CN106361434B - A kind of cutter can various dimensions movement operating robot - Google Patents
A kind of cutter can various dimensions movement operating robot Download PDFInfo
- Publication number
- CN106361434B CN106361434B CN201610838459.8A CN201610838459A CN106361434B CN 106361434 B CN106361434 B CN 106361434B CN 201610838459 A CN201610838459 A CN 201610838459A CN 106361434 B CN106361434 B CN 106361434B
- Authority
- CN
- China
- Prior art keywords
- brake
- block
- pair
- holder
- slide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000000245 forearm Anatomy 0.000 claims description 27
- 239000007787 solid Substances 0.000 claims description 21
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 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 description 11
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 14
- 238000005452 bending Methods 0.000 description 4
- 230000004913 activation Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of cutter can various dimensions movement operating robot, including can surround trunnion axis rotation waist rotation member, can surround vertical axes rotation large arm, can relatively small arm swing swing arm, can relative swing arm rotation tool changing device.Wherein, the tool changing device includes cutter clamping disk, drives the driving mechanism of cutter clamping disc spins, and driving mechanism includes rotary components, latch components, drive component and cover board, and the track guided to drive component is opened up on cover board.In operation, the drive component cooperation cover board to rotate can unlock latch components and rotary components is driven to rotate predetermined angular to the constraint of rotary components, cutter on cutter clamping disk rotates respective angles with rotary components, make need to operation tool be in operating position.
Description
Technical field
The present invention relates to medical instrument, in particular to a kind of cutter can various dimensions movement operating robot.
Background technology
Traditional operation, operative doctor hold surgical knife tool, fixture, other operation tools and are operated to sufferer.
Invention content
Technical problem solved by the invention：In traditional operation, operative doctor holds surgical knife tool, fixture, other operations
Tool is operated sufferer, and labor intensity is big, and working efficiency is low, sufferer susceptible.
In order to solve the above technical problems, the present invention provides the following technical solutions：A kind of cutter can various dimensions movement operation
Robot, including base body, be articulated on base body waist rotation member, be articulated on waist rotation member large arm, be mounted on large arm
On manipulator, be fixed in large arm forearm, be articulated in forearm front end swing arm, driving swing arm swing first driving
The second driving unit that unit, the tool changing device mounted on swing arm front end, driving tool changing device rotate；The swing arm swing
When central axis in the rotation centerline of tool changing device, waist rotation member is rotated around base body, and large arm is rotated around waist rotation member；
The tool changing device includes cutter clamping disk, drives the driving mechanism of cutter clamping disc spins；The driving mechanism
Including rotary components, latch components, drive component, cover board；
The rotary components include rotating seat, the fixed brake disc and the 6th gear for being set in rotating seat periphery；The knife
Tool clamping disk is fixedly connected with rotating seat；
The latch components include the basal disc being fixed in shell, a pair of of brake(-holder) block on basal disc, sliding
The solution lock slide being arranged on basal disc；The pair of brake(-holder) block is symmetrical set in the periphery of brake disc, a pair of of brake(-holder) block
One end is hinged and other end elastic connection；On basal disc, solution lock slide slides the solution lock slide elastic connection equipped with a pair
One end of bar, a pair of of brake(-holder) block elastic connection opens up a pair of of slide slot, and slide slot is in bending, and a pair of of slide slot is symmetrical to be set
It sets, a pair slides bar and is slidably fitted in a pair of of slide slot；
The driving component includes the annulus for being driven by driving device and being rotated, and the center line of annulus rotation deviates rotating seat
The madial wall of the center line of rotation, annulus is equipped with tooth section and multiple push rods, and tooth section is fixedly installed and push rod sliding setting, tooth section
It can be engaged with the 6th gear；
The cover board is fixed on shell, and cover board is equipped with circular orbit, the center line of circular orbit and annulus
Center line overlaps, and the push rod is equipped with the slide bar coordinated with circular orbit, and circular orbit is equipped with the arc track of one section of indent；When
When slide bar is located in arc track, push rod pushes solution lock slide and a pair is made to slide bar translation, meanwhile, the 6th gear is opened with tooth section
Begin to engage；
Rotation centerline of the rotation centerline of the rotating seat perpendicular to tool changing device.
According to the above technical scheme, a kind of cutter of the present invention can various dimensions movement operating robot operation principle such as
Under：
First, operative doctor hand-held operation hand rotates large arm or waist rotation member, so that the tool changing device on swing arm is in and waits for
At operation.
Second, in tool changing device, the driving device driving annulus rotation in driving mechanism, annulus drives push rod rotation thereon
Turn, the slide bar on push rod moves in circular orbit.When slide bar is run to one section of arc track of circular orbit, slide bar drives
Push rod is moved to the center of annulus, and the end continuous action of multiple push rods pushes solution lock slide to basal disc on solution lock slide
Center translation, a pair solved on lock slide slides bar and is translated in a pair of of slide slot in a manner of one-to-one, since slide slot is in
Bending, therefore, a pair of rectilinear translation, which slides bar, can drive one end of a pair of of brake(-holder) block elastic connection to be opened, in this way, rotation
Seat is changed into rotatable state by the initial state by a pair of of brake(-holder) block friction catch.It is no longer made with a pair of of brake(-holder) block
Synchronously, the tooth section on annulus madial wall, i.e., one section of tooth on annulus madial wall starts to engage dynamic rotating seat with the 6th gear,
And drive the 6th gear and be secured to the rotating seat rotation of connection, rotating seat drives cutter clamping disc spins；When rotating seat revolves
Turning certain angle, when such as 90 degree, six gears of tooth Duan Yu disengage, meanwhile, multiple push rods are all by circular orbit
One section of arc track, in this way, solution lock slide of the elastic connection on basal disc resets, a pair slides bar and resets therewith, a pair of braking
One end of piece elastic connection also resets therewith, a pair of of brake(-holder) block friction catch brake disc, and then braking rotating seat again.So far,
Cutter clamping disk rotates a certain angle with the rotation of rotating seat, and clamping is rotated in the operation tool of cutter clamping disk
Certain angle, operative doctor need to operation tool be in operating position.
Third, under the turning effort of the swing of swing arm, the rotation of entire tool changing device, large arm and waist rotation member, hand
Art doctor is operated sufferer.
Through the above technical solutions, the tool of several operations is equipped on cutter clamping disk, such as cutter, fixture, operation
When doctor need to use corresponding operation tool, tool changing device can automatically replace operation tool, be at operating position, and,
In order to improve the accuracy of operation, the generation of error is avoided, when each tool changing of tool changing device, the angle of cutter clamping disc spins is
Certain, i.e., the angle that the operation tool on cutter clamping disk rotates every time is certain.
As the present invention to a kind of explanation of tool changing device, the tool changing device includes the connection of installation on a swing arm
Arm, the shell setting is on the connecting arm；The cover board is sealed on shell, and the driving mechanism is mounted in shell, driving
Rotating seat in mechanism passes through cover board, cutter clamping disk to be located at outside shell.As described above, the second driving unit is drivingly connected arm
Rotation, linking arm drive entire tool changing device rotation.
As the present invention to a kind of explanation of tool changing device, in rotary components, the rotating seat is articulated on basal disc, rotation
Seat is equipped with a pair of of locating rod, and the cutter clamping disk is fixedly connected with rotating seat by a pair of of locating rod.Wherein, the basal disc is logical
It crosses support column to be fixed in shell, the support column is located at the side in annulus and positioned at rotating seat.
As the present invention to a kind of explanation of latch components, the basal disc is equipped with a pillar, and pillar is equipped with swivel pin；
The pair of brake(-holder) block includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the left end of the first brake(-holder) block
It is hinged on swivel pin with the left end of the second brake(-holder) block, the right end of the first brake(-holder) block and the right end of the second brake(-holder) block are stretched by first
Contracting spring connects；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is equipped with the second fore-set, and first
Fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；First brake(-holder) block and
The equal semicircular in shape of second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above, the first adjustable spring
With the trend for making the first brake(-holder) block and the second brake(-holder) block close up, and the setting of the first fore-set and the second fore-set then has blocking should
The effect of kind trend.
As the present invention to a kind of explanation of latch components, the pair of slide slot is slided including the first slide slot and second
Slot, the first slide slot are opened in the right end of the first brake(-holder) block, and the second slide slot is opened in the right end of the second brake(-holder) block, and first slides
Slot and the second slide slot are symmetrical set, wherein the first slide slot includes that the first straight line type slide slot being connected to and second are straight
Line style slide slot, angle circle between first straight line type slide slot and second straight line type slide slot is in 90 degree and 180 degree
Between.As described above, when solution lock slide is translated to the central line of basal disc, a pair slided in a pair of of slide slot slides
Bar has the trend of the right end separation of the right end and the second brake(-holder) block that make the first brake(-holder) block.
As the present invention to a kind of explanation of latch components, the solution lock slide is equipped with a pair of of positioning pin, the pair of
Positioning pin includes the first positioning pin and the second positioning pin being symmetrical set, and the right end of first brake(-holder) block, which is equipped with first, to be determined
The right end in position hole, the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring, when the first fore-set and second push up
When column offsets, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into first positioning hole and second
In location hole；It is the pair of slide bar and slide bar and second including first slide bar, first slides bar, and to be fixed at first fixed
The top of position pin, second slides the top that bar is fixed at the second positioning pin, and first slides the center line of bar and the first positioning
The central axis of pin.As described above, when push rod pushes the center translation for solving lock slide to basal disc, first slides bar first
It is translated in first straight line type slide slot, when the first positioning pin and the second positioning pin are detached from first positioning hole and second location hole
When, second, which slides bar, just enters second straight line type slide slot, and a pair slides bar by the right end of the first brake(-holder) block and the second brake(-holder) block
Right end open；After push rod is left away with the rotation of annulus, solution lock slide resets, and a pair slides bar and resets therewith, and first
Positioning pin and the second positioning pin are correspondingly inserted into first positioning hole and second location hole, to lock a pair of of brake(-holder) block.
As the present invention to a kind of explanation of latch components, the basal disc, which is equipped with, erects block, erects block and is equipped with second
Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of adjustable spring, the second adjustable spring.
As the present invention to a kind of explanation of drive component, the annulus is articulated in shell, and the driving device includes
The fixed ring gear being set on annulus madial wall, couples with the 7th gear and is mounted on shell the 7th gear engaged with ring gear
Interior third motor.As described above, third motor drives the rotation of the 7th gear, the 7th gear to drive circle by driving ring gear
Ring rotates.
As the present invention to a kind of explanation of drive component, the madial wall of the annulus is equipped with convex block in radial direction, radial
Interior convex block is equipped with multiple push rod pedestals, and the quantity of push rod pedestal is identical to the quantity of push rod, and multiple push rods are with one-to-one side
Formula is slidably fitted in multiple push rod pedestals, and the end of push rod protrudes push rod pedestal and is directed toward the center of annulus.Multiple push rods
Quantity determines in the following manner：When rotating seat rotates predetermined angular and six gears of tooth Duan Yu disengage, multiple push rods are complete
Portion is by one section of arc track of circular orbit without remaking for solving lock slide.
As the present invention to a kind of explanation of swing arm, the front end of the forearm opens up a spill gap, the swing arm
It is articulated in spill gap.First driving unit includes the first motor being mounted on forearm, connection first motor and pendulum
First gear unit of swing arm；First gear unit includes the second gear and third for being articulated on forearm and being coaxially disposed
Gear is articulated on forearm and the 4th gear being coaxially disposed and the first synchronous pulley, the third axis being articulated on forearm, fixation
The second synchronous pulley on third axis；First gear is installed on the output shaft of the first motor, first gear with
Second gear engages, and third gear is engaged with the 4th gear, and the first synchronous pulley is coupled by synchronous belt with the second synchronous pulley,
Third axis is fixedly connected with swing arm.Second driving unit includes installation the second motor on a swing arm, the second transmission
Unit；Second gear unit includes the retarder coupled with the second motor output shaft, the rotation being connect with retarder output end
Turntable, tool changing device are installed on the rotating pan.
As the present invention to a kind of explanation of base body, the base body be equipped with symmetrical first level guide rail and
Second horizontal guide rail is sliding combined with first level sliding block on first level guide rail, is sliding combined on the second horizontal guide rail
Two horizontal sliders, the waist rotation member horizontal cross setting, the left and right ends of waist rotation member are cylindrical, the left end of waist rotation member
It is articulated in first level sliding block, the right end of waist rotation member is articulated in the second horizontal slider；The large arm is vertically arranged, large arm
Bottom end be articulated in the middle part of waist rotation member, the manipulator is mounted on the top of large arm, and the forearm is fixed in large arm
Portion, the swing arm are mounted on the top of forearm.As described above, waist rotation member can be led along first level guide rail and the second level
Rail moves, to increase the space of mechanical claw hand.
As the present invention to a kind of explanation of base body, the base body is equipped with brake structure, and brake structure includes solid
The brake rotation that a pair of of support plate for being scheduled on base body, the brake lever being articulated on a pair of of support plate, one end are fixedly connected with brake lever
Turn component, one end and the hinged brake connection component of the rotary components other end that brakes, the connection component other end is hinged with braking
Lever assembly is hinged on support plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Described second is horizontal
Sliding block is equipped with brake plate, and brake plate is connect with the second horizontal slider by spring, and brake plate is located at waist rotation member right side
Side, the brake lever are close to brake plate.As described above, one end of operative doctor presses lever component, lever assembly surround
Itself and support plate hinged place tilting, lever assembly drive brake rotary components to rotate by the connection component that brakes, and brake rotary components
Driving brake bar rotates, and the crest line of brake lever is against towards a left side on brake plate, and it is right to be against waist rotation member in turn, on the left of brake plate
On end face, waist rotation member is braked；When the other end of staff's presses lever component makes lever assembly reset, thick stick
Bar assembly drives brake rotary components to reversely rotate by the connection component that brakes, and brake rotary components driving brake bar reversely revolves
Turn, the crest line of brake lever leaves brake plate and no longer brake plate driven to be moved to the left and brake waist rotation member.
In above-mentioned brake structure, the brake rotary components include the brake rotating seat being fixedly connected with brake lever and stop
The brake swingle that vehicle rotating seat is fixedly connected；The brake connection component includes that second brake hinged with brake swingle connects
Extension bar, the first brake connecting rod being fixedly connected with the second brake connecting rod；The lever assembly includes being connect with first brake
The hinged brake bearing of bar, the brake liner plate being fixedly connected with brake bearing, the brake bearing are hinged on support plate.
The base body is equipped with the second brake structure, and the second brake structure includes a pair second being fixed on base body
The second brake rotation that support plate, the second brake lever being articulated on a pair of second support plate, one end are fixedly connected with the second brake lever
Component, one end second brake connection component hinged with the second brake rotary components other end, the connection component that brakes with second are another
The second hinged lever assembly of one end is hinged on the second support plate in the middle part of the second lever assembly, the cross of second brake lever
Section is in regular hexagon；The first level sliding block is equipped with the second brake plate, and the second brake plate passes through with first level sliding block
Second spring connects, and the second brake plate is located at the side of waist rotation member left side, and second brake lever is close to the second brake plate；
The base body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, is combined with lever on third sliding pin, is opened in the middle part of lever
If the bar shaped sliding slot being slidably matched with third sliding pin, the lever assembly in the left end and brake structure of lever is hinged, the right side of lever
End and the second lever assembly in the second brake structure are hinged.As described above, brake structure and the second brake structure or so pair
Claim setting, the structure and function of the two is identical, and in operation, operative doctor presses lever assembly, you can drive second by lever
Lever assembly links, and similarly, operative doctor presses the second lever assembly, you can is linked by lever activation lever component.Linkage
Brake structure and the second brake structure simultaneously the right end and left end of waist rotation member are braked.
As a kind of explanation of present invention relationship between waist rotation member and large arm, the waist rotation member is stopped equipped with large arm
Bassinet structure, the large arm brake structure include the annular solid being fixed on waist rotation member, a pair on annular solid
Brake hoop, second be slidably arranged on annular solid solve lock slide；The second brake disc, a pair of of brake hoop are fixed in the large arm
It is symmetrical set in the periphery of the second brake disc, one end of a pair of of brake hoop is hinged and other end elastic connection；Described second
Solve lock slide elastic connection on annular solid, second solution lock slide be equipped with it is translatable enter a pair of of brake hoop elastic connection one end with
Open the second wedge block of a pair of of brake hoop.As described above, in operation, four finger grippings in operative doctor proficiency live to operate
Hand, residue one refer to the second wedge block of pressable, push the second solution center translation of the lock slide to annular solid, the translation of the second wedge block
Enter one end of a pair of of brake hoop elastic connection to open a pair of of brake hoop, in this way, large arm is rubbed by initial by a pair of of brake hoop
The state of braking is changed into rotatable state.
About above-mentioned large arm brake structure, the annular solid is fixed on by supporting block on waist rotation member；It is set in supporting block
There is the second swivel pin；The pair of brake hoop includes the second brake hoop positioned at first brake hoop in left side and positioned at right side, the
The left end of the left end of one brake hoop and the second brake hoop is hinged on the second swivel pin, the right end of the first brake hoop and the second braking
The right end of ring passes through third adjustable spring elastic connection；The right end of first brake hoop is equipped with third fore-set, the right side of the second brake hoop
End is equipped with the 4th fore-set, and third fore-set and the 4th fore-set are oppositely arranged, and third fore-set and the 4th fore-set are located at third adjustable spring
It is interior；First brake hoop and the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second brake disc.
As described above, third adjustable spring, which has, makes the trend that the first brake hoop and the second brake hoop close up, and third fore-set and the
The setting of four fore-sets then has the function of stopping this kind of trend.
The second solution lock slide is equipped with a pair of of alignment pin, and a pair of of alignment pin exists with the front and back setting of the second wedge block
On second solution lock slide；The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set,
The right end of first brake hoop is equipped with third location hole, and the right end of the second brake hoop is equipped with the 4th location hole, flexible in third
Under the elastic force of spring, when third fore-set and the 4th fore-set offset, the first alignment pin on the second solution lock slide of translation and
Second alignment pin can be correspondingly inserted into third location hole and the 4th location hole.As described above, when operative doctor pushes the
Center translation from two solution lock slides to annular solid when, the first alignment pin and the second alignment pin are detached from third location hole and the 4th
Location hole, meanwhile, the second wedge block stretches between the first brake hoop right end and the second brake hoop right end, and is opened；In hand
After art doctor release the second solution lock slide, the second solution lock slide resets, and the second wedge block leaves the first brake hoop right end and second
Brake hoop right end, meanwhile, the first alignment pin and the second alignment pin are correspondingly inserted into third location hole and the 4th location hole, with
A pair of of brake hoop of locking.
About above-mentioned large arm brake structure, the annular solid is equipped with second and erects block, and second, which erects block, is equipped with the 4th
Block is erect in one end connection second of adjustable spring, the 4th adjustable spring, and the second unlock of other end connection of the 4th adjustable spring is slided
Block.
Description of the drawings
Following further describes the present invention with reference to the drawings：
Fig. 1 be a kind of cutter of the present invention can various dimensions movement operating robot structural schematic diagram；
Fig. 2 is the combining structure schematic diagram of forearm 24, swing arm 80, tool changing device 30 in Fig. 1；
Fig. 3 is that tool changing device 30 conceals the structural schematic diagram after cutter clamping disk 300 in Fig. 2；
Fig. 4 is that tool changing device 30 conceals the structural schematic diagram after cover board 64 in Fig. 3；
Fig. 5 is the structural schematic diagram of driving mechanism 60 in Fig. 4；
Fig. 6 is the combining structure schematic diagram of rotary components 61 and latch components 62 in Fig. 5；
Fig. 7 is the structural schematic diagram that lock slide 623 is solved in Fig. 6；
Fig. 8 is the structural schematic diagram of brake(-holder) block 622 in Fig. 6；
Fig. 9 is the structural schematic diagram of drive component 63 in Fig. 5；
Figure 10 is enlarged drawing at A in Fig. 9；
Figure 11 is the structural schematic diagram of Fig. 3 cover plates 64；
Figure 12 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 1；
Figure 13 is the structural schematic diagram of brake structure 70 in Figure 12；
Figure 14 is the structural schematic diagram of large arm brake structure 90 in Fig. 1；
Figure 15 is the structural schematic diagram of the second solution lock slide 923 in Figure 14.
Symbol description in figure：
10, base body；11, first level guide rail；12, the second horizontal guide rail；13, first level sliding block；130, the second system
Movable plate；14, the second horizontal slider；140, brake plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, tool changing device；300, cutter clamping disk；
51, linking arm；52, shell；
60, driving mechanism；61, rotary components；611, rotating seat；612, brake disc；613, the 6th gear；614, it positions
Bar；
62, latch components；621, basal disc；622, brake(-holder) block；6221, the first adjustable spring；6222, location hole；623, it solves
Lock slide；624, bar is slided；625, support column；626, pillar；627, positioning pin；628, block is erect；6281, the second flexible bullet
Spring；629, slide slot；6291, first straight line type slide slot；6292, second straight line type slide slot；
63, drive component；631, annulus；632, tooth section；633, push rod；634, slide bar；635, ring gear；636, the 7th tooth
Wheel；637, convex block in radial direction；638, push rod pedestal；
64, cover board；641, circular orbit；642, arc track；
70, brake structure；701, support plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, it stops
Vehicle swingle；73, brake connection component；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake bearing；742, brake liner plate；700, the second brake structure；75, upright bar；76, third sliding pin；77, lever；
80, swing arm；81, first gear；82, second gear；84, the 4th gear；85, the first synchronous pulley；86, third
Axis；87, the second synchronous pulley；88, synchronous belt；89, rotating disk；
90, large arm brake structure；912, the second brake disc；921, annular solid；922, brake hoop；9221, the flexible bullet of third
Spring；9222, third location hole；923, the second solution lock slide；924, the second wedge block；925, supporting block；927, alignment pin；
928, second block is erect；9281, the 4th adjustable spring.
Specific implementation mode
In conjunction with Fig. 1, Fig. 2, a kind of cutter can various dimensions movement operating robot, including base body 10, be articulated in pedestal
Waist rotation member 21 on body, the manipulator 23 in large arm, is fixed in large arm the large arm 22 being articulated on waist rotation member
Forearm 24, be articulated in forearm front end swing arm 80, driving swing arm swing the first driving unit, be mounted on swing arm before
The tool changing device 30 at end, the second driving unit of driving tool changing device rotation；It is described swing arm swing when central axis in
The rotation centerline of tool changing device, waist rotation member are rotated around base body, and large arm is rotated around waist rotation member.
In conjunction with Fig. 3 to Figure 11, the tool changing device includes cutter clamping disk 300, drives the driving of cutter clamping disc spins
Mechanism 60；The driving mechanism includes rotary components 61, latch components 62, drive component 63, cover board 64.The rotary components packet
Include rotating seat 611, the fixed brake disc 612 and the 6th gear 613 for being set in rotating seat periphery；The cutter clamping disk, which is fixed, to be connected
Connect rotating seat.The latch components include the basal disc 621 being fixed in shell, a pair of of brake(-holder) block on basal disc
622, the solution lock slide 623 being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set in the periphery of brake disc, and one
One end of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection is solved and is set on lock slide on basal disc
There is a pair to slide bar 624, one end of a pair of of brake(-holder) block elastic connection opens up a pair of of slide slot 629, and slide slot is in bending, a pair of
Slide slot is symmetrical set, and a pair slides bar and is slidably fitted in a pair of of slide slot.The driving component includes being filled by driving
The center line of the annulus 631 set driving and rotated, annulus rotation deviates the center line of rotating seat rotation, is set on the madial wall of annulus
With teeth section 632 and multiple push rods 633, tooth section are fixedly installed and push rod sliding setting, the engagement of the 6th gears of tooth Duan Keyu.The lid
Plate is fixed on shell, and cover board is equipped with circular orbit 641, and the center line of circular orbit is overlapped with the center line of annulus,
The push rod is equipped with the slide bar 634 coordinated with circular orbit, and circular orbit is equipped with the arc track 642 of one section of indent；Work as slide bar
When in arc track, push rod pushes solution lock slide and a pair is made to slide bar translation, meanwhile, the 6th gear starts to nibble with tooth section
It closes.
The tool changing device 30 includes the linking arm 51 being mounted on swing arm 80, and the shell 52 is arranged in linking arm
On；The cover board 64 is sealed on shell, and the driving mechanism 60 is mounted in shell, and the rotating seat 611 in driving mechanism is worn
Cover board is crossed, cutter clamping disk 300 is located at outside shell.
Above-mentioned tool changing device 30, in rotary components 61, the rotating seat 611 is articulated on basal disc 621, and rotating seat is equipped with
A pair of of locating rod 614, the cutter clamping disk 300 are fixedly connected with rotating seat by a pair of of locating rod.
Above-mentioned tool changing device 30, in latch components 62, the basal disc 621 is fixed on by support column 625 in shell 52, institute
State the side that support column is located in annulus 631 and is located at rotating seat 611.
Above-mentioned tool changing device 30, in latch components 62, the basal disc 621 is equipped with a pillar 626, and pillar is equipped with hinged
Pin；The pair of brake(-holder) block 622 includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the first brake(-holder) block
Left end and the left end of the second brake(-holder) block be hinged on swivel pin, the right end of the first brake(-holder) block and the right end of the second brake(-holder) block pass through
First adjustable spring, 6221 elastic connection；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is equipped with the
Two fore-sets, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；Described
One brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc 612.
Above-mentioned tool changing device 30, in latch components 62, the pair of slide slot 629 is slided including the first slide slot and second
Slot, the first slide slot are opened in the right end of the first brake(-holder) block, and the second slide slot is opened in the right end of the second brake(-holder) block, and first slides
Slot and the second slide slot are symmetrical set, wherein the first slide slot includes the first straight line type slide slot 6291 and the of connection
Two linear type slide slots 6292, angle circle between first straight line type slide slot and second straight line type slide slot is in 90 degree and one
Between 180 degree.
Above-mentioned tool changing device 30, in latch components 62, the solution lock slide 623 is equipped with a pair of of positioning pin 627, and described one
Include the first positioning pin and the second positioning pin being symmetrical set to positioning pin, the right end of first brake(-holder) block is equipped with first
The right end of location hole 6222, the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring 6221, when the first top
When column and the second fore-set offset, it is fixed that the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into first
In position hole and second location hole；It is the pair of slide bar and slide bar and second including first slide bar, first, which slides bar fixation, sets
It sets in the top of the first positioning pin, second slides the top that bar is fixed at the second positioning pin, and first slides the center line of bar
With the central axis of the first positioning pin.
Above-mentioned tool changing device 30, in latch components 62, the basal disc 621, which is equipped with, erects block 628, erects block and is equipped with the
Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of two adjustable springs 6281, the second adjustable spring
623。
Above-mentioned tool changing device 30, in drive component 63, the annulus 631 is articulated in shell 52, the driving device packet
The fixed ring gear 635 being set on annulus lateral wall, the 7th gear 636 engaged with ring gear are included, couples and pacifies with the 7th gear
Third motor in shell.
Above-mentioned tool changing device 30, in drive component 63, the madial wall of the annulus is equipped with convex block 637 in radial direction, radial
Interior convex block is equipped with multiple push rod pedestals 638, and the quantity of push rod pedestal is identical to the quantity of push rod 633, and multiple push rods are with a pair
One mode is slidably fitted in multiple push rod pedestals, and the end of push rod protrudes push rod pedestal and is directed toward the center of annulus.
If the front end of Fig. 2, the forearm 24 open up a spill gap, the swing arm 80 is articulated in spill gap.Institute
State the first transmission list that the first driving unit includes the first motor being mounted on forearm 24, connection first motor and swing arm
Member；First gear unit include be articulated on forearm and be coaxially disposed second gear 82 and third gear, be articulated in it is small
On arm and coaxial arrangement the 4th gear 84 and the first synchronous pulley 85, be articulated on forearm third axis 86, be fixedly mounted on
The second synchronous pulley 87 on third axis；First gear 81 is installed, first gear and the on the output shaft of the first motor
Two gears engage, and third gear is engaged with the 4th gear, and the first synchronous pulley is coupled by synchronous belt 88 with the second synchronous pulley,
Third axis is fixedly connected with swing arm.Second driving unit includes installation the second motor on a swing arm, the second transmission
Unit；Second gear unit includes the retarder coupled with the second motor output shaft, the rotation being connect with retarder output end
Turntable 89, tool changing device 30 are installed on the rotating pan.
In conjunction with Fig. 1, Figure 12, Figure 13, the base body 10 is equipped with 11 and second water of symmetrical first level guide rail
Level gauge 12 is sliding combined with first level sliding block 13 on first level guide rail, second is sliding combined on the second horizontal guide rail
Horizontal slider 14,21 horizontal cross of the waist rotation member setting, the left and right ends of waist rotation member are cylindrical, a left side for waist rotation member
End is articulated in first level sliding block, and the right end of waist rotation member is articulated in the second horizontal slider；The large arm 22 is vertically arranged,
The bottom end of large arm is articulated in the middle part of waist rotation member, and the manipulator 23 is mounted on the top of large arm, and the forearm 24 is fixed on
The middle part of large arm, the swing arm 80 are mounted on the top of forearm.
The base body 10 be equipped with brake structure 70, brake structure include a pair of of the support plate 701 being fixed on base body,
Brake rotary components 72 that the brake lever 71 that is articulated on a pair of of support plate, one end are fixedly connected with brake lever, one end are revolved with brake
Turn the hinged brake connection component 73 of the component other end, the lever assembly 74 hinged with the brake connection component other end, lever group
It is hinged on support plate in the middle part of part, the cross section of the brake lever is in regular hexagon；Second horizontal slider 14 is equipped with system
Movable plate 140, brake plate are connect with the second horizontal slider by spring, and brake plate is located at the side of 21 right side of waist rotation member, institute
It states brake lever and is close to brake plate.The brake rotary components 72 include the brake rotating seat 721 being fixedly connected with brake lever 71, with
The brake swingle 722 that brake rotating seat is fixedly connected；The brake connection component 73 includes hinged with brake swingle the
Two brake connecting rods 732, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever assembly 74 wraps
The brake liner plate 742 for including the brake bearing 741 hinged with first brake connecting rod, being fixedly connected with brake bearing, the brake
Bearing is hinged on support plate 701.
The base body 10 is equipped with the second brake structure 700, and the second brake structure includes being fixed on base body 10
A pair of second support plate, the second brake lever being articulated on a pair of second support plate, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake connection component hinged with the second brake rotary components other end and second company of brake
The second hinged lever assembly of the connected components other end is hinged on the second support plate in the middle part of the second lever assembly, and described second stops
The cross section of vehicle bar is in regular hexagon；The first level sliding block 13 is equipped with the second brake plate 130, the second brake plate and first
Horizontal slider is connected by second spring, and the second brake plate is located at the side of 21 left side of waist rotation member, second brake lever
It is close to the second brake plate.The base body is equipped with upright bar 75, and the top of upright bar is equipped with third sliding pin 76, coordinates on third sliding pin
Have lever 77, open up the bar shaped sliding slot being slidably matched with third sliding pin in the middle part of lever, the left end of lever in brake structure 70
Lever assembly 74 it is hinged, the second lever assembly in the right end of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 1, Figure 14, Figure 15, the waist rotation member 21 is equipped with large arm brake structure 90, the large arm brake structure
Including be fixed on waist rotation member annular solid 921, a pair of of brake hoop 922 on annular solid, be slidably arranged in
The second solution lock slide 923 on annular solid；The second brake disc 912 is fixed in the large arm, a pair of of brake hoop is symmetrical to be set
It sets in the periphery of the second brake disc, one end of a pair of of brake hoop is hinged and other end elastic connection；The second solution lock slide bullet
Property be connected on annular solid, second solution lock slide be equipped with it is translatable enter a pair of of brake hoop elastic connection one end to open a pair of of system
Second wedge block 924 of rotating ring.
In large arm brake structure 90, the annular solid is fixed on by supporting block 925 on waist rotation member；Supporting block is equipped with
Second swivel pin；The pair of brake hoop includes the first brake hoop positioned at left side and the second brake hoop positioned at right side, and first
The left end of the left end of brake hoop and the second brake hoop is hinged on the second swivel pin, the right end of the first brake hoop and the second brake hoop
Right end pass through 9221 elastic connection of third adjustable spring；The right end of first brake hoop is equipped with third fore-set, the second brake hoop
Right end is equipped with the 4th fore-set, and third fore-set and the 4th fore-set are oppositely arranged, and third fore-set and the 4th fore-set are located at the flexible bullet of third
In spring；First brake hoop and the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second braking
Disk 912.
In large arm brake structure 90, the second solution lock slide is equipped with a pair of of alignment pin 927, a pair of of alignment pin with
The front and back setting of second wedge block is on the second solution lock slide；The pair of alignment pin includes the first positioning being symmetrical set
The right end of axis pin and the second alignment pin, first brake hoop is equipped with third location hole 9222, and the right end of the second brake hoop is set
There is the 4th location hole, under the elastic force of third adjustable spring, when third fore-set and the 4th fore-set offset, the second unlock of translation
The first alignment pin and the second alignment pin on sliding block can be correspondingly inserted into third location hole and the 4th location hole.
In large arm brake structure 90, the annular solid is equipped with second and erects block 928, and the second setting block is stretched equipped with the 4th
Block, the second unlock of other end connection of the 4th adjustable spring are erect in one end connection second of contracting spring 9281, the 4th adjustable spring
Sliding block.
In practical operation, a kind of cutter of the present invention can various dimensions movement operating robot workflow it is as follows：
First, operative doctor hand-held operation hand 23 rotates large arm 22 or waist rotation member 21, or makes waist rotation member 21 along the
One horizontal guide rail 11 and the translation of the second horizontal guide rail 12, make the tool changing device 30 on swing arm 80 is close to wait at operation.
Second, under the driving of the first driving unit, the swing of swing arm 80 can drive tool changing device 30 thereon to swing,
Under the driving of the second driving unit, tool changing device 30 is rotatable.
Third, in tool changing device 30, the driving device driving annulus 631 in driving mechanism 60 rotates, and annulus drives thereon
Push rod 633 rotate, the slide bar 634 on push rod moves in circular orbit 641.When the operation of slide bar 634 to circular orbit 641
When one section of arc track 642, slide bar drives push rod 633 to be moved to the center of annulus 631, the end continuous actions of multiple push rods in
It solves on lock slide 623, solution center translation of the lock slide to basal disc 621, a pair solved on lock slide is pushed to slide bar with one-to-one
Mode translated in a pair of of slide slot, due to slide slot be in bending, a pair of rectilinear translation, which slides bar, can drive one
One end of brake(-holder) block elastic connection is opened, in this way, rotating seat 611 is turned by the initial state by a pair of of brake(-holder) block friction catch
Become rotatable state.No longer rotating seat 611 is braked with a pair of of brake(-holder) block 622 synchronously, on 631 madial wall of annulus
Tooth section 632, i.e., one section of tooth on annulus madial wall, starts to engage with the 6th gear 613, and drives the 6th gear and be secured to
The rotating seat 611 of connection rotates, and rotating seat drives cutter clamping disk 300 to rotate；When 611 rotated ninety degrees of rotating seat, tooth section
632 disengage with the 6th gear 613, meanwhile, multiple push rods 633 are all by one section of arc track 642 of circular orbit, such as
This, solution lock slide 623 of the elastic connection on basal disc 621 resets, and a pair slides bar 624 and resets therewith, a pair of of brake(-holder) block elasticity
One end of connection resets, a pair of of brake(-holder) block friction catch brake disc 612, and then braking rotating seat 611 again.So far, cutter fills
Chuck rotates horizontally predetermined angular with the rotation of rotating seat 611.Clamping revolves therewith in the operation tool of cutter clamping disk 300
Turn certain angle, operative doctor need to operation tool be in operating position.
4th, make in the rotation of the swing of swing arm 80, the rotation of entire tool changing device 30, large arm 22 and waist rotation member 21
Under, operative doctor is operated sufferer.
The above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (9)
1. a kind of cutter is capable of the operating robot of various dimensions movement, including base body (10), the waist that is articulated on base body turn
Component (21), the large arm (22) being articulated on waist rotation member, the manipulator (23) in large arm, be fixed on it is small in large arm
Arm (24), the swing arm (80) for being articulated in forearm front end, driving swing the first driving unit of arm swing, before swing arm
The tool changing device (30) at end, the second driving unit of driving tool changing device rotation；Central axis when the swing arm swing
In the rotation centerline of tool changing device, waist rotation member is rotated around base body, and large arm is rotated around waist rotation member；It is characterized in that：
The tool changing device includes cutter clamping disk (300), drives the driving mechanism (60) of cutter clamping disc spins；The driving
Mechanism includes rotary components (61), latch components (62), drive component (63), cover board (64)；
The rotary components include rotating seat (611), the fixed brake disc (612) and the 6th gear for being set in rotating seat periphery
(613)；The cutter clamping disk is fixedly connected with rotating seat；
The latch components include the basal disc (621) being fixed in shell, a pair of of brake(-holder) block on basal disc
(622), the solution lock slide (623) being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set in the outer of brake disc
It encloses, one end of a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection solves lock slide on basal disc
Bar (624) is slided equipped with a pair, one end of a pair of of brake(-holder) block elastic connection opens up a pair of of slide slot (629), and slide slot is in curved
Shape is rolled over, a pair of of slide slot is symmetrical set, and a pair slides bar and is slidably fitted in a pair of of slide slot；
The driving component includes the annulus (631) for being driven by driving device and being rotated, and the center line of annulus rotation deviates rotation
The madial wall of the center line of seat rotation, annulus is equipped with tooth section (632) and multiple push rods (633), and tooth section is fixedly installed and push rod
Sliding setting, tooth section can be engaged with the 6th gear；
The cover board is fixed on shell, and cover board is equipped with circular orbit (641), the center line of circular orbit and annulus
Center line overlaps, and the push rod is equipped with the slide bar (634) coordinated with circular orbit, and circular orbit is equipped with the curved track of one section of indent
Road (642)；When slide bar is located in arc track, push rod pushes solution lock slide and a pair is made to slide bar translation, meanwhile, the 6th tooth
Wheel starts to engage with tooth section；
The base body (10) is equipped with symmetrical first level guide rail (11) and the second horizontal guide rail (12), first level
It is sliding combined with first level sliding block (13) on guide rail, the second horizontal slider (14), institute are sliding combined on the second horizontal guide rail
The setting of waist rotation member (21) horizontal cross is stated, the left and right ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in the
In one horizontal slider, the right end of waist rotation member is articulated in the second horizontal slider；The large arm (22) is vertically arranged, the bottom of large arm
End is articulated in the middle part of waist rotation member, and the manipulator (23) is mounted on the top of large arm, and the forearm (24) is fixed on large arm
Middle part, the swing arm (80) be mounted on forearm top.
2. a kind of cutter as described in claim 1 is capable of the operating robot of various dimensions movement, it is characterised in that：
The tool changing device (30) includes the linking arm (51) being mounted on swing arm (80), and shell (52) setting is connecting
On arm；The cover board (64) is sealed on shell, and the driving mechanism (60) is mounted in shell, the rotating seat in driving mechanism
(611) cover board, cutter clamping disk (300) is passed through to be located at outside shell.
3. a kind of cutter as described in claim 1 is capable of the operating robot of various dimensions movement, it is characterised in that：Rotary components
(61) in, the rotating seat (611) is articulated on basal disc (621), and rotating seat is equipped with a pair of of locating rod (614), the cutter
Clamping disk (300) is fixedly connected with rotating seat by a pair of of locating rod.
4. a kind of cutter as described in claim 1 is capable of the operating robot of various dimensions movement, it is characterised in that：Latch components
(62) in, the basal disc (621) is fixed on by support column (625) in shell (52), and the support column is located in annulus (631)
And positioned at the side of rotating seat (611)；
In latch components (62), the basal disc (621) is equipped with a pillar (626), and pillar is equipped with swivel pin；The pair of system
Movable plate (622) includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, the left end of the first brake(-holder) block and the
The left end of two brake(-holder) blocks is hinged on swivel pin, and the right end of the right end of the first brake(-holder) block and the second brake(-holder) block passes through the first flexible bullet
Spring (6221) elastic connection；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is equipped with the second fore-set, the
One fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；First brake(-holder) block
With the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (612)；
In latch components (62), the pair of slide slot (629) includes the first slide slot and the second slide slot, and the first slide slot is opened
It is located at the right end of the first brake(-holder) block, the second slide slot is opened in the right end of the second brake(-holder) block, the first slide slot and the second slide slot
It is symmetrical set, wherein the first slide slot includes that the first straight line type slide slot (6291) of connection and second straight line type slide
Slot (6292), angle circle between first straight line type slide slot and second straight line type slide slot in 90 degree and 180 degree it
Between；
In latch components (62), the solution lock slide (623) is equipped with a pair of of positioning pin (627), and the pair of positioning pin includes
The right end of the first positioning pin and the second positioning pin being symmetrical set, first brake(-holder) block is equipped with first positioning hole
(6222), the right end of the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring (6221), when the first fore-set
When offseting with the second fore-set, it is fixed that the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into first
In position hole and second location hole；It is the pair of slide bar and slide bar and second including first slide bar, first, which slides bar fixation, sets
It sets in the top of the first positioning pin, second slides the top that bar is fixed at the second positioning pin, and first slides the center line of bar
With the central axis of the first positioning pin；
In latch components (62), the basal disc (621), which is equipped with, erects block (628), erects block and is equipped with the second adjustable spring
(6281), block, the other end connection solution lock slide (623) of the second adjustable spring are erect in one end connection of the second adjustable spring.
5. a kind of cutter as described in claim 1 is capable of the operating robot of various dimensions movement, it is characterised in that：Drive component
(63) in, the annulus (631) is articulated in shell (52), and the driving device includes that fixation is set on annulus lateral wall
Ring gear (635), the 7th gear (636) engaged with ring gear, the third motor for coupling with the 7th gear and being mounted in shell；
In drive component (63), the madial wall of the annulus is equipped with convex block (637) in radial direction, and convex block is equipped with multiple in radial direction
Push rod pedestal (638), the quantity of push rod pedestal are identical to the quantity of push rod (633), and multiple push rods slide in a manner of one-to-one
In multiple push rod pedestals, the end of push rod protrudes push rod pedestal and is directed toward the center of annulus for cooperation.
6. a kind of cutter as described in claim 1 is capable of the operating robot of various dimensions movement, it is characterised in that：The forearm
(24) front end opens up a spill gap, and the swing arm (80) is articulated in spill gap；
First driving unit includes the first motor being mounted on forearm (24), couples the first of first motor and swing arm
Gear unit；First gear unit include be articulated on forearm and be coaxially disposed second gear (82) and third gear,
It is articulated in the 4th gear (84) and the first synchronous pulley (85) that on forearm and are coaxially disposed, the third axis being articulated on forearm
(86), the second synchronous pulley (87) being fixedly mounted on third axis；First tooth is installed on the output shaft of the first motor
It takes turns (81), first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley passes through synchronous belt
(88) couple with the second synchronous pulley, third axis is fixedly connected with swing arm；
Second driving unit includes the second motor, the second gear unit of installation on a swing arm；Second transmission is single
Member includes the retarder coupled with the second motor output shaft, the rotating disk (89) being connect with retarder output end, tool changing device
(30) it installs on the rotating pan.
7. a kind of cutter as described in claim 1 is capable of the operating robot of various dimensions movement, it is characterised in that：The pedestal
Body (10) is equipped with first brake structure (70), and first brake structure includes the first support plate of a pair being fixed on base body
(701), the first brake that the first brake bar (71) that is articulated on a pair of first support plate, one end are fixedly connected with first brake bar
Rotary components (72), one end and the hinged first brake connection component (73) of the first brake rotary components other end are stopped with first
Hinged the first lever assembly (74) of the vehicle connection component other end is hinged on the first support plate in the middle part of the first lever assembly, institute
The cross section for stating first brake bar is in regular hexagon；Second horizontal slider (14) be equipped with the first brake plate (140), first
Brake plate is connect with the second horizontal slider by the first spring, and the first brake plate is located at the side of waist rotation member (21) right side,
The first brake bar is close to the first brake plate；
The first brake rotary components (72) include the brake rotating seat (721) being fixedly connected with first brake bar (71), with
The brake swingle (722) that brake rotating seat is fixedly connected；The first brake connection component (73) include and brake swingle
The first brake connecting rod (731) that hinged second brake connecting rod (732), connecting rod of braking with second are fixedly connected；It is described
First lever assembly (74) includes the brake bearing (741) hinged with first brake connecting rod, is fixedly connected with brake bearing
Brake liner plate (742), and the brake bearing is hinged on the first support plate (701).
8. a kind of cutter as claimed in claim 7 is capable of the operating robot of various dimensions movement, it is characterised in that：The pedestal
Body (10) is equipped with the second brake structure (700), and the second brake structure includes a pair second being fixed on base body (10)
The second brake rotation group that plate, the second brake lever being articulated on a pair of second support plate, one end are fixedly connected with the second brake lever
Part, one end second brake connection component hinged with the second brake rotary components other end, the connection component that brakes with second are another
Hold the second hinged lever assembly, be hinged on the second support plate in the middle part of the second lever assembly, second brake lever it is transversal
Face is in regular hexagon；The first level sliding block (13) is equipped with the second brake plate (130), and the second brake plate is slided with first level
Block is connected by second spring, and the second brake plate is located at the side of waist rotation member (21) left side, and second brake lever is close to
Second brake plate；
The base body is equipped with upright bar (75), and the top of upright bar is equipped with third sliding pin (76), lever is combined on third sliding pin
(77), open up the bar shaped sliding slot being slidably matched with third sliding pin in the middle part of lever, the left end of lever in brake structure (70)
Lever assembly (74) is hinged, and the second lever assembly in the right end of lever and the second brake structure (700) is hinged.
9. a kind of cutter as described in claim 1 is capable of the operating robot of various dimensions movement, it is characterised in that：The waist turns
Component (21) is equipped with large arm brake structure (90), and the large arm brake structure includes the annular being fixed on waist rotation member
Body (921), a pair of of brake hoop (922) on annular solid, the second solution lock slide being slidably arranged on annular solid
(923)；The second brake disc (912) is fixed in the large arm, a pair of of brake hoop is symmetrical set in the outer of the second brake disc
It encloses, one end of a pair of of brake hoop is hinged and other end elastic connection；Described second solves lock slide elastic connection on annular solid, the
Two solution lock slides, which are equipped with, can travel in a pair of of brake hoop elastic connection one end to open the second wedge block of a pair of of brake hoop
(924)；
The annular solid is fixed on by supporting block (925) on waist rotation member；Supporting block is equipped with the second swivel pin；It is the pair of
Brake hoop includes the second brake hoop positioned at first brake hoop in left side and positioned at right side, the left end of the first brake hoop and the second system
The left end of rotating ring is hinged on the second swivel pin, and the right end of the right end of the first brake hoop and the second brake hoop is stretched bullet by third
Spring (9221) elastic connection；The right end of first brake hoop is equipped with third fore-set, and the right end of the second brake hoop is equipped with the 4th fore-set, the
Three fore-sets and the 4th fore-set are oppositely arranged, and third fore-set and the 4th fore-set are located in third adjustable spring；First brake hoop
With the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second brake disc (912)；
The second solution lock slide is equipped with a pair of of alignment pin (927), a pair of of alignment pin and the front and back setting of the second wedge block
On the second solution lock slide；The pair of alignment pin includes the first alignment pin being symmetrical set and the second positioning pin
The right end of axis, first brake hoop is equipped with third location hole (9222), and the right end of the second brake hoop is equipped with the 4th location hole,
Under the elastic force of third adjustable spring, when third fore-set and the 4th fore-set offset, first on the second solution lock slide of translation is fixed
Position axis pin and the second alignment pin can be correspondingly inserted into third location hole and the 4th location hole；
The annular solid is equipped with second and erects block (928), and second, which erects block, is equipped with the 4th adjustable spring (9281), and the 4th stretches
Block, other end connection the second solution lock slide of the 4th adjustable spring are erect in one end connection second of contracting spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838459.8A CN106361434B (en) | 2016-09-21 | 2016-09-21 | A kind of cutter can various dimensions movement operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838459.8A CN106361434B (en) | 2016-09-21 | 2016-09-21 | A kind of cutter can various dimensions movement operating robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106361434A CN106361434A (en) | 2017-02-01 |
| CN106361434B true CN106361434B (en) | 2018-10-02 |
Family
ID=57897783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838459.8A Expired - Fee Related CN106361434B (en) | 2016-09-21 | 2016-09-21 | A kind of cutter can various dimensions movement operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106361434B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838913B (en) * | 2017-10-17 | 2020-10-02 | 安徽工程大学 | An automatic rotating clamping device for an industrial robot |
| CN109350244B (en) * | 2018-11-07 | 2021-02-26 | 北京科迈启元科技有限公司 | Soft tissue cutting robot system with incision separation function |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102264307A (en) * | 2008-12-12 | 2011-11-30 | 伊顿株式会社 | Surgical instrument |
| CN102058436B (en) * | 2011-01-10 | 2012-05-09 | 天津大学 | Locking device for surgical robot quick replacement mechanism |
| KR101763766B1 (en) * | 2011-02-07 | 2017-08-01 | (주)미래컴퍼니 | Surgical robot system and control method thereof |
| AU2012332099A1 (en) * | 2011-11-04 | 2014-05-15 | The Johns Hopkins University | Steady hand micromanipulation robot |
| CN102764157B (en) * | 2012-04-13 | 2014-12-10 | 中国科学院深圳先进技术研究院 | Robot for orthopaedic surgery |
| DE102014116103A1 (en) * | 2014-11-05 | 2016-05-12 | Aktormed Gmbh | Operations Assistance System |
| CN105922251B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of forearm is provided with the six-joint robot of mechanical arm assembly |
| CN105922250B (en) * | 2016-05-28 | 2018-08-14 | 郭河平 | A kind of robot for being equipped with rotation and executing end |
-
2016
- 2016-09-21 CN CN201610838459.8A patent/CN106361434B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN106361434A (en) | 2017-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106264735B (en) | A kind of removable operating robot that can be stood | |
| CN106361437B (en) | A kind of fixed operating robot of tool changing angle | |
| CN106175937B (en) | A kind of operating robot equipped with rotary cutter clamping disk | |
| CN105922250B (en) | A kind of robot for being equipped with rotation and executing end | |
| CN105945985A (en) | Robot provided with rotating block at actuation terminal | |
| CN106361434B (en) | A kind of cutter can various dimensions movement operating robot | |
| CN106361436B (en) | A kind of operating robot of automatic tool changer | |
| CN106214261B (en) | A kind of suspension type operating robot | |
| CN106236275B (en) | A kind of surgical instrument that cleft hand is swingable | |
| CN106264732B (en) | A kind of operating robot equipped with idler wheel | |
| CN106344159B (en) | It is a kind of to be equipped with the operating robot for swinging cleft hand | |
| CN205339197U (en) | A multi freedom ball co -ordinate -type slide rail mechanism for diagnose in oral cavity | |
| CN106361439B (en) | A kind of operating robot equipped with tool changing device | |
| CN109199590A (en) | Blood vessel intervention manipulator and the operating robot of variable conduit and cis-position | |
| CN106264733B (en) | A kind of suspension type surgical instrument | |
| CN106236274B (en) | A kind of operating robot equipped with swing arm | |
| CN106344158B (en) | Surgical robot with lifting rollers at bottom | |
| CN102120299B (en) | Decoupled three-rotation parallel mechanism | |
| CN106361435B (en) | A kind of medical auxiliary equipment equipped with wrist | |
| CN106361438B (en) | A kind of operating robot equipped with wrist | |
| CN208974100U (en) | A Mechanically Decoupled Quick-Change Mechanism for Single-hole Surgical Robots | |
| CN106545052B (en) | It is a kind of laterally to extend out formula rainwater catching device | |
| CN106435468B (en) | A kind of box filming equipment | |
| CN208851505U (en) | A kind of movable boom formula G arm x-ray imaging equipment | |
| CN208892723U (en) | Multi-head scalpel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180823 Address after: 314000 188 Tea Garden Road, tanker town, Xiuzhou District, Jiaxing, Zhejiang Applicant after: ZHEJIANG JINYUAN INDUSTRIAL Co.,Ltd. Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181002 Termination date: 20210921 |