CN208808650U - A kind of micro-wound operation robot suspension positioning and orientation mechanical arm - Google Patents
A kind of micro-wound operation robot suspension positioning and orientation mechanical arm Download PDFInfo
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- CN208808650U CN208808650U CN201820606858.6U CN201820606858U CN208808650U CN 208808650 U CN208808650 U CN 208808650U CN 201820606858 U CN201820606858 U CN 201820606858U CN 208808650 U CN208808650 U CN 208808650U
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- 239000000725 suspension Substances 0.000 title abstract description 9
- 210000000707 wrist Anatomy 0.000 claims abstract description 36
- 210000000245 forearm Anatomy 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims description 34
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 238000004804 winding Methods 0.000 abstract description 2
- 208000027418 Wounds and injury Diseases 0.000 description 9
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Abstract
A kind of micro-wound operation robot suspension positioning and orientation mechanical arm, belongs to medical surgical instrument technical field.Including cart, column, large arm, forearm, wrist, surgical instrument connector；The column is mounted on cart, lifting shaft J1 is installed inside column, column is connect with large arm one end by rotary shaft J2, the other end of large arm is connect with forearm one end by rotary shaft J3; the other end of forearm is connect with wrist upper end by rotary shaft J4, and wrist lower end is connect with surgical instrument connector by rotary shaft J5；Rotary shaft J2, J3, J4 are arranged in parallel with lifting shaft J1, and large arm is rotated around rotary shaft J2, and forearm is rotated around rotary shaft J3, and rotary shaft J5, J4 is mutually perpendicular to, and wrist is rotated around rotary shaft J4, and surgical instrument connector is rotated around rotary shaft J5.The problems such as the utility model mechanical arm positioning and orientation range is big, and four rotary shafts are directly driven with motor in shaft connection place, cabling inside mechanical arm, avoids winding and card line.
Description
Technical field
The invention belongs to medical surgical instrument technical fields, fixed more particularly to a kind of suspension positioning of micro-wound operation robot
Appearance mechanical arm.
Background technique
Micro-wound operation robot because of its higher accuracy, repeatability, post-surgical trauma are small, restore the advantages that fast, more next
Attention more by medical industry and robot industry.Support positioning and orientation component of the mechanical arm as operating robot is steady
Qualitative, reliability and accuracy will directly determine the life security of the success or failure or even patient of operation.Surgical engine currently on the market
Device people's system uses the kind of drive of surgical apparatus part and equipment support section integral type, and numerous mechanisms and transmission link increase
The complexity and number of parts of mechanism are added, can not only reduce the reliability and accuracy of system, also will increase surgical machine
The cost of people influences the universal and application of operating robot.
Summary of the invention
For the above technical problems, it is mechanical to provide a kind of micro-wound operation robot suspension positioning and orientation by the present invention
Arm.The purpose of the present invention is design a kind of simple, reliable, accurate positioning suspension positioning and orientation for micro-wound operation robot
Mechanical arm system, to solve the problems such as current medical robot product joint structure is complicated, cabling is chaotic and with high costs.
The purpose of the present invention is achieved through the following technical solutions:
A kind of micro-wound operation robot hangs positioning and orientation mechanical arm, it is characterised in that: including cart, column, large arm, small
Arm, wrist, surgical instrument connector；The column is mounted on cart, and lifting shaft J1, column and large arm are equipped with inside column
One end is connected by rotary shaft J2, and the other end of large arm is connect with forearm one end by rotary shaft J3, the other end and wrist of forearm
Portion upper end is connected by rotary shaft J4, and wrist lower end is connect with surgical instrument connector by rotary shaft J5；The rotary shaft J2,
J3, J4 are arranged in parallel with lifting shaft J1, and large arm is rotated around rotary shaft J2, and forearm is rotated around rotary shaft J3, rotary shaft J5 and rotation
Shaft J4 is mutually perpendicular to, and wrist is rotated around rotary shaft J4, and surgical instrument connector is rotated around rotary shaft J5, and adjustment surgical instrument connects
Fitting pose.
Further, the lifting shaft J1 includes electric cylinders, guide rail and guide rail slide block, and inner column is mounted on cart bottom plate,
Guide rail is fixed on inner column, guide rail slide block is mounted on outer column；Electric cylinders are installed, electric cylinders shell is fixed in the inner column
On inner column, electric cylinders push rod connects electric cylinders connecting flange by load connecting flange, and electric cylinders connecting flange is placed in column connection
It in flange, is connect with column connecting flange inner ring, column connecting flange outer ring is connect with outer column.
Further, the column connecting flange has Double-ladder boss, and it is straight that upper layer boss diameter is less than lower layer's boss
Diameter is provided with through-hole that is fixed and supporting crossed roller bearing on the boss of upper layer, the through-hole of connection outer column is provided on lower layer's boss.
Further, electric cylinders connecting flange outer ring is provided with column connecting flange connecting hole, inner ring with cable hole and
Load connecting flange connecting hole.
Further, the rotary shaft J2 includes motor I, RV speed reducer, crossed roller bearing I；The motor I is mounted on
Connect in large arm with RV speed reducer, the output shaft of RV speed reducer by speed reducer connecting flange and crossed roller bearing I inner ring and
The connection of column connecting flange, the outer ring crossed roller bearing I are connect with the outer seat of large arm.
Further, the rotary shaft J3 includes motor II, harmonic wave speed reducing machine I, transmission shaft I, crossed roller bearing II；Institute
It states motor II to be mounted in large arm, motor II is connect by motor connecting flange I with harmonic wave speed reducing machine I, and harmonic wave speed reducing machine I's is defeated
Shaft I is connect by transmission shaft I with crossed roller bearing II inner ring side, the other side of crossed roller bearing II inner ring and forearm
Outer seat connection, the outer ring crossed roller bearing II are connect with the outer seat of large arm.
Further, the rotary shaft J4 includes motor III, transmission shaft II, harmonic wave speed reducing machine II, crossed roller bearing
III, motor III are mounted on forearm, and motor III is connect by motor connecting flange II with harmonic wave speed reducing machine II, harmonic reduction
The output shaft II of machine II is connect by transmission shaft II with crossed roller bearing III inner ring side, crossed roller bearing III inner ring
The other side is connect with the outer seat of wrist, and the outer ring crossed roller bearing III is connect with the outer seat of forearm.
Further, the rotary shaft J5 includes motor IV, harmonic wave speed reducing machine III and crossed roller bearing IV；The electricity
Machine IV is placed in the outer seat of wrist, and output shaft end stretches out the outer seat one end of wrist and connect with harmonic wave speed reducing machine III, and the outer seat of wrist is another
End is equipped with crossed roller bearing IV, and surgical instrument connector is separately connected the output shaft III of harmonic wave speed reducing machine III and intersects rolling
Sub- bearing I V inner ring, the outer ring crossed roller bearing IV are connect with the outer seat of wrist.
Further, transmission shaft I, II structure is identical, be on one lower disc pass through connecting plate connect, disk inner ring
On be provided with cable hole, be provided with connecting hole on outer ring.
The invention has the benefit that
1. a kind of suspension positioning and orientation mechanical arm system of micro-wound operation robot of the present invention, four rotary shafts are all made of electricity
Machine directly drives in shaft connection place, and electric cylinders are responsible for the driving of lifting shaft, reduces extra transmission link, reduces transmission and misses
Difference improves transmission efficiency, increases the reliability and positioning accuracy of system.
2. transmission shaft structure of the present invention is ingenious in design, by with half between harmonic wave speed reducing machine and crossed roller bearing inner ring
The transmission axis connection of arc surface, to realize transmission；Medium design cable hole can be such that cable passes through from the rotation center of the axis,
Winding and card line are in turn avoided while realizing internal cabling.
3. mechanical arm freedom degree distribution of the present invention is rotated using lifting shaft J1, large arm and forearm rotating around rotary shaft J2, J3
The structure for forming swing arm, end wrist rotary shaft J4, J5 formation two-freedom realizes that pose separation, mechanical arm positioning are fixed
Appearance range is big, and large arm, the forearm amplitude of fluctuation of mechanical arm are small.
4. the mentality of designing that the present invention is separated using surgical apparatus with equipment support mechanical arm, makes the present invention become universal
Operating robot hangs positioning and orientation system, can access a variety of surgical apparatus in mechanical arm tail end and form different surgical machines
People.
Detailed description of the invention
Fig. 1 is main structure chart of the present invention.
Fig. 2 is lifting shaft J1 structure chart in Fig. 1.
Fig. 3 is rotary shaft J2 structure chart in Fig. 1.
Fig. 4 is the electric cylinders connecting flange structure figure in Fig. 3.
Fig. 5 is rotary shaft J3 structure chart in Fig. 1.
Fig. 6 is rotary shaft J4 structure chart in Fig. 1.
Fig. 7 is transmission shaft structure figure in Fig. 5 and Fig. 6.
Fig. 8 is rotary shaft J5 structure chart in Fig. 1.
Wherein: 10 carts, 11 inner columns, 12 guide rail slide blocks, 13 sliding block connecting flanges, 14 guide rails, 15 electric cylinders, 16 is vertical outside
Column, 17 load connecting flanges, 20 columns, 21 electric cylinders connecting flanges, 22 column connecting flanges, 23 crossed roller bearing I, 24 slow down
Machine connecting flange, 25RV speed reducer, 26 motor I, the outer seat of 27 large arm, 30 large arm, 31 motor II, 32 motor connecting flange I, 33 is humorous
Wave speed reducer I, 34 transmission shaft I, 35 crossed roller bearing II, the outer seat of 36 forearms, 37 string holes I, 40 forearms, 41 motor III, 42 is electric
Machine connecting flange II, 43 harmonic wave speed reducing machine II, 44 transmission shaft II, 45 crossed roller bearing III, the outer seat of 46 wrists, 47 string holes II,
50 wrists, 51 motor IV, 52 harmonic wave speed reducing machine III, 53 crossed roller bearing IV, 60 surgical instrument connectors, disk on 71,73
Lower disc, 72 connecting plates, 74 cable holes, 75 connecting holes, 82 semicircle cable holes, 83 load connecting flange location holes, 84 loads connect
Acting flange connecting hole, 81 column connecting flange connecting holes.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment: as Figure 1-Figure 5, a kind of micro-wound operation robot suspension positioning and orientation mechanical arm of the present invention includes:
Mounting arrangements control system and column 20, lifting shaft J1 are mounted in the protective case on trolley on cart 10, lifting
The inner column 11 of axis J1 is mounted on the bottom plate of cart 10, plays a part of to support solid mechanical arm.Control system uses existing skill
Art.
Lifting shaft J1 structure is as Figure 1-Figure 4, including electric cylinders 15, guide rail 14 and guide rail slide block 12, guide rail 14 are fixed on
On inner column 11, guide rail slide block 12 is mounted on guide rail 14, and outer column 16 is connect by sliding block connecting flange 13 with guide rail slide block 12
Together, so that outer column 16 be made to move up and down along the direction of guide rail 14, guide rail slide block 12 and guide rail 14 and inner column 11
Constitute the director element of lifting shaft J1；11 horizontal cross-section of inner column is U-shaped, and 15 shell of electric cylinders, which is fixed on 11 inner wall of inner column, is
The driving element of lifting shaft J1, electric cylinders push rod connect electric cylinders connecting flange 21, electric cylinders connecting flange by load connecting flange 17
21 have semicircle cable hole 82 for inner ring side, and the other side is with a load connecting flange location hole 83 and four load connection methods
Blue connecting hole 84, outer ring are provided with column connecting flange connecting hole 81, and electric cylinders connecting flange 21 is placed in column connecting flange 22, with
The connection of 22 inner ring of column connecting flange, 22 outer ring of column connecting flange is connect with outer column 16；Column connecting flange 22 is with double
Layer ladder boss, upper layer boss diameter are less than lower layer's boss diameter, through-hole are provided on the boss of upper layer, fix and support crossed roller
Bearing I 23 is provided with through-hole on lower layer's boss, for connecting outer column 16, groove is provided at the top of outer column 16, for placing column
Connecting flange 22 passes through electric cylinders 15 to allow outer column 16 and its all components of connection under the driving of electric cylinders 15
Push rod drive moves up and down in the vertical direction (Z-direction).
Rotary shaft J2 structure is as shown in figure 3, include motor I26, RV speed reducer 25, crossed roller bearing I23, motor I26
It is mounted in large arm 30 and is connect with RV speed reducer 25, RV speed reducer 25 is fixed on the outer seat 27 of large arm, RV speed reducer 25
Output shaft is linked together by speed reducer connecting flange 24 and the inner ring of crossed roller bearing I23, outside crossed roller bearing I23
Circle links together with the outer seat 27 of large arm, large arm 30 can be made to make rotating motion relative to column 20 in this way；The work shape of the axis
Formula is under the driving effect of motor I26, and the outer ring of crossed roller bearing I23 and inner ring relatively rotate, to make 30 phase of large arm
It makes rotating motion in the plane that X, Y-axis are constituted around rotary shaft J2 for column 20.
It is specific: between rotary shaft J1 and rotary shaft J2, load connecting flange 17, electric cylinders connecting flange 21, column connection
Flange 22, crossed roller bearing I23, there is through-hole on speed reducer connecting flange 24, be connected in turn；Load connecting flange
17 connect with electric cylinders push rod, and 22 outer ring of column connecting flange is connect with outer column 16, outside the outer ring crossed roller bearing I23 and large arm
Seat 27 connects, the output axis connection of speed reducer connecting flange 24 and speed reducer 25, and route is upward through load by inner column 11
Connecting flange 17, electric cylinders connecting flange 21, column connecting flange 22, crossed roller bearing I23, speed reducer connecting flange 24 are last
It is connected to large arm 30, to avoid damaging route, the rotation angle of large arm 30 is 0~180 °.
Rotary shaft J3 structure is as shown in figure 5, include motor II31, harmonic wave speed reducing machine I33, transmission shaft I34, crossed roller axis
II35 is held, the motor II31 is mounted in large arm 30, and motor II31 passes through motor connecting flange I32 and harmonic wave speed reducing machine I33
It is connected, the shell of harmonic wave speed reducing machine I33 is mounted on the outer seat 27 of large arm, and the output shaft of harmonic wave speed reducing machine I33 passes through transmission shaft
I34 is connected with the inner ring side of crossed roller bearing II35, the other side of crossed roller bearing II35 inner ring and the outer seat of forearm
36 are connected, and the outer ring of crossed roller bearing II35 is connect with the outer seat 27 of large arm, and string holes I37 is opened in 30 inside of large arm and transmission shaft
I34 is arranged in parallel, and route is connected to forearm 40 through string holes I37 and transmission shaft I34, and the rotation angle of transmission shaft I34 is 0~
180°；The working forms of the axis are under the driving effect of motor II31, and the output shaft of harmonic wave speed reducing machine I33 passes through transmission shaft
I34 drives the outer seat 36 of the forearm being connected with crossed roller bearing II35 inner ring to rotate, to realize forearm 40 relative to large arm
30 X, Y-axis constitute plane in around rotary shaft J3 rotary motion.
Rotary shaft J4 structure is as shown in fig. 6, include motor III41, transmission shaft II44, crossed roller bearing III45, harmonic wave
Speed reducer II, the motor III41 are mounted on forearm 40, and motor III41 passes through motor connecting flange II42 and harmonic reduction
Machine II43 connection, harmonic wave speed reducing machine II43 shell are mounted on the outer seat 36 of forearm, and the output shaft of harmonic wave speed reducing machine II43 passes through biography
Moving axis II44 is connect with the inner ring of crossed roller bearing III45, the other side of crossed roller bearing III45 inner ring and the outer seat of wrist
46 are connected, and the outer ring crossed roller bearing III45 is connect with the outer seat 36 of forearm, and string holes II47 is opened in 40 inside of forearm and transmission shaft
II44 is arranged in parallel, and route is connected to wrist 50 through string holes II47 and transmission shaft II44, and the rotation angle of transmission shaft II44 is 0~
180°；The working forms of the axis are under the driving of motor III41, and the output shaft of harmonic wave speed reducing machine II43 passes through transmission shaft
II44 drives the wrist 50 being connected with crossed roller bearing III45 inner ring to rotate, to realize wrist 50 relative to forearm 40
It is rotated around rotary shaft J4.
Specific: as shown in fig. 7, transmission shaft I34, transmission shaft II44 are upper disk 71 and lower disc 73, middle section is logical
The connecting plate 72 of more than half arc surfaces connects, and has cable hole 74 on lower disc inner ring, has connecting hole 75 on outer ring, facilitate internal cabling
It is not easy to wind.
Rotary shaft J5 structure as shown in figure 8, include motor IV51, harmonic wave speed reducing machine III52 and crossed roller bearing IV53,
The motor IV51 is connected in the outer seat 46 of wrist, and motor IV51 output shaft end stretches out the outer seat one end of wrist and harmonic wave speed reducing machine
III52 connection, the shell of harmonic wave speed reducing machine III52 are mounted on the outer seat 46 of wrist, and outer 46 other side of seat of wrist is equipped with intersection
Roller bearing IV53, surgical instrument connector 60 are separately connected harmonic wave speed reducing machine III52 output shaft and crossed roller bearing IV53
Inner ring, the outer ring crossed roller bearing IV53 connect with the outer seat 46 of wrist, play a supportive role；The working forms of the axis are in motor
Under the driving effect of IV51, the output shaft of harmonic wave speed reducing machine 52 drives surgical instrument connector 60 to rotate, to realize surgical device
Rotary motion of the tool connector 60 relative to wrist 50.
A kind of micro-wound operation robot suspension positioning and orientation mechanical arm of the present invention at work, first determines its work by trolley 10
Make position, goes up and down entire mechanical arm by control system control electric cylinders 15 and drive large arm 30, electricity to appropriate height, then by motor I26
Machine II31 drives forearm 40 to rotate in horizontal plane in place to operating position, and motor III41 drives wrist 50 to connect with surgical instrument
0~180 ° of rotation in the horizontal direction of part 60, last motor IV51 drive surgical instrument connector 60 to turn at 0~180 ° of vertical direction
It is dynamic.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of micro-wound operation robot hangs positioning and orientation mechanical arm, it is characterised in that: including cart, column, large arm, small
Arm, wrist, surgical instrument connector；The column is mounted on cart, and lifting shaft J1, column and large arm are equipped with inside column
One end is connected by rotary shaft J2, and the other end of large arm is connect with forearm one end by rotary shaft J3, the other end and wrist of forearm
Portion upper end is connected by rotary shaft J4, and wrist lower end is connect with surgical instrument connector by rotary shaft J5；The rotary shaft J2,
J3, J4 are arranged in parallel with lifting shaft J1, and large arm is rotated around rotary shaft J2, and forearm is rotated around rotary shaft J3, rotary shaft J5 and rotation
Shaft J4 is mutually perpendicular to, and wrist is rotated around rotary shaft J4, and surgical instrument connector is rotated around rotary shaft J5, and adjustment surgical instrument connects
Fitting pose.
2. a kind of micro-wound operation robot according to claim 1 hangs positioning and orientation mechanical arm, it is characterised in that: described
Lifting shaft J1 includes electric cylinders, guide rail and guide rail slide block, and inner column is mounted on cart bottom plate, and guide rail is fixed on inner column, is led
Rail sliding block is mounted on outer column；Electric cylinders are installed, electric cylinders shell is fixed on inner column, and electric cylinders push rod is logical in the inner column
Overload connecting flange connects electric cylinders connecting flange, and electric cylinders connecting flange is placed in column connecting flange, with column connecting flange
Inner ring connection, column connecting flange outer ring is connect with outer column.
3. a kind of micro-wound operation robot according to claim 2 hangs positioning and orientation mechanical arm, it is characterised in that: described
Column connecting flange has Double-ladder boss, and upper layer boss diameter is less than lower layer's boss diameter, is provided with fixation on the boss of upper layer
And the through-hole of crossed roller bearing is supported, the through-hole of connection outer column is provided on lower layer's boss.
4. a kind of micro-wound operation robot according to claim 2 hangs positioning and orientation mechanical arm, it is characterised in that: described
Electric cylinders connecting flange outer ring is provided with column connecting flange connecting hole, and inner ring is with cable hole and load connecting flange connecting hole.
5. a kind of micro-wound operation robot according to claim 1 hangs positioning and orientation mechanical arm, it is characterised in that: described
Rotary shaft J2 includes motor I, RV speed reducer, crossed roller bearing I；The motor I is mounted in large arm to be connect with RV speed reducer,
The output shaft of RV speed reducer is connect by speed reducer connecting flange with crossed roller bearing I inner ring and column connecting flange, is intersected
The outer ring roller bearing I is connect with the outer seat of large arm.
6. a kind of micro-wound operation robot according to claim 1 hangs positioning and orientation mechanical arm, it is characterised in that: described
Rotary shaft J3 includes motor II, harmonic wave speed reducing machine I, transmission shaft I, crossed roller bearing II；The motor II is mounted in large arm,
Motor II is connect by motor connecting flange I with harmonic wave speed reducing machine I, and the output shaft I of harmonic wave speed reducing machine I by transmission shaft I and is handed over
The connection of roller bearing II inner ring side is pitched, the other side of crossed roller bearing II inner ring is connect with the outer seat of forearm, crossed roller axis
The outer ring II is held to connect with the outer seat of large arm.
7. a kind of micro-wound operation robot according to claim 6 hangs positioning and orientation mechanical arm, it is characterised in that: described
Transmission shaft I is that lower disc is connected by connecting plate on one, is provided with cable hole on disk inner ring, is provided with connecting hole on outer ring.
8. a kind of micro-wound operation robot according to claim 1 hangs positioning and orientation mechanical arm, it is characterised in that: described
Rotary shaft J4 includes motor III, transmission shaft II, harmonic wave speed reducing machine II, crossed roller bearing III, and motor III is mounted on forearm
On, motor III is connect by motor connecting flange II with harmonic wave speed reducing machine II, and the output shaft II of harmonic wave speed reducing machine II passes through transmission
Axis II is connect with crossed roller bearing III inner ring side, and the other side of crossed roller bearing III inner ring is connect with the outer seat of wrist,
The outer ring crossed roller bearing III is connect with the outer seat of forearm.
9. a kind of micro-wound operation robot according to claim 8 hangs positioning and orientation mechanical arm, it is characterised in that: described
Transmission shaft II is that lower disc is connected by connecting plate on one, is provided with cable hole on disk inner ring, is provided with connecting hole on outer ring.
10. a kind of micro-wound operation robot according to claim 1 hangs positioning and orientation mechanical arm, it is characterised in that: institute
Stating rotary shaft J5 includes motor IV, harmonic wave speed reducing machine III and crossed roller bearing IV；The motor IV is placed in the outer seat of wrist,
Its output shaft end stretches out the outer seat one end of wrist and connect with harmonic wave speed reducing machine III, and the outer seat other end of wrist is equipped with crossed roller axis
IV is held, surgical instrument connector is separately connected the output shaft III and crossed roller bearing IV inner ring of harmonic wave speed reducing machine III, intersects
The outer ring roller bearing IV is connect with the outer seat of wrist.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820606858.6U CN208808650U (en) | 2018-04-26 | 2018-04-26 | A kind of micro-wound operation robot suspension positioning and orientation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820606858.6U CN208808650U (en) | 2018-04-26 | 2018-04-26 | A kind of micro-wound operation robot suspension positioning and orientation mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN208808650U true CN208808650U (en) | 2019-05-03 |
Family
ID=66268494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820606858.6U Active CN208808650U (en) | 2018-04-26 | 2018-04-26 | A kind of micro-wound operation robot suspension positioning and orientation mechanical arm |
Country Status (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108635046A (en) * | 2018-04-26 | 2018-10-12 | 沈阳通用机器人技术股份有限公司 | Micro-wound operation robot hangs positioning and orientation mechanical arm |
| CN111449752A (en) * | 2020-03-20 | 2020-07-28 | 北京理工大学 | Passive positioning mechanical arm for propelling mechanism of vascular cavity interventional operation robot |
| CN108635046B (en) * | 2018-04-26 | 2024-04-26 | 沈阳鸿星智能科技有限公司 | Suspension positioning and posture-fixing mechanical arm of minimally invasive surgery robot |
-
2018
- 2018-04-26 CN CN201820606858.6U patent/CN208808650U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108635046A (en) * | 2018-04-26 | 2018-10-12 | 沈阳通用机器人技术股份有限公司 | Micro-wound operation robot hangs positioning and orientation mechanical arm |
| CN108635046B (en) * | 2018-04-26 | 2024-04-26 | 沈阳鸿星智能科技有限公司 | Suspension positioning and posture-fixing mechanical arm of minimally invasive surgery robot |
| CN111449752A (en) * | 2020-03-20 | 2020-07-28 | 北京理工大学 | Passive positioning mechanical arm for propelling mechanism of vascular cavity interventional operation robot |
| CN111449752B (en) * | 2020-03-20 | 2021-05-04 | 北京理工大学 | Passive positioning mechanical arm for propelling mechanism of vascular cavity interventional operation robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Suspension positioning and posture fixing mechanical arm of minimally invasive surgery robot Effective date of registration: 20200422 Granted publication date: 20190503 Pledgee: Liaojiao Jianxin (Liaoning) Fund Management Co.,Ltd. Pledgor: SHENYANG GENERAL ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2020210000008 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
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Effective date of registration: 20231117 Address after: Room 0302, No. 197 Nanjing South Street, Heping District, Shenyang City, Liaoning Province, 110166 Patentee after: Liaoning Trading Investment Co.,Ltd. Address before: No. 8-1 Gaoge Road, Hunnan New Area, Hunnan District, Shenyang City, Liaoning Province, 110168 Patentee before: SHENYANG GENERAL ROBOT TECHNOLOGY Co.,Ltd. |
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