CN204640225U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN204640225U CN204640225U CN201520162072.6U CN201520162072U CN204640225U CN 204640225 U CN204640225 U CN 204640225U CN 201520162072 U CN201520162072 U CN 201520162072U CN 204640225 U CN204640225 U CN 204640225U
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- Prior art keywords
- knuckle
- manipulator
- drive motors
- artificial bone
- rotary cylinder
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Abstract
The utility model relates to a kind of manipulator, because have the mechanical finger comprising first knuckle and second knuckle, second knuckle can rotate relative to first knuckle, comprise the mechanical palm with multiple first knuckle first knuckle drive motors one to one, first knuckle drive motors rotates for driving corresponding first knuckle, by the rotation of first knuckle and second knuckle, artificial bone is firmly clamped, and one end of second knuckle is provided with pressure sensor, can avoid being split by folder because dynamics is excessive in the clamping process of artificial bone, further, rotary cylinder can the rotation of 360 degree, driving mechanical palm, push-rod electric machine can move forward and backward by driving mechanical palm, thus make manipulator that artificial bone can be made to install on cutting equipment, advance, step up, cutting and the motion such as to return, manipulator of the present utility model achieves the requirement of implanted medical device manufacturing practices, solve manual unsafe factor, and it is cheap.
Description
Technical field
The utility model belongs to medical instruments field, is specifically related to a kind of manipulator for clamping artificial bone.
Background technology
Bone cutting equipment is the important apparatus preparing bone implant material, all has a wide range of applications in many fields such as medical treatment, scientific research, industrial production.Existing bone cutting equipment is all clamp artificial bone by hand, but when manual clamping is cut bone block, its accuracy and security are difficult to ensure.Especially for bone block in irregular shape, needing can the intelligent fixture of clamping shape irregular bone material, with the pick-up rate of the security performance and material that improve operation.Manipulator is one of key technology of bone cutting equipment research, clamping fastener is played a part in cutting equipment, manipulator is also bone cutting machine mechanical part the most flexibly, and therefore the development of manipulator technology has very important effect in the research of bone cutting equipment.
The research of people to manipulator has a lot, is widely used in every field.Germany's DLR series mechanical hand had four generation product, the object of development provides in cabin and out of my cabin to serve in space.The manipulator The Smart Award Hand of Shadow company of Britain has the identical free degree of same staff, finger motion space and grip.Its size is close with staff, heavily about 5-10 kilograms, and the actuating speed of its " finger " is approximately the half of the finger constant speed of people.Beijing Institute of Aeronautics has issued three generations BH manipulator, and wherein BH-3 type is comparative maturity, sells to Hong Kong, and Australia is as the model of laboratory experiment.The beginning of domestic manipulator research has been started in the issue of BH Dextrous Hand series, has filled up the research blank of domestic multi-finger clever hand at that time, for solid foundation has been established in the development of China's multifinger hand manufacture and control technology.
But, the manipulator worked out at present due to application different or expensive etc., be not all suitable for the clamping to artificial bone.
Utility model content
The utility model carries out to solve above-mentioned problem, and object is to provide a kind of cheap and manipulator that can clamp artificial bone.
The utility model provides the relatively cheap and manipulator that can clamp artificial bone of a kind of price, it is characterized in that, comprise: at least three mechanical fingers, each mechanical finger comprises: the second knuckle that first knuckle, linkage unit and one end are connected with one end of first knuckle by linkage unit; Machinery palm, comprises: for the body of fixing multiple first knuckle, with multiple first knuckle one_to_one corresponding and the first knuckle drive motors driving corresponding first knuckle to move; Rotary cylinder, drives body to rotate for fixed body; Push-rod electric machine, promotes rotary cylinder do straight reciprocating motion for fixing rotary cylinder; And control part, for controlling multiple mechanical finger, mechanical palm, rotary cylinder and push-rod electric machine; Wherein, second knuckle comprises: be located at second knuckle the other end and for the pressure sensor that gathers pressure information between second knuckle and artificial bone and the displacement transducer for the displacement information that gathers second knuckle and artificial bone, linkage unit comprises: the one end being fixed on first knuckle is for the second knuckle drive motors that drives second knuckle to rotate and the angular transducer for measuring the angle that second knuckle rotates, the other end of multiple first knuckle is fixed on the side of described body, and first knuckle drive motors is fixed on the opposite side of body.
Manipulator of the present utility model can also have such feature: wherein, and the other end of second knuckle is provided with hemispherical protuberances, and pressure sensor and displacement transducer are arranged in semi-spherical shape projection.
Manipulator of the present utility model can also have such feature: wherein, and the other end of first knuckle is turbine, and the motor shaft of first knuckle drive motors has rotary teeth, and turbine and rotary teeth match.
Manipulator of the present utility model can also have such feature: wherein, and rotary cylinder can 360 degree of rotations.
Manipulator of the present utility model can also have such feature: wherein, and mechanical finger is four.
Manipulator of the present utility model can also have such feature: wherein, and multiple described mechanical finger is with preset space length stationary distribution the same side at described body.
Manipulator of the present utility model can also have such feature: fixed installation portion, comprises support for supporting push-rod electric machine and for support bracket fastened base.
The effect of utility model and effect
Manipulator involved by the utility model, because have the mechanical finger comprising first knuckle and second knuckle, second knuckle can rotate relative to first knuckle, comprise the mechanical palm with multiple first knuckle first knuckle drive motors one to one, first knuckle drive motors rotates for driving corresponding first knuckle, by the rotation of first knuckle and second knuckle, artificial bone is firmly clamped, and one end of second knuckle is provided with pressure sensor, can avoid being split by folder because dynamics is excessive in the clamping process of artificial bone, further, rotary cylinder can the rotation of 360 degree, driving mechanical palm, push-rod electric machine can move forward and backward by driving mechanical palm, thus make manipulator that artificial bone can be made to install on cutting equipment, advance, step up, cutting and the motion such as to return, manipulator of the present utility model achieves the requirement of implanted medical device manufacturing practices, solve manual unsafe factor, and price is relatively cheap.
Accompanying drawing explanation
Fig. 1 is the front view of manipulator in embodiment of the present utility model; And
Fig. 2 is the rearview of manipulator in embodiment of the present utility model.
Detailed description of the invention
The technological means realized to make the utility model, creation characteristic, reach object and effect is easy to understand, following examples are specifically addressed manipulator of the present utility model by reference to the accompanying drawings.
Fig. 1 is the front view of manipulator in embodiment of the present utility model.
As shown in Figure 1, manipulator 100, as the blessing instrument of bone cutting equipment, for clamping artificial bone, is particularly useful for the clamping to irregular artificial bone.Manipulator 100 comprises: four identical mechanical fingers 110, mechanical palm 120, rotary cylinder 130, push-rod electric machine 140, fixed installation portion and control part (not shown).Control part controls the motion of rotary cylinder 130 and push-rod electric machine 140.
Mechanical finger 110 comprises: first knuckle 111, linkage unit 112 and second knuckle 113.Linkage unit 112 comprises second knuckle drive motors 112a and angular transducer 112b.
Wherein, one end of first knuckle 111, namely with the direction in Fig. 1, this one end is the left end of first knuckle 111, the left end of first knuckle 111 is the other end of turbine, first knuckle 111, namely with the direction in Fig. 1, this one end is the right-hand member of first knuckle 111, and right-hand member and the second knuckle drive motors 112a of first knuckle 111 fix.
Second knuckle 113 comprises: pressure sensor 114 and displacement transducer 115.One end of second knuckle 113, namely with the direction in Fig. 1, this one end is the right-hand member of second knuckle 113, and the right-hand member of second knuckle 113 refers to that heart side has hemispherical protuberances, and pressure sensor 114 and displacement transducer 115 are arranged in hemispherical protuberances.Wherein, pressure sensor 114 is for gathering the pressure information between the hemispherical protuberances of second knuckle 113 and artificial bone, and displacement transducer 115 is for gathering the displacement information between the hemispherical protuberances of second knuckle 113 and artificial bone.The other end of second knuckle 113, namely with the direction in Fig. 1, this one end is the left end of second knuckle 113, and the left end of second knuckle 113 and the motor shaft of second knuckle drive motors 112a fix.
Angular transducer 112b is arranged on the junction of first knuckle 111 and second knuckle 113, for accurately measuring the angle that second knuckle 113 rotates relative to first knuckle 111, and sends angle information to control part.Second knuckle drive motors 112a can drive second knuckle 113 to rotate.
Second knuckle drive motors 112a, pressure sensor 114, displacement transducer 115 are controlled by control part with angular transducer 112b, control part controls second knuckle drive motors 112a and runs, and the displacement information gathered according to displacement transducer 115 is transmitted angle information by angular transducer 112b thus controlled second knuckle drive motors 112a and drives second knuckle 113 to rotate predetermined angle.When second knuckle 113 contacts with artificial bone, it is out of service that control part controls second knuckle drive motors 112a automatically according to the pressure information that pressure sensor 114 gathers.
Machinery palm 120 comprises: body 121 and four identical first knuckle drive motors 122, four first knuckle drive motors corresponding with four first knuckles 111 respectively, move for driving first knuckle 111.
By worm-and-wheel gear transmission between first knuckle drive motors 122 and first knuckle 111.The motor shaft of first knuckle drive motors 122 has rotary teeth, rotary teeth engages with the turbine of first knuckle 112 left end and forms worm-and-wheel gear, first knuckle drive motors 122 drives first knuckle 111 to rotate by the transmission of worm-and-wheel gear, and namely the rotary motion of the motor shaft of first knuckle drive motors 122 is converted to opening with closed of first knuckle 111 by worm-and-wheel gear.
Four first knuckle drive motors 122 are controlled by control part, and control part controls first knuckle drive motors 122 and runs, thus drive first knuckle 111 to rotate predetermined angle.
Fig. 2 is the rearview of manipulator in embodiment of the present utility model.
As shown in Figure 2, four first knuckle drive motors 122 are fixed on the same side of mechanical palm body 121 in " ten " word shape, and identical apart from the distance at body 121 center.
Rotary cylinder 130 is connected with the push rod end of push-rod electric machine 140 by connector 131, and rotary cylinder 130 can 360 degree of rotations, the angle of control part control rotary cylinder 130 rotation.The center of machinery palm 120 is fixed on rotary cylinder 130, can rotate with the rotation of rotary cylinder 130.
The push rod of push-rod electric machine 140 can extend and shorten thus control moving forward and backward of mechanical palm 120.The push rod that control part controls push-rod electric machine 140 extends and shortens.
Fixed installation portion, for supporting whole device.Comprise: support 151 and base 152, support 151 is fixed on base 152.Wherein, support 151 comprises: the first support 151a and the second support 151b, first support 151a is fixed on one end of push-rod electric machine 140, namely with the direction in Fig. 1, this one end is the left end of push-rod electric machine 140, second support 151b is fixed on push-rod electric machine 140, and the first support 151a interval preset space length.
Manipulator 100, before clamping artificial bone, first uses the cross section of scanner scanning artificial bone, for clipping operation is submitted necessary information.
Secondly, control part controls four first knuckle drive motors 122 according to the concrete information of artificial bone and drives corresponding first knuckle 111 to rotate predetermined angle respectively.
Then, control part controls corresponding second knuckle drive motors 112a according to the displacement information that each displacement transducer 115 transmits respectively by corresponding angular transducer 112b and drives corresponding second knuckle 113 to rotate predetermined angle, the hemispherical protuberances of second knuckle 113 right-hand member is contacted with artificial bone, thus artificial bone is clamped.
When the hemispherical protuberances of second knuckle 113 right-hand member contacts with artificial bone, pressure information is sent to control part by pressure sensor 114, when pressure information exceedes predetermined value, namely control part controls corresponding second knuckle drive motors 112a automatically makes corresponding second knuckle 113 stop operating, make the pressure between the hemispherical protuberances of corresponding second knuckle 113 end and artificial bone be no more than predetermined value, thus avoid artificial bone to be split by folder because of excessive by pressure during clamping.
The effect of embodiment and effect
Manipulator involved by the present embodiment, comprise: at least three mechanical fingers, machinery palm, rotary cylinder, push-rod electric machine and control part, mechanical finger has first knuckle and second knuckle, second knuckle can rotate relative to first knuckle, machinery palm comprises and multiple first knuckle first knuckle drive motors one to one, rotate for driving corresponding first knuckle, by the rotation of first knuckle and second knuckle, artificial bone is firmly clamped, and one end of second knuckle is provided with pressure sensor, can avoid being split by folder because dynamics is excessive in the clamping process of artificial bone, further, rotary cylinder can the rotation of 360 degree, driving mechanical palm, push-rod electric machine can move forward and backward by driving mechanical palm, thus make manipulator that artificial bone can be made to install on cutting equipment, advance, step up, cutting and the motion such as to return, meet the requirement of implanted medical device manufacturing practices, solve manual unsafe factor, and price is relatively cheap.
In the present embodiment, mechanical finger is four, is evenly fixed on manipulator palm, needs the drive motors quantity that controls few, more convenient during clamping artificial bone, and easier during the irregular artificial bone of four fingerhold, clamping more firm.
In the present embodiment, rotary cylinder can 360 degree of rotations, can cut at any angle when clamping artificial bone and cutting.
Above-mentioned embodiment is preferred case of the present utility model, is not used for limiting protection domain of the present utility model.
Claims (7)
1. a manipulator, for clamping artificial bone, is characterized in that, comprising:
At least three mechanical fingers, each described mechanical finger comprises: the second knuckle that first knuckle, linkage unit and one end are connected with one end of described first knuckle by described linkage unit;
Machinery palm, comprise: drive for the body of fixing multiple described first knuckle, with multiple described first knuckle one_to_one corresponding the first knuckle drive motors that corresponding described first knuckle moves;
Rotary cylinder, for fixing described body and driving described body to rotate;
Push-rod electric machine, does straight reciprocating motion for fixing described rotary cylinder and promoting described rotary cylinder; And
Control part, for controlling multiple described mechanical finger, described mechanical palm, described rotary cylinder and described push-rod electric machine;
Wherein, described second knuckle comprises: be located at described second knuckle the other end and for the pressure sensor that gathers pressure information between described second knuckle and artificial bone and the displacement transducer for gathering displacement information between described second knuckle and artificial bone,
Described linkage unit comprises: the second knuckle drive motors rotated for driving described second knuckle and the angular transducer for measuring the angle that described second knuckle rotates,
The other end of multiple described first knuckle is fixed on the side of described body, and described first knuckle drive motors is fixed on the opposite side of described body.
2. manipulator according to claim 1, is characterized in that:
Wherein, the other end of described second knuckle is provided with hemispherical protuberances,
Described pressure sensor and institute's displacement sensors are arranged in described semi-spherical shape projection.
3. manipulator according to claim 1, is characterized in that:
Wherein, the other end of described first knuckle is turbine, and the motor shaft of described first knuckle drive motors has rotary teeth, and described turbine and described rotary teeth match.
4. manipulator according to claim 1, is characterized in that:
Wherein, described rotary cylinder can 360 degree of rotations.
5. manipulator according to claim 1, is characterized in that:
Wherein, described mechanical finger is four.
6. manipulator according to claim 1, is characterized in that:
Wherein, multiple described mechanical finger is with preset space length stationary distribution the same side at described body.
7. manipulator according to claim 1, is characterized in that, also has:
Fixed installation portion, comprises the support for supporting described push-rod electric machine and the base for fixing described support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520162072.6U CN204640225U (en) | 2015-03-20 | 2015-03-20 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520162072.6U CN204640225U (en) | 2015-03-20 | 2015-03-20 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204640225U true CN204640225U (en) | 2015-09-16 |
Family
ID=54093005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520162072.6U Expired - Fee Related CN204640225U (en) | 2015-03-20 | 2015-03-20 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204640225U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723347A (en) * | 2015-03-20 | 2015-06-24 | 上海理工大学 | Manipulator |
| CN106926215A (en) * | 2015-12-31 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of high-quality manipulator |
| CN108356167A (en) * | 2018-03-23 | 2018-08-03 | 安徽义良罐业科技有限公司 | A kind of tea can clamp device |
| CN109968476A (en) * | 2019-04-21 | 2019-07-05 | 南京林业大学 | Moso bamboo thick bamboo tube based on water jet efficiently removes bamboo blueness device |
| CN111645049A (en) * | 2020-05-22 | 2020-09-11 | 湖北工程学院 | Mechanical claw, mechanical hand, transfer robot and transfer system |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
-
2015
- 2015-03-20 CN CN201520162072.6U patent/CN204640225U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723347A (en) * | 2015-03-20 | 2015-06-24 | 上海理工大学 | Manipulator |
| CN106926215A (en) * | 2015-12-31 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of high-quality manipulator |
| CN108356167A (en) * | 2018-03-23 | 2018-08-03 | 安徽义良罐业科技有限公司 | A kind of tea can clamp device |
| CN108356167B (en) * | 2018-03-23 | 2019-05-24 | 安徽义良罐业科技有限公司 | A kind of tea can clamp device |
| CN109968476A (en) * | 2019-04-21 | 2019-07-05 | 南京林业大学 | Moso bamboo thick bamboo tube based on water jet efficiently removes bamboo blueness device |
| CN109968476B (en) * | 2019-04-21 | 2024-01-30 | 南京林业大学 | High-efficient bamboo green device that removes of mao bamboo thick bamboo tube based on water jet |
| CN111645049A (en) * | 2020-05-22 | 2020-09-11 | 湖北工程学院 | Mechanical claw, mechanical hand, transfer robot and transfer system |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150916 Termination date: 20160320 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |