CN204414105U - A kind of medical bone surgery auxiliary manipulator - Google Patents

A kind of medical bone surgery auxiliary manipulator Download PDF

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Publication number
CN204414105U
CN204414105U CN201520090184.5U CN201520090184U CN204414105U CN 204414105 U CN204414105 U CN 204414105U CN 201520090184 U CN201520090184 U CN 201520090184U CN 204414105 U CN204414105 U CN 204414105U
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China
Prior art keywords
steering wheel
arm
force
knot
slip
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Expired - Fee Related
Application number
CN201520090184.5U
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Chinese (zh)
Inventor
郭启
曹宇晈
赵伟
马蒲阳
张洪利
王浩
宋海红
刘亚宁
商媛媛
田强
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郭启
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Priority to CN201520090184.5U priority Critical patent/CN204414105U/en
Application granted granted Critical
Publication of CN204414105U publication Critical patent/CN204414105U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a kind of medical bone surgery auxiliary manipulator.Chassis steering wheel is provided with, under rotating disk is fixed in chassis steering wheel rotating shaft in described triangle base; Be hinged by left arm of force steering wheel, right arm of force steering wheel between described rotating disk and the arm of force; The described arm of force other end is articulated with on linking arm by linking arm steering wheel; The linking arm other end is articulated with on slip-knot by slip-knot steering wheel; The slip-knot other end is articulated with on a pair rack by clamping steering wheel; Described rack and grip block are hinged, and going back drawknot between rack and grip block has connecting rod.The utility model have employed the linking of multiple steering wheel, makes to be free to freely rotating of 6 angle 3 D stereos in whole equipment; In surgical process, each work in bone surgery that assisted a physician that can be light; Again, the material that equipment have employed full lightness is made, and is convenient to carry in operation, install.

Description

A kind of medical bone surgery auxiliary manipulator
Technical field
The utility model relates to a kind of medical bone surgery auxiliary manipulator.
Background technology
Manipulator can imitate some holding function of staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Manipulator is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In life now, Science and Technology Day crescent benefit progress under, robot with have the maximum difference of the arm of the mankind to be just flexibility ratio and resistance to dynamics.Namely the sharpest edges of manipulator are recursive does same action and could not feel tired under normal circumstances forever at machinery! The application of mechanical arm also will be more and more extensive, and manipulator is a kind of high-tech automatic producing device grown up nearly decades, the ability fulfiled assignment in the accuracy of operation and environment.An important branch of industry mechanical arm robot.Kind can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical type by type of drive.Feature have been carried out the operation of various expection, and structure and performance have people and robotics advantage separately concurrently.Manipulator is primarily of executing agency, driving mechanism and control system three parts composition.Hand is used to the parts grasping workpiece (or instrument), has various structures form according to by grasping the shape of object, size, weight, material and job requirements, as clamp-type, holding type and absorbent-type etc.Motion, makes that hand completes various rotation (swing), mobile or compound motion realizes the action that specifies, change and grasped the position of object and posture.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.In order to capture the object in optional position and orientation in space, 6 frees degree need be had.The free degree is the key parameter of manipulator design.The free degree is more, and the flexibility of manipulator is larger, and versatility is wider, and its structure is also more complicated.General special manipulator has 2 ~ 3 frees degree.Control system is the control by the motor to each free degree of manipulator, has carried out specific action.Receiving sensor feedack, forms stable closed-loop control simultaneously.The core of control system is normally made up of, by wanting function to its programming realization the microcontroller such as single-chip microcomputer or dsp chip.
Summary of the invention
The purpose of this utility model is to provide a kind of medical bone surgery auxiliary manipulator.
The utility model solve its above-mentioned technical problem adopt following technical scheme: a kind of medical bone surgery auxiliary manipulator, its major constituents has: triangle base, rotating disk, chassis steering wheel, left arm of force steering wheel, right arm of force steering wheel, the arm of force, linking arm steering wheel, linking arm, slip-knot steering wheel, slip-knot, rack, connecting rod, grip block, clamping steering wheel, chassis steering wheel is provided with, under rotating disk is fixed in chassis steering wheel rotating shaft in described triangle base; Be hinged by left arm of force steering wheel, right arm of force steering wheel between described rotating disk and the arm of force; The described arm of force other end is articulated with on linking arm by linking arm steering wheel; The linking arm other end is articulated with on slip-knot by slip-knot steering wheel; The slip-knot other end is articulated with on a pair rack by clamping steering wheel;
Described rack and grip block are hinged, and going back drawknot between rack and grip block has connecting rod.
Above-mentioned triangle base can be fixed on operation table frame.
The beneficial effects of the utility model: the linking that have employed multiple steering wheel, make to be free to freely rotating of 6 angle 3 D stereos in whole equipment; In surgical process, each work in bone surgery that assisted a physician that can be light; Again, the material that equipment have employed full lightness is made, and is convenient to carry in operation, install.
Accompanying drawing explanation
Fig. 1 is a kind of medical bone surgery auxiliary manipulator overall structure schematic diagram of the utility model.
Fig. 2 is a kind of medical bone surgery auxiliary manipulator flexible rotating part-structure schematic diagram of the utility model.
1-triangle base in figure, 2-rotating disk, 3-chassis steering wheel, the left arm of force steering wheel of 4-, the right arm of force steering wheel of 5-, the 6-arm of force,
7-linking arm steering wheel, 8-linking arm, 9-slip-knot steering wheel, 10-slip-knot, 11-rack, 12-connecting rod, 13-grip block, 14-clamps steering wheel.
Detailed description of the invention
Below in conjunction with accompanying drawing 1-2, detailed description of the invention of the present utility model is made a detailed explanation.
Embodiment: a kind of medical bone surgery auxiliary manipulator, its major constituents has: triangle base 1, rotating disk 2, chassis steering wheel 3, left arm of force steering wheel 4, right arm of force steering wheel 5, the arm of force 6, linking arm steering wheel 7, linking arm 8, slip-knot steering wheel 9, slip-knot 10, rack 11, connecting rod 12, grip block 13, clamping steering wheel 14, be provided with chassis steering wheel 3 in described triangle base 1, chassis steering wheel 3 rotating shaft is fixed on rotating disk 2 times; Be hinged by left arm of force steering wheel 4, right arm of force steering wheel 5 between described rotating disk 2 and the arm of force 6; The described arm of force 6 other end is articulated with on linking arm 8 by linking arm steering wheel 7; Linking arm 8 other end is articulated with on slip-knot 10 by slip-knot steering wheel 9; Slip-knot 10 other end is articulated with on a pair rack 11 by clamping steering wheel 14;
Described rack 11 is hinged with grip block 13, and going back drawknot between rack 11 and grip block 13 has connecting rod 12.
Described triangle base 1 can be fixed on operation table frame.
The utility model for orthopaedics mobile phone platform assist a physician operation and design, have employed the pattern of 6 steering wheel assistance work in whole design, achieve the motion of a whole set of all directions.In the course of the work, this manipulator can reach all angles and move accurately, makes in bone surgery, needs the operation of strength for some, can be done by manipulator completely.

Claims (2)

1. a medical bone surgery auxiliary manipulator, its major constituents has: triangle base (1), rotating disk (2), chassis steering wheel (3), left arm of force steering wheel (4), right arm of force steering wheel (5), the arm of force (6), linking arm steering wheel (7), linking arm (8), slip-knot steering wheel (9), slip-knot (10), rack (11), connecting rod (12), grip block (13), clamping steering wheel (14), it is characterized in that: in triangle base (1), be provided with chassis steering wheel (3), under rotating disk (2) is fixed in chassis steering wheel (3) rotating shaft; Be hinged by left arm of force steering wheel (4), right arm of force steering wheel (5) between described rotating disk (2) and the arm of force (6); The described arm of force (6) other end is articulated with on linking arm (8) by linking arm steering wheel (7); Linking arm (8) other end is articulated with on slip-knot (10) by slip-knot steering wheel (9); Slip-knot (10) other end is articulated with on a pair rack (11) by clamping steering wheel (14);
Described rack (11) and grip block (13) are hinged, and going back drawknot between rack (11) and grip block (13) has connecting rod (12).
2. the medical bone surgery auxiliary manipulator of one according to claim 1, is characterized in that described triangle base (1) can be fixed on operation table frame.
CN201520090184.5U 2015-02-09 2015-02-09 A kind of medical bone surgery auxiliary manipulator Expired - Fee Related CN204414105U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520090184.5U CN204414105U (en) 2015-02-09 2015-02-09 A kind of medical bone surgery auxiliary manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520090184.5U CN204414105U (en) 2015-02-09 2015-02-09 A kind of medical bone surgery auxiliary manipulator

Publications (1)

Publication Number Publication Date
CN204414105U true CN204414105U (en) 2015-06-24

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Family Applications (1)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364925A (en) * 2015-11-25 2016-03-02 长春理工大学 Servo driving-based high-voltage electricity transmission line patrol and operation robot arm
CN105415361A (en) * 2015-12-04 2016-03-23 上海交通大学 Clamping force and clamping speed online controllable robot gripper
CN105500358A (en) * 2016-02-18 2016-04-20 温岭市太平高级职业中学 Full-automatic six-degree-of-freedom thread burning machine
CN106313066A (en) * 2016-09-14 2017-01-11 华南理工大学 Multi-purpose mechanical arm device based on plane quadrilateral mechanism
CN106553200A (en) * 2016-11-30 2017-04-05 厦门理工学院 A kind of infant treatment type mechanical hand
CN110695957A (en) * 2019-10-25 2020-01-17 郑州大学 Household old-age-assisting robot and using method thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364925A (en) * 2015-11-25 2016-03-02 长春理工大学 Servo driving-based high-voltage electricity transmission line patrol and operation robot arm
CN105415361A (en) * 2015-12-04 2016-03-23 上海交通大学 Clamping force and clamping speed online controllable robot gripper
CN105500358A (en) * 2016-02-18 2016-04-20 温岭市太平高级职业中学 Full-automatic six-degree-of-freedom thread burning machine
CN106313066A (en) * 2016-09-14 2017-01-11 华南理工大学 Multi-purpose mechanical arm device based on plane quadrilateral mechanism
CN106553200A (en) * 2016-11-30 2017-04-05 厦门理工学院 A kind of infant treatment type mechanical hand
CN110695957A (en) * 2019-10-25 2020-01-17 郑州大学 Household old-age-assisting robot and using method thereof

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150624

Termination date: 20160209