CN107495990A - A kind of mechanical arm with lifting function - Google Patents
A kind of mechanical arm with lifting function Download PDFInfo
- Publication number
- CN107495990A CN107495990A CN201710676886.5A CN201710676886A CN107495990A CN 107495990 A CN107495990 A CN 107495990A CN 201710676886 A CN201710676886 A CN 201710676886A CN 107495990 A CN107495990 A CN 107495990A
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- China
- Prior art keywords
- arm section
- arm
- driving rope
- driving
- rope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00269—Type of minimally invasive operation endoscopic mucosal resection EMR
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The present invention relates to field of medical device, disclose a kind of mechanical arm with lifting function, including some driving ropes, and be sequentially connected clamping device, the first arm section, the arm sections of the second arm Duan Yu tri-, wherein, it is corresponding driving rope driving under, clamping device reciprocally opened/closed, first arm section can drive clamping device to be rotated relative to the second arm section, and the second arm section can drive the first arm section to be rotated relative to the 3rd arm section, and the rotation direction of the first arm section and the second arm section is different.The present invention can be used cooperatively with existing digestive endoscopy, and the lifting to target mucosal is realized on the premise of existing digestive endoscopy structure is not changed, and help to reduce the requirement to doctor Personal Skills and experience；The motion of mechanical arm is unrestricted simultaneously, and its flexibility moved can be highly improved for existing double instrument channel digestive endoscopies.
Description
Technical field
The present invention relates to field of medical device, more particularly, to a kind of servicing unit of digestive endoscopy, is specifically related to one
Kind mechanical arm.
Background technology
Traditional endoscopic inferior mucosa cutting hand (ESD operations) refers to that Gastroenterology dept. doctor completes pair with the help of digestive endoscopy
The cutting operation of lesion mucous membrane.Most of endoscope commonly used on the market at present is the endoscope of single instrument channel, can only be met
Cutting to lesion mucous membrane, the pull lift action of lesion mucous membrane, therefore whole surgical procedure can not be realized while being cut to it
In it is very high to doctor Personal Skills and skill requirement, add the complication risk and operating time of operation.Although have on the market
The digestive endoscopy for the double instrument channels that can be lifted and cut, lifting parallel and coaxial yet with two instrument channels
Operation and cutting operation nevertheless suffer from many restrictions, can not thoroughly solve the above problems.
The content of the invention
The problem of being subject to many limitations to overcome prior art lifting to operate with cutting operation, be inconvenient for use, the present invention
A kind of mechanical arm with lifting function is provided.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of mechanical arm with lifting function, including some driving ropes, and be sequentially connected clamping device, first
Arm section, the arm sections of the second arm Duan Yu tri-, wherein, under the driving of corresponding driving rope, clamping device reciprocally opened/closed,
First arm section can drive clamping device to be rotated relative to the second arm section, and the second arm section can drive the first arm section to turn with respect to the 3rd arm section
It is dynamic, and the rotation direction of the first arm section and the second arm section is different.
As the further improved procedure of such scheme, clamping device includes stationary jaw and movable jaw, driving rope bag
Include the first driving rope and the second driving is restricted, stationary jaw is fixedly connected with the first arm section, and movable jaw and the first arm section are rotated and connected
Connect, the first driving rope is respectively in the both sides of movable jaw with the second driving rope along the rotation direction of movable jaw, to drive activity
Clamping jaw is relatively fixed clamping jaw and carries out clamping movement.
As the further improved procedure of such scheme, clamping device also includes rotating shaft and pulley, the first driving rope, second
Driving rope is fixedly connected with pulley respectively；
Movable jaw is fixedly connected with pulley, and pulley is connected with axis of rotation, and rotating shaft is fixedly connected with the first arm section；
Or pulley is fixedly connected with rotating shaft, rotating shaft is rotatablely connected with the first arm section.
As the further improved procedure of such scheme, the surface of pulley is provided with grooving arranged side by side, and the end of grooving is provided with
Buckling groove, the first driving rope, the second driving rope are embedded in corresponding grooving respectively, the first driving rope, the end of the second driving rope
Portion is respectively provided with clamping block, and clamping block is embedded in the buckling groove of corresponding grooving.
As the further improved procedure of such scheme, driving rope also includes the 3rd driving being fixedly connected with the first arm section
Rope and 4 wheel driven running rope, the 3rd driving rope are respectively in the two of the first arm section with rotation direction of the 4 wheel driven running rope along the first arm section
Side；
One end of neighbouring second arm section is provided with cambered surface in first arm section, is provided with the second arm section adjacent to one end of the first arm section
Plane；Or first one end of neighbouring second arm section in arm section be provided with plane, set in the second arm section adjacent to one end of the first arm section
There is cambered surface；
Supported and contacted with plane by cambered surface between first arm section and the second arm section.
As the further improved procedure of such scheme, the end face of neighbouring clamping device is provided with hinged seat in the first arm section,
Hinged seat is provided with shaft hole；
Axial centre bore is additionally provided with end face, groove is arranged with the hole wall of centre bore, groove is axially towards end face
Unidirectional the first arm section of insertion in direction, the bottom land of groove be provided with axially through driving rope connecting hole, the 3rd driving rope and the 4th
The end of driving rope is respectively provided with clamping block, and the 3rd driving rope is located in corresponding driving rope connecting hole with 4 wheel driven running rope, clamping
Block is contained in centre bore, and the size of clamping block is more than the diameter of respective slot；
Be additionally provided with first arm section axially through driving rope via.
As the further improved procedure of such scheme, driving rope also includes the 5th driving being fixedly connected with the second arm section
Rope is restricted with the 6th driving, and the 5th driving rope is respectively in the two of the second arm section along the rotation direction of the second arm section with the 6th driving rope
Side；
One end of neighbouring 3rd arm section is provided with cambered surface in second arm section, is provided with the 3rd arm section adjacent to one end of the second arm section
Plane；Or second one end of neighbouring 3rd arm section in arm section be provided with plane, set in the 3rd arm section adjacent to one end of the second arm section
There is cambered surface；
Supported and contacted with plane by cambered surface between the arm sections of second arm Duan Yu tri-.
As the further improved procedure of such scheme, the second arm section is provided with axial direction adjacent to the end face of the first arm section
Heart hole, groove is arranged with the hole wall of centre bore, groove unidirectionally penetrates the second arm section axially towards the direction of end face, groove
Bottom land be provided with axially through driving rope connecting hole, the end of the 5th driving rope and the 6th driving rope is respectively provided with clamping block, the 5th
Driving rope is located in corresponding driving rope connecting hole with the 6th driving, and clamping block is contained in centre bore, and the size of clamping block
More than the diameter of respective slot；
Be additionally provided with the arm sections of second arm Duan Yu tri- axially through driving rope via.
As the further improved procedure of such scheme, in addition to the first bourdon tube, the bourdon tubes of second spring Guan Yu tri-,
Wherein
First bourdon tube is socketed in the outside of the driving rope of driving clamp structure opening and closing, and one end of the first bourdon tube and the
One arm section is fixedly connected；
Second spring pipe sleeve is connected on the outside for the driving rope that the first arm section of driving rotates, and one end of second spring pipe and the
Two arm sections are fixedly connected；
3rd bourdon tube is socketed in the outside for the driving rope that the second arm section of driving rotates, and one end of the 3rd bourdon tube and the
Three arm sections are fixedly connected.
As the further improved procedure of such scheme, in addition to the 4th bourdon tube, the 4th spring housing is socketed in the first bullet
The outside of reed pipe, the bourdon tubes of second spring Guan Yu tri-.
The beneficial effects of the invention are as follows：
The present invention can be used cooperatively with existing digestive endoscopy, real on the premise of existing digestive endoscopy structure is not changed
Now to the lifting of target mucosal, help to reduce the requirement to doctor Personal Skills and experience；Simultaneously mechanical arm motion not by
Limitation, its flexibility moved can be highly improved for existing double instrument channel digestive endoscopies.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the schematic perspective view of one embodiment of the invention；
Fig. 2 is the schematic perspective view that clamping device of the present invention is connected with respective drive rope；
Fig. 3 is the schematic perspective view of first arm section one embodiment of the invention；
Fig. 4 is the top view of first arm section one embodiment of the invention；
Fig. 5 is the schematic perspective view of second arm section one embodiment of the invention；
Fig. 6 is the top view of second arm section one embodiment of the invention；
Fig. 7 is the schematic perspective view of the 3rd arm section one embodiment of the invention；
Fig. 8 is the schematic perspective view that clamping device of the present invention, the first arm section are connected with respective drive rope；
Fig. 9 is the schematic perspective view that of the invention first arm section, the second arm section are connected with respective drive rope；
Figure 10 is the sectional view that of the invention first arm section, the second arm section are connected with respective drive rope；
Figure 11 is the schematic perspective view that of the invention second arm section, the 3rd arm section are connected with respective drive rope；
Figure 12 is the sectional view that of the invention second arm section, the 3rd arm section are connected with respective drive rope.
Embodiment
Carried out below with reference to the design of embodiment and accompanying drawing to the present invention, concrete structure and caused technique effect clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflicting
Under, the feature in embodiment and embodiment in the application can be mutually combined.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " in another feature,
It can directly fix, be connected in another feature, can also indirectly fix, be connected in another feature.In addition, this
The descriptions such as the up, down, left, right, before and after used in invention be only relative in accompanying drawing each part of the present invention it is mutual
For position relationship.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The implication that personnel are generally understood that is identical.Term used in the description is intended merely to describe specific embodiment herein, without
It is to limit the present invention.Term as used herein " and/or " include the arbitrary of one or more related Listed Items
Combination.
Reference picture 1, show the schematic perspective view of one embodiment of the invention.As illustrated, the present invention includes connecting successively
Clamping device 11, the first arm section 12, the second arm section 13 and the 3rd arm section 14 connect, and for driving said mechanism and arm section
Some driving ropes.Under the driving of corresponding driving rope, the reciprocally opened/closed of clamping device 11, so as to realize to target mucosal
Release/clamping；First arm section 12 can drive clamping device 11 to be rotated relative to the second arm section 13, and the second arm section 13 can drive first
Arm section 12 rotates relative to the 3rd arm section 14, and the rotation direction of the first arm section and the second arm section is different, so as to free adjustment
The position of clamping device 11.The present invention can be used cooperatively with existing digestive endoscopy, not change existing digestive endoscopy structure
On the premise of realize lifting to target mucosal, help to reduce the requirement to doctor Personal Skills and experience；Mechanical arm simultaneously
Motion it is unrestricted, its move flexibility can be obtained for existing double instrument channel digestive endoscopies it is larger
Lifting.
Specifically, reference picture 2, Fig. 2 show the schematic perspective view that clamping device of the present invention is connected with respective drive rope.Such as
Shown in figure, clamping device 11 preferably uses single open-type mechanism, including stationary jaw 111 and movable jaw 112, corresponding driving rope
Including the first driving rope 151 and the second driving rope 152.
Stationary jaw 111 is fixedly connected with the first arm section 12, and movable jaw 112 is rotatablely connected with the first arm section 12, as
A kind of preferred scheme of the two rotation connection, clamping device 11 also include rotating shaft 113 and pulley 114, and movable jaw 112 is with sliding
Wheel 114 is fixedly connected with (movable jaw 112 is integrally formed with pulley 114 in the present embodiment), and pulley 114 is fixed with rotating shaft 113 again
Connection, rotating shaft 113 are plugged in the shaft hole in the first arm section 12, rotated by structures such as bearings relative to the first arm section 12.When
So or movable jaw 112 is fixedly connected with pulley 114, is turned between pulley 114 and rotating shaft 113 by structures such as bearings
Dynamic connection, rotating shaft 113 are then fixedly connected with the first arm section 12.
First driving rope 151 and the second driving rope 152 are respectively in movable jaw 112 along the rotation direction of movable jaw 112
Both sides, and be fixedly connected with movable jaw 112.A kind of preferred scheme being fixedly connected as driving rope with movable jaw 112,
The surface of pulley 114 is provided with grooving (not shown) arranged side by side, and the end of grooving is provided with buckling groove (not shown), the size of buckling groove
More than the diameter of grooving.
The end of first the 151, second driving of driving rope rope 152 is respectively provided with clamping block 153, and the first driving rope 151, second drives
Running rope 152 is embedded in corresponding grooving respectively, and clamping block 153 is embedded in the buckling groove of corresponding grooving, as certain side drives
The contraction of rope, movable jaw 112 will rotate towards the side.
Reference picture 3, Fig. 4, respectively illustrate the schematic perspective view and top view of first arm section one embodiment of the invention.Such as
Shown in figure, the end face 121 of neighbouring clamping device 11 is provided with hinged seat 122 in the first arm section 12, and hinged seat 122 is provided with and rotating shaft
The shaft hole 123 of 113 connections.The end face 129 away from clamping device 11 is cambered surface in first arm section 12.
Axial centre bore 124 is additionally provided with end face 121, groove 125, groove are arranged with the hole wall of centre bore 124
125 axially towards end face 121 direction unidirectionally penetrate the first arm section 12.The bottom land of groove 125 is provided with axially through the first arm section
12 driving rope connecting hole 126, be additionally provided with end face 121 axially through driving rope via 127.
Wherein, driving rope via 127 preferably includes two parts, i.e. the first hole 1271 of proximate end face 121 and remote end face
121 the second hole 1272, the first hole 1271 and the second hole 1272 are interconnected, and the diameter in the first hole 1271 is less than the second hole
1272 diameter.In addition, being additionally provided with grooving 128 in the side wall of the first arm section 12, grooving 128 radially gos deep into the first arm section 12
Until exposing the second hole 1272.
Reference picture 5, Fig. 6, respectively illustrate the schematic perspective view and top view of second arm section one embodiment of the invention.Such as
Shown in figure, the second arm section 13 is plane adjacent to the end face 131 of the first arm section 12, and the end face 132 away from the first arm section 12 is cambered surface.
It is similar with the first arm section 12, it is again provided with centre bore 133 in the second arm section 13, it is symmetrical on the hole wall of centre bore 133
Provided with groove 134, groove 134 unidirectionally penetrates the second arm section 13 axially towards the direction of end face 131.The bottom land of groove 134 is provided with
Axially through the driving rope connecting hole 135 of the second arm section 13, driving corresponding with driving rope via 127 is additionally provided with end face 131
Rope via 136, and driving rope via 137 corresponding with driving rope connecting hole 126.
The diameter of driving rope via 136 is not less than the diameter in the second hole 1272, driving rope via 137 and driving rope via
127 is similar, same to have the first hole 1371 and the second hole 1372, and the first hole 1371 and the second hole 1372 are interconnected, and first
The diameter in hole 1371 is less than the diameter in the second hole 1372.In addition, it is again provided with grooving 138, grooving in the side wall of the second arm section 13
138 shape is advisable with depth with exposing the second hole 1372.
Reference picture 7, show the schematic perspective view of the 3rd arm section one embodiment of the invention.As illustrated, the 3rd arm section
14 include pedestal 141 and pedestal 142, are connected between pedestal 141 and pedestal 142 by connecting rod 143, pedestal 141 is adjacent to the second arm
The end face 1411 of section 13 is plane.
The driving rope via 136 corresponding with pedestal 142 of pedestal 141 is provided with driving rope via 144, and corresponding second hole 1372 is set
There are driving rope via 145, and the driving rope via 146 of corresponding driving rope connecting hole 135, wherein driving rope via 144 is straight
Footpath drives the diameter of rope via 145 to be not less than the diameter in the second hole 1372 not less than the diameter of driving rope via 136.
Driving rope via 146 on pedestal 142 is equally divided into the first hole 1461 and the second hole 1462, the first hole 1461
It is interconnected with the second hole 1462, and the diameter in the first hole 1461 is less than the diameter in the second hole 1462.In addition, the side of pedestal 142
Wall is provided with grooving 1421, and grooving 1421 radially gos deep into the 3rd arm section 14 until exposing the second hole 1462.
Reference picture 8, show the schematic perspective view that clamping device of the present invention, the first arm section are connected with respective drive rope.Such as
Shown in figure, the stationary jaw 111 of clamping device 11 is fixedly connected with the first arm section 12, and movable jaw 112 passes through rotating shaft and first
Arm section 12 is rotatablely connected.
First driving rope 151 with second driving restrict 152 pass through the first arm section 12 on driving rope via 127 after with being not shown
Power set connection.The present invention is preferably also provided with carrying out Flexible Control and the spacing bourdon tube in space for restricting to driving.Tool
Body, bourdon tube includes the first bourdon tube 161 of corresponding first driving rope 151 and the second driving rope 152, the first bourdon tube 161
It is plugged in the second hole 1272 in the first arm section 12, and is socketed in the outside of the first driving rope 151 and the second driving rope 152,
And first the top of bourdon tube 161 be fixedly connected with the first arm section 12.
With reference to and Fig. 9, Figure 10, respectively illustrate of the invention first arm section, the second arm section is connected with respective drive rope stands
Body schematic diagram and sectional view, concealed spring pipe in Figure 10.As illustrated, the arm section 13 of end face 129 and second of the first arm section 12
End face 131 is mutually supported, and the rotation between the first arm section 12 and the second arm section 12 can be realized by the cooperation of cambered surface and plane,
Due to being therebetween linear contact lay, the active force for not having other obstruction rotations in addition to frictional force, therefore the rotation ten between arm section
Divide flexible.It is of course also possible to it is that plane is set in the first arm section 12 and cambered surface is set in the second arm section 13.
The driving rope for driving the first arm section 12 to rotate includes the 3rd driving rope 154 and 4 wheel driven running rope 155, the 3rd driving rope
154 and rotation direction of the 4 wheel driven running rope 155 along the first arm section 12 be respectively in the both sides of the first arm section 12, and with the first arm section 12
It is fixedly connected.A kind of preferred scheme, the 3rd driving rope 154 and 4 wheel driven running rope are fixedly connected with the first arm section as driving rope
155 end is respectively provided with clamping block 156.The tail end of 3rd driving rope 154 and 4 wheel driven running rope 155 is each passed through the first arm section 12
On driving rope connecting hole 126 after be connected with unshowned power set, positioned at the 3rd driving rope 154 and 4 wheel driven running rope 155
The clamping block 156 of head end is then contained in centre bore 124, because the size of clamping block 156 is more than the diameter of respective slot 125,
Driving rope can pull the first arm section 12 to rotate.
Preferably, the depth of grooves on two sides 125 differs, so that axial direction of the clamping block 156 of both sides along the first arm section 12
Distribution, help to reduce the diameter of centre bore 124, realize the miniaturization of mechanical arm.
In addition, the corresponding 3rd driving rope 154 of the present invention and 4 wheel driven running rope 155 are additionally provided with second spring pipe 162, the second bullet
Reed pipe 162 is plugged in the second hole 1372 in the second arm section 13, and is socketed in the 3rd driving rope 154 and 4 wheel driven running rope 155
Outside, and the top of second spring pipe 162 is fixedly connected with the second arm section 13.
Reference picture 11, Figure 12, respectively illustrate the second arm section of the present invention, the solid that the 3rd arm section is connected with respective drive rope
Schematic diagram and sectional view, concealed spring pipe in Figure 12.It is as illustrated, same using flat between the second arm section 13 and the 3rd arm section 14
The cooperation of face and cambered surface, which is realized, to be rotated.
The driving rope for driving the second arm section 13 to rotate includes the 5th driving rope 157 and the 6th driving rope 158, the 5th driving rope
157 and the 6th both sides for being respectively in the second arm section 13 along the rotation direction of the second arm section 13 of driving rope 158, and with the second arm section 13
It is fixedly connected, fixed connection mode of the fixed connection mode between driving rope, the second arm section 13 preferably between the first arm section 12, the second arm section 13
Identical, i.e., the end of the 5th driving rope 157 and the 6th driving rope 158 is respectively provided with clamping block 159, the 5th driving rope 157 and the 6th
It is connected after the driving rope connecting hole 135 that the tail end of driving rope 158 is each passed through in the second arm section 13 with unshowned power set,
Clamping block 159 positioned at the 5th driving rope 157 and the 6th driving 158 head ends of rope is then contained in centre bore 133, due to clamping block
159 size is more than the diameter of respective slot 134, and driving rope can pull the second arm section 13 to rotate.
In addition, the corresponding driving rope 158 of 5th driving rope 157 and the 6th of the present invention is additionally provided with the 3rd bourdon tube 163, the 3rd bullet
Reed pipe 163 is plugged in the second hole 1462 in the 3rd arm section 14, and is socketed in the 5th driving rope 157 and the 6th driving rope 158
Outside, and the top of the 3rd bourdon tube 163 is fixedly connected with the 3rd arm section 14.
Reference picture 1, Figure 11 and Figure 12, first the 151, second driving of driving rope rope 152 sequentially pass through with the first bourdon tube 161
The driving in the driving rope arm section 14 of via 136 and the 3rd on driving rope via 127, the second arm section 13 in first arm section 12
Rope via 144.3rd driving rope 154,4 wheel driven running rope 155 sequentially pass through the drive in the second arm section 13 with second spring pipe 162
Driving rope via 145 in the arm section 14 of running rope via 137 and the 3rd.The driving rope 158 and the 3rd of 5th driving rope the 157, the 6th
Bourdon tube 163 is through the driving rope via 146 in the 3rd arm section 14, so as to realize the first arm section 12, the second arm section 13 and the 3rd
The series connection of arm section 14.
In addition, the present invention is additionally provided with the 4th bourdon tube 164, the 4th bourdon tube 164 be socketed in above-mentioned first bourdon tube 161,
The outside of second spring pipe 162, the 3rd bourdon tube 163.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent variations on the premise of without prejudice to spirit of the invention or replace
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of mechanical arm with lifting function, it is characterised in that including some driving ropes, and the clamping being sequentially connected
Mechanism, the first arm section, the arm sections of the second arm Duan Yu tri-, wherein, under the driving of the corresponding driving rope, the clamping device
Reciprocally opened/closed, the first arm section can drive the clamping device to be rotated relative to the second arm section, second arm
Section can drive the first arm section to be rotated relative to the 3rd arm section, and the rotation side of the first arm section and the second arm section
To different.
2. the mechanical arm according to claim 1 with lifting function, it is characterised in that the clamping device includes fixing
Clamping jaw and movable jaw, the driving rope include the first driving rope and restricted with the second driving, the stationary jaw and first arm
Section is fixedly connected, and the movable jaw and the first arm section rotation connection, the first driving rope are restricted along institute with the second driving
The rotation direction for stating movable jaw is respectively in the both sides of the movable jaw, to drive the relatively described geometrical clamp of the movable jaw
Pawl carries out clamping movement.
3. the mechanical arm according to claim 2 with lifting function, it is characterised in that the clamping device also includes turning
Axle and pulley, the first driving rope, the second driving rope are fixedly connected with the pulley respectively；
The movable jaw is fixedly connected with pulley, and the pulley is connected with the axis of rotation, the rotating shaft and described first
Arm section is fixedly connected；
Or the pulley is fixedly connected with the rotating shaft, the rotating shaft is rotatablely connected with the first arm section.
4. the mechanical arm according to claim 3 with lifting function, it is characterised in that the surface of the pulley is provided with simultaneously
The grooving of row, the end of the grooving are provided with buckling groove, and the first driving rope, the second driving rope are embedded in corresponding institute respectively
State in grooving, the first driving rope, the end of the second driving rope are respectively provided with clamping block, and the clamping block is embedded corresponding described
In the buckling groove of grooving.
5. the mechanical arm according to any one of claim 1 to 4 with lifting function, it is characterised in that the driving
Rope also includes the 3rd driving rope being fixedly connected with the first arm section and 4 wheel driven running rope, the 3rd driving rope and 4 wheel driven
Rotation direction of the running rope along the first arm section is respectively in the both sides of the first arm section；
One end of the neighbouring second arm section is provided with cambered surface in the first arm section, adjacent to first arm in the second arm section
One end of section is provided with plane；Or one end of the neighbouring second arm section is provided with plane, second arm in the first arm section
One end of the neighbouring first arm section is provided with cambered surface in section；
Supported and contacted with the plane by the cambered surface between the first arm section and the second arm section.
6. the mechanical arm according to claim 5 with lifting function, it is characterised in that neighbouring institute in the first arm section
The end face for stating clamping device is provided with hinged seat, and the hinged seat is provided with shaft hole；
Axial centre bore is additionally provided with the end face, is arranged with groove on the hole wall of the centre bore, the groove is along axle
Unidirectionally penetrate the first arm section to the direction towards the end face, the bottom land of the groove be provided with axially through driving rope connect
The end of hole, the 3rd driving rope and 4 wheel driven running rope is respectively provided with clamping block, and the 3rd driving rope is worn with 4 wheel driven running rope
It is located in the corresponding driving rope connecting hole, the clamping block is contained in the centre bore, and the size of the clamping block is big
In the diameter of the corresponding groove；
Be additionally provided with the first arm section axially through driving rope via.
7. the mechanical arm according to any one of claim 1 to 4 with lifting function, it is characterised in that the driving
The 5th driving rope that rope also includes being fixedly connected with the second arm section is restricted with the 6th driving, and the 5th driving rope drives with the 6th
Rotation direction of the running rope along the second arm section is respectively in the both sides of the second arm section；
One end of the neighbouring 3rd arm section is provided with cambered surface in the second arm section, adjacent to second arm in the 3rd arm section
One end of section is provided with plane；Or one end of the neighbouring 3rd arm section is provided with plane, the 3rd arm in the second arm section
One end of the neighbouring second arm section is provided with cambered surface in section；
Supported and contacted with the plane by the cambered surface between the second arm section and the 3rd arm section.
8. the mechanical arm according to claim 7 with lifting function, it is characterised in that the second arm section is neighbouring described
The end face of first arm section is provided with the centre bore of axial direction, is arranged with groove on the hole wall of the centre bore, and the groove is along axle
Unidirectionally penetrate the second arm section to the direction towards the end face, the bottom land of the groove be provided with axially through driving rope connect
The end of hole, the 5th driving rope and the 6th driving rope is respectively provided with clamping block, and the 5th driving rope is worn with the 6th driving
In the corresponding driving rope connecting hole, the clamping block is contained in the centre bore, and the size of the clamping block is more than
The diameter of the corresponding groove；
Be additionally provided with the arm sections of second arm Duan Yu tri- axially through driving rope via.
9. the mechanical arm according to any one of claim 1 to 4 with lifting function, it is characterised in that also including
One bourdon tube, the bourdon tubes of second spring Guan Yu tri-, wherein
First bourdon tube is socketed in the outside for the driving rope for driving the clamp structure opening and closing, and first spring
One end of pipe is fixedly connected with the first arm section；
The second spring pipe sleeve is connected on the outside for the driving rope for driving the first arm section to rotate, and the second spring
One end of pipe is fixedly connected with the second arm section；
3rd bourdon tube is socketed in the outside for the driving rope for driving the second arm section to rotate, and the 3rd spring
One end of pipe is fixedly connected with the 3rd arm section.
10. the mechanical arm according to claim 9 with lifting function, it is characterised in that also including the 4th bourdon tube, institute
State the 4th spring housing and be socketed in first bourdon tube, the outside of the bourdon tubes of second spring Guan Yu tri-.
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| CN201710676886.5A CN107495990A (en) | 2017-08-09 | 2017-08-09 | A kind of mechanical arm with lifting function |
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| CN201710676886.5A CN107495990A (en) | 2017-08-09 | 2017-08-09 | A kind of mechanical arm with lifting function |
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| CN107495990A true CN107495990A (en) | 2017-12-22 |
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| CN109381244A (en) * | 2018-11-16 | 2019-02-26 | 深圳市罗伯医疗科技有限公司 | A kind of lifting arm and its control method |
| CN110236676A (en) * | 2018-03-09 | 2019-09-17 | 深圳市精锋医疗科技有限公司 | Operating robot |
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Effective date of registration: 20180130 Address after: Nanshan District Guangdong streets, Shenzhen city 518000 Guangdong Province Road No. 3, No. 1 building, the Great Wall computer building 2 floor C 201 Applicant after: SHENZHEN ROBO MEDICAL TECHNOLOGY CO., LTD. Address before: 2, C building, building 1, building 3, the Great Wall computer tower, No. 518000, FA FA Road, Shenzhen, Guangdong, Nanshan District Applicant before: Shenzhen rob Medical Robot Research Institute |