CN216830919U - Floor type double-arm control device and medical equipment - Google Patents
Floor type double-arm control device and medical equipment Download PDFInfo
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- CN216830919U CN216830919U CN202220517774.1U CN202220517774U CN216830919U CN 216830919 U CN216830919 U CN 216830919U CN 202220517774 U CN202220517774 U CN 202220517774U CN 216830919 U CN216830919 U CN 216830919U
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Abstract
The application discloses console mode both arms controlling means and medical equipment, wherein, console mode both arms controlling means includes two sets of control mechanism, and control mechanism includes: a control seat body; the first end of the multi-joint arm is rotatably arranged on the control seat body; the bionic control hand is rotatably arranged at the second end of the multi-joint arm; the bionic control hand comprises a palm at a main control end, 4 three-joint control fingers and 1 two-joint control finger; the rotating parts of the knuckles are all provided with angle sensors which are connected with the control seat body through signals. The utility model provides a console mode both arms controlling means is used for controlling bionic robot, through the design of bionical control hand, can turn into control signal with the rotation action of each joint of people's finger to carry out the operation of becoming more meticulous.
Description
Technical Field
The utility model relates to a robot field, concretely relates to console mode both arms controlling means and medical equipment.
Background
The bionic robot comprises a structure close to the upper arm of a human body, and reliable fine operation is difficult to perform during remote control.
SUMMERY OF THE UTILITY MODEL
To the above problems, the present invention provides a floor type double arm control device and a medical apparatus.
The utility model adopts the following technical scheme:
a floor-type double-arm control device comprises two groups of control mechanisms, wherein each control mechanism comprises:
a control seat body;
the first end of the multi-joint arm is rotatably arranged on the control seat body; and
the bionic control hand is rotatably arranged at the second end of the multi-joint arm;
a display support arm is rotatably arranged on the control seat body of at least one group of control mechanisms, and a display is rotatably arranged at one end of the display support arm, which is far away from the control seat body;
the bionic control hand comprises a main control end palm, 4 three-joint control fingers and 1 two-joint control finger; the palm of the main control end is rotatably arranged at the second end of the multi-joint arm, and the three-joint control finger comprises a first knuckle, a second knuckle and a third knuckle which are sequentially and rotatably connected, wherein the first end of the first knuckle is rotatably connected with the palm of the main control end, the second end of the first knuckle is rotatably connected with the first end of the second knuckle, and the second end of the second knuckle is rotatably connected with the third knuckle; the two-joint control finger comprises a first knuckle and a second knuckle which are sequentially and rotatably connected, wherein the first end of the first knuckle is rotatably connected with the palm of the main control end, and the second end of the first knuckle is rotatably connected with the second knuckle; the first knuckle, the second knuckle and the third knuckle are provided with limiting rings for fingers to penetrate through;
and the rotating parts of the knuckles are respectively provided with an angle sensor which is in signal connection with the control seat body.
The utility model provides a console mode both arms controlling means is used for controlling bionic robot, through the design of bionical control hand, can turn into control signal with the rotation action of each joint of people's finger to carry out the operation of becoming more meticulous.
In one embodiment of the present invention, the multi-joint arm is provided with a position sensor, and the position sensor is connected to the control seat body through a signal.
In one embodiment of the present invention, the control seat body includes a circuit module and a power supply element, and the circuit module has a wireless signal communication module.
The bionic robot can be remotely controlled through the wireless signal communication module.
In one embodiment of the present invention, the lower end of the control seat body is provided with a movable wheel.
In one embodiment of the present invention, the control seat body has a locking assembly cooperating with the movable wheel.
Can realize quick travel and fixed through removing wheel and locking subassembly, conveniently transfer console mode double arm control device.
The application also discloses medical equipment, including medical robot and the above console mode both arms controlling means, medical robot includes:
a robot body;
a drug cartridge disposed within the robot body;
a hollow polyaxial joint, a first end of which is connected with the robot body;
the bionic hand is arranged at the second end of the multi-axis joint and comprises a palm part and a plurality of finger joint components, and the palm part is provided with a medicine outlet channel;
the connecting pipe is arranged in the hollow part of the multi-axis joint in a penetrating way, one end of the connecting pipe is connected with the medicament bin, and the other end of the connecting pipe is communicated with the medicament outlet channel;
the delivery pump is used for delivering the medicament in the medicament bin to the medicament spraying assembly through the connecting pipe;
the detection mechanism is arranged on the robot body and comprises a laser radar and a camera;
the bionic hand comprises 5 finger joint components, wherein four finger joint components are three joint components, and the fifth finger joint component is a two joint component; the three-joint assembly comprises a first joint, a second joint and a third joint which are sequentially connected in a rotating manner, wherein the first end of the first joint is connected with the palm part through a steering engine, the second end of the first joint is connected with the first end of the second joint through the steering engine, and the second end of the second joint is connected with the first end of the third joint through the steering engine; the two-joint assembly comprises a first joint and a second joint which are sequentially connected in a rotating manner, wherein the first end of the first joint is connected with the palm part through a steering engine, and the second end of the first joint is connected with the first end of the second joint through the steering engine;
the robot body is provided with a control circuit, the control circuit is provided with a communication module communicated with the wireless signal communication module of the floor type double-arm control device, and the control circuit controls the medical robot to work according to the received control signal.
By the aid of the structure, when the control is carried out, the actions of the bionic hand like a human hand can be accurately controlled according to the angles of the finger joints (realized by controlling the rotation of the steering engine).
In one embodiment of the present invention, the medical robot further includes a first rotating motor, the detecting mechanism is rotatably mounted above the robot body, and the first rotating motor is used for driving the detecting mechanism to rotate; the detection mechanism comprises a head support rotatably mounted above the robot body, a machine head rotatably mounted on the head support, and a head driving element for driving the machine head to change in pitch; the laser radar and the camera are installed on the machine head, and the rotating axis of the head support is perpendicular to that of the machine head.
In one embodiment of the present invention, the medical robot further comprises a mobile platform, and the medical robot is installed on the mobile platform.
The utility model has the advantages that: the utility model provides a console mode both arms controlling means is used for controlling bionic robot, through the design of bionical control hand, can turn into control signal with the rotation action of each joint of people's finger to carry out the operation of becoming more meticulous.
Drawings
Fig. 1 is a schematic structural diagram of a floor-type two-arm control device;
fig. 2 is a schematic structural view of the medical robot;
FIG. 3 is a schematic view of a bionic hand;
FIG. 4 is a partial exploded view of the medical robot;
FIG. 5 is a schematic view of a medical device;
fig. 6 is a schematic view of the detection mechanism and the first rotating motor.
The figures are numbered:
1. a mobile platform; 50. a medical robot; 51. a robot body; 52. a medicament bin; 53. a multi-axis joint; 54. simulating a living hand; 55. a connecting pipe; 56. a delivery pump; 57. a medicament canister; 58. a water injection tank; 59. a detection mechanism; 60. a laser radar; 61. a camera; 62. a first rotating electric machine; 63. a palm portion; 64. a medicine outlet channel; 65. a three joint assembly; 66. a second joint component; 67. a first joint; 68. a second joint; 69. a third joint; 70. a steering engine; 71. mounting a disc; 72. a second rotating motor; 73. a control mechanism; 74. a control seat body; 75. a moving wheel; 76. a multi-jointed arm; 77. bionic control hands; 78. a display support arm; 79. a display; 80. a master control end palm; 81. a three joint control finger; 82. the two joints control fingers; 83. a first knuckle; 84. a second knuckle; 85. a third knuckle; 86. a limiting ring; 87. a head support; 88. a machine head; 89. a head drive element.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, a floor-type two-arm control device includes two sets of control mechanisms 73, and each control mechanism 73 includes:
a control socket body 74;
a multi-joint arm 76, a first end of which is rotatably mounted on the control seat body 74; and
a bionic control hand 77 rotatably mounted at a second end of the multi-joint arm 76;
a display support arm 78 is rotatably arranged on the control seat body 74 of at least one group of control mechanisms 73, and a display 79 is rotatably arranged at one end of the display support arm 78 far away from the control seat body 74;
the bionic control hand 77 comprises a main control end palm 80, 4 three- joint control fingers 81 and 1 two-joint control finger 82; the main control end palm 80 is rotatably installed at the second end of the multi-joint arm 76, and the three-joint control finger 81 comprises a first knuckle 83, a second knuckle 84 and a third knuckle 85 which are sequentially and rotatably connected, wherein the first end of the first knuckle 83 is rotatably connected with the main control end palm 80, the second end of the first knuckle 83 is rotatably connected with the first end of the second knuckle 84, and the second end of the second knuckle 84 is rotatably connected with the third knuckle 85; the two-joint control finger 82 comprises a first knuckle 83 and a second knuckle 84 which are sequentially connected in a rotating manner, wherein the first end of the first knuckle 83 is connected with the palm 80 of the main control end in a rotating manner, and the second end of the first knuckle is connected with the second knuckle 84 in a rotating manner; the first knuckle 83, the second knuckle 84 and the third knuckle 85 are provided with limiting rings 86 for fingers to penetrate;
an angle sensor is arranged at the rotating part of each knuckle and is in signal connection with the control seat body 74.
The utility model provides a console mode both arms controlling means is used for controlling bionic robot, through bionic control hand 77's design, can turn into control signal with the rotation action of each joint of people's finger to carry out the operation of becoming more meticulous.
In the present embodiment, the multi-joint arm 76 is provided with a position sensor, and the position sensor is in signal connection with the control seat body 74. The control socket body 74 includes a circuit assembly having a wireless signal communication module and a power supply element. The bionic robot can be remotely controlled through the wireless signal communication module.
As shown in fig. 1, in the present embodiment, the moving wheel 75 is installed at the lower end of the control seat body 74. In practice, the control seat body 74 may be provided with a locking assembly cooperating with the moving wheel 75. The floor type double-arm control device can be rapidly moved and fixed by moving the wheel 75 and the locking assembly, and is convenient to transfer.
As shown in fig. 2, 3 and 4, the present embodiment further discloses a medical apparatus including a medical robot 50 (biomimetic robot) and the floor-type dual-arm control device of the present embodiment, where the medical robot 50 includes:
a robot body 51;
a medicine chamber 52 provided in the robot body 51;
a hollow multiaxial joint 53 having a first end connected to the robot body 51;
a bionic hand 54 mounted at a second end of the multi-axis joint 53, the bionic hand 54 comprising a palm portion 63 and a plurality of finger joint components, the palm portion 63 having a medicine outlet channel 64;
a connecting pipe 55 inserted into the hollow part of the multi-axis joint 53, one end of which is connected with the drug bin 52 and the other end of which is communicated with the drug outlet channel 64;
a delivery pump 56 for delivering the medicament in the medicament container 52 to the spraying assembly through the connection pipe 55;
a detection mechanism 59 mounted on the robot body 51, the detection mechanism 59 including a laser radar 60 and a camera 61;
the bionic hand 54 comprises 5 finger joint components, four of which are three joint components 65, and the fifth of which is a two joint component 66; the three-joint assembly 65 comprises a first joint 67, a second joint 68 and a third joint 69 which are sequentially connected in a rotating manner, wherein the first end of the first joint 67 is connected with the palm part 63 through a steering engine 70, the second end of the first joint is connected with the first end of the second joint 68 through the steering engine 70, and the second end of the second joint 68 is connected with the first end of the third joint 69 through the steering engine 70; the second joint assembly 66 comprises a first joint 67 and a second joint 68 which are sequentially connected in a rotating manner, wherein the first end of the first joint 67 is connected with the palm part 63 through a steering engine 70, and the second end of the first joint 67 is connected with the first end of the second joint 68 through the steering engine 70;
the robot body 51 has a control circuit having a communication module communicating with a wireless signal communication module of the floor-type two-arm control device, and the control circuit controls the medical robot 50 to operate according to the received control signal.
With such a configuration, the motion of the bionic hand 54 can be accurately controlled to resemble a human hand (by controlling the rotation of the steering engine 70) according to the angle of the finger joint during control.
In this embodiment, the medical robot 50 further includes a first rotating motor 62, the detecting mechanism 59 is rotatably mounted above the robot body 51, and the first rotating motor 62 is used for driving the detecting mechanism 59 to rotate. As shown in fig. 2 and 6, in the present embodiment, the detection mechanism 59 includes a head mount 87 rotatably mounted above the robot body 51, a head 88 rotatably mounted on the head mount 87, and a head driving element 89 for driving the head 88 to change in pitch; the laser radar 60 and the camera 61 are mounted on a machine head 88, and the rotation axis of the head mount 87 and the rotation axis of the machine head 88 are perpendicular to each other.
In this embodiment, the device further comprises at least one drug tank 57 connected to the drug chamber 52 and at least one water injection tank 58 connected to the drug chamber 52, wherein the drug tank 57 and the water injection tank 58 are provided with delivery elements.
The medicament tank 57 and the water injection tank 58 are arranged to deliver corresponding medicaments to the medicament bin 52 and adjust the medicament concentration according to requirements, so that the design enhances the applicability.
In this embodiment, there are two cameras 61.
In this embodiment, the medical robot 50 further includes a mounting plate 71 and a second rotating motor 72, the robot body 51 is rotatably mounted on the mounting plate 71, the second rotating motor 72 is configured to drive the robot body 51 to rotate in a pitching manner relative to the mounting plate 71, and the mounting plate 71 is configured to be fixed on the moving platform 1. With the arrangement, the medical robot 50 can perform pitching operation, and has various adjustment modes and strong applicability.
As shown in fig. 5, in the present embodiment, the medical apparatus further includes a moving platform 1, and the medical robot 50 is mounted on the moving platform 1 by a mounting plate 71.
The above only is the preferred embodiment of the present invention, not therefore the limit the patent protection scope of the present invention, all applications the equivalent structure transformation made by the contents of the specification and the drawings of the present invention is directly or indirectly applied to other related technical fields, and all the same principles are included in the protection scope of the present invention.
Claims (8)
1. A floor type double-arm control device is characterized by comprising two groups of control mechanisms, wherein each control mechanism comprises:
a control seat body;
the first end of the multi-joint arm is rotatably arranged on the control seat body; and
the bionic control hand is rotatably arranged at the second end of the multi-joint arm;
a display support arm is rotatably arranged on the control seat body of at least one group of control mechanisms, and a display is rotatably arranged at one end of the display support arm, which is far away from the control seat body;
the bionic control hand comprises a main control end palm, 4 three-joint control fingers and 1 two-joint control finger; the palm of the main control end is rotatably arranged at the second end of the multi-joint arm, and the three-joint control finger comprises a first knuckle, a second knuckle and a third knuckle which are sequentially and rotatably connected, wherein the first end of the first knuckle is rotatably connected with the palm of the main control end, the second end of the first knuckle is rotatably connected with the first end of the second knuckle, and the second end of the second knuckle is rotatably connected with the third knuckle; the two-joint control finger comprises a first knuckle and a second knuckle which are sequentially and rotatably connected, wherein the first end of the first knuckle is rotatably connected with the palm of the main control end, and the second end of the first knuckle is rotatably connected with the second knuckle; the first knuckle, the second knuckle and the third knuckle are provided with limiting rings for fingers to penetrate through;
and the rotating parts of the knuckles are respectively provided with an angle sensor which is in signal connection with the control seat body.
2. The floor type double-arm control device as claimed in claim 1, wherein a position sensor is mounted on said multi-jointed arm, said position sensor being in signal connection with said control seat body.
3. The floor-type dual-arm control device as claimed in claim 1, wherein said control stand body includes a circuit assembly having a wireless signal communication module and a power supply element.
4. The floor type double-arm control device as claimed in claim 1, wherein the lower end of the control seat body is mounted with a moving wheel.
5. A floor-standing dual-arm control device as claimed in claim 4, wherein said control stand body has a locking assembly thereon that engages the moving wheels.
6. A medical apparatus comprising a medical robot and the floor-standing double-arm control device according to claim 3, the medical robot comprising:
a robot body;
a drug cartridge disposed within the robot body;
a hollow polyaxial joint, a first end of which is connected with the robot body;
the bionic hand is arranged at the second end of the multi-axis joint and comprises a palm part and a plurality of finger joint components, and the palm part is provided with a medicine outlet channel;
the connecting pipe is arranged in the hollow part of the multi-axis joint in a penetrating way, one end of the connecting pipe is connected with the medicament bin, and the other end of the connecting pipe is communicated with the medicament outlet channel;
the delivery pump is used for delivering the medicament in the medicament bin to the medicament spraying assembly through the connecting pipe;
the detection mechanism is arranged on the robot body and comprises a laser radar and a camera;
the bionic hand comprises 5 finger joint components, wherein four finger joint components are three joint components, and the fifth finger joint component is a two joint component; the three-joint assembly comprises a first joint, a second joint and a third joint which are sequentially connected in a rotating manner, wherein the first end of the first joint is connected with the palm part through a steering engine, the second end of the first joint is connected with the first end of the second joint through the steering engine, and the second end of the second joint is connected with the first end of the third joint through the steering engine; the two-joint assembly comprises a first joint and a second joint which are sequentially connected in a rotating manner, wherein the first end of the first joint is connected with the palm part through a steering engine, and the second end of the first joint is connected with the first end of the second joint through the steering engine;
the robot body is provided with a control circuit, the control circuit is provided with a communication module communicated with the wireless signal communication module of the floor type double-arm control device, and the control circuit controls the medical robot to work according to the received control signal.
7. The medical device of claim 6, wherein the medical robot further comprises a first rotary motor, the detection mechanism is rotatably mounted above the robot body, and the first rotary motor is configured to drive the detection mechanism to rotate; the detection mechanism comprises a head support rotatably mounted above the robot body, a machine head rotatably mounted on the head support, and a head driving element for driving the machine head to change in pitch; the laser radar and the camera are installed on the machine head, and the rotating axis of the head support is perpendicular to that of the machine head.
8. The medical device of claim 7, further comprising a mobile platform on which the medical robot is mounted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220517774.1U CN216830919U (en) | 2022-03-08 | 2022-03-08 | Floor type double-arm control device and medical equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220517774.1U CN216830919U (en) | 2022-03-08 | 2022-03-08 | Floor type double-arm control device and medical equipment |
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| Publication Number | Publication Date |
|---|---|
| CN216830919U true CN216830919U (en) | 2022-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220517774.1U Active CN216830919U (en) | 2022-03-08 | 2022-03-08 | Floor type double-arm control device and medical equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559444A (en) * | 2022-03-08 | 2022-05-31 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
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2022
- 2022-03-08 CN CN202220517774.1U patent/CN216830919U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559444A (en) * | 2022-03-08 | 2022-05-31 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
| CN114559444B (en) * | 2022-03-08 | 2024-03-12 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
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