Vehicle-mounted angiography machine with double-robotic-arm type structure

A vehicle-mounted angiography machine with a double-robotic-arm type structure, comprising a six-degree-of-freedom robotic lower arm at a lower portion of an ambulance body space, a three-degree-of-freedom mobile table located in a middle of the ambulance body space for moving a patient, and a seven-degree-of-freedom robotic upper arm at an upper portion of the ambulance body space;

• an end portion of the seven-degree-of-freedom robotic upper arm is connected to a flat panel detector of the vehicle-mounted angiography machine, and an end portion of the six-degree-of-freedom robotic lower arm is connected to an anode ball tube of the vehicle-mounted angiography machine;
• a central motion of the seven-degree-of-freedom robotic upper arm and the six-degree-of-freedom robotic lower arm is matched with a up-down, left-right and front-back motion of the three-degree-of-freedom mobile table;
• each of the seven-degree-of-freedom robotic upper arm and the six-degree-of-freedom robotic lower arm comprises a six-degree-of-freedom module, the six-degree-of-freedom module of the six-degree-of-freedom robotic lower arm is provided with the anode ball tube, andthe seven-degree-of-freedom robotic upper arm further comprises a seventh-shaft module arranged on the six-degree-of-freedom module;
• the six-degree-of-freedom module comprises a first-second joint base, a third-joint module arranged on the first-second joint base, and a fourth-fifth-sixth-shaft module arranged on the third-joint module;
• the first-second joint base comprises a first-shaft base and a second-shaft base arranged above the first-shaft base;
• the first-shaft base and the second-shaft base are connected through a crossed roller bearing, a pivot joint is rotationally connected in the first-shaft base, a first end of the pivot joint penetrates through the first-shaft base, with a penetrating-out end portion connected to a bottom of the second-shaft base, a second end of the pivot joint is driven by a pivot joint drive motor to rotate, and the second-shaft base is driven by the pivot joint to rotate accordingly;
• the third-joint module is arranged above the second-shaft base;
• and a gear motor is installed on the second-shaft base, and the gear motor is installed on the second-shaft base through a motor mounting plate;
• the third-joint module comprises a third-shaft base, and a front portion of the third-shaft base and a front portion of the second-shaft base are connected through a pivot;
• the gear motor drives the pivot to rotate, a gas spring is arranged between a rear portion of the second-shaft base and a rear portion of the third-shaft base, a first end of the gas spring is hinged to the second-shaft base, and a second end of the gas spring is hinged to a bottom of the third-shaft base;
• the third-shaft base is provided with two parallel mobile guide rail and slide block modules, and a fourth-shaft base is in sliding connection to the third-shaft base through the bidirectional mobile guide rail and slide block modules;
• the third-shaft base is provided with a rack, and the fourth-shaft base is provided with a first gear and a second gear;
• the first gear and a first pulley are installed on a first third-shaft, and a second pulley, the second gear and a third pulley are installed on a second third-shaft;
• the first third-shaft is connected to the fourth-shaft base through a first mounted bearing, and the second third-shaft is connected to the fourth-shaft base through a second mounted bearing;
• the first pulley and the third pulley are connected through a first synchronous belt to form a first synchronous belt transmission structure;
• the fourth-shaft base is provided with a third-shaft joint module motor, a motor shaft of the third-shaft joint module motor is provided with a fourth pulley, and the fourth pulley and the second pulley constitute a second synchronous belt transmission structure through a second synchronous belt;
• the third-shaft joint module motor acts, the second pulley rotates and drives the second gear and the third pulley coaxial thereto to rotate together, the first pulley rotates through the first synchronous belt transmission structure to drive the first gear coaxial thereto to rotate, the first gear and the second gear are in meshing transmission with the rack to drive the fourth-shaft base to horizontally move along the two parallel mobile guide rail and slide block modules;
• and
• the bidirectional mobile guide rail and slide block module comprises a first-layer guide rail and a second-layer guide rail, wherein the first-layer guide rail is arranged on the third-shaft base to be connected to the third-shaft base;
• and a first-layer slide block is in sliding connection to the first-layer guide rail, a bottom of a guide rail connector is arranged on an upper surface of the first-layer slide block, an upper surface of the guide rail connector is provided with the second-layer guide rail, the second-layer guide rail is connected to a second-layer slide block, and the second-layer slide block is connected to the fourth-shaft base.