A gripping robot with artificial joint plasma spraying

Abstract

This utility model relates to a gripping robot for ion spraying, specifically a gripping robot for plasma spraying of artificial joints. It includes a robotic arm and a housing mounted on the robotic arm. Two first gripping claws and two second gripping claws are rotatably mounted at both ends of the housing. A first transmission mechanism is provided on one side of each of the two first gripping claws to drive the first gripping claws to open and close. This utility model, by setting the innovative structure of the robot as two independent sets of left and right grippers, can simultaneously grip the artificial joint for spraying operations in the initial state. During the spraying process, the left and right grippers can open and close alternately in sequence, always maintaining at least one set of grippers stably holding the joint. This effectively avoids the drawback of the gripping surface of the mechanical claw obstructing the spraying area when using traditional single-claw gripping, ensuring a uniform and dense coating on the surface of the artificial joint, thereby significantly improving spraying accuracy and quality and optimizing the spraying effect.

Description

Technical Field

[0001] This utility model relates to a gripping robot for ion spraying, specifically a gripping robot for artificial joint plasma spraying. Background Technology

[0002] Plasma spraying equipment is a process testing instrument that uses the high temperature characteristics of plasma to melt the spraying material and spray it at high speed onto the surface of the substrate to form a coating. It usually uses inert gas to prevent the material from oxidizing and includes various types such as atmospheric, protective atmosphere, vacuum and water-stabilized plasma spraying.

[0003] In the coating of artificial joints, plasma spraying can prepare a bioactive coating on the surface of the artificial joint. For example, a hydroxyapatite coating can be sprayed on the surface of a titanium alloy joint. Hydroxyapatite is a component of human bone tissue. The coating formed after spraying has good compatibility with human bone tissue, allowing osteoblasts to grow on the coating and form bone bonds, thereby enhancing the integration of the artificial joint with the human skeleton, reducing the risk of loosening and falling off, and improving the lifespan of the prosthesis. Plasma spraying technology can also adjust parameters such as coating thickness, porosity, and surface roughness as needed to further optimize the performance of the artificial joint.

[0004] The gripping robot in the plasma spraying equipment mainly serves to fix and precisely move the artificial joint, ensuring that it maintains a stable and appropriate position and distance relative to the spray gun during the spraying process. At the same time, it can be automated through programming, precisely controlling the spraying path, angle and speed, reducing errors caused by human intervention, ensuring that the coating adheres evenly and densely to the surface of the artificial joint, improving coating quality and spraying efficiency, and meeting the stringent requirements of precision components such as artificial joints for coating performance.

[0005] When traditional single-set grippers are used for spraying artificial joints, the rigid contact with the workpiece creates a barrier, preventing the contact area from being covered by the plasma beam. This results in defects such as missing coatings and uneven thickness, compromising the integrity of the coating. Furthermore, if the blocked area needs to be re-sprayed, the spraying process must be interrupted to adjust the gripping position. The release and resetting of a single set of grippers can easily cause workpiece vibration or displacement, disrupting the continuity of the spraying path, leading to a decrease in coating bonding strength, and even secondary defects. Ultimately, this affects the biocompatibility and long-term implantation stability of the artificial joint. Utility Model Content

[0006] The purpose of this invention is to provide a gripping robot for plasma spraying of artificial joints, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A gripping robot for plasma spraying of artificial joints includes a robotic arm and a housing mounted on the robotic arm. Two first gripping claws and two second gripping claws are rotatably mounted at both ends of the housing. A first transmission mechanism for driving the first gripping claws to open and close is provided on one side of the two first gripping claws. A second transmission component for opening and closing the second gripping claws is provided on one side of the two second gripping claws. A drive motor and a translation component mounted on the output shaft of the drive motor are installed inside the housing. The translation component is slidably installed inside the housing and provides transmission cooperation between the first transmission mechanism and the second transmission component.

[0009] The artificial joint plasma spraying gripper described above: the first transmission mechanism includes two first gears respectively fixedly sleeved on one end of the two first gripping claws, and the two first gears mesh with the same first transmission tooth plate.

[0010] As described above, the artificial joint plasma spraying gripper has the following characteristics: the first transmission toothed plate is slidably mounted inside the housing, and one end of the first transmission toothed plate is provided with a spring for elastic reset.

[0011] As described above, the artificial joint plasma spraying gripper includes two second gears respectively fixedly sleeved on one end of the two second gripping claws, and the two second gears mesh with the same second transmission tooth plate, which is slidably installed inside the housing.

[0012] As described above, the artificial joint plasma spraying gripper: the second transmission component further includes a transmission rod rotatably installed inside the housing and a spiral groove formed on the transmission rod. One end of the transmission rod is fixedly fitted with an external threaded cylinder and an internal threaded cylinder threaded onto the external threaded cylinder. The internal threaded cylinder is fixedly connected to one end of the second transmission gear plate.

[0013] The artificial joint plasma spraying gripper described above: the translation component includes a lead screw fixedly connected to the output shaft of a drive motor and a moving block threaded onto the lead screw, the moving block being slidably connected to a sliding column installed inside the housing.

[0014] As described above, the artificial joint plasma spraying gripper has a ball bearing at one end of the translation component, which is slidably mounted on the spiral groove of the transmission rod, and the moving block is in a pressing fit with the first transmission tooth plate.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: by setting the innovative structure of the robotic arm to two independent sets of left and right robotic claws, it can simultaneously grasp the artificial joint for spraying operations in the initial state; during the spraying process, the left and right robotic claws can open alternately in sequence, and always maintain at least one set of robotic claws to hold stably; it effectively avoids the drawback of the robotic claw gripping surface blocking the spraying area when grasping with a traditional single claw, ensuring that the coating on the surface of the artificial joint is uniform and dense, thereby significantly improving the spraying accuracy and quality and optimizing the spraying effect.

[0016] This invention also maintains the stable posture of the workpiece by using dynamic balance with alternating clamping of two sets, ensuring the continuity of the spraying path and avoiding the impact of vibration or displacement caused by clamping switching on the coating bonding strength, thus providing key protection for the biocompatibility and long-term reliability of artificial joint prostheses. Attached Figure Description

[0017] Figure 1 A schematic diagram of the robotic arm and overall structure of a gripping robot for plasma spraying artificial joints.

[0018] Figure 2 A schematic diagram of the robotic arm and the overall structure of the gripping manipulator for plasma spraying of artificial joints from another angle.

[0019] Figure 3 A schematic diagram of the overall structure of a gripping manipulator for plasma spraying of artificial joints.

[0020] Figure 4 A schematic diagram of the internal structure of a gripping manipulator for plasma spraying of artificial joints.

[0021] Figure 5 A schematic diagram of the first and second transmission mechanisms of the translation component in a gripping manipulator for plasma spraying of artificial joints.

[0022] Figure 6 A schematic diagram of the first transmission mechanism in a gripping manipulator for plasma spraying of artificial joints.

[0023] Figure 7 A schematic diagram of the second transmission mechanism in a gripping manipulator for plasma spraying of artificial joints.

[0024] Figure 8 A schematic diagram of the drive motor and translation component structure in a gripping manipulator for plasma spraying of artificial joints.

[0025] Figure 9 A schematic diagram of the second transmission mechanism in a gripping manipulator for plasma spraying of artificial joints.

[0026] In the diagram: 1. Robotic arm; 2. Housing; 3. First gripper; 4. First gear; 5. Spring; 6. First transmission gear plate; 7. Second gripper; 8. Second gear; 9. Second transmission gear plate; 10. Drive motor; 11. Lead screw; 12. Moving block; 13. Sliding column; 14. Transmission rod; 15. Helical groove; 16. Ball bearing; 17. External threaded cylinder; 18. Internal threaded cylinder. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0028] Please see Figures 1-9 As an embodiment of this utility model, the artificial joint plasma spraying gripping robot includes a robotic arm 1 and a housing 2 mounted on the robotic arm 1. Two first gripping claws 3 and two second gripping claws 7 are rotatably mounted at both ends of the housing 2. A first transmission mechanism for driving the first gripping claws 3 to open and close is provided on one side of the two first gripping claws 3. A second transmission component for opening and closing the second gripping claws 7 is provided on one side of the two second gripping claws 7. A drive motor 10 and a translation component mounted on the output shaft of the drive motor 10 are installed inside the housing 2. The translation component is slidably installed inside the housing 2 and performs transmission cooperation between the first transmission mechanism and the second transmission component.

[0029] In this embodiment, the innovative structure of the robotic arm is configured with two independent sets of mechanical claws on the left and right sides. During operation, the robotic arm 1 moves precisely onto the artificial joint, and then the two sets of independent mechanical claws clamp and fix the artificial joint. During the spraying process, the left and right sets of independent mechanical claws can be opened and closed by starting the forward and reverse rotation of the drive motor 10. The drive motor 10 engages with the first transmission mechanism in a squeezing manner, thereby driving the two sets of first clamping claws 3 to open. When the drive motor 10 engages with the second transmission component, the two sets of second clamping claws 7 will open. They can open alternately in sequence, and at least one set of mechanical claws will always maintain stable clamping. This effectively avoids the drawback of the mechanical claw gripping surface obscuring the spraying area when using traditional single-claw gripping, ensuring that the coating on the surface of the artificial joint is uniform and dense, thereby significantly improving the spraying accuracy and quality and optimizing the spraying effect.

[0030] As a further embodiment of this utility model, the first transmission mechanism includes two first gears 4 respectively fixedly sleeved on one end of the two first clamping claws 3, and the two first gears 4 are meshed with the same first transmission gear plate 6.

[0031] In this embodiment, a first gear 4 is fixedly sleeved on one end of each of the two first gripping claws 3. By moving the first transmission gear plate 6, the two first gears 4 can be rotated simultaneously, thereby simultaneously driving the two first gripping claws 3 to open and close.

[0032] As a further embodiment of this utility model, the first transmission gear plate 6 is slidably installed inside the housing 2, and a spring 5 for elastic reset is provided at one end of the first transmission gear plate 6.

[0033] In this embodiment, the spring 5 is compressed during the movement of the first transmission gear plate 6, and the spring 5 can provide the function of elastic reset for the first transmission gear plate 6.

[0034] As a further embodiment of this utility model, the second transmission component includes two second gears 8 respectively fixedly sleeved on one end of the two second clamping claws 7, and the two second gears 8 mesh with the same second transmission tooth plate 9, which is slidably installed inside the housing 2.

[0035] In this embodiment, a second gear 8 is fixedly sleeved on one end of each of the second gripping claws 7. By moving the second transmission gear plate 9, the two second gears 8 can be rotated simultaneously, thereby simultaneously driving the two second gripping claws 7 to open and close.

[0036] As a further embodiment of the present invention, the second transmission assembly further includes a transmission rod 14 rotatably mounted inside the housing 2 and a spiral groove 15 formed on the transmission rod 14. One end of the transmission rod 14 is fixedly fitted with an external threaded cylinder 17 and an internal threaded cylinder 18 threadedly mounted on the external threaded cylinder 17. The internal threaded cylinder 18 is fixedly connected to one end of the second transmission gear plate 9.

[0037] In this embodiment, a spiral groove 15 for guidance is opened on the outer wall of the transmission rod 14. One end of the spiral groove 15 is a straight groove design. At the same time, an external threaded cylinder 17 is fixedly sleeved on one end of the transmission rod 14. An internal threaded cylinder 18 is threadedly installed on the external threaded cylinder 17. The internal threaded cylinder 18 can synchronously drive the second transmission gear plate 9 to move.

[0038] As a further embodiment of this utility model, the translation component includes a lead screw 11 fixedly connected to the output shaft of the drive motor 10 and a moving block 12 threadedly mounted on the lead screw 11. The moving block 12 is slidably connected to a sliding column 13 installed inside the housing 2.

[0039] In this embodiment, by starting the drive motor 10, the output shaft of the drive motor 10 drives the lead screw 11 to rotate, and the lead screw 11 drives the moving block 12 to rotate. The two sliding columns 13 can ensure the smooth movement of the moving block 12.

[0040] As a further embodiment of this utility model, one end of the translation component is provided with a ball bearing 16, which is slidably mounted on the spiral groove 15 of the transmission rod 14, and the moving block 12 is in a pressing fit with the first transmission tooth plate 6.

[0041] In this embodiment, when the moving block 12 moves toward the first transmission toothed plate 6 controlled by the drive motor 10, the moving block 12 will squeeze the first transmission toothed plate 6 to one side. At this time, the first transmission toothed plate 6 will pass between the two first gears 4, thereby driving the two first clamping claws 3 to open through the two first gears 4, and compressing the spring 5 at the same time.

[0042] When the moving block 12 is controlled by the drive motor 10 to move in another direction, the ball 16 at one end of the moving block 12 will enter the spiral groove 15 from the straight groove. Since the position of the ball 16 is fixed, when the ball 16 passes over the spiral groove 15, it will drive the transmission rod 14 to rotate. At the same time, the transmission rod 14 will drive the internal threaded cylinder 18 to move through the external threaded cylinder 17. Then the internal threaded cylinder 18 will drive the second transmission gear plate 9 to move, so that the second transmission gear plate 9 passes between the two second gears 8, thereby driving the two second gripping claws 7 to open through the two second gears 8. This achieves the sequential alternating opening of the left and right mechanical claws, and always maintains at least one set of mechanical claws to hold stably. This effectively avoids the disadvantage of the mechanical claw gripping surface blocking the spraying area when gripping with a traditional single claw, ensuring that the coating on the surface of the artificial joint is uniform and dense, thereby significantly improving the spraying accuracy and quality and optimizing the spraying effect.

[0043] The above embodiments are exemplary and not restrictive. Therefore, without departing from the spirit or basic characteristics of this utility model, any technical solutions that can be implemented in other specific forms are included in this utility model.

Claims

1. A gripping manipulator for plasma spraying of artificial joints, comprising a robotic arm (1) and a housing (2) mounted on the robotic arm (1), characterized in that, Two first clamping claws (3) and two second clamping claws (7) are rotatably mounted at both ends of the housing (2). A first transmission mechanism for driving the first clamping claws (3) to open and close is provided on one side of the two first clamping claws (3). A second transmission component for opening and closing the second clamping claws (7) is provided on one side of the two second clamping claws (7). A drive motor (10) and a translation component mounted on the output shaft of the drive motor (10) are installed inside the housing (2). The translation component is slidably installed inside the housing (2). The translation component performs transmission cooperation with the first transmission mechanism and the second transmission component respectively.

2. The gripping robot for plasma spraying of artificial joints according to claim 1, characterized in that, The first transmission mechanism includes two first gears (4) respectively fixedly sleeved on one end of the two first clamping claws (3), and the two first gears (4) mesh with the same first transmission gear plate (6).

3. The grasping robot for plasma spraying of artificial joints according to claim 2, characterized in that, The first transmission gear plate (6) is slidably installed inside the housing (2), and a spring (5) for elastic reset is provided at one end of the first transmission gear plate (6).

4. The grasping robot for plasma spraying of artificial joints according to claim 3, characterized in that, The second transmission assembly includes two second gears (8) respectively fixedly sleeved on one end of the two second clamping claws (7), and the two second gears (8) mesh with the same second transmission tooth plate (9), which is slidably installed inside the housing (2).

5. The grasping robot for plasma spraying of artificial joints according to claim 4, characterized in that, The second transmission assembly further includes a transmission rod (14) rotatably mounted inside the housing (2) and a spiral groove (15) formed on the transmission rod (14). One end of the transmission rod (14) is fixedly fitted with an external threaded cylinder (17) and an internal threaded cylinder (18) threaded onto the external threaded cylinder (17). The internal threaded cylinder (18) is fixedly connected to one end of the second transmission gear plate (9).

6. The grasping robot for plasma spraying of artificial joints according to claim 5, characterized in that, The translation assembly includes a lead screw (11) fixedly connected to the output shaft of the drive motor (10) and a moving block (12) threaded onto the lead screw (11), the moving block (12) being slidably connected to a sliding column (13) installed inside the housing (2).

7. The gripping robot for plasma spraying of artificial joints according to claim 6, characterized in that, One end of the translation component is provided with a ball (16), which is slidably mounted on the spiral groove (15) of the transmission rod (14), and the moving block (12) is in a pressing fit with the first transmission tooth plate (6).

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