CN214049057U

CN214049057U - A hold mechanical ware for installing at operation robot arm or arm end

Info

Publication number: CN214049057U
Application number: CN202021418079.7U
Authority: CN
Inventors: 田伟超; 刘华根; 韦巍; 王英
Original assignee: Yishengxin Technology Beijing Co ltd
Current assignee: Yishengxin Technology Beijing Co ltd
Priority date: 2020-07-17
Filing date: 2020-07-17
Publication date: 2021-08-27
Anticipated expiration: 2030-07-17

Abstract

The utility model discloses a be used for installing at terminal holding of operation robot arm or arm ware belongs to medical instrument technical field. A mechanical holder for being installed at the tail end of a surgical robot arm or a mechanical arm comprises a tail end extension rod, a connecting rod and a connecting rod, wherein the tail end extension rod is used for being connected to the tail end of the robot arm or the mechanical arm; the needle seat is detachably connected to the end part of the tail end extension rod; a fixed arm and a rotating arm; wherein, the fixed arm is fixedly connected on the needle base and the rotating arm is rotatably connected on the needle base; the two jackets are respectively used for being connected to the fixed arm and the rotating arm; a drive member; when the fixed arm and the rotating arm are required to be clamped, the driving part is used for driving the rotating arm to rotate on the needle base and driving the rotating arm clamping sleeves to mutually approach or mutually separate; the utility model is simple in operation, locking fast, safe and reliable to it is higher with the matching degree of interveneeing diagnostic treatment apparatus, but the device fast loading and unloading intervenes the apparatus, and keeps the stability of interveneeing the apparatus in the use and impels.

Description

A hold mechanical ware for installing at operation robot arm or arm end

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a be used for installing at the terminal mechanical ware of holding of surgical robot arm or arm.

Background

The invention relates to a puncture executing device of an existing surgical robot, which mainly adopts electric control with a complex structure, manual adjustment with a large volume and a heavy weight, a manual adjustment mode with complex operation and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims at realizing simple operation, quick locking, safe and reliable to with the higher mechanical ware of holding of the degree of matching of intervention apparatus, and the mechanical ware of holding that is used for installing at operation robot arm or arm end of arm is proposed.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a mechanical holder for being mounted at the tail end of a surgical robot arm or a mechanical arm comprises a tail end extension rod, a connecting rod and a connecting rod, wherein the tail end extension rod is used for being connected to the tail end of the robot arm; the needle seat is detachably connected to the end part of the tail end extension rod; a fixed arm and a rotating arm; the fixed arm is fixedly connected to the needle base, and the rotating arm is rotatably connected to the needle base; the two clamping sleeves are respectively used for being connected to the fixed arm and the rotating arm; a drive member; when the fixed arm and the rotating arm are required to be clamped, the driving part is used for driving the rotating arm to rotate on the needle base and driving the two clamping sleeves to be close to or far away from each other.

As a preferred embodiment of the present invention: the driving part comprises a screw, a sliding sleeve and a threaded sleeve, the sliding sleeve is used for being rotatably connected to the rotating arm, the threaded sleeve is used for being rotatably connected to the fixed arm, the screw penetrates through the sliding sleeve and is in threaded connection with the threaded sleeve, and the screw is rotatably connected with the sliding sleeve.

As a preferred embodiment of the present invention: the fixed arm and the rotating arm are both provided with sliding grooves, and the sliding sleeve and the threaded sleeve are fixedly connected with sliding blocks which are connected in the sliding grooves in a sliding mode.

As a preferred embodiment of the present invention: the needle base is fixedly connected with a needle seat, the needle seat is fixedly connected with an insertion block which is clamped into the insertion slot, and the tail end extension rod is connected with a locking component which is used for limiting the movement of the insertion block.

As a preferred embodiment of the present invention: the locking part comprises a threaded pin, an eccentric wheel is rotatably connected to the threaded pin, a locking wrench is fixedly connected to the eccentric wheel, and an accommodating groove for accommodating the locking wrench is formed in the tail end extension rod.

As a preferred embodiment of the present invention: the locking part comprises a knob, a threaded rod is fixedly connected to the knob, the threaded rod is in threaded connection with the side wall of the tail end extension rod, and one end, far away from the knob, of the threaded rod extends into the slot and is abutted to the insertion block.

Compared with the prior art, the utility model provides a be used for installing at the terminal mechanical ware that holds of surgical robot arm or arm possesses following beneficial effect:

the utility model has the advantages that the tail end extension bar is connected with the mechanical arm body through the T-shaped threaded hole; the locking spanner is connected with the tail end extension bar through a threaded pin, and the connecting end is an eccentric wheel structure and can be opened, closed and clamped; one end of the tail end extension rod is provided with a slot which is matched with an insertion block on the needle base until the two end faces are attached, the locking wrench is pulled and is clamped tightly through an eccentric wheel, the insertion block on the needle base can be pressed tightly, the locking connection of the tail end extension rod and the needle base is realized, in addition, the double locking can be realized through a safety knob and a threaded rod on the back face of the tail end extension rod, and the safety of the connection part is improved; the needle stand is connected with the fixed arm and the rotating arm through fixing and rotating; the tail ends of the fixed arm and the rotating arm are provided with elastic buckle structures which can be sleeved into the jacket, and the jacket can be pulled out by light pressure; the pricker can be locked when the needle is closed;

when the user uses, at first with terminal extension bar and this body coupling of arm, the locking with needle file and terminal extension bar can be realized to the installation needle file through two kinds of locking modes, through rotating the screw rod and then at the sliding sleeve internal rotation, connects through the thread bush with screw rod threaded connection soon this moment to make the rotor arm rotate on the needle file, realize the step up or take off of intervention apparatus.

Drawings

Fig. 1 is a first schematic structural diagram of a tool holder for mounting at the end of an arm or a mechanical arm of a surgical robot according to the present invention;

fig. 2 is a schematic structural diagram of a second instrument holder for mounting at the end of an arm or a mechanical arm of a surgical robot according to the present invention;

fig. 3 is a third schematic structural diagram of a tool holder for being mounted at the end of an arm or a mechanical arm of a surgical robot according to the present invention;

fig. 4 is a fourth schematic structural diagram of a mechanical holding device for being mounted at the end of an arm of a surgical robot or a mechanical arm according to the present invention.

In the figure: 1. a tail end extension rod; 102. a receiving groove; 103. a slot; 2. locking the wrench; 201. a threaded pin; 202. an eccentric wheel; 203. a knob; 2031. a threaded rod; 3. a needle seat; 301. a fixed arm; 302. a rotating arm; 303. a jacket; 304. inserting a block; 5. a sliding sleeve; 501. a threaded sleeve; 502. a screw; 504. a chute; 505. a slide block.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Example (b):

referring to fig. 1 to 4, a robot holder for mounting at the end of a surgical robot arm or a robot arm includes an end extension bar 1 for connecting to the end of the robot arm; the needle seat 3 is detachably connected with the end part of the tail end extension bar 1; a fixed arm 301 and a rotating arm 302; wherein, the fixed arm 301 and the rotating arm 302 are respectively fixed and rotatably connected on the needle stand 3; two jackets 303 for connecting to the fixed arm 301 and the rotating arm 302, respectively; a drive member; when clamping of the fixed arm 301 and the rotating arm 302 is required, the driving means is used to drive the rotating arm 302 to rotate on the hub 3, and to drive the collet 303 on the rotating arm 302 and the collet 303 on the fixed arm 301 to move closer to or away from each other.

Referring to fig. 1-4, the present embodiment discloses a specific embodiment of the drive member: the sliding sleeve 5 is rotatably connected to the rotating arm 302, the threaded sleeve 501 is rotatably connected to the fixed arm 301, the threaded rod 502 penetrates through the sliding sleeve 5 and is in threaded connection with the threaded sleeve 501, and the threaded rod 502 is rotatably connected with the sliding sleeve 5.

Referring to fig. 4, the fixed arm 301 and the rotating arm 302 are both provided with a sliding groove 504, and the sliding sleeve 5 and the threaded sleeve 501 are both fixedly connected with a sliding block 505 for sliding connection in the sliding groove 504, so as to facilitate assembly and disassembly.

Referring to fig. 1-4, in order to realize the detachable connection of the needle base 3 and the end extension bar 1, the present embodiment discloses the following technical features: the end of the terminal extension bar 1 is provided with a slot 103, the needle base 3 is fixedly connected with an insert block 304 which is clamped in the slot 103, and the terminal extension bar 1 is connected with a locking component which is used for limiting the movement of the insert block 304.

The locking part comprises a threaded pin 201, an eccentric wheel 202 is connected to the threaded pin 201 in a rotating mode, a locking wrench 2 is fixedly connected to the eccentric wheel 202, and an accommodating groove 102 used for accommodating the locking wrench 2 is formed in the tail end extension rod 1.

The locking part comprises a knob 203, a threaded rod 2031 is fixedly connected to the knob 203, the threaded rod 2031 is in threaded connection with the side wall of the end extension rod 1, and one end, far away from the knob 203, of the threaded rod 2031 extends into the slot 103 to be abutted against the insert block 304.

The utility model discloses a terminal extension bar 1 is connected with an arm body through a T-shaped threaded hole; the locking wrench 2 is connected with the tail end extension bar 1 through a threaded pin 201, and the connecting end is an eccentric wheel 202 structure and can be opened, closed and clamped; the slot 103 is arranged at one end of the tail end extension rod 1, and then the tail end extension rod is matched with the insertion block 304 on the needle base 3 until the two end faces are attached, the locking wrench 2 is pulled and is clamped tightly through the eccentric wheel 202, the insertion block 304 on the needle base 3 can be compressed, the locking connection of the tail end extension rod 1 and the needle base 3 is realized, in addition, the double locking can be realized through the safety knob 203 and the threaded rod 2031 on the back surface of the tail end extension rod 1, and the safety of the connection part is improved; the needle seat 3 is rotationally connected with the rotating arm 302; the tail ends of the fixed arm 301 and the rotating arm 302 are provided with elastic buckling structures which can be sleeved in the jacket 303, and the jacket 303 can be pulled out by light pressure; the pricker can be locked when the needle is closed;

when the user uses, at first with terminal extension bar 1 and this body coupling of arm, installation needle file 3 can realize the locking with needle file 3 and terminal extension bar 1 through two kinds of locking modes, through rotating screw rod 502 and then at the 5 internal rotations of sliding sleeve, connects through the thread bush 501 with screw rod 502 threaded connection this moment soon to make second fixed arm 302 rotatory on needle file 3, realize the step-up or take off of felting needle.

Above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the design of the present invention, equivalent replacement or change should be covered within the protection scope of the present invention.

Claims

1. A mechanical holder for being arranged at the tail end of an arm or a mechanical arm of a surgical robot is characterized by comprising

The tail end extension rod (1) is connected to the tail end of a robot arm or a mechanical arm;

the needle seat (3) is detachably connected with the end part of the tail end extension bar (1);

a fixed arm (301) and a rotating arm (302);

the fixing arm (301) is fixedly connected to the needle seat (3), and the rotating arm (302) is rotatably connected to the needle seat (3);

two jackets (303) for connecting to the fixed arm (301) and the rotating arm (302), respectively;

a drive member;

when the fixed arm (301) and the rotating arm (302) are required to be clamped, the driving part is used for driving the rotating arm (302) to rotate on the needle seat (3) and driving the two clamping sleeves (303) to approach or move away from each other.

2. The mechanical arm holder for being mounted at the tail end of a surgical robot arm or mechanical arm according to claim 1, wherein the driving component comprises a screw rod (502), a sliding sleeve (5) and a threaded sleeve (501), the sliding sleeve (5) is used for being rotatably connected to the fixed arm (301), the threaded sleeve (501) is used for being rotatably connected to the rotating arm (302), the screw rod (502) penetrates through the sliding sleeve (5) and is in threaded connection with the threaded sleeve (501), and the screw rod (502) is in rotatable connection with the sliding sleeve (5).

3. The mechanical hand holder for being mounted at the tail end of an operation robot arm or mechanical arm according to claim 2, wherein the fixed arm (301) and the rotating arm (302) are both provided with a sliding groove (504), and the sliding sleeve (5) and the threaded sleeve (501) are both fixedly connected with a sliding block (505) which is used for being slidably connected in the sliding groove (504).

4. The mechanical hand holder for being mounted at the tail end of an arm or a mechanical arm of a surgical robot as claimed in claim 1, wherein a slot (103) is formed at the end of the tail extension rod (1), an insert block (304) which is clamped into the slot (103) is fixedly connected to the needle seat (3), and a locking component which is used for limiting the movement of the insert block (304) is connected to the tail extension rod (1).

5. The mechanical arm holder for being mounted at the tail end of a surgical robot arm or mechanical arm according to claim 4, wherein the locking component comprises a threaded pin (201), an eccentric wheel (202) is rotatably connected to the threaded pin (201), a locking wrench (2) is fixedly connected to the eccentric wheel (202), and an accommodating groove (102) for accommodating the locking wrench (2) is formed in the tail end extension rod (1).

6. The instrument holder for mounting at the end of a surgical robotic arm or arm according to claim 4, wherein the locking means comprises a knob (203), a threaded rod (2031) is fixedly connected to the knob (203), the threaded rod (2031) is threaded to the side wall of the end extension rod (1), and an end of the threaded rod (2031) remote from the knob (203) extends into the slot (103) against the insert (304).