CN206140502U - Three -dimensional universal arm - Google Patents
Three -dimensional universal arm Download PDFInfo
- Publication number
- CN206140502U CN206140502U CN201621223500.2U CN201621223500U CN206140502U CN 206140502 U CN206140502 U CN 206140502U CN 201621223500 U CN201621223500 U CN 201621223500U CN 206140502 U CN206140502 U CN 206140502U
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- CN
- China
- Prior art keywords
- arm
- rotation axis
- main jib
- vertical rotation
- support arm
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- Withdrawn - After Issue
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Abstract
The utility model provides a three -dimensional universal arm, it relates to a medical machine arm. The utility model discloses an arm degree of freedom of solving current medical instrument is low, the precision is low and problem with high costs. A three -dimensional universal arm includes the main tributary brace, the horizontal rotary drum arm, perpendicular support arm, draw the support arm to one side, the rigidity pull rod, the main jib, a spring, the slider, remove the pull rod, transfer arm and branch, the one end of main jib is connected with drawing the support arm rotation to one side through a vertical turning axis who draws the support arm middle part to one side, the one end of branch is connected with drawing the support arm rotation to one side through a vertical turning axis who draws the support arm lower extreme to one side, it is connected with the rotation of rigidity pull rod through the 2nd vertical turning axis to move the one end of pull rod, the other end that moves the pull rod rotates with the main jib through the 3rd vertical turning axis to be connected, the slider sets up on the main jib, be equipped with the spring between the other end of slider and main jib, the other end and the slider rotationally connected of branch, the one end and the 3rd vertical turning axis of transfer arm are connected. The utility model is used for medical instrument.
Description
Technical field
The utility model is related to a kind of medical mechanism arm, and in particular to a kind of three-dimensional universal mechanical arm.
Background technology
Every profession and trade is all by works such as the hand labour of mechanical work replacement transmission, substantial amounts of mechanical arms in modern society
Industry machine applications and give birth to, its high precision, efficiency are fast, by it is commonly used with market in.In existing mechanical arm, its free degree is got over
High, precision is higher, and corresponding cost of manufacture is also higher.In medicine equipment, all kinds of precision instruments need cooperative mechanical mostly
Using, the free degree is high, the mechanical arm of high precision, and its cost is also improved therewith for arm, and existing lower-cost mechanical arm, its
The free degree and precision cannot all meet the use demand of precision instrument.Therefore, it is badly in need of a kind of mechanical arm of high precision low cost to come
Meet the use demand of Medical Device Market.
Utility model content
The utility model in order to the mechanical arm free degree for solving the problems, such as existing medicine equipment is low, precision is low and high cost,
And then a kind of three-dimensional universal mechanical arm of proposition.
The utility model is adopted the technical scheme that to solve above-mentioned technical problem：
A kind of three-dimensional universal mechanical arm includes master arm, horizontal pivoted arm, vertical legs, oblique pull support arm, push-and-pull rod, master
Spiral arm, spring, slide block, mobile pull bar, transfer arm and pole, horizontal pivoted arm is horizontally disposed with, and the lower section of horizontal pivoted arm one end is along perpendicular
Nogata is in axial direction provided with first level rotating shaft to master arm, the top of master arm is provided with, and one end of horizontal pivoted arm leads to
Cross first level rotating shaft and rotate with master arm and be connected, the top of the horizontal pivoted arm other end is vertically provided with vertical legs,
The bottom of vertical legs is provided with vertically the second horizontal rotating shaft, and the other end of horizontal pivoted arm is propped up by the second horizontal rotating shaft with vertical
Arm rotates connection, and oblique pull support arm is arranged on the top of vertical legs, and the upper and lower ends of oblique pull support arm and middle part are radially square respectively
To first vertical rotation axis are respectively provided with, one end of push-and-pull rod is by the first vertical rotation axis of oblique pull support arm upper end and oblique pull
Arm rotates connection, and one end of main jib is rotated with oblique pull support arm by the first vertical rotation axis in the middle part of oblique pull support arm and is connected, pole
One end be connected with the rotation of oblique pull support arm by the first vertical rotation axis of oblique pull support arm lower end, the other end of push-and-pull rod is radially
Direction is provided with the second vertical rotation axis, and one end of mobile pull bar is rotated with push-and-pull rod by the second vertical rotation axis and is connected, main jib
The other end be radially provided with the 3rd vertical rotation axis, the other end of mobile pull bar is turned by the 3rd vertical rotation axis with main jib
Dynamic connection, slide block is arranged on main jib, and slide block slides along main jib length direction, between slide block and the other end of main jib
Spring is provided with, the other end of pole is rotated with slide block and is connected, and one end of transfer arm is connected with the 3rd vertical rotation axis.
The beneficial effect that the utility model is included compared with prior art is：
Simple structure of the present utility model, easy to operate, low production cost, it is possible to achieve multi-angle, multi-faceted rotation,
It is mobile freely, accurate positioning, mechanical arm zero shake after positioning, zero offset.Can be adjusted according to the flexible in size of load when in use
The elastic force of whole spring, is widely used in the use demand of all kinds of precision instruments.
The utility model applies base of principle of human engineering, fully takes into account ease for operation, the habituation of people of operator
With the comfortableness for using.Can be with precise positioning by a simple mobile arm head during use." switch " and " lock are not needed
It is fixed " operation.It is easy to use, freely.
Description of the drawings
Fig. 1 is overall structure diagram of the present utility model.
Specific embodiment
Specific embodiment one：Present embodiment, a kind of three-dimensional universal mechanical arm described in present embodiment are illustrated with reference to Fig. 1
Including master arm 1, horizontal pivoted arm 2, vertical legs 3, oblique pull support arm 4, push-and-pull rod 5, main jib 6, spring 7, slide block 8, shifting
Dynamic pull bar 10, transfer arm 11 and pole 12, horizontal pivoted arm 2 is horizontally disposed with, and the lower section of the one end of horizontal pivoted arm 2 is vertically provided with
Master arm 1, the top of master arm 1 is in axial direction provided with first level rotating shaft 13, and one end of horizontal pivoted arm 2 passes through first
Horizontal rotating shaft 13 is rotated with master arm 1 and is connected, and the top of the other end of horizontal pivoted arm 2 is vertically provided with vertical legs 3, is hung down
The bottom of allotment arm 3 is provided with vertically the second horizontal rotating shaft 14, and the other end of horizontal pivoted arm 2 passes through the second horizontal rotating shaft 14 and hangs down
Allotment arm 3 rotates connection, and oblique pull support arm 4 is arranged on the top of vertical legs 3, and the upper and lower ends of oblique pull support arm 4 and middle part are distinguished
First vertical rotation axis 15 are radially respectively provided with, one end of push-and-pull rod 5 is vertical by the first of the upper end of oblique pull support arm 4
Rotating shaft 15 and oblique pull support arm 4 are rotated and be connecteds, one end of main jib 6 by the first vertical rotation axis 15 in the middle part of oblique pull support arm 4 with it is oblique
Support arm 4 is drawn to rotate connection, one end of pole 12 is rotated by the first vertical rotation axis 15 of the lower end of oblique pull support arm 4 with oblique pull support arm 4
Connection, the other end of push-and-pull rod 5 is radially provided with the second vertical rotation axis 16, and one end of mobile pull bar 10 is hung down by second
Straight rotating shaft 16 is rotated with push-and-pull rod 5 and is connected, and the other end of main jib 6 is radially provided with the 3rd vertical rotation axis 17, mobile
The other end of pull bar 10 is rotated with main jib 6 by the 3rd vertical rotation axis 17 and is connected, and slide block 8 is arranged on main jib 6, slide block 8
Slide along the length direction of main jib 6, be provided with spring 7 between slide block 8 and the other end of main jib 6, the other end of pole 12 with
Slide block 8 rotates connection, and one end of transfer arm 11 is connected with the 3rd vertical rotation axis 17.
The cooperation by spring 7 and slide block 8 is so designed that, the dynamic balancing of whole mechanical arm is realized, it is ensured that the position of mechanical arm
Precision is put, is prevented to offset and is vibrated.By the setting of first level rotating shaft 13, the big model of mechanical arm fore-and-aft direction is realized
The movement enclosed；By the setting of the second horizontal rotating shaft 14, the movement of the small range of mechanical arm fore-and-aft direction is realized；By three
The setting of the first vertical rotation axis 15, the second vertical rotation axis 16 and the 3rd vertical rotation axis 17, realizes mechanical arm up and down and right and left
To movement, it is achieved thereby that whole movement of the mechanical arm in spatial dimension.
Specific embodiment two：Present embodiment, push-and-pull rod 5 described in present embodiment and main jib 6 are illustrated with reference to Fig. 1
Length it is identical, the distance between first vertical rotation axis of upper end 15 of oblique pull pole 4 and first vertical rotation axis of middle part 15 and mobile
The length of pull bar 10 is identical.Other compositions and connected mode are identical with specific embodiment one.
Being so designed that makes push-and-pull rod 5, main jib 6, brace 4 and mobile pull bar 10 form a four-bar mechanism, with reality
Existing mechanical arm is in the movement up and down and on left and right directions.
Specific embodiment three：Present embodiment is illustrated with reference to Fig. 1, the other end of main jib 6 sets described in present embodiment
Elastic adjusting lever 9, the middle part of elastic force adjusting lever 9 is provided with screw rod, and the two ends spinning of screw rod on elastic force adjusting lever 9, adjust by elastic force
One end of whole bar 9 is affixed with one end of spring 7, and the other end of spring 7 is affixed with slide block 8, the other end of elastic force adjusting lever 9 and master
The other end of spiral arm 6 is affixed.Other compositions and connected mode are identical with specific embodiment one or two.
It is so designed that the size according to load, the length of rotary screw, so as to change between elastic force adjusting lever 9 and slide block 8
Distance, realize the adjustment of the elastic force of spring 7, make load rest on any position that can be moved up and down.
Specific embodiment four：Present embodiment is illustrated with reference to Fig. 1, under first level rotating shaft 13 described in present embodiment
End face is affixed with the top end face of master arm 1, and the upper surface of the second horizontal rotating shaft 14 is affixed with the bottom face of vertical legs 3.Its
It constitutes identical with specific embodiment three with connected mode.
It is designed so that production and processing is convenient, while being easily installed.
Specific embodiment five：Present embodiment, one end of transfer arm 11 described in present embodiment and the are illustrated with reference to Fig. 1
The affixed connection of three vertical rotation axis 17, the other end of transfer arm 11 is connected with lever arm 18.Other composition and connected mode with it is concrete
Embodiment four is identical.
Being so designed that can make transfer arm 11 keep horizontally disposed, and load is acted on lever arm 18, realize lever arm
18 movement.
Lever arm 18 can realize rotation in present embodiment, to meet the adjustment of load self-view.
Claims (5)
1. a kind of three-dimensional universal mechanical arm, it is characterised in that：The three-dimensional universal mechanical arm of described one kind includes master arm (1), water
Flat turn arm (2), vertical legs (3), oblique pull support arm (4), push-and-pull rod (5), main jib (6), spring (7), slide block (8), movement
Pull bar (10), transfer arm (11) and pole (12), horizontal pivoted arm (2) is horizontally disposed with, and the lower section of horizontal pivoted arm (2) one end is along vertically
Direction is provided with master arm (1), and the top of master arm (1) is in axial direction provided with first level rotating shaft (13), horizontal pivoted arm
(2) one end is rotated with master arm (1) by first level rotating shaft (13) and is connected, the top edge of horizontal pivoted arm (2) other end
Vertical direction is provided with vertical legs (3), and the bottom of vertical legs (3) is provided with vertically the second horizontal rotating shaft (14), horizontal pivoted arm
(2) the other end is rotated with vertical legs (3) by the second horizontal rotating shaft (14) and is connected, and oblique pull support arm (4) is arranged on vertical
The top of arm (3), the upper and lower ends of oblique pull support arm (4) and middle part are radially respectively provided with respectively first vertical rotation axis
(15), one end of push-and-pull rod (5) is rotated by first vertical rotation axis (15) of oblique pull support arm (4) upper end with oblique pull support arm (4)
Connection, one end of main jib (6) is rotated with oblique pull support arm (4) by the first vertical rotation axis (15) in the middle part of oblique pull support arm (4) and is connected
Connect, one end of pole (12) is rotated with oblique pull support arm (4) by first vertical rotation axis (15) of oblique pull support arm (4) lower end and is connected,
The other end of push-and-pull rod (5) is radially provided with the second vertical rotation axis (16), and one end of mobile pull bar (10) passes through second
Vertical rotation axis (16) are rotated with push-and-pull rod (5) and are connected, and the other end of main jib (6) is radially provided with the 3rd vertical rotation axis
(17), the other end of mobile pull bar (10) is rotated with main jib (6) by the 3rd vertical rotation axis (17) and is connected, and slide block (8) is arranged
On main jib (6), slide block (8) slides along main jib (6) length direction, between the other end of slide block (8) and main jib (6)
Spring (7) is provided with, the other end of pole (12) is rotated with slide block (8) and is connected, one end and the 3rd vertical rotation axis of transfer arm (11)
(17) connect.
2. a kind of three-dimensional universal mechanical arm according to claim 1, it is characterised in that：The push-and-pull rod (5) and main jib
(6) length is identical, between the vertical rotation axis of the upper end first (15) and the vertical rotation axis of middle part first (15) of oblique pull pole (4) away from
From identical with the length of mobile pull bar (10).
3. the three-dimensional universal mechanical arm of one kind according to claim 1 or claim 2, it is characterised in that：The other end of the main jib (6)
Elastic force adjusting lever (9) is provided with, screw rod is provided with the middle part of elastic force adjusting lever (9), the two ends spinning of screw rod is in elastic force adjusting lever (9)
On, one end of elastic force adjusting lever (9) is affixed with one end of spring (7), and the other end of spring (7) is affixed with slide block (8), and elastic force is adjusted
The other end of whole bar (9) is affixed with the other end of main jib (6).
4. a kind of three-dimensional universal mechanical arm according to claim 3, it is characterised in that：Under the first level rotating shaft (13)
End face is affixed with the top end face of master arm (1), and the upper surface of the second horizontal rotating shaft (14) is consolidated with the bottom face of vertical legs (3)
Connect.
5. a kind of three-dimensional universal mechanical arm according to claim 4, it is characterised in that：One end of the transfer arm (11) and the
The affixed connection of three vertical rotation axis (17), the other end of transfer arm (11) is connected with lever arm (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621223500.2U CN206140502U (en) | 2016-11-14 | 2016-11-14 | Three -dimensional universal arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621223500.2U CN206140502U (en) | 2016-11-14 | 2016-11-14 | Three -dimensional universal arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206140502U true CN206140502U (en) | 2017-05-03 |
Family
ID=58626411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621223500.2U Withdrawn - After Issue CN206140502U (en) | 2016-11-14 | 2016-11-14 | Three -dimensional universal arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206140502U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346460A (en) * | 2016-11-14 | 2017-01-25 | 哈尔滨海鸿基业科技发展有限公司 | Three-dimensional universal mechanical arm |
| CN107970068A (en) * | 2017-12-13 | 2018-05-01 | 四川知创空间孵化器管理有限公司 | A kind of operating robot |
| CN108042204A (en) * | 2017-12-13 | 2018-05-18 | 四川知创空间孵化器管理有限公司 | A kind of removable operating robot |
| CN108158650A (en) * | 2017-12-13 | 2018-06-15 | 四川知创空间孵化器管理有限公司 | A kind of surgery mechanical arm |
-
2016
- 2016-11-14 CN CN201621223500.2U patent/CN206140502U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346460A (en) * | 2016-11-14 | 2017-01-25 | 哈尔滨海鸿基业科技发展有限公司 | Three-dimensional universal mechanical arm |
| CN106346460B (en) * | 2016-11-14 | 2018-08-21 | 哈尔滨海鸿基业科技发展有限公司 | A kind of universal mechanical arm of three-dimensional |
| CN107970068A (en) * | 2017-12-13 | 2018-05-01 | 四川知创空间孵化器管理有限公司 | A kind of operating robot |
| CN108042204A (en) * | 2017-12-13 | 2018-05-18 | 四川知创空间孵化器管理有限公司 | A kind of removable operating robot |
| CN108158650A (en) * | 2017-12-13 | 2018-06-15 | 四川知创空间孵化器管理有限公司 | A kind of surgery mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170503 Effective date of abandoning: 20180821 |
|
| AV01 | Patent right actively abandoned |