CN209301316U - A kind of operating robot that can be stopped automatically - Google Patents
A kind of operating robot that can be stopped automatically Download PDFInfo
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- CN209301316U CN209301316U CN201821533666.3U CN201821533666U CN209301316U CN 209301316 U CN209301316 U CN 209301316U CN 201821533666 U CN201821533666 U CN 201821533666U CN 209301316 U CN209301316 U CN 209301316U
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- cutter head
- pedestal
- driving
- suction nozzle
- drive motor
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 241001455273 Tetrapoda Species 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 claims description 3
- 238000009414 blockwork Methods 0.000 claims 1
- 208000012260 Accidental injury Diseases 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a kind of operating robot that can be stopped automatically, and U-shaped leading truck is installed on one end top of pedestal, and the first U-shaped perpendicular end, close to the middle of the base, the second perpendicular end erects the height at end less than second close to base end arrangement, the height at the first perpendicular end；Cutter head retractable driving device includes rotary drive motor, linear drive motor；Linear drive motor is for driving length direction of the cutter head connecting rod with dynamic cutter head along pedestal to move；Cutter head attaching/detaching apparatus is arranged in the second perpendicular end outside of U-shaped leading truck, is used for clamp or release cutter head；Several pedestal driving devices are distributed in the bottom of pedestal, and pedestal driving device includes suction nozzle supporting mechanism, universal wheel；Universal wheel is for driving pedestal mobile；Suction nozzle supporting mechanism includes suction nozzle driving cylinder, suction nozzle；Suction nozzle driving cylinder is for driving suction nozzle stretching that universal wheel is vacantly realized to stop.The utility model can be moved flexibly and automatically be stopped, and can dismount cutter head automatically, avoid personnel's accidental injury.
Description
Technical field
The utility model relates to technical field of medical equipment, more particularly to a kind of operating robot that can be stopped automatically.
Background technique
Operating robot be that the development in robot industry is high-end and medical robot series in technology content highest,
Structure is the most complicated, the field at scientific and technological challenge tip the most.It covers mechano-electronic, robotics, machine vision and control
A series of compound science and technology such as technology processed combine.Existing operating robot occupies a large amount of operating room space, cannot
Flexibly mobile or stop, many times will affect the working efficiency of doctor.
Utility model content
The purpose of the utility model is to provide the operating robots that one kind can stop automatically, can flexibly move and automatically stop
It leans on, and cutter head can be dismounted automatically, avoid personnel's accidental injury.
To achieve the above object, using following technical scheme:
A kind of operating robot that can be stopped automatically, including U-shaped leading truck, pedestal, cutter head retractable driving device, cutter head connect
Extension bar, cutter head, cutter head attaching/detaching apparatus, several pedestal driving devices；The U-shaped leading truck is installed at the top of one end of pedestal, and U
The first of type is perpendicular to hold close to the middle of the base, and the second perpendicular hold is arranged close to base end, and the height at the first perpendicular end is less than the second perpendicular end
Height；The cutter head retractable driving device includes rotary drive motor, linear drive motor；One end of the cutter head connecting rod
Drive and rotate through rotary drive motor, the other end pass through behind the second perpendicular end of U-shaped leading truck with cutter head detachable connection；It is described
Linear drive motor is for driving length direction of the cutter head connecting rod with dynamic cutter head along pedestal to move；The cutter head attaching/detaching apparatus cloth
It is placed in the second perpendicular end outside of U-shaped leading truck, is used for clamp or release cutter head；Several pedestal driving devices are distributed in pedestal
Bottom, pedestal driving device includes suction nozzle supporting mechanism, universal wheel；The universal wheel is for driving pedestal mobile；The suction
Mouth supporting mechanism includes suction nozzle driving cylinder, suction nozzle；The suction nozzle driving cylinder is hanging by universal wheel for driving suction nozzle to stretch out
It realizes and stops.
Preferably, the pedestal driving device further includes foot prop；The upper end of the foot prop is fixedly arranged on the bottom of pedestal, lower end
Side install universal wheel；Cavity is equipped in the foot prop, suction nozzle driving cylinder is contained in the cavity；The bottom of the foot prop is set
There is opening, suction nozzle drives cylinder to pass in and out cavity through the opening for suction nozzle；The bottom lowest order of the foot prop is higher than universal wheel
Bottom lowest order；The bottom lowest order of the universal wheel is higher than bottom lowest order when suction nozzle range.
Preferably, the pedestal driving device is set as four, it is respectively arranged on the tetrapod of pedestal.
Preferably, the cutter head retractable driving device further includes linear guide, L-type link block, sliding block, screw rod；It is described straight
Line guide rail is arranged in parallel along the length direction of pedestal in base top, and the horizontal end of L-type link block is slided through sliding block and linear guide
Connection；The rotary drive motor, linear drive motor are mounted on the inside of the perpendicular end of L-type link block, and rotary drive motor
Positioned at the top of linear drive motor；The first perpendicular end of U-shaped leading truck is fixed in one end of the screw rod, and screw rod is parallel to straight line
Guide rail arrangement, and pass through perpendicular end and the linear drive motor arrangement of L-type link block；The linear drive motor is for driving cutter head
Connecting rod is moved in a straight line through screw rod, linear guide, sliding block.
Preferably, the cutter head attaching/detaching apparatus includes flexible driving cylinder, clamping jaw cylinder, clamping jaw；The flexible driving gas
Cylinder is for driving clamping jaw close to or far from cutter head；The clamping jaw cylinder is for driving clamping jaw clamp or release cutter head.
Preferably, the operating robot further includes master controller, obstacle avoidance sensor；The obstacle avoidance sensor is installed on U
Near the perpendicular end of the first of type leading truck, for incuding at a distance from the perpendicular end of L-type link block and U-shaped leading truck first, and induction is believed
Number master controller is back to control linear drive motor work.
Preferably, the master controller is installed on one end far from U-shaped leading truck of pedestal.
Preferably, the cutter head is set as being threadedly coupled with cutter head connecting rod.
Preferably, offering cutter head containing cavities at the top of the U-shaped horizontal end of the U-shaped leading truck, it is equipped at the top of cutter head containing cavities
Folding lid.
Using the above scheme, the beneficial effects of the utility model are:
1) operating robot facilitates promotion, and can stop automatically；
2) operating robot can dismount cutter head automatically, avoid dismounting accidental injury caused by cutter head manually；
3) cutter head retractable driving device is easy to disassembling, assembling and replacing or increase and decrease driving device with modularized design；
4) advance and retreat of cutter head are oriented to through linear guide and screw rod, and guiding is steady, improve the mobile accuracy of scalpel.
Detailed description of the invention
Fig. 1 is the perspective view of the utility model；
Fig. 2 is the structural schematic diagram that suction nozzle retracts foot prop cavity in the pedestal driving device of the utility model；
Fig. 3 is the structural schematic diagram that suction nozzle stretches out foot prop cavity in the pedestal driving device of the utility model；
Fig. 4 is the perspective view of the cutter head attaching/detaching apparatus of the utility model；
Fig. 5 is the depression angle structural schematic diagram of the U-shaped leading truck of the utility model；
Fig. 6 is the structural schematic diagram of the cutter head of the utility model；
Wherein, description of drawing identification:
1-U-shaped leading truck, 2-pedestals,
3-cutter head retractable driving devices, 4-cutter head connecting rods,
5-cutter heads, 6-cutter head attaching/detaching apparatus,
7-pedestal driving devices, 8-master controllers,
9-obstacle avoidance sensors, the 11-the first perpendicular end,
12-the second perpendicular end, 13-folding lids,
31-linear guides, 32-L-type link blocks,
33-sliding blocks, 34-screw rods,
35-rotary drive motors, 36-linear drive motors,
51-interconnecting pieces, 52-blade parts,
61-flexible driving cylinders, 62-clamping jaws,
71-suction nozzle supporting mechanisms, 72-universal wheels,
73-foot props, 711-suction nozzles drive cylinder,
712-suction nozzles.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Shown in 6, the utility model provides a kind of operating robot that can be stopped automatically, including U-shaped leading truck
1, pedestal 2, cutter head retractable driving device 3, cutter head connecting rod 4, cutter head 5, cutter head attaching/detaching apparatus 6, several pedestal driving devices 7；
The U-shaped leading truck 1 is installed at the top of one end of pedestal 2, and the first U-shaped perpendicular end 11 is close to 2 middle part of pedestal, the second perpendicular end 12
It is arranged close to 2 end of pedestal, the height at the first perpendicular end 11 erects the height at end 12 less than second；The cutter head retractable driving device 3
Including rotary drive motor 35, linear drive motor 36；One end of the cutter head connecting rod 4 drives through rotary drive motor 35 revolves
Turn, the other end pass through behind the second perpendicular end 12 of U-shaped leading truck 1 with 5 detachable connection of cutter head；The linear drive motor 36 is used
It is moved in length direction of the driving cutter head connecting rod 4 with dynamic cutter head 5 along pedestal 2；The cutter head attaching/detaching apparatus 6 is arranged in U-shaped lead
12 outside of end is erected to the second of frame 1, is used for clamp or release cutter head 5；Several pedestal driving devices 7 are distributed in pedestal 2
Bottom, pedestal driving device 7 include suction nozzle supporting mechanism 71, universal wheel 72；The universal wheel 72 is for driving pedestal 2 mobile；
The suction nozzle supporting mechanism 71 includes that suction nozzle drives cylinder 711, suction nozzle 712；The suction nozzle driving cylinder 711 is for driving suction nozzle
712 stretch out the vacantly realization stop of universal wheel 72.
Wherein, the pedestal driving device 7 further includes foot prop 73；The upper end of the foot prop 73 is fixedly arranged on the bottom of pedestal 2,
The side of lower end is installed by universal wheel 72；Cavity is equipped in the foot prop 73, suction nozzle driving cylinder 711 is contained in the cavity；It is described
The bottom of foot prop 73 is equipped with opening, and suction nozzle drives cylinder 711 to pass in and out cavity through the opening for suction nozzle 712；The foot prop 73
Bottom lowest order is higher than the bottom lowest order of universal wheel 72；The bottom lowest order of the universal wheel 72 is higher than 712 maximum row of suction nozzle
Bottom lowest order when journey.The pedestal driving device 7 is set as four, is respectively arranged on the tetrapod of pedestal 2.
The cutter head retractable driving device 3 further includes linear guide 31, L-type link block 32, sliding block 33, screw rod 34；It is described
Linear guide 31 is arranged in parallel along the length direction of pedestal 2 in 2 top of pedestal, and the horizontal end of L-type link block 32 is through sliding block 33 and directly
Line guide rail 31 is slidably connected；The rotary drive motor 35, linear drive motor 36 are mounted in the perpendicular end of L-type link block 32
Side, and rotary drive motor 35 is located at the top of linear drive motor 36；U-shaped leading truck 1 is fixed in one end of the screw rod 34
The first perpendicular end 11, screw rod 34 is parallel to the arrangement of linear guide 31, and passes through perpendicular end and the linear drive motor of L-type link block 21
36 arrangements；The linear drive motor 36 is for driving cutter head connecting rod 4 to do straight line through screw rod 34, linear guide 31, sliding block 33
Movement.
The cutter head attaching/detaching apparatus 6 includes flexible driving cylinder 61, clamping jaw cylinder (not shown), clamping jaw 62；It is described
Flexible driving cylinder 61 is for driving clamping jaw 62 close to or far from cutter head 5；The clamping jaw cylinder for drive clamping jaw 62 clamp or
Unclamp cutter head 5.The operating robot further includes master controller 8, obstacle avoidance sensor 9；The obstacle avoidance sensor 9 is installed on U-shaped
Near the perpendicular end 11 of the first of leading truck 1, for incuding at a distance from the perpendicular end 11 of L-type link block 32 and U-shaped leading truck 1 first, and will
Inductive signal is back to master controller 8 to control the work of linear drive motor 36.The master controller 8 is installed on the remote of pedestal 2
One end from U-shaped leading truck 1.
The cutter head 5 is set as being threadedly coupled with cutter head connecting rod 4.It is offered at the top of the U-shaped horizontal end of the U-shaped leading truck 1
Cutter head containing cavities, cutter head containing cavities top are equipped with folding lid 13.
Utility model works principle:
As shown in Fig. 2, the bottom lowest order because of foot prop 73 is higher than the bottom lowest order of universal wheel 72, perform the operation when needing to push
When robot, the suction nozzle driving driving suction nozzle 712 of cylinder 711 is retracted to the cavity of foot prop 73, and the bottom of universal wheel 72 is landed, outside
It pushes and send lower achievable movement.
As shown in figure 3, bottom lowest order when being higher than 712 range of suction nozzle because of the bottom lowest order of universal wheel 72, when
When operating robot needs to stop, suction nozzle drives cylinder 711 that suction nozzle 712 is driven to stretch out and stops hanging realize of universal wheel 72.
Linear drive motor 36 in the utility model is used to that cutter head connecting rod 4 to be driven to move forward or back with dynamic cutter head 5, and
It is oriented to through linear guide 31 and screw rod 34, guiding is steady；The first perpendicular end 11 that obstacle avoidance sensor 9 is installed on U-shaped leading truck 1 is attached
Closely, when L-type link block 32 reaches set distance close to U-shaped leading truck 1, inductive signal is back to master controller 8, main control
Device 8 controls linear drive motor 36 and stops working, and prevents L-type link block 32 from bumping against U-shaped leading truck 1.
As shown in fig. 6, the cutter head 5 in the utility model includes interconnecting piece 51 and blade part 52, in disassembling, assembling and replacing cutter head 5
When, clamping jaw 62 clamps the interconnecting piece 51 of cutter head 5.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all practical at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the guarantor of the utility model within novel spirit and principle
Within the scope of shield.
Claims (9)
1. the operating robot that one kind can stop automatically, which is characterized in that including U-shaped leading truck, pedestal, the flexible driving dress of cutter head
It sets, cutter head connecting rod, cutter head, cutter head attaching/detaching apparatus, several pedestal driving devices；The U-shaped leading truck is installed on the one of pedestal
At the top of end, and the first U-shaped perpendicular end, close to the middle of the base, close to base end arrangement, the height at the first perpendicular end is small at the second perpendicular end
Height in the second perpendicular end；The cutter head retractable driving device includes rotary drive motor, linear drive motor；The cutter head connects
One end of extension bar drives through rotary drive motor to rotate, and the other end is detachable with cutter head behind the second perpendicular end of U-shaped leading truck
Formula connection；The linear drive motor is for driving length direction of the cutter head connecting rod with dynamic cutter head along pedestal to move；The knife
Head attaching/detaching apparatus is arranged in the second perpendicular end outside of U-shaped leading truck, is used for clamp or release cutter head；Several pedestal driving dresses
The bottom for being distributed in pedestal is set, pedestal driving device includes suction nozzle supporting mechanism, universal wheel；The universal wheel is for driving pedestal
It is mobile；The suction nozzle supporting mechanism includes suction nozzle driving cylinder, suction nozzle；The suction nozzle driving cylinder will for driving suction nozzle to stretch out
Universal wheel vacantly realizes stop.
2. the operating robot according to claim 1 that can be stopped automatically, which is characterized in that the pedestal driving device is also
Including foot prop；The upper end of the foot prop is fixedly arranged on the bottom of pedestal, and universal wheel is installed in the side of lower end；Sky is equipped in the foot prop
Chamber, suction nozzle driving cylinder are contained in the cavity；The bottom of the foot prop is equipped with opening, and suction nozzle driving cylinder is opened for suction nozzle through this
Mouth disengaging cavity；The bottom lowest order of the foot prop is higher than the bottom lowest order of universal wheel；The bottom lowest order of the universal wheel
Bottom lowest order when higher than suction nozzle range.
3. the operating robot according to claim 2 that can be stopped automatically, which is characterized in that the pedestal driving device is set
Four are set to, the tetrapod of pedestal is respectively arranged on.
4. the operating robot according to claim 1 that can be stopped automatically, which is characterized in that the flexible driving dress of the cutter head
Set further includes linear guide, L-type link block, sliding block, screw rod；The linear guide is arranged in parallel along the length direction of pedestal the bottom of in
Seat top, the horizontal end of L-type link block is slidably connected through sliding block and linear guide；The rotary drive motor, linear drive motor
It is mounted on the inside of the perpendicular end of L-type link block, and rotary drive motor is located at the top of linear drive motor；The one of the screw rod
The be fixed on U-shaped leading truck first perpendicular end is held, screw rod is parallel to linear guide arrangement, and across the perpendicular end of L-type link block and directly
Line driving motor arrangement；The linear drive motor is for driving cutter head connecting rod to do straight line fortune through screw rod, linear guide, sliding block
It is dynamic.
5. the operating robot according to claim 1 that can be stopped automatically, which is characterized in that the cutter head attaching/detaching apparatus packet
Include flexible driving cylinder, clamping jaw cylinder, clamping jaw；The flexible driving cylinder is for driving clamping jaw close to or far from cutter head；It is described
Clamping jaw cylinder is for driving clamping jaw clamp or release cutter head.
6. the operating robot according to claim 4 that can be stopped automatically, which is characterized in that the operating robot also wraps
Include master controller, obstacle avoidance sensor；The obstacle avoidance sensor is installed near the first perpendicular end of U-shaped leading truck, for incuding L-type
Inductive signal is back to master controller at a distance from the perpendicular end of U-shaped leading truck first to control linear drive motor by link block
Work.
7. the operating robot according to claim 6 that can be stopped automatically, which is characterized in that the master controller is installed on
One end far from U-shaped leading truck of pedestal.
8. the operating robot according to claim 1 that can be stopped automatically, which is characterized in that the cutter head is connect with cutter head
Bar is set as being threadedly coupled.
9. the operating robot according to claim 1 that can be stopped automatically, which is characterized in that the U-shaped leading truck it is U-shaped
Cutter head containing cavities are offered at the top of horizontal end, are equipped with folding lid at the top of cutter head containing cavities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821533666.3U CN209301316U (en) | 2018-09-19 | 2018-09-19 | A kind of operating robot that can be stopped automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821533666.3U CN209301316U (en) | 2018-09-19 | 2018-09-19 | A kind of operating robot that can be stopped automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209301316U true CN209301316U (en) | 2019-08-27 |
Family
ID=67668121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821533666.3U Active CN209301316U (en) | 2018-09-19 | 2018-09-19 | A kind of operating robot that can be stopped automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209301316U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110859673A (en) * | 2019-11-07 | 2020-03-06 | 北京唯迈医疗设备有限公司 | Interventional operation robot reciprocating push-pull guide wire and distance measuring device |
-
2018
- 2018-09-19 CN CN201821533666.3U patent/CN209301316U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110859673A (en) * | 2019-11-07 | 2020-03-06 | 北京唯迈医疗设备有限公司 | Interventional operation robot reciprocating push-pull guide wire and distance measuring device |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20231117 Address after: 518000 Room 201, building A, 1 front Bay Road, Shenzhen Qianhai cooperation zone, Shenzhen, Guangdong Patentee after: Shenzhen Frontier Life Science Application Co.,Ltd. Address before: Building 203, D, Chuangye No.1, No. 43 Yanshan Road, Shekou Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Patentee before: SHENZHEN JUJIAO MEDICAL ROBOT TECHNOLOGY CO.,LTD. |