CN110202541A - Micro-manipulating robot for biomedical engineering - Google Patents
Micro-manipulating robot for biomedical engineering Download PDFInfo
- Publication number
- CN110202541A CN110202541A CN201910387294.0A CN201910387294A CN110202541A CN 110202541 A CN110202541 A CN 110202541A CN 201910387294 A CN201910387294 A CN 201910387294A CN 110202541 A CN110202541 A CN 110202541A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- micro
- biomedical engineering
- fixed device
- fixed
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses the micro-manipulating robots for biomedical engineering, including board, mounting table and station, organism is arranged in the board upper end, guide rail is provided in the body, the guide rail upper end is provided with servo motor and fixed sliding block, the fixed upper end of slide block is connected with regulating device, the body two sides and front are provided with regulating device, and each regulating device is provided with a mechanical arm, the first mechanical arm upper end is provided with the first needle tubing, first fixed device and tracheae, the second mechanical arm upper end is provided with the second fixed device, second needle tubing and tracheae, third mechanical arm upper end is provided with the fixed device of third and caliper, described first fixed device, second fixed device and the fixed device upper end of third are equipped with a screwed ring, the mounting table upper end is provided with vessel rest area , the station upper end is provided with switch, display, control key and mouse socket, and the present invention drives manual operation using microoperation.
Description
Technical field
The present invention relates to biomedical engineering technology fields, particularly for the micro-manipulating robot of biomedical engineering.
Background technique
In biomedical engineering field, there is be largely related to the thin of chromosome, intracellular organ, cell body etc.
Micro-, accurate operation, such as the separation, fusion, fertilization of cell, the cutting of chromosome, injection of cell etc..This generic operation be all
The subtle operation carried out in the micro-space of micron or submicron order, therefore it is called microoperation, the purpose is to solve biomedicine
In relevant issues, and existing microoperation technology is all manually completed, and job requirements are relatively high, and difficulty is big, be unfavorable for
Follow-up work is put to good use, and therefore, the present invention devises the micro-manipulating robot for biomedical engineering.
Summary of the invention
The purpose of the present invention is to solve problems of the prior art, and propose for the micro- of biomedical engineering
Operate robot.
To achieve the above object, the invention provides the following technical scheme: including board, mounting table and station, the machine
Organism is arranged in platform upper end, and guide rail is provided in the body, and the guide rail upper end is provided with servo motor and fixed sliding block, institute
It states fixed upper end of slide block and is connected with regulating device, the body two sides and front are provided with regulating device, and each
Regulating device is provided with a mechanical arm, and mechanical arm is three, and the first mechanical arm upper end is provided with the first needle tubing, the
One fixed device and tracheae, the second mechanical arm upper end are provided with the second fixed device, the second needle tubing and tracheae, the third
Mechanical arm upper end is provided with the fixed device of third and caliper, and the described first fixed device, the second fixed device and third are fixed
Device upper end is equipped with a screwed ring, and the mounting table upper end is provided with vessel rest area, and the station upper end is provided with
Switch, display, control key and mouse socket, the present invention drive manual operation using microoperation.
Preferably, the regulating device is three, and each regulating device passes through positioning bolt and is connected and fixed sliding block,
A progressive motor is equipped in regulating device simultaneously, and progress motor shaft end is gear shaft.
Preferably, first needle tubing, the second needle tubing and caliper are equipped with threaded cap, and three passes through screw thread and agrees with company
Screwed ring is connect, the first needle tubing, the second needle tubing and caliper have detachability, while can be replaced according to different research objects, the
One needle tubing, the second needle tubing and caliper.
Preferably, the first mechanical arm, second mechanical arm and third mechanical arm are made of upper and lower two support arms, on
Support arm connects lower support arm by fixed gear shaft.
Preferably, the progressive motor connects support arm inner gear shaft by chain, due to being equipped with progress in regulating device
Motor, when the forward and reverse operation of progress motor, the chain 23 of progress motor shaft end connection can drive corresponding three mechanical arm left sides
Right swing, to achieve the purpose that adjust mobile
Preferably, the progressive motor and servo motor are electrically connected station.
Preferably, the board rear end is equipped with plant-grid connection mouth, and the access of power supply is needed to provide electric power support.
Preferably, programmable PLC control program, and programmable PLC control program and switch, display are set in the station
Device, control key and mouse socket are electrically connected.
Compared with prior art, it the beneficial effects of the present invention are: the present invention drives manual operation using microoperation, and operates
Range can change according to the article size of biomedical research, improve operating space, strong flexibility.
Detailed description of the invention
Fig. 1 is the micro-manipulating robot overall structure diagram that the present invention is used for biomedical engineering.
Fig. 2 is that mechanical arm of the present invention swings structural schematic diagram.
Fig. 3 is that regulating device of the present invention moves up and down structural schematic diagram.
Fig. 4 is needle tubing structural schematic diagram of the present invention.
Fig. 5 is caliper structural schematic diagram of the present invention.
In figure: 1- board, 2- mounting table, 3- station, 4- body, 5- regulating device, 6- first mechanical arm, the first needle of 7-
Pipe, the fixed device of 8- first, 9- tracheae, 10- second mechanical arm, the fixed device of 11- second, the second needle tubing of 12-, 13- third machine
Tool arm, 14- screwed ring, the fixed device of 15- third, 16- caliper, 17- vessel rest area, 18- switch, 19- display, 20-
Control key, 21- mouse socket, 22- progress motor, 23- chain, 24- gear shaft, 25- guide rail, 26- servo motor, 27- are fixed
Sliding block.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: including board 1, mounting table 2 and station 3, the machine
Organism 4 is arranged in 1 upper end of platform, and guide rail 25 is provided in the body 4, and 25 upper end of guide rail is provided with servo motor 26 and consolidates
Fixed slider 27, fixed 27 upper end of sliding block are connected with regulating device 5, and 4 two sides of body and front are provided with tune
Regulating device 5, and each regulating device 5 is provided with a mechanical arm, 6 upper end of first mechanical arm is provided with the first needle tubing
7, the first fixed device 8 and tracheae 9,10 upper end of second mechanical arm are provided with the second fixed device 11,12 and of the second needle tubing
Tracheae 9,13 upper end of third mechanical arm are provided with the fixed device 15 of third and caliper 16, the described first fixed device 8, the
Two fixed devices 11 and fixed 15 upper end of device of third are equipped with a screwed ring 14, and 2 upper end of mounting table is provided with vessel
Rest area 17,3 upper end of station is provided with switch 18, display 19, control key 20 and mouse socket 21, described to adjust 5
Device is three, and each regulating device 5 is connected and fixed sliding block 27 by positioning bolt, while being all provided in regulating device 5
There is a progressive motor 22, and progress 22 shaft end of motor is gear shaft, the forward and reverse operation of the servo motor 26 can drive fixation
The forward and reverse operation of sliding block 27, achievees the purpose that regulating device 5 moves up and down, and regulating device 5 can be according to control key 20 for three
Corresponding to control different manipulator motions, the first mechanical arm 6, second mechanical arm 10 and third mechanical arm 13 are by upper and lower two
Root support arm composition, upper support arm connect lower support arm by fixed gear shaft 24, and the motor 22 that improves is connected by chain 23
Support arm inner gear shaft 24 can drive corresponding mechanical arm or so to put when progress 22 forward and reverse operation of motor by chain 23
Dynamic, first needle tubing 7, the second needle tubing 12 and caliper 16 are equipped with threaded cap, and three passes through screw thread and is connected screw thread
Ring 14, the first needle tubing 7, the second needle tubing 12 and caliper 16 have detachability, while can replace the according to different research objects
One needle tubing 7, the second needle tubing 12 and caliper 16,1 rear end of board are equipped with plant-grid connection mouth, need the access of power supply to power and transport
It goes, programmable PLC control program, and programmable PLC control program and switch 18, display 19, control is set in the station 3
Key 20 and mouse socket 21 are electrically connected, control key 20 can correspond to about 5 controling adjustment device movement and first mechanical arm 6,
The movement of second mechanical arm 10 and third mechanical arm 13 or so, mouse socket 21 are used for external access of mouse handle, and change is facilitated to operate
Fixed program in platform 3.
The operation principle of the present invention is that: user will need the biological sample studied to be put into vessel rest area 17 first
It is interior, and the first needle tubing 7 and the second needle tubing 12 can carry and need injection, then by the first needle tubing 7 and the second needle tubing 12 and braking
Pincers 16 are connected in corresponding screwed ring 14 by screw thread torsion respectively, and 1 rear end of board is then equipped with plant-grid connection mouth access electricity
Source leads to electric power support, then opens station 3 by switch 18 and arrives operating status, and control key 20 can correspond to control and regulation
The movement of the movement of about 5 device and first mechanical arm 6, second mechanical arm 10 and third mechanical arm 13 or so, in regulating device 5
Under movement be primarily due to regulating device 5 sliding block 27, the forward and reverse operation energy of servo motor 26 be connected and fixed by positioning bolt
The fixed forward and reverse operation of sliding block 27 is driven, achievees the purpose that regulating device 5 moves up and down, makes first mechanical arm 6, second mechanical arm
10 and third mechanical arm 13 corresponding position adjusted by regulating device 5, and progress motor 22 is equipped in regulating device 5, when into
When walking 22 forward and reverse operation of motor, the chain 23 of progress 22 shaft end of motor connection can drive corresponding three mechanical arms or so to put
It is dynamic, thus reach the first needle tubing 7 and the second needle tubing 12 and caliper 16 operates biological sample, it is easy to operate, it can replace
It is artificial to carry out microoperation.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (8)
1. being used for the micro-manipulating robot of biomedical engineering, including board (1), mounting table (2) and station (3), feature
Be: organism (4) are arranged in board (1) upper end, are provided with guide rail (25) in the body (4), on the guide rail (25)
End is provided with servo motor (26) and fixes sliding block (27), and fixed sliding block (27) upper end is connected with regulating device (5),
Body (4) two sides and front are provided with regulating device (5), and each regulating device (5) is provided with a machinery
Arm, and mechanical arm is three, it is gentle that first mechanical arm (6) upper end is provided with the first needle tubing (7), first fixed device (8)
It manages (9), second mechanical arm (10) upper end is provided with second fixed device (11), the second needle tubing (12) and tracheae (9), described
Third mechanical arm (13) upper end is provided with third fixed device (15) and caliper (16), the described first fixed device (8), second
Fixed device (15) upper end of fixed device (11) and third is equipped with a screwed ring (14), mounting table (2) the upper end setting
Have vessel rest area (17), station (3) upper end is provided with switch (18), display (19), control key (20) and mouse
Socket (21).
2. the micro-manipulating robot according to claim 1 for biomedical engineering, it is characterised in that: the adjusting dress
Setting (5) is three, and each regulating device (5) is connected and fixed sliding block (27) by positioning bolt, while regulating device (5)
It is inside equipped with a progressive motor (22), and progress motor (22) shaft end is gear shaft.
3. the micro-manipulating robot according to claim 1 for biomedical engineering, it is characterised in that: first needle
Pipe (7), the second needle tubing (12) and caliper (16) are equipped with threaded cap, and three passes through screw thread and is connected screwed ring (14).
4. the micro-manipulating robot according to claim 1 for biomedical engineering, it is characterised in that: first machine
Tool arm (6), second mechanical arm (10) and third mechanical arm (13) are made of upper and lower two support arms, and upper support arm passes through fixation
Gear shaft (24) connects lower support arm.
5. the micro-manipulating robot according to claim 1 for biomedical engineering, it is characterised in that: the progress electricity
Machine (22) passes through chain (23) connection support arm inner gear shaft (24).
6. the micro-manipulating robot according to claim 1 for biomedical engineering, it is characterised in that: the progress electricity
Machine (22) and servo motor (26) are electrically connected station (3).
7. the micro-manipulating robot according to claim 1 for biomedical engineering, it is characterised in that: the board
(1) rear end is equipped with plant-grid connection mouth.
8. the micro-manipulating robot according to claim 1 for biomedical engineering, it is characterised in that: the station
(3) programmable PLC control program, and programmable PLC control program and switch (18), display (19), control key (20) are set in
It is electrically connected with mouse socket (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910387294.0A CN110202541A (en) | 2019-05-10 | 2019-05-10 | Micro-manipulating robot for biomedical engineering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910387294.0A CN110202541A (en) | 2019-05-10 | 2019-05-10 | Micro-manipulating robot for biomedical engineering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110202541A true CN110202541A (en) | 2019-09-06 |
Family
ID=67787040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910387294.0A Pending CN110202541A (en) | 2019-05-10 | 2019-05-10 | Micro-manipulating robot for biomedical engineering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110202541A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1182662A (en) * | 1997-12-15 | 1998-05-27 | 天津市南开太阳高技术发展有限公司 | Micro-operation robot used for biomedicine engineering |
| US20010013764A1 (en) * | 1998-08-04 | 2001-08-16 | Blumenkranz Steven J. | Manipulator positioning linkage for robotic surgery |
| CN1348848A (en) * | 2001-11-18 | 2002-05-15 | 华中科技大学 | Microassembling robot system based on microvision |
| CN1418761A (en) * | 2002-12-10 | 2003-05-21 | 北京航空航天大学 | Robot system for micro-operation used for bio-medical engineering |
| CN102477396A (en) * | 2010-11-22 | 2012-05-30 | 大连创达技术交易市场有限公司 | Micro-vision servo-control micromanipulation robot system |
| CN104272114A (en) * | 2012-03-08 | 2015-01-07 | 达亚美有限公司 | Medical analysis method |
| US20160228205A1 (en) * | 2015-02-11 | 2016-08-11 | University Of Utah Research Foundation | Microsurgical tool adapters, systems and related methods |
| CN109602500A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学 | A kind of Ophthalimic microsurgery robotic system |
-
2019
- 2019-05-10 CN CN201910387294.0A patent/CN110202541A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1182662A (en) * | 1997-12-15 | 1998-05-27 | 天津市南开太阳高技术发展有限公司 | Micro-operation robot used for biomedicine engineering |
| US20010013764A1 (en) * | 1998-08-04 | 2001-08-16 | Blumenkranz Steven J. | Manipulator positioning linkage for robotic surgery |
| CN1348848A (en) * | 2001-11-18 | 2002-05-15 | 华中科技大学 | Microassembling robot system based on microvision |
| CN1418761A (en) * | 2002-12-10 | 2003-05-21 | 北京航空航天大学 | Robot system for micro-operation used for bio-medical engineering |
| CN102477396A (en) * | 2010-11-22 | 2012-05-30 | 大连创达技术交易市场有限公司 | Micro-vision servo-control micromanipulation robot system |
| CN104272114A (en) * | 2012-03-08 | 2015-01-07 | 达亚美有限公司 | Medical analysis method |
| US20160228205A1 (en) * | 2015-02-11 | 2016-08-11 | University Of Utah Research Foundation | Microsurgical tool adapters, systems and related methods |
| CN109602500A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学 | A kind of Ophthalimic microsurgery robotic system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190906 |