CN113081278A - Orthopedics positioning robot base with shock-absorbing function - Google Patents
Orthopedics positioning robot base with shock-absorbing function Download PDFInfo
- Publication number
- CN113081278A CN113081278A CN202110374088.3A CN202110374088A CN113081278A CN 113081278 A CN113081278 A CN 113081278A CN 202110374088 A CN202110374088 A CN 202110374088A CN 113081278 A CN113081278 A CN 113081278A
- Authority
- CN
- China
- Prior art keywords
- negative pressure
- shock absorption
- fixedly connected
- robot base
- positioning robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of medical instruments, and particularly relates to an orthopedic positioning robot base with a shock absorption function, which comprises a supporting seat, wherein a plurality of driving wheels are arranged at the bottom end of the supporting seat, a plurality of adsorption components are arranged on the driving wheels, the adsorption components are connected with negative pressure mechanisms positioned in the driving wheels, a detection ring is fixedly connected to the outer side of each driving wheel, the detection ring is provided with a detection mechanism electrically connected with the adsorption components, a shock absorption cavity with an upward opening is arranged in the supporting seat, and a plurality of shock absorption mechanisms are arranged in the shock absorption cavity. The base can be well fixedly connected to the ground by the aid of the sucker, so that the phenomenon that the device inclines due to gravity center shift of the device caused by movement of the mechanical arm and the device shakes and shakes due to inclination of the device is avoided.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to an orthopedic positioning robot base with a shock absorption function.
Background
Orthopedic surgery robot system is by the arm host computer, optical tracking system, the master control platform truck constitutes, from bionics's angle form and appearance, optical tracking system is with regard to "the eye" like the robot, not only can see through the depths of skeleton, can also each operation link of real time monitoring, master control computer system is just equivalent to the brain of robot, the idea of conveying the doctor gives two above-mentioned equipment, help the doctor to carry out "route planning", can be with the accurate location of operation instrument to the operation position through orthopedic robot, need not see through repeatedly and confirm to advance the nail position, greatly reduce the intraoperative radiation number of times, the radiation injury that lets doctor and patient receive reduces to minimumly, patient infection risk has also been reduced simultaneously.
But in the use of orthopedics robot, often need support it through the base, but in reality will make the holistic focus of robot change when the robotic arm removes in the use of robot, the condition that the robot emptys appears easily in this in-process, present base does not possess shock-absorbing function usually simultaneously, so shake and the rocking that takes place easily appears shaking in the robotic arm use, but the deviation that appears the position when will leading to the robot to fix a position, lead to the condition such as positioning effect relatively poor to take place.
Therefore, the orthopedic positioning robot base with the shock absorption function is provided to solve the problems.
Disclosure of Invention
The invention aims to solve the problems and provides an orthopedic positioning robot base with a shock absorption function.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides an orthopedics positioning robot base with shock-absorbing function, includes the supporting seat, the supporting seat bottom is equipped with a plurality of drive wheels, be equipped with a plurality of adsorption components on the drive wheel, it is a plurality of adsorption components are connected with the negative pressure mechanism that is located the drive wheel inside, drive wheel outside fixedly connected with detects the ring, it is equipped with the detection mechanism with adsorption components electric connection to detect the ring, be equipped with the shock attenuation chamber that makes progress the opening setting in the supporting seat, be equipped with a plurality of damper in the shock attenuation chamber, the damper top is equipped with connects the casing, it is equipped with a plurality of coupling spring to connect between casing bottom and the supporting seat roof.
In foretell orthopedics positioning robot base with shock-absorbing function, the adsorption component comprises sucking disc and negative pressure pipe, sucking disc fixed connection is on the drive wheel, just one side that the sucking disc is close to the drive wheel sets up with negative pressure pipe intercommunication, negative pressure pipe fixed connection is inside the drive wheel, the intraductal solenoid valve that is equipped with of negative pressure.
In foretell orthopedics positioning robot base with shock-absorbing function, negative pressure mechanism comprises intercommunication passageway, negative pressure pump and connecting pipe, negative pressure pump fixed connection is on the supporting seat, negative pressure pump and connecting pipe intercommunication set up, connecting pipe fixed connection is on the supporting seat, the intercommunication passageway sets up inside the drive wheel and communicates the setting with a plurality of negative pressure pipes, the connecting pipe rotates with the drive wheel to be connected and communicates the setting with the intercommunication passageway.
In foretell orthopedics positioning robot base with shock-absorbing function, detection mechanism comprises detection chamber, contact pair, power and conducting liquid, it just sets up inside detecting the ring for annular chamber column structure and setting to detect the chamber, the contact pair comprises two contacts, and two the contact sets up respectively on detecting the double-phase lateral wall that sets up relatively in chamber, contact pair quantity equals with negative pressure pipe quantity and sets up, and is a plurality of the contact pair is with a plurality of solenoid valve electric connection one by one, the conducting liquid sets up and is detecting intracavity portion, the power provides the functional energy for the contact pair.
In foretell orthopedics positioning robot base with shock-absorbing function, the conducting solution is the mercury material, and is a plurality of contact is inside detecting the chamber to evenly distributed.
In foretell orthopedics positioning robot base with shock-absorbing function, damper comprises connecting rod, elastic metal piece and energy-absorbing module, elastic metal piece bottom and shock attenuation chamber bottom end fixed connection, elastic metal piece top and connecting rod fixed connection, the connecting rod top with be connected casing bottom fixed connection, the energy-absorbing module is equipped with a plurality ofly and sets up on the connecting rod.
In foretell orthopedics positioning robot base with shock-absorbing function, the energy-absorbing module comprises vibrations pole and vibrations ball, vibrations pole one end and connecting rod fixed connection, the vibrations pole other end and vibrations ball fixed connection.
The invention has the beneficial effects that: when the base needs to remove, rotate the removal that the drive wheel realized the device simultaneously, and after the drive wheel rotated to suitable position, detection mechanism would make the sucking disc work that is located the bottommost and adsorb subaerial, and then when guaranteeing that the arm removes wantonly, the fixed connection that the base homoenergetic is fine is subaerial, and then avoids the device slope that leads to because the device focus skew that the removal of arm leads to, and then because the device slope leads to the device to rock, the circumstances such as vibrations take place.
When the device shakes, slight relative movement will take place between the connecting shell in the device and the supporting seat this moment, and this in-process connecting spring and elastic metal piece will constantly take place the energy that deformation absorbed the vibrations, and the device will transfer the connecting rod constantly to shake simultaneously, will drive vibrations ball vibrations through the vibrations pole during the connecting rod vibrations, and then realize absorbing function through the energy that the vibrations ball constantly absorbed the vibrations.
Drawings
FIG. 1 is a schematic view of the overall structure of an orthopedic positioning robot base with a shock absorption function provided by the invention;
FIG. 2 is a schematic cross-sectional view of a driving wheel in a base of an orthopedic positioning robot with a shock absorption function according to the present invention;
FIG. 3 is a schematic side view of a driving wheel in a base of an orthopedic positioning robot with a shock absorption function according to the present invention;
FIG. 4 is a schematic structural view of a circumferential section of a detection ring in an orthopedic positioning robot base with a shock absorption function, provided by the invention;
fig. 5 is a schematic structural view of a radial section of a detection ring in an orthopedic positioning robot base with a shock absorption function.
In the figure: the device comprises a support seat 1, a damping cavity 11, a driving wheel 2, an adsorption component 3, a suction cup 31, a negative pressure pipe 32, an electromagnetic valve 33, a negative pressure mechanism 4, a communication channel 41, a negative pressure pump 42, a connecting pipe 43, a detection ring 5, a detection mechanism 6, a detection cavity 61, a contact pair 62, a contact 621, a power supply 63, a conductive liquid 64, a damping mechanism 7, a connecting rod 71, an elastic metal sheet 72, an energy absorption module 73, a vibration rod 731, a vibration ball 732, a connecting shell 8 and a connecting spring 9.
Detailed Description
The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.
As shown in fig. 1-5, an orthopedic positioning robot base with shock absorption function comprises a supporting base 1, a plurality of driving wheels 2 are arranged at the bottom end of the supporting base 1, and a driving mechanism for driving the driving wheels 2 to rotate is arranged in the supporting base 1, which is a technology disclosed in the art and will not be described in detail herein.
Be equipped with a plurality of absorption subassemblies 3 on drive wheel 2, a plurality of absorption subassemblies 3 evenly distributed are on drive wheel 2, and absorption subassembly 3 comprises sucking disc 31 and negative pressure pipe 32, and sucking disc 31 fixed connection is on drive wheel 2, and one side that sucking disc 31 is close to drive wheel 2 sets up with negative pressure pipe 32 intercommunication, and negative pressure pipe 32 fixed connection is inside drive wheel 2, is equipped with solenoid valve 33 in the negative pressure pipe 32, through solenoid valve 33 control negative pressure pipe 32's intercommunication and closing.
Inside negative pressure pipe 32 will be so that negative pressure produces in the sucking disc 31 through the negative pressure, when sucking disc 31 and ground contact, sucking disc 31 this moment will be through the negative pressure absorption subaerial, and then realize the fixed of device through the fixing between sucking disc 31 and the ground, and then when the device received external force striking or device center skew, the device base homoenergetic is fine fixed subaerial and can not take place the condition emergence such as skew, and then avoid the device slope that leads to because the device focus skew that the removal of arm leads to, and then because the device slope leads to the device to rock, the condition such as vibrations takes place.
A plurality of absorption components 3 are connected with negative pressure mechanism 4 that is located drive wheel 2 inside, make the inside negative pressure that produces of absorption components 3 through negative pressure mechanism 4, negative pressure mechanism 4 is by intercommunication passageway 41, negative pressure pump 42 and connecting pipe 43 are constituteed, negative pressure pump 42 fixed connection is on supporting seat 1, negative pressure pump 42 and connecting pipe 43 intercommunication set up, connecting pipe 43 fixed connection is on supporting seat 1, intercommunication passageway 41 sets up inside drive wheel 2 and communicates the setting with a plurality of negative pressure pipes 32, connecting pipe 43 rotates with drive wheel 2 to be connected and communicates the setting with intercommunication passageway 41.
The negative pressure pump 42 generates negative pressure inside the connection pipe 43, and then the connection pipe 43 generates negative pressure inside the communication passage 41, thereby providing negative pressure to the negative pressure pipe 32.
The outer side of the driving wheel 2 is fixedly connected with a detection ring 5, the detection ring 5 is provided with a detection mechanism 6 electrically connected with the adsorption component 3, and the detection mechanism 6 consists of a detection cavity 61, a contact pair 62, a power supply 63 and a conductive liquid 64.
The detection cavity 61 is an annular cavity-shaped structure and is arranged inside the detection ring 5, the contact pair 62 is composed of two contacts 621, the two contacts 621 are respectively arranged on two oppositely arranged side walls of the detection cavity 61, and the number of the contact pairs 62 is equal to that of the negative pressure tubes 32.
And the plurality of contact pairs 62 are electrically connected with the plurality of electromagnetic valves 33 one by one, when two contacts 621 in the contact pairs 62 are in a conducting state, the contact pairs 62 at this time enable the electromagnetic valves 33 electrically connected with the contact pairs to be in an open state, and further enable the negative pressure tube 32 to be in a conducting state through the electromagnetic valves 33, while the electromagnetic valves 33 are in a closed state in a normal state, and the power supply 63 provides functional energy for the contact pairs 62.
The conductive liquid 64 is arranged in the detection cavity 61, the conductive liquid 64 is made of mercury, the contact pairs 62 are conducted through the conductive liquid 64, and the contact pairs 62 are uniformly distributed in the detection cavity 61.
In a normal state, when one of the suction cups 31 contacts the ground, the conductive liquid 64 will make the contact pair 62 at the lowest end in a conductive state, and the other contact pairs 62 will still be in a non-conductive state.
This contact pair 62 that switches on will make the solenoid valve 33 in the negative pressure pipe 32 that communicates with the sucking disc 31 of ground contact be in the state of opening, and then realize that this negative pressure pipe 32 will be in the state of switching on, and then ensure the inside state that will be in the negative pressure of sucking disc 31 with ground contact, and then ensure that sucking disc 31 will be tightly adsorbed subaerial, realize fixed to the base.
Be equipped with the shock attenuation chamber 11 that the opening that makes progress set up in the supporting seat 1, be equipped with a plurality of damper 7 in the shock attenuation chamber 11, damper 7 top is equipped with connecting shell 8, and the robot main part sets up on connecting shell 8 top.
The damper mechanism 7 is composed of a connecting rod 71, an elastic metal sheet 72, and an energy absorbing module 73.
The bottom end of the elastic metal sheet 72 is fixedly connected with the bottom end of the damping cavity 11, the top end of the elastic metal sheet 72 is fixedly connected with the connecting rod 71, the top end of the connecting rod 71 is fixedly connected with the bottom end of the connecting shell 8, and the energy absorption modules 73 are provided with a plurality of connecting rods 71.
The energy absorption module 73 is composed of a vibration rod 731 and a vibration ball 732, one end of the vibration rod 731 is fixedly connected with the connecting rod 71, and the other end of the vibration rod 731 is fixedly connected with the vibration ball 732.
When the device shakes, the device at this moment is connected and slight relative displacement will take place between casing 8 and supporting seat 1, and then ensure that connecting rod 71 at this moment will make elastic metal piece 72 constantly take place deformation, and then realize absorbing device's vibrations energy through elastic metal piece 72's deformation, and then realize playing absorbing effect, shake ball 732 and vibrations pole 731 will absorb the vibrations energy simultaneously and make self vibrations, and then realize further playing absorbing effect.
Be equipped with a plurality of coupling spring 9 between 8 bottoms of connecting casing and the top wall of supporting seat 1, can further reduce the relative vibrations between connecting casing 8 and supporting seat 1 and absorb the vibrations energy through the deformation of self through coupling spring 9.
The operating principle of the present invention will now be described as follows:
when the robot needs to work, the negative pressure pump 42 is controlled to start working at this moment, the control power supply 63 is in a conducting state, the conducting liquid 64 at this moment enables the contact pair 62 at the lowest end to be in a conducting state, the rest contact pairs 62 are still in a non-conducting state, the conducting contact pair 62 enables the electromagnetic valve 33 in the negative pressure pipe 32 communicated with the suction cup 31 in contact with the ground to be in an open state, the negative pressure pipe 32 is further enabled to be in a conducting state, the interior of the suction cup 31 in contact with the ground is further enabled to be in a negative pressure state, the suction cup 31 is further enabled to be tightly adsorbed on the ground, the base is fixed, the situation that the gravity center of the device deviates due to the movement of the mechanical arm and the device inclines, and the device shakes and vibrates due to the device inclining is avoided.
Meanwhile, when the device vibrates, at the moment, due to the fact that the connecting shell 8 is not fixedly connected with the supporting seat 1, the connecting shell 8 and the supporting seat 1 can achieve transmission of vibration energy through the connecting rod 71 and the connecting spring 9 and other structures, at the moment, the connecting spring 9 can continuously deform to absorb the vibration energy to achieve weakening of the vibration energy, and then the damping effect is achieved.
Meanwhile, when energy is transmitted on the connecting rod 71, the connecting rod 71 enables the elastic metal sheet 72 to deform to absorb the vibration energy of the device, and further the effect of shock absorption is achieved; meanwhile, when the vibration energy is transmitted to the vibration rod 731 and the vibration ball 732, the vibration rod 731 and the vibration ball 732 will vibrate, so that the vibration energy is further weakened, and the vibration absorption effect is further realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. An orthopedic positioning robot base with a shock absorption function comprises a supporting seat (1), it is characterized in that the bottom end of the supporting seat (1) is provided with a plurality of driving wheels (2), a plurality of adsorption components (3) are arranged on the driving wheel (2), the adsorption components (3) are connected with a negative pressure mechanism (4) positioned in the driving wheel (2), a detection ring (5) is fixedly connected with the outer side of the driving wheel (2), the detection ring (5) is provided with a detection mechanism (6) which is electrically connected with the adsorption component (3), a damping cavity (11) which is provided with an upward opening is arranged in the supporting seat (1), a plurality of damping mechanisms (7) are arranged in the damping cavity (11), the top ends of the damping mechanisms (7) are provided with connecting shells (8), a plurality of connecting springs (9) are arranged between the bottom end of the connecting shell (8) and the top wall of the supporting seat (1).
2. The orthopedic positioning robot base with the shock absorption function according to claim 1, characterized in that the adsorption component (3) is composed of a suction cup (31) and a negative pressure pipe (32), the suction cup (31) is fixedly connected to the driving wheel (2), one side of the suction cup (31) close to the driving wheel (2) is communicated with the negative pressure pipe (32), the negative pressure pipe (32) is fixedly connected to the inside of the driving wheel (2), and an electromagnetic valve (33) is arranged in the negative pressure pipe (32).
3. The orthopedic positioning robot base with shock absorption function according to claim 2, characterized in that the negative pressure mechanism (4) is composed of a communication channel (41), a negative pressure pump (42) and a connecting pipe (43), the negative pressure pump (42) is fixedly connected to the support base (1), the negative pressure pump (42) is communicated with the connecting pipe (43), the connecting pipe (43) is fixedly connected to the support base (1), the communication channel (41) is arranged inside the driving wheel (2) and is communicated with the negative pressure pipes (32), and the connecting pipe (43) is rotatably connected with the driving wheel (2) and is communicated with the communication channel (41).
4. The orthopedic positioning robot base with the shock absorption function according to claim 3, wherein the detection mechanism (6) is composed of a detection cavity (61), two contact pairs (62), a power supply (63) and a conductive liquid (64), the detection cavity (61) is an annular cavity-shaped structure and is arranged inside the detection ring (5), the contact pairs (62) are composed of two contacts (621), the two contacts (621) are respectively arranged on two oppositely arranged side walls of the detection cavity (61), the number of the contact pairs (62) is equal to that of the negative pressure tubes (32), the number of the contact pairs (62) is multiple, the electromagnetic valves (33) are electrically connected one by one, the conductive liquid (64) is arranged inside the detection cavity (61), and the power supply (63) provides a functional energy source for the contact pairs (62).
5. The orthopaedic positioning robot base with shock absorption function according to claim 4, characterized in that said conductive liquid (64) is made of mercury, and a plurality of said contact pairs (62) are uniformly distributed inside the detection chamber (61).
6. The orthopedic positioning robot base with the shock absorption function according to claim 1, wherein the shock absorption mechanism (7) is composed of a connecting rod (71), an elastic metal sheet (72) and an energy absorption module (73), the bottom end of the elastic metal sheet (72) is fixedly connected with the bottom end of the shock absorption cavity (11), the top end of the elastic metal sheet (72) is fixedly connected with the connecting rod (71), the top end of the connecting rod (71) is fixedly connected with the bottom end of the connecting shell (8), and the energy absorption module (73) is provided in plurality and is arranged on the connecting rod (71).
7. The orthopedic positioning robot base with shock absorption function according to claim 6, characterized in that the energy absorption module (73) is composed of a vibration rod (731) and a vibration ball (732), one end of the vibration rod (731) is fixedly connected with the connecting rod (71), and the other end of the vibration rod (731) is fixedly connected with the vibration ball (732).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110374088.3A CN113081278B (en) | 2021-04-07 | 2021-04-07 | Orthopedics positioning robot base with shock-absorbing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110374088.3A CN113081278B (en) | 2021-04-07 | 2021-04-07 | Orthopedics positioning robot base with shock-absorbing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113081278A true CN113081278A (en) | 2021-07-09 |
| CN113081278B CN113081278B (en) | 2022-11-22 |
Family
ID=76674752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110374088.3A Active CN113081278B (en) | 2021-04-07 | 2021-04-07 | Orthopedics positioning robot base with shock-absorbing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113081278B (en) |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2386527Y (en) * | 1999-06-25 | 2000-07-05 | 吕宗翰 | Tilt swtich |
| CN1511650A (en) * | 2002-12-30 | 2004-07-14 | 李京岐 | Multifunctional cleaning device for building surface |
| CN201174353Y (en) * | 2008-04-04 | 2008-12-31 | 刘建 | Swinging type trigger |
| CN105422829A (en) * | 2015-11-02 | 2016-03-23 | 重庆御捷汽车部件有限公司 | Automobile gear shifting device with shock absorption inhaul cables and automatic anti-backlash bearing |
| CN108180322A (en) * | 2017-11-17 | 2018-06-19 | 江苏壹鼎崮机电科技有限公司 | A kind of locking suspension and support for tube body installation |
| CN207843346U (en) * | 2018-02-08 | 2018-09-11 | 陕西能源职业技术学院 | A kind of unmanned plane shooting shock bracket |
| CN109091081A (en) * | 2018-09-11 | 2018-12-28 | 广东宏穗晶科技服务有限公司 | A kind of sweeping robot |
| CN109346811A (en) * | 2018-10-26 | 2019-02-15 | 佛山市欧电器制造厂有限公司 | A kind of combined type coupler |
| JP6476379B1 (en) * | 2017-10-06 | 2019-03-06 | 捷雄 佐藤 | Seismic control, seismic isolation control device and components |
| CN209945524U (en) * | 2019-04-13 | 2020-01-14 | 山东建成建设机械有限公司 | Weighing and metering device for hopper |
| US20200139450A1 (en) * | 2018-11-05 | 2020-05-07 | Zhejiang Sanou Machinery Co. Ltd. | Hand-tight drill chuck with lock |
| CN111281547A (en) * | 2020-04-16 | 2020-06-16 | 河南省洛阳正骨医院（河南省骨科医院） | Orthopedics positioning robot base with shock-absorbing function |
| CN211030367U (en) * | 2019-10-11 | 2020-07-17 | 丹阳市绮树木业有限公司 | Lockhole and hinge hole tapping device with positioning function |
| CN111504396A (en) * | 2020-03-21 | 2020-08-07 | 江苏中仪仪表集团有限公司 | Temperature and pressure compensation vortex shedding flowmeter |
| CN211193565U (en) * | 2019-10-24 | 2020-08-07 | 新昌县华发机械股份有限公司 | Clamping device for hardware machining |
| CN111839740A (en) * | 2020-07-07 | 2020-10-30 | 天津大学 | Master-slave isomorphic teleoperation force feedback master hand of minimally invasive surgery robot |
| CN211947926U (en) * | 2020-03-19 | 2020-11-17 | 李锋 | Anti-seismic device for highway bridge |
| CN212223585U (en) * | 2020-04-17 | 2020-12-25 | 宁夏正道机械工程有限公司 | Bridge damping device between pier and bridge |
-
2021
- 2021-04-07 CN CN202110374088.3A patent/CN113081278B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2386527Y (en) * | 1999-06-25 | 2000-07-05 | 吕宗翰 | Tilt swtich |
| CN1511650A (en) * | 2002-12-30 | 2004-07-14 | 李京岐 | Multifunctional cleaning device for building surface |
| CN201174353Y (en) * | 2008-04-04 | 2008-12-31 | 刘建 | Swinging type trigger |
| CN105422829A (en) * | 2015-11-02 | 2016-03-23 | 重庆御捷汽车部件有限公司 | Automobile gear shifting device with shock absorption inhaul cables and automatic anti-backlash bearing |
| JP6476379B1 (en) * | 2017-10-06 | 2019-03-06 | 捷雄 佐藤 | Seismic control, seismic isolation control device and components |
| CN108180322A (en) * | 2017-11-17 | 2018-06-19 | 江苏壹鼎崮机电科技有限公司 | A kind of locking suspension and support for tube body installation |
| CN207843346U (en) * | 2018-02-08 | 2018-09-11 | 陕西能源职业技术学院 | A kind of unmanned plane shooting shock bracket |
| CN109091081A (en) * | 2018-09-11 | 2018-12-28 | 广东宏穗晶科技服务有限公司 | A kind of sweeping robot |
| CN109346811A (en) * | 2018-10-26 | 2019-02-15 | 佛山市欧电器制造厂有限公司 | A kind of combined type coupler |
| US20200139450A1 (en) * | 2018-11-05 | 2020-05-07 | Zhejiang Sanou Machinery Co. Ltd. | Hand-tight drill chuck with lock |
| CN209945524U (en) * | 2019-04-13 | 2020-01-14 | 山东建成建设机械有限公司 | Weighing and metering device for hopper |
| CN211030367U (en) * | 2019-10-11 | 2020-07-17 | 丹阳市绮树木业有限公司 | Lockhole and hinge hole tapping device with positioning function |
| CN211193565U (en) * | 2019-10-24 | 2020-08-07 | 新昌县华发机械股份有限公司 | Clamping device for hardware machining |
| CN211947926U (en) * | 2020-03-19 | 2020-11-17 | 李锋 | Anti-seismic device for highway bridge |
| CN111504396A (en) * | 2020-03-21 | 2020-08-07 | 江苏中仪仪表集团有限公司 | Temperature and pressure compensation vortex shedding flowmeter |
| CN111281547A (en) * | 2020-04-16 | 2020-06-16 | 河南省洛阳正骨医院（河南省骨科医院） | Orthopedics positioning robot base with shock-absorbing function |
| CN212223585U (en) * | 2020-04-17 | 2020-12-25 | 宁夏正道机械工程有限公司 | Bridge damping device between pier and bridge |
| CN111839740A (en) * | 2020-07-07 | 2020-10-30 | 天津大学 | Master-slave isomorphic teleoperation force feedback master hand of minimally invasive surgery robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113081278B (en) | 2022-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113081278B (en) | Orthopedics positioning robot base with shock-absorbing function | |
| CN208881964U (en) | Robot chassis and robot | |
| CN103909991A (en) | Bionic obstacle-crossing wall climbing robot and obstacle crossing method thereof | |
| CN109080733A (en) | Robot chassis and robot | |
| CN205968998U (en) | Low limbs helping hand ectoskeleton robot | |
| CN107457797A (en) | Porous twolayer fluid adaptive robot arm device | |
| CN102758994B (en) | Dynamic hip joint prosthesis | |
| CN103303388A (en) | Omni directional and self-adaptation elastic foot of four-footed robot | |
| CN107450251A (en) | A kind of spring system and the camera lens anti-shake apparatus using the spring system | |
| CN108635178A (en) | A kind of medical rehabilitation auxiliary device | |
| CN116139416A (en) | Mobilizable back laser physiotherapy robot | |
| CN111038896A (en) | Manipulator and intelligent medicine taking device with sucker structure | |
| JPH06263068A (en) | Moving device on wall | |
| CN211562755U (en) | Test tube oscillation equipment for hospital clinical laboratory | |
| CN108818589A (en) | A kind of folding flexible robot | |
| CN115443987A (en) | Cell transport case based on stabilizer | |
| CN209430657U (en) | A kind of damping device of Architectural Equipment | |
| CN212810060U (en) | Level formula antidetonation power capacitor | |
| CN101601597B (en) | Lens-free electromagnetic shock wave generating device | |
| US11311373B2 (en) | Ophthalmic system including accommodating intraocular lens and remote component and related methods of use | |
| CN215831523U (en) | Medical ultrasonic equipment fixing frame | |
| CN113558788B (en) | Micro-vibration operation module for ophthalmic surgery | |
| CN219148357U (en) | Wrist joint rehabilitation device | |
| CN211314950U (en) | Electromechanical device damping device | |
| CN212900406U (en) | Tumor tissue check out test set's fixed knot constructs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |