CN110695977A

CN110695977A - Medical manipulator

Info

Publication number: CN110695977A
Application number: CN201911040747.9A
Authority: CN
Inventors: 尹义波
Original assignee: Hubei Dongli Machinery Technology Co Ltd
Current assignee: Hubei Dongli Machinery Technology Co Ltd
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2020-01-17

Abstract

The invention discloses a medical manipulator which comprises a base, a three-dimensional rod fixing frame, a chassis rotating motor, a horizontal arm, a telescopic stepping motor, a lifting stepping motor, a manipulator and a controller, wherein the base is provided with a base plate; the three-dimensional rod fixing frames are fixed on the base to play a role in supporting and connecting, the horizontal arms are in parallel double-arm structures and are respectively arranged on the two three-dimensional rod fixing frames, and the three-dimensional rod fixing frames are completed by driving the screw rod assembly through a telescopic stepping motor; the manipulator is vertically arranged at the tail end of the horizontal arm, and a soft clamping manipulator is arranged at the bottom end of the manipulator; the invention can switch the large mechanical claw and the small mechanical claw for use, and has wider application range; by adopting the electromagnetic principle, the electromagnet can firmly adsorb the counterweight iron block by smaller current, so that the large mechanical claw or the small mechanical claw keeps a stable grabbing state, and the device is energy-saving, practical and convenient to maintain; the soft material and the anti-slip lines are arranged to achieve non-injury grabbing and prevent slipping.

Description

Medical manipulator

Technical Field

The invention relates to the technical field of medical machinery, in particular to a medical manipulator.

Background

The medical manipulator is a method for solving some defects in the existing hospital service, can replace partial operations of medical staff, completes some heavy and boring works, can improve the working conditions of the medical staff, and has applicability and safety. The medical manipulator is durable and hardy, not only can free medical staff from heavy and monotonous mechanical work, gradually realize mechanization, programming and automation of medical treatment, improve the safety and reliability of medical treatment, but also can avoid human misoperation influenced by the outside, and has high accuracy and high stability. Therefore, many countries invest a lot of manpower and material resources to research and apply the manipulator.

However, most of the existing manipulators are quite complex in structure, too many parts not only waste energy in transmission, but also are very difficult to maintain. In addition, the existing manipulator generally has only one mechanical claw, so that the larger mechanical claw is inconvenient for grabbing the smaller-size object, and similarly, the smaller mechanical claw is inconvenient for grabbing the larger-size object, and the function of switching the large mechanical claw and the small mechanical claw is lacked, so that a great deal of inconvenience is caused.

Therefore, it is an urgent problem to be solved by those skilled in the art to provide a medical manipulator with better practicability.

Disclosure of Invention

The invention provides a medical manipulator, which aims to solve at least one of the technical problems in the prior art to a certain extent.

In order to achieve the purpose, the invention adopts the following technical scheme:

a medical manipulator comprises a base, a three-dimensional rod fixing frame, a chassis rotating motor, a horizontal arm, a telescopic stepping motor, a lifting stepping motor, a manipulator and a controller; the three-dimensional rod fixing frames are fixed on the base to play a role in supporting and connecting, the horizontal arms are in parallel double-arm structures and are respectively arranged on the two three-dimensional rod fixing frames, and the three-dimensional rod fixing frames are completed by driving the screw rod assembly through a telescopic stepping motor; the manipulator is vertically installed at the tail end of the horizontal arm, the bottom end of the manipulator is provided with a soft clamping manipulator, the holding part of the soft clamping manipulator is made of soft materials, and a micro pressure sensor is installed in the soft clamping manipulator and used for detecting and identifying contact signals when being held, so that soft grabbing is realized.

Further, the manipulator includes arm, flexible locating lever, electro-magnet, counter weight iron plate, flexible feeler lever and little gripper, the vertical setting of arm, upper end are fixed with the mounting panel, and its inside central point puts from top to bottom and has set gradually flexible locating lever, electro-magnet and counter weight iron plate, flexible locating lever one end with mounting panel fixed connection, the other end with electro-magnet fixed connection, counter weight iron plate upper surface is corresponding with the electro-magnet, and lower surface central point puts the vertical fixing with flexible feeler lever, the lateral wall of counter weight iron plate all is fixed with four pairs of little otic placodes, little gripper comprises four short claw fingers, four short claw fingers with four pairs of little otic placodes one-to-ones, every short claw finger tail end is articulated with a pair of corresponding little otic placode respectively.

Further, still include big gripper, arm lateral wall lower extreme is the square and is fixed with four pairs of big otic placodes, big gripper comprises four long claws, four long claws with four pairs of big otic placodes one-to-one.

Furthermore, each long claw finger consists of a main claw finger and a folding claw finger, the tail end of each main claw finger is hinged to a corresponding pair of big lug plates, the outer side of the top end of each main claw finger is hinged to the outer side of the tail end of one folding claw finger, a positioning piece is fixed to the inner side of the top end of each main claw finger respectively, each positioning piece is detachably connected with the corresponding folding claw finger through a bolt, a pair of connecting lug plates is fixed to the inner side face of each main claw finger close to the top end respectively, four pairs of connecting lug plates correspond to four short claw fingers one by one, and each short claw finger close to the top end is hinged to the corresponding connecting lug plate respectively.

Furthermore, the telescopic positioning rod comprises a threaded pipe and an inner screw rod, one end of the threaded pipe is fixedly connected with the mounting plate, the inner screw rod is meshed in the inner screw rod, and the outer end of the inner screw rod is fixedly connected with the electromagnet.

Further, flexible feeler lever is including the outer tube and interior pole that cup joint each other, outer tube one end with counter weight iron plate lower surface central point puts the rigid coupling, and the outer tube pipe wall is equipped with a screw thread through-hole along its radially, the internal swivelling joint of screw thread through-hole has the jackscrew, outer tube and interior pole pass through the jackscrew fastening connection, interior pole outer end fixedly connected with contact piece.

Furthermore, the top ends of the four short claw fingers are obliquely arranged to form claw tips I, and each claw tip I is provided with an anti-skid line.

Furthermore, the top ends of the four folding claw fingers are obliquely arranged to form two claw tips, and each two claw tips is provided with anti-skid grains.

Furthermore, the inclination angles between the four claw tips one or two and the corresponding short claw fingers or folding claw fingers are all 90-135 degrees.

Furthermore, when the four folding claw fingers and the corresponding positioning pieces are in a detachable state, the four folding claw fingers are respectively and magnetically connected with the corresponding main claw fingers through magnets.

According to the technical scheme, compared with the prior art, the invention has the beneficial effects that:

1. can switch the use with little gripper to big gripper, the less object of volume can use little gripper to snatch, and the great object of volume can use big gripper to snatch, and application scope is wider.

2. Simple structure adopts the electromagnetism principle, and less electric current just can make the electro-magnet adsorb firmly the counter weight iron plate, makes big gripper or little gripper remain stable state of snatching, and is energy-conserving practical, and it is convenient to maintain.

3. The micro pressure sensor is installed on the soft clamping manipulator and used for detecting and identifying contact signals when the soft clamping manipulator is held, and whether the object is successfully grabbed or not is judged through pressure change generated when the object and a tentacle interact.

4. The soft material and the anti-slip lines are arranged to achieve non-injury grabbing and prevent slipping.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic side view of a medical manipulator according to the present invention.

Fig. 2 is a schematic perspective view of the manipulator of the present invention in a state of using the mechanical gripper.

Fig. 3 is a schematic perspective view of the manipulator according to the present invention in a state where a large gripper is used.

Fig. 4 is a schematic structural view of the telescopic positioning rod of the present invention.

Wherein:

a base 1; a three-dimensional rod 2; a three-dimensional rod holder 3; a chassis rotating motor 4; a horizontal arm 5; a manipulator 6; an arm 61; a telescopic positioning rod 62; an electromagnet 63; a counter weight iron block 64; a telescopic feeler lever 65; short fingers 66; long fingers 67; a positioning piece 68; a connecting lug plate 69; a big ear plate 611; a small ear plate 641; main fingers 671; folding fingers 672.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The embodiment of the invention discloses a medical manipulator which comprises a base 1, a three-dimensional rod 2, a three-dimensional rod fixing frame 3, a chassis rotating motor 4, a horizontal arm 5, a telescopic stepping motor, a lifting stepping motor, a manipulator 6 and a controller, wherein the base is provided with a base plate and a base plate; the three-dimensional rod fixing frames 3 are arranged on the base 1 in parallel, the distance between the two three-dimensional rod fixing frames is 50cm, the height of each three-dimensional rod fixing frame 3 is 60cm, and the height of each three-dimensional rod 2 is 100 cm. The three-dimensional rod 2 can move up and down along the three-dimensional rod fixing frame 3 under the driving of the lifting stepping motor, the lifting stroke is 80cm, and the lifting speed is 5 cm/s;

the horizontal arms 5 are provided with two completely parallel mounting modes and are respectively mounted on the two three-dimensional rod fixing frames 3, the horizontal arms 5 move left and right by driving a screw rod assembly through a telescopic stepping motor 6, the telescopic stepping motor 6 selects a Y90S-4 type motor and belongs to a cage type asynchronous motor, the rated voltage is 220V, the rated power is 50HZ, the moving speed is 10cm/s, and the power is 6 KW;

the manipulator 6 is vertically installed at the tail end of the horizontal arm 5, a soft clamping manipulator is arranged at the bottom end of the manipulator 6, the holding part of the soft clamping manipulator is made of soft materials, and a micro pressure sensor is installed in the soft clamping manipulator and used for detecting and identifying contact signals when being held, so that soft grabbing is realized.

Specifically, the manipulator 6 includes an arm 61, a telescopic positioning rod 62, an electromagnet 63, a counterweight iron block 64, a telescopic contact rod 65 and a small mechanical claw, the arm 61 is vertically arranged, an upper end is fixed with a mounting plate, a telescopic positioning rod 62, the electromagnet 63 and the counterweight iron block 64 are sequentially arranged at an inner center position from top to bottom, the telescopic positioning rod 62 includes a threaded pipe and an inner threaded rod, one end of the threaded pipe is fixedly connected with the mounting plate, the inner threaded rod is meshed in the threaded pipe, an outer end of the inner threaded rod is fixedly connected with the electromagnet 63, an upper surface of the counterweight iron block 64 corresponds to the electromagnet 63, a central position of a lower surface is vertically fixed with the telescopic contact rod 65, side walls of the counterweight iron block 64 are respectively fixed with four pairs of small lug plates 641, the small mechanical claw is composed of four short claw fingers 66, the four short claw fingers 66 are in one-to-one correspondence with the four pairs of.

The mechanical claw is composed of four long claw fingers 67, and the four long claw fingers 67 correspond to the four pairs of big ear plates 611 one by one.

In one embodiment, each long claw finger 67 is composed of a main claw finger 671 and a folding claw finger 672, the tail end of each main claw finger 671 is hinged to a corresponding pair of big lug plates 611, the outer side of the top end of each main claw finger 671 is hinged to the outer side of the tail end of one folding claw finger 672, the inner side of the top end of each main claw finger 671 is fixedly provided with a positioning piece 68, each positioning piece 68 is detachably connected with the corresponding folding claw finger 672 through a bolt, the inner side of each main claw finger 671 close to the top end is fixedly provided with a pair of connecting lug plates 69, four pairs of connecting lug plates 69 correspond to four short claw fingers 66 one by one, and the position of each short claw finger 66 close to the bottom end is hinged to the corresponding connecting lug plate 69.

Advantageously, the telescopic feeler lever 65 comprises an outer tube and an inner rod which are sleeved with each other, one end of the outer tube is fixedly connected with the center of the lower surface of the counterweight iron block 64, a threaded through hole is radially formed in the wall of the outer tube, a jackscrew is screwed in the threaded through hole, the outer tube is fixedly connected with the inner rod through the jackscrew, and the outer end of the inner rod is fixedly connected with a contact piece.

In one embodiment, the inner walls of the four short fingers 66 are provided with soft materials, and a miniature pressure sensor is arranged between the soft materials and the inner walls; and the top ends of the four short claw fingers 66 are all obliquely arranged to be first claw tips, and each first claw tip is provided with an anti-skid line.

The top ends of the four folding claw fingers 672 are obliquely arranged to form two claw tips, and each two claw tips is provided with anti-skid lines; the surface of the four folding claw fingers 672 provided with the anti-skid grains is also provided with a soft material, a micro pressure sensor is arranged between the soft material and the inner wall, the soft material can be medical high molecular biological materials such as polyester, silicon rubber and the like, and the fatigue strength and the mechanical property are good.

Advantageously, the angles of inclination between the four prongs one or two and the corresponding short finger 66 or folded finger 672 are all between 90 ° and 135 °.

Advantageously, when the four folding fingers 672 are detached from the corresponding locating tabs 68, the four folding fingers 672 are magnetically connected to the corresponding main fingers 671 by magnets.

When the patient lying manipulator system is used, a patient lying manipulator system starts to act, the stepping motor drives the longitudinal shaft to ascend, the other stepping motor drives the transverse shaft to move forwards, the stepping motor drives the longitudinal shaft to descend again, the manipulator holds the arm of the patient after the longitudinal shaft reaches a specified position, then the stepping motor drives the longitudinal shaft to ascend, the transverse shaft starts to move backwards, and the arm of the patient is drawn to the specified position;

before grabbing, the electromagnet is in a power-off state, if a grabbing patient is a child with small arms, the four folding fingers are kept in a folding state (the four folding fingers are magnetically adsorbed on the corresponding main fingers), the four short fingers are manually controlled to be firmly grabbed, meanwhile, the telescopic feeler lever is adjusted to a proper length, the electromagnet is rotated to be contacted with the counterweight iron block (when the electromagnet rotates, the screw rod rotates in the inner threaded pipe, the height of the electromagnet can be adjusted), the operation can be started after the debugging is finished, when the invention moves and drives the control to move downwards (at the moment, the electromagnet is in a power-off state, and the small mechanical claw keeps an opening state under the action of the gravity of the counterweight iron block), the contact piece on the telescopic feeler lever is contacted with the arm of a patient, the control electromagnet is in a power-on state, and the counterweight iron block is supported to move upwards, when the counterweight iron block is close to the electromagnet, the counterweight iron block is firmly adsorbed by the electromagnet and is controlled and transferred by displacement drive; if the patient is an adult with a thick arm and difficult grabbing of the small mechanical claw, the large mechanical claw can be unfolded for use by unfolding the four folding claw fingers and fixedly connecting the four folding claw fingers with the corresponding positioning pieces through bolts, and the steps are the same as those of the small mechanical claw; the soft material is arranged to prevent accidental injury.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A medical manipulator comprises a base (1), a three-dimensional rod (2), a three-dimensional rod fixing frame (3), a chassis rotating motor (4), a horizontal arm (5), a telescopic stepping motor, a lifting stepping motor, a manipulator (6) and a controller; the three-dimensional rod fixing frames (3) are fixed on the base (1) to play a role in supporting and connecting, the horizontal arms (5) are of parallel double-arm structures and are respectively arranged on the two three-dimensional rod fixing frames (3) and driven by a telescopic stepping motor to drive a screw rod assembly; the manipulator (6) is vertically arranged at the tail end of the horizontal arm (5), and is characterized in that the bottom end of the manipulator (6) is provided with a soft clamping manipulator,

the holding part of the soft clamping manipulator is made of soft materials, and a micro pressure sensor is installed in the soft clamping manipulator and used for detecting and identifying contact signals when the soft clamping manipulator is held, so that soft grabbing is realized.

2. The medical manipulator according to claim 1, wherein the manipulator (6) comprises an arm (61), a telescopic positioning rod (62), an electromagnet (63), a counterweight iron block (64), a telescopic contact rod (65) and a small mechanical claw, the arm (61) is vertically arranged, a mounting plate is fixed at the upper end of the arm, the telescopic positioning rod (62), the electromagnet (63) and the counterweight iron block (64) are sequentially arranged at the inner center position from top to bottom, one end of the telescopic positioning rod (62) is fixedly connected with the mounting plate, the other end of the telescopic positioning rod is fixedly connected with the electromagnet (63), the upper surface of the counterweight iron block (64) corresponds to the electromagnet (63), the telescopic contact rod (65) is vertically fixed at the lower center position, four pairs of small lug plates (641) are fixed on the side wall of the counterweight iron block (64), and the small mechanical claw is composed of four short claw fingers (66), the four short claw fingers (66) are in one-to-one correspondence with the four pairs of small ear plates (641), and the tail end of each short claw finger (66) is hinged with the corresponding pair of small ear plates (641).

3. The medical manipulator according to claim 1, further comprising a large manipulator, wherein four pairs of large ear plates (611) are fixed to the lower end of the outer side wall of the arm (61) in a square shape, the large manipulator comprises four long fingers (67), and the four long fingers (67) correspond to the four pairs of large ear plates (611) one by one.

4. The medical manipulator according to claim 1, wherein each long finger (67) is composed of a main finger (671) and a folding finger (672), the tail end of each main finger (671) is hinged to a corresponding pair of big ear plates (611), the outer side of the top end of each main finger (671) is hinged to the outer side of the tail end of a corresponding folding finger (672), a positioning piece (68) is fixed to the inner side of the top end of each main finger (671), each positioning piece (68) is detachably connected to a corresponding folding finger (672) through a bolt, a pair of connecting ear plates (69) is fixed to the inner side of each main finger (671) near the top end, four pairs of connecting ear plates (69) correspond to four short fingers (66) one by one, and each short finger (66) is hinged to a corresponding connecting ear plate (69) near the bottom end.

5. The medical manipulator as claimed in claim 1, wherein the telescopic positioning rod (62) includes a threaded tube and an internal screw, one end of the threaded tube is fixedly connected to the mounting plate, the internal screw is engaged with the threaded tube, and an outer end of the internal screw is fixedly connected to the electromagnet (63).

6. The medical manipulator as claimed in claim 1, wherein the telescopic feeler lever (65) includes an outer tube and an inner rod that are sleeved with each other, one end of the outer tube is fixedly connected to a central position of a lower surface of the counterweight iron block (64), a threaded through hole is radially formed in a wall of the outer tube, a jackscrew is screwed into the threaded through hole, the outer tube and the inner rod are tightly connected through the jackscrew, and a contact piece is fixedly connected to an outer end of the inner rod.

7. The medical manipulator as claimed in claim 1, wherein the four short fingers (66) are provided with soft material on the inner wall, and a micro pressure sensor is arranged between the soft material and the inner wall; and the top ends of the four short claw fingers (66) are obliquely arranged to form first claw tips, and each first claw tip is provided with an anti-skid line.

8. The medical manipulator according to claim 1, wherein the top ends of the four folding fingers (672) are obliquely arranged to form two claw tips, and each two claw tips are provided with anti-skid lines;

four folding claw fingers (672) are equipped with the one side of anti-skidding line and still are equipped with the software material, be equipped with miniature pressure sensor between software material and the inner wall.

9. The medical manipulator according to claim 1, wherein the four tips, one or two, and the corresponding short fingers (66) or folded fingers (672) are each inclined at an angle of 90 ° to 135 °.

10. The medical manipulator according to claim 1, wherein the four folding fingers (672) are magnetically coupled to the corresponding main fingers (671) by magnets when the four folding fingers (672) are detached from the corresponding positioning pieces (68).