CN207983339U - Radiography mechanical arm - Google Patents
Radiography mechanical arm Download PDFInfo
- Publication number
- CN207983339U CN207983339U CN201820171082.XU CN201820171082U CN207983339U CN 207983339 U CN207983339 U CN 207983339U CN 201820171082 U CN201820171082 U CN 201820171082U CN 207983339 U CN207983339 U CN 207983339U
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- Prior art keywords
- radiography
- support
- mechanical arm
- driven
- forearm
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- 238000002601 radiography Methods 0.000 title claims abstract description 20
- 210000000245 forearm Anatomy 0.000 claims abstract description 30
- 238000003384 imaging method Methods 0.000 claims abstract description 17
- 230000001681 protective effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 15
- 230000009471 action Effects 0.000 abstract description 3
- 210000002310 elbow joint Anatomy 0.000 description 5
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical group OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 101100489581 Caenorhabditis elegans par-5 gene Proteins 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 230000005570 vertical transmission Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Apparatus For Radiation Diagnosis (AREA)
Abstract
The utility model discloses a kind of radiography mechanical arms, including chassis, it is arranged on chassis and the waist rotating part driven rotated relative to chassis, the Support large arm that lower end is connect with waist rotating part and opposite waist rotating part driven is swung up and down, it is arranged in Support large arm upper end and the support forearm driven that Support large arm is swung up and down relatively, and be arranged and supporting forearm end and the cephalic par driven for rotating or swinging up and down, and the imaging unit being fixedly connected with the cephalic par.The radiography of the utility model, such as X photography mechanical arms, six-joint robot DR shares the degree of freedom of six direction, is waist turn, shoulder turn, elbow turn, forearm turn, head pitching, head end rotation respectively.Six joints can simultaneously be moved with the coordinated movement of various economic factors with six joints, can also some of which joint linkage or single action, 2 mechanical arms by motion control program can with cooperation, realize linkage, complete the accurate movement of complicated track.
Description
Technical field
The utility model belongs to technical field of medical equipment, and in particular to a kind of radiography mechanical arm.
Background technology
The more dispersed type of X-ray product that Hospitals at Present generally uses is various, including X-ray level bed DR, C-arm X are penetrated
Line machine, UC arms DR, suspention DR systems, CT system；25 stomach and intestine machines etc..The position of the above hardware check and the emphasis of inspection, respectively
Different, function can not achieve the detection of all positions using above cutting both ways.And kinds of machine is various, due to every machine
Operating with for device is different from, and is used to the operating personnel of hospital, the adjusting etc. of parameter brings difficulty.And kinds of machine
Various, hospital needs to provide enough places.Occupy a large amount of space.Cause the in short supply of place.Overall cost increases
Add.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of radiography mechanical arm, this is penetrated
Line photography mechanical arm can be realized linkage, completed the accurate movement of complicated track by motion control program with cooperation.
The utility model is achieved through the following technical solutions：
A kind of radiography mechanical arm, including chassis, are arranged on chassis and the waist driven rotated relative to chassis revolves
Transfer part, the Support large arm that lower end is connect with waist rotating part and opposite waist rotating part driven is swung up and down, is arranged in Support large arm
The support forearm that upper end and opposite Support large arm driven are swung up and down, and setting is in support forearm end and rotation driven
Or the cephalic par swung up and down, and the imaging unit that is fixedly connected with the cephalic par.
In the above-mentioned technical solutions, the imaging unit is pipe ball unit, further includes that the level being arranged in substrate is led
Rail, the chassis can be arranged on horizontal guide rail movably forward and backward by the way that sliding block is driven.
In the above-mentioned technical solutions, the imaging unit is tablet probe unit.
In the above-mentioned technical solutions, further include being arranged to prevent on Support large arm, support forearm, cephalic par or imaging unit
Protect unit.
In the above-mentioned technical solutions, the protective unit is sonac.
In the above-mentioned technical solutions, the protective unit is pressure sensor.
In the above-mentioned technical solutions, the enclosure material of the Support large arm and support forearm is aluminium alloy.
In the above-mentioned technical solutions, it is provided with bullet on the outside of the Support large arm and support forearm and imaging unit
Property protective layer.
In the above-mentioned technical solutions, it is provided with servo motor built in chassis, it is flat in the horizontal rail side or middle part
It is provided with rack capablely, the gear being connect with the servo motor transmission engages connection with the rack.
In the above-mentioned technical solutions, horizontal guide rail and rack are fixedly connected with ground embedded board respectively.
It the advantages of the utility model and has the beneficial effect that：
The radiography of the utility model, such as X photography mechanical arms, six-joint robot DR shares the freedom of six direction
Degree is waist turn, shoulder turn, elbow turn, forearm turn, head pitching, head end rotation respectively.Six joints can be with the coordinated movement of various economic factors, can be with six
A joint moves simultaneously, can also some of which joint linkage or single action, 2 mechanical arms can be coordinated by motion control program
Cooperation realizes linkage, completes the accurate movement of complicated track.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model radiography mechanical arm.
Wherein：
1：Chassis, 2：Waist rotating part, 3：Support large arm, 4：Support forearm, 5：Cephalic par, 6：Imaging unit, 10, it is pre-buried
Plate.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific implementation mode
In order to make those skilled in the art more fully understand the utility model, with reference to specific embodiment into one
Step illustrates the technical solution of the utility model.
Embodiment one
A kind of radiography mechanical arm of the utility model, such as X-ray DR photography mechanical arms, including chassis 1, setting
On chassis and it is driven relative to chassis rotation waist rotating part 2, lower end connect with waist rotating part and it is driven relative to waist rotation
It is small that the support swung up and down in Support large arm upper end and opposite Support large arm driven is arranged in the Support large arm 3 that portion is swung up and down
Arm 4, and being arranged in support forearm end and rotation driven or the cephalic par 5 that swings up and down, and with the cephalic par
The imaging unit 6 being fixedly connected.
Specifically, the waist rotating part of mechanical arm, internal structure are a set of servo motor and deceleration unit, turbine and worm transmission
Structure, compact-sized, stable drive, driving torque are big.The vertical transmission of power spatially may be implemented.The driving of waist rotation
Direction is：Servo motor → retarder → turbine, worm tooth wheel set → rotary motion.
Support large arm enclosure material is aluminium alloy, and the driving structure of Support large arm includes servo motor and deceleration unit, tooth
Wheel shaft is connected to commutating tooth wheel set by shaft coupling.A gear and the rotary support member of Support large arm connect in gear pair.Actively
Gear drives driven gear, driven gear to be rotated together together with rotary support member.Servo motor is internally provided with encoder, can be with
The gear rotation angle of monitoring output in real time and position.Realize precisely movement.What Support large arm was swung up and down is driven to：Servo electricity
Machine → retarder → speed reducer output shaft (key connection) → gear pair (spur gear) → Support large arm is swung up and down.
The driving mechanism of support forearm includes the servo motor being arranged in Support large arm and reduction box group, is carried for rotation
For power.Reduction gearbox output shaft is directly connect with pinion gear, and pinion gear is engaged with gear wheel, and motor rotation is engaged by gear to be passed
Long axis is passed, long axis head end is equipped with conical bevel gear.The conical bevel gear taper umbrella tooth vertical with its transmission shaft with another pair
Wheel connection.The axial rotation of motor is converted into radial rotating.Conical bevel gear drives elbow joint rotation.To realize elbow joint
Movement drives support forearm to swing up and down, and the precise motion of elbow joint is again by Serve Motor Control.
The rotation of support forearm is driven to servo motor → retarder → transmission shaft → taper pinion pair → joint and swings
Support forearm is driven to swing up and down.Support forearm shell is similarly aluminum alloy material, to connect elbow joint assembly and head end
Portion.It is spur gear auxiliary driving to support the inner tail end of forearm, and head end is conical bevel gear auxiliary driving and rotation.Three servo motors
In elbow joint, respectively, support forearm rotation servo motor group, head elevation servo motor group, head end rotating servo electricity
Unit.The rotation, head pitching, head end rotation of control support forearm respectively.It is servo motor+speed reducer to support the rotation of forearm
Group driving gear pair rotation, pinion gear driving, gear wheel are driven, and gear wheel and support forearm cage connection, realize forearm
Rotation.The pitching of cephalic par is similarly servo motor+a pair of of commutating tooth wheel set of speed reducer driving, and pinion gear driving wheel, gear wheel are
Driven wheel.Gear wheel is connect with transmission long axis, the bevel-gear sett connection of long axis and head end, one of angular wheel and head
Portion's cage connection.Realize head pitching.With head pitching long axis rotation passing power part, structure is similar for the rotation of cephalic par.
Difference lies in the conical bevel gears of head end to connect with a pair of of commutating tooth wheel set, and angular wheel drives spur gear rotation, the rotation of commutating tooth wheel set
Turn to drive shaft rotation dynamic, a pair of of taper umbrella gear pair is installed again on axis.The change for realizing rotation direction, reaches the rotation of head end.
The X photography mechanical arms of the utility model, six-joint robot DR share the degree of freedom of six direction, are waist respectively
Turn, shoulder turn, elbow turn, forearm turn, head pitching, head end rotation.Six joints can be with the coordinated movement of various economic factors, can be with six same lucks in joint
It is dynamic, can also the linkage of some of which joint or single action, 2 mechanical arms can realize connection by motion control program with cooperation
It is dynamic, complete the accurate movement of complicated track.
Embodiment two
The X photography mechanical arms of the present embodiment use conformability to improve, and the imaging unit is pipe ball unit, also
Including the horizontal guide rail being arranged in substrate, the chassis can be movably forward and backward arranged in horizontal guide rail by the way that sliding block is driven
On.The imaging unit is tablet probe unit, and the chassis is fixedly connected with base.
By assign the translation of a mechanical arm horizontal direction degree of freedom, it can be achieved that two mechanical arms closer or far from,
Then the possibility of the two cooperation is improved, wherein moved horizontally to realize, servo motor is provided with built in chassis, in the water
Plate rail road side or middle part have been set in parallel rack, and the gear being connect with the servo motor transmission is nibbled with the rack
Close connection.Wherein, horizontal guide rail and rack are fixedly connected with ground embedded board 10 respectively.
Embodiment three
It for the safety for improving when moving, avoids that accident occurs, further includes being arranged on support forearm or imaging unit
Protective unit, the protective unit are sonac, and the protective unit is pressure sensor, such as piezoelectric transducer
Deng, the Support large arm and support forearm and imaging unit on the outside of be provided with elastic protection layer.
Because inevitably passing through pressure using pressure sensor with closely even having gentle touchdown when different function
Power sensing carries out security protection, can guarantee close safe distance and has good operability.And itself and sonac
Want to coordinate, safe to use and normal use cooperation can be realized.
Meanwhile one wherein, as reflective sensor is arranged on the corresponding mechanical arm of receiving unit, mechanical arm is set in execution
When determining function, mechanical arm is risen from low spot by setting and finds the changing value of reflective sensor to measure human body shoulder vertically first
Then height carries out the automatic positioning of two mechanical arms further according to shoulder height or is run by matched track.That is, utilizing the upper of mechanical arm
The acquisition for realizing human body information is risen, it is expanded and uses function.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in definition graph.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" can include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Illustrative description has been done to the utility model above, it should explanation, in the core for not departing from the utility model
In the case of the heart, it is any it is simple deformation, modification or other skilled in the art can not spend creative work etc.
The scope of protection of the utility model is each fallen with replacing.
Claims (10)
1. a kind of radiography mechanical arm, it is characterised in that：Including chassis, it is arranged on chassis and opposite chassis driven turns
Dynamic waist rotating part, the Support large arm that lower end is connect with waist rotating part and opposite waist rotating part driven is swung up and down, setting exist
The support forearm that Support large arm upper end and opposite Support large arm driven are swung up and down, and setting support forearm end and by
The cephalic par for rotating or swinging up and down is driven, and the imaging unit being fixedly connected with the cephalic par.
2. a kind of radiography mechanical arm according to claim 1, it is characterised in that：The imaging unit is pipe ball
Unit, further includes the horizontal guide rail being arranged in substrate, and the chassis can be arranged movably forward and backward by the way that sliding block is driven
On horizontal guide rail.
3. a kind of radiography mechanical arm according to claim 1, it is characterised in that：The imaging unit is tablet
Probe unit.
4. a kind of radiography mechanical arm according to claim 1, it is characterised in that：Further include that setting is big in support
Protective unit on arm, support forearm, cephalic par or imaging unit.
5. a kind of radiography mechanical arm according to claim 4, it is characterised in that：The protective unit is ultrasound
Sensor.
6. a kind of radiography mechanical arm according to claim 4, it is characterised in that：The protective unit is pressure
Sensor.
7. a kind of radiography mechanical arm according to claim 1, it is characterised in that：The Support large arm and support
The enclosure material of forearm is aluminium alloy.
8. a kind of radiography mechanical arm according to claim 7, it is characterised in that：In the Support large arm and branch
It is provided with elastic protection layer on the outside of support forearm and imaging unit.
9. a kind of radiography mechanical arm according to claim 2, it is characterised in that：Servo electricity is provided with built in chassis
Machine has been set in parallel rack, the gear being connect with the servo motor transmission in the horizontal rail side or middle part
Connection is engaged with the rack.
10. a kind of radiography mechanical arm according to claim 9, it is characterised in that：Horizontal guide rail and rack difference
It is fixedly connected with ground embedded board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820171082.XU CN207983339U (en) | 2018-01-30 | 2018-01-30 | Radiography mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820171082.XU CN207983339U (en) | 2018-01-30 | 2018-01-30 | Radiography mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983339U true CN207983339U (en) | 2018-10-19 |
Family
ID=63821643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820171082.XU Active CN207983339U (en) | 2018-01-30 | 2018-01-30 | Radiography mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207983339U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109567840A (en) * | 2018-12-04 | 2019-04-05 | 苏州市天烨医疗设备有限公司 | A kind of six shaft mechanical arm X-ray machines |
| CN111374777A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Master-slave robot system for pleuroperitoneal cavity minimally invasive surgery and configuration method |
-
2018
- 2018-01-30 CN CN201820171082.XU patent/CN207983339U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109567840A (en) * | 2018-12-04 | 2019-04-05 | 苏州市天烨医疗设备有限公司 | A kind of six shaft mechanical arm X-ray machines |
| CN111374777A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Master-slave robot system for pleuroperitoneal cavity minimally invasive surgery and configuration method |
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