CN215349431U

CN215349431U - Medical mechanical arm with grabbing function

Info

Publication number: CN215349431U
Application number: CN202121447793.3U
Authority: CN
Inventors: 潘勇; 潘朝海
Original assignee: Taizhou Weiye Machinery Manufacturer Co ltd
Current assignee: Taizhou Weiye Machinery Manufacturer Co ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2021-12-31
Anticipated expiration: 2031-06-28

Abstract

The utility model discloses a medical mechanical arm with a gripping function, which relates to the technical field of medical equipment and comprises a mechanical arm body, wherein an adjusting turntable is rotatably sleeved on the mechanical arm body, four multidirectional gripping assemblies for gripping medical equipment in multiple directions are uniformly arranged at the bottom of the adjusting turntable, the mechanical arm body is connected with a rotary adjusting assembly for driving the adjusting turntable to rotate, and the mechanical arm body is connected with a driving assembly for providing gripping power for the four multidirectional gripping assemblies. The multi-directional gripping mechanism is reasonable in structure, the medical instrument can be gripped in multiple directions through the arrangement of the driving assembly and the multi-directional gripping assemblies, the adjusting turntable and the four multi-directional gripping assemblies can be driven to rotate to adjust the positions through the arrangement of the rotary adjusting assemblies, the purpose of gripping a plurality of medical instruments in sequence is achieved, the operation is simple, the use is convenient, and the practicability of the mechanical arm is improved.

Description

Medical mechanical arm with grabbing function

Technical Field

The utility model relates to the technical field of medical equipment, in particular to a medical mechanical arm with a gripping function.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling; because of the unique operation flexibility, the method is widely applied to the fields of industrial assembly, safety, explosion prevention and the like; with the development of science and the progress of society, mechanical arms are widely applied in the medical industry.

Its function of current medical arm is comparatively single, often can only play assistance-localization real-time's effect, can't grasp medical instrument, though also have some arms to have the gripping function, but it is most can only carry out one-way gripping, and it can only grasp single medical instrument generally, when changing the apparatus, need put back the normal position earlier and then grasp another, the operation process is comparatively loaded down with trivial details, it is comparatively inconvenient to use, for this reason, this application discloses a medical arm with gripping function satisfies people's demand.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a medical mechanical arm with a gripping function, which aims to solve the problems in the prior art.

In order to achieve the above purpose, the present application provides the following technical solutions: the utility model provides a medical treatment arm with gripping function, includes the arm body, rotate on the arm body and cup joint and install the regulation carousel, four multidirectional gripping subassemblies that are used for multi-direction gripping medical instrument are evenly installed to the bottom of adjusting the carousel, be connected with on the arm body and be used for the drive adjust carousel pivoted rotation regulation subassembly, be connected with on the arm body and be used for being four multidirectional gripping subassemblies provide the drive assembly of gripping power.

Borrow by above-mentioned structure, through the setting of rotation regulation subassembly, can drive the regulation carousel and rotate, adjust the carousel and rotate and drive four multidirectional gripping subassemblies and rotate, and then accessible drive assembly drives four multidirectional gripping subassemblies in proper order and moves, carries out diversified gripping to medical instrument, and can grasp a plurality of medical instrument in proper order, easy operation, convenient to use has improved the practicality of arm.

Preferably, the rotation regulation subassembly is including cup jointing the installation and being in mounting panel on the arm body, accommodate motor is installed to the bottom of mounting panel, accommodate motor's output bottom drive is connected with and rotates the disc, the top of adjusting the carousel is installed and is rotated and cup joint cross rotating member on the arm body, the bottom eccentric mounting that rotates the disc with the column spinner of cross rotating member looks adaptation.

Further, through the setting of rotation regulation subassembly, when the start-up adjusting motor, can drive and rotate disc and column spinner and rotate, the column spinner rotates the round and can drive the cross rotating member and rotate ninety degrees, and then can drive four multidirectional gripping subassemblies through adjusting the carousel and rotate and carry out position control to can realize the purpose of gripping a plurality of medical instrument in proper order.

Preferably, multidirectional gripping subassembly is including installing adjust the gripping guide rail of carousel bottom, rotate on one side inner wall of gripping guide rail and install positive and negative tooth lead screw, screw sleeve joint installs two slidable mounting and is in on the positive and negative tooth lead screw removal arm lock in the gripping guide rail, the one end of positive and negative tooth lead screw extends to the connection gear is installed outside the gripping guide rail, connection gear with drive assembly looks adaptation, two it all rotates to remove one side that the arm lock is close to each other and installs the bull stick, two the arc of looks adaptation is all installed to the one end that is close to each other of bull stick and is grabbed the board, one of them the one end of bull stick is connected with the rotary unit, two be connected with the limited connection unit on the board jointly to the arc.

Further, through the setting of multidirectional gripping subassembly, when connecting gear receives the drive assembly drive to rotate, can drive positive and negative tooth lead screw and rotate, and then can drive two and remove arm lock and two arc gripping boards and move in opposite directions or carry on the back of the body mutually, realize carrying out the purpose of gripping to medical instrument.

Preferably, the rotating unit comprises a rotating cylinder mounted on one side of one of the movable clamping arms, and an output end of the rotating cylinder is in driving connection with one end of one of the rotating rods.

Further, through the setting of rotary unit, when starting revolving cylinder, can drive one of them arc through one of them bull stick and grab the board and rotate, under the effect of injecing the linkage unit, another arc is grabbed and is grabbed the board and also can rotate in step, and then can carry out diversified gripping to medical instrument.

Preferably, the limiting and connecting unit comprises two limiting sheets respectively mounted on the side portions of the two arc-shaped grasping plates, wherein a limiting cylinder is mounted in one of the limiting sheets in a sleeved mode, a limiting rod is mounted on the side portion of the other limiting sheet, and one end of the limiting rod is slidably mounted in the limiting cylinder.

Further, through the setting of injecing linkage unit, can grab and hold and play the connection limited action between the board to two arcs for two arcs are grabbed and are held the board and can be rotated in step, have improved the stability of multidirectional gripping.

Preferably, rubber pads are arranged on the inner side walls, close to each other, of the two arc-shaped grabbing plates.

Further, through the setting of rubber pad, can play the guard action to medical instrument at the in-process of gripping, avoid leading to medical instrument impaired because of the gripping power is big.

Preferably, the driving assembly comprises a driving motor installed at the bottom end of the mechanical arm body, the output end of the driving motor is in driving connection with a driving gear, the driving gear is meshed with one of the connecting gears, and the driving gear is matched with the other three connecting gears.

Further, through drive assembly's setting, when starting driving motor, can drive gear and rotate, and then can drive one of them connecting gear and rotate to can realize providing the purpose of power to four multidirectional gripping subassemblies in proper order.

In conclusion, the technical effects and advantages of the utility model are as follows:

1. the multi-direction grasping mechanism is reasonable in structure, when a plurality of medical instruments need to be grasped, the adjusting motor can be started, the adjusting motor can drive the rotating disc and the rotating column to rotate when running, the cross-shaped rotating piece can be driven to rotate by ninety degrees when the rotating column rotates for a circle, and then another multi-direction grasping assembly can be driven to rotate to the position through the adjusting turntable, so that the multi-direction grasping mechanism can be connected with the driving assembly to perform multi-direction grasping, the purpose of sequentially grasping the plurality of medical instruments is realized, the operation is simple, the use is convenient, and the practicability of the mechanical arm is improved;

2. according to the medical instrument grabbing mechanism, when the driving motor is started, the connecting gear is driven to rotate through the driving gear, the positive and negative screw rods are driven to rotate, the positive and negative screw rods drive the two movable clamping arms and the two arc-shaped grabbing plates to move towards or away from each other, the purpose of grabbing medical instruments is achieved, when the rotary cylinder is started, one of the arc-shaped grabbing plates is driven to rotate, and under the combined action of the limiting sheet, the limiting cylinder and the limiting rod, the other arc-shaped grabbing plate can rotate synchronously, so that the medical instruments can be grabbed in multiple directions, and the application range of the mechanical arm is widened.

Drawings

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

Fig. 1 is a schematic perspective view illustrating a medical manipulator having a gripping function according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of another perspective view of a medical manipulator with a gripping function according to an embodiment of the present disclosure;

FIG. 3 is an enlarged schematic view of a rotary adjustment assembly in an embodiment of the present application;

fig. 4 is an enlarged schematic structural view of the multi-directional gripping assembly in the embodiment of the present application.

In the figure: 1. a mechanical arm body; 2. adjusting the turntable; 3. mounting a plate; 4. adjusting the motor; 5. rotating the disc; 6. a spin column; 7. a cross-shaped rotating member; 8. gripping the guide rail; 9. a screw rod with positive and negative teeth; 10. moving the clamping arm; 11. an arc-shaped gripping plate; 12. a connecting gear; 13. a rotating cylinder; 14. a limiting sheet; 15. defining a barrel; 16. a restraining bar; 17. a rubber pad; 18. a drive motor; 19. the gears are driven.

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.

Example (b): referring to fig. 1 to 4, a medical manipulator with a gripping function includes a manipulator body 1, and the manipulator body 1 may be any one of prior art manipulator structures, such as a cooperative manipulator.

The mechanical arm body 1 is rotatably sleeved with an adjusting turntable 2, the adjusting turntable 2 can be any metal turntable in the prior art, and the mechanical arm body 1 can be rotatably sleeved with the adjusting turntable 2 through a bearing.

Four multidirectional grasping assemblies used for grasping medical instruments in multiple directions are uniformly arranged at the bottom of the adjusting rotary table 2, the mechanical arm body 1 is connected with a rotation adjusting assembly used for driving the adjusting rotary table 2 to rotate, and the mechanical arm body 1 is connected with a driving assembly used for providing grasping power for the four multidirectional grasping assemblies.

Borrow by above-mentioned structure, through the setting of rotation regulation subassembly, can drive and adjust carousel 2 and rotate, adjust carousel 2 and rotate and drive four multidirectional gripping subassemblies and rotate, and then accessible drive assembly drives four multidirectional gripping subassemblies in proper order and moves, carries out diversified gripping to medical instrument, and can grasp a plurality of medical instrument in proper order, easy operation, convenient to use has improved the practicality of arm.

As a preferred implementation manner of this embodiment, referring to fig. 1 and fig. 3, the rotation adjusting assembly includes a mounting plate 3 mounted on the robot arm body 1 in a sleeved manner, an adjusting motor 4 is mounted at the bottom of the mounting plate 3, a rotating disc 5 is connected to the bottom end of the output end of the adjusting motor 4 in a driving manner, and the rotating disc 5 may be any metal disc in the prior art, and is in driving connection with the bottom end of the output end of the adjusting motor 4 through a coupling; the top of the adjusting turntable 2 is provided with a cross-shaped rotating part 7 which is rotatably sleeved on the mechanical arm body 1, the cross-shaped rotating part 7 can be any metal cross-shaped rotating frame in the prior art and is fixed with the top of the adjusting turntable 2 in a threaded manner; the bottom of the rotating disk 5 is eccentrically provided with a rotating column 6 matched with a cross-shaped rotating piece 7. The benefit that sets up like this is, when starting adjustment motor 4, can drive and rotate disc 5 and column spinner 6 and rotate, and column spinner 6 rotates the round and can drive cross rotating member 7 and rotate ninety degrees, and then can drive four multidirectional gripping subassemblies through adjusting carousel 2 and rotate and carry out position control to can realize the purpose of gripping a plurality of medical instrument in proper order.

As a preferred embodiment of the present embodiment, referring to fig. 2 and 4, the multi-directional gripping assembly includes a gripping rail 8 mounted at the bottom of the adjustment turntable 2, and the gripping rail 8 may be any one of metal rails in the prior art, which is welded and fixed to the bottom of the adjustment turntable 2; a positive and negative screw rod 9 is rotatably arranged on the inner wall of one side of the grasping guide rail 8, and the positive and negative screw rod 9 can be any screw rod with bidirectional threads in the prior art; screw sleeve joint installs two movable clamping arms 10 of slidable mounting in gripping guide rail 8 on positive and negative tooth lead screw 9, the one end of positive and negative tooth lead screw 9 extends to outside gripping guide rail 8 and installs connecting gear 12, connecting gear 12 and drive assembly looks adaptation, two remove one side that clamping arm 10 is close to each other and all rotate and install the bull stick, the arc of looks adaptation is all installed to the one end that is close to each other of two bull sticks and is held board 11, the one end of one of them bull stick is connected with the rotary unit, be connected with the limited coupling unit on two arc are held board 11 jointly. The benefit that sets up like this is, when connecting gear 12 receives the drive assembly drive to rotate, can drive positive and negative tooth lead screw 9 and rotate, and then can drive two and remove arm lock 10 and two arc and grab board 11 and move towards each other or carry on the back of the body mutually, realizes carrying out the purpose of gripping to medical instrument.

In the present embodiment, referring to fig. 4, the rotating unit includes a rotating cylinder 13 mounted on a side of one of the movable clamping arms 10, and the rotating cylinder 13 may be any cylinder capable of automatically rotating in the prior art and is fixed to the side of the movable clamping arm 10 by screwing; the output end of the rotary cylinder 13 is in driving connection with one end of one of the rotary rods. The benefit of setting up like this is, when starting revolving cylinder 13, can drive one of them arc through one of them bull stick and grab board 11 and rotate, under the effect of injecing the linkage unit, another arc is grabbed board 11 and also can be rotated in step, and then can carry out diversified gripping to medical instrument.

In the present embodiment, referring to fig. 4, the limiting connection unit includes two limiting pieces 14 respectively mounted on the side portions of the two arc-shaped grasping plates 11, wherein one limiting piece 14 is internally and rotatably mounted with a limiting cylinder 15, the other limiting piece 14 is mounted with a limiting rod 16 on the side portion, and one end of the limiting rod 16 is slidably mounted in the limiting cylinder 15. The advantage that sets up like this can be to playing the connection limiting action between two arc are grabbed board 11 for two arc are grabbed board 11 and can rotate in step, have improved the stability of multidirectional gripping.

In this embodiment, referring to fig. 4, rubber pads 17 are mounted on the inner side walls of the two arc-shaped grasping plates 11, and the rubber pads 17 may be any rubber protection pad in the prior art, and may be fixed with the inner side walls of the arc-shaped grasping plates 11 by gluing. The medical instrument can be protected in the gripping process, and the medical instrument is prevented from being damaged due to large gripping force.

In the embodiment, referring to fig. 2, the driving assembly includes a driving motor 18 mounted at the bottom end of the robot arm body 1, a driving gear 19 is drivingly connected to an output end of the driving motor 18, the driving gear 19 is engaged with one of the connecting gears 12, and the driving gear 19 is adapted to the other three connecting gears 12. This has the advantage that when the drive motor 18 is activated, it will rotate the drive gear 19 and thus one of the connecting gears 12, thereby powering four multidirectional gripping assemblies in sequence.

This practical theory of operation:

when needs carry out the gripping to a plurality of medical instrument, can start adjusting motor 4, adjusting motor 4 moves and can drive and rotate disc 5 and column spinner 6 and rotate, when column spinner 6 rotates the round, can drive cross rotating member 7 and rotate ninety degrees, and then the accessible is adjusted carousel 2 and is driven another multidirectional gripping subassembly and rotate to this position, thereby can be connected with drive assembly and carry out multidirectional gripping, the purpose that can grasp a plurality of medical instrument in proper order has been realized, and the operation is simple, high durability and convenient use, and the practicality of arm is improved.

When starting driving motor 18, can drive connecting gear 12 through drive gear 19 and rotate, and then can drive positive and negative tooth lead screw 9 and rotate, positive and negative tooth lead screw 9 rotates and drives two and remove arm lock 10 and two arcs and grab board 11 and move along with each other or back to each other, the realization carries out the purpose of gripping to medical instrument, when starting revolving cylinder 13, can drive one of them arcs through one of them bull stick and grab board 11 and rotate, slice 14 is being injectd, under the combined action of a limited section of thick bamboo 15 and a limited pole 16, another arc is grabbed board 11 and also can rotate in step, thereby can carry out diversified gripping to medical instrument, the application scope of arm has been improved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the utility model.

Claims

1. A medical manipulator with a grasping function, comprising a manipulator body (1), characterized in that: rotate on arm body (1) and cup joint and install regulation carousel (2), four multidirectional gripping subassemblies that are used for multi-direction gripping medical instrument are evenly installed to the bottom of adjusting carousel (2), be connected with on arm body (1) and be used for the drive adjust carousel (2) pivoted rotation regulation subassembly, be connected with on arm body (1) and be used for four the multidirectional gripping subassembly provides the drive assembly of gripping power.

2. The medical manipulator having a grip function according to claim 1, wherein: rotatory adjusting part is including cup jointing and installing mounting panel (3) on arm body (1), accommodate motor (4) are installed to the bottom of mounting panel (3), the output bottom drive of accommodate motor (4) is connected with and rotates disc (5), the top of adjusting carousel (2) is installed and is rotated and cup jointed cross rotating member (7) on arm body (1), the bottom eccentric mounting that rotates disc (5) with column spinner (6) of cross rotating member (7) looks adaptation.

3. The medical manipulator having a grip function according to claim 1, wherein: the multi-directional gripping assembly comprises a gripping guide rail (8) arranged at the bottom of the adjusting turntable (2), a positive and negative screw rod (9) is rotatably arranged on the inner wall of one side of the gripping guide rail (8), two movable clamping arms (10) which are slidably arranged in the grabbing guide rail (8) are sleeved on the positive and negative screw rod (9) in a threaded manner, one end of the positive and negative screw rod (9) extends to the outside of the gripping guide rail (8) and is provided with a connecting gear (12), the connecting gear (12) is matched with the driving component, rotating rods are rotatably arranged on the mutually close sides of the two movable clamping arms (10), matched arc-shaped gripping plates (11) are arranged at the mutually close ends of the two rotating rods, one end of one of the rotating rods is connected with a rotating unit, and the two arc-shaped gripping plates (11) are connected with a limiting connecting unit together.

4. The medical manipulator having a grip function according to claim 3, wherein: the rotating unit comprises a rotating cylinder (13) arranged on the side part of one of the movable clamping arms (10), and the output end of the rotating cylinder (13) is in driving connection with one end of one of the rotating rods.

5. The medical manipulator having a grip function according to claim 3, wherein: the limiting and connecting unit comprises two limiting sheets (14) which are respectively arranged on the side parts of the two arc-shaped gripping plates (11), wherein a limiting barrel (15) is arranged in one limiting sheet (14) in a sleeved mode, a limiting rod (16) is arranged on the side part of the other limiting sheet (14), and one end of the limiting rod (16) is arranged in the limiting barrel (15) in a sliding mode.

6. The medical manipulator having a grip function according to claim 3, wherein: and rubber pads (17) are arranged on the inner side walls of the two arc-shaped gripping plates (11) which are close to each other.

7. The medical manipulator having a grip function according to claim 3, wherein: the driving assembly comprises a driving motor (18) installed at the bottom end of the mechanical arm body (1), the output end of the driving motor (18) is connected with a driving gear (19) in a driving mode, the driving gear (19) is meshed with one of the connecting gears (12), and the driving gear (19) is matched with the other three connecting gears (12).