CN208784756U - DR robot with sixdegree-of-freedom simulation - Google Patents
DR robot with sixdegree-of-freedom simulation Download PDFInfo
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- CN208784756U CN208784756U CN201820167628.4U CN201820167628U CN208784756U CN 208784756 U CN208784756 U CN 208784756U CN 201820167628 U CN201820167628 U CN 201820167628U CN 208784756 U CN208784756 U CN 208784756U
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Abstract
The utility model proposes a kind of DR robot with sixdegree-of-freedom simulation, including be moved forward and backward chassis, mechanical arm waist rotary part, shoulder joint gear rotating part, Support large arm component, elbow joint gear rotating part, the small the upper arm member of support, joint of head rotate geared parts, head end gear rotating part.The utility model is able to carry out six-freedom degree adjusting, therefore it can control the movement that the DR robot completes some complexity, to realize X-ray level bed DR, C-arm X-ray production apparatus, UC arm DR, suspention DR system, CT system, stomach and intestine machine etc. using the X-ray camera function of the medical equipment of x-ray imaging, and then replace these medical equipments, reduce the cost of hospital's procuring equipment, the cost of hospital is substantially reduced, the DR robot space occupied is small, additionally it is possible to solve the problems, such as the in short supply of place.
Description
Technical field
The utility model relates to robotic technology field, in particular to a kind of DR machine with sixdegree-of-freedom simulation
People.
Background technique
The X-ray product that Hospitals at Present generally uses is more dispersed many kinds of, including X-ray level bed DR, C-arm X are penetrated
Line machine, UC arm DR, suspention DR system, CT system, stomach and intestine machine etc..The position of the above hardware check and the emphasis of inspection, respectively have not
Together, function can not achieve the detection of all positions using above cutting both ways.And kinds of machine is various, due to every machine
It operates with and is different from, bring difficulty to operator's use of hospital, adjusting of parameter etc..And kinds of machine is numerous
More, hospital needs to provide enough places.Occupy a large amount of space.Cause the in short supply of place.Overall cost greatly increases.
X-ray level bed DR, C-arm X-ray production apparatus, UC arm DR, suspention DR can be replaced simultaneously currently without a kind of robot
System, CT system, stomach and intestine machine etc. utilize the medical equipment of x-ray imaging, to solve the problems, such as that comprehensive hospital cost is big.
Utility model content
The purpose of this utility model aims to solve at least one of described technological deficiency.
For this purpose, being penetrated instead of X the purpose of this utility model is that propose a kind of DR robot with sixdegree-of-freedom simulation
Line level bed DR, C-arm X-ray production apparatus, UC arm DR, suspention DR system, CT system, stomach and intestine machine etc. are set using the medical of x-ray imaging
It is standby.
To achieve the goals above, the utility model provides a kind of DR robot with sixdegree-of-freedom simulation, comprising:
It is moved forward and backward chassis, mechanical arm waist rotary part, shoulder joint gear rotating part, Support large arm component, the rotation of elbow joint gear
Component, the small the upper arm member of support, joint of head rotate geared parts, head end gear rotating part；
The upper end for being moved forward and backward chassis is equipped with mechanical arm waist rotary part, the upper end of the mechanical arm waist rotary part
It is connect with shoulder joint gear rotating part, one end of the shoulder joint gear rotating part and Support large arm component, the support
The other end of big the upper arm member connects elbow joint gear rotating part, and the elbow joint gear rotating part connection supports small the upper arm member
One end, the other end connection joint of head of the small the upper arm member of the support rotates geared parts, and the joint of head rotates gear
Component connector end gear rotating part.
Further, linear guide is installed in the bottom for being moved forward and backward chassis, and linear guide is connect with ground embedded board,
The inside for being moved forward and backward chassis includes chassis servo motor, gear-box, gear, rack gear, sliding block；The chassis servo motor
Output shaft tooth connection roller box in gear rotation axis, wheel and rack engagement, the rack gear connect with linear guide.
Further, the inside of the mechanical arm waist rotary part include mechanical arm servo motor, mechanical arm deceleration unit,
Turbine and worm transmission mechanism, the turbine and worm transmission mechanism include worm screw, turbine, turbine bottom plate, turbine bearing (setting) plate, whirlpool
Take turns rotary shaft, the driving axis connection mechanical arm deceleration unit of the mechanical arm servo motor, the mechanical arm deceleration unit it is defeated
One end of shaft connecting worm, and the both ends of worm screw are designed with radial thrust bearing, the worm screw engages with turbine, the turbine
Both ends turbine bearing is all installed, the turbine bearing of one end of the turbine is mounted on turbine bottom plate, the turbine of the other end
Bearing is mounted on turbine bearing (setting) plate, and the other end of the turbine is also connected with rotatable shaft.
Further, include inside the shoulder joint gear rotating part shoulder joint servo motor, shoulder joint deceleration unit,
Shoulder joint gear pair, shoulder joint rotary support member, the output axis connection shoulder joint deceleration unit of the shoulder joint servo motor, institute
State the output axis connection shoulder joint gear pair of shoulder joint deceleration unit, the shoulder joint gear pair include shoulder joint driving gear,
Shoulder joint driven gear, the output shaft of shoulder joint deceleration unit described in the rotation axis connection of the shoulder joint driving gear, and shoulder
Joint driving gear is engaged with from shoulder joint moving gear, and the shoulder joint driven gear is connect with shoulder joint rotary support member.
Further, the Support large arm components interior includes large arm servo motor, large arm deceleration unit, large arm transmission master
The output end of moving gear, large arm transfer driven gear, large arm transmission long axis, the large arm servo motor connects large arm speed reducer
Group, the rotation axis of the output end connection large arm transmission gear of the large arm deceleration unit, the large arm transmission gear
It is engaged with large arm transfer driven gear, the rotation axis connection large arm transmission long axis of the large arm transfer driven gear, the large arm
The output end of transmission long axis connects elbow joint gear rotating part, and large arm connecting shaft is all installed at the both ends of the large arm transmission long axis
Flange, and large arm long axis rolling bearing is all installed between the large arm connection shaft flange and large arm transmission long axis at both ends.
It further, include that elbow joint drives angular wheel, elbow joint driven inside the elbow joint gear rotating part
Angular wheel, the elbow joint drive the output end of Support large arm component described in the rotation axis connection of angular wheel, and the elbow closes
Section driving angular wheel is engaged with the driven angular wheel of elbow joint, the driven angular wheel engagement of elbow joint and the small arm of support
Part connection.
Further, the support forearm components interior include forearm servo motor, forearm deceleration unit, head end rotation watch
Take motor, head end rotation deceleration unit, head elevation servo motor, head pitching reducer group, forearm turning gear wheel set, head end
Rotate gear pair, head pitching gear pair, forearm rotating drive shaft, head end rotating drive shaft, head pitching transmission shaft；It is described small
The output end of arm servo motor connects forearm deceleration unit, and the output end of the forearm deceleration unit connects forearm rotate gear
The output end of pair, the forearm turning gear wheel set connects forearm rotating drive shaft；The output end of the head end rotating servo motor
It connects head end and rotates deceleration unit, the output end of the head end rotation deceleration unit connects head end rotary teeth wheel set, the head end
The output end for rotating gear pair connects head end rotating drive shaft；The output end of the head elevation servo motor connects head pitching
The output end of deceleration unit, the head pitching reducer group connects head pitching gear pair, the head pitching gear pair
Output end connects head pitching transmission shaft；The head pitching transmission shaft is set to the outside of head end rotating drive shaft.
Further, joint of head rotation geared parts include that head pitching active taper umbrella gear, head are bowed
Driven taper umbrella gear is faced upward, the rotation axis of the head pitching active taper umbrella gear and head pitching are driven axis connection,
The head pitching active taper umbrella gear is engaged with the driven taper umbrella gear of head pitching.
Further, the head end gear rotating part includes level-one head end rotation active taper umbrella gear, level-one head
End rotates driven taper umbrella gear, head end rotary drive driving gear, head end rotary drive driven gear, head end and rotates gear
Transmission shaft, second level head end rotation active taper umbrella gear, second level head end rotate driven taper umbrella gear；
The rotation axis and head end rotating drive shaft of the level-one head end rotation active taper umbrella gear, the level-one head end
Rotation active taper umbrella gear rotates driven taper umbrella gear with level-one head end and engages, and the level-one head end is rotated from mantle
The rotation axis of shape umbrella gear connects head end rotary drive driving gear, and the head end rotary drive driving gear and head end rotate
The rotation axis connection second level head end of transfer driven gear engagement, the head end rotary drive driven gear rotates active taper umbrella
Gear, the second level head end rotation active taper umbrella gear rotates driven taper umbrella gear with second level head end and engages, described
Second level head end rotation active taper umbrella gear is connect with DR robot head end.
Further, installing pipe ball unit or flat panel detector unit on the head end gear rotating part.
The utility model realizes that the whole path of DR robot is moved by being moved forward and backward chassis, is revolved by mechanical arm waist
Rotation member realizes the twist motion of the mechanical arm (such as large arm, forearm) of DR robot, by shoulder joint gear rotating part come
The rotary motion for realizing the large arm of DR robot, the rotation of the forearm of DR robot is realized by elbow joint gear rotating part
Movement realizes joint of head pitching movement by supporting small the upper arm member, joint of head to rotate geared parts, passes through head end gear
Rotary part realizes the rotary motion of head-end segment；Thus realize that waist turns, shoulder turns, elbow turns, forearm turns, head pitching, head end
The movement of rotation six direction completes the accurate movement of complicated track so that DR robot motion is more flexible.
The DR robot of the utility model can be combined with each other to realize X-ray level bed DR, C-arm X-ray production apparatus, UC arm
The X-ray camera function using the medical equipment of x-ray imaging such as DR, suspention DR system, CT system, stomach and intestine machine, i.e. a DR
Installing pipe ball unit on the head end gear rotating part of robot is installed on the head end gear rotating part of another DR robot
Flat panel detector unit adjusts Liang Ge DR robot, puts so that pipe ball unit is opposite with flat panel detector unit, the quilt of human body
Detection position is between pipe ball unit and flat panel detector unit, when progress X-ray is taken pictures, the X-ray of pipe ball unit transmitting
It is received and is imaged by flat panel detector unit across human body, complete exposure and take pictures.Since the DR robot is able to carry out six freedom
Degree is adjusted, therefore be can control the DR robot and completed the movement of some complexity, to realize that X-ray level bed DR, C-arm X are penetrated
Line machine, UC arm DR, suspention DR system, CT system, stomach and intestine machine etc. utilize the X-ray camera function of the medical equipment of x-ray imaging,
And then these medical equipments are replaced, and the cost of hospital's procuring equipment is reduced, the cost of hospital is substantially reduced, DR robot land occupation
Space is small, additionally it is possible to solve the problems, such as the in short supply of place.
The additional aspect of the utility model and advantage will be set forth in part in the description, partially will be from following description
In become obvious, or recognized by the practice of the utility model.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will
Become obvious and be readily appreciated that, in which:
Fig. 1 is the structure chart of the DR robot with sixdegree-of-freedom simulation of the utility model；
Fig. 2 is the side view of the DR robot with sixdegree-of-freedom simulation of the utility model；
Fig. 3 is the inside of the mechanical arm waist rotary part of the DR robot with sixdegree-of-freedom simulation of the utility model
Structure chart；
Fig. 4 is the section view of the mechanical arm waist rotary part of the DR robot with sixdegree-of-freedom simulation of the utility model
Figure；
Fig. 5 is the interior of the shoulder joint gear rotating part of the DR robot with sixdegree-of-freedom simulation of the utility model
Portion's structure chart；
Fig. 6 is bowing for the shoulder joint gear rotating part of the DR robot with sixdegree-of-freedom simulation of the utility model
View；
Fig. 7 is the structure chart of the Support large arm component of the DR robot with sixdegree-of-freedom simulation of the utility model；
Fig. 8 is the front view of the Support large arm component of the DR robot with sixdegree-of-freedom simulation of the utility model；
Fig. 9 is cuing open for the elbow joint gear rotating part of the DR robot with sixdegree-of-freedom simulation of the utility model
View
Figure 10 is the structure chart of the small the upper arm member of support of the DR robot with sixdegree-of-freedom simulation of the utility model；
Figure 11 is the cross-sectional view of the small the upper arm member of support of the DR robot with sixdegree-of-freedom simulation of the utility model；
Figure 12 is the side section view of the small the upper arm member of support of the DR robot with sixdegree-of-freedom simulation of the utility model
Figure；
Figure 13 is front view of the DR robot with sixdegree-of-freedom simulation of the utility model when filming machine uses；
Figure 14 is front view of the DR robot with sixdegree-of-freedom simulation of the utility model when stomach and intestine machine uses；
Figure 15 is front view of the DR robot with sixdegree-of-freedom simulation of the utility model when CT machine uses；
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
The utility model provides a kind of DR robot with sixdegree-of-freedom simulation, with reference to shown in attached drawing 1-12, comprising:
It is moved forward and backward chassis 1, mechanical arm waist rotary part 2, shoulder joint gear rotating part 3, Support large arm component 4, elbow joint gear
Rotary part 5, the small the upper arm member 6 of support, joint of head rotate geared parts 7, head end gear rotating part 8.
The upper end for being moved forward and backward chassis 1 is equipped with mechanical arm waist rotating part 2, the upper end of mechanical arm waist rotary part 2 and shoulder
Joint gear rotary part 3 connects, one end of shoulder joint gear rotating part 3 and Support large arm component 4, Support large arm component 4
The other end connect elbow joint gear rotating part 5, the connection of elbow joint gear rotating part 5 supports one end of small the upper arm member 6, branch
The other end connection joint of head rotation geared parts 7 of small the upper arm member 6 are supportted, joint of head rotates 7 connector end tooth of geared parts
Take turns rotary part 8.
Linear guide is installed in the bottom for being moved forward and backward chassis 1, and linear guide is connect with ground embedded board, is moved forward and backward chassis
1 inside includes chassis servo motor, gear-box, gear, rack gear, sliding block；The output shaft tooth connection roller box of chassis servo motor
The rotation axis of interior gear, wheel and rack engagement, rack gear are connect with linear guide.
When work, chassis servo motor drives gear-box, and gearbox output shaft drives gear rotation；The gear and tooth of rotation
Item engagement, band carry-over bar is flexible, rack drives linear guide movement, so that linear guide moves on the embedded board of ground, finally
So that DR robot integrally moves on the ground.
As shown in Figure 3-4, the inside of mechanical arm waist rotary part 2 includes mechanical arm servo motor 21, mechanical arm speed reducer
Group 22, turbine and worm transmission mechanism, turbine and worm transmission mechanism include that worm screw 23, turbine 24, turbine bottom plate 25, turbine bearing are solid
Fixed board 26, rotatable shaft 28, the driving axis connection mechanical arm deceleration unit 22 of mechanical arm servo motor 21, mechanical arm speed reducer
One end of the output shaft connecting worm 23 of group 22, and the both ends of worm screw 23 are designed with radial thrust bearing, worm screw 23 and turbine 24
Turbine bearing 27 is all installed at engagement, the both ends of turbine 24, and the turbine bearing 27 of one end of turbine 24 is mounted on turbine bottom plate 25,
The turbine bearing 27 of its other end is mounted on turbine bearing (setting) plate 26, and the other end of turbine 24 is also connected with rotatable shaft
28。
When work, mechanical arm servo motor 21 drives mechanical arm deceleration unit 22, and mechanical arm deceleration unit 22 drives worm screw
23 movements, worm screw 23 drive turbine 24 to rotate, so that rotated integrally with the fixed mechanical arm waist rotary part 2 of turbine 24,
Realize that the rotation of mechanical arm waist is made.
It as seen in figs. 5-6, include shoulder joint servo motor 31, shoulder joint speed reducer inside shoulder joint gear rotating part 3
Group 32, shoulder joint gear pair, shoulder joint rotary support member 33, the output axis connection shoulder joint speed reducer of shoulder joint servo motor 31
Group 32, the output axis connection shoulder joint gear pair of shoulder joint deceleration unit 32, shoulder joint gear pair includes shoulder joint driving gear
33, shoulder joint driven gear 35, the output shaft of the rotation axis connection shoulder joint deceleration unit 32 of shoulder joint driving gear 33, and shoulder
Joint driving gear 33 is engaged with from shoulder joint moving gear 35, and shoulder joint driven gear 35 and shoulder joint rotary support member 34 connect
It connects.
When work, shoulder joint servo motor 31 drives shoulder joint deceleration unit 32, and shoulder joint deceleration unit 32 drives shoulder joint
It saves driving gear 33 to rotate, shoulder joint driving gear 33 drives shoulder joint driven gear 35 to rotate, and then drives shoulder joint whole
The movement that shoulder turns is realized in rotation.
It as Figure 7-9, include large arm servo motor 41, large arm deceleration unit 42, large arm biography inside Support large arm component 4
The output end of dynamic driving gear 43, large arm transfer driven gear 44, large arm transmission long axis 45, large arm servo motor 41 connects large arm
Deceleration unit 42, the rotation axis of the output end connection large arm transmission gear 43 of large arm deceleration unit 42, large arm transmission is actively
Gear 43 is engaged with large arm transfer driven gear 44, the rotation axis connection large arm transmission long axis 45 of large arm transfer driven gear 44,
The output end of large arm transmission long axis 45 connects elbow joint gear rotating part 5, and large arm is all installed at the both ends of large arm transmission long axis 45
Shaft flange 46 is connected, and large arm long axis rotation axis is all installed between the large arm connection shaft flange 46 and large arm transmission long axis 45 at both ends
It holds.
When work, large arm servo motor 41 drives large arm deceleration unit 42, and large arm deceleration unit 42 drives large arm transmission master
Moving gear 43 rotates, and large arm transmission gear 43 drives large arm transfer driven gear 44 to rotate, large arm transfer driven gear 44
Large arm transmission long axis 45 is driven to rotate, large arm transmission long axis 45 drives elbow joint gear rotating part 5 to act.
As Figure 7-9, inside elbow joint gear rotating part 5 include elbow joint driving angular wheel 51, elbow joint from
Dynamic angular wheel 52, elbow joint drive the output end of the rotation axis connection Support large arm component 4 of angular wheel 51, elbow joint driving
Angular wheel 51 engages 52 with the driven angular wheel of elbow joint, and the driven angular wheel 52 of elbow joint engages and supports small the upper arm member 6
Connection.
When work, large arm transmission long axis 45 drives elbow joint driving angular wheel 51 to rotate, and elbow joint drives angular wheel
51 drive the driven angular wheel 52 of elbow joint, and then drive the elbow joint component fixed with the driven angular wheel 52 of elbow joint whole
Rotation realizes that elbow rotation is made.
As shown in figs. 10-12, support includes forearm servo motor 61, forearm deceleration unit 62, head end inside small the upper arm member 6
Rotating servo motor 63, head end rotate deceleration unit 64, head elevation servo motor 65, head pitching reducer group 66, forearm
Turning gear wheel set 67, head end rotate gear pair 68, head pitching gear pair 69, forearm rotating drive shaft, head end rotating drive shaft
610, head pitching transmission shaft 611；The output end of forearm servo motor 61 connects forearm deceleration unit 62, forearm deceleration unit 62
Output end connect forearm turning gear wheel set 67, the output end of forearm turning gear wheel set 67 connects forearm rotating drive shaft；Head end
The output end connection head end of rotating servo motor 63 rotates deceleration unit 64, and head end rotates the output end connector of deceleration unit 64
End rotation gear pair 68, the output end that head end rotates gear pair 68 connect head end rotating drive shaft 610；Head elevation servo motor
65 output end connects head pitching reducer group 66, and the output end of head pitching reducer group 66 connects head pitching gear pair
69, the output end of head pitching gear pair 69 connects head pitching transmission shaft 611；Head pitching transmission shaft 611 is set to head end
The outside of rotating drive shaft 610.
When work, forearm servo motor 61 drives forearm deceleration unit 62, and forearm deceleration unit 62 drives forearm turning gear
Wheel set 67, forearm turning gear wheel set 67 drive the rotation of forearm rotating drive shaft, realize that forearm rotation is made.
Head end rotating servo motor 63 drives head end to rotate deceleration unit 64, and head end rotates deceleration unit 64 and drives head end rotation
Rotating disk pair 68, head end rotate gear pair 68 and head end rotating drive shaft 610 are driven to rotate, and head end rotating drive shaft 610 drives head
Hold gear rotating part 8.
Head elevation servo motor 65 drives head pitching reducer group 66, and head pitching reducer group 66 drives head to bow
Transmission shaft 611 is faced upward, head pitching transmission shaft 611 drives head pitching gear pair 69, and head pitching gear pair 69 drives head to bow
Transmission shaft 611 is faced upward, 611 headed joint of head pitching transmission shaft rotates geared parts 7.
As shown in figs. 10-12, joint of head rotation geared parts 7 include head pitching active taper umbrella gear 711, head
The driven taper umbrella gear 712 of portion's pitching, the rotation axis and head pitching transmission shaft of head pitching active taper umbrella gear 711
611 connections, head pitching active taper umbrella gear 711 are engaged with the driven taper umbrella gear 712 of head pitching.
When work, head pitching transmission shaft 611 drives the head pitching active taper in joint of head rotation geared parts 7
Umbrella gear 711 rotates, and head pitching active taper umbrella gear 711 drives the driven taper umbrella gear 712 of head pitching, head
Pitching driven taper umbrella gear 712 in portion's drives the head being fixed on the driven taper umbrella gear 712 of head pitching integrally to bow
Face upward movement.
Head end gear rotating part 8 is driven including level-one head end rotation active taper umbrella gear 811, the rotation of level-one head end
Taper umbrella gear 812, head end rotary drive driving gear 813, head end rotary drive driven gear 814, head end rotate gear
Transmission shaft, second level head end rotation active taper umbrella gear 815, second level head end rotate driven taper umbrella gear 816；
As shown in figs. 10-12, the rotation axis and head end rotating drive shaft of level-one head end rotation active taper umbrella gear 811
610, level-one head end rotates active taper umbrella gear 811 and engages with the driven taper umbrella gear 812 of level-one head end rotation, level-one
Head end rotates the rotation axis connection head end rotary drive driving gear 813 of driven taper umbrella gear 812, head end rotary drive master
Moving gear 813 is engaged with the wheel of head end rotary drive driven tooth 814, the rotation axis connection two of head end rotary drive driven gear 814
Grade head end rotates active taper umbrella gear 815, second level head end rotate active taper umbrella gear 815 and second level head end rotate from
Mantle shape umbrella gear 816 engages, and second level head end rotates active taper umbrella gear 816 and connect with DR robot head end 9.
When work, head end rotating drive shaft 610 drives the level-one head end in head end gear rotating part 8 to rotate active taper
Umbrella gear 811 rotates, and level-one head end rotates active taper umbrella gear 811 and level-one head end is driven to rotate driven taper umbrella tooth
812 rotation of wheel, level-one head end rotate driven taper umbrella gear 812 and drive the head end rotary drive of its rotation axis other end actively
Gear 813 rotates, and head end rotary drive driving gear 813 drives head end rotary drive driven tooth 814 to rotate, head end rotary drive
Driven tooth 814 drives the second level head end rotation active taper umbrella gear 815 of its rotation axis other end to rotate, and rotates axis connection two
Grade head end rotation active taper umbrella gear 815 drives second level head end to rotate driven taper umbrella gear 816 and rotates, second level head end
It rotates driven taper umbrella gear 816 and drives and be fixed on second level head end and rotate DR robot on driven taper umbrella gear 816
Head end 9 rotates, and realizes head end spinning movement.
In summary, the DR robot of the utility model has sixdegree-of-freedom simulation, can be realized waist turn, shoulder turns, elbow
Turn, forearm turn, head pitching, the movement of head end rotation six direction, so that DR robot motion is more flexible, completion complicated track
Accurate movement.
Installing pipe ball unit or flat panel detector unit on head end gear rotating part 8.It can be combined with each other to realize that X is penetrated
Line level bed DR, C-arm X-ray production apparatus, UC arm DR, suspention DR system, CT system, stomach and intestine machine etc. are set using the medical of x-ray imaging
Standby X-ray camera function.
As illustrated in figs. 13-15, installing pipe ball unit on the head end gear rotating part of a DR robot, another DR machine
Flat panel detector unit is installed on the head end gear rotating part of device people, adjusts Liang Ge DR robot, so that pipe ball unit and flat
Partitioned detector unit is opposite to be put, and the detection site of human body carries out X and penetrate between pipe ball unit and flat panel detector unit
When line is taken pictures, the X-ray of pipe ball unit transmitting passes through human body and receives imaging by flat panel detector unit, completes exposure and takes pictures.By
Six-freedom degree is able to carry out in the DR robot to adjust, therefore can control the movement that the DR robot completes some complexity,
To realize X-ray level bed DR, C-arm X-ray production apparatus, UC arm DR, suspention DR system, CT system, stomach and intestine machine etc. using X-ray at
The X-ray camera function of the medical equipment of picture, and then these medical equipments are replaced, the cost of hospital's procuring equipment is reduced, significantly
The cost of hospital is reduced, the DR robot space occupied is small, additionally it is possible to solve the problems, such as the in short supply of place.
Although the embodiments of the present invention have been shown and described above, it is to be understood that above-described embodiment is
Illustratively, it should not be understood as limiting the present invention, those skilled in the art are not departing from the utility model
Principle and objective in the case where above-described embodiment can be changed in the scope of the utility model, modify, replace and
Modification.The scope of the utility model is extremely equally limited by appended claims.
Claims (10)
1. a kind of DR robot with sixdegree-of-freedom simulation characterized by comprising be moved forward and backward chassis, mechanical arm waist
Rotary part, shoulder joint gear rotating part, Support large arm component, elbow joint gear rotating part, the small the upper arm member of support, head
Joint rotates geared parts, head end gear rotating part；
The upper end for being moved forward and backward chassis is equipped with mechanical arm waist rotary part, the upper end of the mechanical arm waist rotary part and shoulder
The connection of joint gear rotary part, one end of the shoulder joint gear rotating part and Support large arm component, the Support large arm
The other end of component connects elbow joint gear rotating part, and the elbow joint gear rotating part connection supports the one of small the upper arm member
The other end connection joint of head at end, the small the upper arm member of support rotates geared parts, and the joint of head rotates geared parts
Connector end gear rotating part.
2. as described in claim 1 with the DR robot of sixdegree-of-freedom simulation, it is characterised in that: the back-and-forth motion bottom
Linear guide is installed in the bottom of disk, and linear guide is connect with ground embedded board, and the inside for being moved forward and backward chassis includes chassis
Servo motor, gear-box, gear, rack gear, sliding block；Turn of gear in the output shaft tooth connection roller box of the chassis servo motor
Moving axis, the wheel and rack engagement, the rack gear are connect with linear guide.
3. as described in claim 1 with the DR robot of sixdegree-of-freedom simulation, it is characterised in that: the mechanical arm waist rotation
The inside of rotation member includes mechanical arm servo motor, mechanical arm deceleration unit, turbine and worm transmission mechanism, and the turbine and worm passes
Motivation structure includes worm screw, turbine, turbine bottom plate, turbine bearing (setting) plate, rotatable shaft, the drive of the mechanical arm servo motor
Moving axis connects mechanical arm deceleration unit, one end of the output shaft connecting worm of the mechanical arm deceleration unit, and the both ends of worm screw
It is designed with radial thrust bearing, the worm screw engages with turbine, and turbine bearing is all installed at the both ends of the turbine, the turbine
The turbine bearing of one end is mounted on turbine bottom plate, and the turbine bearing of the other end is mounted on turbine bearing (setting) plate, and institute
The other end for stating turbine is also connected with rotatable shaft.
4. as described in claim 1 with the DR robot of sixdegree-of-freedom simulation, it is characterised in that: the shoulder joint gear
Rotary part inside includes shoulder joint servo motor, shoulder joint deceleration unit, shoulder joint gear pair, shoulder joint rotary support member,
The output axis connection shoulder joint deceleration unit of the shoulder joint servo motor, the output axis connection shoulder of the shoulder joint deceleration unit
Joint tooth wheel set, the shoulder joint gear pair include shoulder joint driving gear, shoulder joint driven gear, the shoulder joint driving tooth
The output shaft of shoulder joint deceleration unit described in the rotation axis connection of wheel, and shoulder joint driving gear is nibbled with from shoulder joint moving gear
It closes, the shoulder joint driven gear is connect with shoulder joint rotary support member.
5. as described in claim 1 with the DR robot of sixdegree-of-freedom simulation, it is characterised in that: the Support large arm portion
It include large arm servo motor, large arm deceleration unit, large arm transmission gear, large arm transfer driven gear, large arm biography inside part
Dynamic long axis, the output end of the large arm servo motor connect large arm deceleration unit, the output end connection of the large arm deceleration unit
The rotation axis of large arm transmission gear, the large arm transmission gear are engaged with large arm transfer driven gear, the large arm
The rotation axis connection large arm transmission long axis of transfer driven gear, the output end connection elbow joint gear rotation of the large arm transmission long axis
Large arm connection shaft flange is all installed at rotation member, the both ends of the large arm transmission long axis, and the large arm connection shaft flange at both ends and big
Large arm long axis rolling bearing is all installed between arm transmission long axis.
6. as described in claim 1 with the DR robot of sixdegree-of-freedom simulation, it is characterised in that: the elbow joint gear
It include that elbow joint drives angular wheel, the driven angular wheel of elbow joint inside rotary part, the elbow joint drives angular wheel
Rotation axis connection described in Support large arm component output end, elbow joint driving angular wheel and the driven conical tooth of elbow joint
Wheel engagement, the driven angular wheel engagement of elbow joint are connect with small the upper arm member is supported.
7. as described in claim 1 with the DR robot of sixdegree-of-freedom simulation, it is characterised in that: the small arm of support
It include forearm servo motor inside part, forearm deceleration unit, head end rotating servo motor, head end rotates deceleration unit, head is bowed
Face upward servo motor, head pitching reducer group, forearm turning gear wheel set, head end rotation gear pair, head pitching gear pair, forearm
Rotating drive shaft, head end rotating drive shaft, head pitching transmission shaft；The output end connection forearm of the forearm servo motor slows down
Unit, the output end of the forearm deceleration unit connect forearm turning gear wheel set, and the output end of the forearm turning gear wheel set connects
Connect forearm rotating drive shaft；The output end connection head end of the head end rotating servo motor rotates deceleration unit, the head end rotation
Turn the output end connection head end rotary teeth wheel set of deceleration unit, the output end connection head end rotation of the head end rotation gear pair passes
Moving axis；The output end of the head elevation servo motor connects head pitching reducer group, the head pitching reducer group
Output end connects head pitching gear pair, and the output end of the head pitching gear pair connects head pitching transmission shaft；The head
The inside of rotating drive shaft is held to be equipped with head pitching transmission shaft.
8. as claimed in claim 7 with the DR robot of sixdegree-of-freedom simulation, it is characterised in that: the joint of head rotation
Rotating disk component includes head pitching active taper umbrella gear, the driven taper umbrella gear of head pitching, the head pitching
The rotation axis of active taper umbrella gear and head pitching are driven axis connection, the head pitching active taper umbrella gear and head
The driven taper umbrella gear engagement of portion's pitching.
9. as claimed in claim 7 with the DR robot of sixdegree-of-freedom simulation, it is characterised in that: the head end gear rotation
Rotation member includes level-one head end rotation active taper umbrella gear, level-one head end rotates driven taper umbrella gear, head end rotates
Transmission gear, head end rotary drive driven gear, head end rotation gearing shaft, second level head end rotate active taper umbrella
Gear, second level head end rotate driven taper umbrella gear；
The rotation axis and head end rotating drive shaft of the level-one head end rotation active taper umbrella gear, the level-one head end rotation
Active taper umbrella gear rotates driven taper umbrella gear with level-one head end and engages, and the level-one head end rotates driven cone parachute
The rotation axis of shape gear connects head end rotary drive driving gear, the head end rotary drive driving gear and head end rotary drive
The rotation axis connection second level head end of driven gear engagement, the head end rotary drive driven gear rotates active taper umbrella tooth
Wheel, the second level head end rotation active taper umbrella gear rotate driven taper umbrella gear with second level head end and engage, and described two
Grade head end rotation active taper umbrella gear is connect with DR robot head end.
10. such as the described in any item DR robots with sixdegree-of-freedom simulation of claim 1-9, it is characterised in that: described
Installing pipe ball unit or flat panel detector unit on head end gear rotating part.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820167628.4U CN208784756U (en) | 2018-01-31 | 2018-01-31 | DR robot with sixdegree-of-freedom simulation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820167628.4U CN208784756U (en) | 2018-01-31 | 2018-01-31 | DR robot with sixdegree-of-freedom simulation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110082501A (en) * | 2019-04-29 | 2019-08-02 | 中南大学 | Geological core spatial attitude restoring means |
| CN110774257A (en) * | 2019-11-08 | 2020-02-11 | 苏州罗克韦格自动化有限公司 | Portable pneumatic power-assisted mechanical arm |
| CN111493912A (en) * | 2020-06-02 | 2020-08-07 | 天机医用机器人技术(清远)有限公司 | DR robot system and operation steps using same |
| WO2021082387A1 (en) * | 2019-11-01 | 2021-05-06 | 南京全设智能科技有限公司 | Portable x-ray ct imaging device |
| WO2021082388A1 (en) * | 2019-11-01 | 2021-05-06 | 南京全设智能科技有限公司 | Portable x-ray ct imaging device and operating method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110082501A (en) * | 2019-04-29 | 2019-08-02 | 中南大学 | Geological core spatial attitude restoring means |
| WO2021082387A1 (en) * | 2019-11-01 | 2021-05-06 | 南京全设智能科技有限公司 | Portable x-ray ct imaging device |
| WO2021082388A1 (en) * | 2019-11-01 | 2021-05-06 | 南京全设智能科技有限公司 | Portable x-ray ct imaging device and operating method therefor |
| CN110774257A (en) * | 2019-11-08 | 2020-02-11 | 苏州罗克韦格自动化有限公司 | Portable pneumatic power-assisted mechanical arm |
| CN111493912A (en) * | 2020-06-02 | 2020-08-07 | 天机医用机器人技术(清远)有限公司 | DR robot system and operation steps using same |
| CN111493912B (en) * | 2020-06-02 | 2021-05-04 | 广东中科天机医疗装备有限公司 | DR robot system and operation steps using same |
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