CN209224076U - A kind of robot manipulator structure for articular prosthesis polishing - Google Patents
A kind of robot manipulator structure for articular prosthesis polishing Download PDFInfo
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- CN209224076U CN209224076U CN201821843430.XU CN201821843430U CN209224076U CN 209224076 U CN209224076 U CN 209224076U CN 201821843430 U CN201821843430 U CN 201821843430U CN 209224076 U CN209224076 U CN 209224076U
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- clip claw
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Abstract
The utility model discloses a kind of robot manipulator structures for articular prosthesis polishing.Including lap guard mechanism, fast-assembling flange disk, support, relocation mechanism, clip claw mechanism；The lap guard mechanism is connect by fast-assembling flange disk with robot body, and the lap guard actuator base is provided with support, and relocation mechanism is provided on the support, and the relocation mechanism is connect with clip claw mechanism；The inlet wire seat is arranged on fast-assembling flange disk, and the inlet wire seat is connect with upper drum, and the upper drum is connect with lower drum, and the lower drum is connect with support, is relatively rotated between the upper drum and lower drum；The guiding axis is fixed on clip claw mechanism by linear bearing, and the clip claw mechanism has certain freedom degree in the axial direction, and the guiding axis is connect with support, spring is set on the guiding axis, the spring overhead is between support and clip claw mechanism.The utility model wind electric wiring will not, so that manipulator is applied pressing force to part, guarantees the processing dimension of part.
Description
Technical field:
The utility model belongs to the field of medical instrument technology, in particular to a kind of manipulator knot for articular prosthesis polishing
Structure.
Background technique:
The buffed surface of articular prosthesis be random curved surface, it is complex-shaped, manipulator processing when, it is often necessary to make compared with
For complicated movement, the electric wiring inside such manipulator is easy to happen winding, and manipulator is caused to damage.Further, since machine
Tool hand is usually not no freedom degree in the axial direction, and for part in polishing, pressing force is smaller, can generate dimensional discrepancy.
The information disclosed in the background technology section is intended only to increase the understanding to the general background of the utility model, and
It is not construed as recognizing or implying in any form that information composition is already known to those of ordinary skill in the art existing
Technology.
Utility model content:
The purpose of this utility model is to provide a kind of robot manipulator structures for articular prosthesis polishing, to overcome above-mentioned
Defect in the prior art.
To achieve the above object, the utility model provides a kind of robot manipulator structure for articular prosthesis polishing, including
Lap guard mechanism, fast-assembling flange disk, support, relocation mechanism, clip claw mechanism；The lap guard mechanism passes through fast-assembling flange disk and robot
Ontology connection, the lap guard actuator base are provided with support, and relocation mechanism, the relocation mechanism and folder are provided on the support
The connection of pawl mechanism；The lap guard mechanism includes inlet wire seat, upper drum, lower drum, and the inlet wire seat is arranged on fast-assembling flange disk,
The inlet wire seat is connect with upper drum, and the upper drum is connect with lower drum, and the lower drum is connect with support, the upper drum
It is relatively rotated between lower drum, in manipulator rotation, by the rotation between upper drum, lower drum, inlet wire seat is not rotated, and is prevented
Electric wiring winding；The relocation mechanism includes spring, guiding axis, linear bearing, and the guiding axis is fixed by linear bearing
On clip claw mechanism, the clip claw mechanism has certain freedom degree in the axial direction, and the guiding axis is connect with support, the guiding
Spring is set on axis, for the spring overhead between support and clip claw mechanism, manipulator pushes down part when polishing processing,
The upward spring of axis, camber of spring generate tension, and manipulator is made to cause precompression to part, guarantee polishing size.
Preferably, in technical solution, clip claw mechanism includes fixed plate, movable plate, slider cylinder, is arranged in the fixed plate
There is straight line cylinder, by straight line cylinder and guiding axis connection, the fixed plate is connect with slider cylinder, the slider cylinder and work
Movable plate connection, is acted, its part between fixed plate of drive activity board clamping by slider cylinder.
Compared with prior art, the utility model has the following beneficial effects:
Machine can be guaranteed by lap guard mechanism when polishing complicated face by the robot manipulator structure polished for articular prosthesis
Tool hand electric wiring will not be wound, and prevent manipulator from damaging.Manipulator is set to apply pressing force to part by relocation mechanism,
Guarantee the processing dimension of part.
Detailed description of the invention:
Fig. 1 is the robot manipulator structure schematic diagram that the utility model is used for articular prosthesis polishing；
Fig. 2 is the manipulator decomposition diagram that the utility model is used for articular prosthesis polishing；
Appended drawing reference are as follows: 1- lap guard mechanism, 2- fast-assembling flange disk, 3- support, 4- relocation mechanism, 5- clip claw mechanism, 6- into
Drum, 9- spring, 10- guiding axis, 11- linear bearing, 12- fixed plate, 13- movable plate, 14- are sliding under the upper drum of line seat, 7-, 8-
Platform cylinder, 15- robot body.
Specific embodiment:
Specific embodiment of the present utility model is described in detail below, it is to be understood that the protection of the utility model
Range is not limited by the specific implementation.
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " includes " or its change
Changing such as "comprising" or " including " etc. will be understood to comprise stated element or component, and not exclude other members
Part or other component parts.
Embodiment 1
As shown in Figs. 1-2, a kind of robot manipulator structure for articular prosthesis polishing, including lap guard mechanism 1, fast-assembling flange disk
2, support 3, relocation mechanism 4, clip claw mechanism 5；The lap guard mechanism 1 is connect by fast-assembling flange disk 2 with robot body 15, institute
Stating fast-assembling flange disk 2 includes the fast-assembling flange disk 2 of robot side and the fast-assembling flange disk 2 of manipulator side, the fast-assembling method
By positioning pin, embossing knob connection between blue disk 2,1 bottom of lap guard mechanism is provided with connecting flange, connecting flange and support
3 connect, and are provided with relocation mechanism 4 on the support 3, the relocation mechanism 4 is connect with clip claw mechanism 5；The lap guard mechanism 1 is wrapped
Inlet wire seat 6, upper drum 7, lower drum 8 are included, the inlet wire seat 6 is arranged on fast-assembling flange disk 2, the inlet wire seat 6 and upper drum 7
Connection, the upper drum 7 are connect with lower drum 8, and the lower drum 8 is connect with support 3,8 phases of the upper drum 7 and lower drum
To rotation, in manipulator rotation, by the rotation between upper drum 7, lower drum 8, inlet wire seat 6 is not rotated, and prevents electric wiring
Winding；The relocation mechanism 4 includes spring 9, guiding axis 10, linear bearing 11, end cap, and the guiding axis 10 passes through linear bearing
11, end cap is fixed on clip claw mechanism 5, and the clip claw mechanism 5 has certain freedom degree, the guiding axis 10 and branch in the axial direction
Seat 3 connects, and is set with spring 9 on the guiding axis 10, between support 3 and clip claw mechanism 5, manipulator exists 9 overhead of spring
When polishing processing, part is pushed down, squeezes spring 9 in the axial direction, the deformation of spring 9 generates tension, causes manipulator to part pre-
Pressure guarantees polishing size.The clip claw mechanism 5 includes fixed plate 12, movable plate 13, slider cylinder 14, the fixed plate 12
On be provided with straight line cylinder 11, connect by straight line cylinder 11 with guiding axis 10, the fixed plate 12 is connect with slider cylinder 14,
The slider cylinder 14 is connect with movable plate 13, is acted by slider cylinder 14, and movable plate 13 is driven to clamp itself and fixed plate 12
Between part.
The description of the aforementioned specific exemplary embodiment to the utility model is in order to illustrate and illustration purpose.These
Description is not wishing to for the utility model to be limited to disclosed precise forms, and it will be apparent that according to the above instruction, can carry out
It is many to change and change.The purpose of selecting and describing the exemplary embodiment is that explaining the specific principle of the utility model
And its practical application, so that those skilled in the art can be realized and utilize a variety of different examples of the utility model
Property embodiment and various chooses and changes.The scope of the utility model is intended to by claims and its waits similar shapes
Formula is limited.
Claims (2)
1. a kind of robot manipulator structure for articular prosthesis polishing, it is characterised in that: including lap guard mechanism, fast-assembling flange disk, branch
Seat, relocation mechanism, clip claw mechanism；The lap guard mechanism is connect by fast-assembling flange disk with robot body, the lap guard mechanism
Bottom is provided with support, and relocation mechanism is provided on the support, and the relocation mechanism is connect with clip claw mechanism；The lap guard machine
Structure includes inlet wire seat, upper drum, lower drum, and the inlet wire seat is arranged on fast-assembling flange disk, and the inlet wire seat and upper drum connect
It connects, the upper drum is connect with lower drum, and the lower drum is connect with support, is relatively rotated between the upper drum and lower drum；
The relocation mechanism includes spring, guiding axis, linear bearing, and the guiding axis is fixed on clip claw mechanism by linear bearing,
The clip claw mechanism has certain freedom degree in the axial direction, and the guiding axis is connect with support, is set with bullet on the guiding axis
Spring, the spring overhead is between support and clip claw mechanism.
2. the robot manipulator structure according to claim 1 for articular prosthesis polishing, it is characterised in that: the clip claw mechanism
Including fixed plate, movable plate, slider cylinder, it is provided with straight line cylinder in the fixed plate, is connected by straight line cylinder and guiding axis
It connects, the fixed plate is connect with slider cylinder, and the slider cylinder is connect with movable plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821843430.XU CN209224076U (en) | 2018-11-09 | 2018-11-09 | A kind of robot manipulator structure for articular prosthesis polishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821843430.XU CN209224076U (en) | 2018-11-09 | 2018-11-09 | A kind of robot manipulator structure for articular prosthesis polishing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209224076U true CN209224076U (en) | 2019-08-09 |
Family
ID=67502332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821843430.XU Active CN209224076U (en) | 2018-11-09 | 2018-11-09 | A kind of robot manipulator structure for articular prosthesis polishing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209224076U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3875231A1 (en) * | 2020-03-06 | 2021-09-08 | Scape Technologies A/S | End effector assembly for a picking robot, tool unit, and picking robot |
-
2018
- 2018-11-09 CN CN201821843430.XU patent/CN209224076U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3875231A1 (en) * | 2020-03-06 | 2021-09-08 | Scape Technologies A/S | End effector assembly for a picking robot, tool unit, and picking robot |
| WO2021175928A1 (en) * | 2020-03-06 | 2021-09-10 | Scape Technologies A/S | End effector assembly for a picking robot, tool unit, and picking robot |
| CN115697650A (en) * | 2020-03-06 | 2023-02-03 | 斯凯普技术有限公司 | End effector assembly for pick robot, tool unit and pick robot |
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