CN216221708U - Instrument clamp assembly - Google Patents

Abstract

The utility model discloses an instrument clamp assembly. The device comprises a locking hand wheel, a retaining nut, a spherical washer, an instrument clamp seat, an instrument clamp plate, a spring, a planar toothed plate, an instrument clamp main shaft and a fixed seat; one end of the main shaft of the instrument clamp is provided with a fixed seat which is fixed with the tail section of the universal arm through a cross countersunk head screw; the other end is provided with a threaded rod, and a plane toothed plate, a spring, an instrument clamping plate, an instrument clamping seat, a spherical washer, a retaining nut and a locking hand wheel are arranged on the threaded rod from inside to outside; the rubber plug is arranged in the locking hand wheel and is positioned at the top of the locking hand wheel; the retaining nut is arranged between the rubber plug and the locking hand wheel; the spherical washer is positioned between the locking hand wheel and the instrument clamping seat; the spring is arranged between the plane toothed plate and the instrument clamping plate. The utility model has the advantages of simple structure, simple and convenient clamping operation, pre-tightening function and simple installation and disassembly of the clamped medical appliance.

Description

Instrument clamp assembly

Technical Field

The utility model relates to an instrument clamp assembly, in particular to an instrument clamp assembly special for a medical operation mechanical arm.

Background

In the existing surgical procedure, it is often necessary to keep a certain medical instrument stable and a surgical field stable and clear for a long time during the surgical procedure, and in this case, a person is generally assigned to hold the medical instrument in hand, and a fixed posture is kept during the surgical procedure to achieve the purpose. However, such a method is affected by various influences of attention, physical strength and the like of a person, cannot keep a stable state for a long time, and often needs to adjust the position, angle and the like of a handheld medical instrument, so that the deviation of the surgical field of view is caused to affect the smooth operation; because the person holding the medical instrument occupies the space beside the operating table, the operating space of the operation is affected, and the chance of operation infection is increased.

The existing medical surgical mechanical arm device has the following defects: the clamping operation is complex, the pre-tightening function is not needed, and the medical instrument clamped by the clamping device is complex to install and disassemble.

Therefore, there is a need for an improved arm device for medical operation, which is easy to clamp, has a pre-tightening function, and is easy to install and remove the clamped medical device.

Disclosure of Invention

The utility model aims to provide an instrument clamp assembly which is simple in structure, simple and convenient to clamp and operate, has a pre-tightening function and is simple to mount and dismount a clamped medical instrument.

In order to achieve the purpose, the technical scheme of the utility model is as follows: an instrument clip assembly characterized by: the device comprises a locking hand wheel, a retaining nut, a spherical washer, an instrument clamp seat, an instrument clamp plate, a spring, a planar toothed plate, an instrument clamp main shaft and a fixed seat;

one end of the main shaft of the instrument clamp is provided with a fixed seat which is fixed with the tail section of the universal arm through a cross countersunk head screw; the other end is provided with a threaded rod, and a plane toothed plate, a spring, an instrument clamping plate, an instrument clamping seat, a spherical washer, a retaining nut and a locking hand wheel are arranged on the threaded rod from inside to outside;

the rubber plug is arranged in the locking hand wheel and is positioned at the top of the locking hand wheel;

the retaining nut is arranged between the rubber plug and the locking hand wheel;

the spherical washer is positioned between the locking hand wheel and the instrument clamping seat;

the spring is arranged between the plane toothed plate and the instrument clamping plate.

In the above technical solution, the fixing base includes an upper fixing base and a lower fixing base;

the instrument clamp assembly is fixed on the tail section of the universal arm through the upper fixing seat and the lower fixing seat by screws.

In the technical scheme, the middle part of the locking hand wheel is provided with a central hole, and the rubber plug is arranged in the central hole and positioned at the top end of the central hole.

The utility model has the following advantages:

the utility model has the advantages of simple structure, simple and convenient clamping operation, pre-tightening function and simple installation and disassembly of the clamped medical appliance.

The medical surgical mechanical arm adopts the bionic mechanical arm to replace a human to clamp medical instruments, and has the advantages of small occupied surgical space, large moving range and capability of reliably and stably fixing minimally invasive surgical instruments for a long time; the operation has no noise, vibration and pollution, does not influence the operation, does not interfere the operation communication and does not pollute the operation environment; the device is driven by central negative pressure or compressed air, is simple and easy to use, and has no electromagnetic compatibility.

The medical operation mechanical arm adopts the lever working principle to amplify the working force of the cylinder, comprehensively balances the use requirement, the structural size, the whole weight, the working load and the mechanical strength, the medical operation mechanical arm has the advantages of small size, light weight, large working load, high strength, high rigidity and stable and reliable work (the utility model amplifies the working force of the cylinder by 5 times; for example, when the pulling force of the cylinder adopted by the utility model under the working air pressure condition of 0.8MPa is 2242.6N, after the pulling force is amplified by 5 times through a lever, 11213N pulling force can be generated on the steel wire inhaul cable, the pulling force is the pressure acting between the universal mechanical arm joint sections, and under the pressure, the friction force between the mechanical arm joint sections (a rough surface is adopted on the friction pair during processing to improve the friction coefficient) is enough to lock the mechanical arm joint sections to meet the working requirement, and other cylinders can be selected according to the requirement).

The universal mechanical arm has a large moving range, and can work within an accessible range without limitation.

The utility model is mainly used in the medical field, and can be used in various processes such as examination and treatment of human body in medical activities, which require long-time maintenance of examination instruments (such as observation and sampling) or treatment instruments (such as stable operation auxiliary illuminating lamp and infrared irradiation treatment) for stability, besides the operation process.

After the utility model is adaptively modified and strengthened, the utility model can be used for positioning, calibrating and measuring workpieces in the manufacturing industry, stably clamping workpieces during non-contact processing, keeping the distance between the workpieces and welding equipment constant in the welding process, stabilizing a detecting head in the online nondestructive inspection detection process, fixing an online inspection sensor, erecting and sampling the environment-friendly detection equipment in the field, and the like; the utility model can also be used for fixing and stabilizing rulers and targets in the surveying and mapping industry, and by analogy, the utility model can be applied to application environments in which an object needs to be kept stable for a long time in a temporary fixing state.

Drawings

FIG. 1 is a schematic view of the connection structure of the locking driving mechanism housing, the locking driving mechanism, the universal mechanical arm and the instrument clamp assembly in the embodiment of the utility model.

Fig. 2 is an enlarged view of fig. 1 at a.

FIG. 3 is a schematic view of the connection structure of the mounting clip assembly, the locking drive mechanism housing, the locking drive mechanism, the universal robotic arm, and the instrument clip assembly according to an embodiment of the present invention.

Fig. 4 is a front view of a fixing clip assembly according to an embodiment of the utility model.

Fig. 5 is a schematic top view of a mounting clip assembly according to an embodiment of the utility model.

FIG. 6 is a side view of a mounting clip assembly according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of the present invention.

Fig. 8 is a schematic structural view of a through hole through which two universal robot joint sections are connected and a steel wire zipper penetrates the universal robot joint sections in the embodiment of the present invention.

In the figure, 1-a working cylinder, 2-a traction bolt, 3-a retainer ring, 4-a pin shaft, 5-a split pin, 6-a pull rod, 7-a connecting rod, 8-a locking pull rod, 9-a top cover plate, 10-a universal arm seat, 11-a locking spiral ring, 12-a countersunk bolt, 13-a universal arm sheath, 14-a steel wire inhaul cable, 15-a protection spring, 16-a universal mechanical arm joint section, 16-1-a joint shell, 16-1-a ball head, 16-1-a cylindrical structure, 16-1-a 2-a ball socket, 16-a 2-a through hole, 16-3-a working gap, 17-a universal arm tail section, 18-an instrument clamp component and 3-1-a rubber plug, 3-2-locking hand wheel, 3-3-backstop nut, 3-4-spherical washer, 3-5-instrument holder, 3-6-instrument clamp plate, 3-7-spring, 3-8-plane toothed plate, 3-9-instrument clamp main shaft, 3-10-cross countersunk head screw, 19-countersunk inner hexagon bolt, 20-locking driving mechanism lower shell, 21-locking driving mechanism upper shell, 22-shaft, 23-inner hexagon bolt, 24-fixed clamp component, 2-1-fixed clamp block, 2-2-rotating guide rail seat, 2-3-washer, 2-4-spring washer, 2-5-rotating shaft and 2-6-thin nut, 2-7-countersunk head socket head cap screw I, 2-8-rotating inner core, 2-9-guide rail, 2-10-movable clamping block, 2-11-locking handle, 2-12-locking bolt, 2-13-moving slide block, 2-14-guide pin, 2-15-countersunk head socket head cap screw II, 25-locking driving mechanism, 26-locking driving mechanism shell, 27-universal mechanical arm, 28-universal mechanical arm joint structure, 29-lever structure, 30-hollow structure and 31-fixing seat.

Detailed Description

The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are not intended to limit the present invention, but are merely exemplary. While the advantages of the utility model will be clear and readily understood by the description.

Examples

In this embodiment, as shown in fig. 7, the instrument clamp assembly includes a locking handwheel 3-2, a retaining nut 3-3, a spherical washer 3-4, an instrument clamp seat 3-5, an instrument clamp plate 3-6, a spring 3-7, a planar toothed plate 3-8, an instrument clamp spindle 3-9, and a fixing seat;

the locking hand wheel 3-2, the instrument clamping seat 3-5, the instrument clamping plate 3-6, the plane toothed plate 3-8, the instrument clamping main shaft 3-9 and the fixed seat are sequentially connected;

the rubber plug 3-1 is arranged in a hole in the center of the locking hand wheel 3-2 and positioned at the top of the locking hand wheel 3-2 so as to seal the hole in the locking hand wheel 3-2;

the backstop nut 3-3 is arranged between the rubber plug 3-1 and the locking hand wheel 3-2 and is positioned at the top end of the thread of the main shaft 3-9 of the instrument clamp to prevent the locking hand wheel 3-2 from loosening;

the spherical washer 3-4 is positioned between the locking hand wheel 3-2 and the instrument clamping seat 3-5, so that the instrument can still be normally clamped when the instrument clamping seat 3-5 and the instrument clamping plate 3-6 are not parallel;

the instrument clamp seat 3-5 and the instrument clamp plate 3-6 jointly penetrate through a threaded rod of the instrument clamp main shaft 3-9 and are used for clamping an instrument;

the spring 3-7 is arranged between the plane toothed plate 3-8 and the instrument clamping plate 3-6 and is used for keeping the instrument clamping seat 3-5 and the instrument clamping plate 3-6 to have proper pre-locking force;

the instrument clamp main shafts 3-9 penetrate through the middle part of the instrument clamp assembly 18; the main shaft 3-9 of the instrument clamp is provided with an integrally manufactured threaded rod;

one end of the instrument clamp main shaft 3-9 is provided with a fixed seat and is fixed with the universal arm tail section 17 through a cross countersunk head screw 3-10; the other end is provided with a threaded rod, and a plane toothed plate 3-8, a spring 3-7, an instrument clamping plate 3-6, an instrument clamping seat 3-5, a spherical washer 3-4, a backstop nut 3-3 and a locking hand wheel 3-2 are sequentially arranged on the threaded rod from inside to outside; wherein, the fixed seat is a part of the main shaft 3-9 of the appliance clamp, and is sleeved on and fixed with the tail section 17 of the universal arm;

the instrument clamp assembly 18 is fixed on the tail section 17 of the universal arm through the upper fixing seat 3-11 and the lower fixing seat 3-12 by screws; the existence of the spherical washer 3-4 ensures that the instrument clamping seat 3-5 and the instrument clamping plate 3-6 can be effectively locked when in a non-parallel state; the plane toothed plates 3-8 are matched with the plane teeth on the instrument clamping plates 3-6, and the instrument clamping assembly 18 can be prevented from rotating to cause displacement in a locking state; the spring 3-7 can always tightly attach the instrument clamping seat 3-5 and the instrument clamping plate 3-6 to generate a pre-locking function, namely the instrument clamping seat 3-5 and the instrument clamping plate 3-6 have the function of keeping clamping without locking in a state that the locking hand wheel is loosened, so that the clamped medical instrument is convenient to mount and dismount, meanwhile, the clamped medical instrument is prevented from being too loose or falling off, and in addition, the position of the clamped medical instrument is convenient to adjust before locking.

The fixing seats comprise upper fixing seats 3-11 and lower fixing seats 3-12;

the instrument clamp assembly is fixed on the universal arm tail section 17 through the upper fixing seat 3-11 and the lower fixing seat 3-12 by screws.

The middle part of the locking hand wheel 3-2 is provided with a central hole, and the rubber plug 3-1 is arranged in the central hole and positioned at the top end of the central hole.

The medical operation mechanical arm adopting the fixing clamp assembly comprises a locking driving mechanism 25, a universal mechanical arm 27, a locking driving mechanism shell 26, an instrument clamp assembly 18 and a fixing clamp assembly 24; the locking driving mechanism 25, the universal mechanical arm 27 and the instrument clamp assembly 18 are connected in sequence;

a lock drive mechanism housing 26 is provided on the periphery of the lock drive mechanism 25; the mounting clip assembly 24 is disposed on the lock actuator housing 26 (shown in fig. 1 and 2);

the universal mechanical arm comprises a universal arm base 10, a universal arm sheath 13, a universal mechanical arm joint structure 28 and a steel wire inhaul cable 14 (namely a steel cable); one end of the steel wire inhaul cable 14 is connected with the locking driving mechanism 28, and the other end of the steel wire inhaul cable passes through the universal mechanical arm joint structure 28 and is fixed at the head of the universal mechanical arm joint structure 28, so that a flexible and flexible universal mechanical arm in a relaxed state is formed; the universal arm sheath 13 is arranged on the periphery of the universal arm base 10 and on the periphery of the tail part of the universal arm joint structure 28 (as shown in fig. 1 and 2);

as shown in fig. 8, the universal arm joint structure 28 includes a plurality of universal arm joint segments 16; the universal mechanical arm joint section 16 comprises a joint shell 16-1 and a through hole 16-2; the top end of the joint shell 16-1 is provided with a spherical ball head 16-1-1, the lower end is provided with a cylindrical structure 16-1-2, and the middle part of the lower end of the cylindrical structure 16-1-2 is provided with a ball socket 16-1-2-1;

the size of the ball head 16-1-1 is matched with that of the ball socket 16-1-2-1, and the opening of the ball socket 16-1-2-1 is slightly smaller than the outer diameter of the ball head 16-1-1, so that the universal mechanical arm generates a holding force when being in a locking state to generate an effect of holding the ball head tightly; the ball head 16-1-1 of one universal mechanical arm joint section 16 is positioned in the ball socket 16-1-2-1 of the adjacent universal mechanical arm joint section 16; a working gap 16-3 is arranged between the ball head 16-1-1 and the ball socket 16-1-2-1 of the two adjacent universal mechanical arm joint sections 16;

the through hole 16-2 is positioned in the middle of the ball head 16-1-1 and the ball socket 16-1-2-1 and penetrates through the joint shell 16-1; a steel wire inhaul cable (steel cable) 14 is positioned in the through hole 16-2; the aperture of the through hole 16-2 is gradually enlarged from the ball head to the ball socket (the aperture of the through hole 16-2 at the ball head 16-1-1 is smaller than that of the through hole 16-2 at the ball socket 16-1-2-1); the top end of each section of the universal mechanical arm is provided with a ball head, the cylinder at the other end is provided with a ball socket opposite to the ball head, and the two sections can be matched to keep flexibility in a certain range under the unlocked state. A tapered hole (i.e., through hole) is formed in the middle of each segment, and a steel cable (wire rope) 14 is inserted through the gimbaled arm. One end of a steel cable (steel cable) 14 is connected with a lever driving device, and the other end is fixed at the tail end of the universal mechanical arm. The steel wire inhaul cable (steel cable) 14 keeps the integrality and the flexibility of the universal mechanical arm, and also plays a role in tensioning each section of the universal mechanical arm, so that enough pressure exists between each universal mechanical arm joint section 16 of the universal mechanical arm, and the universal mechanical arm joint sections 16 are locked by friction force to keep the stability of the universal mechanical arm. The ball socket of each universal mechanical arm joint section 16 is slightly smaller than the ball socket in size, the ball socket is expanded by the ball socket under the action of the pulling force of a steel cable, and the gripping force of the ball socket to the ball socket is formed by the elastic deformation of materials, so that enough friction force between the ball socket and the ball socket between each section can be ensured;

the center of universal arm joint segment has the through-hole that runs through the segment from the ball socket to bulb top formation, and the diameter of through-hole in ball socket department is greater than the diameter at bulb top, forms the toper, even if be convenient for pass the steel cable, also does benefit to and improves the soft flexibility of universal arm under lax state, can lock universal arm in the optional position of home range simultaneously.

The universal mechanical arm is an important component of a medical operation mechanical arm. Both sufficient flexibility in the relaxed state and sufficient stability in the locked state are required. Therefore, the technical scheme selects the compressed air or vacuum negative pressure which is convenient, clean, easy to manage and easy to control as the driving source. In order to achieve the mutual consideration of the size, the weight, the performance and the application requirements and form the comprehensive balance meeting the use requirements, the lever driving mechanism is adopted to amplify the force of the working cylinder by a plurality of times, so that sufficient friction force can be generated between all universal arm sections 16 of the universal mechanical arm, and the purpose of locking the universal mechanical arm is achieved.

The locking driving mechanism 26 comprises a working cylinder 1 and a lever structure 29; the working cylinder 1 is connected with a steel wire inhaul cable 14 through a lever structure 29; the locking driving mechanism adopts a lever working principle, amplifies the driving force of a working cylinder (which can also be driven by a hydraulic cylinder, a motor, an electromagnet and the like), pulls a steel cable at the center of the universal mechanical arm, and locks the universal mechanical arm so as to achieve the purpose of locking the universal mechanical arm, thereby stabilizing the medical equipment (or other tools, welding tools, measuring instruments, detection sensors and the like) needing to be clamped and fixed at a required working position;

the locking driving mechanism shell 26 comprises a locking driving mechanism upper shell 21, a locking driving mechanism lower shell 20 and a hollow structure 30; the locking driving mechanism upper shell 21 and the locking driving mechanism lower shell 20 are positioned on the periphery of the hollow structure 30; the upper locking driving mechanism shell 21 and the lower locking driving mechanism shell 20 are connected through a countersunk hexagon socket head cap screw 19 and a hexagon socket head cap screw 23; the top cover plate 9 is arranged at the side ends of the upper locking driving mechanism shell 21 and the lower locking driving mechanism shell 20;

the locking driving mechanism 25 and the lever structure 29 are positioned in the hollow structure 30;

the universal arm sheath 13 is arranged on the outer side wall of the top cover plate 9; the lever structure 29 penetrates through the top cover plate 9 and is connected with the steel wire inhaul cable 14;

the fixing seat 31 is located in the hollow structure 30 and is mounted on the upper housing 21 of the locking driving mechanism (as shown in fig. 1, 2 and 3).

A fixing clamp assembly 24 is arranged on the lower shell 20 of the locking driving mechanism, and the fixing clamp assembly 24 has two functions of locking position fixing and rotating fixing at the same time; the mounting clip assembly 24 is a fixture for securing a medical-grade surgical robotic arm to a secure base, such as an instrument rail beside an operating table. The device can adjust the size of an opening between the fixed clamping block 2-1 and the movable clamping block 2-10 within a certain range according to requirements so as to adapt to fixed foundations with different widths; meanwhile, the medical operation mechanical arm can be tilted for a certain angle around the rotating inner core 2-8 according to the requirement. The fixing clip assembly 24 adopts a fixing handle, and simultaneously locks and unlocks the position and the rotation angle (as shown in fig. 4, 5 and 6);

the fixed clamp assembly 24 comprises a fixed clamp block 2-1, a rotary guide rail seat 2-2, a rotary shaft 2-5, a rotary inner core 2-8, a guide rail 2-9, a movable clamp block 2-10, a locking handle 2-11, a movable slide block 2-13 and a guide pin 2-14; the integral fixed clamping block 2-1 can rotate around the pin shafts fixed at the two ends of the integral fixed clamping block in a small range; the upper end of the pin shaft of the fixed clamping block 2-1 is provided with a clamping opening, and the lower end can be used for rotating and locking;

the guide rail 2-9 is arranged on the rotary guide rail seat 2-2, the rotary guide rail seat 2-2 and the guide rail 2-9 are combined into a whole by screws and can rotate around the rotary shaft 2-5 and the rotary inner core 2-8; the fixed clamping block 2-1 is arranged at one end of the guide rail 2-9 and is positioned at the end part of the rotary guide rail seat 2-2; the movable clamping blocks 2-10 are movably connected with the guide rails 2-9; the movable clamping blocks 2-10 are in floating connection with the movable sliding blocks 2-13 through guide pins; the movable clamping blocks 2-10 and the movable sliding blocks 2-13 can synchronously move along the guide rails 2-9 to a large extent, and the movable clamping blocks 2-10 can move relatively to the movable sliding blocks 2-13 along the guide rails in a small-amplitude relative movement under the pushing of the locking handles 2-11 under the locking state of the movable sliding blocks 2-13, so that the position locking can be implemented by matching with the fixed clamping blocks 2-1, and the fixed clamping blocks 2-1 can be pushed to rotate around the pin shafts fixed at the two ends of the fixed clamping blocks 2-1, so that the purpose of rotary locking is achieved;

the lower ends of the pin shafts fixed at the two ends of the fixed clamping block 2-1 are attached to the rotating inner core 2-8, and the rotating inner core 2-8 is pressed tightly in a locking state for rotating and locking;

the locking handle 2-11 is connected with the movable sliding block 2-13 through a locking bolt 2-12, a screw hole is formed in one end of the locking handle 2-11 and matched with the locking bolt 2-12, the locking handle 2-11 is rotated, and the movable sliding block 2-13 is locked on the guide rail 2-9 under the matching of the locking bolt 2-12; the locking handle 2-11 is continuously rotated, the eccentric protrusions on the locking handle 2-11 can push the movable clamping block 2-10 to move for a distance along the guide rail 2-9 in a small range, the fixed clamping block 2-1 is pushed to rotate around the pin shafts fixed at the two ends of the fixed clamping block through the fixed foundation, the lower end of the fixed clamping block 2-1 presses the rotating inner core 2-8, and therefore the purpose of locking the rotation is achieved.

Wherein, the movable sliding blocks 2-13 and the movable clamping blocks 2-10 are fixed in a floating way by adopting guide pins; the movable sliding block 2-13 and the movable clamping block 2-10 can move along the guide rail 2-9 greatly together, or the movable clamping block 2-10 can move along the guide rail 2-9 in a small range under the control of the guide pin after the movable sliding block 2-13 is locked.

The rotating shaft 2-5 sequentially penetrates through the guide rail 2-9, the rotating guide rail seat 2-2 and the rotating inner core 2-8; a washer 2-3 and a spring washer 2-4 are arranged in a hole of the rotary inner core 2-8 and in a threaded section of the rotary shaft 2-5, and are fixedly connected with the rotary inner core 2-8 through a thin nut 2-6; the rotary guide rail seat 2-2 and the guide rail 2-9 are connected into a whole by a countersunk hexagon socket head cap screw II 2-15; after the rotating shaft 2-5 penetrates through the guide rail 2-9, the rotating guide rail seat 2-2 and the rotating inner core 2-8, a washer 2-3 and a spring washer 2-4 are added at the thread, and then the rotating guide rail seat 2-2 and the guide rail 2-9 can rotate around the rotating shaft 2-5 and the rotating inner core 2-8 after being fastened by a thin nut 2-6;

the rotary inner core 2-8 is connected with the lower shell 20 of the locking driving mechanism through a countersunk hexagon socket head cap screw I2-7; countersunk socket head cap screws i 2-7 connect the mounting clip assembly 24 to the lower housing 20 of the locking drive mechanism (as shown in fig. 4, 5, and 6).

The protection spring 15 is arranged on the outer periphery of the universal mechanical arm joint structure 28; the tail part of the protection spring 15 is positioned in the universal arm sheath 13; a locking spiral coil 11 is arranged between the universal arm seat 10 and the tail part of the universal mechanical arm joint structure 28; the countersunk head bolt 12 is located in the universal arm sheath 13 and fixed between the protection spring 15 and the universal arm joint structure 28 (as shown in fig. 1, 2 and 3).

The working cylinder 1 is an ultra-thin working cylinder. The working cylinder 1 may be driven by a hydraulic cylinder, an electric motor, an electromagnet, or the like. The universal mechanical arm is an important component of a medical operation mechanical arm. Both sufficient flexibility in the relaxed state and sufficient stability in the locked state are required. Therefore, the technical scheme selects the compressed air or vacuum negative pressure which is convenient, clean, easy to manage and easy to control as the driving source. The driving force of the working cylinder is amplified through the lever and then the steel cable is tensioned, so that sufficient pressure exists between each section of the universal mechanical arm, and the sections are locked by means of friction force to keep the stability of the universal mechanical arm.

The lever structure comprises a pull rod 6, a connecting rod 7 and a locking pull rod 8; the working cylinder 1 is connected with a traction bolt 2; one end of the pull rod 6 is hinged with the traction bolt 2 through a cotter pin 5, and the other end is hinged with the upper end of the connecting rod 7; the lower end of the connecting rod 7 is hinged with the fixed seat; when the locking driving mechanism does not work, the pull rod 6 is in a horizontal state, and the connecting rod 7 is in an inclined state; the locking pull rod 8 is arranged close to the fixed seat 31, one end of the locking pull rod 8 is hinged with the middle part of the connecting rod 7, and the other end of the locking pull rod 8 penetrates through the top cover plate 9 to be connected with the steel wire inhaul cable 14; the compressed air (or negative pressure) generates locking pulling force through the working cylinder 1 and is transmitted to the connecting rod (namely the lever) 7 through the traction bolt 2 and the pull rod 6. The coupling rod (i.e., lever) 7 rotates around the shaft 22, amplifies the locking tension generated by the cylinder 1, and tightens the wire cable 14 fixed to the locking rod 8 by the locking rod 8. The traction bolt 2, the pull rod 6, the connecting rod (i.e. lever) 7 and the locking pull rod 8 are hinged through a pin shaft 4 to form a lever structure 29 (shown in figures 1, 2 and 3) for amplifying the tensile force.

The shaft 22 is mounted on the fixed seat 31 and located between the fixed seat 31 and the coupling rod 7, and the shaft 22 is a fulcrum of the lever. The coupling rod 7 is a lever. The end of the coupling rod 7 remote from the shaft 22 is connected to the working cylinder 1 by means of a tie rod 6. At the middle point near the shaft 22, a steel wire cable is connected through a locking pull rod 8 for locking the universal mechanical arm (shown in figures 1 and 2).

The draw bolt 2 is L-shaped, a cotter 5 is arranged between the draw bolt 2 and the pull rod 6, the pin shaft 4 is arranged at the cotter 5, and the retainer ring 3 is arranged on the pin shaft 4 (as shown in fig. 1 and 2).

The tail of the universal mechanical arm joint structure 28 is provided with a universal arm end joint 17, and the universal mechanical arm joint structure 28 is connected with the instrument clamp assembly 18 through the universal arm end joint 17 (as shown in fig. 1, 2 and 3). In order to achieve the mutual consideration of the size, the weight, the performance and the application requirements and form the comprehensive balance meeting the use requirements, the lever driving mechanism is adopted to amplify the force of the working cylinder by a plurality of times, so that sufficient friction force can be generated between all universal arm sections 16 of the universal mechanical arm, and the purpose of locking the universal mechanical arm is achieved.

To more clearly illustrate the advantages of the instrument clip assembly of the present invention over the prior art, the worker compared the two solutions and the results are shown in the following table:

as can be seen from the above table, compared with the prior art, the instrument clamp assembly of the utility model has the advantages of simple and convenient clamping operation, good clamping effect of the instrument clamp, simple structure of the driving mechanism, easy processing, low cost and convenient maintenance.

Other parts not described belong to the prior art.

Claims (3)

1. An instrument clip assembly characterized by: the device comprises a locking hand wheel (3-2), a backstop nut (3-3), a spherical washer (3-4), an instrument clamp seat (3-5), an instrument clamp plate (3-6), a spring (3-7), a planar toothed plate (3-8), an instrument clamp main shaft (3-9) and a fixed seat;

one end of the instrument clamp main shaft (3-9) is provided with a fixed seat and is fixed with a tail section (17) of the universal arm through a cross countersunk head screw (3-10); the other end is provided with a threaded rod, and a plane toothed plate (3-8), a spring (3-7), an instrument clamping plate (3-6), an instrument clamping seat (3-5), a spherical washer (3-4), a retaining nut (3-3) and a locking hand wheel (3-2) are arranged on the threaded rod from inside to outside;

the rubber plug (3-1) is arranged in the locking hand wheel (3-2) and is positioned at the top of the locking hand wheel (3-2);

the retaining nut (3-3) is arranged between the rubber plug (3-1) and the locking hand wheel (3-2);

the spherical washer (3-4) is positioned between the locking hand wheel (3-2) and the apparatus clamping seat (3-5);

the springs (3-7) are arranged between the plane toothed plates (3-8) and the instrument clamping plates (3-6).

2. The instrument clip assembly of claim 1, wherein: the fixed seat comprises an upper fixed seat (3-11) and a lower fixed seat (3-12);

the instrument clamp component is fixed on a tail section (17) of the universal arm through an upper fixing seat (3-11) and a lower fixing seat (3-12) by screws.

3. The instrument clip assembly of claim 2, wherein: the middle part of the locking hand wheel (3-2) is provided with a central hole, and the rubber plug (3-1) is arranged in the central hole and positioned at the top end of the central hole.

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