CN109288588A - The unlocking mechanism of operating robot mechanical arm - Google Patents
The unlocking mechanism of operating robot mechanical arm Download PDFInfo
- Publication number
- CN109288588A CN109288588A CN201811169619.XA CN201811169619A CN109288588A CN 109288588 A CN109288588 A CN 109288588A CN 201811169619 A CN201811169619 A CN 201811169619A CN 109288588 A CN109288588 A CN 109288588A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- stamp card
- fixing seat
- buckle
- stamp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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 a kind of unlocking mechanisms of operating robot mechanical arm, including mechanical arm, slide unit and stamp card mounting rack, slide unit is located at the end of mechanical arm, the stamp card mounting rack includes fixed frame and fixing seat, fixed frame is fixed on the mounting plate of slide unit, fixing seat is equipped with stamp card device for quickly disassembling and mechanical arm unblock button, wherein stamp card device for quickly disassembling includes the rectangular location hole for the rectangular locating piece insertion of stamp card；Mechanical arm unblock button and mechanical arm, which are powered, to be connected, and can be unlocked to the movement of mechanical arm.Mechanical arm unblock button of the invention is in the operation preparation stage or completes the stage, it only needs that mechanical arm can be unlocked with a finger of a hand, and while slide unit is docked or dismantled with stamp card by this hand cooperation another hand, it is able to maintain the lasting unlock of mechanical arm.Stamp card device for quickly disassembling of the invention, can not only be quickly located and be fixed to stamp card, moreover it is possible to carry out fast quick-detach to stamp card, work efficiency is high.
Description
Technical field
The invention belongs to the field of medical instrument technology, are related to a kind of unlocking mechanism of operating robot mechanical arm.
Background technique
It improves with the development of science and technology, " minimally invasive " this concept has been deep into the various fields of surgical operation.It is minimally invasive
Operation refers to the operation using the modern medical equipments such as laparoscope, thoracoscope and relevant device progress, the small, pain with wound
Gently, restore fast superiority.Stamp card is the tool used in laparoscope or thoracoscopic operation, is inserted into skin using one end of time stamp card
Skin, the other end need to be fixed on skin surface.Most of stamp card that the country uses at present is without fixed device, and pole holds during surgery
Easily sliding, loose shift, or even when appearance operation progress half, stamp card is deviate from or slides into too deep phenomenon, seriously affects
Surgical procedure is delayed operating time.Domestic hospitals often maintain operation to carry out using the method for correcting stamp card position repeatedly, but
Merging can make stomach wall form multiple Y shape ducts repeatedly, and peritonaeum breach increases, and easily form pneumoderm in art.
When needing using stamp card, first wrapping layer is wrapped on the outer wall of stamp card ontology, and tight by fixed agraffe device
Button, then by merging stamp card ontology after incision of skin, wrapping layer is sewn on the skin of body operation otch with operation suture thread, it will
Stamp card ontology is fixed on stomach wall, prevents stamp card ontology activity, is conducive to the operation of doctor.
Since stamp card is constantly in stationary state, in the operation preparation stage or completes the stage, need constantly mechanically moving
Arm, and by mechanical arm slide unit with stamp card docked when, therefore, in the prior art, then need ceaselessly to debug mechanical arm
Position, it is time-consuming and laborious and need another operator cooperation, inefficiency；Currently, a kind of device can not yet
Mechanical arm can be unlocked with a hand, and slide unit is docked or dismantled with stamp card in a hand cooperation another hand
Meanwhile keeping the lasting unlock of mechanical arm.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of unlocking mechanism of operating robot mechanical arm, the mechanism energy
Enough keys unlock mechanical arm, and driving machinery arm simultaneously drives slide unit to be docked with stamp card, can solve lock machine with a hand
Tool arm, and while slide unit is docked or dismantled with stamp card by a hand cooperation another hand, keep continuing for mechanical arm
Unlock.
The present invention provides a kind of unlocking mechanisms of operating robot mechanical arm, including mechanical arm, slide unit and stamp card installation
Frame, slide unit are located at the end of mechanical arm, and the stamp card mounting rack includes fixed frame and fixing seat, and fixed frame is fixed on the peace of slide unit
In loading board, fixing seat is equipped with stamp card device for quickly disassembling and mechanical arm unblock button, wherein stamp card device for quickly disassembling includes for stamp card
The rectangular location hole of rectangular locating piece insertion；Mechanical arm unblock button and mechanical arm, which are powered, to be connected, and can be to the fortune of mechanical arm
It is dynamic to be unlocked.
In one embodiment, the side for stabbing the rectangular locating piece of card is equipped with claw limiting section, and stamp card device for quickly disassembling includes
The one side wall of sequentially connected pusher button, push rod and buckle, fixing seat is equipped with for the perforative hole of pusher button, and opposite is another
One side wall is equipped with the accommodating chamber of buckle, and by pressing pusher button, pusher button can make to buckle far from receiving by push rod
Chamber is caught in buckle limiting section.
In one embodiment, the mechanical arm unblock button is located at the side with accommodating chamber of fixing seat.
In one embodiment, the outer cover of the push rod is equipped with compressed spring, and one end of compressed spring is connected to push rod
On button, the other end is connected on the inner sidewall of fixing seat.
In one embodiment, buckle includes buckle arm and claw, buckles one end connection push rod of arm, and the other end is equipped with hook
The claw in shape portion, for buckle arm perpendicular to push rod, the hook portion of claw is parallel with push rod and extends to fixing seat internal direction.
In one embodiment, the two sides for stabbing the rectangular locating piece of card are equipped with claw limiting section, stab Ka Kuaichaizhuanzhibao
Press head and buckle are included, the top of press head is located at fixing seat upper end and the axial movement along fixing seat, the lower portion of press head
It is equipped with boss in fixing seat and two sides, the two sides of fixing seat are equipped with the mounting portion for disposing buckle, are equipped in mounting portion perpendicular
Straight rotary shaft, one end of buckle are set in rotary shaft and rotate around rotary shaft；Two buckles are connected on the boss of press head,
And two are buckled between rotary shaft one end and are also connected with extension spring；Press head is pressed, press head drags boss far from buckle
One end, extension spring shrink and pull one end of buckle along rotary shaft rotate open.
In one embodiment, boss, which has, blocks inclined inclined-plane along stamp；One end of buckle is equipped with along inclining far from stamp card
Oblique guiding inclination, the tilt angle on boss inclined-plane and the tilt angle of guiding surface are complementary, and the other end of buckle is equipped with hook-shaped
Portion's claw.
In one embodiment, the rear end of fixing seat is equipped with fixing seat rear shell, and the mechanical arm unblock button, which is located at, fixes
Seat rear shell.
In one embodiment, stamp card device for quickly disassembling further includes the pressing lever and pressing lever plate positioned at fixed base rear end, is pressed
One end of compression bar is fixedly connected with press head, and the other end shuttles in pressing lever plate；After the upper end of pressing lever plate is fixed on fixed frame
On the mounting rack at end, lower end is equipped with the hole shuttled for pressing lever.
In one embodiment, the outer cover of pressing lever is equipped with compressed spring, and one end of compressed spring is connected to press head
On, the other end is connected on pressing lever plate.
Compared with the prior art, the advantages of the present invention are as follows: stamp card device for quickly disassembling and mechanical arm unblock button of the invention
It is all located in the fixing seat of stamp card mounting rack, therefore, in the operation preparation stage or completes the stage, it is only necessary to one of a hand
Finger can unlock mechanical arm, and while slide unit is docked or dismantled with stamp card by this hand cooperation another hand,
It is able to maintain the lasting unlock of mechanical arm.In addition, stamp card device for quickly disassembling of the invention, it is rapidly fixed to carry out to stamp card
Position and fixed, simultaneously, moreover it is possible to fast quick-detach be carried out to stamp card, work efficiency is high.
Detailed description of the invention
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.Wherein:
Fig. 1 is the combination stereogram (unilateral clamping structure) of present invention stamp card mounting rack and stamp card；
Fig. 2 is the perspective view that card mounting rack is stabbed in Fig. 1；
Fig. 3 is the perspective view that card is stabbed in Fig. 1；
Fig. 4 is the combination stereogram of unilateral clamping structure and stamp card mounting rack in Fig. 1；
Fig. 5 is the combination top view of unilateral clamping structure and stamp card mounting rack in Fig. 1；
Fig. 6 is that stamp card mounting rack has the perspective view close to switch in Fig. 1；
Fig. 7 is the combination stereogram (bilateral clamping structure) of present invention stamp card mounting rack and stamp card；
Fig. 8 is the perspective view that card mounting rack is stabbed in Fig. 7；
Fig. 9 is the perspective view that card is stabbed in Fig. 7；
Figure 10 is the combination stereogram (the second buckle is not shown) of bilateral clamping structure and stamp card mounting rack in Fig. 7；
Figure 11 is the explosive view of press head in Fig. 7, pressing lever, pressing lever plate and the combination of the second compressed spring；
Figure 12 is the perspective view (pressing lever plate is not shown) of bilateral clamping structure in Fig. 7；
Figure 13 is the closed configuration figure of the second buckle in Fig. 7；
Figure 14 is the open configuration figure of the second buckle in Fig. 7；
Figure 15 is that stamp card mounting rack has the perspective view close to switch in Fig. 7.
Identical component uses identical appended drawing reference in the accompanying drawings.The attached drawing is not drawn according to the actual ratio.
Description of symbols: 1- fixed frame；2- fixing seat；The rectangular location hole of 21-；22- accommodating chamber；23- mounting portion；24-
Fixing seat rear shell；3- stamp card；The rectangular locating piece of 31-；32- claw limiting section；The second plane of 33-；The unilateral side 4- clamping structure；41-
Pusher button；42- push rod；The first compressed spring of 421-；43- first is buckled；431- buckles arm；432- claw；433- first is flat
Face；5- bilateral clamping structure；51- press head；511- boss；512- boss inclined-plane；52- pressing lever；The second compressed spring of 521-；
53- pressing lever plate；531- presses rod aperture；54- second is buckled；541- guiding surface；542- extension spring；55- pressing lever plate peace
It shelves；6- mechanical arm unblock button；The close switch of 7-；71- detection hole；72- tight fixed bolt.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.To the present invention, how applied technology method solves skill whereby
Art problem, and the realization process for reaching technical effect can be fully understood and implemented.It should be noted that as long as there is no punchings
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.
The descriptions such as the "vertical" mentioned in the present embodiment, "horizontal", " top ", " lower section ", " top ", " bottom end " be according to
Common meaning and define, for example, the direction definition of reference to gravitational, it is identical as gravity direction be it is vertical, hang down with gravity direction
Be directly it is horizontal, the direction of gravity is lower section, and opposite direction is top, similarly above be top or top, under
Side is bottom or bottom end, is also only and is illustrated convenient for narration, rather than to limit the scope of the invention, relativeness
Be altered or modified, it is under the content of no substantial changes in technology, as described in the examples also when being considered as the enforceable scope of the present invention
" first " and " second " also for facilitate narration and define.
A kind of operating robot stamp card device connection status detection, wherein operating robot includes trolley, column, stretches
Arm, mechanical arm, slide unit, instrument and stamp card 3, in the attached drawing of the present embodiment, do not show that trolley, column, telescopic arm, mechanical arm
With the structure of slide unit.Column is mounted on the trolley pedestal of trolley, and monosymmetric in column is equipped with telescopic arm, Mei Geshen
A mechanical arm is connected on contracting arm, each mechanical arm is equipped with a slide unit, and slide unit is equipped with stamp card 3 and instrument, instrument can
Block 3 pairs of human bodies implementation operations with the stamp that moves through of slide unit.
Specifically, as shown in Figure 1 and Figure 7, stamp card 3 by stamp card mounting rack is fixedly mounted on the bottom end of slide unit (slide unit is not
Show), stamp card mounting rack includes fixed frame 1 and fixing seat 2, and fixed frame 1 is fixed in the mounting plate (not shown) of slide unit,
Fixing seat 2 is located at the lower end of fixed frame 1 and protrudes from fixed frame 1, as shown in Figure 2 and Figure 8, fixing seat 2 it is square-shaped and its in
Portion is recessed with rectangular location hole 21, and as shown in Figure 3 and Figure 9, the head of stamp card 3 is in the end face projection being in contact with stamp card mounting rack
There is rectangular locating piece 31, rectangular locating piece 31 is inserted among rectangular location hole 21, to prevent stamp card 3 and stamp card mounting rack
Between movement and rotation up and down, complete stamp card 3 with stab card mounting rack it is circumferentially positioned.
Stamp card 3 with stamp card mounting rack it is circumferentially positioned after, in order to prevent stamp card 3 rectangular locating piece 31 and rectangular location hole
Therefore 21 axial movement is equipped with stamp card device for quickly disassembling on stamp card mounting rack, in the present embodiment, stab Ka Kuaichaizhuanzhibao
Include two kinds of structure types: one is unilateral clamping structures 4 (as shown in Figures 1 to 6), and one is 5 (such as Fig. 7 of bilateral clamping structure
To shown in Figure 15).Two kinds of stamp card device for quickly disassembling will be described in detail below.
First way, unilateral clamping structure 4.
As shown in Figure 4 and Figure 5, unilateral clamping structure 4 includes pusher button 41, push rod 42 and the first buckle 43, and push rod is pressed
The both ends that button 41 and the first buckle 43 are individually fixed in push rod 42, pusher button 41 and push rod 42 can be structure as a whole design
It can be separate structure design, in the present embodiment, push rod 42 and pusher button 41 are structure as a whole design, in unilateral clamping knot
In structure 4, the structure of fixing seat 2 are as follows: one side wall is equipped with for the perforative hole of pusher button 41, and opposite another side wall is equipped with the
The outer cover of the accommodating chamber 22 (as shown in Figure 2) of one buckle 43, push rod 42 is equipped with the first compressed spring 421, further, push rod
Button 41 passes through the hole of 2 side of fixing seat and part and is located at the outside of fixing seat 2, is partially located at the inside of fixing seat 2, the first card
Button 43 is located in the accommodating chamber 22 of 2 other side of fixing seat, and push rod 42 and the first compressed spring 421 are located at the inside of fixing seat 2；By
It is greater than the diameter of push rod 42 in the diameter of pusher button 41, therefore one end of the first compressed spring 421 is connected to pusher button 41
On, the other end is fixedly connected on the inner wall of fixing seat 2, further, when the pusher button 41 of pressing 2 one side of fixing seat
When, pusher button 41 pushes push rod 42, the compression of the first compressed spring 421, and push rod 42 further makes the first buckle 43 to far from solid
The direction of reservation 2 is mobile, at this point, the rectangular locating piece 31 of stamp card 3 just can be inserted into rectangular location hole 21, then, release is pushed away
Bar button 41, since one end of the first compressed spring 421 outside push rod 42 is fixed on the inside of fixing seat 2, compressed
The first compressed spring 421 make push rod 42 and first to buckle 43 mobile toward the direction of pusher button 41 under spring force；
Further, the first buckle 43 includes buckle arm 431 and claw 432, buckles the extending direction and rectangular location hole 21 of arm 431
Axial identical, one end of buckle arm 431 is connect with push rod 42, and the other end is equipped with the claw 432 of crook, the hook portion of claw 432
It is parallel with push rod 42 and to 2 internal direction of fixing seat extend, stamp card 3 head with first buckle 43 corresponding sides be equipped with card
Pawl limiting section 32, claw limiting section 32 is corresponding with claw 432, and the claw 432 of crook can be with the movement of the first buckle 43
In the claw limiting section 32 for snapping onto 3 heads of stamp card.
Further, as shown in figure 5, claw 432 includes the first plane 433, as shown in figure 3, claw limiting section 32 includes
Second plane 33, wherein the first plane 433, the second plane 33 and the mounting plate (not shown) of slide unit are parallel to each other, and work as card
When pawl 432 is caught in claw limiting section 32, the first plane 433 and fixing seat 2 of claw 432 can limit the of claw limiting section 32
The axial movement of two planes 33.To prevent the axial movement between stamp card 3 and stamp card mounting rack, stamp card 3 and stamp card peace are completed
The axially position shelved.
Therefore, the cooperation by the rectangular location hole 21 of the rectangular locating piece 31 and fixing seat 2 of stamp card 3 and the first card
The claw 432 of button 43 and the claw limiting section 32 of stamp card 3 cooperate, and realize that stamp card 3 and the circumferential and axial of stamp card mounting rack position,
To prevent stamp card 3 to be dragged out.When operation is completed to need to dismantle stamp card 3, the thumb of proficiency presses pusher button 41, push rod
Button 41 pushes push rod 42 and the first buckle 43 mobile, at this point, the claw 432 of the first buckle 43 leaves claw limiting section 32, stabs
The axial direction of card 3 is no longer limited, and another hand holds stamp card 3, and the rectangular locating piece 31 of stamp card 3 is pulled out from rectangular location hole 21
Out, the separation of stamp card 3 with stamp card mounting rack can be completed.
The second way, bilateral clamping structure 5.
As shown in Figure 10 and Figure 11, bilateral clamping structure 5 includes press head 51, pressing lever 52, pressing lever plate 53 and second
Buckle 54.Wherein, the junction of the upper end of fixing seat 2 and fixed frame 1, which is equipped with, is axially moved for press head 51 along fixing seat 2
Hole, the lower part of press head 51 are located in fixing seat 2 and are equipped with boss 511, and there are two the tools of boss 511 and is symmetrically positioned in press head 51
The two sides of lower part, pressing lever 52 is located at the inside of fixing seat 2, and one end of pressing lever 52 is fixedly connected with press head 51, pressing lever
52 seperated with press head 51 can design, and can be structure as a whole design, and in the present embodiment, pressing lever 52 is with press head 51
Integral structure design, pressing lever plate 53 are located at the rear end of fixing seat 2, and it is convex that the upper end of pressing lever plate 53 is fixed on 1 rear end of fixed frame
On pressing lever board mounting stand 55 out, the lower end of pressing lever plate 53 is equipped with pressing rod aperture 531, pressing rod aperture 531 can allow for by
Compression bar 52 shuttles, and the outer cover of pressing lever 52 is equipped with the second compressed spring 521, one end of the second compressed spring 521 be connected to by
On pressure head 51, the other end is connected on pressing lever plate 53, and when pressing press head 51, press head 51 pushes the insertion of pressing lever 52 to press
In the pressing rod aperture 531 of pressing plate, the second compressed spring 521 is pressurized, and press head 51 can be along fixation by the second compressed spring 521
Relatively fixed frame 1 is pressed into and pops up on the axial direction of seat 2.
Further, as shown in Figure 10, the two sides of fixing seat 2 are respectively equipped with the mounting portion 23 for accommodating the second buckle 54
And two mounting portions 23 are symmetrical, the second buckle 54 also is provided with two and is separately mounted in mounting portion 23, in addition, as shown in figure 9,
The two sides of the rectangular locating piece 31 on the head of stamp card 3 are respectively provided with a claw limiting section 32, are equipped in each mounting portion 23
One rotary shaft (not shown), rotary shaft just extend vertically, equipped with a rotation that is parallel with fixed frame 1 and extending vertically
One end of axis, the second buckle 54 is respectively set in the rotary shaft of side and can rotate along rotary shaft, to keep the second buckle 54 another
The claw 432 of one end can be caught in or leave the claw limiting section 32 of the stamp card corresponding side in 3 heads.
Specifically, there is boss inclined-plane 512, the inclined direction on boss inclined-plane 512 blocks 3 from fixed frame 1 to stamp on boss 511
Direction inclination, second buckle 54 be socketed in rotary shaft one end be equipped with guiding surface 541, the inclined direction of guiding surface 541 with
The inclined direction on boss inclined-plane 512 is on the contrary, guiding surface 541 is complementary with the tilt angle on boss inclined-plane 512, therefore guiding surface
541 can be bonded completely with boss inclined-plane 512, in addition, as shown in figure 12, being additionally provided with extension spring between two second buckles 54
542, the drag hook at the both ends of extension spring 542 is separately connected two second one end of buckle 54 with guiding surface 541.
As shown in figure 14, when pressing press head 51, the second compressed spring 521 is compressed, and press head 51 is to fixed frame 1
Direction is moved, at this point, the boss 511 of 51 lower part of press head is moved with press head 51 to the internal direction of fixed frame 1, boss inclined-plane
512 slide along guiding surface 541, and at this point, the spring contraction power of extension spring 542 makes two second buckles 54 have guiding oblique
The one end in face 541 closes up to the center of fixing seat 2, and the second buckle 54 is rotated around rotary shaft, the claw of second 54 other ends of buckle
432 open to the direction far from fixing seat 2, then, the rectangular locating piece 31 on 3 heads of stamp card are inserted into the rectangular fixed of fixing seat 2
In the hole 21 of position, later, as shown in figure 13, press head 51 is unclamped, press head 51 is under the action of the second compressed spring 521 to fixation
The direction of seat 2 is mobile, and the boss 511 of press head 51 is also mobile to the direction of fixing seat 2 therewith, as boss inclined-plane 512 is to admittedly
The movement in 2 direction of reservation gradually squeezes guiding surface 541, to make the second buckle 54 rotate around rotary shaft, until two second
The hook portion of the claw 432 of buckle 54 is snapped onto respectively in the claw limiting section 32 of stamp 3 both sides of the heads of card, and at extension spring 542
In stress tensional state.
The knot of the claw limiting section 32 on 3 heads of the structure of the claw 432 of the second buckle 54 and stamp card in bilateral clamping structure 5
Structure is identical as 432 structure of claw of unilateral clamping structure 4 and the stamp card structure of claw limiting section 32 on 3 heads, no longer superfluous herein
It states.When the claw 432 of two sides is respectively clamped into the claw limiting section 32 of stamp 3 both sides of the heads of card, the first plane 433 of claw 432
The axial movement of the second plane 33 of claw limiting section 32 can be limited with fixing seat 2.To prevent stamp card 3 and stamp card mounting rack
Between axial movement, complete stamp card 3 with stamp card mounting rack axially position.
Similarly, by stamp card 3 rectangular locating piece 31 and fixing seat 2 rectangular location hole 21 cooperation, realize stamp card 3 with
Stab card mounting rack it is circumferentially positioned, second buckle 54 claw 432 and stamp card 3 claw limiting section 32 cooperate, realize stamp card 3 with
The axially position of card mounting rack is stabbed, so that stamp card 3 be prevented to be dragged out.When operation is completed to need to dismantle stamp card 3, the big thumb of proficiency
Finger presses press head 51, and the no longer support guide inclined-plane 541 of boss 511 makes two second buckles 54 in the effect of extension spring 542
Under open again, at this point, the claw 432 of the second buckle 54 leaves claw limiting section 32, the axial direction of stamp card 3 is no longer limited, separately
One hand holds stamp card 3, and the rectangular locating piece 31 of stamp card 3 is extracted from rectangular location hole 21, and stamp card 3 can be completed and block with stamp
The separation of mounting rack.
Two kinds of stamps block 3 fixed forms, ensure that being reliably connected for stamp card 3 and slide unit, avoid stamp card 3 in the course of surgery by
Power falls off, moreover it is possible to realize the Fast Installation between operation preparation process and ending phase stamp card 3 and stamp card mounting rack in disassembly.
In addition, two kinds of stamps block in 3 fixed forms, it is additionally provided with mechanical arm unblock button 6, either installation is stabbed before surgery
After the completion of card 3 or operation during disassembly stamp card 3, require to pin mechanical arm unblock button 6 simultaneously.
Specifically, it in the operation preparation stage, first has to stab card 3 and carries out installation with slide unit and dock, but block 3 due to stabbing and made
Inside the skin of human body, i.e., position has been fixed, and therefore, slide unit 3 is docked with stamp card, need to carry out slide unit it is mobile with
It is docked on fixed 3 head of stamp card.
In unilateral clamping structure 4, mechanical arm unblock button 6 is located at the side of the fixing seat 2 of stamp card mounting rack, a hand
(such as right hand) holds stamp card mounting rack, a hand (such as left hand) holds the stamp card 3 for being installed on the patient's body surface, wherein the right hand
Thumb is placed on pusher button 41, and right hand index finger is placed in mechanical arm unblock button 6, is first pressed with right hand index finger pressing mechanical release
Button keeps mechanical arm and slide unit dragged, and then mobile mechanical arm moves on to slide unit near stamp card 3, then, hand thumb pressing
The rectangular locating piece 31 of 3 heads of stamp card protrusion is entered and left the rectangular fixed of stamp card mounting rack by pusher button 41, left hand and right hand resultant force
Among the hole 21 of position, hand thumb is unclamped, the claw 432 of the first buckle 43 is caught in the claw limiting section 32 of stamp card 3, wait stab 3 He of card
After slide unit is fixed, unclamps right hand index finger, mechanical arm and slide unit locking and can not move, then unclamp left hand and the right hand, complete to slide
Platform is docked with stamp card 3.
In the operation completion stage, similarly, a hand (such as right hand) holds stamp card mounting rack, another hand (such as left hand)
Stamp card 3 is held, right hand index finger first presses mechanical arm unblock button 6, and mechanical arm can be dragged with slide unit, and hand thumb presses push rod
Button 41, after the first buckle 43 exits completely, two hand cooperations separate stamp card 3 with slide unit completion.
In bilateral clamping structure 5, mechanical arm unblock button 6 is located at the rear end of the fixing seat 2 of stamp card mounting rack, the rear end
Refer to that one end far from stamp card 3, the rear end of fixing seat 2 are equipped with fixing seat rear shell 24, the lower end of fixing seat rear shell 24 passes through bolt
It is fixed in fixing seat 2, mechanical arm unblock button 6 is located in fixing seat rear shell 24, similarly, in operation preparation stage connection stamp
During card 3 or operation completion stage disassembly stamp card 3, entire mechanical arm can be unlocked with a key pressing mechanical release button
Stamp card mounting rack and stamp on slide unit can be made to block to reach the slide unit of driving machinery arm end by manual freely dragging
The purpose of 3 installation and removal.
In addition to this, the present invention also provides a kind of detection devices for stabbing card connection status, specifically, in stamp card mounting rack
Fixing seat 2 in be equipped with close to switch 7 (as shown in Figure 6 and Figure 15), it is preferable that close switch 7 is inductance approach switch, and
It is fixed in fixing seat 2 by tight fixed bolt 72, for being detected to stamp 3 link positions of card.Further, rectangular location hole
21 inner walls far from stamp card are equipped with detection hole 71, and the detection faces close to switch 7 are located in detection hole 71 (such as Fig. 2 and Fig. 8 institute
Show), and detection faces are concordant with the inner wall of detection hole 71 is equipped with, i.e. the induction region (detection faces) of inductance approach switch 7 is close
The hole bottom wall of rectangular location hole 21, when the rectangular locating piece 31 of stamp card 3 is not inserted into rectangular location hole 21, inductance approach switch
The alternating magnetic field that 7 oscillator generates does not change, therefore sensor not output signal, then it represents that stamp card 3 is in not connected
State；Due to rectangular 31 metal-containing material of locating piece, when the rectangular locating piece 31 of stamp card 3 is being inserted into rectangular location hole 21
In the process, rectangular locating piece 31 moves closer to the hole bottom wall of rectangular location hole 21, closer to the induction region of inductance type switch, i.e.,
Oscillator, when reaching distance of reaction between rectangular locating piece 31 and the hole bottom wall of rectangular location hole 21, in rectangular locating piece 31
Interior generation vortex, so as to cause the oscillatory extinction of oscillator, down to failure of oscillation.Oscillator oscillation and the variation of failure of oscillation are amplified by rear class
Processing of circuit is simultaneously converted into switching signal, triggers drive control device, so that signal is passed to control system, control system is then
Stamp 3 mounted information of card are obtained, by stabbing the detection device of card connection status, system grasp can be made to be fixed on slide unit
The status information whether stamp card mounting rack has stamp card 3 to be connected, system controls and locks the movement of telescopic arm, to avoid slide unit
In the case where being linked into an integrated entity by stamp card 3 with patient, front end trolley or telescopic arm unlocking movement simultaneously damage patient
The case where occur.
Although by reference to preferred embodiment as above, invention has been described, the content only to facilitate
The embodiment for understanding the present invention and using, is not intended to limit the invention.Technology in any the technical field of the invention
Personnel can appoint in the formal and details of implementation without departing from the spirit and scope of the present disclosure
What modification and variation, but scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of unlocking mechanism of operating robot mechanical arm, which is characterized in that including mechanical arm, slide unit and card mounting rack is stabbed,
Slide unit is located at the end of mechanical arm, and the stamp card mounting rack includes fixed frame and fixing seat, and fixed frame is fixed on the installation of slide unit
On plate, fixing seat is equipped with stamp card device for quickly disassembling and mechanical arm unblock button, wherein stamp card device for quickly disassembling includes the side for stamp card
The rectangular location hole of shape locating piece insertion；Mechanical arm unblock button and mechanical arm, which are powered, to be connected, and can be to the movement of mechanical arm
It is unlocked.
2. the unlocking mechanism of operating robot mechanical arm according to claim 1, which is characterized in that stab the rectangular positioning of card
The side of block is equipped with claw limiting section, and stamp card device for quickly disassembling includes sequentially connected pusher button, push rod and buckle, fixing seat
One side wall is equipped with for the perforative hole of pusher button, and opposite another side wall is equipped with the accommodating chamber of buckle, by pressing push rod
Button, pusher button can make to buckle far from accommodating chamber by push rod, be caught in buckle limiting section.
3. the unlocking mechanism of operating robot mechanical arm according to claim 2, which is characterized in that the mechanical arm unlock
Button is located at the side with accommodating chamber of fixing seat.
4. the unlocking mechanism of operating robot mechanical arm according to claim 2, which is characterized in that the outside of the push rod
It is arranged with compressed spring, one end of compressed spring is connected on pusher button, and the other end is connected on the inner sidewall of fixing seat.
5. the unlocking mechanism of operating robot mechanical arm according to claim 2, which is characterized in that buckle includes buckle arm
And claw, one end connection push rod of arm is buckled, the other end is equipped with the claw of crook, buckles arm perpendicular to push rod, the hook of claw
Portion is parallel with push rod and extends to fixing seat internal direction.
6. the unlocking mechanism of operating robot mechanical arm according to claim 1, which is characterized in that stab the rectangular positioning of card
The two sides of block are equipped with claw limiting section, and stamp card device for quickly disassembling includes press head and buckle, and the top of press head is located at fixing seat
Upper end and axial movement along fixing seat, the lower part of press head is located in fixing seat and two sides are equipped with boss, the two sides of fixing seat
Equipped with for disposing the mounting portion of buckle, being equipped with vertical rotary shaft in mounting portion, one end of buckle be set in rotary shaft and around
Rotary shaft rotation；Two buckles are connected on the boss of press head, and two are buckled between rotary shaft one end and are also connected with drawing
Stretch spring；Press head is pressed, press head drags the one end of boss far from buckle, and extension spring shrinks and pulls one end edge of buckle
Rotary shaft rotation is opened.
7. the unlocking mechanism of operating robot mechanical arm according to claim 6, which is characterized in that boss has along stamp card
Inclined inclined-plane；One end of buckle is equipped with along the inclined guiding inclination far from stamp card, the tilt angle and guiding on boss inclined-plane
The tilt angle on inclined-plane is complementary, and the other end of buckle is equipped with crook claw.
8. the unlocking mechanism of operating robot mechanical arm according to claim 6, which is characterized in that the rear end of fixing seat is set
There is fixing seat rear shell, the mechanical arm unblock button is located at fixing seat rear shell.
9. the unlocking mechanism of operating robot mechanical arm according to claim 6, which is characterized in that stamp card device for quickly disassembling is also
Pressing lever and pressing lever plate including being located at fixed base rear end, one end of pressing lever are fixedly connected with press head, and the other end shuttles
In pressing lever plate；The upper end of pressing lever plate is fixed on the mounting rack of fixed frame rear end, and lower end is equipped with the hole shuttled for pressing lever.
10. the unlocking mechanism of operating robot mechanical arm according to claim 9, which is characterized in that the outside of pressing lever
It is arranged with compressed spring, one end of compressed spring is connected on press head, and the other end is connected on pressing lever plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811169619.XA CN109288588A (en) | 2018-10-09 | 2018-10-09 | The unlocking mechanism of operating robot mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811169619.XA CN109288588A (en) | 2018-10-09 | 2018-10-09 | The unlocking mechanism of operating robot mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109288588A true CN109288588A (en) | 2019-02-01 |
Family
ID=65161892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811169619.XA Withdrawn CN109288588A (en) | 2018-10-09 | 2018-10-09 | The unlocking mechanism of operating robot mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN109288588A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110811838A (en) * | 2019-11-01 | 2020-02-21 | 山东大学 | Double-operation mode surgical robot capable of realizing multi-hole single-hole interchange |
| CN111529067A (en) * | 2020-05-29 | 2020-08-14 | 哈尔滨思哲睿智能医疗设备有限公司 | Positioning device and positioning method for mechanical arm of surgical robot |
| WO2023109951A1 (en) * | 2021-12-17 | 2023-06-22 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm connecting mechanism, sleeve assembly and surgical robot system |
-
2018
- 2018-10-09 CN CN201811169619.XA patent/CN109288588A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110811838A (en) * | 2019-11-01 | 2020-02-21 | 山东大学 | Double-operation mode surgical robot capable of realizing multi-hole single-hole interchange |
| CN111529067A (en) * | 2020-05-29 | 2020-08-14 | 哈尔滨思哲睿智能医疗设备有限公司 | Positioning device and positioning method for mechanical arm of surgical robot |
| WO2023109951A1 (en) * | 2021-12-17 | 2023-06-22 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm connecting mechanism, sleeve assembly and surgical robot system |
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Application publication date: 20190201 |
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