CN106361438B - A kind of operating robot equipped with wrist - Google Patents
A kind of operating robot equipped with wrist Download PDFInfo
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- CN106361438B CN106361438B CN201610839076.2A CN201610839076A CN106361438B CN 106361438 B CN106361438 B CN 106361438B CN 201610839076 A CN201610839076 A CN 201610839076A CN 106361438 B CN106361438 B CN 106361438B
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Abstract
The invention discloses a kind of operating robot equipped with wrist, including robot body, brake structure, the wrist on robot body, the mechanical claw hand in wrist that robot body is braked.The mechanical claw hand includes cleft hand rack, is hinged in cleft hand rack two pairs of cleft hands, the cleft hand driving mechanism in cleft hand rack for drive the action of two pairs of cleft hands；Under the driving of cleft hand driving mechanism, two pairs of cleft hands make gathering and expansion action.In operation, medical worker acts robot body and wrist, and mechanical claw hand is made to be at object to be taken；Later, mechanical claw hand takes out the fifth wheel in patient, simple to operate.
Description
Technical field
The present invention relates to medical instruments, in particular to a kind of operating robot equipped with wrist.
Background technology
During surgery, medical worker takes object out of doctors and patients body, such as cotton balls, gauze, other internal fifth wheels, commonly use hand,
Tweezers, scissors, such tool is not easy and inconvenience exhausts internal fifth wheel completely, alternatively, internal fifth wheel is exhausted ratio completely
It is cumbersome.
Invention content
Technical problem solved by the invention：Medical worker in operation is not easy or inconvenience is complete by fifth wheel in patient
It exhausts.
In order to solve the above technical problems, the present invention provides the following technical solutions：A kind of operating robot equipped with wrist, packet
Include base body, the waist rotation member that is articulated on base body, the large arm being articulated on waist rotation member, the operation in large arm
Hand, the forearm being fixed in large arm, mounted on the wrist of forearm front end, the mechanical claw hand in wrist；Waist rotation member around
Base body rotates, and large arm is rotated around waist rotation member；
The wrist includes horizonal base plate, is slidably mounted on horizonal base plate the first threaded rod and the second threaded rod, with
Horizontal moving body that first threaded rod and the second threaded rod are spirally connected, bottom end are flexibly connected and top and a sphere with horizontal moving body
The telescopic rod being fixedly connected, the spheroid support being fixed on horizonal base plate；The first threaded rod horizontal cross setting, the second spiral shell
Rasp bar level is longitudinally disposed, and the sphere is movably arranged on spheroid support, and the mechanical claw hand is mounted on sphere；
The mechanical claw hand includes cleft hand rack, is hinged in cleft hand rack two pairs of cleft hands are mounted in cleft hand rack
Cleft hand driving mechanism for driving two pairs of cleft hands to act；The cleft hand driving mechanism includes stake body, the first locking body, second
Locking body；The left hand thread bar and right-handed thread bar of connection from beginning to end are equipped on the stake body vertically, for driving left hand thread
The power plant of bar and right-handed thread bar rotation；First locking body is spirally connected with left hand thread bar, the second locking body and dextrorotation
Threaded rod is spirally connected, and stake body is equipped with the second guide rod being oriented to the lifting of the first locking body and the second locking body；Institute
Two cleft hands stated in first pair of cleft hand in two pairs of cleft hands are symmetrical set, two in second pair of cleft hand in two pairs of cleft hands
It being symmetrical arranged before and after a cleft hand, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot being obliquely installed, and second
The second slide slot being obliquely installed opened up to the bottom of two cleft hands in cleft hand, the top of first locking body is equipped with and the
The first sliding pin that one slide slot is slidably matched, the top of the second locking body are equipped with second to be slidably matched with the second slide slot and slide
Pin.
According to the above technical scheme, a kind of operation principle of operating robot equipped with wrist of the present invention is as follows：
First, medical worker, which holds, manipulates hand, rotates large arm or waist rotation member, and wrist and mechanical claw hand thereon is made to be in
Near vicinity to be taken.
Second, in wrist, the rotation of the first threaded rod can drive horizontal moving body transverse translation, the rotation of the second threaded rod
Horizontal moving body longitudinal translation can be driven, the horizontal moving body vertically and horizontally translated drives sphere on spheroid support by telescopic rod
The sphere of arbitrary rotation, arbitrary rotation drives mechanical claw hand thereon arbitrarily to be swung in space as the wrist of natural person.
Third, in mechanical claw hand, left hand thread bar and the right-handed thread bar head and the tail being linked together are fixed together, left-handed
Threaded rod and right-handed thread bar coaxial arrangement, left hand thread bar and right-handed thread bar rotate simultaneously, left hand thread bar driving first
Locking body decline, right-handed thread bar drive the second locking body to rise, and the first locking body drives the first sliding pin to decline, due to the first cunning
Row slot is obliquely installed, and therefore, the first sliding pin being vertically lowered can drive any cleft hand in first pair of cleft hand to surround itself and cleft hand machine
The hinged place of frame rotates, in this way, first pair of cleft hand makees opposite swing；Meanwhile second locking body drive the second sliding pin rise, due to
Second slide slot is obliquely installed (the inclined direction of the second slide slot is opposite with the inclined direction of the first slide slot), therefore, vertically
The second sliding pin risen drives any cleft hand in second pair of cleft hand to be rotated around the hinged place of itself and cleft hand rack, in this way, second
Opposite swing is made to cleft hand；So far, two pairs of cleft hands are in shape is collapsed, for capturing object.
Through the above technical solutions, the present invention converts moving horizontally for the horizontal moving body in wrist to mechanical claw hand
It is arbitrary to swing, keep mechanical claw hand operating more flexible, adapts to the operation requirement of various complexity.In mechanical claw hand, first pair of cleft hand
Connect the first locking body, second pair of cleft hand connects the second locking body, and the left hand thread bar that is spirally connected with the first locking body and with the
The right-handed thread bar that two locking bodies are spirally connected is linked together, and is structure as a whole, in this way, the present invention can make first pair of cleft hand while move
Make and motion amplitude it is identical, can make second pair of cleft hand simultaneously act and motion amplitude it is identical, first pair of cleft hand and second pair can be made
Cleft hand acts simultaneously and motion amplitude is identical, and sufferer intrabody object accurately and is fully captured so as to mechanical claw hand.Above-mentioned wrist
Coordinate rotatable waist rotation member and large arm with mechanical claw hand, medical worker is facilitated to take object out of patient.
As the present invention to a kind of explanation of wrist, the horizonal base plate is square-shaped, and the forward edge of horizonal base plate is opened
If the 5th slide slot, the posterior edges of horizonal base plate open up the 6th slide slot, and the 5th slide slot and the 6th slide slot are horizontally disposed
And be mutually parallel, it is sliding combined with the first sliding block in the 5th slide slot, the second sliding block is sliding combined in the 6th slide slot,
The front end of first threaded rod is articulated in the first sliding block, and the rear end of the first threaded rod is articulated in the second sliding block, institute
It states and third motor is installed in the first sliding block, the output shaft of third motor couples with the first threaded rod；The left side of horizonal base plate
The right side edge of edge third slide slot, horizonal base plate opens up the 4th slide slot, third slide slot and the 4th slide slot water
It is flat to be arranged and be mutually parallel, it is sliding combined with third sliding block in third slide slot, the 4th is sliding combined in the 4th slide slot
The left end of sliding block, second threaded rod is articulated in third sliding block, and the right end of the second threaded rod is articulated in the 4th and slides
On block, the 4th motor is installed in the third sliding block, the output shaft of the 4th motor couples with the second threaded rod.By above stating
Bright, for the first threaded rod while driving horizontal moving body translation, horizontal moving body drives the second threaded rod and third sliding block
It is translated simultaneously with the 4th sliding block；Similarly, while driving horizontal moving body translation, horizontal moving body drives the second threaded rod
First threaded rod and the first sliding block and the second sliding block translate simultaneously.
As the present invention to a kind of explanation of wrist, the horizontal moving body is equipped with first lug and the second lug, and first
Lug is located at the top of the second lug, and first threaded rod is spirally connected with first lug, and the second threaded rod is spirally connected with the second lug.
The setting of above-mentioned first lug and the second lug can make the first threaded rod and the second threaded rod non-interference.
As the present invention to a kind of explanation of wrist, the bottom of the horizontal moving body is equipped with spin, and spin can be with respect to water
It translates kinetoplast to roll, spin is contacted with the surface of horizonal base plate.Horizontal moving body is driven in the first threaded rod and the second threaded rod
When vertically and horizontally translating, spin rolls on horizonal base plate.
As the present invention to a kind of explanation of wrist, the top of the horizontal moving body is pivotally connected a horizontally disposed rotation
Block, moving block are equipped with third lug and the 4th lug, and a fixing axle of lying across between third lug and the 4th lug is described flexible
The bottom end of bar is equipped with the first hole coordinated with fixing axle activity.Above-mentioned design is that telescopic rod bottom end connects with horizontal moving body activity
The mode connect, this kind of mode can be during horizontal moving body translates, and telescopic rod can be made arbitrary relative to horizontal moving body
Swing.
As the present invention to a kind of explanation of wrist, the spheroid support includes a horizontal top, and horizontal top opens up one
The madial wall of round gap, round gap is arc-shaped, and the sphere is movably embedded in round gap；The sphere, which is equipped with, to be connected
Connect the ring flange of mechanical claw hand.As described above, the arc diameter of round gap madial wall can be identical to the ball of sphere
Diameter size.
As the present invention to a kind of explanation of wrist, the lower section of the horizonal base plate is equipped with first base, first base peace
Mounted in the front end of forearm, third threaded rod is articulated in first base, first base is equipped with one first guide rod, third screw thread
Bar and the first guide rod are each perpendicular to first base, and the horizonal base plate is equipped with the block and with the of being spirally connected being spirally connected with third threaded rod
The guide pad of one guide rod cooperation, is fixed with the 5th gear on third threaded rod, the 5th gear is engaged with the 6th gear, the 6th tooth
On the output shaft of the 5th motor, the 5th motor is fixed in first base wheel；The telescopic rod includes upper boom and lower beam,
Upper boom is in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in upper boom, and upper boom is equipped with the first biography for detecting displacement
Sensor, horizontal moving body are equipped with the first sensor auxiliary being used cooperatively with first sensor；The block that is spirally connected is equipped with the
Two sensors, first base are equipped with the second sensor auxiliary being used cooperatively with second sensor, second sensor and the 5th
Motor is electrically connected.
As described above, under the driving of horizontal moving body, for sphere during rotation is swung, telescopic rod makees flexible fortune
Dynamic, the distance that telescopic rod elongates or shortens is predicted by first sensor and first sensor auxiliary.When the machine on sphere
Machinery claw hand is with the arbitrary from when transferring positioned at side of sphere, and the total length of entire arm becomes smaller, and mechanical claw hand is not readily accessible to phase
Answer object.At this point, the distance that the telescopic rod predicted elongates or shortens is fed back to master by first sensor and first sensor auxiliary
Controller, master controller handle the distance that telescopic rod elongates or shortens, to know the variable quantity of entire arm total length,
Later, the 5th motor action of main controller controls, the 5th motor driving third threaded rod act and horizonal base plate are driven to rise, with
The reduction volume for compensating entire arm total length, enables mechanical claw hand to touch corresponding object.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack includes the cleft hand rack being mounted on sphere
Bottom plate, the cleft hand rack supporting rod being vertically arranged on cleft hand framework soleplate, the cleft hand for being fixed on cleft hand rack support bar top
Rack top plate；The cleft hand driving mechanism is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, the pawl
Four hinge holes are opened up on handset mounting top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.By upper
It states bright, swivel pin is fixed in each hinge hole, four cleft hands are hinged on four hinges by swivel pin in a manner of one-to-one
It connects in hole.The bottom end of any cleft hand is located at the lower section of hinge hole, that is, inclined first slide slot and the second slide slot are respectively positioned on hinge
Connect the lower section in hole.The cleft hand rack is equipped with integrated camera and lighting device, and the integrated camera and illumination fill
Setting between two pairs of cleft hands.The camera is electrically connected with display, and under the illumination of lighting device, medical worker can be from aobvious
Show the object observed on device in front of mechanical claw hand.
As the present invention to a kind of explanation of mechanical claw hand, the stake body includes second base, support plate；Second bottom
Seat is fixed in cleft hand rack, and second guide rod is fixed in second base, and the support plate is horizontally fixed on second
The top of guide rod；First locking body includes the first lifting chassis, a pair of first guide post, the first latch segment, first recessed
Shape block；First lifting chassis is screwed onto in left hand thread bar, and the first lifting chassis opens up the first guiding slot port, and described first
Guiding slot port is slidably matched with the second guide rod；The pair of first guide post is vertically arranged on the first lifting chassis, described
A pair of first pilot hole is opened up on support plate, a pair of first guide post coordinates in a manner of one-to-one in a pair of first pilot hole,
First latch segment is mounted on the top of the first guide post, and first spill block is mounted on the top of the first latch segment, institute
State the top that the first sliding pin is mounted on the first spill block；Second locking body includes the second lifting chassis, the second guide post, lock
Tight disk, the second spill block；Second lifting chassis is screwed onto in right-handed thread bar, and the second lifting chassis opens up the second guide groove
Mouthful, second guiding slot port is slidably matched with the second guide rod；Second guide post is vertically arranged in the second lifting chassis
On, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second pilot hole, the support plate
On open up third pilot hole, second guide post is upward through the second pilot hole and third pilot hole；The locking plate is horizontal
Mounted on the top of the second guide post, second spill block is mounted on locking plate, and it is recessed that second sliding pin is mounted on second
The top of shape block；The 4th pilot hole is opened up on the locking plate, first guide post passes through the 4th pilot hole, first lock
Tight block is located at the top of locking plate.
As described above, the left hand thread bar being linked together rotates simultaneously with right-handed thread bar, left hand thread bar driving
First lifting chassis lifting, right-handed thread bar driving the second lifting chassis lifting, the lifting on the first lifting chassis are oriented to first
It is carried out under the guiding of notch and the second guide rod, lifting the leading in the second guiding slot port and the second guide rod on the second lifting chassis
It carries out downwards.
As the present invention to a kind of explanation of mechanical claw hand, the right-handed thread bar is located at the lower section of left hand thread bar, right
The bottom end of rotation threaded rod is articulated in second base, and the top of left hand thread bar is articulated on support plate, the bottom of right-handed thread bar
Worm gear is installed, worm gear is engaged with worm screw, and worm screw is horizontally disposed, and worm screw is articulated in second base, worm screw and the first servo electricity
Machine couples, and first servo motor is mounted in second base.As described above, the rotation of left hand thread bar and right-handed thread bar by
The worm and gear driving of first servo motor driving, since worm and gear has good self-locking function, of the present invention
Two pairs of cleft hands any position in space can be steadily rested in swing process.
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 wrist are mounted on the top of forearm.As described above, waist rotation member can be along first level guide rail and the second horizontal guide rail
It is mobile, 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 adjustable spring, and brake plate is located at waist rotation member right end
The side in face, the brake lever are close to brake plate.As described above, one end of medical worker's presses lever component, lever assembly
Around itself and support plate hinged place tilting, lever assembly drives brake rotary components to rotate by the connection component that brakes, brake rotation
Component driver brake lever rotates, and the crest line of brake lever is against towards a left side on brake plate, is against waist transfer part in turn, on the left of brake plate
On part right side, waist rotation member is braked；When the other end of staff's presses lever component makes lever assembly reset
When, lever assembly drives brake rotary components to reversely rotate by the connection component that brakes, and brake rotary components driving brake bar is anti-
To rotation, the crest line of brake lever leaves brake plate and no longer brake plate is 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 adjustable 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 system
Movable plate；The base body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, lever is combined on third sliding pin, lever
Middle part opens up the bar shaped sliding slot being slidably matched with third sliding pin, and the lever assembly in the left end and brake structure of lever is hinged, thick stick
The second lever assembly in the right end of bar and the second brake structure is hinged.As described above, brake structure and the second brake structure
It is symmetrical set, the structure and function of the two is identical, and in operation, medical worker presses lever assembly, you can is driven by lever
Dynamic second lever assembly linkage, similarly, medical worker presses the second lever assembly, you can is joined by lever activation lever component
It is dynamic.The brake structure of linkage and the second brake structure simultaneously brake the right end and left end of waist rotation member.
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 basal disc being fixed on waist rotation member, a pair of of braking on basal disc
Piece, the solution lock slide being slidably arranged on basal disc；Brake disc is fixed in the large arm, a pair of of brake(-holder) block is symmetrical set
One end of the periphery of brake disc, a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection is in basal disc
On, solution lock slide be equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one end to open the wedge block of a pair of of brake(-holder) block.By upper
State bright, in operation, four finger grippings in medical worker's proficiency live in manipulator, and residue one refers to pressable wedge block, push unlock
For sliding block to the center translation of basal disc, wedge block travels in one end of a pair of of brake(-holder) block elastic connection to open a pair of of brake(-holder) block, such as
This, large arm is changed into rotatable state by the initial state by a pair of of brake(-holder) block friction catch.
About above-mentioned large arm brake structure, the basal disc is fixed on by support column on waist rotation member；On the support column
Equipped with swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, and first
The left end of the left end of brake(-holder) block and the second brake(-holder) block is hinged on swivel pin, the right side of the right end and the second brake(-holder) block of the first brake(-holder) block
End passes through the first adjustable spring 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
Second fore-set, 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；It is described
First 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.As described above,
First adjustable spring has and makes the trend that 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 have the function of stopping this kind of trend.
About above-mentioned large arm brake structure, the solution lock slide is equipped with a pair of of positioning pin, a pair of of positioning pin and wedge block
Front and back setting is on solution lock slide；The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set,
The right end of first brake(-holder) block is equipped with first positioning hole, and the right end of the second brake(-holder) block is equipped with second location hole, flexible first
Under the elastic force of spring, when the first fore-set and the second fore-set offset, the first positioning pin and second on the solution lock slide of translation are fixed
Position pin can be correspondingly inserted into first positioning hole and second location hole.As described above, when medical worker push solution lock slide to
When the center translation of basal disc, the first positioning pin and the second positioning pin are detached from first positioning hole and second location hole, meanwhile, wedge block
It stretches between the first brake(-holder) block right end and the second brake(-holder) block right end, and is opened；After medical worker discharges solution lock slide, solution
Lock slide resets, and wedge block leaves the first brake(-holder) block right end and the second brake(-holder) block right end, meanwhile, the first positioning pin and the second positioning
Pin is correspondingly inserted into first positioning hole and second location hole, to lock a pair of of brake(-holder) block.
About above-mentioned large arm brake structure, the basal disc, which is equipped with, erects block, erects block and is equipped with the second adjustable spring, the
Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of two adjustable springs.
Description of the drawings
Following further describes the present invention with reference to the drawings：
Fig. 1 is a kind of structural schematic diagram of the operating robot equipped with wrist of the present invention；
Fig. 2 is the structural schematic diagram of wrist a in Fig. 1；
Fig. 3 is the structural schematic diagram obtained by another view wrist a in Fig. 2；
Fig. 4 is the structural schematic diagram of mechanical claw hand 30 in Fig. 1；
Fig. 5 is the structural schematic diagram of any cleft hand in first pair of cleft hand 51 in Fig. 4；
Fig. 6 is the structural schematic diagram of any cleft hand in second pair of cleft hand 52 in Fig. 4；
Fig. 7 is the structural schematic diagram of the first spill block 625 in Fig. 4；
Fig. 8 is the structural schematic diagram of large arm brake structure 90 in Fig. 1；
Fig. 9 is the structural schematic diagram that lock slide 923 is solved in Fig. 8；
Figure 10 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 1；
Figure 11 is the structural schematic diagram of brake structure 70 in Figure 10.
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, mechanical claw hand；
40, cleft hand rack；41, cleft hand framework soleplate；42, cleft hand rack supporting rod；43, cleft hand rack top plate；44, it integrates
Camera and lighting device；
50, two pairs of cleft hands；51, first pair of cleft hand；511, the first slide slot；512, the first hinge hole；52, second pair of pawl
Hand；521, the second slide slot；522, the second hinge hole；
60, cleft hand driving mechanism；611, left hand thread bar；612, right-handed thread bar；613, the second guide rod；614, second
Pedestal；615, support plate；616, worm gear；617, worm screw；618, first servo motor；621, the first sliding pin；622, the first lifting bottom
Disk；623, the first guide post；624, the first latch segment；625, the first spill block；626, the first guiding slot port；632, the second lifting
Chassis；633, the second guide post；634, locking plate；635, the second spill block；636, the second guiding slot port；
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；
90, large arm brake structure；912, brake disc；921, basal disc；922, brake(-holder) block；9221, the first adjustable spring；
9222, location hole；923, lock slide is solved；924, wedge block；925, support column；927, positioning pin；928, block is erect；9281,
Two adjustable springs；
A, wrist；A31, horizonal base plate；A32, the first threaded rod；A321, the first sliding block；A322, the second sliding block；
A323, third motor；A33, the second threaded rod；A331, third sliding block；A332, the 4th sliding block；A333, the 4th motor；
A34, horizontal moving body；A341, first lug；A342, the second lug；A343, moving block；A344, third lug；A35, ball
Body；A350, ring flange；A36, telescopic rod；A361, first sensor；A362, first sensor auxiliary；A37, spheroid support；
A370, horizontal top；A38, first base；A381, third threaded rod；A382, the first guide rod；A383, the 5th gear；
A384, the 6th gear；A385, the 5th motor；A386, second sensor；A387, second sensor auxiliary.
Specific implementation mode
Such as Fig. 1, a kind of operating robot equipped with wrist, including base body 10, the waist rotation member that is articulated on base body
21, the large arm 22 being articulated on waist rotation member, the manipulator 23 in large arm, the forearm 24 being fixed in large arm, installation
In the wrist a of forearm front end, the mechanical claw hand 30 in wrist；Waist rotation member is rotated around base body, and large arm is around waist transfer part
Part rotates.
In conjunction with Fig. 2, Fig. 3, the wrist includes horizonal base plate a31, the first threaded rod for being slidably mounted on horizonal base plate
It a32 and the second threaded rod a33, the horizontal moving body a34 being spirally connected with the first threaded rod and the second threaded rod, bottom end and moves horizontally
Body is flexibly connected and the telescopic rod a36 that top is fixedly connected with a sphere a35, the spheroid support a37 being fixed on horizonal base plate；
The first threaded rod horizontal cross setting, the second threaded rod level is longitudinally disposed, and the sphere is movably arranged on spheroid support
On, the mechanical claw hand is mounted on sphere.
In wrist a, the horizonal base plate a31 is square-shaped, and the forward edge of horizonal base plate opens up the 5th slide slot, horizontal
The posterior edges of bottom plate open up the 6th slide slot, and the 5th slide slot and the 6th slide slot are horizontally disposed with and are mutually parallel, and the 5th slides
It is sliding combined with the first sliding block a321 in row slot, is sliding combined with the second sliding block a322 in the 6th slide slot, described first
The front end of threaded rod a32 is articulated in the first sliding block, and the rear end of the first threaded rod is articulated in the second sliding block, and described first
Third motor a323 is installed, the output shaft of third motor couples with the first threaded rod in sliding block.The left side of horizonal base plate
Edge opens up third slide slot, and the right side edge of horizonal base plate opens up the 4th slide slot, and third slide slot and the 4th slide slot are horizontal
It is arranged and is mutually parallel, third sliding block a331 is sliding combined in third slide slot, is sliding combined in the 4th slide slot
Four sliding block a332, the left end of the second threaded rod a33 are articulated in third sliding block, and the right end of the second threaded rod is articulated in
In 4th sliding block, the 4th motor a333, the output shaft and the second threaded rod of the 4th motor are installed in the third sliding block
Connection.
In wrist a, the horizontal moving body a34 is equipped with first lug a341 and the second lug a342, first lug are located at
The top of second lug, the first threaded rod a32 are spirally connected with first lug, and the second threaded rod a33 is spirally connected with the second lug.Institute
State horizontal moving body bottom be equipped with spin, spin can relative level moving body roll, spin and the surface of horizonal base plate a31 connect
It touches.The top of the horizontal moving body is pivotally connected a horizontally disposed moving block a343, moving block be equipped with third lug a344 and
4th lug, a fixing axle of lying across between third lug and the 4th lug, the bottom end of the telescopic rod a36 is equipped with lives with fixing axle
First hole of dynamic cooperation.
In wrist a, the spheroid support a37 includes a horizontal top a370, and horizontal top opens up a round gap, round
The madial wall of gap is arc-shaped, and the sphere a35 is movably embedded in round gap；The sphere is equipped with connection mechanical claw hand
Ring flange a350.
In wrist a, the lower section of the horizonal base plate a31 is equipped with first base a38, before first base is mounted on forearm 24
End, is articulated with third threaded rod a381 in first base, and first base is equipped with one first guide rod a382, third threaded rod with
First guide rod is each perpendicular to first base, and the horizonal base plate a31 is equipped with the block and with the of being spirally connected being spirally connected with third threaded rod
The guide pad of one guide rod cooperation, is fixed with the 5th gear a383 on third threaded rod, the 5th gear is nibbled with the 6th gear a384
It closes, on the output shaft of the 5th motor a385, the 5th motor is fixed in first base the 6th gear.The telescopic rod
A36 includes upper boom and lower beam, and upper boom is in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in upper boom, and upper boom is equipped with and is used for
The first sensor a361 of displacement is detected, it is auxiliary that horizontal moving body is equipped with the first sensor being used cooperatively with first sensor
Part a362；The block that is spirally connected is equipped with second sensor a386, and first base is equipped with the be used cooperatively with second sensor
Two sensor auxiliary a387, second sensor are electrically connected with the 5th motor.
In conjunction with Fig. 4 to Fig. 7, the mechanical claw hand includes cleft hand rack 40, two pairs of cleft hands 50 being hinged in cleft hand rack,
Cleft hand driving mechanism 60 in cleft hand rack for driving two pairs of cleft hands to act.The cleft hand driving mechanism includes holder
Body, the first locking body, the second locking body；The left hand thread bar 611 and dextrorotation spiral shell of head and the tail connection are equipped on the stake body vertically
Rasp bar 612, the power plant for driving left hand thread bar and right-handed thread bar to rotate；First locking body and left hand thread
Bar is spirally connected, and the second locking body is spirally connected with right-handed thread bar, and stake body is equipped with the lifting to the first locking body and the second locking body
The second guide rod 613 being oriented to.Two cleft hands in first pair of cleft hand 51 in two pairs of cleft hands are symmetrical set,
It is symmetrical arranged before and after two cleft hands in second pair of cleft hand 52 in two pairs of cleft hands, the bottom of two cleft hands in first pair of cleft hand
The first slide slot 511 being obliquely installed is opened up, the bottom of two cleft hands in second pair of cleft hand opens up second be obliquely installed and slides
Row slot 521, the top of first locking body are equipped with the first sliding pin 621 being slidably matched with the first slide slot, the second locking body
Top be equipped with the second sliding pin for being slidably matched with the second slide slot.
In mechanical claw hand 30, the cleft hand rack 40 includes the cleft hand framework soleplate 41 being mounted on sphere a35, sets vertically
The cleft hand rack top plate set the cleft hand rack supporting rod 42 on cleft hand framework soleplate, be fixed on cleft hand rack support bar top
43；The cleft hand driving mechanism 60 is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, the cleft hand machine
Four hinge holes are opened up on frame top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
In mechanical claw hand 30, the cleft hand rack is equipped with integrated camera and lighting device 44, and described integrated takes the photograph
As head and lighting device are located between two pairs of cleft hands.
In mechanical claw hand 30, the stake body includes second base 614, support plate 615；The second base is fixed at
In cleft hand rack 40, second guide rod 613 is fixed in second base, and the support plate is horizontally fixed on the second guide rod
Top.First locking body is recessed including the first lifting chassis 622, a pair of first guide post 623, the first latch segment 624, first
Shape block 625；First lifting chassis is screwed onto in left hand thread bar 611, and the first lifting chassis opens up the first guiding slot port
626, first guiding slot port is slidably matched with the second guide rod；The pair of first guide post is vertically arranged in the first lifting
On chassis, a pair of first pilot hole is opened up on the support plate, a pair of first guide post coordinates in a manner of one-to-one a pair of the
In one pilot hole, first latch segment is mounted on the top of the first guide post, and first spill block is mounted on the first locking
The top of block, first sliding pin 621 are mounted on the top of the first spill block.Second locking body includes the second lifting chassis
632, the second guide post 633, locking plate 634, the second spill block 635；Second lifting chassis is screwed onto right-handed thread bar 612
On, the second lifting chassis opens up the second guiding slot port 636, and second guiding slot port is slidably matched with the second guide rod；It is described
Second guide post is vertically arranged on the second lifting chassis, and the second lifting chassis is located at the lower section on the first lifting chassis；Described
One lifting chassis opens up the second pilot hole, third pilot hole is opened up on the support plate, second guide post is upward through second
Pilot hole and third pilot hole；The locking plate is horizontally arranged at the top of the second guide post, and second spill block is mounted on
On locking plate, second sliding pin is mounted on the top of the second spill block；Open up the 4th pilot hole on the locking plate, described
One guide post passes through the 4th pilot hole, first latch segment to be located at the top of locking plate.
In mechanical claw hand 30, the right-handed thread bar 612 is located at the lower section of left hand thread bar 611, the bottom of right-handed thread bar
End is articulated in second base 614, and the top of left hand thread bar is articulated on support plate 615, and the power plant includes being mounted on
The worm gear 616 of right-handed thread bar bottom, the worm screw 617 engaged with worm gear, the first servo motor 618 coupled with worm screw, worm screw
Horizontally disposed, worm screw is articulated in second base, and first servo motor is mounted in second base.
Such as Fig. 1, the base body 10 is equipped with 11 and second horizontal guide rail 12 of symmetrical first level guide rail, and first
It is sliding combined with first level sliding block 13 on horizontal guide rail, the second horizontal slider 14, institute are sliding combined on the second horizontal guide rail
The setting of 21 horizontal cross of waist rotation member is stated, the left and right ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first
In 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 end pivot of large arm
It is connected on the middle part of waist rotation member, the manipulator 23 is mounted on the top of large arm, and the forearm 24 is fixed on the middle part of large arm, institute
State the top that wrist a is mounted on forearm.
In conjunction with Figure 10, Figure 11, above-mentioned base body 10 is equipped with brake structure 70, and brake structure includes being fixed on base body
A pair of of support plate 701, the brake rotary components that are fixedly connected with brake lever of the brake lever 71 that is articulated on a pair of of support plate, one end
72, one end and the hinged brake connection component 73 of the brake rotary components other end, the thick stick hinged with the brake connection component other end
Bar assembly 74 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 14 is equipped with brake plate 140, and brake plate is connect with the second horizontal slider by adjustable spring, and brake plate is located at waist rotation member
The side of 21 right sides, the brake lever are close to brake plate.
In above-mentioned brake structure, the brake rotary components 72 include the brake rotating seat being fixedly connected with brake lever 71
721, the brake swingle 722 being fixedly connected with brake rotating seat；The brake connection component 73 includes and brake swingle is cut with scissors
The the second brake connecting rod 732 connect, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever group
The brake liner plate 742 that part 74 includes the brake bearing 741 hinged with first brake connecting rod, is fixedly connected with brake bearing, institute
Brake bearing is stated to be 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 the second adjustable spring, and the second brake plate is located at the side of 21 left side of waist rotation member, and described second stops
Vehicle bar 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, on third sliding pin
It is combined with lever 77, the bar shaped sliding slot being slidably matched with third sliding pin, the left end and brake structure of lever are opened up in the middle part of lever
Lever assembly 74 in 70 is hinged, and the second lever assembly in the right end of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 1, Fig. 8, Fig. 9, the waist rotation member 21 is equipped with large arm brake structure 90, the large arm brake structure packet
It includes the basal disc 921 being fixed on waist rotation member, a pair of of brake(-holder) block 922 on basal disc, be slidably arranged on basal disc
Solution lock slide 923；It is fixed with brake disc in the large arm, a pair of 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
Have it is translatable enter a pair of of brake(-holder) block elastic connection one end to open the wedge block 924 of a pair of of brake(-holder) block.
In large arm brake structure 90, the basal disc is fixed on by support column 925 on waist rotation member；Support column is equipped with hinge
Outbound；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 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, 9221 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 912.
In large arm brake structure 90, the solution lock slide is equipped with a pair of of positioning pin 927, a pair of of positioning pin with before wedge block
After be arranged solution lock slide on；The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set, institute
The right end for stating the first brake(-holder) block is equipped with first positioning hole 9222, and the right end of the second brake(-holder) block is equipped with second location hole, is stretched first
Under the elastic force of contracting spring, when the first fore-set and the second fore-set offset, the first positioning pin and second on the solution lock slide of translation
Positioning pin can be correspondingly inserted into first positioning hole and second location hole.
In large arm brake structure 90, the basal disc, which is equipped with, erects block 928, erects block and is equipped with the second adjustable spring
9281, block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of the second adjustable spring.
In practical operation, a kind of workflow of the operating robot equipped with wrist of the present invention is as follows：
First, medical worker, which holds, manipulates hand 23, unlocks locking of the large arm brake structure 90 to large arm 22, and brake knot
Structure 70 and the second brake structure 700 rotate large arm 22 or waist rotation member 21, or make waist rotation member to the locking of waist rotation member 21
21 translate along first level guide rail 11 and the second horizontal guide rail 12, make the mechanical claw hand 30 on wrist a close at object to be taken.
In second, wrist a, the rotation of the first threaded rod a32 can drive horizontal moving body a34 transverse translations, move horizontally
Body a34 drives the second threaded rod a33 and third sliding block a331 thereon and the 4th sliding block a332 transverse translations；Second screw thread
The rotation of bar a33 can drive horizontal moving body a34 longitudinal translations, and horizontal moving body a34 drives the first threaded rod a32 and thereon
First sliding block a321 and the second sliding block a322 transverse translations；The horizontal moving body a34 vertically and horizontally translated passes through telescopic rod a36
Sphere a35 arbitrary rotations on spheroid support a37, the sphere 35 of arbitrary rotation is driven to drive mechanical claw hand 30 thereon as nature
The wrist of people is arbitrarily swung in space like that.
Third, in mechanical claw hand 30, first servo motor 618 drives the action of 616 worm screw 617 of worm gear, worm and gear driving
Left hand thread bar 611 and right-handed thread bar 612 rotation being fixedly connected；Left hand thread bar drives the first lifting in the first locking body
Chassis 622 declines, and the first lifting chassis drives the first latch segment 624 to decline, and the first latch segment drives the first sliding pin 621 to decline,
Since the first slide slot 511 is obliquely installed, the first sliding pin being vertically lowered can drive the cleft hand in first pair of cleft hand 51 to surround it
It is rotated with the hinged place of cleft hand rack 40, first pair of cleft hand is made to make opposite swing；Right-handed thread bar 612 drives in the second locking body
Second lifting chassis 632 rise, second lifting chassis drive locking plate 634 rise, locking plate drive the second sliding pin rise, by
It is obliquely installed (the inclined direction of the second slide slot is opposite with the inclined direction of the first slide slot) in the second slide slot 521, therefore,
The second sliding pin risen vertically drives the cleft hand in second pair of cleft hand 52 to be rotated around the hinged place of itself and cleft hand rack 40, makes the
Two pairs of cleft hands make opposite swing；In this way, two pairs of cleft hands 50 are in collapse shape, for capturing object.
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 operating robot equipped with wrist, including base body (10), the waist rotation member (21), the pivot that are articulated on base body
The large arm (22) being connected on waist rotation member, the manipulator (23) in large arm, the forearm (24) being fixed in large arm, installation
In the wrist (a) of forearm front end, the mechanical claw hand (30) in wrist；Waist rotation member is rotated around base body, and large arm is around waist
Rotation member rotates；It is characterized in that：
The wrist includes horizonal base plate (a31), the first threaded rod (a32) being slidably mounted on horizonal base plate and the second screw thread
Bar (a33), the horizontal moving body (a34) being spirally connected with the first threaded rod and the second threaded rod, bottom end and horizontal moving body activity connect
It connects and the telescopic rod (a36) that top is fixedly connected with a sphere (a35), the spheroid support (a37) being fixed on horizonal base plate；Institute
The setting of the first threaded rod horizontal cross is stated, the second threaded rod level is longitudinally disposed, and the sphere is movably arranged on spheroid support,
The mechanical claw hand is mounted on sphere；
The mechanical claw hand includes cleft hand rack (40), two pairs of cleft hands (50) being hinged in cleft hand rack, is mounted on cleft hand machine
Cleft hand driving mechanism (60) on frame for driving two pairs of cleft hands to act；
The cleft hand driving mechanism includes stake body, the first locking body, the second locking body；Head and the tail are equipped on the stake body vertically
It is the left hand thread bar (611) and right-handed thread bar (612) of connection, dynamic for driving left hand thread bar and right-handed thread bar to rotate
Power apparatus；First locking body is spirally connected with left hand thread bar, and the second locking body is spirally connected with right-handed thread bar, and stake body is equipped with
The second guide rod (613) that the lifting of first locking body and the second locking body is oriented to；
Two cleft hands in first pair of cleft hand (51) in two pairs of cleft hands are symmetrical set, the second couple in two pairs of cleft hands
It is symmetrical arranged before and after two cleft hands in cleft hand (52), the bottom of two cleft hands in first pair of cleft hand opens up the be obliquely installed
The bottom of one slide slot (511), two cleft hands in second pair of cleft hand opens up the second slide slot (521) being obliquely installed, described
The top of first locking body is equipped with the first sliding pin (621) being slidably matched with the first slide slot, and the top of the second locking body is equipped with
The second sliding pin being slidably matched with the second slide slot；
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 wrist (a) be mounted on forearm top；
The base body (10) is equipped with first brake structure (70), and first brake structure includes a pair being fixed on base body
First support plate (701), the first brake bar (71) being articulated on a pair of first support plate, one end are fixedly connected with first brake bar
First brake rotary components (72), one end and the hinged first brake connection component (73) of the first brake rotary components other end,
First lever assembly (74) hinged with the first brake connection component other end is hinged on first in the middle part of the first lever assembly
On plate, the cross section of the first brake bar is in regular hexagon；Second horizontal slider (14) is equipped with the first brake plate
(140), the first brake plate is connect with the second horizontal slider by the first spring, and the first brake plate is located at waist rotation member (21) right end
The side in face, the first brake bar are 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).
2. a kind of operating robot equipped with wrist as described in claim 1, it is characterised in that：
In wrist (a), the horizonal base plate (a31) is square-shaped, and the forward edge of horizonal base plate opens up the 5th slide slot, horizontal
The posterior edges of bottom plate open up the 6th slide slot, and the 5th slide slot and the 6th slide slot are horizontally disposed with and are mutually parallel, and the 5th slides
It is sliding combined with the first sliding block (a321) in row slot, the second sliding block (a322) is sliding combined in the 6th slide slot, it is described
The front end of first threaded rod (a32) is articulated in the first sliding block, and the rear end of the first threaded rod is articulated in the second sliding block, institute
It states and third motor (a323) is installed in the first sliding block, the output shaft of third motor couples with the first threaded rod；
The left side edge of horizonal base plate opens up third slide slot, and the right side edge of horizonal base plate opens up the 4th slide slot, and third is slided
Row slot and the 4th slide slot are horizontally disposed with and are mutually parallel, and third sliding block (a331) is sliding combined in third slide slot, the
The 4th sliding block (a332) is sliding combined in four slide slots, the left end of second threaded rod (a33) is articulated in third and slides
On block, the right end of the second threaded rod is articulated in the 4th sliding block, and the 4th motor (a333) is equipped in the third sliding block,
The output shaft of 4th motor couples with the second threaded rod.
3. a kind of operating robot equipped with wrist as described in claim 1, it is characterised in that：In wrist (a), the level
Moving body (a34) is equipped with first lug (a341) and the second lug (a342), and first lug is located at the top of the second lug, described
First threaded rod (a32) is spirally connected with first lug, and the second threaded rod (a33) is spirally connected with the second lug；
The bottom of the horizontal moving body is equipped with spin, and spin being capable of the rolling of relative level moving body, spin and horizonal base plate
(a31) surface contact；
The top of the horizontal moving body is pivotally connected a horizontally disposed moving block (a343), and moving block is equipped with third lug
(a344) it is equipped with the 4th lug, the bottom end of a fixing axle of lying across between third lug and the 4th lug, the telescopic rod (a36)
With the first hole of fixing axle activity cooperation.
4. a kind of operating robot equipped with wrist as described in claim 1, it is characterised in that：In wrist (a), the sphere
Holder (a37) includes a horizontal top (a370), and horizontal top opens up a round gap, and the madial wall of round gap is arc-shaped,
The sphere (a35) is movably embedded in round gap；The sphere is equipped with the ring flange (a350) of connection mechanical claw hand.
5. a kind of operating robot equipped with wrist as described in claim 1, it is characterised in that：In wrist (a), the level
The lower section of bottom plate (a31) is equipped with first base (a38), and first base is mounted on forearm (24) front end, is articulated in first base
Third threaded rod (a381), first base are equipped with one first guide rod (a382), and third threaded rod and the first guide rod hang down
Directly in first base, the horizonal base plate (a31) is equipped with block and to be coordinated with the first guide rod with being spirally connected of being spirally connected of third threaded rod
Guide pad, be fixed with the 5th gear (a383) on third threaded rod, the 5th gear is engaged with the 6th gear (a384), the 6th tooth
On the output shaft of the 5th motor (a385), the 5th motor is fixed in first base wheel；
The telescopic rod (a36) includes upper boom and lower beam, and upper boom is in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in upper boom
In, upper boom is equipped with the first sensor (a361) for detecting displacement, and horizontal moving body is equipped with matches with first sensor
Close the first sensor auxiliary (a362) used；The block that is spirally connected is equipped with second sensor (a386), and first base is equipped with
The second sensor auxiliary (a387) being used cooperatively with second sensor, second sensor are electrically connected with the 5th motor.
6. a kind of operating robot equipped with wrist as described in claim 1, it is characterised in that：In mechanical claw hand (30), institute
Cleft hand rack (40) is stated to include the cleft hand framework soleplate (41) being mounted on sphere (a35), be vertically arranged in cleft hand framework soleplate
On cleft hand rack supporting rod (42), be fixed on the cleft hand rack top plate (43) of cleft hand rack support bar top；The cleft hand drives
Motivation structure (60) is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, is opened up on the cleft hand rack top plate
Four hinge holes, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；
The cleft hand rack is equipped with integrated camera and lighting device (44), the integrated camera and lighting device position
Between two pairs of cleft hands.
7. a kind of operating robot equipped with wrist as described in claim 1, it is characterised in that：In mechanical claw hand (30), institute
It includes second base (614), support plate (615) to state stake body；The second base is fixed in cleft hand rack (40), described
Second guide rod (613) is fixed in second base, and the support plate is horizontally fixed on the top of the second guide rod；
First locking body include the first lifting chassis (622), a pair of first guide post (623), the first latch segment (624),
First spill block (625)；First lifting chassis is screwed onto in left hand thread bar (611), and the first lifting chassis opens up first
Guiding slot port (626), first guiding slot port are slidably matched with the second guide rod；The pair of first guide post is vertically arranged
On the first lifting chassis, a pair of first pilot hole is opened up on the support plate, a pair of first guide post is matched in a manner of one-to-one
It closing in a pair of first pilot hole, a pair of first latch segment is mounted on the top of a pair of first guide post in a manner of one-to-one,
First spill block is mounted on the top of the first latch segment, and first sliding pin (621) is mounted on the top of the first spill block；
Second locking body includes the second lifting chassis (632), the second guide post (633), locking plate (634), the second spill
Block (635)；Second lifting chassis is screwed onto in right-handed thread bar (612), and the second lifting chassis opens up the second guiding slot port
(636), second guiding slot port is slidably matched with the second guide rod；Second guide post is vertically arranged in the second lifting bottom
On disk, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second pilot hole, the branch
Third pilot hole is opened up on plate, second guide post is upward through the second pilot hole and third pilot hole；The locking plate water
Safety is mounted in the top of the second guide post, and second spill block is mounted on locking plate, and second sliding pin is mounted on second
The top of spill block；A pair of 4th pilot hole is opened up on the locking plate, a pair of first guide post passes through in a manner of one-to-one
A pair of 4th pilot hole, first latch segment are located at the top of locking plate；
In mechanical claw hand (30), the right-handed thread bar (612) is located at the lower section of left hand thread bar (611), right-handed thread bar
Bottom end is articulated in second base (614), and the top of left hand thread bar is articulated on support plate (615), and the power plant includes
Mounted on right-handed thread bar bottom worm gear (616), engaged with worm gear worm screw (617), couple with worm screw the first servo electricity
Machine (618), worm screw is horizontally disposed, and worm screw is articulated in second base, and first servo motor is mounted in second base.
8. a kind of operating robot equipped with wrist as described in claim 1, it is characterised in that：It is set on the base body (10)
There are the second brake structure (700), the second brake structure to include the second support plate of a pair being fixed on base body (10), be articulated in one
The second brake rotary components that the second brake lever on second support plate, one end are fixedly connected with the second brake lever, one end and the
The second hinged brake connection component of the two brake rotary components other ends, hinged with the second brake connection component other end second
Lever assembly is hinged on the second support plate in the middle part of the second lever assembly, and the cross section of second brake lever is in regular hexagon；
The first level sliding block (13) is equipped with the second brake plate (130), and the second brake plate is stretched with first level sliding block by second
Contracting spring connects, and the second brake plate is located at the side of waist rotation member (21) left side, and second brake lever is close to the second braking
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 operating robot equipped with wrist as described in claim 1, it is characterised in that：On the waist rotation member (21)
Equipped with large arm brake structure (90), the large arm brake structure includes the basal disc (921) being fixed on waist rotation member, installation
A pair of of brake(-holder) block (922) on basal disc, the solution lock slide (923) being slidably arranged on basal disc；System is fixed in the large arm
Moving plate, a pair of of brake(-holder) block are symmetrical set in the periphery of brake disc, and one end of a pair of of brake(-holder) block is hinged and other end elasticity connects
It connects；For the solution lock slide elastic connection on basal disc, solution lock slide, which is equipped with, can travel in a pair of of brake(-holder) block elastic connection one
End is to open the wedge block (924) of a pair of of brake(-holder) block；
The basal disc is fixed on by support column (925) on waist rotation member；Support column is equipped with swivel pin；The pair of brake(-holder) block
Include 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 second brake(-holder) block
Left end 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 adjustable spring (9221) bullet
Property 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 first fore-set and the
Two fore-sets 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 second braking
The equal semicircular in shape of piece, the first brake(-holder) block and the second brake(-holder) block surround brake disc (912)；
The solution lock slide is equipped with a pair of of positioning pin (927), and a pair of of positioning pin is with the front and back setting of wedge block on solution lock slide；
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 is set
There is a first positioning hole (9222), the right end of the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring, when the
When one fore-set and the second fore-set offset, the first positioning pin and the second positioning pin on the solution lock slide of translation can be correspondingly inserted into
In first positioning hole and second location hole；
The basal disc be equipped with erect block (928), erect block be equipped with the second adjustable spring (9281), the one of the second adjustable spring
Block, the other end connection solution lock slide of the second adjustable spring are erect in end connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN106361438B true CN106361438B (en) | 2018-09-28 |
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| CN106826888B (en) * | 2017-03-07 | 2023-09-08 | 北京林业大学 | Linkage elastic mechanical gripper |
| CN109051507B (en) * | 2018-08-29 | 2024-03-12 | 安徽泽众安全科技有限公司 | Underwater intelligent ball throwing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105881582A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Six-axis industrial robot wrist capable of swinging spatially |
| CN105881524A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with small arm provided with execution terminal with fixed rotation angle |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
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| RU2014122527A (en) * | 2011-11-04 | 2015-12-10 | Те Джонс Хопкинс Юниверсити | STATIONARY ROBOT FOR MANUAL MICROMANIPULATIONS |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881582A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Six-axis industrial robot wrist capable of swinging spatially |
| CN105881524A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with small arm provided with execution terminal with fixed rotation angle |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
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