CN112451100B

CN112451100B - Unlocking mechanism of surgical robot mechanical arm

Info

Publication number: CN112451100B
Application number: CN202011363153.4A
Authority: CN
Inventors: 张赟; 王海涛; 高倩; 谢芳
Original assignee: Individual
Current assignee: Zhang Bin
Priority date: 2020-11-28
Filing date: 2020-11-28
Publication date: 2021-12-31
Anticipated expiration: 2040-11-28
Also published as: CN112451100A

Abstract

The invention discloses an unlocking mechanism of a mechanical arm of a surgical robot, relates to the technical field of surgical robots, and solves the problems that when an existing unlocking mechanism is used for locking and butting, a buckle on the mechanical arm can be aligned, aligned and fastened with a clamping groove on a poking card only by rotating and adjusting the angle of the mechanical arm, and locking operation is complicated and laborious. The unlocking mechanism of the mechanical arm of the surgical robot comprises a poking card, a mounting frame and a sliding shaft, wherein the poking card comprises a circular top seat and a clamping block, the top end of the poking card is provided with the circular top seat, the right side of the outer wall of the circumference of the circular top seat is fixedly provided with the clamping block, and the right end of the clamping block is symmetrically welded with two L-shaped clamping plates; the sliding shaft comprises a plug board, and a rectangular plug board is fixedly welded at the head end of the sliding shaft. According to the invention, through the pushing matching of the deflector rod and the ejector rod, the sliding shaft can be pushed to slide rightwards only by reversely screwing the rotating shaft, and the butt joint, clamping and fixing of the two chucks can be simply and conveniently completed.

Description

Unlocking mechanism of surgical robot mechanical arm

Technical Field

The invention relates to the technical field of surgical robots, in particular to an unlocking mechanism of a mechanical arm of a surgical robot.

Background

With the development of scientific technology, the concept of "minimally invasive" has been advanced into various fields of surgical operation. The minimally invasive surgery is a surgery performed by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment, and has the advantages of small wound, light pain and quick recovery. The time stamp card is a tool used in laparoscopic or thoracoscopic surgery, and one end of the time stamp card is inserted into the skin, and the other end of the time stamp card is required to be fixed on the surface of the skin. Most of the cards of stabbing of domestic use do not have fixing device at present, slide very easily in the operation, not hard up aversion, appear the operation even and carry out half the time, stab the card and deviate from or slide into too deep phenomenon, seriously influence the operation, delay operation time. Domestic hospitals often adopt the method of repeatedly correcting the position of the puncture card to maintain the operation, but the repeated placement can cause the abdominal wall to form a plurality of Y-shaped pore canals, the peritoneal cleft is enlarged, and subcutaneous emphysema is easy to form in the operation.

When the card is poked to needs use, wrap up the layer parcel earlier on stabbing the outer wall of card body to buckle through fixed hasp device, cut skin and put into after and stab the card body again, sew up the wrap up layer on human operation notched skin with the operation stylolite, will stab the card body and fix at the stomach wall, prevent to stab the activity of card body, be favorable to doctor's operation.

Because the stab card is always in a fixed state, the mechanical arm needs to be continuously moved in a preparation stage or a completion stage of the operation, and the sliding table on the mechanical arm is butted with the stab card, so that an unlocking mechanism of the mechanical arm of the surgical robot needs to be designed.

For example, patent No. CN209404947U discloses an unlocking mechanism of a manipulator of a surgical robot, which includes a manipulator, a sliding table and a poking card mounting frame, wherein the sliding table is located at the end of the manipulator, the poking card mounting frame includes a fixing frame and a fixing base, the fixing frame is fixed on a mounting plate of the sliding table, a poking card quick-release device, a manipulator unlocking button and a proximity switch are arranged on the fixing base, and the poking card quick-release device includes a square positioning hole for inserting a square positioning block of a poking card; the mechanical arm unlocking button is connected with the mechanical arm in an electrified mode and can unlock the movement of the mechanical arm. The mechanical arm unlocking button can unlock the mechanical arm by only using one finger of one hand in the operation preparation or completion stage, and can keep the continuous unlocking of the mechanical arm while the sliding table and the poking card are butted or detached by matching the other hand with the hand. The quick-release device for the poking card can quickly position and fix the poking card and quickly detach the poking card, and is high in working efficiency.

The mode that buckle locking butt joint is mostly adopted to current release mechanism, when stabbing card and arm and locking the butt joint, need rotate the angle of adjustment arm and just enable it the buckle with stab the draw-in groove calibration alignment straining on the card, cause release mechanism's locking operation comparatively loaded down with trivial details hard inconvenience.

Disclosure of Invention

The invention aims to provide an unlocking mechanism of a mechanical arm of a surgical robot, which aims to solve the problem that locking operation is complicated and laborious due to the fact that when locking butt joint is carried out, a buckle on the mechanical arm can be aligned, aligned and fastened with a clamping groove on a poking card only by rotating and adjusting the angle of the mechanical arm in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the unlocking mechanism of the mechanical arm of the surgical robot comprises a poking card, a mounting frame and a sliding shaft, wherein the poking card comprises a circular top seat and a clamping block, the top end of the poking card is provided with the circular top seat, the right side of the outer wall of the circumference of the circular top seat is fixedly provided with the clamping block, and the right end of the clamping block is symmetrically welded with two L-shaped clamping plates; the sliding shaft comprises a plug board, and a rectangular plug board is fixedly welded at the head end of the sliding shaft; the mounting frame comprises a fixing plate and positioning rings, the mounting frame is integrally formed by welding two L-shaped supporting plates and the fixing plate at the top end together, one positioning ring is fixedly welded between the cross-brace sections of the two L-shaped supporting plates, and a sliding shaft penetrates through and is slidably mounted on the positioning ring; a rotating shaft is rotatably inserted between the vertical support sections of the L-shaped support plates at the two positions of the mounting rack; the head ends of the two L-shaped supporting plates of the mounting frame are fixedly welded with a chuck, the sliding shaft penetrates through the chuck, and a top ring is further arranged on the shaft section at the right side of the chuck in a sliding mode through a spring pushing sleeve.

Preferably, the mounting frame further comprises an insert rod; the middle position of the vertical support section of the L-shaped supporting plate at the rear side of the mounting frame is vertically penetrated with an inserted bar through spring pushing, and the bottom of the inserted bar is of an inclined slicing structure.

Preferably, the two chucks are abutted in a pushing manner, and the inner abutting end surfaces of the two chucks are provided with a circle of convex blocks in an annular array, and the convex blocks of the two circles of chucks are mutually inserted and meshed.

Preferably, the rotating shaft comprises a knob gear, the tail end of the rotating shaft is sleeved with the knob gear, and the inserted rod is correspondingly matched with the knob gear in an inserted manner.

Preferably, the rotating shaft further comprises a shifting lever, and the shifting lever is welded to the middle section of the rotating shaft in a sleeved mode.

Preferably, the sliding shaft further comprises a push rod, the tail end of the sliding shaft is upwards supported and welded with the push rod, and the deflector rod rotates to be in abutting contact with the push rod.

Preferably, the outer wall of the circumference of the top ring is welded with six support shafts in an annular array mode, rolling steel balls are installed at two ends of the six support shafts in an embedded mode, and the left circle of rolling steel balls are abutted to and contacted with the static chuck.

Preferably, the inserting plate is correspondingly clamped and inserted together with two L-shaped clamping plates on the clamping block in a matching manner and is locked and fixed through a bolt, and a clamping plate is fixedly sleeved on the front half section of the sliding shaft in a sleeved welding manner.

Compared with the prior art, the invention has the beneficial effects that:

1. the poking card can be limited and fixed by inserting the two circles of convex blocks on the two circles of chucks, and the two chucks are coaxial, so that the poking card can be directly and conveniently butted and clamped no matter the poking card is arranged at any angle and any direction by rotating, the trouble of adjusting the angle of the mechanical arm and calibrating the poking card can be saved when the poking card is butted and fixed by the two circles of convex blocks, and the poking card and the mechanical arm are simply, quickly and labor-saving in butting and locking compared with the conventional unlocking mechanism;

2. according to the invention, through the pushing match of the deflector rod and the ejector rod, the sliding shaft can be pushed to slide rightwards only by reversely screwing the rotating shaft, and the butt joint, clamping and fixing of the two chucks can be simply and conveniently completed;

3. the top ring can prevent the spring from directly contacting with the static chuck, and the top ring can greatly reduce the pushing friction force between the spring and the static chuck through a circle of rolling steel balls, so that the movable chuck can drive the poking card to flexibly rotate and adjust after sliding and loosening from left, and the poking card is prevented from rotating and blocking.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the present invention showing the mount disassembled;

FIG. 3 is a schematic three-dimensional structure of the mount of the present invention;

FIG. 4 is a back view of the mounting bracket of the present invention;

FIG. 5 is a schematic structural view of the slide shaft in a disassembled state;

FIG. 6 is a schematic view of a slide shaft according to the present invention;

FIG. 7 is an enlarged view of portion A of FIG. 3 according to the present invention;

in the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1. punching a card; 101. a circular top seat; 102. a clamping block; 2. a mounting frame; 201. a fixing plate; 202. a positioning ring; 203. inserting a rod; 3. a chuck; 4. a rotating shaft; 401. a knob gear; 402. a deflector rod; 6. a slide shaft; 601. inserting plates; 602. a top rod; 7. and a top ring.

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.

Referring to fig. 1 to 7, an embodiment of the present invention includes: an unlocking mechanism of a mechanical arm of a surgical robot comprises a poking card 1, a mounting frame 2 and a sliding shaft 6, wherein the poking card 1 comprises a circular top seat 101 and a clamping block 102, the top end of the poking card 1 is provided with the circular top seat 101, the clamping block 102 is fixedly arranged on the right side of the outer wall of the circumference of the circular top seat 101, and two L-shaped clamping plates are symmetrically welded at the right end of the clamping block 102; the sliding shaft 6 comprises an inserting plate 601, and a rectangular inserting plate 601 is fixedly welded at the head end of the sliding shaft 6; the mounting rack 2 comprises a fixing plate 201 and a positioning ring 202, the mounting rack 2 is integrally formed by welding two L-shaped supporting plates and the fixing plate 201 at the top end together, wherein one positioning ring 202 is welded and fixed between the cross-brace sections of the two L-shaped supporting plates, and the sliding shaft 6 penetrates through and is slidably mounted on the positioning ring 202; a rotating shaft 4 is rotatably inserted between the vertical support sections of the two L-shaped support plates of the mounting rack 2, and the mounting rack 2 further comprises an inserting rod 203; an inserting rod 203 is vertically penetrated and installed at the middle position of the vertical support section of the L-shaped supporting plate at the rear side of the mounting frame 2 through spring pushing, and the bottom of the inserting rod 203 is of an inclined slicing structure; the head ends of two L-shaped supporting plates of the mounting frame 2 are also fixedly welded with a chuck 3, a sliding shaft 6 penetrates through the chuck 3, and a shaft section at the right side of the chuck 3 is also provided with a top ring 7 in a sliding manner through a spring pushing sleeve; the rotating shaft 4 further comprises a deflector rod 402, and the deflector rod 402 is sleeved and welded on the middle section of the rotating shaft 4; the inserting plate 601 is correspondingly matched and clamped with two L-shaped clamping plates on the clamping block 102 together and is locked and fixed through a bolt, and the front half section of the sliding shaft 6 is fixedly sleeved with a clamping plate 3 in a welding mode.

Further, 3 top thrusts of two chucks are leaned on together, and all be annular array and be provided with the protruding piece of round on the inboard butt joint terminal surface of two chucks 3, the protruding piece of this two rings of chucks 3 is pegged graft mutually and is meshed, two rings of protruding pieces on two rings of chucks 3 can be pegged graft mutually spacing and fixed and stab card 1, and because two chucks 3 are coaxial, and then no matter two punishment card 1 rotate and arrange any angle position in, through the equal direct convenient completion butt joint block of two rings of protruding pieces, the suitability is better, compare in current release latch mechanism can save the trouble of adjustment arm angle and stab card 1 calibration when carrying out butt joint fixed operation to stabbing card 1, make the butt joint locking of stabbing card 1 and arm simple swift laborsaving.

Further, the rotating shaft 4 comprises a knob gear 401, the knob gear 401 is sleeved at the tail end of the rotating shaft 4, the inserted rod 203 is correspondingly matched with the knob gear 401 in an inserting mode, the inserted rod 203 can achieve a function similar to a ratchet wheel through a beveling section at the bottom of the inserted rod, the knob gear 401 is subjected to one-way automatic inserting and positioning, and the sliding shaft 6 and the two chucks 3 are prevented from sliding and loosening due to the rotation of the deflector rod 402.

Further, the sliding shaft 6 further comprises a push rod 602, the tail end of the sliding shaft 6 is upwards supported and welded with the push rod 602, the shift lever 402 rotates to be in abutting contact with the push rod 602, the shift lever 402 is matched with the push rod 602 in a pushing mode, the sliding shaft 6 can be pushed to slide rightwards only by reversely screwing the rotating shaft 4, and the two chucks 3 can be simply and conveniently butted, clamped and fixed.

Further, it has six back shafts to be annular array welding on the circumference outer wall of apical ring 7, the rolling steel ball is all inlayed and installed at the both ends of these six back shafts, and left round rolling steel ball supports with static chuck 3 and leans on the contact, apical ring 7 can avoid the spring direct with static chuck contact 3, and apical ring 7 can greatly reduce the tight frictional force in top between spring and the static chuck 3 through round rolling steel ball, make movable chuck 3 can drive the rotation adjustment of stabbing 1 nimble after the slip pine takes off in a left side, avoid stabbing 1 rotation card and pause.

The working principle is as follows: the poking card 1 can be limited and fixed by inserting the two circles of raised blocks on the two circles of chucks 3 mutually, and the two chucks 3 are coaxial, so that the poking card 1 can be directly and conveniently butted and clamped by the two circles of raised blocks no matter the two poking cards 1 rotate to be arranged in any angle direction, the poking card 1 has better applicability, compared with the prior unlocking mechanism, the trouble of adjusting the angle of the mechanical arm and calibrating the poking card 1 can be saved when the poking card 1 is butted and fixed, the butting and locking of the poking card 1 and the mechanical arm are simple, rapid and labor-saving, the inserting rod 203 can realize the function similar to a ratchet wheel through the beveling section at the bottom of the inserting rod, the knob gear 401 is unidirectionally and automatically inserted and positioned, the sliding shaft 6 and the two chucks 3 are prevented from being loosened due to the rotation of the poking rod 402, the sliding shaft 6 can be pushed to the right only by reversely screwing the rotating shaft 4 through the pushing and matching of the poking rod 402 and the ejector rod 602, the butting and clamping of the two chucks 3 can be simply and conveniently completed, the thimble 7 can avoid the spring direct with the contact of static chuck 3, and the thimble 7 can greatly reduce the tight frictional force in top between spring and the static chuck 3 through the round steel ball that rolls, makes the activity chuck 3 can drive the rotation adjustment of stabbing 1 flexibility after the smooth pine of a left side takes off, avoids stabbing 1 rotation card and pause.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. An unlocking mechanism of a surgical robot mechanical arm is characterized in that: the stamping device comprises a stamping card (1), a mounting frame (2) and a sliding shaft (6), wherein the stamping card (1) comprises a circular top seat (101) and a clamping block (102), the top end of the stamping card (1) is provided with the circular top seat (101), the clamping block (102) is fixedly arranged on the right side of the circumferential outer wall of the circular top seat (101), and two L-shaped clamping plates are symmetrically welded at the right end of the clamping block (102); the sliding shaft (6) comprises an inserting plate (601), and a rectangular inserting plate (601) is fixedly welded at the head end of the sliding shaft (6); the mounting rack (2) comprises a fixing plate (201) and a positioning ring (202), the mounting rack (2) is integrally formed by welding two L-shaped supporting plates and the fixing plate (201) at the top end together, one positioning ring (202) is welded and fixed between cross-brace sections of the two L-shaped supporting plates, and the sliding shaft (6) penetrates through and is slidably mounted on the positioning ring (202); a rotating shaft (4) is rotatably inserted between the vertical support sections of the two L-shaped support plates of the mounting rack (2); the head ends of two L-shaped supporting plates of the mounting frame (2) are fixedly welded with a chuck (3), a sliding shaft (6) penetrates through the chuck (3), and a shaft section at the right side of the chuck (3) is also provided with a top ring (7) in a sliding manner through a spring pushing sleeve;

the mounting frame (2) further comprises an insert rod (203); an inserting rod (203) is vertically penetrated and installed at the middle position of a vertical supporting section of the L-shaped supporting plate at the rear side of the mounting rack (2) through a spring jacking, and the bottom of the inserting rod (203) is of an inclined slicing structure;

the two chucks (3) are pushed and abutted together, the inner abutting end surfaces of the two chucks (3) are provided with a circle of convex blocks in an annular array, and the convex blocks of the two circles of chucks (3) are mutually inserted and meshed;

the rotating shaft (4) comprises a knob gear (401), the tail end of the rotating shaft (4) is sleeved with the knob gear (401), and the inserted rod (203) is correspondingly matched with the knob gear (401) in an inserted manner; the rotating shaft (4) further comprises a deflector rod (402), and the deflector rod (402) is welded on the middle section of the rotating shaft (4) in a sleeved mode; the sliding shaft (6) further comprises a push rod (602), the tail end of the sliding shaft (6) is upwards supported and welded with the push rod (602), and the shifting rod (402) rotates to be in abutting contact with the push rod (602);

the inserting plate (601) is correspondingly clamped and inserted together with two L-shaped clamping plates on the clamping block (102) in a matching way and is locked and fixed through a bolt, and a clamping plate (3) is fixedly sleeved on the front half section of the sliding shaft (6) in a welding way.

2. The unlocking mechanism of a surgical robot arm according to claim 1, wherein: the circular outer wall of the top ring (7) is provided with six support shafts in an annular array welding mode, rolling steel balls are installed at two ends of the six support shafts in an embedded mode, and the left circle of rolling steel balls are abutted to the static chuck (3) in an abutting mode.