CN211658329U - Stable and good telerobot surgical device of nature controlled - Google Patents
Stable and good telerobot surgical device of nature controlled Download PDFInfo
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- CN211658329U CN211658329U CN201922206500.1U CN201922206500U CN211658329U CN 211658329 U CN211658329 U CN 211658329U CN 201922206500 U CN201922206500 U CN 201922206500U CN 211658329 U CN211658329 U CN 211658329U
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Abstract
The utility model discloses a stable and good-controllability remote robot operation device, which comprises a robot shell and a base, wherein a first driving motor is fixedly arranged inside the robot shell, a first cross arm is fixedly connected to the top end of a turntable structure, a second driving motor is fixedly arranged inside the first cross arm, the output end of the second driving motor passes through one end of the first cross arm and is fixedly connected with a second cross arm, a third driving motor is fixedly arranged inside the second cross arm, and the output end of the third driving motor passes through the bottom end of the second cross arm and is fixedly connected with an mechanical arm structure, the supporting stability in the operation process is ensured, and the control performance is improved.
Description
Technical Field
The utility model relates to a surgical device, in particular to a stable and good remote robot surgical device of nature controlled.
Background
The robot operation system is a comprehensive body integrating a plurality of modern high-tech means, has wide application and has a great amount of application in clinical surgery. Surgeons can operate with the machine remotely from the operating table, completely different from the traditional surgical concepts, and is a truly revolutionary surgical tool in the world field of minimally invasive surgery.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a stable and good remote robot operation device of nature controlled to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a stable and controllable remote robot surgical device comprises a robot shell and a base, a base is fixedly arranged at the bottom end of the robot shell, three parallel air springs are fixedly arranged at the bottom end of the base, one ends of the three parallel air springs are fixedly connected with the top end of the base, a first driving motor is fixedly arranged in the robot shell, the output end of the first driving motor penetrates through the top end of the robot shell and is fixedly connected with a turntable structure, the top end of the turntable structure is fixedly connected with a first cross arm, a second driving motor is fixedly arranged in the first cross arm, the output end of the second driving motor passes through one end of the first cross arm and is fixedly connected with a second cross arm, and a third driving motor is fixedly mounted inside the second cross arm, and the output end of the third driving motor penetrates through the bottom end of the second cross arm and is fixedly connected with a mechanical arm structure.
As a preferred technical scheme of the utility model, arm structure includes the telescopic link of fixed connection at the third driving motor output, the flexible end fixedly connected with axle joint of telescopic link, the one end fixedly connected with anchor clamps body of axle joint.
As an optimized technical scheme of the utility model, the fixed truckle that is equipped with two symmetries in one side of base bottom.
As an optimized technical scheme of the utility model, the opposite side of base bottom is fixed and is equipped with the stable chassis.
As a preferred technical scheme of the utility model, first driving motor, second driving motor and third driving motor all with remote control device electric connection.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model relates to a stable and good remote robot operation device of nature controlled, first driving motor, second driving motor and third driving motor through, the remote control of being convenient for, convenient to use also can keep the stability of first xarm, second xarm telescopic link simultaneously, through the air spring that is equipped with and stabilize the chassis, guarantees the support stability of operation in-process, also makes simultaneously to control the performance and promotes.
Drawings
FIG. 1 is a schematic front view of the present invention;
fig. 2 is a partial sectional structural view of fig. 1.
In the figure: 1. a robot housing; 2. a base; 3. an air spring; 4. a base; 5. shock absorbing casters; 6. stabilizing the chassis; 7. a turntable structure; 8. a first cross arm; 9. a second cross arm; 10. a telescopic rod; 11. a shaft joint; 12. a clamp body; 13. a first drive motor; 14. a second drive motor; 15. and a third drive motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a stable and controllable remote robotic surgery device, which comprises a robot housing 1 and a base 4, wherein the base 2 is fixed at the bottom end of the robot housing 1, three parallel air springs 3 are fixed at the bottom end of the base 2, one ends of the three parallel air springs 3 are all fixedly connected with the top end of the base 4, a first driving motor 13 is fixed inside the robot housing 1, the output end of the first driving motor 13 passes through the top end of the robot housing 1 and is fixedly connected with a turntable structure 7, the top end of the turntable structure 7 is fixedly connected with a first cross arm 8, a second driving motor 14 is fixed inside the first cross arm 8, the output end of the second driving motor 14 passes through one end of the first cross arm 8 and is fixedly connected with a second cross arm 9, a third driving motor 15 is fixedly mounted inside the second cross arm 9, the output end of the third driving motor 15 passes through the bottom end of the second cross arm 9 and is fixedly connected with a mechanical arm structure.
Preferably, the arm structure includes telescopic link 10 of fixed connection at the 15 output of third driving motor, telescopic link 10's telescopic end fixedly connected with axle joint 11, the one end fixedly connected with anchor clamps body 12 of axle joint 11, be convenient for the arm structure is controlled, high durability and convenient use, the fixed shock attenuation truckle 5 that is equipped with two symmetries in one side of base 4 bottom, shock attenuation truckle 5 is convenient for remove the transport, save physical power, the fixed chassis 6 that stabilizes of being equipped with of opposite side of base 4 bottom, it improves the support stability among the operation process to stabilize chassis 6, first driving motor 13, second driving motor 14 and third driving motor 15 all with remote control device electric connection, the remote control device of being convenient for controls, good usability.
When specifically using, the utility model relates to a stable and good remote robot operation device of nature controlled, through removing shock attenuation truckle 5, move near the operation table with robot housing 1, with the operation instrument centre gripping to anchor clamps body 12 department, the switch on, and connect remote control device, medical personnel are through operating at remote control device, command first xarm 8, the motion of second xarm 9 and arm structure seat corresponding orbit, carry out corresponding operation, because 1 bottom of robot housing is equipped with three air spring 3 that stands side by side and supports through stabilizing chassis 6, improve the support stability among the operation process, also make to control the performance and obtain promoting by a wide margin, high durability and convenient use, the nature controlled is strong.
In the description of the present invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a long-range robot operation device that stability and controllability are good, includes robot housing (1) and base (4), its characterized in that, the bottom mounting of robot housing (1) is equipped with base (2), the bottom mounting of base (2) is equipped with three air spring (3) side by side, three side by side the one end of air spring (3) all with the top fixed connection of base (4) that is equipped with, robot housing (1) inside is fixed and is equipped with first driving motor (13), the top and the fixedly connected with carousel structure (7) of robot housing (1) are passed to the output of first driving motor (13), the top fixedly connected with first xarm (8) of carousel structure (7), the inside of first xarm (8) is fixed and is equipped with second driving motor (14), the output of second driving motor (14) passes the one end and the fixedly connected with second xarm (9) of first xarm (8) And a third driving motor (15) is fixedly mounted inside the second cross arm (9), and the output end of the third driving motor (15) penetrates through the bottom end of the second cross arm (9) and is fixedly connected with a mechanical arm structure.
2. A stable and maneuverable tele-robotic surgical device according to claim 1, wherein: the mechanical arm structure comprises a telescopic rod (10) fixedly connected to the output end of a third driving motor (15), the telescopic end of the telescopic rod (10) is fixedly connected with a shaft joint (11), and one end of the shaft joint (11) is fixedly connected with a clamp body (12).
3. A stable and maneuverable tele-robotic surgical device according to claim 1, wherein: and two symmetrical shock absorption trundles (5) are fixedly arranged on one side of the bottom end of the base (4).
4. A stable and maneuverable tele-robotic surgical device according to claim 1, wherein: and a stabilizing chassis (6) is fixedly arranged on the other side of the bottom end of the base (4).
5. A stable and maneuverable tele-robotic surgical device according to claim 1, wherein: the first driving motor (13), the second driving motor (14) and the third driving motor (15) are electrically connected with the remote control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922206500.1U CN211658329U (en) | 2019-12-11 | 2019-12-11 | Stable and good telerobot surgical device of nature controlled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922206500.1U CN211658329U (en) | 2019-12-11 | 2019-12-11 | Stable and good telerobot surgical device of nature controlled |
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| Publication Number | Publication Date |
|---|---|
| CN211658329U true CN211658329U (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922206500.1U Active CN211658329U (en) | 2019-12-11 | 2019-12-11 | Stable and good telerobot surgical device of nature controlled |
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| CN (1) | CN211658329U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957008A (en) * | 2021-01-29 | 2021-06-15 | 海南省妇女儿童医学中心 | Remote palpation equipment |
-
2019
- 2019-12-11 CN CN201922206500.1U patent/CN211658329U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957008A (en) * | 2021-01-29 | 2021-06-15 | 海南省妇女儿童医学中心 | Remote palpation equipment |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20230106 Address after: 430074 Room 202, Office Building (Building 2), Wuhan Huazhong Normal University Science Park Development Co., Ltd., No. 5, Huashiyuan Road, Guandong Street, Donghu New Technology Development Zone, Wuhan, Hubei Province Patentee after: Wuhan Puyu Technology Co.,Ltd. Address before: 342400 Ganzhou xingshunhui Technology Co., Ltd., zone a, Xingguo Economic Development Zone, Ganzhou City, Jiangxi Province Patentee before: GANZHOU XINGSHUNHUI TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |