CN115871001A - Hydraulic operating arm for medical robot - Google Patents
Hydraulic operating arm for medical robot Download PDFInfo
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- CN115871001A CN115871001A CN202310213268.2A CN202310213268A CN115871001A CN 115871001 A CN115871001 A CN 115871001A CN 202310213268 A CN202310213268 A CN 202310213268A CN 115871001 A CN115871001 A CN 115871001A
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Abstract
The invention relates to the technical field of medical robot accessories, in particular to a hydraulic operating arm for a medical robot. The hydraulic operating arm for the medical robot is composed of a turnover control arm arranged on the side wall of a robot body and a magnetic control adsorption head arranged at the top end of the turnover control arm and controlled by a top adjusting motor, can be used in a narrow space through the turnover control arm, and is very simple and convenient to operate; the closed cover plates at the opening positions of the outer side surfaces of the front medicine outlet and the front medicine loading port are respectively controlled by turning the turning type control arm up and down, so that medicines can be conveniently taken and placed; the hydraulic control arms on the two sides of the front medicine collecting box are used for controlling the external cover plate, and the external cover plate can be matched with the closed cover plate to improve the conveying efficiency of medicines.
Description
Technical Field
The invention relates to the technical field of medical robot accessories, in particular to a hydraulic operating arm for a medical robot.
Background
The medical robot refers to a medical auxiliary medical device used in hospitals and clinics. By creating an operation plan by itself, an operation program is determined according to the actual situation, and finally the operation is changed to the movement of the operation mechanism. In order to cooperate with the action of the medical robot to execute, an operating arm needs to be installed on the medical robot, the traditional medical robot can only operate in a larger space through the operating arm and cannot take and place medicines in a narrow space, and therefore the operating arm suitable for taking and placing medicines in a smaller environment is continuously arranged on the market.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the problems existing in the background art, an improved hydraulic operating arm for a medical robot is provided, and the problem that the operating arm of the traditional medical robot can only operate in a large space and cannot take and place medicines in a narrow space is solved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a hydraulic pressure operating arm for medical robot, includes the body frame body that is used for putting medicine containing box, installs the robot on the body frame body, body frame body front end lateral wall on fixed assembly have the leading conveyor rail who is used for carrying robot, be equipped with the leading collection medicine box of outside installation hydraulic control arm on the robot front end lateral wall, the activity is equipped with convertible control arm on the robot lateral wall, convertible control arm top is equipped with the magnetic control adsorption head, leading medicine mouth has been seted up to medicine containing box front lateral wall lower extreme, leading medicine mouth has been seted up to medicine containing box front lateral wall upper end, leading medicine mouth and leading medicine mouth lateral surface open position elastic assembly have the closed cover.
The front end of the front conveying guide rail is movably provided with an electric control type transverse screw rod used for controlling the robot body.
Leading collection medicine box upper surface has seted up overhead opening, leading collection medicine box lower surface has seted up down and has put the opening, and leading collection medicine box upper surface is located overhead opening position and leading collection medicine box lower surface is located down and puts the opening position and all be provided with the outside apron by hydraulic control arm control.
The robot is characterized in that the robot body is internally provided with a turnover control motor at the turnover control arm assembling end, and a top assembling blind hole is formed in the top end of the turnover control arm.
The magnetic control adsorption head comprises a middle-arranged electric control hydraulic support rod axially installed in the top assembly blind hole, a top adjusting motor axially installed at the top of an electric control hydraulic support rod telescopic rod, an external assembly support axially installed on an adjusting shaft of the top adjusting motor, an external adsorption plate elastically assembled on the external assembly support and an electromagnet fixed on the side wall of the external adsorption plate.
The inner side surface of the external cover plate is fixedly provided with a flexible corrugated material guide pipe, and the inner side surface of the external cover plate is positioned outside the flexible corrugated material guide pipe and is provided with an external extension adjusting cover in a sliding manner.
The utility model discloses a medicine taking device, including external extension adjusting cover, side cover, lateral linkage adjusting shaft, internal thread stand pipe, lateral linkage adjusting shaft, lateral extension adjusting cover, lateral cover medial surface, the fixed side guide rail that is equipped with in the outside of being located the outside of external extension adjusting cover, the inside activity of lateral linkage adjusting shaft is equipped with lateral linkage adjusting shaft, the internal thread stand pipe and the internal thread stand pipe screw-thread assembly in the outside of inserting the side of lateral linkage adjusting shaft one end, the meshing transmission of the other end of lateral linkage adjusting shaft has inboard linkage gear, be fixed with the arc control rack with inboard linkage gear engaged with on leading medicine mouth and the leading charge mouth medial surface.
The side wall of the front side of the medicine containing box is fixedly provided with a lateral permanent magnet at the periphery of the front medicine outlet and the front medicine loading port.
The medicine containing box is internally provided with an inclined medicine guiding flow channel at the positions of the front medicine outlet and the front medicine loading port.
The beneficial effects of the invention are:
(1) The hydraulic operating arm for the medical robot is composed of a turnover control arm arranged on the side wall of a robot body and a magnetic control adsorption head arranged at the top end of the turnover control arm and controlled by a top adjusting motor, can be used in a narrow space through the turnover control arm, and is very simple and convenient to operate;
(2) The closed cover plates at the opening positions of the outer side surfaces of the front medicine outlet and the front medicine loading port are respectively controlled by vertically overturning the overturning control arm, so that the medicines are conveniently taken and placed;
(3) The external cover plate is controlled by the hydraulic control arms positioned on the two sides of the front medicine collecting box, and the conveying efficiency of medicines can be improved by matching with the closed cover plate;
(4) The top end of the turnover control arm is provided with a magnetic control adsorption head controlled by a top adjusting motor, and the closed cover plate is connected and controlled in a magnetic control mode, so that the connection is firmer and more stable.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a side cross-sectional view of the present invention.
Fig. 3 is a partial schematic view of the position a in fig. 2.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Fig. 1, a hydraulic operating arm for medical robot shown in fig. 2 and fig. 3, including the main frame body 2 that is used for putting medicine containing box 1, install robot 3 on main frame body 2, fixed being equipped with the leading conveying guide rail 4 that is used for carrying robot 3 on the lateral wall of main frame body 2 front end, be equipped with the leading collection medicine box 6 of outside installation hydraulic control arm 5 on the lateral wall of robot 3 front end, the activity is equipped with convertible control arm 7 on the lateral wall of robot 3, convertible control arm 7 top is equipped with the magnetic control adsorption head, leading medicine outlet 10 has been seted up to medicine containing box 1 front lateral wall lower extreme, leading loading mouth 11 has been seted up to medicine containing box 1 front lateral wall upper end, leading medicine outlet 10 and leading loading mouth 11 lateral surface open position elasticity are equipped with closed cover plate 12.
In order to match with the translation adjustment, the front end of the front conveying guide rail 4 is movably provided with an electric control type transverse screw rod 13 for controlling the robot body 3.
Install prior art's infrared location module on leading 4 medial surfaces of conveying guide rail, then at 3 lateral wall installations reflection of light lenses of robot, then cooperate infrared location module to fix a position robot 3's position to stop at 1 front end of medicine containing box.
In order to match the opening and closing of the upper opening and the lower opening, the upper opening is formed in the upper surface of the front medicine collecting box 6, the lower opening is formed in the lower surface of the front medicine collecting box 6, and an external cover plate 14 controlled by the hydraulic control arm 5 is arranged at the position, located at the upper opening, of the upper surface of the front medicine collecting box 6 and the position, located at the lower opening, of the lower surface of the front medicine collecting box 6.
The hydraulic control arm for controlling the external cover plate 14 of the upper opening position and the hydraulic control arm for controlling the external cover plate 14 of the lower opening position are respectively arranged at two sides of the front medicine collecting box 6.
For the cooperation rotation regulation, the inside upset control motor 15 that is located 7 assembly ends of convertible control arm of robot 3 is installed, and top assembly blind hole has been seted up on 7 tops of convertible control arm.
The turnover control arm 7 is inserted into the robot body 3 through a lateral assembly shaft and is in transmission connection with a lateral rotating shaft of the turnover control motor 15.
In order to facilitate magnetic control of the closed cover plate 12, the magnetic control adsorption head comprises a middle electric control hydraulic support rod 16 axially installed in the top assembly blind hole, a top adjusting motor 17 axially installed at the top of an expansion rod of the electric control hydraulic support rod 16, an external assembly support 18 axially installed on an adjusting shaft of the top adjusting motor 17, an external adsorption plate 19 elastically assembled on the external assembly support 18, and an electromagnet 20 fixed on the side wall of the external adsorption plate 19.
The robot body 3, the hydraulic control arm 5, the electric control type transverse screw rod 13, the overturning control motor 15, the top adjusting motor 17 and the electromagnet 20 are all in the prior art.
The turnover control motor 15 drives the turnover control arm 7 to turn over and adjust through rotating, then the top adjusting motor 17 is controlled to extend outwards through the electric control hydraulic support rod 16, the outer adsorption plate 19 is controlled to extrude the outer side surface of the closed cover plate 12, then the electromagnet 20 is started, the electromagnet 20 magnetically attracts the closed cover plate 12, then the closed cover plate 12 is retracted inwards in the control electric control hydraulic support rod 16 in turnover, and the closed cover plate 12 is matched to turn outwards.
In order to facilitate turning and internal medicine guiding, a flexible corrugated material guiding pipe 21 is fixedly assembled on the inner side surface of the external cover plate 14, and an external extension adjusting cover 22 is slidably assembled on the inner side surface of the external cover plate 14 outside the flexible corrugated material guiding pipe 21.
In order to match with linkage extension, a side guide rail 23 is fixedly assembled on the inner side surface of the outer cover plate 14 and positioned on the outer side of the outer extension adjusting cover 22, a side linkage adjusting shaft 24 is movably assembled in the side guide rail 23, one end of the side linkage adjusting shaft 24 is inserted into an internal thread guide pipe on the outer side of the outer extension adjusting cover 22 and is assembled with the internal thread guide pipe in a threaded manner, an inner side linkage gear is meshed and driven at the other end of the side linkage adjusting shaft 24, and arc-shaped control racks 26 meshed with the inner side linkage gear are fixed on the inner side surfaces of the front medicine outlet 10 and the front medicine inlet 11.
When the closed cover plate 12 is turned outwards, the inner side linkage gear and the arc control rack 26 generate displacement, so that the inner side linkage gear starts to rotate and then drives the lateral linkage adjusting shaft 24 to rotate, thereby driving the internal thread guide pipe to translate inside the lateral guide rail 23, enabling the external extension adjusting cover 22 to translate along the lateral guide rail 23 and extend outwards, and further avoiding the medicine from falling off from the gap.
In order to improve the closing effect of the closing cover plate 12, lateral permanent magnets 27 are fixedly assembled on the front side wall of the medicine containing box 1 at the peripheries of the front medicine outlet 10 and the front medicine loading port 11.
In order to match with the internal guidance and the medicine guiding efficiency, an inclined medicine guiding flow channel is formed in the medicine containing box 1 at the positions of the front medicine outlet 10 and the front medicine loading opening 11.
The hydraulic operating arm for the medical robot is composed of a turnover control arm 7 arranged on the side wall of a robot body 3 and a magnetic control adsorption head arranged at the top end of the turnover control arm 7 and controlled by a top adjusting motor 17, the hydraulic operating arm can be used in a narrow space through the turnover control arm 7, and the operation is very simple and convenient; the turnover control arm 7 is turned over up and down, so that the closed cover plates 12 at the opening positions of the outer side surfaces of the front medicine outlet 10 and the front medicine loading port 11 are respectively controlled, and medicines are conveniently taken and placed; the hydraulic control arms 5 positioned at two sides of the front medicine collecting box 6 are used for controlling the outer cover plate 14, and the conveying efficiency of medicines can be improved by matching with the closed cover plate 12; the top end of the turnover control arm 7 is provided with a magnetic control adsorption head controlled by a top adjusting motor 17, the closed cover plate 12 is connected and controlled in a magnetic control mode, and the connection is firmer and more stable.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. The utility model provides a hydraulic pressure operating arm for medical robot, is including the body frame body (2) that are used for putting medicine containing box (1), installs robot body (3) on body frame body (2), characterized by: body frame body (2) front end lateral wall on fixed be equipped with leading transport guide rail (4) that are used for carrying robot body (3), robot body (3) front end lateral wall is last to be equipped with leading collection medicine box (6) of outside installation hydraulic control arm (5), the activity is equipped with convertible control arm (7) on robot body (3) lateral wall, convertible control arm (7) top is equipped with the magnetic control and adsorbs the head, leading medicine mouth (10) have been seted up to medicine containing box (1) front lateral wall lower extreme, leading charge mouth (11) have been seted up to medicine containing box (1) front lateral wall upper end, leading medicine mouth (10) and leading charge mouth (11) lateral surface open position elasticity are equipped with closed apron (12).
2. The hydraulic operating arm for a medical robot according to claim 1, wherein: the front end of the front conveying guide rail (4) is movably provided with an electric control type transverse screw rod (13) used for controlling the robot body (3).
3. The hydraulic operating arm for a medical robot according to claim 1, wherein: leading collection medicine box (6) upper surface has seted up overhead opening, leading collection medicine box (6) lower surface has seted up down and has put the opening, and leading collection medicine box (6) upper surface is located overhead opening position and leading collection medicine box (6) lower surface is located down and puts opening position and all is provided with outside apron (14) by hydraulic control arm (5) control.
4. The hydraulic operating arm for a medical robot according to claim 1, wherein: the robot is characterized in that the robot body (3) is internally provided with a turnover control motor (15) at the assembly end of a turnover control arm (7), and a top assembly blind hole is formed in the top end of the turnover control arm (7).
5. The hydraulic operating arm for a medical robot according to claim 4, wherein: the magnetic control adsorption head comprises a middle-arranged electric control hydraulic support rod (16) axially installed in the top assembly blind hole, a top adjusting motor (17) axially installed at the top of an expansion rod of the electric control hydraulic support rod (16), an external assembly support (18) axially installed on an adjusting shaft of the top adjusting motor (17), an external adsorption plate (19) elastically assembled on the external assembly support (18) and an electromagnet (20) fixed on the side wall of the external adsorption plate (19).
6. The hydraulic operating arm for a medical robot according to claim 3, wherein: the inner side surface of the outer cover plate (14) is fixedly provided with a flexible corrugated material guide pipe (21), and the inner side surface of the outer cover plate (14) is positioned outside the flexible corrugated material guide pipe (21) and is provided with an outer extension adjusting cover (22) in a sliding manner.
7. The hydraulic operating arm for a medical robot according to claim 3, wherein: outside apron (14) medial surface is located outside extension regulation cover (22) outside fixed assembly and puts guide rail (23) to the side, the inside activity of side guide rail (23) is equipped with side direction linkage regulating spindle (24), side direction linkage regulating spindle (24) one end is inserted the internal thread stand pipe and the internal thread stand pipe screw-thread assembly in outside extension regulation cover (22) outside, and side direction linkage regulating spindle (24) other end meshing transmission has inboard linkage gear, be fixed with arc control rack (26) with inboard linkage gear engaged with on leading medicine mouth and the leading medicine mouth medial surface.
8. The hydraulic operating arm for a medical robot according to claim 1, wherein: the side wall of the front side of the medicine containing box (1) is fixedly provided with a lateral permanent magnet (27) at the periphery of the front medicine outlet and the front medicine loading port.
9. The hydraulic operating arm for a medical robot according to claim 3, wherein: the medicine containing box (1) is internally provided with an inclined medicine guiding flow channel at the positions of the front medicine outlet (10) and the front medicine loading port (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310213268.2A CN115871001B (en) | 2023-03-08 | 2023-03-08 | Hydraulic operating arm for medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310213268.2A CN115871001B (en) | 2023-03-08 | 2023-03-08 | Hydraulic operating arm for medical robot |
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| Publication Number | Publication Date |
|---|---|
| CN115871001A true CN115871001A (en) | 2023-03-31 |
| CN115871001B CN115871001B (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310213268.2A Active CN115871001B (en) | 2023-03-08 | 2023-03-08 | Hydraulic operating arm for medical robot |
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| CN (1) | CN115871001B (en) |
Citations (8)
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| US20100300041A1 (en) * | 2009-05-29 | 2010-12-02 | Jvm Co., Ltd. | Automated medicine storage and medicine introduction/discharge management system |
| CN206353351U (en) * | 2016-11-18 | 2017-07-25 | 广州市奥咨达医疗器械研究院 | A kind of automatic dispensary multiwindow parallel warehouse style passage rapid medicine dispensing mechanism and control system |
| CN210635426U (en) * | 2019-09-20 | 2020-05-29 | 安达科（江苏）陶瓷有限公司 | Zircon powder is with lifting machine of putting to one side |
| CN112863059A (en) * | 2021-01-28 | 2021-05-28 | 三峡大学 | Medicine machine is sold to integrative intelligence of many |
| CN113146646A (en) * | 2021-01-22 | 2021-07-23 | 广东电网有限责任公司广州供电局 | Detection robot control system suitable for operation of vehicle-mounted switch cabinet robot |
| CN114434461A (en) * | 2022-03-02 | 2022-05-06 | 郑州大学第一附属医院 | Intervene operating room nursing with chemotherapy medicine access arrangement |
| CN114537935A (en) * | 2022-03-24 | 2022-05-27 | 滁州市法莫希智能科技有限公司 | Traditional chinese medicine intelligence delivery case based on robot |
| CN115535371A (en) * | 2022-11-24 | 2022-12-30 | 江苏环亚医用科技集团股份有限公司 | Medicine unloading conveying mechanism |
-
2023
- 2023-03-08 CN CN202310213268.2A patent/CN115871001B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100300041A1 (en) * | 2009-05-29 | 2010-12-02 | Jvm Co., Ltd. | Automated medicine storage and medicine introduction/discharge management system |
| CN206353351U (en) * | 2016-11-18 | 2017-07-25 | 广州市奥咨达医疗器械研究院 | A kind of automatic dispensary multiwindow parallel warehouse style passage rapid medicine dispensing mechanism and control system |
| CN210635426U (en) * | 2019-09-20 | 2020-05-29 | 安达科（江苏）陶瓷有限公司 | Zircon powder is with lifting machine of putting to one side |
| CN113146646A (en) * | 2021-01-22 | 2021-07-23 | 广东电网有限责任公司广州供电局 | Detection robot control system suitable for operation of vehicle-mounted switch cabinet robot |
| CN112863059A (en) * | 2021-01-28 | 2021-05-28 | 三峡大学 | Medicine machine is sold to integrative intelligence of many |
| CN114434461A (en) * | 2022-03-02 | 2022-05-06 | 郑州大学第一附属医院 | Intervene operating room nursing with chemotherapy medicine access arrangement |
| CN114537935A (en) * | 2022-03-24 | 2022-05-27 | 滁州市法莫希智能科技有限公司 | Traditional chinese medicine intelligence delivery case based on robot |
| CN115535371A (en) * | 2022-11-24 | 2022-12-30 | 江苏环亚医用科技集团股份有限公司 | Medicine unloading conveying mechanism |
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| CN115871001B (en) | 2023-05-16 |
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