CN216000564U

CN216000564U - Medical mechanical arm

Info

Publication number: CN216000564U
Application number: CN202121896154.5U
Authority: CN
Inventors: 陈曼萁
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2022-03-11
Anticipated expiration: 2031-08-13

Abstract

The utility model provides a medical mechanical arm, and relates to the technical field of medical instruments. This medical robotic arm, including mounting substrate, mounting substrate one side lateral wall central point puts fixed mounting has the motor, the motor is kept away from mounting substrate one side and is provided with the drive shaft, drive shaft fixedly connected with mounting panel, mounting panel one side lateral wall central point puts fixed mounting has the cylinder, cylinder one side loose axle is connected and is installed the connecting axle, connecting axle outside sliding connection has the installation cover. Through being provided with good supplementary tong mechanism of elasticity, actually snatch the during operation, can play good supplementary clamp and get the effect, the fastness of actually snatching is general, and practical application is worth high, adopts good movable mechanism design in addition, actually carries out the reliability that the tongs was closed and was opened good, and is provided with good self-locking mechanism, actually rotates the regulation back, is difficult for taking place relative rotation.

Description

Medical mechanical arm

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a medical mechanical arm.

Background

The medical robot is an intelligent service robot and is used for medical treatment or auxiliary medical treatment of hospitals and clinics. It can be used to make operation plan, determine action program according to actual condition and change action into operation mechanism movement. Can be used for moving patients, medical teaching, clinical medical treatment and the like.

At present, when current medical robotic arm lies in the in-service use, lacks good elasticity supplementary tong mechanism, actually snatchs the during operation, and the fastness of actually snatching is general, and the practical application value is not high, lacks good movable establishment design in addition, and the reliability that actually carries out the tongs closure and open is general, and lacks good self-locking mechanism, actually rotates the regulation back, easily takes place relative rotation.

Therefore, a new medical mechanical arm is developed.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Aiming at the defects of the prior art, the utility model provides a medical mechanical arm, which solves the problems.

(II) technical scheme

In order to achieve the purpose, the utility model is realized by the following technical scheme: a medical mechanical arm comprises a mounting substrate, wherein a motor is fixedly mounted at the central position of the side wall of one side of the mounting substrate, a driving shaft is arranged at one side of the motor, which is far away from the mounting substrate, the driving shaft is fixedly connected with a mounting plate, an air cylinder is fixedly mounted at the central position of the side wall of one side of the mounting plate, a movable shaft at one side of the air cylinder is connected with a connecting shaft, and a mounting sleeve is slidably connected to the outer side of the connecting shaft;

the mounting device comprises a mounting sleeve, a mounting base, a connecting shaft, mounting rings and elastic pull strips, wherein the mounting base is connected to one side of the mounting sleeve, the connecting shaft is connected to the mounting base in a sliding mode, the main grippers are rotatably mounted on the upper side and the lower side of the mounting base, the mounting rings are arranged on the upper side and the lower side of the side wall of one side of the connecting shaft, and the mounting rings are connected with the main grippers on the corresponding side of the mounting ring through the elastic pull strips;

the mounting plate is characterized in that one side of the main gripper is rotatably provided with an auxiliary gripper, the side wall of the other side of the mounting plate is vertically and symmetrically fixedly connected with spring telescopic rods, and the upper side wall and the lower side wall of the mounting substrate are fixedly connected with fixing seats.

Preferably, mounting holes are symmetrically formed between the front side wall and the rear side wall of the fixing seat, and the mounting holes are threaded holes.

Preferably, a plurality of limiting holes are formed between two side walls of the mounting substrate in an annular shape at equal intervals.

Preferably, the extending ends of the spring telescopic rods are connected in the limiting holes on the corresponding side of the spring telescopic rods in a sliding mode, and the side walls, away from the extending ends of the two spring telescopic rods, of the two spring telescopic rods are fixedly connected with holding rods.

Preferably, the lateral wall of one side of the mounting plate is fixedly connected with connecting rods in a vertically symmetrical mode, and the connecting rods are fixedly connected with the mounting sleeve.

Preferably, a groove is formed between the center positions of the two side walls of the mounting sleeve, and a connecting shaft is rotatably connected in the groove.

Preferably, two main tongs one side is provided with the spring hinge, vice tongs rotate to be installed on its spring hinge that corresponds one side.

Preferably, two the vice tongs opposite side lateral wall fixedly connected with rubber block, the rubber block is for preventing scraping wear-resisting rubber material.

(III) advantageous effects

The utility model provides a medical mechanical arm. The method has the following beneficial effects:

1. this medical robotic arm through being provided with the supplementary tong mechanism of good elasticity, actually snatchs the during operation, can play good supplementary clamp and get the effect, and the fastness of actually snatching is general, and practical application is worth highly.

2. This medical robotic arm, through adopting good movable mechanism design, the reliability that actually carries out tongs closure and open is good, and is provided with good self-locking mechanism, actually rotates the regulation back, is difficult for taking place relative rotation.

Drawings

Fig. 1 is a schematic view of a medical manipulator of the present invention;

FIG. 2 is a side view of a mounting substrate of a medical manipulator of the present invention;

FIG. 3 is a schematic side view of a medical manipulator arm mounting sleeve according to the present invention;

FIG. 4 is an enlarged view of the medical manipulator of the present invention at A in FIG. 1;

FIG. 5 is an enlarged view of the medical manipulator shown at B in FIG. 1;

fig. 6 is an enlarged view of the medical manipulator shown at C in fig. 1.

Wherein, 1, mounting a substrate; 2. a motor; 3. a drive shaft; 4. mounting a plate; 5. a cylinder; 6. a movable shaft; 7. a connecting shaft; 8. installing a sleeve; 9. a mounting seat; 10. a main gripper; 11. a mounting ring; 12. an elastic brace; 13. a secondary gripper; 14. a spring telescopic rod; 15. a fixed seat; 16. mounting holes; 17. a holding rod; 18. a connecting rod; 19. a groove; 20. a limiting hole; 21. a spring hinge; 22. a rubber block.

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):

as shown in fig. 1-6, an embodiment of the present invention provides a medical manipulator, which includes a mounting substrate 1, a motor 2 is fixedly installed at a central position of a side wall of one side of the mounting substrate 1, a driving shaft 3 is installed at a side of the motor 2 away from the mounting substrate 1, the driving shaft 3 is fixedly connected with a mounting plate 4, the mounting plate 4 can be driven to rotate, and further the whole gripper mechanism is driven to rotate, a cylinder 5 is fixedly installed at a central position of a side wall of one side of the mounting plate 4, a movable shaft 6 at one side of the cylinder 5 is connected with a connecting shaft 7, the connecting shaft 7 can be driven to move by the cylinder 5, a mounting sleeve 8 is slidably connected to an outer side of the connecting shaft 7, a mounting seat 9 is connected to one side of the mounting sleeve 8, a connecting shaft 7 is slidably connected in the mounting seat 9, main grippers 10 are rotatably installed at upper and lower sides of the mounting seat 9, mounting rings 11 are installed at upper and lower sides of a side wall of one side of the connecting shaft 7, the mounting rings 11 are connected with the corresponding main gripper 10 through elastic braces 12, the connecting shaft 7 moves to drive the two main grippers 10 to move in the opposite direction or move away from each other, so that grabbing work is achieved, one side of each main gripper 10 is rotatably provided with an auxiliary gripper 13 to achieve auxiliary grabbing effect, the side wall of the other side of the mounting plate 4 is in an up-down symmetrical shape and is fixedly connected with spring telescopic rods 14, and the upper side wall and the lower side wall of the mounting substrate 1 are fixedly connected with fixing seats 15.

Example two:

the difference between the present embodiment and the first embodiment is: mounting holes 16 are symmetrically formed between the front side wall and the rear side wall of the fixing seat 15, the mounting holes 16 are threaded holes and can be matched with a fixing piece to carry out integral fixed mounting, a plurality of limiting holes 20 are annularly and equidistantly formed between the two side walls of the mounting base plate 1, the extending end of the spring telescopic rod 14 is slidably connected into the limiting hole 20 on the corresponding side of the spring telescopic rod to play a limiting role of the mounting plate 4, the extending end of the two spring telescopic rods 14 is fixedly connected with a holding rod 17 away from the side wall of one side, the holding rod 17 can be held to pull the extending end of the spring telescopic rod 14 to further enable the spring telescopic rod to be separated from the limiting hole 20, at the moment, the mounting plate 4 can be driven by the motor 2 to rotate, the side wall of one side of the mounting plate 4 is fixedly connected with connecting rods 18 in an up-and-down symmetrical mode, the two connecting rods 18 are fixedly connected with a mounting sleeve 8, a groove 19 is formed between the central positions of the two side walls of the mounting sleeve 8, and the groove 19 is rotatably connected with a connecting shaft 7, two main tongs 10 one sides are provided with spring hinge 21, and vice tongs 13 rotates to be installed on its spring hinge 21 that corresponds one side, and vice tongs 13 is the elastic mechanism design, does benefit to and assists the work of snatching, and two vice tongs 13 one side lateral wall fixedly connected with rubber block 22 in opposite directions, rubber block 22 are for preventing scraping wear-resisting rubber material, play the guard action to snatching the article when snatching.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A medical manipulator arm, includes mounting substrate (1), its characterized in that: a motor (2) is fixedly mounted at the central position of the side wall of one side of the mounting substrate (1), a driving shaft (3) is arranged at one side of the motor (2) far away from the mounting substrate (1), the driving shaft (3) is fixedly connected with a mounting plate (4), an air cylinder (5) is fixedly mounted at the central position of the side wall of one side of the mounting plate (4), a movable shaft (6) at one side of the air cylinder (5) is connected with a connecting shaft (7), and a mounting sleeve (8) is slidably connected to the outer side of the connecting shaft (7);

a mounting seat (9) is connected and mounted on one side of the mounting sleeve (8), a connecting shaft (7) is connected in the mounting seat (9) in a sliding mode, main handgrips (10) are rotatably mounted on the upper side and the lower side of the mounting seat (9), mounting rings (11) are arranged on the upper side and the lower side of the side wall of one side of the connecting shaft (7), and the mounting rings (11) are connected with the main handgrips (10) on the corresponding side through elastic braces (12);

the mounting plate is characterized in that one side of the main gripper (10) is rotatably provided with an auxiliary gripper (13), the side wall of the other side of the mounting plate (4) is an upper and lower symmetrical and fixedly connected spring telescopic rod (14), and the upper and lower side walls of the mounting substrate (1) are fixedly connected with fixing seats (15).

2. The medical manipulator arm as claimed in claim 1, wherein: mounting holes (16) are symmetrically formed between the front side wall and the rear side wall of the fixing seat (15), and the mounting holes (16) are threaded holes.

3. The medical manipulator arm as claimed in claim 1, wherein: a plurality of limiting holes (20) are formed between two side walls of the mounting substrate (1) in an annular shape at equal intervals.

4. The medical manipulator arm as claimed in claim 1, wherein: the stretching ends of the spring telescopic rods (14) are connected in the limiting holes (20) on one corresponding side in a sliding mode, and the stretching ends of the two spring telescopic rods (14) are fixedly connected with holding rods (17) on the side wall away from one side.

5. The medical manipulator arm as claimed in claim 1, wherein: the lateral wall of one side of the mounting plate (4) is a connecting rod (18) which is in longitudinal symmetry and is fixedly connected with, and the connecting rod (18) is fixedly connected with a mounting sleeve (8).

6. The medical manipulator arm as claimed in claim 1, wherein: a groove (19) is formed between the center positions of the two side walls of the mounting sleeve (8), and a connecting shaft (7) is rotatably connected in the groove (19).

7. The medical manipulator arm as claimed in claim 1, wherein: and one side of each of the two main grippers (10) is provided with a spring hinge (21), and the auxiliary gripper (13) is rotatably arranged on the spring hinge (21) on the corresponding side.

8. The medical manipulator arm as claimed in claim 1, wherein: two vice tongs (13) one side lateral wall fixedly connected with rubber block (22) in opposite directions, rubber block (22) are for preventing scraping wear-resisting rubber material.