CN110251236A - A kind of Medical Robot being equipped with barrier structure - Google Patents
A kind of Medical Robot being equipped with barrier structure Download PDFInfo
- Publication number
- CN110251236A CN110251236A CN201910665787.6A CN201910665787A CN110251236A CN 110251236 A CN110251236 A CN 110251236A CN 201910665787 A CN201910665787 A CN 201910665787A CN 110251236 A CN110251236 A CN 110251236A
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- Prior art keywords
- medical robot
- moving parts
- flexible
- strip groove
- axle sleeve
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- 230000004888 barrier function Effects 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000005096 rolling process Methods 0.000 claims abstract description 51
- 238000010276 construction Methods 0.000 claims description 7
- 238000002357 laparoscopic surgery Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 abstract description 4
- 230000000903 blocking effect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000012550 audit Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The present invention provides a kind of Medical Robots for being equipped with barrier structure, are related to Medical Robot's technical field.The Medical Robot includes moving parts and beam body, and the beam body offers strip groove body, and at least part of the moving parts is placed in the strip groove body, and the moving parts can be moved along the strip groove body；The barrier structure of the Medical Robot includes the Liang Ge automatic rolling mechanism being installed at the strip groove body, the moving parts is placed between two automatic rolling mechanisms, the automatic rolling mechanism is wound with flexible-belt, the flexible-belt is for covering the strip groove body, the flexible-belt can stretch out the automatic rolling mechanism and fix with the moving parts, and the automatic rolling mechanism is for furling the flexible-belt.Compared with the existing technology, it ensure that blocking for beam body and moving parts junction, to improve the sealing at the covering, airtightness, while having reached barrier structure good appearance.
Description
Technical field
The present invention relates to Medical Robot's technical fields, in particular to a kind of medical machine for being equipped with barrier structure
Device people.
Background technique
With the sustainable development of artificial intelligence, robot largely and is widely used in medical field, is especially performed the operation
Robot, in general, Medical Robot executes and completes accordingly by linking between multiple mechanical arms equipped with multiple mechanical arms
Movement, such as doctor is cooperated to check the disease sites of patient, or directly performed the operation.
To guarantee that its is a variety of using function, Medical Robot usually has multi-joint mechanical arm, and between its mechanical arm
The blocking and seal of junction, airtightness are poor, and existing barrier structure good appearance degree is very poor, reduce Medical Robot
Good appearance；In addition, the barrier structure dismounting of the mechanical arm junction of existing Medical Robot is time-consuming and laborious.
Summary of the invention
The present invention is directed to solve the mechanical arm junction of existing Medical Robot to a certain extent to block sealing, airtightness
Difference and existing barrier structure good appearance degree are very poor, the barrier structure of the mechanical arm junction of existing Medical Robot
In terms of dismounting at least one of the problems such as time-consuming and laborious.
To solve the above problems, the present invention provides the barrier structure of Medical Robot a kind of, the Medical Robot includes
Moving parts and beam body, the beam body offer strip groove body, and at least part of the moving parts is placed in the strip
In shape groove body, the moving parts can be moved along the strip groove body；
The barrier structure of the Medical Robot includes the Liang Ge automatic rolling mechanism being installed at the strip groove body,
The moving parts is placed between two automatic rolling mechanisms, and the automatic rolling mechanism is wound with flexible-belt, described soft
Property band for covering the strip groove body, the flexible-belt can stretch out the automatic rolling mechanism and with the moving parts
Fixed, the automatic rolling mechanism is for furling the flexible-belt.
Further, the automatic rolling mechanism includes:
Fixed part is installed at the strip groove body；
Torsional spring is connect with the fixed part；And
Rotation section, the flexible-belt are wound in the rotation section, and the rotation section is connect with the torsional spring, the rotation section
It is installed at the fixed part and can be rotated relative to the fixed part.
Further, the fixed part is formed with fixing axle, and the torsion spring set is outside the fixing axle, outside the fixing axle
It is cased with the first axle sleeve and the second axle sleeve respectively, one end of first axle sleeve and the torsional spring is fixed, second axle sleeve and institute
The other end for stating torsional spring is fixed, and the rotation section is located on outside the torsional spring and fixes with second axle sleeve, the fixed part
It include fixed pin, the fixed pin is inserted into first axle sleeve and the fixing axle, and the fixed pin is for preventing described the
One axle sleeve is rotated relative to the fixing axle.
Further, the rotation section forms sleeve member, and the outer surface of second axle sleeve forms stepped shaft structure, described
The shaft shoulder of second axle sleeve is moved for limiting the rotation section along the fixing axle；
The fixing axle is detachably equipped with third axle sleeve, and the third axle sleeve is covered adjacent to the first axle to be arranged, described
The shaft shoulder of third axle sleeve is moved for limiting the rotation section along the fixing axle.
Further, the automatic rolling mechanism further includes mounting plate, the mounting plate and the flexible-belt length direction
One end connection, the mounting plate is detachably connected with the moving parts.
Further, the moving parts forms pillar construction, and the strip groove body is opened in the bottom surface of the beam body,
It is installed at the top of the moving parts in the strip groove body.
Further, the bottom of the moving parts is connect with the motion arm of the Medical Robot.
Further, the beam body forms beam structure, and the strip groove body is opened along the length direction of the beam body
If；
Or/also, the relatively described Medical Robot of the beam body can move.
Further, the artificial laparoscopic surgery robot of the hospital machines.
In addition, the Medical Robot is equipped with the hospital machines the present invention also provides a kind of Medical Robot
The barrier structure of people.
Beneficial effects of the present invention essentially consist in that by the way that moving parts to be arranged between Liang Ge automatic rolling mechanism and make
Flexible-belt is fixed with moving parts respectively, realizes the covering to strip groove body, and utilizes automatic rolling mechanism to flexible-belt
Automatic rolling function and flexible-belt the characteristics of capable of stretching out automatic furling mechanism so that stretching out automatic furling mechanism
Flexible-belt keep tensioning state, be not at loose condition (of surface), to realize covering to the strip groove bodies of moving parts two sides,
It ensure that blocking for beam body and moving parts junction, to improve the sealing at the covering, airtightness, while having reached and having blocked
Construction profile is beautiful.In addition, the characteristics of automatic rolling mechanism can be wrapped in using flexible-belt, so that flexible-belt is not to length
In the case that bar shaped groove body is covered, flexible-belt is wound in automatic rolling mechanism, to reduce flexible-belt and automatic rolling
The overall volume of mechanism.
Further, when carrying out the assembly of automatic rolling mechanism, first by the first axle sleeve, the second axle sleeve and torsion spring set solid
Dead axle, and being fixed the first axle sleeve with fixing axle using fixed pin, then by rotation section from the first axle sleeve along fixing axle
The stepped shaft structure for axially covering outside torsional spring, and being formed using the outer surface of the second axle sleeve makes axial one end of rotation section and the
The shaft shoulder of two axle sleeves contacts, to prevent rotation section along fixing axle axial float, then, third axle sleeve is removably covered
At fixing axle, and make another end in contact of axial direction of the shaft shoulder and rotation section of third axle sleeve, the shaft shoulder of third axle sleeve is made to prevent from rotating
Portion is along fixing axle axial float, to realize the positioning to rotation section, and when needing to safeguard, third axle sleeve is removed, then will
Rotation section removes, and realizes easy disassembly.
Detailed description of the invention
Fig. 1 is that the barrier structure of the Medical Robot is installed on a signal at the beam body and the moving parts
Property perspective view；
Fig. 2 is that the barrier structure of the Medical Robot is installed on the beam body and shows with another at the moving parts
Meaning property perspective view；
Fig. 3 is the schematic elevational view of the barrier structure of the Medical Robot；
Fig. 4 is the AA schematic cross sectional views in Fig. 3.
Description of symbols:
100 moving parts；200 beam bodies；201 strip groove bodies；300 automatic rolling mechanisms；311 fixing axles；312 first
Axle sleeve；313 second axle sleeves；314 fixed pins；315 third axle sleeves；316 grooves；320 torsional springs；330 rotation sections；340 mounting plates；
400 flexible-belts.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
In the description of the present invention, it is to be understood that, the orientation or position of the instructions such as term " on ", "lower", " preceding " " rear "
Setting relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot
It is interpreted as limitation of the present invention.
Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes at least one this feature.
Referring to Fig. 1 to Fig. 4, present embodiments provide for the barrier structure of Medical Robot a kind of, Medical Robot includes
Moving parts 100 and beam body 200, beam body 200 offer strip groove body 201, and at least part of moving parts 100 is placed in length
In bar shaped groove body 201, moving parts 100 can be moved along strip groove body 201；
The barrier structure of Medical Robot includes the Liang Ge automatic rolling mechanism 300 being installed at strip groove body 201, is moved
Dynamic component 100 is placed between Liang Ge automatic rolling mechanism 300, and automatic rolling mechanism 300 is wound with flexible-belt 400, flexible-belt 400
For covering strip groove body 201, flexible-belt 400 can stretch out automatic furling mechanism 300 and fix with moving parts 100, from
Dynamic furling mechanism 300 is for furling flexible-belt 400.
It should be noted that moving parts 100 can be the column that will be referred to hereinafter, it is referred to as large-scale machinery
Arm, moving parts 100 can also be small-sized mechanical arm.
In addition, the girder construction of the including but not limited to rectangular-shape of beam body 200, such as the crossbeam that will be referred to hereinafter, also
It is horizontally disposed beam body 200；It can also be, for example, the vertical beam being vertically arranged.
In addition, beam body 200 can be fixed with Medical Robot, and can also be can be with respect to machine for beam body 200
Device people movement, at this moment beam body 200 also just becomes another mechanical arm.
In addition, " strip groove body 201 " here can be also possible to edge along linearly extended strip groove body 201
Curve extend, extend such as S-shaped or C-shaped, or along broken line, such as L shape, in this way according to the specifically used of the Medical Robot
Depending on purposes, such as audit function is only carried out, then such as operating robot.
In addition, it is necessary to explanation, " flexible-belt 400 can stretch out the automatic rolling mechanism 300 and with it is described
Moving parts 100 is fixed, and the automatic rolling mechanism 300 refers to for furling the flexible-belt 400 ", one side automatic rolling
Mechanism 300 keeps retracting active force to flexible-belt 400, on the other hand, is greater than automatic rolling mechanism to the pulling force of flexible-belt 400
In the case where the retracting power of 300 pairs of flexible-belts 400, so that flexible-belt 400 is stretched out；And it is small to the pulling force of flexible-belt 400
There is no the case where pulling force in the case that automatic rolling mechanism 300 is to the retracting power of flexible-belt 400, or to flexible-belt 400
Under, automatic rolling mechanism 300 furls flexible-belt 400, to make to stretch out between moving parts 100 and automatic rolling mechanism 300
Flexible-belt 400 keep tensioning state, so that strip groove body 201 be covered, and realize the function, can be by rolling up automatically
Installation torsional spring 320 in mechanism 300 is received to realize, for the specific installation situation of torsional spring 320, by present embodiment hereinafter
In illustrate in detail as far as possible, it is no longer excessive here to illustrate.
Barrier structure in present embodiment offers strip groove body 201, moving parts primarily directed in beam body 200
In the case that 100 are installed on strip groove body 201 and can move along strip groove body 201, strip groove body 201 is carried out
It effectively blocks, to form effective closed, sealing.
For moving parts 100 during moving (including reciprocating movement) along strip groove body 201, moving parts 100 is same
When it is fixed with two flexible-belts 400, and flexible-belt 400 covers the strip groove body 201 of 100 two sides of moving parts, at the same from
Dynamic furling mechanism 300 furls flexible-belt 400, and flexible-belt 400 can stretch out automatic furling mechanism 300, this to move
Component 100 when mobile towards length one end of strip groove body 201, automatic rolling mechanism 300 at the end it is soft
Property band 400 furled, so that flexible-belt 400 at this is kept the state being tightened up and is covered to strip groove body 201, and neighbouring long
The flexible-belt 400 of automatic rolling mechanism 300 at the length other end of bar shaped groove body 201 is elongated by moving parts 100, while
Under the retracting effect of automatic rolling mechanism 300, which also remains the state of tension and covers to strip groove body 201
Lid, so that two flexible-belts 400 always cover the strip groove body 201 of 100 two sides of moving parts；Moving parts
100 to when the movement of the length other end of strip groove body 201, and two flexible-belts 400 are former to the covering of strip groove body 201
Reason is also such.
In this way, by the way that moving parts 100 is arranged between Liang Ge automatic rolling mechanism 300 and distinguishes flexible-belt 400
It is fixed with moving parts 100, the covering to strip groove body 201 is realized, and utilize automatic rolling mechanism 300 to flexible-belt
The characteristics of 400 automatic rolling function and flexible-belt 400 can stretch out automatic furling mechanism 300, so that stretching out automatic
The flexible-belt 400 of furling mechanism 300 keeps tensioning state, loose condition (of surface) is not at, thus to the length of 100 two sides of moving parts
Bar shaped groove body 201 realize covering, ensure that beam body 200 and 100 junction of moving parts occlusion effect and effectively seal,
Airtightness, while having reached barrier structure good appearance.In addition, automatic rolling mechanism 300 can be wrapped in using flexible-belt 400
The characteristics of, so that in the case where not covering to strip groove body 201, flexible-belt 400 is wound in certainly for flexible-belt 400
Dynamic furling mechanism 300, to reduce the overall volume of flexible-belt 400 Yu automatic rolling mechanism 300.
Further, automatic rolling mechanism 300 includes: fixed part, torsional spring 320 and rotation section 330.Fixed part is installed on
At strip groove body 201；Torsional spring 320 is connect with fixed part；Flexible-belt 400 is wound in rotation section 330, rotation section 330 and torsional spring
320 connections, rotation section 330 is installed at fixed part and can rotate relative to fixed portion.
When moving parts 100 is moved along rectangle groove body, moving parts 100 is greater than the pulling force of flexible-belt 400
Torsional spring 320 passes through rotation section 330 to the winding power of flexible-belt 400, so that the flexible-belt 400 being wrapped on rotation section 330
Stretched out from automatic rolling mechanism 300 and tensed under the collective effect of moving parts 100 and torsional spring 320 and by strip groove body
201 coverings.
300 structure of automatic rolling mechanism of present embodiment is simple, mainly by fixed part, torsional spring 320 and rotation section 330
It constitutes, manufacture is facilitated to process.
Further, fixed part is formed with fixing axle 311, and 320 sets of torsional spring outside fixing axle 311, are distinguished outside fixing axle 311
It is cased with the first axle sleeve 312 and the second axle sleeve 313, one end of the first axle sleeve 312 and torsional spring 320 is fixed, the second axle sleeve 313 and torsional spring
320 other end is fixed, and rotation section 330 is located on outside torsional spring 320 and fixes with the second axle sleeve 313, and fixed part includes fixation
Pin 314, fixed pin 314 are inserted into the first axle sleeve 312 and fixing axle 311, and fixed pin 314 is relatively solid for preventing the first axle sleeve 312
Dead axle 311 rotates.
When rotation section 330 rotates, rotation section 330 drives the rotation of the second axle sleeve 313, and the second axle sleeve 313 drives torsional spring again
320 rotations, torsional spring 320 are connected and fixed with the first axle sleeve 312, and the first axle sleeve 312 is solid by fixed pin 314 and fixing axle 311
It is fixed, it is achieved that the elastic rotation of torsional spring 320.
Only by the first axle sleeve 312, the second axle sleeve 313, torsional spring 320 and fixing axle 311 in present embodiment, realize
Rotation section 330 is rotated relative to fixed portion, and the first axle sleeve 312 passes through the letter of fixed pin 314 fixed form with fixing axle 311
Single, assembling is quick.
Preferably, the axial ends of fixing axle 311 opens up fluted 316, axial end portion of the groove 316 from fixing axle 311
Axially to 311 sunken inside of fixing axle, when installation, it is only necessary to consolidate the clamping mechanism two corresponding to beam body 200 of groove 316
It is fixed, just realize that the quick positioning to fixing axle 311 is fixed.
Further, the rotation section 330 forms sleeve member, and the outer surface of second axle sleeve 313 forms multi-diameter shaft knot
The shaft shoulder of structure, second axle sleeve 313 is moved for limiting the rotation section 330 along the fixing axle 311；Rotation section 330
Axial one end contacted with the shaft shoulder of the second axle sleeve 313.
The fixing axle 311 is detachably equipped with third axle sleeve 315, and the third axle sleeve 315 is adjacent to first axle sleeve
The shaft shoulder of 312 settings, the third axle sleeve 315 is moved for limiting the rotation section 330 along the fixing axle 311.Third
The shaft shoulder of axle sleeve 315 and another end in contact of axial direction of rotation section 330.
When carrying out the assembly of automatic rolling mechanism 300, first by the first axle sleeve 312, the second axle sleeve 313 and 320 sets of torsional spring
In fixing axle 311, and it is using fixed pin 314 that first axle sleeve 312 and fixing axle 311 is fixed, then by rotation section 330 from first
The rank for covering outside torsional spring 320 at axle sleeve 312 along the axial direction of fixing axle 311, and being formed using the outer surface of the second axle sleeve 313
Terraced axle construction contacts axial one end of rotation section 330 and the shaft shoulder of the second axle sleeve 313, to prevent rotation section 330 along solid
311 axial float of dead axle then removably covers third axle sleeve 315 at fixing axle 311, and make third axle sleeve 315
Another end in contact of axial direction of the shaft shoulder and rotation section 330, makes the shaft shoulder of third axle sleeve 315 prevent rotation section 330 along fixing axle
311 axial floats remove third axle sleeve 315, then will rotation to realize positioning to rotation section 330, and when needing to safeguard
Portion 330 removes, and realizes easy disassembly.
Further, automatic rolling mechanism 300 further includes mounting plate 340, mounting plate 340 and 400 length direction of flexible-belt
One end connection, mounting plate 340 is detachably connected with moving parts 100.
Mounting plate 340 realizes one end of flexible-belt 400 and the fast assembling-disassembling of moving parts 100.
Further, moving parts 100 forms pillar construction, and strip groove body 201 is opened in the bottom surface of beam body 200, moves
The top of dynamic component 100 is installed in strip groove body 201.
Further, the motion arm of the bottom of moving parts 100 and Medical Robot connect.
Further, beam body 200 forms beam structure, and strip groove body 201 is opened up along the length direction of beam body 200；
Or/also, beam body 200 can be moved with respect to Medical Robot.
It should be noted that beam body 200 can be moved with respect to Medical Robot, including beam body 200 is with respect to Medical Robot
Swing, overturning and movement.
In addition, " or/and " used herein is meant that:
Beam body 200 forms beam structure, and strip groove body 201 is opened up along the length direction of beam body 200, also, beam body
200 opposite Medical Robots can move；
Alternatively, beam body 200 forms beam structure, strip groove body 201 is opened up along the length direction of beam body 200；
Alternatively, beam body 200 can be moved with respect to Medical Robot.
Further, the artificial laparoscopic surgery robot of hospital machines.
It should be noted that " be detachably connected or be detachably fixed " for referring in present embodiment includes but is not limited to spiral shell
Line fastener and snap component.
In addition, present embodiment additionally provides a kind of Medical Robot, Medical Robot is equipped with aforementioned Medical Robot
Barrier structure.Since the Medical Robot is equipped with the barrier structure of aforementioned Medical Robot, achieve and aforementioned doctor
With the identical technical effect of the barrier structure of robot, so no longer illustrating herein.
Although the disclosure discloses as above, the protection scope of the disclosure is not limited only to this.Those skilled in the art are not
Under the premise of being detached from spirit and scope of the present disclosure, it can make various changes and modify, these changes will fall into this with modification
The protection scope of invention.
Claims (10)
1. a kind of barrier structure of Medical Robot, which is characterized in that the Medical Robot includes moving parts (100) and beam
Body (200), the beam body (200) offer strip groove body (201), and at least part of the moving parts (100) is placed in
In the strip groove body (201), the moving parts (100) can be mobile along the strip groove body (201)；
The barrier structure of the Medical Robot includes the Liang Ge automatic rolling mechanism being installed at the strip groove body (201)
(300), the moving parts (100) is placed between two automatic rolling mechanisms (300), the automatic rolling mechanism
(300) it is wound with flexible-belt (400), the flexible-belt (400) is for covering the strip groove body (201), the flexible-belt
(400) the automatic rolling mechanism (300) can be stretched out, the flexible-belt (400) and the moving parts (100) are fixed, institute
Automatic rolling mechanism (300) are stated for furling the flexible-belt (400).
2. the barrier structure of Medical Robot according to claim 1, which is characterized in that the automatic rolling mechanism
(300) include:
Fixed part is installed at the strip groove body (201)；
Torsional spring (320), connect with the fixed part；And
Rotation section (330), the flexible-belt (400) are wound in the rotation section (330), the rotation section (330) and the torsion
Spring (320) connection, the rotation section (330) are installed at the fixed part and can rotate relative to the fixed part.
3. the barrier structure of Medical Robot according to claim 2, which is characterized in that the fixed part is formed with fixation
Axis (311), the torsional spring (320) cover the fixing axle (311) outside, the fixing axle (311) is cased with the first axle sleeve respectively outside
(312) and the second axle sleeve (313), first axle sleeve (312) and one end of the torsional spring (320) are fixed, second axle sleeve
(313) other end with the torsional spring (320) is fixed, the rotation section (330) be located on the torsional spring (320) outside and with it is described
Second axle sleeve (313) is fixed, and the fixed part includes fixed pin (314), and the fixed pin (314) is inserted into first axle sleeve
(312) and the fixing axle (311).
4. the barrier structure of Medical Robot according to claim 3, which is characterized in that the rotation section (330) is formed
Sleeve member, the outer surface of second axle sleeve (313) form stepped shaft structure, and the shaft shoulder of second axle sleeve (313) is for limiting
It is mobile along the fixing axle (311) to make the rotation section (330)；
The fixing axle (311) is detachably equipped with third axle sleeve (315), the neighbouring first axle of the third axle sleeve (315)
(312) setting is covered, the shaft shoulder of the third axle sleeve (315) is for limiting the rotation section (330) along the fixing axle (311)
It is mobile.
5. the barrier structure of Medical Robot according to claim 1, which is characterized in that the automatic rolling mechanism
It (300) further include mounting plate (340), the mounting plate (340) connect with one end of the flexible-belt (400) length direction, institute
Mounting plate (340) is stated to be detachably connected with the moving parts (100).
6. the barrier structure of Medical Robot according to claim 1, which is characterized in that moving parts (100) shape
At pillar construction, the strip groove body (201) is opened in the bottom surface of the beam body (200), the top of the moving parts (100)
Portion is installed in the strip groove body (201).
7. the barrier structure of Medical Robot according to claim 6, which is characterized in that the moving parts (100)
Bottom is connect with the motion arm of the Medical Robot.
8. the barrier structure of Medical Robot according to claim 1, which is characterized in that the beam body (200) forms horizontal
Girder construction, the strip groove body (201) open up along the length direction of the beam body (200)；
Or/also, the relatively described Medical Robot of beam body (200) can move.
9. the barrier structure of Medical Robot according to any one of claim 1 to 8, which is characterized in that described medical
The artificial laparoscopic surgery robot of machine.
10. a kind of Medical Robot, which is characterized in that the Medical Robot is equipped with described in any one of claims 1 to 9
Medical Robot barrier structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910665787.6A CN110251236A (en) | 2019-07-23 | 2019-07-23 | A kind of Medical Robot being equipped with barrier structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910665787.6A CN110251236A (en) | 2019-07-23 | 2019-07-23 | A kind of Medical Robot being equipped with barrier structure |
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| CN110251236A true CN110251236A (en) | 2019-09-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2596647A (en) * | 2020-07-02 | 2022-01-05 | Prec Robotics Limited | A barrier |
| GB2596578A (en) * | 2020-07-02 | 2022-01-05 | Prec Robotics Limited | A barrier cartridge and a barrier assembly |
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| CN105473290A (en) * | 2013-09-09 | 2016-04-06 | 川崎重工业株式会社 | Robot |
| CN104437950A (en) * | 2014-12-23 | 2015-03-25 | 张洋 | Pull curtain type full-closed overflowing-free spray gun mouth for electrostatic powder spraying booth |
| CN205930577U (en) * | 2016-08-17 | 2017-02-08 | 上汽通用汽车有限公司 | Passenger car gearshift shelter from device |
| CN211131370U (en) * | 2019-07-23 | 2020-07-31 | 苏州康多机器人有限公司 | Shielding structure and medical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2596647A (en) * | 2020-07-02 | 2022-01-05 | Prec Robotics Limited | A barrier |
| GB2596578A (en) * | 2020-07-02 | 2022-01-05 | Prec Robotics Limited | A barrier cartridge and a barrier assembly |
| WO2022003328A1 (en) * | 2020-07-02 | 2022-01-06 | Precision Robotics Limited | A barrier cartridge and a barrier assembly |
| GB2596578B (en) * | 2020-07-02 | 2022-07-13 | Prec Robotics Limited | A barrier cartridge and a barrier assembly |
| GB2596647B (en) * | 2020-07-02 | 2023-03-01 | Prec Robotics Limited | A barrier |
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