CN206286905U - Medical robot captures hand - Google Patents

Abstract

The utility model discloses a kind of medical robot crawl hand, including crawl hand, the crawl handbag including rack, Gou Chuan mechanisms and hydraulic machine, each Gou Chuan mechanisms include being fixedly arranged on multiple rotational structures of the frame, connecting rod and the driving rotational structure or/and first cylinder of the link motion of the connection per the two neighboring rotational structure, the hydraulic machine is flexibly connected including one end with the frame, the other end is provided with the support frame of pressing plate and is fixedly arranged on the frame and the second cylinder for driving support frame as described above to drive the pressing plate to be rotated around the frame.The medical robot crawl hand that the utility model is provided, the first cylinder by multiple rotational structures, connecting rod and for driving the rotational structure and the connecting rod to move simultaneously, to realize smoothly transporting medical bed purpose, while by the hydraulic machine used cooperatively with the Gou Chuan mechanisms, allow to be overturn during the transport of medical bed arbitrarily angled without falling, realize intelligent transport.

Description

Medical robot captures hand

Technical field

The utility model is related to Medical Devices technical field of processing equipment, more particularly to a kind of medical robot crawl hand.

Background technology

Medical bed is very important Medical Devices, current medical bed mostly including standing up, play the functions such as seat and toilet seat. Because of the multifunction of medical bed, its manufacture production is set just to bring many problems.

In correlation technique, the commonly used automatically processing device of process equipment of medical bed occurs to reduce in process Fraction defective, improve production efficiency.And in the process of automatically processing device, easily there is processing and transportation stability Poor problem.

Therefore, it is necessary to provide a kind of new medical robot crawl hand solve the above problems.

Utility model content

In order to solve the above technical problems, the utility model provides a kind of medical robot crawl hand of good stability.

The utility model provides a kind of medical robot crawl hand, including crawl hand, the crawl handbag including rack, relative Liang Gegouchuan mechanism of the interval located at the frame and the hydraulic machine located at the frame, each Gou Chuan mechanisms include solid Multiple rotational structures, the connecting rod of the every two neighboring rotational structure of rotation connection and the driving rotation located at the frame Structure or/and the first cylinder of the link motion, the hydraulic machine is flexibly connected including one end with the frame, the other end It is provided with the support frame of pressing plate and is fixedly arranged on the frame and for driving support frame as described above to drive the pressing plate to be revolved around the frame The second cylinder for turning.

Preferably, the rotational angle of the rotational structure is 90 °.

Preferably, the rotational structure include be fixedly arranged on the frame raker and one end be connected with the connecting rod, it is another The rotor plate that end is connected with the raker.

Preferably, first cylinder is fixedly connected with the junction of the rotor plate and the connecting rod using bolt.

Preferably, the frame includes the baffle plate of two vertical spacings setting, the fixed baffle plate near another baffle plate Two supports that are parallel to each other of many siphunculus and vertical rack of side between baffle plate described in two, the raker is worn including one end First body of rod that the siphunculus is connected with the rotor plate and second body of rod extended from first body of rod other end bending are crossed, Second body of rod is suspended between two baffle plate.

Preferably, one end of support frame as described above is rotationally connected with the support and the rotational angle around the support is 30 ° ~60 °.

Preferably, the hydraulic machine is that two and relative spacing are set.

Compared with correlation technique, the medical robot crawl hand that the utility model is provided has the advantages that：

First, the Liang Gegouchuan mechanisms of the frame are located at by relative spacing, each described Gou Chuan mechanism includes multiple Rotational structure, rotation connect the connecting rod of rotational structure described in each two and located at the frame and for driving the rotational structure Or/and the first cylinder of the link motion, first cylinder controls the rotational structure to be rotated by 90 ° and takes medical bed hooking, To realize smoothly transporting the purpose of the medical bed, its simple structure is easy to operate, effectively raises the medical bed Processing efficiency.

2nd, by the hydraulic machine used cooperatively with the Gou Chuan mechanisms, by machine when alloing the transport of the medical bed Device people's pedestal drive its upset it is arbitrarily angled will not also fall, realize intelligent transport.

Brief description of the drawings

The dimensional structure diagram of the medical robot crawl hand that Fig. 1 is provided for the utility model；

Fig. 2 is the dimensional structure diagram of the Gou Chuan mechanisms shown in Fig. 1；

Fig. 3 is the structural representation of medical bed.

Specific embodiment

Below in conjunction with drawings and embodiments, the utility model is described in further detail.

The stereochemical structure for please referring to the medical robot crawl hand that Fig. 1 and Fig. 2, Fig. 1 are provided for the utility model is shown It is intended to, Fig. 2 is the dimensional structure diagram of the Gou Chuan mechanisms shown in Fig. 1.The medical robot crawl hand is used for medical treatment The crawl of bed 200, including robot pedestal (not shown) and the crawl hand 3 of the robot pedestal is fixedly arranged on, by the machine People's pedestal control crawl hand 3 is acted.

Fig. 3 is referred to, is the structural representation of medical bed.The medical bed 200 is cuboid, and inside offers rectangle Groove 201.The crawl hand 3 captures the medical bed 200 through the groove 201.

The crawl hand 3 includes frame 31 and is fixedly arranged on Gou Chuan mechanisms 33 and the hydraulic machine 35 of the frame 31.

The frame 31 includes two pieces of baffle plates 313 of vertical spacings setting, is fixedly arranged on the baffle plate 313 near another described Many siphunculus 316, vertical rack of the side of baffle plate 313 are located at two supports 317 being parallel to each other between baffle plate 313 described in two and consolidate Fixed plate 319 located between support described in two 317, the robot pedestal is connected by the fixed plate 319 with the crawl hand 3 What is connect is fixedly connected.

Setting distance between two pieces of baffle plates 313 is set according to the size of the medical bed 200.

Fig. 3 is referred to, is the dimensional structure diagram of the Gou Chuan mechanisms shown in Fig. 1.The Gou Chuan mechanisms 33 are two It is individual, and be symmetrically arranged at intervals in the frame 31, each described Gou Chuan mechanism 33 includes being fixedly arranged on the three of the frame 31 Individual rotational structure 331, rotation connect two connecting rods 333 of every two neighboring rotational structure 331 and for driving described turning Dynamic structure 331 or/and the first cylinder 335 of the motion of the connecting rod 333.

The rotational structure 331 include raker 3313 and one end be connected with the connecting rod 333, the other end and the raker The rotor plate 3311 of 3313 connections.It is 90 ° that first cylinder 335 drives the anglec of rotation of the raker 3313.

Specifically, first cylinder 335 drives the connecting rod 333 to move, so as to drive the rotational structure 331 to move So that the raker 3313 is rotated；

Specifically, 335, first cylinder drives the rotational structure 331 to move, then the connecting rod 333 is driven to move So that the raker 3313 is rotated；

Specifically, first cylinder 335 drives the rotational structure 331 to be moved with the junction of the connecting rod 333, with Rotate the raker 3313.

The quantity of the rotational structure 331 is unrestricted, can be set according to the demand of the medical bed 200.

The raker 3313 includes first body of rod 33131 that end is connected through the siphunculus 316 with the rotor plate 3311 And from second body of rod 33133 of the other end of first body of rod 33131 bending extension, second body of rod 33133 is suspended in institute State between two baffle plates 313.

First cylinder 335 includes the joint 3351 being connected with the guide rod of the first cylinder 335 described in one end, described first The body of rod 33131, one end of the rotor plate 3311 and the other end of the joint 3351 are bolted.

The hydraulic machine 35 is symmetrical and spaced two, and the hydraulic machine 35 includes that one end is located at the branch The support frame 351 of frame 317, the pressing plate 353 located at the other end of support frame as described above 351 and it is fixedly arranged on the frame 31 and for driving The second cylinder 355 that the pressing plate 353 rotates around the support 317.

Support frame as described above 351 is 30 °~60 ° around the rotational angle of the support 317.

The Gou Chuan mechanisms 33 use cooperatively simultaneously with the hydraulic machine 35, can make the medical bed 200 in the air Overturn all without falling.

During work, the robot pedestal first controls the crawl hand 3 to move to the top of the medical bed 200, then The robot pedestal control crawl hand 3 is moved down so that second body of rod 33133 of the raker 3313 is passed through The groove 201 to the lower section of the medical bed 200, first cylinder 335 controls the rotational structure 331 to be rotated by 90 ° hook Medical bed 200 is stated in residence, meanwhile, second cylinder 355 drives support frame as described above 351 to rotate so that the pressing plate 353 is pushed down The medical bed 200, the robot pedestal control crawl hand 3 is up moved and overturns 180 ° again, so as to by the doctor Treat bed 200 and be moved to predeterminated position.First cylinder 335 controls the rotational structure 331 to turn round 90 °, meanwhile, the pressing plate 353 revolutions are unclamped, and the crawl hand 3 is up moved, and unclamps the medical bed 200, completes to transport.

Compared with correlation technique, the medical robot crawl hand that the utility model is provided has the advantages that：

First, the Liang Gegouchuan mechanisms 33 of the frame 31 are located at by relative spacing, each Gou Chuan mechanisms 33 include Multiple rotational structures 331, rotate the connecting rod 333 of rotational structure 331 described in connection each two and located at the frame 31 and be used for The first cylinder 335 of the rotational structure 331 or/and the motion of the connecting rod 333, first cylinder 335 is driven to control described Rotational structure 331 is rotated by 90 ° and takes the medical bed 200 with hook, to realize smoothly transporting the purpose of the medical bed 200, its Simple structure, it is easy to operate, effectively raise the processing efficiency of the medical bed 200.

2nd, by the hydraulic machine 35 used cooperatively with the Gou Chuan mechanisms 33, can when making the transport of the medical bed 200 With by robot pedestal drive its upset it is arbitrarily angled will not also fall, realize intelligent transport.

Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in Other related technical fields, are similarly included in scope of patent protection of the present utility model.

Claims (7)

1. a kind of medical robot crawl hand, including crawl hand, it is characterised in that the crawl handbag including rack, relative spacing Liang Gegouchuan mechanisms located at the frame and the hydraulic machine located at the frame, each Gou Chuan mechanisms include being fixedly arranged on Multiple rotational structures of the frame, the connecting rod and the driving rotational structure that rotate the every two neighboring rotational structure of connection Or/and the first cylinder of the link motion, the hydraulic machine is flexibly connected including one end with the frame, the other end is provided with The support frame of pressing plate and it is fixedly arranged on the frame and for driving support frame as described above to drive what the pressing plate rotated around the frame Second cylinder.

2. medical robot according to claim 1 crawl hand, it is characterised in that the rotational angle of the rotational structure is 90°。

3. medical robot according to claim 2 captures hand, it is characterised in that the rotational structure includes being fixedly arranged on institute State the raker and one end is connected with the connecting rod, the other end is connected with the raker rotor plate of frame.

4. medical robot according to claim 3 captures hand, it is characterised in that first cylinder and the rotor plate Junction with the connecting rod is fixedly connected using bolt.

5. medical robot according to claim 4 captures hand, it is characterised in that the frame includes two pieces of vertical spacings The many siphunculus and vertical rack of the baffle plate of setting, the fixed baffle plate near another baffle plate side are located at two pieces of baffle plates Between two supports being parallel to each other, the raker includes first body of rod that one end is connected through the siphunculus with the rotor plate And from second body of rod of first body of rod other end bending extension, second body of rod is suspended between two pieces of baffle plates.

6. medical robot according to claim 5 captures hand, it is characterised in that one end of support frame as described above rotates connection In the support and around the support rotational angle be 30 °~60 °.

7. medical robot according to claim 1 captures hand, it is characterised in that the hydraulic machine is for two and relative Interval setting.