CN208974844U - Injector robot - Google Patents
Injector robot Download PDFInfo
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- CN208974844U CN208974844U CN201721500989.8U CN201721500989U CN208974844U CN 208974844 U CN208974844 U CN 208974844U CN 201721500989 U CN201721500989 U CN 201721500989U CN 208974844 U CN208974844 U CN 208974844U
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- connecting rod
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- fixed frame
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- drives
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Abstract
The utility model discloses a kind of injector robots comprising: fixed device, the fixed device are used for mounting of syringe tool, and injecting apparatus has piston rod；First driving device, the first driving device can directly drive or drive piston rod to be movably arranged by the first transmission device；The fixed device is movably arranged.Injector robot in the utility model, both the tilt angle of adjustable fixed frame, it again can be with rotary injection instrument, it can also go up and down, and it is moved along horizontal both direction, setting makes it that can meet the Operations Requirements of all directions in ophthalmologic operation in this way, allows to replace manpower operating syringe tool.It is injected using mechanically actuated, can avoid damaging caused by hand shaking brought by Human Physiology limitation etc..
Description
Technical field
The utility model relates to a kind of injector robots.
Background technique
In the therapeutic process of disease, injection is very common treatment means.But in the actual operation process, some devices
The position of official determines that injection has very high difficulty.Such as when needing the liquid medicine injection in eyeball, since eyeball is small, and damage
Wound, therefore the required precision injected to it is very high.When by doctor's manual injection, due to manually operated limitation, inevitably
The risk of eyeball is damaged there are hand shaking.In the injection of other organs, equally exists and position inaccurate or Human Physiology limitation band
The risk come.
Utility model content
The purpose of this utility model first is that in order to overcome the shortcomings in the prior art, providing one kind can replace manpower to operate
Injector robot.
In order to achieve the above object, the utility model is achieved through the following technical solutions:
Injector robot characterized by comprising
Injecting apparatus, the injecting apparatus have shell, piston rod and syringe needle, and the shell is provided with lumen, the work
Stopper rod is movably disposed in the lumen of the shell, and the syringe needle is connected to the shell；The piston rod is in the pipe
The needle injection liquid can be passed through when chamber activity；
Fixed device, the fixed device is for installing the injecting apparatus；
First driving device, the first driving device can directly drive or drive piston rod to move by the first transmission device
It is arranged dynamicly；
The fixed device is movably arranged.
One embodiment according to the present utility model, the first driving device are linear motor, the straight-line electric equipment
There is mobilizable mandrel, the piston rod of driving injecting apparatus is mobile when the mandrel activity.
One embodiment according to the present utility model, the fixed device can be rotatably set, the fixed device rotation
When, carry injecting apparatus rotation.
One embodiment according to the present utility model further includes the second driving device, and second driving device is directly driven
It moves or drives the fixed device to be rotationally arranged by the second transmission device.
One embodiment according to the present utility model, second driving device are the first rotating electric machine, and described second passes
Dynamic device is the first synchronous belt, and the fixed device is belt pulley；First rotating electric machine drives the skin by synchronous belt
Belt wheel rotation.
One embodiment according to the present utility model further includes fixed frame, and the fixed frame has through-hole, and described first drives
Dynamic device and the fixed device are respectively arranged at the through-hole two sides, the first driving device or first transmission device
May pass through the through-hole drives the piston rod to be movably arranged.
One embodiment according to the present utility model further includes cross-brace arm, and the fixed device is installed on fixed frame
On, it is set on the cross-brace arm to the fixed frame adjustable tilt angle；The cross-brace arm is movably set
It sets.
One embodiment according to the present utility model further includes third driving device, and the third driving device drives institute
It states fixed frame adjustment tilt angle or is arranged with adjusting the fixed frame tilt angle by third transmission device.
One embodiment according to the present utility model, third transmission device one end can be arranged with moving along a straight line, another
End is connect with the fixed frame；The third transmission device is to be tilted by the fixed frame of one end linear motion, the adjustment other end
The transmission device of angle.
One embodiment according to the present utility model, the third transmission device include first connecting rod, second connecting rod, third
Connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is mounted on the cross-brace arm, and described second
Connecting rod and the equal lower end of third connecting rod are rotatably coupled with fourth link；Described first connecting rod one end is movably arranged, another
End is connect with the second connecting rod upper end；5th connecting rod is rotatably connect with the second connecting rod, third connecting rod；
5th interlinking lever end is connect with the fixed frame；Six-bar linkage one end is rotatably connect with third connecting rod,
The other end is connect with fixed frame；When described first connecting rod one end moves along a straight line, the tilt angle of the fixed frame is adjusted.
Fluted, the third driving device is arranged in one embodiment according to the present utility model, the cross-brace arm
It is arranged in the groove；The first sliding block of linear motion is provided in the groove；Described in the third driving device driving
First sliding block moves along a straight line；First sliding block is connect with the third transmission device.
One embodiment according to the present utility model, the third driving device are third rotating electric machine, the third rotation
Rotating motor is connected with screw rod；First sliding block and the wire rod thread cooperate；The third rotating electric machine drives the screw rod
Rotation, the screw rod drive first sliding block along screw rod axial linear movement when rotating.
One embodiment according to the present utility model further includes fourth drive device, and the cross-brace arm is rotatably
It is installed on the second sliding block；The fourth drive device drives the cross-brace arm to be rotatably arranged or by the 4th transmission dress
The driving cross-brace arm is set rotatably to be arranged.
One embodiment according to the present utility model further includes the 5th driving device；Second sliding block is liftably set
It is placed on vertical supporting arm, the 5th driving device directly drives the second sliding block lifting or driven by the 5th transmission device
Second sliding block is moved to be arranged up and down.
One embodiment according to the present utility model further includes the 6th driving device；The vertical supporting arm horizontal can move
It is set in first base dynamicly, the 6th driving device directly drives the vertical supporting arm and is arranged or leads to moving horizontally
Crossing the 6th transmission device drives the vertical supporting arm to be arranged with moving horizontally.
One embodiment according to the present utility model further includes the 7th driving device；The first base is horizontally moveable
Ground is set in second base, and the 7th driving device directly drives the first base and is arranged with moving horizontally or by the
Seven transmission devices drive the first base to be arranged with moving horizontally；The vertical supporting arm moves horizontally direction and described the
One pedestal to move horizontally direction vertical.
Injector robot in the utility model, the not only tilt angle of adjustable fixed frame, but also can be with rotary syringe
Tool can also be gone up and down, and be moved along horizontal both direction, the activity of all directions when setting makes it that can meet injection in this way
It is required that allowing to replace manpower operating syringe tool.It is injected, is can avoid brought by Human Physiology limitation using mechanically actuated
It is damaged caused by hand shaking etc..The utility model is particularly suitable for the high injection of required precision, such as injects in eyeball.This is practical
It is novel to replace manpower operation injection work, the movement of all directions for the injecting apparatus that computerizeds control is adopted, can either be controlled
Its kinematic accuracy, will not be trembled by the physiology of people influences, and injection effect is good and is not influenced by the external world.First driving device uses
The accuracy of operation can be improved in linear motor.Third transmission device uses six connecting rod assemblies, can export third driving device
Linear motion driving force be converted to driving fixed frame tilt angle adjustment driving force so that the utility model both realizes
The tilt angle of injecting apparatus is adjusted, structure is simply readily produced, assembles.It is high that the utility model is particularly suitable for required precision
Medical field, such as ophthalmologic operation.
Detailed description of the invention
Fig. 1 is the syringe construction schematic diagram in the utility model.
Fig. 2 is the utility model structure diagram.
Fig. 3 is the structural schematic diagram on the cross-brace arm in the utility model.
Fig. 4 is the structural schematic diagram on the fixed frame in the utility model.
Specific embodiment
The present invention will be further described with attached drawing with reference to embodiments.
As shown in Figures 1 to 4, injector robot comprising fixed frame 10, linear motor 11 and rotatable belt pulley
12.There is through-hole 13 on fixed frame 10.Linear motor 11 has mandrel 14 movable linearly.Linear motor 11 and belt pulley
12 are separately positioned on about 13 two sides of through-hole.The belt pulley 12 is rotatably arranged.Injecting apparatus 200 is fixedly mounted on belt
On wheel 12.Injecting apparatus 200 has shell 201, piston rod 202 and syringe needle 203.Shell 201 has lumen 204.Piston rod 202
It is movably disposed in lumen 204.Syringe needle 203 is connected to lumen 204.The piston rod 202 of injecting apparatus 200 is in lumen 204
203 liquid medicine injection of syringe needle can be passed through when interior activity.When the mandrel 14 of linear motor 11 moves linearly, the driving note of through-hole 13 may pass through
The piston rod of emitter tool 200 is mobile.
The first rotating electric machine 15 is additionally provided on fixed frame 10.First rotating electric machine 15 passes through 16 driving belt pulley of synchronous belt
12 rotations.When belt pulley 12 rotates, injecting apparatus 200 can be driven to rotate, adjust the angle of injection needle.
It is set on cross-brace arm 20 to 10 adjustable tilt angle of fixed frame.The cross-brace arm 20 is arranged
Fluted 21.Third rotating electric machine 31 is provided in groove 21.Third rotating electric machine 31 is connected with screw rod 41, is set on screw rod 41
There is the first sliding block 51.First sliding block 51 is threadedly engaged with screw rod 41.Third rotating electric machine 31 drives screw rod 41 to rotate, and can make first
Sliding block 51 is along the axial linear movement of the first lead screw 41.
20 one end of cross-brace arm is mounted on the second sliding block 60, and the other end is equipped with third transmission device.Third transmission
Device includes first connecting rod 71, second connecting rod 72, third connecting rod 73, fourth link 74, the 5th connecting rod 75 and six-bar linkage 76.Institute
It states fourth link 74 to be mounted on the cross-brace arm 20, the second connecting rod 72 and the equal lower end of third connecting rod 73 connect with the 4th
Bar 74 is rotatably coupled.Described 71 one end of first connecting rod is connect with the first sliding block 51, on the other end and the second connecting rod 72
End connection.5th connecting rod 75 is rotatably connect with the second connecting rod 72, third connecting rod 73.5th connecting rod
75 ends are connect with the fixed frame 10；Described 76 one end of six-bar linkage is rotatably connect with third connecting rod 73, another
End is connect with fixed frame 10.
The cross-brace arm 20 is rotatably mounted on the second sliding block 60.4th driving is installed on the second sliding block 60
Device 32.The fourth drive device 32 drives the cross-brace arm 10 to be rotatably arranged or drive by the 4th transmission device
The cross-brace arm 10 is moved rotatably to be arranged.
Second sliding block 60 is liftably set on vertical supporting arm 61.Described is provided on vertical supporting arm 61
Five driving devices 33.5th driving device 33 directly drives the lifting of the second sliding block 60 or drives institute by the 5th transmission device
The second sliding block 60 is stated to be arranged up and down.
The vertical supporting arm 61 is set to horizontally moveablely in first base 62.The 6th is provided in first base 62
Driving device 34.6th driving device 34 directly drives the vertical supporting arm 61 and is arranged with moving horizontally or by the 6th
Transmission device drives the vertical supporting arm 61 to be arranged with moving horizontally.
The first base 62 is set to horizontally moveablely in second base 63.The 7th drive is provided in second base 63
Dynamic device 35.7th driving device 35 directly drives the first base 62 and is arranged with moving horizontally or by the 7th transmission
Device drives the first base 62 to be arranged with moving horizontally；The vertical supporting arm 61 moves horizontally direction and described first
Pedestal 62 to move horizontally direction vertical.
First driving device, the second driving device, third driving device, fourth drive device in the utility model,
The drivings such as rotating electric machine, linear motor, cylinder dress can be used in five driving devices, the 6th driving device and the 7th driving device
It sets.It is preferred that rotating electric machine is used, more preferably using the driving device that can be controlled using computer, such as servo motor.This is practical new
The first transmission device, the second transmission device, third transmission device, the 4th transmission device, the 5th transmission device, the 6th biography in type
Dynamic device and the 7th transmission device, can be used the transmission devices such as feed screw nut, transmission belt, transmission chain, gear；It is preferred that using silk
Thick stick nut.
In use, as shown in Figure 1, starting third rotating electric machine 31, third rotating electric machine 31 pass through the driving of screw rod 41 first
Sliding block 51 is mobile.When first sliding block 51 is mobile, driving first connecting rod 71 is mobile, and 71 movement of first connecting rod can make second connecting rod 72
It is rotated with third connecting rod 73 relative to fourth link 74.It, can when second connecting rod 72 and third connecting rod 73 are rotated relative to fourth link 74
Make 10 angle change of fixed frame by the 5th connecting rod 75 and six-bar linkage 76.It is driven, can be led to by fourth drive device 32
Crossing cross-brace arm 20 drives fixed frame 10 to rotate.It is driven by the 5th driving device 33, fixed frame 10 can be made to go up and down.Pass through
Six driving devices 34 and the driving of the 7th driving device 35, can make to move in the both direction in the horizontal direction of fixed frame 10.It utilizes
First rotating electric machine 15 can make belt pulley 12 that injecting apparatus 200 be driven to rotate.By operating above, by injecting apparatus adjust to
It is suitble to the state of injection.Start linear motor 11, is moved using the piston rod of the linear movement driving injecting apparatus 200 of mandrel 14
It is dynamic, complete injection work.
Injector robot in the utility model, the not only tilt angle of adjustable fixed frame, but also can be with rotary syringe
Tool can also be gone up and down, and be moved along horizontal both direction, the activity of all directions when setting makes it that can meet injection in this way
It is required that allowing to replace manpower operating syringe tool.It is injected, is can avoid brought by Human Physiology limitation using mechanically actuated
It is damaged caused by hand shaking etc..The utility model is particularly suitable for the high injection of required precision, such as injects in eyeball.This is practical
It is novel to replace manpower operation injection work, the movement of all directions for the injecting apparatus that computerizeds control is adopted, can either be controlled
Its kinematic accuracy, will not be trembled by the physiology of people influences, and injection effect is good and is not influenced by the external world.First driving device uses
The accuracy of operation can be improved in linear motor.Third transmission device uses six connecting rod assemblies, can export third driving device
Linear motion driving force be converted to driving fixed frame tilt angle adjustment driving force so that the utility model both realizes
The tilt angle of injecting apparatus is adjusted, structure is simply readily produced, assembles.It is high that the utility model is particularly suitable for required precision
Medical field, such as ophthalmologic operation.
The embodiments of the present invention are only used for being illustrated the utility model, do not constitute to scope of the claims
Limitation, other substantially equivalent substitutions that those skilled in that art are contemplated that, in scope of protection of the utility model
It is interior.
Claims (10)
1. injector robot characterized by comprising
Injecting apparatus, the injecting apparatus have shell, piston rod and syringe needle, and the shell is provided with lumen, the piston rod
It is movably disposed in the lumen of the shell, the syringe needle is connected to the shell；The piston rod is living in the lumen
The needle injection liquid can be passed through when dynamic；
Fixed device, the fixed device is for installing the injecting apparatus；
First driving device, the first driving device can directly drive or drive piston rod movably by the first transmission device
Setting；
The fixed device is movably arranged.
2. injector robot according to claim 1, which is characterized in that the fixed device can be rotatably set, described
When fixed device rotation, injecting apparatus rotation is carried；Further include the second driving device, second driving device directly drive or
The fixed device is driven rotationally to be arranged by the second transmission device.
3. injector robot according to claim 1, which is characterized in that further include fixed frame, the fixed frame has logical
Hole, the first driving device and the fixed device are respectively arranged at the through-hole two sides, the first driving device or institute
It states the first transmission device and may pass through the through-hole and the piston rod is driven movably to be arranged.
4. injector robot according to claim 1, which is characterized in that it further include cross-brace arm, the fixed device
It is installed on fixed frame, is set on the cross-brace arm to the fixed frame adjustable tilt angle；The cross-brace
Arm is movably arranged；It further include third driving device, the third driving device drives the fixed frame to adjust tilt angle
Or it is arranged with adjusting the fixed frame tilt angle by third transmission device.
5. injector robot according to claim 4, which is characterized in that third transmission device one end can move along a straight line
Ground setting, the other end are connect with the fixed frame；The third transmission device is by one end linear motion, the adjustment other end
The transmission device of fixed frame tilt angle.
6. injector robot according to claim 5, which is characterized in that the third transmission device include first connecting rod,
Second connecting rod, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is mounted on the cross-brace
On arm, the second connecting rod and the equal lower end of third connecting rod are rotatably coupled with fourth link；Described first connecting rod one end can live
It is arranged dynamicly, the other end is connect with the second connecting rod upper end；5th connecting rod and the second connecting rod, third connecting rod can phases
To rotationally connecting；5th interlinking lever end is connect with the fixed frame；It six-bar linkage one end can phase with third connecting rod
To rotationally connecting, the other end is connect with fixed frame；When described first connecting rod one end moves along a straight line, inclining for the fixed frame is adjusted
Rake angle.
7. injector robot according to claim 4, which is characterized in that the cross-brace arm setting is fluted, described
Third driving device is arranged in the groove；The first sliding block of linear motion is provided in the groove；The third driving
Device drives first sliding block to move along a straight line；First sliding block is connect with the third transmission device.
8. injector robot according to claim 4, which is characterized in that it further include fourth drive device, the laterally branch
Brace is rotatably mounted on the second sliding block；The fourth drive device drives the cross-brace arm to be rotatably arranged or lead to
Crossing the 4th transmission device drives the cross-brace arm to be rotatably arranged.
9. injector robot according to claim 8, which is characterized in that further include the 5th driving device；Described second is sliding
Block is liftably set on vertical supporting arm, and the 5th driving device directly drives second sliding block lifting or by the
Five transmission devices drive second sliding block to be arranged up and down.
10. injector robot according to claim 9, which is characterized in that further include the 6th driving device, the 7th driving dress
It sets；The vertical supporting arm is set in first base horizontally moveablely, and the 6th driving device directly drives described perpendicular
It is arranged with moving horizontally to support arm or drives the vertical supporting arm to be arranged with moving horizontally by the 6th transmission device；It is described
First base is set in second base horizontally moveablely, and it is horizontal that the 7th driving device directly drives the first base
Movably it is arranged or drives the first base to be arranged with moving horizontally by the 7th transmission device；The water of the vertical supporting arm
Flat moving direction and the first base to move horizontally direction vertical.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621231651 | 2016-11-16 | ||
| CN2016212316512 | 2016-11-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208974844U true CN208974844U (en) | 2019-06-14 |
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ID=66777081
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721500989.8U Active CN208974844U (en) | 2016-11-16 | 2017-11-10 | Injector robot |
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| CN (1) | CN208974844U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368185A (en) * | 2019-08-08 | 2019-10-25 | 哈尔滨工业大学 | A kind of retinal vessel medicine injecting device for ophthalmologic operation robot |
| CN111658901A (en) * | 2020-07-08 | 2020-09-15 | 韩金魁 | Full-automatic vaccination device |
| CN111975792A (en) * | 2020-08-14 | 2020-11-24 | 中国科学院大学宁波华美医院 | Injection type robot for epidemic prevention |
| CN116473641A (en) * | 2023-05-06 | 2023-07-25 | 中日友好医院(中日友好临床医学研究所) | Injection angle and height-adjustable's injection needle subassembly |
-
2017
- 2017-11-10 CN CN201721500989.8U patent/CN208974844U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368185A (en) * | 2019-08-08 | 2019-10-25 | 哈尔滨工业大学 | A kind of retinal vessel medicine injecting device for ophthalmologic operation robot |
| CN111658901A (en) * | 2020-07-08 | 2020-09-15 | 韩金魁 | Full-automatic vaccination device |
| CN111975792A (en) * | 2020-08-14 | 2020-11-24 | 中国科学院大学宁波华美医院 | Injection type robot for epidemic prevention |
| CN116473641A (en) * | 2023-05-06 | 2023-07-25 | 中日友好医院(中日友好临床医学研究所) | Injection angle and height-adjustable's injection needle subassembly |
| CN116473641B (en) * | 2023-05-06 | 2023-10-17 | 中日友好医院(中日友好临床医学研究所) | Injection angle and height-adjustable's injection needle subassembly |
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