally connected around same rotation centerline, it is described on
The lower part of rotating seat (201) is provided with downwardly convex and axial line first tapered surface (211) coaxial with the shaft center line,
The top of the lower rotating seat (202) is provided with the second recessed tapered surface matched with first tapered surface (211)
(221), the lower part of the upper rotating seat (201) offers several upper hopper chutes (212), and all upper hopper chutes (212) are all certainly
The center of first tapered surface (211) radially extends, and the top of the lower rotating seat (202) offers several gliding grooves
(222), all gliding grooves (222) are all radially extended from the center of second tapered surface (211), the upper hopper chute
(212) slideway is constituted when and gliding groove (222) is aligned, the slideway is radially extended obliquely upward from the rotation centerline,
The lower rotating seat (202) offers intercommunicating pore (223) along the direction of the rotation centerline, all gliding grooves
(222) all it is connected with the intercommunicating pore (223), be provided in the intercommunicating pore (223) several can match in the slideway
Close the ball (203) of ground sliding and the push rod (204) for pushing the ball (203) to move upwards.
3. a kind of Needle-driven Robot according to claim 1, it is characterised in that: first transmission mechanism includes opposite turns
The first rotating shaft (11) that is arranged on the base body (1) dynamicly, be coaxially installed on the first rotating shaft (11)
One gear (10) and second gear (20) and the third gear (30) being meshed with the second gear (20), the third
Gear (30) is coaxially fixedly connected on the adjusting nut (32), when the driving motor (5) is located at first position
When, the first gear (10) is meshed with the driving gear (6).
4. a kind of Needle-driven Robot according to claim 1, it is characterised in that: the linkage mechanism include synchronous belt (7),
And several belt wheels, the belt wheel are same with the corresponding adjusting nut (32) correspondingly with the adjusting nut (32)
It is fixedly connected to axis, the synchronous belt (7) and each belt wheel are in mating connection.
5. a kind of Needle-driven Robot according to claim 1, it is characterised in that: second transmission mechanism includes that setting exists
Worm gear mechanism (8) on the base body (1), the worm gear mechanism (8) have worm shaft (81) and worm gear shaft
(82), it is coaxially installed with the 4th gear (40) on the worm shaft (81), when the driving motor (5) is located at the second position
When, the driving gear (6) is meshed with the 4th gear (40), and second transmission mechanism further includes for by the snail
The rotation of the worm gear shaft (82) of worm and gear mechanism (8) is converted into the switching mechanism for driving the linear motion of the sliding block (4).
6. a kind of Needle-driven Robot according to claim 4, it is characterised in that: the switching mechanism includes coaxially fixed
The 5th gear (50) on the worm gear shaft (82) is provided on the sliding block (4) and is meshed with the 5th gear (50)
Rack gear (41).
7. a kind of Needle-driven Robot according to claim 4, it is characterised in that: the switching mechanism includes rotation centerline
The winding post (9) coaxial with the worm gear shaft (82), is rotationally arranged the line of pull (60) being wrapped on the winding post (9)
Fixed pulley (70) on the base body (1) and above the sliding block (4), described line of pull (60) one end is described in
Winding post (9) is stretched out, is fixed on the sliding block (4) after fixed pulley (70) described in pile warp.
8. a kind of Needle-driven Robot according to claim 1, it is characterised in that: the base body (1) if on offer
Dry installation through-hole, the adjusting nut (32) are rotatably threaded through in the installation through-hole, and the adjusting nut (32) is installed with
Diameter is both greater than the upper limit position block (321) and lower position block (322) of the installation through-hole, the upper limit position block (321) and described
Lower position block (322) is located above and below the base body (1).
9. a kind of Needle-driven Robot according to claim 1, it is characterised in that: the base body (1) includes two phases
Base plate (12) mutually fixed and that height is concordant, there are accommodation space (13) between two base plates (12).
10. a kind of Needle-driven Robot according to claim 1, it is characterised in that: be arranged on the base body (1) useful
In the driving mechanism (80) for driving the driving motor (5) to slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811553177.9A CN109602493A (en) | 2018-12-19 | 2018-12-19 | A kind of Needle-driven Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811553177.9A CN109602493A (en) | 2018-12-19 | 2018-12-19 | A kind of Needle-driven Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109602493A true CN109602493A (en) | 2019-04-12 |
Family
ID=66009753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811553177.9A Pending CN109602493A (en) | 2018-12-19 | 2018-12-19 | A kind of Needle-driven Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109602493A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112244953A (en) * | 2020-10-08 | 2021-01-22 | 王洪奎 | Robot hand for automatic puncture |
| CN114608843A (en) * | 2022-05-12 | 2022-06-10 | 中汽研汽车检验中心(宁波)有限公司 | Driving device with tape collecting function and tape collecting method |
-
2018
- 2018-12-19 CN CN201811553177.9A patent/CN109602493A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112244953A (en) * | 2020-10-08 | 2021-01-22 | 王洪奎 | Robot hand for automatic puncture |
| CN112244953B (en) * | 2020-10-08 | 2024-05-07 | 王洪奎 | Robot hand for automatic puncturing |
| CN114608843A (en) * | 2022-05-12 | 2022-06-10 | 中汽研汽车检验中心(宁波)有限公司 | Driving device with tape collecting function and tape collecting method |
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