CN110977838A - Minimally invasive robot mechanical arm quick-dismantling sterilization mechanism based on control system - Google Patents
Minimally invasive robot mechanical arm quick-dismantling sterilization mechanism based on control system Download PDFInfo
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- CN110977838A CN110977838A CN201911276977.5A CN201911276977A CN110977838A CN 110977838 A CN110977838 A CN 110977838A CN 201911276977 A CN201911276977 A CN 201911276977A CN 110977838 A CN110977838 A CN 110977838A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Disinfection or sterilisation of materials or objects, in general; Accessories therefor
- A61L2/16—Disinfection or sterilisation of materials or objects, in general; Accessories therefor using chemical substances
- A61L2/18—Liquid substances
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Disinfection or sterilisation of materials or objects, in general; Accessories therefor
- A61L2/16—Disinfection or sterilisation of materials or objects, in general; Accessories therefor using chemical substances
- A61L2/22—Phase substances, e.g. smokes or aerosols
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Disinfection or sterilisation of materials or objects, in general; Accessories therefor
- A61L2/26—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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Abstract
本发明公开了一种基于控制系统的微创机器人机械臂快拆消毒机构，包括基板、消毒液管、雾化喷头、液压杆和伺服电机，所述基板底面上焊接固定有消毒液管，所述第二固定夹板顶部内侧与第二轴承外圈焊接固定，所述调整螺纹杆贯穿第二活动夹板顶部，且第二活动夹板顶部与顶板下端面贴合，所述第一活动夹板、第一固定夹板、第二固定夹板和第二活动夹板内侧均粘接固定有海绵内垫。该基于控制系统的微创机器人机械臂快拆消毒机构，采用新型的结构设计，使得本装置可以对微创机器人机械臂的根部进行稳定的夹持固定，保持微创机器人机械臂在拆卸安装过程中的稳定性，同时可以带动拆卸完成的机械臂下降至消毒工位，采用雾化技术对机械臂进行雾化消毒。The invention discloses a quick disassembly and disinfection mechanism of a minimally invasive robot mechanical arm based on a control system, comprising a substrate, a disinfectant pipe, an atomizing nozzle, a hydraulic rod and a servo motor. The inner side of the top of the second fixed splint is welded and fixed to the outer ring of the second bearing, the adjusting threaded rod penetrates the top of the second movable splint, and the top of the second movable splint is attached to the lower end surface of the top plate. The inner sides of the fixed splint, the second fixed splint and the second movable splint are all bonded and fixed with a sponge inner pad. The control system-based quick disassembly and disinfection mechanism of the minimally invasive robotic arm adopts a new structural design, so that the device can stably clamp and fix the root of the minimally invasive robotic arm, and keep the minimally invasive robotic arm during disassembly and installation. At the same time, it can drive the disassembled robotic arm to descend to the disinfection station, and use atomization technology to atomize and disinfect the robotic arm.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a quick-release disinfection mechanism for a mechanical arm of a minimally invasive robot based on a control system.
Background
The minimally invasive robot is medical equipment used in minimally invasive surgery, and consists of a control console and an operating arm, a surgeon can sit in front of the control console far away from an operating table during surgery, the head of the surgeon rests on a visual field frame, two eyes receive complete images from different cameras, a three-dimensional stereogram of the surgery field is synthesized together, the surgeon controls an operating rod by two hands, the hand action is transmitted to the tip of the mechanical arm, the surgery operation is completed, the accuracy and the stability of the operation are increased, the mechanical arm needs to be cleaned after the surgery is finished every time, and the disinfection is removed, so that the minimally invasive robot is convenient to use next time.
With the continuous dismantling and disinfection of the minimally invasive robot mechanical arm, the following problems are found in the actual operation process:
the existing minimally invasive robot mechanical arm needs to be manually supported by an operator to be detached, stability is insufficient, the mechanical arm has falling risk, the mounting and the detaching are inconvenient, and the traditional disinfection needs the operator to manually spray disinfection liquid medicine, so that the speed is low, and the efficiency is low.
Disclosure of Invention
The invention aims to provide a quick-release disinfection mechanism for a minimally invasive robot mechanical arm based on a control system, and aims to solve the problems that in the background art, an operator manually supports the mechanism for disassembly, the stability is insufficient, the mechanical arm has the risk of falling, the assembly and disassembly are inconvenient, and in addition, the traditional disinfection needs the operator to manually spray disinfection liquid medicine, the speed is low, and the efficiency is low.
In order to achieve the purpose, the invention provides the following technical scheme: a minimally invasive robot mechanical arm quick-dismantling and disinfecting mechanism based on a control system comprises a base plate, a disinfectant pipe, an atomizing nozzle, a hydraulic rod and a servo motor, wherein the disinfectant pipe is fixedly welded on the bottom surface of the base plate, the atomizing nozzle is fixedly welded on the disinfectant pipe, the hydraulic rod is fixedly bolted on the upper end surface of the base plate, the hydraulic rod is fixedly bolted on the lower end surface of a top plate, the servo motor is fixedly arranged on the lower end surface of the top plate, an internal thread sleeve is fixedly welded on an output shaft of the servo motor, an inner ring of a first bearing and a driving gear are fixedly welded on the outer side of the internal thread sleeve, an outer ring of the first bearing is fixedly welded on the lower end surface of the top plate, the inner side of the internal thread sleeve is attached to a side thread rod, the side thread rod is fixedly welded on a first movable clamping plate, a top strip is fixedly welded on the top of the first movable clamping, and the track groove is arranged on the lower end face of the top plate, the lower end face of the top plate is fixedly welded with a first fixing clamp plate, the top of the driving gear is connected with a horizontal plate, the horizontal plate penetrates through a stabilizing sleeve, the stabilizing sleeve is fixedly welded on the lower end face of the top plate, the tail end of the horizontal plate is welded on the lateral side of a first vertical plate, the first vertical plate penetrates through a first limiting window, a first limiting window is arranged on the top plate, the top of the first vertical plate is welded on a mounting plate, the lower end face of the mounting plate is fixedly welded with a second vertical plate, the second vertical plate penetrates through a second limiting window, a second limiting window is arranged on the top plate, the bottom end of the second vertical plate is fixedly welded with the top of the second fixing clamp plate, the inner side of the top of the second fixing clamp plate is fixedly welded with the outer ring of a second bearing, the inner side of the second bearing is fixedly welded with an adjusting threaded rod, and, the adjusting threaded rod runs through the top of the second movable clamping plate, the top of the second movable clamping plate is attached to the lower end face of the top plate, and the inner sides of the first movable clamping plate, the first fixed clamping plate, the second fixed clamping plate and the second movable clamping plate are fixedly bonded with the inner sponge pad.
Preferably, the disinfection liquid pipe is arc-shaped, and the inner side of the disinfection liquid pipe is densely provided with the atomizing nozzles at equal intervals.
Preferably, the internal thread sleeve forms a rotating mechanism with the top plate through a first bearing, and the length of the internal thread sleeve is larger than the distance between the first movable clamping plate and the first fixed clamping plate.
Preferably, the first movable clamping plate, the first fixed clamping plate, the second fixed clamping plate and the second movable clamping plate are all semicircular in front view shape, and the distance between the first movable clamping plate and the first fixed clamping plate is equal to the distance between the second fixed clamping plate and the second movable clamping plate.
Preferably, the top strip is connected with the track groove in a sliding mode, and the front cross section of the top strip is in a T shape.
Preferably, the driving gear is meshed with the horizontal plate, the horizontal plate is in sliding connection with the stabilizing sleeve, and the length of the horizontal plate is larger than the distance between the first movable clamping plate and the first fixed clamping plate.
Preferably, the first vertical plate and the second vertical plate are in sliding connection with the first limiting window and the second limiting window respectively, and the lengths of the first limiting window and the second limiting window are the same.
Preferably, the adjusting threaded rod forms a rotating mechanism through a second bearing and the second fixed clamp plate, the adjusting threaded rod forms a rotating mechanism through a bearing arranged at the tail end and the first vertical plate, 2 adjusting threaded rods are symmetrically distributed about the center of the first vertical plate, and the adjusting threaded rods are in threaded connection with holes formed in the top of the second movable clamp plate.
Compared with the prior art, the invention has the beneficial effects that: the quick-release disinfection mechanism for the minimally invasive robot mechanical arm based on the control system adopts a novel structural design, so that the device can stably clamp and fix the root of the minimally invasive robot mechanical arm, maintain the stability of the minimally invasive robot mechanical arm in the disassembly and assembly process, simultaneously drive the disassembled mechanical arm to descend to a disinfection station, and atomize and disinfect the mechanical arm by adopting an atomization technology;
1. the structure consisting of the internal thread sleeve, the first bearing, the driving gear, the side thread rod, the top strip and the track groove can stably drive the first movable clamp plate to be close to the first fixed clamp plate and stably clamp and fix the mechanical arm;
2. the structure that horizontal plate, stabilizing sleeve, mounting panel, first vertical plate, second vertical plate, first spacing window and the spacing window of second are constituteed can drive the whole first movable clamp plate and the first fixed clamp plate of keeping away from of second fixed clamp plate and second movable clamp plate, makes 2 centre gripping fixed knot construct the distance far away, guarantees to add the stability of the arm after holding enough, and the distance that second movable clamp plate and second fixed clamp plate can be controlled to the adjusting threaded rod, is convenient for carry out the centre gripping to the arm fixed.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic bottom view of the first movable clamping plate and the first fixed clamping plate of the present invention;
FIG. 3 is a schematic side sectional view of the track groove of the present invention;
FIG. 4 is a schematic side view of a cross-sectional structure of a first position-limiting window according to the present invention;
FIG. 5 is a schematic view of the cross-sectional front view of the internally threaded sleeve of the present invention;
fig. 6 is a schematic front sectional view of the first position-limiting window according to the present invention.
In the figure: 1. a substrate; 2. a disinfectant tube; 3. an atomizing spray head; 4. a hydraulic lever; 5. a top plate; 6. a servo motor; 7. an internally threaded sleeve; 8. a first bearing; 9. a drive gear; 10. a side screw; 11. a first movable splint; 12. carrying out top strip; 13. a track groove; 14. a first stationary jaw; 15. a horizontal plate; 16. a stabilizing sleeve; 17. mounting a plate; 1701. a first vertical plate; 1702. a second vertical plate; 18. a first limiting window; 19. a second limiting window; 20. a second stationary jaw; 21. a second bearing; 22. adjusting the threaded rod; 23. a second movable splint; 24. a sponge inner pad.
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.
Referring to fig. 1-6, the present invention provides a technical solution: a minimally invasive robot mechanical arm quick-dismantling and disinfecting mechanism based on a control system comprises a base plate 1, a disinfectant tube 2, an atomizing spray nozzle 3, a hydraulic rod 4, a top plate 5, a servo motor 6, an internal thread sleeve 7, a first bearing 8, a driving gear 9, a side threaded rod 10, a first movable clamp plate 11, a top strip 12, a track groove 13, a first fixed clamp plate 14, a horizontal plate 15, a stabilizing sleeve 16, a mounting plate 17, a first vertical plate 1701, a second vertical plate 1702, a first limiting window 18, a second limiting window 19, a second fixed clamp plate 20, a second bearing 21, an adjusting threaded rod 22, a second movable clamp plate 23 and a sponge inner pad 24, wherein the disinfectant tube 2 is fixedly welded on the bottom surface of the base plate 1, the atomizing spray nozzle 3 is fixedly welded on the disinfectant tube 2, the hydraulic rod 4 is fixedly bolted on the upper end surface of the base plate 1, the top end of the hydraulic rod 4 is mounted on the lower end surface of the top plate 5, the servo motor 6 is fixedly mounted on the lower end surface of, an internal thread sleeve 7 is fixedly welded on an output shaft of the servo motor 6, an inner ring of a first bearing 8 and a driving gear 9 are fixedly welded on the outer side of the internal thread sleeve 7, an outer ring of the first bearing 8 is fixedly welded on the lower end face of the top plate 5, the inner side of the internal thread sleeve 7 is attached to a side thread rod 10, the side thread rod 10 is fixedly welded on a first movable clamping plate 11, a top strip 12 is fixedly welded on the top of the first movable clamping plate 11, the top strip 12 is attached to a track groove 13, the track groove 13 is formed in the lower end face of the top plate 5, a first fixed clamping plate 14 is fixedly welded on the lower end face of the top plate 5, the top of the driving gear 9 is connected with a horizontal plate 15, the horizontal plate 15 penetrates through a stabilizing sleeve 16, the stabilizing sleeve 16 is fixedly welded on the lower end face of the top plate 5, the tail end of the horizontal plate 15 is welded on the side of a first vertical, and the first limiting window 18 is opened on the top plate 5, and the top of the first vertical plate 1701 is welded on the mounting plate 17, and the second vertical plate 1702 is welded and fixed on the lower end surface of the mounting plate 17, and the second vertical plate 1702 penetrates through the second limiting window 19, and the second limit window 19 is opened on the top plate 5, and simultaneously the bottom end of the second vertical plate 1702 is welded and fixed with the top of the second fixed clamp plate 20, the inner side of the top of the second fixed clamp plate 20 is welded and fixed with the outer ring of the second bearing 21, and the inner side of the inner ring of the second bearing 21 is welded and fixed with the adjusting threaded rod 22, and the end of the adjusting threaded rod 22 is mounted on the side of the first vertical plate 1701 through a bearing, the adjusting threaded rod 22 penetrates the top of the second movable clamp plate 23, and the top of the second movable clamping plate 23 is attached to the lower end face of the top plate 5, and the inner sides of the first movable clamping plate 11, the first fixed clamping plate 14, the second fixed clamping plate 20 and the second movable clamping plate 23 are fixedly bonded with a sponge inner pad 24.
In the embodiment, the disinfectant pipe 2 is arc-shaped, and the atomizing nozzles 3 are densely distributed on the inner side of the disinfectant pipe 2 at equal intervals, so that the atomized disinfectant sprayed by the atomizing nozzles 3 can be densely distributed in a certain space above the atomizing nozzles, and the disinfection effect on the disassembled mechanical arm is ensured;
the internal thread sleeve 7 and the top plate 5 form a rotating mechanism through the first bearing 8, and the length of the internal thread sleeve 7 is larger than the distance between the first movable clamping plate 11 and the first fixed clamping plate 14, so that the internal thread sleeve 7 can drive the side thread rod 10 to move for a sufficient distance when rotating, and the first movable clamping plate 11 and the first fixed clamping plate 14 can be closed;
the front view shapes of the first movable clamping plate 11, the first fixed clamping plate 14, the second fixed clamping plate 20 and the second movable clamping plate 23 are all semicircular, the distance between the first movable clamping plate 11 and the first fixed clamping plate 14 is equal to the distance between the second fixed clamping plate 20 and the second movable clamping plate 23, and the structural design enables the first movable clamping plate 11 and the first fixed clamping plate 14 as well as the second fixed clamping plate 20 and the second movable clamping plate 23 to be capable of stably clamping and fixing the mechanical arm after being closed;
the top strip 12 is connected with the track groove 13 in a sliding manner, the front cross section of the top strip 12 is in a T shape, and the first movable clamp plate 11 can drive the top strip 12 to perform stable sliding displacement along the track groove 13 due to the structural design;
the driving gear 9 is meshed with the horizontal plate 15, the horizontal plate 15 is in sliding connection with the stabilizing sleeve 16, and the length of the horizontal plate 15 is greater than the distance between the first movable clamping plate 11 and the first fixed clamping plate 14, the structural design enables the driving gear 9 to drive the horizontal plate 15 to perform stable displacement in the horizontal direction by utilizing the meshed connection relation when rotating, and the length of the horizontal plate 15 ensures that the horizontal plate 15 cannot be separated from the driving gear 9 before the internal thread sleeve 7 drives the first movable clamping plate 11 and the first fixed clamping plate 14 to be closed;
the first vertical plate 1701 and the second vertical plate 1702 are respectively connected with the first limiting window 18 and the second limiting window 19 in a sliding manner, and the lengths of the first limiting window 18 and the second limiting window 19 are the same, so that the horizontal plate 15 can drive the mounting plate 17 and the second vertical plate 1702 to perform stable sliding displacement through the first vertical plate 1701;
the adjusting threaded rod 22 forms a rotating mechanism through the second bearing 21 and the second fixed clamping plate 20, the adjusting threaded rod 22 forms a rotating mechanism through a bearing arranged at the tail end and the first vertical plate 1701, 2 adjusting threaded rods 22 are symmetrically distributed in the center of the first vertical plate 1701, holes formed in the tops of the adjusting threaded rod 22 and the second movable clamping plate 23 are in threaded connection, and the adjusting threaded rod 22 can drive the second movable clamping plate 23 and the top plate 5 to slide relatively and be close to the second fixed clamping plate 20 by utilizing the stable threaded connection relation when rotating.
The working principle is as follows: when the device is used, firstly, the whole pushing device is close to a mechanical arm of a minimally invasive robot to be disassembled, the mechanical arm of the minimally invasive robot is adjusted to be in a horizontal state, the hydraulic rod 4 is controlled to extend, the space between the first movable clamp plate 11 and the first fixed clamp plate 14 in the drawing 1 is positioned right above the mechanical arm of the minimally invasive robot, then the hydraulic rod 4 is controlled to shorten, the first movable clamp plate 11 and the first fixed clamp plate 14 are vertically moved downwards until the mechanical arm is just positioned in the space between the first movable clamp plate 11 and the first fixed clamp plate 14, the hydraulic rod 4 is controlled to stop working, and at the moment, the mechanical arm is positioned in the space between the first movable clamp plate 11 and the first fixed clamp plate 14 and between the second fixed clamp plate 20 and the second movable clamp plate 23;
the servo motor 6 is powered by an external power supply circuit, the servo motor 6 drives an output shaft of the servo motor to rotate forwards, the servo motor 6 drives an internal thread sleeve 7 in the graph 4 to rotate anticlockwise through the output shaft of the servo motor, the internal thread sleeve 7 drives a side thread rod 10 in the graph 5 to horizontally move rightwards by utilizing a threaded connection relation while rotating, the side thread rod 10 pushes a first movable clamp plate 11 to drive a top strip 12 to horizontally slide rightwards along a track of a track groove 13 until the first movable clamp plate 11 and a first fixed clamp plate 14 are closed to form a closed loop, a mechanical arm is limited and clamped, and the servo motor 6 is controlled to stop working;
while the servo motor 6 drives the inner threaded sleeve 7 in fig. 4 to rotate anticlockwise through the output shaft thereof, the inner threaded sleeve 7 drives the driving gear 9 to rotate anticlockwise synchronously, the driving gear 9 drives the horizontal plate 15 in fig. 4 to move leftwards horizontally, the horizontal plate 15 slides relative to the stabilizing sleeve 16 and pushes the first vertical plate 1701, the first vertical plate 1701 slides leftwards in the first limiting window 18 and drives the mounting plate 17 in fig. 4 and the second vertical plate 1702 in fig. 6 to slide away from the first movable clamping plate 11 and the first fixed clamping plate 14 synchronously, the servo motor 6 stops after the first movable clamping plate 11 and the first fixed clamping plate 14 are closed, the mounting plate 17 drives the second fixed clamping plate 20, the adjusting threaded rod 22 and the second movable clamping plate 23 to move away from the first movable clamping plate 11 and the first fixed clamping plate 14 through the first vertical plate 1701 and the second vertical plate 1702 and the mounting plate 17, meanwhile, 2 adjusting threaded rods 22 in fig. 2 are rotated in the same direction, when the adjusting threaded rods 22 in fig. 6 rotate, the second movable clamp plate 23 is driven to horizontally slide rightwards by utilizing a threaded connection relationship with a hole at the top of the second movable clamp plate 23 until the second movable clamp plate 23 and the second fixed clamp plate 20 are closed to form a closed loop to limit and clamp the mechanical arm, at the moment, the second movable clamp plate 23 and the second fixed clamp plate 20 as well as the first movable clamp plate 11 and the first fixed clamp plate 14 are closed to clamp and fix the mechanical arm, the distance is relatively far and stable, an operator can use a tool to disassemble a connection structure at the root of the mechanical arm, after the disassembly is completed, the mechanical arm is separated from a main structure, the hydraulic rod 4 is controlled to drive the top plate 5 to vertically descend, and the first movable clamp plate 11, the first fixed clamp plate 14, the second fixed clamp plate 20 and the second movable clamp plate 23 drive the mechanical arm to descend to be closer to the upper part of the disinfectant pipe 2 and the atomizing, the disinfectant is pumped into the disinfectant pipe 2 and sprayed out from the atomizing nozzle 3 through a pump connected with the disinfectant pipe 2, dense disinfectant mist is formed above the atomizing nozzle 3, and the mechanical arm which is disassembled is disinfected;
after the disinfection, control hydraulic stem 4 extension drives the arm and shifts up and align with the major structure, connect fixedly, and reverse rotation adjustment threaded rod 22, make second movable clamp plate 23 keep away from second fixed clamp plate 20, control servo motor 6 drives the reversal of internal thread sleeve 7, first fixed clamp plate 14 is kept away from to first movable clamp plate 11 of internal thread sleeve 7 drive, no longer carry out the centre gripping to the arm, control hydraulic stem 4 extension, first movable clamp plate 11, first fixed clamp plate 14, second fixed clamp plate 20 and second movable clamp plate 23 continue to rise, take off the arm, the mobile device keep away from the arm can.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a wicresoft's robot arm quick detach disinfection mechanism based on control system, includes base plate (1), disinfection liquid pipe (2), atomizer (3), hydraulic stem (4) and servo motor (6), its characterized in that: a disinfection liquid pipe (2) is fixedly welded on the bottom surface of the base plate (1), an atomization nozzle (3) is fixedly welded on the disinfection liquid pipe (2), a hydraulic rod (4) is fixedly bolted on the upper end surface of the base plate (1), a bolt at the top end of the hydraulic rod (4) is mounted on the lower end surface of the top plate (5), a servo motor (6) is fixedly arranged on the lower end surface of the top plate (5), an internal thread sleeve (7) is fixedly welded on an output shaft of the servo motor (6), an inner ring of a first bearing (8) and a driving gear (9) are fixedly welded on the outer side of the internal thread sleeve (7), an outer ring of the first bearing (8) is fixedly welded on the lower end surface of the top plate (5), the inner side of the internal thread sleeve (7) is attached to a side thread rod (10), the side thread rod (10) is fixedly welded on a first movable clamping plate (11), and a top strip (12) is fixedly welded on the top of the first, the top strip (12) is attached to the track groove (13), the track groove (13) is formed in the lower end face of the top plate (5), a first fixing clamp plate (14) is fixedly welded on the lower end face of the top plate (5), the top of the driving gear (9) is connected with the horizontal plate (15) in an interconnecting mode, the horizontal plate (15) penetrates through the stabilizing sleeve (16), the stabilizing sleeve (16) is fixedly welded on the lower end face of the top plate (5), the tail end of the horizontal plate (15) is welded on the side of the first vertical plate (1701), the first vertical plate (1701) penetrates through the first limiting window (18), the first limiting window (18) is formed in the top plate (5), the top of the first vertical plate (1701) is welded on the mounting plate (17), the lower end face of the mounting plate (17) is fixedly welded with the second vertical plate (1702), the second vertical plate (1702) penetrates through the second limiting window (19), and the second limiting window (19) is formed in the top plate (5), simultaneously second vertical plate (1702) bottom and second solid fixed splint (20) top welded fastening, second solid fixed splint (20) top inboard and second bearing (21) outer lane welded fastening, and second bearing (21) inner circle inboard and adjusting threaded rod (22) welded fastening to adjusting threaded rod (22) end is installed at first vertical plate (1701) avris through the bearing, adjusting threaded rod (22) run through second activity splint (23) top, and laminating of second activity splint (23) top and roof (5) lower extreme, first activity splint (11), first solid fixed splint (14), second solid fixed splint (20) and second activity splint (23) inboard all bonds and is fixed with sponge inner pad (24).
2. The quick-release disinfection mechanism for the minimally invasive robot mechanical arm based on the control system as claimed in claim 1, wherein: the disinfectant pipe (2) is arc-shaped, and the inner side of the disinfectant pipe (2) is densely provided with the atomizing nozzles (3) at equal intervals.
3. The quick-release disinfection mechanism for the minimally invasive robot mechanical arm based on the control system as claimed in claim 1, wherein: the internal thread sleeve (7) and the top plate (5) form a rotating mechanism through the first bearing (8), and the length of the internal thread sleeve (7) is larger than the distance between the first movable clamping plate (11) and the first fixed clamping plate (14).
4. The quick-release disinfection mechanism for the minimally invasive robot mechanical arm based on the control system as claimed in claim 1, wherein: the front view shapes of the first movable clamping plate (11), the first fixed clamping plate (14), the second fixed clamping plate (20) and the second movable clamping plate (23) are semicircular, and the distance between the first movable clamping plate (11) and the first fixed clamping plate (14) is equal to the distance between the second fixed clamping plate (20) and the second movable clamping plate (23).
5. The quick-release disinfection mechanism for the minimally invasive robot mechanical arm based on the control system as claimed in claim 1, wherein: the top strip (12) is in sliding connection with the track groove (13), and the front section of the top strip (12) is T-shaped.
6. The quick-release disinfection mechanism for the minimally invasive robot mechanical arm based on the control system as claimed in claim 1, wherein: the driving gear (9) is meshed with the horizontal plate (15), the horizontal plate (15) is in sliding connection with the stabilizing sleeve (16), and the length of the horizontal plate (15) is larger than the distance between the first movable clamping plate (11) and the first fixed clamping plate (14).
7. The quick-release disinfection mechanism for the minimally invasive robot mechanical arm based on the control system as claimed in claim 1, wherein: the first vertical plate (1701) and the second vertical plate (1702) are in sliding connection with the first limiting window (18) and the second limiting window (19) respectively, and the lengths of the first limiting window (18) and the second limiting window (19) are the same.
8. The quick-release disinfection mechanism for the minimally invasive robot mechanical arm based on the control system as claimed in claim 1, wherein: the adjusting threaded rod (22) forms a rotating mechanism through a second bearing (21) and a second fixed clamping plate (20), the adjusting threaded rod (22) forms a rotating mechanism through a bearing arranged at the tail end and a first vertical plate (1701), 2 adjusting threaded rods (22) are symmetrically distributed about the center of the first vertical plate (1701), and the adjusting threaded rod (22) is in threaded connection with a hole formed in the top of a second movable clamping plate (23).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911276977.5A CN110977838B (en) | 2019-12-12 | 2019-12-12 | Minimally invasive robot mechanical arm quick-dismantling sterilization mechanism based on control system |
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| CN201911276977.5A CN110977838B (en) | 2019-12-12 | 2019-12-12 | Minimally invasive robot mechanical arm quick-dismantling sterilization mechanism based on control system |
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| CN110977838A true CN110977838A (en) | 2020-04-10 |
| CN110977838B CN110977838B (en) | 2021-06-11 |
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| CN201911276977.5A Expired - Fee Related CN110977838B (en) | 2019-12-12 | 2019-12-12 | Minimally invasive robot mechanical arm quick-dismantling sterilization mechanism based on control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112869878A (en) * | 2021-02-26 | 2021-06-01 | 北京信达五域科技有限公司 | Mechanical arm for medical operation |
| CN114192316A (en) * | 2021-12-23 | 2022-03-18 | 浙江豪特金属封头制造有限公司 | Paint spraying apparatus is used in metal head processing |
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|---|---|
| CN110977838B (en) | 2021-06-11 |
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