CN109481040A - A kind of manipulator fixture - Google Patents
A kind of manipulator fixture Download PDFInfo
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- CN109481040A CN109481040A CN201910044456.0A CN201910044456A CN109481040A CN 109481040 A CN109481040 A CN 109481040A CN 201910044456 A CN201910044456 A CN 201910044456A CN 109481040 A CN109481040 A CN 109481040A
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- 230000014759 maintenance of location Effects 0.000 claims description 8
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- 239000000523 sample Substances 0.000 abstract description 11
- 238000002604 ultrasonography Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 238000000354 decomposition reaction Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 230000003796 beauty Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 208000028571 Occupational disease Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 206010034464 Periarthritis Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
Abstract
The present invention relates to manipulator technical fields, propose a kind of manipulator fixture, including mechanical arm and clamping device, the clamping device is connected to mechanical arm, including intermediate clamping part, the first clamping part and the second clamping part, first clamping part and the second clamping part are respectively arranged in the two sides of intermediate clamping part, and it is adjustable the distance between to be restricted to intermediate clamping part, and the intermediate clamping part, the first clamping part and the second clamping part three form U-shaped clamping zone.The present invention provides the manipulator fixtures that one kind can stablize aid, and the fixture can be adjusted accordingly according to different probe sizes, to adapt to different probes, to replace doctor's hand-held ultrasound probe to operate, to mitigate the burden of doctor.
Description
Technical field
The present invention relates to manipulator technical field more particularly to a kind of manipulator fixtures.
Background technique
Existing many medical treatment detections are required to be detected using medical instrument the body surface of human body is mobile, such as ultrasound
Wave detection.Ultrasonic examination is that the wave generated using ultrasound is propagated in human body, by various organs in oscilloscope display body and
It organizes to super sonic reflection and weakens the regular method to diagnose the illness.Due to the flexibility of ultrasonic probe move mode, because
This is widely used in the health examination of human body.
In existing medical treatment detection, the body surface often through doctor's handheld medical instrument, where human body organ to be checked
Mobile and the super medical instrument of adjustment position and angle, obtain the physical trait of human organ, and then judge health status.Due to
Detection number is numerous, often leads in doctor's operating burden, easily causes the occupational diseases such as scapulohumeral periarthritis, moreover, can be because of doctor's
Hand-motion jitter and the problem for causing measurement result inaccuracy.
Summary of the invention
The present invention to solve the above-mentioned problems, provides a kind of manipulator fixture, for replacing handheld medical instrument to carry out
Operation, to liberate the both hands of doctor.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of manipulator fixture, including mechanical arm and clamping device, the clamping device are connected to mechanical arm, including centre
Clamping part, the first clamping part and the second clamping part, first clamping part and the second clamping part are respectively arranged in intermediate clamping part
Two sides, and it is adjustable the distance between to be restricted to intermediate clamping part, the intermediate clamping part, the first clamping part and the
Two clamping part threes form U-shaped clamping zone.
Further, the first clamping part described in the U-shaped clamping zone and the opposite clamping face of the second clamping part are defined
To clamp datum level, first clamping part is configured to the relatively described clamping datum level and rotates.
Further, first clamping part include the first fixing end and be attached thereto by a connecting shaft first
Clamping end, first clamping end are located at the U-shaped clamping zone, and first fixing end is connected to the intermediate clamping part
Wherein side, the first clamping end setting are as follows: first clamping end can be fixed around the connecting shaft relatively described first
End rotation.
Further, one end of the connecting shaft is provided with external screw thread, and first fixing end is provided with for the connection
The through-hole that axis passes through, first clamping end are provided with the internal screw thread being threadedly coupled for the connecting shaft, go back in the connecting shaft
Elasticity adjusting mechanism is set, and the elasticity adjusting mechanism includes first end face gear and second end face gear, the connecting shaft
The external screw thread of one end is connected to the internal screw thread of the first clamping end, and the other end stretches out after the through-hole of the first fixing end, and stretches out
End has a limit sleeve, mobile with the direction for limiting the first fixing end towards extension end, the first end face gear and second end
Face gear is sheathed in connecting shaft, and mutually end face engagement, and the first end face gear is fixedly connected on the first fixing end, described
Second end face gear is fixedly connected on the first clamping end.
Further, the first clamping part described in the U-shaped clamping zone and the opposite clamping face of the second clamping part are defined
To clamp datum level, second clamping part is configured to the relatively described clamping datum level and swings.
Further, second clamping part includes the second fixing end and the second clamping end, the second fixing end connection
In the intermediate clamping part wherein side and second fixing end have and extend to the fixed part of the U-shaped clamping zone,
Second clamping end is movably connected on the fixed part of second fixing end towards the side of the U-shaped clamping zone,
Under external force, the second clamping end the relatively described fixed part can be swung by external force.
Further, second clamping end includes spherical projection, the fixed part of second fixing end include with
The matched bulb-shaped recess of spherical projection, the spherical projection are placed in the bulb-shaped recess and are flexibly connected, the spherical shape
The first retention mechanism and the second retention mechanism is respectively set in the two sides of recess, for preventing the spherical projection out of bulb-shaped recess
It is detached from, the opposite face of the fixed part of second fixing end and the second clamping end is curved surface, and second fixing end is consolidated
The subsequent corrosion for determining portion is greater than the subsequent corrosion of the second clamping end.
Further, first clamping part and the second clamping part are connect by Bidirectional clamping screw rod with intermediate clamping part.
Further, the two sides that the intermediate clamping part is connect with the first clamping part and the second clamping part are also respectively set one
The pilot hole of one with guide post cooperation are respectively set on first clamping part and the second clamping part for guide post.
Further, the side close to U-shaped clamping zone of the intermediate clamping part, the first clamping part and the second clamping part
It is respectively provided with a non-slip mat.
Further, the surface of the non-slip mat is evenly arranged with anti-slop serrations.
The present invention uses technical solution as above, discloses a kind of manipulator fixture that can stablize aid, and the fixture energy
It is enough to be adjusted accordingly according to different gripped object sizes, to adapt to different gripped objects, to replace doctor hand-held
Since instrument operated, to mitigate the burden of doctor.
Detailed description of the invention
Fig. 1 show the integrally-built schematic diagram of the embodiment of the present invention.
Fig. 2 show the structural schematic diagram with probe in the embodiment.
Fig. 3 show the integrally-built main view of the embodiment.
Fig. 4 show the integrally-built sectional view of the embodiment.
Fig. 5 show the structure chart of the first clamping part in the embodiment.
Fig. 6 show the sectional view of the first clamping part in the embodiment.
Fig. 7 show the decomposition diagram of the first clamping end in the embodiment.
Fig. 8 show the decomposition diagram of the second clamping part in the embodiment.
Fig. 9 show the structural schematic diagram of the second fixing end in the embodiment.
Figure 10 show the structural schematic diagram of the second clamping end in the embodiment.
Figure 11 show the decomposition texture schematic diagram of second mechanical arm and clamping device junction in the embodiment.
Figure 12 show another decomposition texture schematic diagram of second mechanical arm and clamping device junction in the embodiment.
Figure 13 show the decomposition texture schematic diagram of first mechanical arm and second mechanical arm junction in the embodiment.
Specific embodiment
To further illustrate that each embodiment, the present invention are provided with attached drawing.These attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be cooperated to explain the operation principles of embodiment.Cooperation ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in figs. 1-13, described present embodiment discloses a kind of manipulator fixture, including mechanical arm and clamping device 3
Clamping device 3 is connected to mechanical arm.
It continues to refer to figure 1, in the embodiment, the mechanical arm includes first mechanical arm 1 and second mechanical arm 2, by more
The linkage of a mechanical arm is so that the movement of medical instrument is more flexible.Those skilled in the art can also make according to actual needs
Mechanical arm is constituted with the structure of a section or multi-jointed mechanical arm.
With reference to Fig. 2, in the embodiment, the first mechanical arm 1 is for fixing the fixed device of Mr. Yu, such as fixed Mr. Yu's support
On frame, the second mechanical arm 2 is connected to first mechanical arm 1 and clamping device 3, and the clamping device 3 is for clamping, such as
The probe 4 of clamping ultrasonic detection.It of courses, in the other application occasion of the embodiment, can be used for clamping other doctors
Treat instrument, such as detection probe etc..
Due to the type kind multiplicity of the gripped object of medical detection, in order to support various types gripped object
Clamping, the clamping device 3 are arranged are as follows: including intermediate clamping part 31, the first clamping part 32 and the second clamping part 33, described first
Clamping part 32 and the second clamping part 33 are respectively arranged in the two sides of intermediate clamping part 31, and be restricted to intermediate clamping part 31 it
Between distance it is adjustable, that is, change relative distance between the two, (ultrasonic wave as shown in Figure 2 is visited so that gripped object
It is first 4) securely to be clamped.
The intermediate clamping part 31, the first clamping part 32 and 33 three of the second clamping part form U-shaped clamping zone, for pressing from both sides
Probe 4 is held, as shown in Fig. 2, the embodiment passes through between the first clamping part 32 and the relatively intermediate clamping part 31 of the second clamping part 33
Distance it is adjustable so that gripped object two sides be clamped, while again by the intermediate clamping part 31 to third side into
Row is against forming U-shaped clamping zone, gripped object can reliably be clamped very much, suitable for various medical diagnosis occasions.
Installation between the intermediate clamping part 31 and the first clamping part 32 and the second clamping part 33 can be using a variety of normal
Mode is realized, such as in such a way that guide rod carries out guiding and locking is adjusted in locking switch, by the first clamping part 32
It is sheathed on guide rod with the second clamping part 33, the first clamping part 32 and the second clamping part 33 is adjusted by locking switch in guide rod
On position, to change the distance between the first clamping part 32 and the second clamping part 33 and intermediate clamping part 31.In the embodiment
In order to adjust operation enhanced convenience, it is preferably provided with first clamping part 32 and the second clamping part 33 and passes through reverse-flighted screw 34
It is attached with intermediate clamping part 31, as shown in figure 4, specifically: between the middle part of the reverse-flighted screw 34 and intermediate clamping part 31
Gap is cooperatively connected, and both ends are threadedly coupled with the first clamping part 32 and the second clamping part 33 respectively, and in the intermediate clamping part 31
A guide post 35, first clamping part 32 and is respectively set in the two sides connecting with the first clamping part 32 and the second clamping part 33
The pilot hole 36 of one with the guide post 35 cooperation are respectively set on two clamping parts 33.It is excellent in order to facilitate the operation of rotation adjustment
A handwheel 37 is respectively set in the both ends that the reverse-flighted screw 34 is arranged in choosing, by the handwheel 37, Ji Keshi for rotating some direction
The adjustment of distance between existing first clamping part 32 and the second clamping part 33.
In order to preferably be applicable in various types of gripped objects, make clamping device 3 that can not only change the spacing of clamping, also
Angle can be changed, to adapt to the design wide at the top and narrow at the bottom or up-narrow and down-wide of gripped object, and be more bonded gripped object, it should
In embodiment, defining the first clamping part 32 described in the U-shaped clamping zone and the opposite clamping face of the second clamping part 33 is folder
Hold datum level, i.e., a plane in U-shaped clamping zone between the first clamping part 32 and the second clamping part 33, and the plane
Substantially parallel with the first clamping part 32 and the second clamping part 33, first clamping part 32 is configured to the relatively described folder
It holds datum level to rotate, second clamping part 33 is configured to the relatively described clamping datum level and swings.
The specific structure that the first clamping part 32 and the second clamping part 33 use in the embodiment is as described below:
With reference to Fig. 5, be arranged first clamping part 32 include the first fixing end 321 and by a connecting shaft 3231 with
Connection the first clamping end 322, first clamping end 322 is located at the U-shaped clamping zone, first fixing end 321
It is connected to the wherein side of the intermediate clamping part 31, first clamping end 322 is arranged are as follows: 322 energy of the first clamping end
Enough to rotate around the connecting shaft 3231 relative to first fixing end 321, i.e. the relative angle of the two can be adjusted.
Existing usual means can be used in regulating device between first clamping end 322 and the first fixing end 321
It realizes, in order to can preferably be locked after the completion of angle adjusts, in the embodiment, is preferably provided with: the connecting shaft 3231
One end be provided with external screw thread, first fixing end 321 is provided with the through-hole passed through for the connecting shaft 3231, described first
Clamping end 322 is provided with the internal screw thread being threadedly coupled for the connecting shaft 3231, also sets up elastic tune in the connecting shaft 3231
Mechanism is saved, as shown in fig. 6, the elasticity adjusting mechanism 323 includes first end face gear 3232 and second end face gear 3233, institute
The external screw thread for stating one end of connecting shaft 3231 is connected to the internal screw thread of the first clamping end 322, and the other end passes through the first fixing end 321
Through-hole after stretch out, and extension end have a limit sleeve 3234, with limit the first fixing end 321 towards extension end direction move
Dynamic, the first end face gear 3232 and second end face gear 3233 are sheathed in connecting shaft 3231, and mutually end face engagement, institute
It states first end face gear 3232 and is fixedly connected on the first fixing end 321, the second end face gear 3233 is fixedly connected on first
Clamping end 322.By above-mentioned setting, when needing to rotate the first clamping end 322, connecting shaft 3231 is rotated, the first clamping end is made
322 loosen with the threaded connection of connecting shaft 3231, and it is small to be mutually shifted one between the first clamping end 322 and the first fixing end 321
Distance, enables first end face gear 3232 and second end face gear 3233 to be separated from each other, and rotates by manually at this time
One clamping end 322, by rotating connecting shaft 3231, makes the first clamping end 322 and connecting shaft when rotating to preset angle
3231 threaded connection locking, and then it is intermeshed first end face gear 3232 and second end face gear 3233, so that locking
Effect it is more preferable.
With continued reference to Fig. 8, in order to more be bonded the shape of gripped object, second clamping part 33 is set in the embodiment and is wrapped
It includes the second fixing end 331 and is set to the second clamping end 332 of U-shaped clamping zone, second fixing end 331 is connected to described
The other side of intermediate clamping part 31 and second fixing end 331 have the fixed part 3314 for extending to the U-shaped clamping zone,
Second clamping end 332 is movably connected on the fixed part 3314 at 331 end of the second fixing end towards the U-shaped clamp area
The side in domain, under external force, the second clamping end 332 can be put the relatively described fixed part 3314 by external force
Dynamic, i.e., the position of the second clamping end 332 is close to the second fixing end 331 with external force.
With continued reference to Fig. 9 and 10, in the embodiment, the specific structure of second clamping part 33 are as follows: second clamping
End 332 includes spherical projection 3321, and the fixed part 3314 of second fixing end 331 includes and the spherical projection 3321
Matched bulb-shaped recess 3311, the spherical projection 3321 is placed in the bulb-shaped recess 3311 and is flexibly connected, so that described
Second clamping end 332 is connected to second fixing end 331, and the spherical projection 3321 is from bulb-shaped recess 3311 in order to prevent
It being detached from, the two sides of the bulb-shaped recess 3311 are respectively set the first retention mechanism 3312 and the second retention mechanism 3313, and described the
One retention mechanism 3312 and the second retention mechanism 3313 are arc block plate.The fixed part 3314 of second fixing end 331 with
The adjacent face in second clamping end 332 is curved surface, and the subsequent corrosion of the fixed part 3314 of second fixing end 331 is greater than the
The subsequent corrosion of two clamping ends 332.Fixed part 3314 and the second clamping end by above-mentioned setting, due to the second fixing end 331
332 subsequent corrosion is different, therefore forms certain gap between the two, when external force is when the second clamping end 332, pushes
Second clamping end 332 is mobile to the fixed part 3314 of the second fixing end 331, reduces the gap at external force, with outer masterpiece
The position gap of use relative direction increases, and realizes the opposite in U-shaped clamping zone with external force of the second clamping end 332
Universal swing occurs for the fixed part 3314 of the second fixing end 331, preferably can more be bonded the shape of probe 4.
It should be noted that using the clamping part in the left side in scheming towards reader as can rotate first in the embodiment
Clamping part, using the clamping part on the right side towards reader as the second clamping part that can be swung for be shown.Actually answering
In, the position of the two also can be interchanged.It of courses, it in some cases .., can also for the clamping of the medical instrument of certain series
To be all the clamping part (i.e. the structure of the first clamping part of the embodiment) that can be rotated using two sides, or all it is using two sides
The clamping part (i.e. the structure of the second clamping part of the embodiment) that can be swung.
Further, the intermediate clamping part 31, the first clamping end 322, the second clamping end 332 close to U-shaped clamp area
The side in domain is respectively provided with a non-slip mat 5, and the material of the non-slip mat 5 can be common elastic material, such as silica gel, described anti-
The surface of skidding 5 is evenly arranged with anti-slop serrations 51, it can be ensured that clamps the uniformity of surface pressure, is also avoided that because rigid crawl is visited
First 4 make its surface leave scratch, while can also guarantee there are enough pressing forces, to realize the stable holding to probe 4.
With reference to shown in Figure 13, in order to enable the first mechanical arm 1 to rotate around all directions, in the embodiment, preferably
Setting is attached between the first mechanical arm 1 and second mechanical arm 2 by bulb 11, so that second mechanical arm 2 can be around the
One mechanical arm 1 and the junction of second mechanical arm 2 rotate.
Specifically, a bulb 11 is fixedly installed in the one end connecting with first mechanical arm 1 in the second mechanical arm 2, it is described
First mechanical arm 1 includes ball cup 12 and tightening nut 13, one end setting one that the ball cup 12 is connect with second mechanical arm 2
Spherical pawl 14 with spherical groove, the bulb 11 are set to the inside of spherical groove of the spherical shape pawl 14, the tightening nut 13
Fixing sleeve is set to one end of the close second mechanical arm 2 of ball cup 12, to avoid 11 separable spherical pawl 14 of bulb.The embodiment
In, the fixing sleeve is set as being connected through a screw thread, and those skilled in the art also can be used others and be fixedly connected with mode.
In order to preferably limit 11 separable spherical pawl 14 of bulb, in the embodiment, it is preferably provided with the tightening nut 13
Internal diameter be gradually reduced from the direction far from second mechanical arm 2 to close to the direction of second mechanical arm 2, and itself and spherical 14 phase of pawl
The internal diameter that place is set at ortho position is less than the internal diameter of spherical pawl 14.Those skilled in the art can also be limited using other modes,
Stop collar such as is set in one end of the close second mechanical arm 2 of tightening nut 13, the internal diameter of stop collar is made to be less than the outer of bulb 11
Diameter.
For the beauty of the manipulator fixture appearance, in the embodiment, the second mechanical arm 2 is set passes through bulb and connect
Axis 15 is fixedly connected with bulb 11, and one end of the close second mechanical arm 2 outside the tightening nut 13 is fixedly connected with a spiral shell
Line set 16, the bulb connecting shaft 15 is set to the inside of thread bush 16.In the embodiment, the fixing sleeve is set as passing through screw thread
Connection, those skilled in the art also can be used others and are fixedly connected with mode.By thread bush 16 by above-mentioned junction and ball
Head connecting shaft 15 wraps up, and appearance is made to seem more to link up and beautiful.
Since medical instrument needs the body of moment abutting people when detection, in order to realize the function, the reality
Apply in example, the connection being arranged between the second mechanical arm 2 and clamping device 3 is defined as: the clamping device 3 is in outer masterpiece
It can force it that relative rotation occurs between second mechanical arm 2 under, after external force elimination, the clamping device 3 is returned back to
Initial position.By above-mentioned setting, when detection, make second mechanical arm 2 and clamping device 3 and initial by applying certain power
State compares the relative rotation that certain angle occurs, at this point, the trend that the oriented initial position of clamping device 3 is replied, to make to press from both sides
It holds medical instrument clamped by device 3 and is close to human body.
With reference to shown in Figure 11 and 12, in the embodiment, the second mechanical arm 2 passes through a drive-connecting shaft 22 with clamping device 3
The connection that is pivoted is carried out, and is also arranged a torsional spring 21 on the drive-connecting shaft 22, one end of the torsional spring 21 acts on second mechanical arm
2, the other end acts on clamping device 3.
Rotation between the two for convenience in the embodiment, is preferably provided with the second mechanical arm 2 by 23 sets of bearing
On the drive-connecting shaft 22, the clamping device 3 is directly sleeved on the drive-connecting shaft 22.
In order to keep connection between the two more stable, in the embodiment, it includes first that the second mechanical arm 2, which is arranged,
Support leg 25 and the second support leg 26, first support leg 25 and the second support leg 26 are sheathed on the pivot by bearing 23
The both ends of spindle 22, the torsional spring 21 are set between the first support leg 25 and the second support leg 26.Compared to one support leg,
The stability of connection can be made higher by the setting of two support legs, keep the manipulator fixture more stable.
Further, the number of the torsional spring 21 is two, and the two is symmetrical arranged, compared to one torsional spring, by setting
Restoring force can be increased by setting two torsional springs, and can increase the service life of the manipulator fixture.
In the embodiment, specific structure an are as follows: torsion spring set 27 is arranged on the drive-connecting shaft 22, two torsional springs 21 are symmetrically set
It is placed in the torsion spring set 27, the clamping device 3 is sheathed on the torsion spring set 27, includes described in confession on the torsion spring set 27
Hole is stretched out in the first stretching hole and second that the both ends of torsional spring 21 are stretched out respectively, and the clamping device 3 and second mechanical arm 2 are right respectively
Hole is protruded into the setting answered first and second protrudes into hole, and one end of the torsional spring 21 is set to described after being stretched out by the first stretching hole
The first of clamping device 3 protrudes into hole, and the other end of the torsional spring 21 is set to described second after stretching out by the second stretching hole
The second of mechanical arm 2 protrudes into hole, and described second, which stretches out hole, has a certain size on the direction of rotation of torsional spring 21, to limit
State the angle that the both ends of torsional spring 21 mutually rotate.Since the torsional spring 21 is symmetrically arranged two, described second stretches out
Hole and second to protrude into hole be two be correspondingly arranged.First stretching hole, first protrude into hole and second and protrude into the size in hole
For the size to match with the end of torsional spring 21, i.e. the end phase of the size on the direction of rotation of torsional spring 21 and torsional spring 21
Matching, to limit the movement of torsional spring 21, only second, which stretches out size of the hole on the direction of rotation of torsional spring 21, is greater than 21 end of torsional spring
The diameter in portion, specific size is related to the maximum rotation angle of setting, and those skilled in the art can set according to the actual situation
Its fixed size.
For the beauty and fixed stability of structure, in the embodiment, in the first support leg 25 and the second support leg 26
Two outer ends of the corresponding drive-connecting shaft 22 are respectively arranged with end cap 24.
The entirety of the embodiment uses principle are as follows: when needing to clamp the portion to be held of certain medical instrument (as shown in Figure 2
Ultrasonic probe 4), by making distance between the first clamping part 32 and the second clamping part 33 to a direction rotation hand wheel 37
After increase, by portion to be held setting in U-shaped clamping zone, by rotation hand wheel 37 round about, make the first clamping part 32
And second distance between clamping part 33 reduction, until locking.At this point it is possible to carry out local tune according to the shape in portion to be held
It is whole, if the shape in portion to be held is apparent type up-narrow and down-wide or wide at the top and narrow at the bottom, the first clamping end 322 is rotated, so that shape
At U-shaped clamping zone and the shape in portion to be held match.During rotating the first clamping end 322, court first is needed
One direction rotates connecting shaft 3231, so that loosening between the first clamping end 322 and the first fixing end 321, can be manually rotated at this time
First clamping end 322 so that the first clamping end 322 and the first fixing end 321 be in after suitable angle, then is revolved to another way
Turn connecting shaft 3231, so that fastening between the first clamping end 322 and the first fixing end 321,3232 He of first end face gear
The use of second end face gear 3233 is to be able to preferably fasten.After adjusting the first clamping end 322, then pass through rotation hand
Wheel 37 is further clamped, at this point, the second clamping end 332 can be with the process gradually clamped, according to the outer of portion to be held
Shape carries out the servo-actuated of adaptability, so that the first clamping end 322 and the second clamping end 332 are bonded portion to be held after final clamping
Two sides.
A kind of manipulator fixture that can stablize aid is present embodiments provided, and the fixture can be pressed from both sides according to different
Object size is held to be adjusted accordingly, to adapt to different gripped objects, to be operated instead of doctor's handheld medical instrument,
To mitigate the burden of doctor.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (10)
1. a kind of manipulator fixture, it is characterised in that: including mechanical arm and clamping device, the clamping device is connected to machinery
Arm, including intermediate clamping part, the first clamping part and the second clamping part, first clamping part and the second clamping part are respectively arranged in
The two sides of intermediate clamping part, and it is restricted to the distance between intermediate clamping part adjustable, the intermediate clamping part, first
Clamping part and the second clamping part three form U-shaped clamping zone.
2. manipulator fixture according to claim 1, it is characterised in that: define first described in the U-shaped clamping zone
Clamping part and the opposite clamping face of the second clamping part are clamping datum level, and first clamping part is configured to relatively described
Clamping datum level rotates.
3. manipulator fixture according to claim 2, it is characterised in that: first clamping part include the first fixing end,
And the first clamping end being attached thereto by a connecting shaft, first clamping end are located at the U-shaped clamping zone, described
One fixing end is connected to the wherein side of the intermediate clamping part, the first clamping end setting are as follows: first clamping end energy
It is enough to be rotated around the connecting shaft relative to first fixing end.
4. manipulator fixture according to claim 3, it is characterised in that: one end of the connecting shaft is provided with external screw thread,
First fixing end is provided with the through-hole passed through for the connecting shaft, and first clamping end is provided with for the connecting shaft spiral shell
The internal screw thread of line connection, also sets up elasticity adjusting mechanism in the connecting shaft, the elasticity adjusting mechanism includes first end face tooth
Wheel and second end face gear, the external screw thread of one end of the connecting shaft are connected to the internal screw thread of the first clamping end, and the other end passes through
It is stretched out after the through-hole of first fixing end, and extension end has a limit sleeve, to limit direction of first fixing end towards extension end
Mobile, the first end face gear and second end face geared sleeve are set in connecting shaft, and mutually end face engagement, the first end face
Gear is fixedly connected on the first fixing end, and the second end face gear is fixedly connected on the first clamping end.
5. manipulator fixture according to claim 1, it is characterised in that: define first described in the U-shaped clamping zone
Clamping part and the opposite clamping face of the second clamping part are clamping datum level, and second clamping part is configured to relatively described
Clamping datum level is swung.
6. manipulator fixture according to claim 5, it is characterised in that: second clamping part include the second fixing end and
Second clamping end, second fixing end, which is connected to the wherein side of the intermediate clamping part and second fixing end and has, prolongs
The fixed part of the U-shaped clamping zone is extended to, second clamping end is movably connected on the fixed part of second fixing end
Towards the side of the U-shaped clamping zone, under external force, the second clamping end being capable of the relatively described fixation by external force
Portion is swung.
7. manipulator fixture according to claim 6, it is characterised in that: second clamping end includes spherical projection, institute
The fixed part for stating the second fixing end includes being placed in described with the matched bulb-shaped recess of the spherical projection, the spherical projection
It is flexibly connected in bulb-shaped recess, the first retention mechanism and the second retention mechanism is respectively set in the two sides of the bulb-shaped recess, uses
In preventing the spherical projection to be detached from out of bulb-shaped recess, the opposite face of the fixed part of second fixing end and the second clamping end
It is curved surface, and the subsequent corrosion of the fixed part of second fixing end is greater than the subsequent corrosion of the second clamping end.
8. manipulator fixture according to claim 1, it is characterised in that: first clamping part and the second clamping part pass through
Bidirectional clamping screw rod is connect with intermediate clamping part.
9. manipulator fixture according to claim 8, it is characterised in that: the intermediate clamping part and the first clamping part and
Two clamping parts connection two sides a guide post is also respectively set, be respectively set on first clamping part and the second clamping part one with
The pilot hole of the guide post cooperation.
10. -7 any manipulator fixture according to claim 1, it is characterised in that: the intermediate clamping part, the first clamping
Portion and the side close to U-shaped clamping zone of the second clamping part are respectively provided with a non-slip mat.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044456.0A CN109481040A (en) | 2019-01-17 | 2019-01-17 | A kind of manipulator fixture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044456.0A CN109481040A (en) | 2019-01-17 | 2019-01-17 | A kind of manipulator fixture |
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| CN109481040A true CN109481040A (en) | 2019-03-19 |
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| CN201910044456.0A Pending CN109481040A (en) | 2019-01-17 | 2019-01-17 | A kind of manipulator fixture |
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| CN (1) | CN109481040A (en) |
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