技术领域technical field
本实用新型涉及一种机械手以及包含该机械手的超声治疗系统。The utility model relates to a manipulator and an ultrasonic treatment system comprising the manipulator.
背景技术Background technique
目前，在超声治疗、理疗、按摩保健等领域，普遍存在着手持式的执行终端。At present, in the fields of ultrasound therapy, physiotherapy, massage health care, etc., hand-held executive terminals generally exist.
在采用上述手持式的执行终端进行治疗、理疗或者按摩时，比如，采用理疗设备中的超声波治疗仪或其他治疗、理疗产品进行治疗，在对穴位进行治疗或对小区域局部疼痛等病症进行治疗时，通常是由操作者手持超声治疗头在病患的治疗部位作慢速、小半径的近似圆周运动。一方面，操作者在采用上述设备连续治疗多个病患后，手腕会开始酸痛，而长时间的操作，会使操作者感到身心疲惫，甚至对手腕、指关节等形成慢性损伤；另一方面，长时间的操作可能会引起操作者治疗手法和力度等的变化，进而影响理疗设备的疗效。When using the above-mentioned hand-held executive terminal for treatment, physical therapy or massage, for example, use ultrasonic therapy equipment in physical therapy equipment or other treatment or physical therapy products for treatment, when treating acupuncture points or treating diseases such as local pain in small areas Usually, the operator holds the ultrasonic treatment head to make a slow, small-radius approximate circular motion on the patient's treatment site. On the one hand, after the operator uses the above equipment to treat multiple patients continuously, the wrist will start to be sore, and the long-term operation will make the operator feel physically and mentally exhausted, and even cause chronic damage to the wrist and knuckles; on the other hand , Long-term operation may cause changes in the operator's treatment techniques and strength, which in turn will affect the curative effect of the physical therapy equipment.
如果采用目前市面上已有的机械手来代替操作者来操作上述，但现有的能够满足需求的机器人，其结构复杂，成本高昂，且无法应用到超声治疗、理疗、按摩保健领域的相关设备中。If the existing manipulators on the market are used to replace the operator to operate the above, but the existing robots that can meet the needs have complex structures and high costs, and cannot be applied to related equipment in the fields of ultrasonic therapy, physical therapy, and massage health care. .
并且，目前的手持式治疗头通常在一端设置有很长的驱动线缆，当超声治疗头在做圆周运动的时候，其驱动线缆很容易缠绕在一起，不但使得使用不方便，同时也影响超声治疗头的寿命。Moreover, the current hand-held treatment head is usually provided with a very long drive cable at one end. When the ultrasonic treatment head is doing circular motion, the drive cables are easily entangled, which not only makes it inconvenient to use, but also affects Ultrasound therapy head life.
实用新型内容Utility model content
本实用新型所要解决的技术问题是针对现有技术中存在的上述不足，提供一种机械手以及包含该机械手的超声治疗系统，该机械手可用以替代人手，实现治疗过程中少人或无人值守，并且在解放劳动力的同时，能够确保理疗设备更稳定地发挥疗效。The technical problem to be solved by the utility model is to provide a manipulator and an ultrasonic treatment system including the manipulator for the above-mentioned deficiencies in the prior art. And while liberating the labor force, it can ensure that the physical therapy equipment can exert its curative effect more stably.
解决本实用新型技术问题所采用的技术方案是该机械手包括运动机构和支撑所述运动机构的支架，所述运动机构包括底座、设于底座上的动轮、设于动轮上并能够与动轮偏心设置的偏置件、以及设于偏置件上用于安装执行终端的安装座，通过动轮转动带动偏置件转动，进而带动安装座转动。The technical solution adopted to solve the technical problem of the utility model is that the manipulator includes a movement mechanism and a bracket supporting the movement mechanism. The biasing part and the mounting seat arranged on the biasing part for installing the execution terminal, the rotation of the driving wheel drives the biasing part to rotate, and then drives the mounting seat to rotate.
优选的是，该机械手还包括护线夹，所述执行终端的驱动线缆能够从所述护线夹中穿过，所述偏置件包括偏置环和辅助支撑，所述偏置环固设在动轮上，所述辅助支撑设于偏置环上，辅助支撑内设有浮动轴承，安装座通过浮动轴承支撑在辅助支撑上。Preferably, the manipulator further includes a wire protection clamp through which the drive cable of the execution terminal can pass, and the bias member includes a bias ring and an auxiliary support, and the bias ring is fixed It is arranged on the moving wheel, the auxiliary support is arranged on the offset ring, and a floating bearing is arranged in the auxiliary support, and the mounting seat is supported on the auxiliary support through the floating bearing.
优选所述护线夹设置在底座上。Preferably, the wire protection clip is arranged on the base.
进一步优选的是，所述辅助支撑活动设于偏置环上，通过移动辅助支撑的位置，能够调整辅助支撑与偏置环之间的相对位置。Further preferably, the auxiliary support is movable on the bias ring, and by moving the position of the auxiliary support, the relative position between the auxiliary support and the bias ring can be adjusted.
优选的是，所述运动机构还包括防护罩，所述防护罩固设于动轮的外侧，且其高度延伸至偏置环的外侧。Preferably, the motion mechanism further includes a protective cover, the protective cover is fixed on the outer side of the driving wheel, and its height extends to the outer side of the bias ring.
优选的是，所述支架采用与该机械手使用环境适形的适形臂。Preferably, the support adopts a conformable arm conforming to the environment in which the manipulator is used.
优选的是，所述适形臂包含软轴。Preferably, the conformable arm comprises a flexible shaft.
优选的是，所述执行终端为超声治疗头。Preferably, the execution terminal is an ultrasonic therapy head.
本实用新型机械手可以方便地同需要该终端运动形式的其他设备配套使用。The manipulator of the utility model can be conveniently used together with other equipment that needs the terminal movement form.
本实用新型还提供一种超声治疗系统，包括超声治疗设备，其中，该超声治疗系统还包括上述的机械手，所述机械手还包括驱动机构，所述超声治疗设备包括主机和超声治疗头，机械手的驱动机构安装在主机内部，且驱动机构由主机驱动，所述运动机构和支架设置在主机外部，所述超声治疗头安装在机械手的安装座上。The utility model also provides an ultrasonic treatment system, including ultrasonic treatment equipment, wherein, the ultrasonic treatment system also includes the above-mentioned manipulator, the manipulator also includes a driving mechanism, and the ultrasonic treatment equipment includes a host and an ultrasonic treatment head. The drive mechanism is installed inside the host, and the drive mechanism is driven by the host, the movement mechanism and the bracket are arranged outside the host, and the ultrasonic treatment head is installed on the mounting seat of the manipulator.
本实用新型机械手是一种经济性好、实用性好、并且能与使用环境适形的圆周运动机械手，用以替代人手，在解放劳动力的同时，能够确保理疗设备更稳定地发挥疗效。并且，本实用新型机械手在进行穴位治疗或较小区域的局部疼痛等病症治疗时，安装座上安装的执行终端(比如超声治疗头)能够在病患的治疗部位作慢速、小半径的圆周运动，而超声治疗头的驱动线缆不会发生缠绕。The manipulator of the utility model is a circular motion manipulator with good economy, good practicability and conformable to the use environment, which is used to replace human hands, and can ensure that the physical therapy equipment can exert curative effect more stably while liberating the labor force. Moreover, when the manipulator of the present invention is performing treatment on acupoints or local pain in a small area, the execution terminal (such as an ultrasonic treatment head) installed on the mounting base can make a slow, small-radius circular motion on the treatment site of the patient. movement without entanglement of the drive cables of the sonotrode.
本实用新型的有益效果如下：第一，可以用以替代人手，实现设备工作过程中少人或无人值守，以提高人力资源利用率，降低人工成本；第二，通过机构手自动运行，能有效排除由于操作者的身体状况等非设备因素而对设备使用效果产生的不利影响；第三，便于与治疗设备配套使用，由于执行终端与驱动机构分离，同时在采用适形臂的情况下，能够大大增强机械手的环境适应能力；第四，成本相对低廉，便于推广运用。The beneficial effects of the utility model are as follows: first, it can be used to replace manpower, and realize that there are few people or no one on duty during the working process of the equipment, so as to improve the utilization rate of human resources and reduce labor costs; Effectively eliminate the adverse effects on the effect of equipment due to non-equipment factors such as the operator's physical condition; third, it is convenient to use with treatment equipment, because the execution terminal is separated from the driving mechanism, and in the case of using a conformal arm, It can greatly enhance the environmental adaptability of the manipulator; fourth, the cost is relatively low, and it is easy to popularize and use.
本实用新型机械手特别适用于超声治疗、理疗、按摩保健等技术领域。The manipulator of the utility model is particularly suitable for technical fields such as ultrasonic therapy, physiotherapy, massage and health care.
附图说明Description of drawings
图1为本实用新型实施例1中机械手的结构示意图；Fig. 1 is the structural representation of manipulator in the utility model embodiment 1;
图2为本实用新型实施例2中机械手固定于治疗台上时的位置示意图；Fig. 2 is a schematic diagram of the position of the manipulator in Embodiment 2 of the present invention when it is fixed on the treatment table;
图3为本实用新型实施例3中超声治疗系统的结构示意图。Fig. 3 is a schematic structural diagram of the ultrasonic therapy system in Embodiment 3 of the present utility model.
图中：1-支架；2-底座；3-主轴承；4-动轮；5-防护罩；6-偏置环；7-辅助支撑；8-浮动轴承；9-安装座；10-护线夹；11-电机支架；12-支架；13-轴承；14-主动轮；15-电机；16-治疗台；17-主机；18-超声治疗头。In the figure: 1-bracket; 2-base; 3-main bearing; 4-moving wheel; 5-shield; 6-bias ring; 7-auxiliary support; 8-floating bearing; Clip; 11-motor bracket; 12-bracket; 13-bearing; 14-driving wheel; 15-motor; 16-treatment table;
具体实施方式Detailed ways
下面将结合本实用新型中的附图，对本实用新型中的技术方案进行清楚、完整的描述，显然，所描述的实施例是本实用新型的一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本实用新型保护的范围。The technical solution in the utility model will be clearly and completely described below in conjunction with the accompanying drawings of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
本实用新型提供一种机械手，包括运动机构和支撑所述运动机构的支架，所述运动机构包括底座、设于底座上的动轮、设于动轮上并能够与动轮偏心设置的偏置件、以及设于偏置件上用于安装执行终端的安装座，通过动轮转动带动偏置件转动，进而带动安装座转动。The utility model provides a manipulator, comprising a motion mechanism and a bracket supporting the motion mechanism, the motion mechanism includes a base, a driving wheel arranged on the base, a biasing member arranged on the driving wheel and capable of being eccentrically arranged with the driving wheel, and The mounting seat provided on the biasing part for installing the execution terminal drives the biasing part to rotate through the rotation of the driving wheel, and then drives the mounting seat to rotate.
优选地，该机械手还包括护线夹，所述执行终端的驱动线缆能够从所述护线夹中穿过，所述偏置件包括偏置环和辅助支撑，所述偏置环固设在动轮上，所述辅助支撑设于偏置环上，辅助支撑内设有浮动轴承，安装座通过浮动轴承支撑在辅助支撑上。Preferably, the manipulator further includes a wire protection clamp through which the drive cable of the execution terminal can pass, and the bias member includes a bias ring and an auxiliary support, and the bias ring is fixedly set On the moving wheel, the auxiliary support is arranged on the offset ring, and a floating bearing is arranged in the auxiliary support, and the mounting seat is supported on the auxiliary support through the floating bearing.
本实用新型还提供一种超声治疗系统，包括超声治疗设备，该系统还包括上述的机械手，机械手还包括驱动机构，所述超声治疗设备包括主机和超声治疗头，机械手的驱动机构安装在主机内部，且驱动机构由主机驱动，所述运动机构和支架设置在主机外部，所述超声治疗头安装在机械手的安装座上。The utility model also provides an ultrasonic treatment system, including ultrasonic treatment equipment, the system also includes the above-mentioned manipulator, the manipulator also includes a driving mechanism, the ultrasonic treatment equipment includes a main machine and an ultrasonic treatment head, and the driving mechanism of the manipulator is installed inside the main machine , and the drive mechanism is driven by the host, the movement mechanism and the bracket are arranged outside the host, and the ultrasonic treatment head is installed on the mounting base of the manipulator.
以下结合实施例对本实用新型进行详细说明。The utility model is described in detail below in conjunction with embodiment.
实施例1：Example 1:
本实施例中，如图1所示，该机械手包括运动机构和支撑运动机构的支架1。其中，支架1是机械手的基础支撑，当该机械手在与其他设备配套使用时，可以将之设计成与其他设备相适应的结构形式。In this embodiment, as shown in FIG. 1 , the manipulator includes a movement mechanism and a bracket 1 supporting the movement mechanism. Wherein, the bracket 1 is the basic support of the manipulator, and when the manipulator is used in conjunction with other equipment, it can be designed in a structural form compatible with other equipment.
优选地，支架1可以为与该机械手使用环境适形的适形臂。优选适形臂包含软轴。Preferably, the support 1 can be a conformable arm conforming to the operating environment of the manipulator. Preferably the conformable arm comprises a flexible shaft.
所述运动机构包括底座2、动轮4、偏置件和安装座9。其中，底座2包括有中心孔，主轴承3安装在底座的中心孔内，动轮4通过主轴承3安装在底座2上，偏置件设于动轮4上并与动轮4偏心设置，安装座9设于偏置件上，用于安装执行终端。The movement mechanism includes a base 2 , a driving wheel 4 , a biasing member and a mounting seat 9 . Wherein, the base 2 includes a central hole, the main bearing 3 is installed in the central hole of the base, the driving wheel 4 is installed on the base 2 through the main bearing 3, the biasing member is arranged on the driving wheel 4 and is eccentrically arranged with the driving wheel 4, and the mounting seat 9 Set on offset for mounting execution terminal.
本实施例中，所述执行终端采用超声治疗头。优选安装座9采用快速安装座，该快速安装座能够将超声治疗头快速安装于其上。In this embodiment, the execution terminal adopts an ultrasonic therapy head. Preferably, the mounting seat 9 adopts a quick mounting seat, which can quickly install the ultrasonic therapy head thereon.
优选地，该机械手还包括护线夹10，护线夹10设置在底座2上，所述超声治疗头的驱动线缆从护线夹10中穿过。Preferably, the manipulator further includes a wire protection clamp 10 , which is arranged on the base 2 , and the driving cable of the ultrasonic therapy head passes through the wire protection clamp 10 .
优选地，本实施例中，偏置件包括偏置环6和辅助支撑7，其中，偏置环6固设在动轮4上，辅助支撑7安装在偏置环6上，辅助支撑7内设有浮动轴承8，安装座9通过浮动轴承8安装在辅助支撑7上。偏置环6与动轮4同心设置。Preferably, in this embodiment, the biasing member includes a biasing ring 6 and an auxiliary support 7, wherein the biasing ring 6 is fixed on the moving wheel 4, the auxiliary support 7 is installed on the biasing ring 6, and the auxiliary support 7 is provided with There is a floating bearing 8, and the mounting seat 9 is installed on the auxiliary support 7 through the floating bearing 8. The bias ring 6 is arranged concentrically with the driving wheel 4 .
更优选地，辅助支撑7活动设于偏置环6上，在机械手工作之前，根据治疗区域的大小可以灵活地移动辅助支撑7在偏置环6上的位置，即调整辅助支撑7与偏置环6之间的相对位置，从而可改变超声治疗头作圆周运动的半径，以对不同面积的治疗区域进行治疗。比如图1中，如果两者设置为同心，则治疗区域最小，缩小为一个点；如果两者之间的位置偏置1mm，那么治疗区域就变成半径为1mm的圆面积。More preferably, the auxiliary support 7 is movable on the bias ring 6. Before the manipulator works, the position of the auxiliary support 7 on the bias ring 6 can be flexibly moved according to the size of the treatment area, that is, the auxiliary support 7 and the bias ring can be adjusted. The relative position between the rings 6 can change the radius of the circular motion of the ultrasonic treatment head to treat different areas of the treatment area. For example, in Figure 1, if the two are set to be concentric, the treatment area will be the smallest and reduced to a point; if the position between the two is offset by 1mm, then the treatment area will become a circular area with a radius of 1mm.
本实施例中，动轮4是采用目前市面上出售的产品，由于该产品为标准件，而该标准件产品无法与安装有浮动轴承的辅助支撑7直接配合使用，为了能够尽量少地对标准件进行再次加工，同时又能使两者能够配合使用，在动轮4与辅助支撑7之间增加偏置环6，即偏置环6是一个过渡件，它提供了一个过渡的安装基础。In this embodiment, the moving wheel 4 is a product currently on the market. Since the product is a standard part, the standard part product cannot be directly used in conjunction with the auxiliary support 7 equipped with a floating bearing. Carry out reprocessing, and at the same time enable the two to be used together, add an offset ring 6 between the driving wheel 4 and the auxiliary support 7, that is, the offset ring 6 is a transition piece, which provides a transitional installation base.
当外力驱动动轮4时，动轮4就可以带动防护罩5、偏置环6、辅助支撑7、浮动轴承8、安装座9一起，在主轴承3的内圈范围内作圆周运动。安装座9浮动轴承8的轴承内圈的作用下，保证上述圆周运动过程中处于相对打滑状态，而安装座9自身不发生转动，即安装座9只是相对动轮进行公转，而不进行自转，与此同时，超声治疗头的驱动线缆在护线夹10提供的力量作用下，从而能够从根本上解决驱动线缆的缠绕难题。When the driving wheel 4 is driven by external force, the driving wheel 4 can drive the protective cover 5, the offset ring 6, the auxiliary support 7, the floating bearing 8, and the mounting seat 9 together to make a circular motion within the inner ring of the main bearing 3. Under the action of the bearing inner ring of the floating bearing 8 of the mounting seat 9, it is ensured that the above-mentioned circular motion is in a relative slipping state, and the mounting seat 9 itself does not rotate, that is, the mounting seat 9 only revolves relative to the moving wheel, and does not rotate. At the same time, the driving cable of the ultrasonic therapy head is under the action of the force provided by the wire protection clip 10, so that the winding problem of the driving cable can be fundamentally solved.
优选地，运动单元还包括防护罩5，本实施例中，防护罩5固设于动轮4的外侧，随动轮4一同转动，且其高度高于动轮4的高度，并延伸至偏置环6的外侧。Preferably, the motion unit also includes a protective cover 5. In this embodiment, the protective cover 5 is fixed on the outside of the driving wheel 4, and the follower wheel 4 rotates together, and its height is higher than that of the driving wheel 4, and extends to the bias ring 6 outside.
其中，底座2为本实施例中机械手的运动部分的安装基础；而防护罩5能够将运动机构与外部环境隔离开来，以确保使用安全；浮动轴承8，快速安装座9和护线夹10的共同作用，保证超声治疗头在做圆周运动的时候，其驱动线缆不会发生缠绕；主轴承3的轴承内圈是动轮4与防护罩5、偏置环6、辅助支撑7、浮动轴承8、安装座9的底层安装基础，当外力驱动动轮4时，动轮4就可以带动防护罩5、偏置环6、辅助支撑7、浮动轴承8、安装座9一起运动，在主轴承3的内圈范围内作圆周运动。Wherein, the base 2 is the installation basis of the moving part of the manipulator in this embodiment; and the protective cover 5 can isolate the moving mechanism from the external environment to ensure safe use; the floating bearing 8, the quick mounting seat 9 and the wire clamp 10 The combined effect of the ultrasonic treatment head ensures that the driving cable will not be entangled when the ultrasonic treatment head is doing circular motion; the inner ring of the bearing of the main bearing 3 is the driving wheel 4 and the protective cover 5, the bias ring 6, the auxiliary support 7, and the floating bearing 8. The bottom installation foundation of the mounting seat 9, when the driving wheel 4 is driven by an external force, the driving wheel 4 can drive the protective cover 5, the bias ring 6, the auxiliary support 7, the floating bearing 8, and the mounting seat 9 to move together, and at the center of the main bearing 3 Circular movement within the inner circle.
本实施例中的机械手可以用以替代人手，实现设备工作过程中少人或无人值守，在解放劳动力的同时，确保设备更稳定地发挥疗效。通过在该机械手上安装超声治疗头，可以通过促进穴位治疗、局部疼痛治疗等小区域扫描治疗，实现理疗产品或实验平台的推广。The manipulator in this embodiment can be used to replace human hands, so that fewer people or no one is on duty during the working process of the equipment, and at the same time of liberating the labor force, it can ensure that the equipment can exert its curative effect more stably. By installing an ultrasonic treatment head on the manipulator, it can promote the promotion of physiotherapy products or experimental platforms by promoting small-area scanning treatments such as acupoint treatment and local pain treatment.
实施例2：Example 2:
如图2所示，本实施例中的机械手安装在治疗台16上，用于进行动物实验。As shown in FIG. 2 , the manipulator in this embodiment is installed on a treatment table 16 for animal experiments.
本实施例中的机械手与实施例1中的机械手的区别在于：本实施例中的机械手还包括驱动机构。The difference between the manipulator in this embodiment and the manipulator in Embodiment 1 is that the manipulator in this embodiment also includes a driving mechanism.
具体地，本实施例中，该机械手的驱动机构包括电机15和主动轮14。主动轮14安装在电机的输出轴上，动轮4与主动轮14啮合。Specifically, in this embodiment, the driving mechanism of the manipulator includes a motor 15 and a driving wheel 14 . The driving wheel 14 is installed on the output shaft of the motor, and the driving wheel 4 is engaged with the driving wheel 14 .
优选地，该驱动机构还包括电机支架11，电机支架11安装在支架12上，电机15安装在电机支架11上。电机15转动，驱动主动轮14转动，主动轮14进而带动动轮4转动。Preferably, the driving mechanism further includes a motor bracket 11 , the motor bracket 11 is mounted on the bracket 12 , and the motor 15 is mounted on the motor bracket 11 . The motor 15 rotates to drive the driving wheel 14 to rotate, and the driving wheel 14 then drives the driving wheel 4 to rotate.
本实施例中，护线夹10安装在电机支架11上。In this embodiment, the wire protection clamp 10 is installed on the motor bracket 11 .
本实施例中的机械手的其他结构都与实施例1中相同，这里不再赘述。Other structures of the manipulator in this embodiment are the same as those in Embodiment 1, and will not be repeated here.
如图2所示，本实施例中的机械手工作过程为，先将待治疗的动物的治疗部位固定在治疗台16上，然后将超声治疗头插入安装座9，并对准动物身上的治疗区域，然后启动机械手，电机15工作，驱动主动轮14，带动动轮4旋转，从而带动防护罩5、偏置环6、辅助支撑7、浮动轴承8、安装座9一起在主轴承3的内圈范围内作圆周运动，实现对动物的局部扫描治疗。其中，通过调整辅助支撑7与偏置环6的相对位置可以改变超声治疗头的圆周运动半径。As shown in Figure 2, the working process of the manipulator in this embodiment is to first fix the treatment site of the animal to be treated on the treatment table 16, then insert the ultrasonic treatment head into the mounting seat 9, and align it with the treatment area on the animal , then start the manipulator, the motor 15 works, drives the driving wheel 14, and drives the driving wheel 4 to rotate, thereby driving the protective cover 5, the bias ring 6, the auxiliary support 7, the floating bearing 8, and the mounting seat 9 together in the inner ring range of the main bearing 3 Make a circular motion inside to realize the partial scanning treatment of animals. Wherein, by adjusting the relative position of the auxiliary support 7 and the bias ring 6, the circular movement radius of the ultrasonic therapy head can be changed.
本实施例中的机械手在浮动轴承8、安装座9和电机支架11上的护线夹10共同作用下，能够保证超声治疗头在做圆周运动的时候，其驱动线缆不会发生缠绕。Under the joint action of the floating bearing 8, the mounting base 9 and the wire clamp 10 on the motor bracket 11, the manipulator in this embodiment can ensure that the drive cable of the ultrasonic treatment head will not be entangled when it is in circular motion.
实施例3：Example 3:
本实施例提供一种超声治疗系统，包括超声治疗设备和机械手。该治疗系统用于对病患的背肩部肌肉疼痛进行治疗。This embodiment provides an ultrasonic treatment system, including ultrasonic treatment equipment and a manipulator. The treatment system is used to treat back and shoulder muscle pain of a patient.
其中，该机械手与实施例1中的机械手的区别在于：本实施例中的机械手还包括驱动机构。Wherein, the difference between the manipulator and the manipulator in Embodiment 1 is that the manipulator in this embodiment also includes a driving mechanism.
所述超声治疗设备包括主机17和超声治疗头18，机械手的驱动机构安装在主机17的内部，且驱动机构由主机17驱动，所述运动机构和支架1则设置在主机外部，超声治疗头18安装在机械手的安装座9上。Described ultrasonic treatment equipment comprises main frame 17 and ultrasonic treatment head 18, and the drive mechanism of manipulator is installed in the inside of main frame 17, and drive mechanism is driven by main frame 17, and described kinematic mechanism and support 1 are arranged on the outside of main frame, ultrasonic treatment head 18 Be installed on the mount 9 of manipulator.
如图3所示，在本实施例中的超声治疗系统进行治疗前，先使病患卧躺在病床上，然后将超声治疗头18插入安装座9，对准病患身上的治疗区域，随后启动该超声治疗系统，驱动机构驱动动轮4旋转，从而带动防护罩5、偏置环6、辅助支撑7、浮动轴承8、安装座9一起在主轴承3的内圈范围内作圆周运动，从而实现对病灶区域的圆周扫描治疗。As shown in Figure 3, before the ultrasonic treatment system in the present embodiment is treated, the patient is lying down on the hospital bed, and then the ultrasonic treatment head 18 is inserted into the mounting seat 9, aiming at the treatment area on the patient's body, and then Start the ultrasonic treatment system, the driving mechanism drives the driving wheel 4 to rotate, thereby driving the protective cover 5, the bias ring 6, the auxiliary support 7, the floating bearing 8, and the mounting seat 9 to make a circular motion within the inner ring of the main bearing 3, thereby Realize the circular scanning treatment of the lesion area.
本实施例中，通过调整辅助支撑7与偏置环6的相对位置可以改变超声治疗头的圆周运动半径，以适应不同治疗区域。In this embodiment, by adjusting the relative positions of the auxiliary support 7 and the bias ring 6, the circular motion radius of the ultrasonic treatment head can be changed to suit different treatment areas.
本实施例中的机械手在浮动轴承8，快速安装座9和护线夹的共同作用下，能够保证超声治疗头在做圆周运动的时候，其驱动线缆不会缠绕。Under the joint action of the floating bearing 8, the quick mounting seat 9 and the wire protection clip, the manipulator in this embodiment can ensure that the driving cable of the ultrasonic therapy head will not be entangled when it is doing circular motion.
实施例4：Example 4:
本实施例中的机械手包括运动机构和支撑所述运动机构的支架，所述运动机构包括底座、设于底座上的动轮、设于动轮上并与动轮偏心设置的偏置件、以及设于偏置件上用于安装执行终端的安装座，通过动轮转动带动偏置件转动，进而带动安装座转动。The manipulator in this embodiment includes a kinematic mechanism and a bracket supporting the kinematic mechanism. The kinematic mechanism includes a base, a driving wheel arranged on the base, an offset member arranged on the driving wheel and eccentrically arranged with the driving wheel, and an offset member arranged on the eccentric The mounting seat on the mounting part is used for mounting the execution terminal, and the rotation of the moving wheel drives the biasing part to rotate, and then drives the mounting seat to rotate.
其中，底座包括有中心孔，主轴承安装在底座的中心孔内，动轮通过主轴承安装在底座上。Wherein, the base includes a central hole, the main bearing is installed in the central hole of the base, and the driving wheel is installed on the base through the main bearing.
本实施例中，所述执行终端采用超声治疗头。优选安装座采用快速安装座，该快速安装座能够将超声治疗头快速安装于其上。In this embodiment, the execution terminal adopts an ultrasonic therapy head. Preferably, the installation seat adopts a quick installation seat, and the quick installation seat can quickly install the ultrasonic treatment head on it.
通过调整偏置件与动轮之间的位置，即调整偏置件相对于动轮的偏心距离，从而可改变超声治疗头作圆周运动的半径，以对不同面积的治疗区域进行治疗。By adjusting the position between the biasing member and the driving wheel, that is, adjusting the eccentric distance of the biasing member relative to the moving wheel, the radius of the circular motion of the ultrasonic therapy head can be changed to treat different areas of the treatment area.
可以理解的是，以上实施方式仅仅是为了说明本实用新型的原理而采用的示例性实施方式，然而本实用新型并不局限于此。对于本领域内的普通技术人员而言，在不脱离本实用新型的精神和实质的情况下，可以做出各种变型和改进，这些变型和改进也视为本实用新型的保护范围。It can be understood that, the above embodiments are only exemplary embodiments adopted to illustrate the principles of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present utility model, and these variations and improvements are also regarded as the protection scope of the present utility model.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420719386.7UCN204274501U (en) | 2014-11-25 | 2014-11-25 | Mechanical hand and supersonic therapeutic system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420719386.7UCN204274501U (en) | 2014-11-25 | 2014-11-25 | Mechanical hand and supersonic therapeutic system |
| Publication Number | Publication Date |
|---|---|
| CN204274501Utrue CN204274501U (en) | 2015-04-22 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420719386.7UExpired - LifetimeCN204274501U (en) | 2014-11-25 | 2014-11-25 | Mechanical hand and supersonic therapeutic system |
| Country | Link |
|---|---|
| CN (1) | CN204274501U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115154253A (en)* | 2022-09-08 | 2022-10-11 | 苏州好博医疗器械股份有限公司 | Ultrasonic treatment head with automatic moving function |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115154253A (en)* | 2022-09-08 | 2022-10-11 | 苏州好博医疗器械股份有限公司 | Ultrasonic treatment head with automatic moving function |
| CN115154253B (en)* | 2022-09-08 | 2022-11-08 | 苏州好博医疗器械股份有限公司 | Ultrasonic treatment head with automatic moving function |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | Granted publication date:20150422 | |
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