CN220972432U

CN220972432U - Medical manipulator

Info

Publication number: CN220972432U
Application number: CN202322556090.XU
Authority: CN
Inventors: 闫琳; 张少华; 廖圣华; 龙会才; 于天水
Original assignee: Wuhan Cobot Technology Co ltd
Current assignee: Wuhan Cobot Technology Co ltd
Priority date: 2023-09-19
Filing date: 2023-09-19
Publication date: 2024-05-17
Anticipated expiration: 2033-09-19

Abstract

The utility model discloses a medical manipulator, which relates to the medical field and comprises a mechanical arm and further comprises: the clamping unit is arranged at the adjusting end of the mechanical arm and used for clamping and fixing the medical object; the fixing unit is arranged on the inner side of the clamping unit and is used for primarily fixing the medical object, the clamping unit comprises a mounting part arranged on the mechanical arm, a power part arranged on the mounting part and a plurality of clamping parts arranged on the mounting part and used for fixing the medical object, and the fixing unit is arranged on the mounting part and is positioned on the inner side of the clamping part.

Description

Medical manipulator

Technical Field

The utility model relates to the technical field of medical treatment, in particular to a medical manipulator.

Background

The medical robot is an intelligent service robot and is used for medical treatment or auxiliary medical treatment of hospitals and clinics. The operation plan can be independently compiled, the action program is determined according to the actual situation, and then the action is changed into the movement of the operation mechanism. Can be used for mobile patients, medical teaching, clinical medical treatment, etc.

The existing equipment has the following defects: when the existing medical mechanical arm actually performs grabbing work, as the pawls are mostly made of metal materials, the friction force between the pawls and the safety air release valve arm is small during grabbing, so that the firmness of grabbing the pawls is general, articles are easy to fall off from the clamping arms in the moving process of the mechanical arm, and the articles are damaged.

The present application therefore now proposes a medical manipulator to solve the above-mentioned problems.

Disclosure of utility model

The utility model aims to provide a medical manipulator to solve the problem that the object is damaged due to the fact that the object is easy to fall off from a clamping arm in the moving process of the manipulator because of the general grabbing firmness.

In order to achieve the above purpose, the present utility model provides the following technical solutions: medical manipulator, including the arm, still include:

The clamping unit is arranged at the adjusting end of the mechanical arm and used for clamping and fixing the medical object;

And the fixing unit is arranged at the inner side of the clamping unit and is used for preliminarily fixing the medical object.

The clamping unit comprises a mounting part arranged on the mechanical arm, a power part arranged on the mounting part and a plurality of clamping parts arranged on the mounting part and used for fixing medical articles, and the fixing unit is arranged on the mounting part and located on the inner side of the clamping parts.

The mounting component comprises a mounting seat arranged on the mechanical arm, a supporting disc arranged on one side of the mounting seat away from the mechanical arm, a connecting plate arranged on the supporting disc and a supporting plate connected with the clamping component, wherein the mounting disc is arranged on one side of the supporting plate away from the clamping component.

The power component comprises a motor arranged on the mounting seat and a screw rod arranged at the power output end of the motor, and the screw rod is in threaded connection with the mounting disc.

The clamping component comprises a transmission rod arranged at the lower part of the connecting plate and clamping claws arranged at the bottom of the transmission rod, a stabilizing rod used for reinforcing the clamping claws is arranged between the clamping claws and the connecting plate, and the supporting plate is connected with the stabilizing rod.

The fixing unit comprises a protection frame arranged at the bottom of the mounting plate, a sucker arranged at the bottom of the protection frame and a micro switch arranged at one side of the mounting plate, wherein the micro switch is close to the protection frame, a buffer piece for extruding the micro switch is arranged at the outer side of the protection frame, and the micro switch is electrically connected with the motor.

The buffer piece comprises a connecting block arranged on the outer side of the protection frame, a sliding rod penetrating through the connecting block and a top block arranged on the lower portion of the sliding rod.

The sliding rod is positioned between the top block and the connecting block and is sleeved with an elastic piece.

Compared with the prior art, the utility model has the beneficial effects that:

According to the utility model, the clamping unit is moved to the position above the medical object to be conveyed by adjusting the mechanical arm, the clamping part is placed above the medical object, then the mechanical arm drives the clamping part to move downwards, the fixing unit adsorbs and fixes the object, then the connecting part on the fixing unit starts the power part, so that the clamping part clamps and fixes the medical object, the stability of fixing the medical object can be improved by double fixing the medical object, the probability of falling off the medical object from the clamping unit when the mechanical arm conveys the medical object is reduced, and the conveying efficiency of the mechanical arm to the object is improved.

Drawings

FIG. 1 is a schematic diagram of a main structure according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a clamping unit according to an embodiment of the utility model;

FIG. 3 is a schematic cross-sectional view of a fixing unit according to an embodiment of the present utility model;

FIG. 4 is a schematic view of the bottom of the clamping unit according to an embodiment of the utility model;

FIG. 5 is an enlarged schematic view of the portion of FIG. 2A;

Fig. 6 is an enlarged schematic view of the portion of fig. 3B.

In the figure: 1. a mechanical arm; 2. a clamping unit; 21. a mounting base; 22. a support plate; 23. a connecting plate; 24. a transmission rod; 25. clamping claws; 26. a stabilizing rod; 27. a support plate; 28. a mounting plate; 29. a motor; 210. a screw; 3. a fixing unit; 31. a protective frame; 32. a buffer member; 321. a connecting block; 322. a slide bar; 323. a top block; 324. an elastic member; 33. a micro-switch; 34. and a sucking disc.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-6, the present utility model provides a technical solution: medical manipulator, including arm 1, still include:

The clamping unit 2 is arranged at the adjusting end of the mechanical arm 1 and is used for clamping and fixing the medical object;

And a fixing unit 3 disposed at the inner side of the clamping unit 2 for primarily fixing the medical article.

It should be noted that, during operation, make the clamping unit 2 remove the medical article top that needs to convey through adjusting arm 1, then drive clamping unit 2 and move down for fixed unit 3 contacts with the medical article, and preliminary fixed to the medical article, then drive clamping unit 2 and do further fixed to the medical article, through carrying out dual fixed to the medical article, can improve the stability to the medical article is fixed, reduce arm 1 when transporting the medical article, the probability that the medical article drops from clamping unit 2, thereby improve the conveying efficiency of manipulator to the article.

In an embodiment, the clamping unit 2 comprises a mounting part arranged on the mechanical arm 1, a power part arranged on the mounting part and a plurality of clamping parts arranged on the mounting part for fixing the medical object, and the fixing unit 3 is arranged on the mounting part and is positioned on the inner side of the clamping parts.

By means of the design, the clamping component is placed above the medical object, then the mechanical arm 1 drives the clamping component to move downwards, the fixing unit 3 adsorbs and fixes the object, and then the connecting component on the fixing unit 3 starts the power component, so that the clamping component clamps and fixes the medical object.

In an embodiment, the mounting component comprises a mounting seat 21 arranged on the mechanical arm 1, a support disc 22 arranged on the side, away from the mechanical arm 1, of the mounting seat 21, a connecting plate 23 arranged on the support disc 22 and a support plate 27 connected with the clamping component, and a mounting disc 28 is arranged on the side, away from the clamping component, of the support plate 27.

So designed, the power component drives the mounting plate 28 to move upwards so that the support plate 27 drives the clamping components to move closer to each other, and then the medical article is fixed.

In one embodiment, the power unit includes a motor 29 disposed on the mounting base 21 and a screw 210 disposed at a power output end of the motor 29, and the screw 210 is in threaded connection with the mounting plate 28.

By the design, the motor 29 drives the screw rod 210 to rotate, so that the mounting disc 28 moves up and down on the screw rod 210, the mounting angle of the clamping component is changed, and the clamping component is fixed and released to the medical object.

In one embodiment, the clamping member includes a transmission rod 24 disposed at a lower portion of the connection plate 23 and a clamping jaw 25 disposed at a bottom of the transmission rod 24, a stabilizing rod 26 reinforcing the clamping jaw 25 is disposed between the clamping jaw 25 and the connection plate 23, and a support plate 27 is connected to the stabilizing rod 26.

By means of the design, the support plate 27 drives the stabilizing rod 26 to rotate along the mounting plate 28, then the stabilizing rod 26 drives the clamping jaw 25 to move inwards, the clamping jaw 25 clamps and fixes a medical object, then the transmission rod 24 rotates along with the stabilizing rod 26, so that the clamping jaw 25 moves more stably, and the stability of the clamping jaw 25 for fixing medical object price is improved.

In an embodiment, the fixing unit 3 includes a protection frame 31 disposed at the bottom of the mounting disc 28, a suction cup 34 disposed at the bottom of the protection frame 31, and a micro switch 33 disposed on one side of the protection frame 31 close to the mounting disc 28, where a buffer member 32 for pressing the micro switch 33 is disposed on the outer side of the protection frame 31, and the micro switch 33 is electrically connected with the motor 29.

By the design, when the mechanical arm 1 drives the mounting seat 21 to move downwards, the sucker 34 is in contact with the top end of a medical object, then when the mechanical arm 1 drives the mounting seat 21 to move downwards continuously, the sucker 34 adsorbs and fixes the medical object, and when the sucker 34 moves downwards, the object is in contact with the buffer piece 32 to drive the buffer piece 32 to move, then the buffer piece 32 extrudes the micro switch 33, the micro switch 33 opens the motor 29 to drive the clamping claw 25 to clamp and fix the object.

In one embodiment, the buffer 32 includes a connection block 321 disposed outside the protective frame 31, a sliding rod 322 penetrating the connection block 321, and a top block 323 disposed at a lower portion of the sliding rod 322.

In such design, the ejector block 323 is in contact with an object, the sliding rod 322 slides in the connecting block 321 under the action of the object, then after the top end of the material is adsorbed and fixed by the sucker 34, the top end of the sliding rod 322 is in contact with the micro switch 33, then under the driving of the motor 29, the mounting plate 28 drives the protective frame 31 to move upwards, so that the sucker 34 drives the material to move upwards, then the side edge of the material is clamped and fixed by the clamping claw 25, after the material is conveyed to a specified position, the motor 29 turns over, so that the clamping claw 25 loosens the material, and then the material is manually taken down from the sucker 34.

In one embodiment, the sliding rod 322 is disposed between the top block 323 and the connecting block 321 and sleeved with the elastic member 324.

By the design, the elastic piece 324 is made of a spring or an elastic pad, and can play a role in buffering, so that the object is prevented from being rigidly collided with the top block 323, and the top of the object is prevented from being damaged.

Claims

1. Medical manipulator, including arm (1), its characterized in that still includes:

the clamping unit (2) is arranged at the adjusting end of the mechanical arm (1) and used for clamping and fixing the medical object;

The fixing unit (3) is arranged on the inner side of the clamping unit (2) and is used for preliminarily fixing the medical object;

The clamping unit (2) comprises a mounting part arranged on the mechanical arm (1), a power part arranged on the mounting part and a plurality of clamping parts arranged on the mounting part and used for fixing medical articles, and the fixing unit (3) is arranged on the mounting part and located on the inner side of the clamping parts.

2. The medical manipulator of claim 1, wherein: the mounting component comprises a mounting seat (21) arranged on the mechanical arm (1), a supporting disc (22) arranged on one side of the mounting seat (21) away from the mechanical arm (1), a connecting plate (23) arranged on the supporting disc (22) and a supporting plate (27) connected with the clamping component, wherein one side of the supporting plate (27) away from the clamping component is provided with a mounting disc (28).

3. The medical manipulator of claim 2, wherein: the power component comprises a motor (29) arranged on the mounting seat (21) and a screw rod (210) arranged at the power output end of the motor (29), and the screw rod (210) is in threaded connection with the mounting disc (28).

4. A medical manipulator according to claim 3, wherein: the clamping component comprises a transmission rod (24) arranged at the lower part of the connecting plate (23) and clamping claws (25) arranged at the bottom of the transmission rod (24), a stabilizing rod (26) used for reinforcing the clamping claws (25) is arranged between the clamping claws (25) and the connecting plate (23), and the supporting plate (27) is connected with the stabilizing rod (26).

5. The medical manipulator of claim 4, wherein: the fixing unit (3) comprises a protection frame (31) arranged at the bottom of the mounting plate (28), a sucker (34) arranged at the bottom of the protection frame (31) and a micro switch (33) arranged on one side of the protection frame (31) close to the mounting plate (28), a buffer piece (32) for extruding the micro switch (33) is arranged on the outer side of the protection frame (31), and the micro switch (33) is electrically connected with the motor (29).

6. The medical manipulator of claim 5, wherein: the buffer piece (32) comprises a connecting block (321) arranged on the outer side of the protection frame (31), a sliding rod (322) penetrating through the connecting block (321) and a top block (323) arranged on the lower portion of the sliding rod (322).

7. The medical manipulator of claim 6, wherein: the sliding rod (322) is positioned between the top block (323) and the connecting block (321) and sleeved with an elastic piece (324).