CN209136866U - The mechanical arm and its stable supporting device of robot hip joint operation - Google Patents
The mechanical arm and its stable supporting device of robot hip joint operation Download PDFInfo
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- CN209136866U CN209136866U CN201821077845.0U CN201821077845U CN209136866U CN 209136866 U CN209136866 U CN 209136866U CN 201821077845 U CN201821077845 U CN 201821077845U CN 209136866 U CN209136866 U CN 209136866U
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- mechanical arm
- support chassis
- hip joint
- cavity
- supporting device
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Abstract
The utility model discloses the mechanical arms and its stable supporting device of a kind of operation of robot hip joint, it applies in medical machine field, its key points of the technical solution are that: including pedestal and four traveling wheels of base bottom are set, pedestal offers cavity towards ground side, it is equipped with support chassis in cavity, the driving assembly for driving support chassis to move along the vertical direction is equipped in cavity；When driving assembly driving support chassis is mobile and inconsistent with ground, support chassis and four traveling wheels are jointly supported mechanical arm；What is had has the technical effect that support chassis improves the stability of strutting system of pedestal, and when reducing the mechanical arm work of robot hip joint operation, chassis generates possibility that is mobile and causing operation precision to reduce, cause security risk.
Description
Technical field
The utility model relates to medical robot field, in particular to the mechanical arm of a kind of robot hip joint operation and
Its stable supporting device.
Background technique
In recent years, robot technology is applied in medical surgery field by more and more, the application of robot technology, not only
A system is all brought in terms of operation accurate positioning, operation minimal damage, surgical quality and advanced medical resource
The technological change of column changes many ideas of regular medication surgery.During carrying out operation on hip joint using robot, one
As automated using robotic surgery navigation system cooperative mechanical people's mechanical arm, high-precision surgical procedure.Carrying out hip
Before operation on joint, generally requires and fix patient on one's sick bed, pass through location technology, position patient location, operation on hip joint
Locate position and robot arm position, automatic surgery planning is carried out by network analysis.In the course of surgery, mechanical arm
The mobile inaccuracy that can all cause positioning in position, influences precision of performing the operation, this requires mechanical arm can have at work compared with
Strong stability.And existing robot arm has generally comprised pedestal, mobile for convenience, pedestal is provided with universal wheel,
Universal wheel has braking function, and when being operated, doctor can lock universal wheel, rely solely on universal wheel to support bottom
Seat, avoids manipulator motion from causing to move, but since mechanical arm will do it movement in the course of surgery, and universal wheel and ground
Contact area is smaller, and certain movement inevitably occurs, and stability is poor, be easy to cause the positioning of positioning system inclined
Difference influences precision of performing the operation, and even will cause biggish malpractice when serious.
Utility model content
The purpose of the utility model is to provide a kind of robot hip joint operation mechanical arm stable supporting device,
Advantage is: improving the stability of strutting system of pedestal, when reducing the mechanical arm work of robot hip joint operation, chassis is generated
It moves and leads to perform the operation precision reduction, the possibility to cause security risk.
The above-mentioned technical purpose of the utility model has the technical scheme that a kind of robot hip joint
Including pedestal and four traveling wheels of base bottom, the pedestal is arranged in the stable supporting device of the mechanical arm of operation
Inside offers cavity, and for the cavities open towards ground, the cavity is interior to be equipped with support chassis, is equipped with and is used in the cavity
The driving assembly that driving support chassis moves along the vertical direction；When the driving component driving support chassis is mobile and with ground phase
When conflict, the support chassis and four traveling wheels are jointly supported mechanical arm.
Through the above technical solutions, when the mechanical arm of robot hip joint operation is moved to designated position, driving group
Part drives support chassis to stretch out cavity and simultaneously contradicts with ground, to be supported on jointly by mechanical arm is stable with four traveling wheels
It since the contact area on support chassis and ground is big, and is sliding friction, therefore stability of strutting system greatly improves on ground,
When reducing the mechanical arm work of robot hip joint operation, chassis generates mobile and operation precision is caused to reduce, to draw
Send out the possibility of security risk.
The utility model is further arranged to: support plate is additionally provided in the cavity, the support plate passes through connection component
It is detachably connected with cavity inner wall, cavity is divided into upper chamber and lower chambers by the support plate, and the upper chamber is equipped with drive
Dynamic component, the support chassis are located at bottom chamber.
Through the above technical solutions, support plate can be mounted in cavity by connection component or be passed through company by operator
Support plate and hydraulic cylinder etc. are removed from pedestal and are overhauled by connected components, reduce the maintenance difficulty of driving assembly.
The utility model is further arranged to: the driving component includes affixed hydraulic cylinder on the supporting plate, the liquid
The output end of cylinder pressure is connected with drive rod, and the drive rod is detachably connected on the side that support base deviates from ground.
Through the above technical solutions, quickly and easily support base edge can be driven by drive rod when hydraulic cylinder works
Vertical direction is mobile, since drive rod is detachable, is also convenient for operator's later period maintenance driving assembly.
The utility model is further arranged to: the connection component include be arranged in support plate in the width direction both ends insert
Fishplate bar and the fixed plate being connected on base outer wall offer on the pedestal and are connected to cavity and protrude into cavity for plugboard
Link slot, offer the inserting groove matched with plugboard in the support plate, extension be threaded on the plugboard
Enter the clamping screw in fixed plate.
Through the above technical solutions, support plate is put into cavity by operator first when needing to install support plate, then will
Plugboard is protruded by link slot and is plugged in inserting groove, just quickly limits movement of the support plate in cavity at this time,
Plugboard is fixed in fixed plate finally by clamping screw, can easily complete consolidating for support plate rapidly outside pedestal
It is fixed.
The utility model is further arranged to: the side on the support chassis towards ground is equipped with several antiskid, shock-absorbing pads.
Through the above technical solutions, antiskid, shock-absorbing pad can increase the coefficient of friction between support chassis and ground, thus
The frictional force between support chassis and ground is increased, and then reduces the possibility for generating relative movement between support chassis and ground.
The utility model is further arranged to: the side on the support chassis towards ground offers several holding tanks, respectively
Sucker is installed in a holding tank.
Through the above technical solutions, the air in sucker is forced out when support chassis and ground contradict, so that sucker can be with
Firm absorption on the ground, improves the frictional force between support chassis and ground, further improves the branch of support chassis
Support stability.
The utility model is further arranged to: pressure sensor is embedded in the support chassis, when the support chassis
When with ground face contact and load, the driving component stops driving support chassis.
Through the above technical solutions, when pressure sensor detects the carrying pressure of support chassis, pressure sensor hair
Send a signal to driving assembly, driving assembly receives signal and is automatically stopped driving support chassis, thus intelligent stable
Complete lifting, support process.
The utility model is further arranged to: the support chassis is set as truncated cone-shaped and the one end being relatively large in diameter is supported with ground
It touches, is connected with coordinating block in the support plate, offers mating groove on the coordinating block；When the support chassis is retracted to cavity
When interior, the support chassis outer rim is matched with mating groove.
Through the above technical solutions, can be matched with the mating groove on coordinating block when support chassis is retracted in cavity,
So that support chassis returns back to initial position；In addition, when moving, coordinating block can play one to support chassis to pedestal
A position-limiting action, and then reduce the possibility that support chassis generates mobile trend under effect of inertia, it improves support chassis and exists
Stability in cavity.
The utility model is further arranged to: the output end outer rim phase with hydraulic cylinder is connected on the cell wall of the mating groove
The guide ring of cooperation.
Through the above technical solutions, guide ring can play a guiding role to the output end of hydraulic cylinder, so that
The output end movement of hydraulic cylinder is more accurate, reduces the possibility that offset is generated when support base stretches out cavity.
Another of the utility model is designed to provide a kind of mechanical arm of robot hip joint operation, including above-mentioned
Robot hip joint operation mechanical arm stable supporting device.
Through the above technical solutions, using the mechanical arm that the robot hip joint of above-mentioned stable supporting device is performed the operation,
Stable supporting device can play the role of one in the mechanical arm that robot hip joint is performed the operation and stablize support, reduce robot
When the mechanical arm work of operation on hip joint, pedestal is mobile and leads to the possibility of operation precision reduction, reduces security risk.
In conclusion subtracting the utility model has the following beneficial effects: support chassis improves the stability of strutting system of pedestal
When having lacked the mechanical arm work of robot hip joint operation, chassis generates mobile and operation precision is caused to reduce, to cause
The possibility of security risk.
Detailed description of the invention
Fig. 1 is the overall structure diagram of embodiment 1；
Fig. 2 is the structural schematic diagram that embodiment 1 is used to embody cavity inside；
Fig. 3 is the enlarged drawing in the portion A in Fig. 2；
Fig. 4 is the bottom view of embodiment 2；
Fig. 5 is the structural schematic diagram that embodiment 2 is used to embody holding tank.
Appended drawing reference: 1, pedestal；11, traveling wheel；2, cavity；21, upper chamber；22, lower chambers；3, support chassis；4, it drives
Dynamic component；41, hydraulic cylinder；42, drive rod；5, support plate；51, coordinating block；52, mating groove；53, guide ring；6, connection component；
61, plugboard；62, link slot；63, inserting groove；64, fixed plate；65, clamping screw；7, antiskid, shock-absorbing pad；8, holding tank；81,
Sucker；9, pressure sensor.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
Embodiment 1: a kind of stable supporting device of the mechanical arm of robot hip joint operation, such as Fig. 1, including pedestal 1
And four traveling wheels 11 of 1 bottom of pedestal are set.
Such as Fig. 2, cavity 2 is offered inside pedestal 1, the opening of cavity 2 is additionally provided with support plate 5 in cavity 2 towards ground,
Support plate 5 is detachably connected on 2 inner wall of cavity by connection component 6, and cavity 2 is divided into upper chamber 21 under by support plate 5
Chamber 22, upper chamber 21 are equipped with driving assembly 4(such as Fig. 3), lower chambers 22 are interior to be equipped with support chassis 3.
Such as Fig. 2 and Fig. 3, driving assembly 4 includes the hydraulic cylinder 41 being fixed in support plate 5, the output end spiral shell of hydraulic cylinder 41
Line is connected with the drive rod 42 for driving support chassis 3 to move along the vertical direction, and drive rod 42 is threaded in support base 1
Away from the side on ground, pressure sensor 9 is embedded in support chassis 3.When the machinery that operator performs the operation robot hip joint
When arm is moved to designated position, the output end position of hydraulic cylinder 41, which declines and passes through drive rod 42, drives support chassis 3 along perpendicular
Histogram is to moving down, so that support chassis 3 be made to stretch out cavity 2 and contradict with ground, support chassis 3 and four traveling wheels 11 are total at this time
With carrying mechanical arm, thus the biggish stability for improving mechanical arm work.When pressure sensor 9 detects support bottom
When disk 3 is by carrying pressure, pressure sensor 9 sends a signal to hydraulic cylinder 41, and hydraulic cylinder 41 stops after receiving signal
Work.
Such as Fig. 2, connection component 6 includes that support plate 5 is arranged in the plugboard 61 at both ends and to be fixedly connected in the width direction
Fixed plate 64 on 1 outer wall of pedestal offers the link slot for being connected to cavity 2 and protruding into cavity 2 for plugboard 61 on pedestal 1
62, inserting groove 63 is offered in support plate 5, plugboard 61 is protruded into and is plugged in inserting groove 63, plugboard by link slot 62
61 are fixed in fixed plate 64 by clamping screw 65, and the combination installation of connection component 6 makes the side such as support plate 5 and hydraulic cylinder 41
Just it removes and overhauls from pedestal 1.
Such as Fig. 2 and Fig. 3, support chassis 3 can be set to truncated cone-shaped and the one end being relatively large in diameter and ground contradict, and support bottom
The side on disk 3 towards ground is equipped with several antiskid, shock-absorbing pads 7, and antiskid, shock-absorbing pad 7 can be effectively reduced since mechanical arm acts
Caused by the sliding opposite with ground of support chassis 3, while there is preferable damping effect, mitigate bottom caused by mechanical arm movement
Seat 1 shakes, and improves the stability of whole robotic manipulator.
Such as Fig. 2, it is fixedly connected with coordinating block 51 in support plate 5, mating groove 52 is offered on coordinating block 51, works as support chassis
3 when being retracted in cavity 2, and the outer rim of support chassis 3 can be matched with the mating groove 52 on coordinating block 51, setting in this way
It sets, position-limiting action can be played to support chassis 3, alleviate shaking of the support chassis 3 in lower chambers 22.The slot of mating groove 52
The guide ring 53(such as Fig. 3 matched with the output end outer rim of hydraulic cylinder 41 is connected on wall), when robot hip joint operation
When mechanical arm is moved to designated position, the output end of hydraulic cylinder 41 moves down position under the guiding and limit of guide ring 53, from
And make the output end movement of hydraulic cylinder 41 more accurate, reduce the possibility that offset is generated when support base 1 stretches out cavity 2.
In order to clearly illustrate the structure setting of the utility model, the following detailed description of the concrete operations of support device
Journey:
When the mechanical arm of robot hip joint operation is moved to designated position, the output end of hydraulic cylinder 41 is in guide ring
53 down position of leading moves down, and by drive rod 42 drive support chassis 3 move down along the vertical direction to stretch out cavity 2 and with
Ground contradicts.When carrying pressure of the pressure sensor 9 according to the support chassis 3 detected, pressure sensor 9 sends a letter
Number driving assembly 4 is given, driving assembly 4 receives after signal and is automatically stopped driving support chassis 3.At this point, support chassis 3 and four
A traveling wheel 11 jointly by the stable support of mechanical arm on the ground, the antiskid, shock-absorbing pad 7 in support chassis 3 is supported with bottom surface
Touching further improves the stability of strutting system of support chassis 3 to increase the frictional force with bottom surface.At the end of operation, support
Chassis 3 is retracted in cavity 2, and 3 outer rim of support chassis is matched with the mating groove 52 on coordinating block 51.
Embodiment 2: a kind of stable supporting device of the mechanical arm of robot hip joint operation, such as Fig. 4, with embodiment 1
Unlike, the side on support chassis 3 towards ground offers several holding tank 8(such as Fig. 5), it is fixed in each holding tank 8
Equipped with sucker 81.
Operating process: the air quilt when support chassis 3 and jointly inconsistent with ground four traveling wheels 11, in sucker 81
It extrudes, so that sucker 81 is allow firmly to adsorb the frictional force improved between support chassis 3 and ground on the ground, into
One step improves the stability of strutting system of support chassis 3.
Embodiment 3: a kind of mechanical arm of robot hip joint operation, including any one in embodiment 1 and embodiment 2
Kind performance.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but
As long as all by the protection of Patent Law in the scope of the claims of the utility model.
Claims (10)
1. a kind of stable supporting device of the mechanical arm of robot hip joint operation, including pedestal (1) and setting are in pedestal
(1) four traveling wheels (11) of bottom, it is characterised in that: offered cavity (2) inside the pedestal (1), the cavity (2) is opened
For mouth towards ground, the cavity (2) is interior to be equipped with support chassis (3), is equipped in the cavity (2) for driving support chassis (3)
The driving assembly (4) moved along the vertical direction；
When the driving component (4) driving support chassis (3) is mobile and inconsistent with ground, the support chassis (3) and four
A traveling wheel (11) is jointly supported mechanical arm.
2. the stable supporting device of the mechanical arm of robot hip joint operation according to claim 1, it is characterised in that:
It is additionally provided with support plate (5) in the cavity (2), the support plate (5) is detachable by connection component (6) and cavity (2) inner wall
Cavity (2) is divided into upper chamber (21) and lower chambers (22) by connection, the support plate (5), and the upper chamber (21) is equipped with
Driving assembly (4), the support chassis (3) are located in lower chambers (22).
3. the stable supporting device of the mechanical arm of robot hip joint operation according to claim 2, it is characterised in that:
The driving component (4) includes hydraulic cylinder (41), and the output end of the hydraulic cylinder (41) is connected with drive rod (42), the driving
Bar (42) is detachably connected on the side that support base (1) deviates from ground.
4. the stable supporting device of the mechanical arm of robot hip joint operation according to claim 2, it is characterised in that:
The connection component (6) includes that setting the plugboard (61) at both ends and is connected to pedestal (1) in the width direction in support plate (5)
Fixed plate (64) on outer wall offers on the pedestal (1) and is connected to cavity (2) and protrudes into cavity (2) for plugboard (61)
Link slot (62), offer the inserting groove (63) matched with plugboard (61), the plugboard on the support plate (5)
(61) clamping screw (65) extended into fixed plate (64) is threaded on.
5. the stable supporting device of the mechanical arm of robot hip joint operation according to claim 1, it is characterised in that:
The side on the support chassis (3) towards ground is equipped with antiskid, shock-absorbing pad (7).
6. the stable supporting device of the mechanical arm of robot hip joint operation according to claim 1, it is characterised in that:
The side on support chassis (3) towards the ground offers several holding tanks (8), is installed in each holding tank (8)
Sucker (81).
7. the stable supporting device of the mechanical arm of robot hip joint operation according to claim 1, it is characterised in that:
Pressure sensor (9) are embedded in the support chassis (3), it is described when the support chassis (3) and ground face contact and load
Driving assembly (4) stops driving support chassis (3).
8. the stable supporting device of the mechanical arm of robot hip joint operation according to claim 3, it is characterised in that:
The support chassis (3) is set as round table-like and is relatively large in diameter one end being connected with coordinating block on ground, the support plate (5)
(51), mating groove (52) are offered on the coordinating block (51)；
When the support chassis (3) be retracted to cavity (2) it is interior when, support chassis (3) outer rim is matched with mating groove (52).
9. the stable supporting device of the mechanical arm of robot hip joint operation according to claim 8, it is characterised in that:
The guide ring (53) matched with the output end outer rim of hydraulic cylinder (41) is connected on the cell wall of the mating groove (52).
10. a kind of mechanical arm of robot hip joint operation, it is characterised in that: including any one in the claims 1-9
The stable supporting device of the mechanical arm of robot hip joint operation described in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821077845.0U CN209136866U (en) | 2018-07-06 | 2018-07-06 | The mechanical arm and its stable supporting device of robot hip joint operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821077845.0U CN209136866U (en) | 2018-07-06 | 2018-07-06 | The mechanical arm and its stable supporting device of robot hip joint operation |
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| Publication Number | Publication Date |
|---|---|
| CN209136866U true CN209136866U (en) | 2019-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821077845.0U Active CN209136866U (en) | 2018-07-06 | 2018-07-06 | The mechanical arm and its stable supporting device of robot hip joint operation |
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| CN (1) | CN209136866U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114848146A (en) * | 2022-04-15 | 2022-08-05 | 北京长木谷医疗科技有限公司 | Lifting control system for hip and knee joint surgical robot |
-
2018
- 2018-07-06 CN CN201821077845.0U patent/CN209136866U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114848146A (en) * | 2022-04-15 | 2022-08-05 | 北京长木谷医疗科技有限公司 | Lifting control system for hip and knee joint surgical robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190918 Address after: 210000 C13 Building, No. 9 Kechuang Avenue, Zhongshan Science Park, Jiangbei New District, Nanjing City, Jiangsu Province Patentee after: Jiangsu Ke Ke Long Medical Technology Development Co., Ltd. Address before: Shogun East Gulou District of Nanjing city of Jiangsu Province, No. 199 210000 Patentee before: Nanjing Bofeng Precision Medical Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Mechanical arm for robot hip joint operation and stable supporting device thereof Effective date of registration: 20200701 Granted publication date: 20190723 Pledgee: Bank of China Limited by Share Ltd. Nanjing City South Branch Pledgor: JIANGSU KERUNXI MEDICAL TECHNOLOGY DEVELOPMENT Co.,Ltd. Registration number: Y2020980003686 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210716 Granted publication date: 20190723 Pledgee: Bank of China Limited by Share Ltd. Nanjing City South Branch Pledgor: JIANGSU KERUNXI MEDICAL TECHNOLOGY DEVELOPMENT Co.,Ltd. Registration number: Y2020980003686 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Robot arm for robotic hip surgery and its stable support device Effective date of registration: 20210719 Granted publication date: 20190723 Pledgee: Bank of China Limited by Share Ltd. Nanjing City South Branch Pledgor: JIANGSU KERUNXI MEDICAL TECHNOLOGY DEVELOPMENT Co.,Ltd. Registration number: Y2021980006340 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |