CN222467082U - Multifunctional surgical robot auxiliary arm mechanism - Google Patents
Multifunctional surgical robot auxiliary arm mechanism Download PDFInfo
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- CN222467082U CN222467082U CN202420807234.6U CN202420807234U CN222467082U CN 222467082 U CN222467082 U CN 222467082U CN 202420807234 U CN202420807234 U CN 202420807234U CN 222467082 U CN222467082 U CN 222467082U
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- 238000009434 installation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
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Abstract
The utility model discloses a multifunctional surgical robot auxiliary arm mechanism which comprises a rotating seat, wherein a mechanical arm body is rotatably connected to the rotating seat, a movable arm is rotatably connected to the end part of the mechanical arm body, a driving arm is arranged at the bottom of the movable arm, an equipment cavity is formed in the bottom of the movable arm, a fixed cavity is formed in the top of the driving arm, positioning mechanisms are arranged on two sides, close to the inner wall of the top, of the fixed cavity, and a plugging mechanism is arranged at the top of the inner wall of the equipment cavity. The utility model can position the active arm on the outer wall of the movable arm through the positioning mechanism and the plugging mechanism when the equipment is used, is convenient for operators to rapidly install and process the equipment, and also has the advantages that the equipment is convenient to install and process by the plugging mechanism, can be with the effectual fixation of initiative arm on the outline of movable arm for the fixed effect of connection of equipment increases, and after the motor damages, utilizes the dwang can make operating personnel carry out quick dismantlement to the initiative arm.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to an auxiliary arm mechanism of a multifunctional surgical robot.
Background
Medical devices refer to instruments, devices, appliances, in vitro diagnostic reagents and calibrators, materials and other similar or related items used directly or indirectly for the human body, including computer software required, and can be classified into three categories, the first category refers to those medical devices whose safety and effectiveness can be ensured by conventional management, the second category refers to those medical devices whose safety and effectiveness need to be particularly controlled, and the third category refers to those medical devices implanted in the human body for supporting or maintaining life, or having potential hazards to the human body, and therefore, must be strictly controlled for their safety and effectiveness.
The surgical robot comprises a base, wherein an upright post is fixedly connected to the upper surface of the base, a swivel seat is lapped on the left side of the upright post, a movable groove is formed in the upper surface of the swivel seat, a rotating block is movably connected to the inner portion of the movable groove, an adjusting groove is formed in the left side of the upright post, and a support is fixedly connected to the right side of the swivel seat and located in the adjusting groove. This surgical robot convenient to installation arm, through movable arm, initiative arm, motor, screw rod, accessory plate, screw, contact bar, axle center, swivel, lantern ring, first gag lever post, second gag lever post, first spacing hole, second spacing hole, first fixed slot and second fixed slot cooperation, reach the effect that the arm of surgical robot is convenient for install, the process is complicated when having solved the arm installation of current surgical robot, waste time and energy, lead to the problem of inconvenient installation.
But the above-mentioned equipment is when using drive the screw rod through the motor and descend for the screw rod drives axle center, swivel, lantern ring rotation and descends, thereby inserts two gag lever posts in the fixed slot, and when equipment was used for a long time, very easily caused the axle center or two gag lever posts to take place to fracture, makes the fixed effect of connection of active arm and movable arm decline, very big reduction the life of equipment.
Disclosure of utility model
The utility model aims to solve the defects in the prior art and provides a multifunctional surgical robot auxiliary arm mechanism.
In order to achieve the above purpose, the multifunctional surgical robot auxiliary arm mechanism comprises a rotating seat, wherein a mechanical arm body is connected to the rotating seat in a rotating mode, a movable arm is connected to the end portion of the mechanical arm body in a rotating mode, a driving arm is arranged at the bottom of the movable arm, an equipment cavity is formed in the bottom of the movable arm, a fixed cavity is formed in the top of the driving arm, positioning mechanisms are arranged on two sides, close to the inner wall of the top, of the fixed cavity, and an inserting mechanism is arranged at the top of the inner wall of the equipment cavity.
As a further description of the above technical solution:
The positioning mechanism comprises positioning grooves which are formed in the fixing cavity and close to two sides of the inner wall of the top, the inner wall of each positioning groove is connected with a movable rod in a limiting sliding mode, and the end portion of each movable rod is fixedly connected with an adjusting block.
As a further description of the above technical solution:
The positioning mechanism further comprises a fixed groove which is formed in the movable arm and is close to one side of the positioning groove, the inner wall of the fixed groove is fixedly connected with a guide rod, the end part of the guide rod is limited and slidably connected with a positioning cylinder, one end, far away from the guide rod, of the positioning cylinder is inserted into the positioning groove, and a reset spring is sleeved on the outer contour of the guide rod.
As a further description of the above technical solution:
The middle part fixedly connected with first fender ring of movable rod outline, the tip fixedly connected with second fender ring of guide bar, the inner wall of positioning tube and the spacing still of second fender ring must be connected.
As a further description of the above technical solution:
The utility model discloses a plug-in mechanism, including fixed connection at equipment intracavity wall top's motor, the bottom of motor output runs through and is provided with the box body, the both sides of box body are provided with the dead lever with equipment intracavity wall fixed connection, the surface rotation of dead lever is connected with the dwang, the bottom through connection of box body has the connecting rod, the bottom fixedly connected with connecting gear of connecting rod, two connecting rods are installed to the inner wall symmetry that the fixed chamber is close to the bottom, the tip fixedly connected with slider of connecting rod, connecting gear's bilateral symmetry is provided with rather than meshed rack, the spout that supplies slider sliding connection has been seted up to one side of keeping away from connecting gear on the rack, the spliced groove that supplies the rack to peg graft has been seted up to the inner wall that the dead chamber is close to the bottom.
As a further description of the above technical solution:
The bottom of motor runs through and fixedly connected with first bevel gear with the box body, the tip of dwang runs through and fixedly connected with second bevel gear with the box body, the top of connecting rod runs through and fixedly connected with third bevel gear with the box body, the side and the second bevel gear meshing of first bevel gear are connected, the bottom and the third bevel gear meshing of second bevel gear are connected.
As a further description of the above technical solution:
the movable arm is provided with a connecting hole for rotating and connecting the rotating rod, and the end part of the rotating rod is provided with a cross groove.
The utility model has the following beneficial effects:
1. Compared with the prior art, the multifunctional surgical robot auxiliary arm mechanism can position the driving arm on the outer wall of the movable arm through the positioning mechanism and the plugging mechanism when the equipment is used, so that an operator can conveniently and rapidly install and process the equipment, and the practicality of the equipment is improved.
2. Compared with the prior art, this auxiliary arm mechanism of multifunctional surgical robot, through the grafting mechanism that sets up, can be with the initiative arm effectual fixing on the outline of digging arm for the fixed effect of connection of equipment increases, and after the motor damages, utilizes the dwang can make operating personnel can carry out quick dismantlement to the initiative arm, also makes the maintenance efficiency of equipment increase.
Drawings
Fig. 1 is a schematic view of a partial sectional structure of a driving arm and a movable arm of an auxiliary arm mechanism of a multifunctional surgical robot according to the present utility model
FIG. 2 is a schematic diagram showing the overall front view of the device of the auxiliary arm mechanism of the multifunctional surgical robot;
Fig. 3 is an enlarged schematic view of a portion a of fig. 2 of a multifunctional surgical robot auxiliary arm mechanism according to the present utility model;
Fig. 4 is a schematic cross-sectional view of a box body of the multifunctional surgical robot auxiliary arm mechanism according to the present utility model.
Legend description:
1. The mechanical arm comprises a rotating seat, a mechanical arm body, 3, a movable arm, 4, a driving arm, 5, a device cavity, 6, a fixed cavity, 7, a positioning groove, 8, a movable rod, 9, a first baffle ring, 10, an adjusting block, 11, a fixed groove, 12, a guide rod, 13, a positioning cylinder, 14, a second baffle ring, 15, a return spring, 16, a motor, 17, a box body, 18, a fixed rod, 19, a rotating rod, 20, a connecting rod, 21, a connecting gear, 22, a connecting rod, 23, a sliding block, 24, a rack, 25, a chute, 26, a splicing groove, 27, a cross groove, 161, a first bevel gear, 191, a second bevel gear, 201 and a third bevel gear.
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. 1-4, the multifunctional surgical robot auxiliary arm mechanism provided by the utility model comprises a rotating seat 1, wherein a mechanical arm body 2 is rotatably connected to the rotating seat 1, a movable arm 3 is rotatably connected to the end part of the mechanical arm body 2, a driving arm 4 is arranged at the bottom of the movable arm 3, a device cavity 5 is arranged at the bottom of the movable arm 3, a fixed cavity 6 is arranged at the top of the driving arm 4, positioning mechanisms are arranged at two sides of the fixed cavity 6, which are close to the inner wall of the top, of the device cavity 5, firstly, the driving arm 4 is installed with the movable arm 3 through the fixed cavity 6 arranged at the top of the device cavity, then, by utilizing the positioning mechanisms on the driving arm 4, an operator performs positioning treatment after the movable arm 3 and the driving arm 4 are spliced, and at the moment, the splicing mechanism is utilized to effectively limit and fix the driving arm 4 after the jacking, so that the fixing effect of the device is improved.
The positioning mechanism comprises a positioning groove 7 which is arranged on the two sides of the inner wall of the fixed cavity 6 and is close to the top, a movable rod 8 is connected to the inner wall of the positioning groove 7 in a limiting sliding manner, an adjusting block 10 is fixedly connected to the end part of the movable rod 8, a guide rod 12 is fixedly connected to the inner wall of the fixed groove 11, a positioning cylinder 13 is connected to the end part of the guide rod 12 in a limiting sliding manner, one end of the positioning cylinder 13 far away from the guide rod 12 is spliced with the positioning groove 7, a reset spring 15 is sleeved on the outer contour of the guide rod 12, a first baffle ring 9 is fixedly connected to the middle part of the outer contour of the movable rod 8, a second baffle ring 14 is fixedly connected to the end part of the guide rod 12, the inner wall of the positioning cylinder 13 is in limiting connection with the second baffle ring 14, an operator pulls the adjusting block 10 outwards to drive the movable rod 8 to move outwards, the movable rod 8 by using the first baffle ring 9, the operator presses the positioning cylinder 13 again at the moment, the positioning cylinder 13 moves deeply towards the fixed groove 11, and simultaneously presses the reset spring 15 by using the extruded positioning cylinder 13, and then the second baffle ring 14 presses the inner contour of the guide cylinder 13 to move the main arm 4 to the main arm 4, and then the main arm 4 moves upwards, when the main arm 4 moves upwards, the main arm 4 is pushed by the main arm 4 is prevented from moving upwards, the main arm 4 is deformed, and the main arm 4 is deformed, the main arm is moved, and the main arm is deformed, and the main arm is moved, when the positioning groove 7 formed on the driving arm 4 moves to the second baffle ring 14, the elastic force of the extruded reset spring 15 drives the positioning cylinder 13 to move into the positioning groove 7, and the positioning treatment of the driving arm 4 is completed at the moment.
The plug-in mechanism comprises a motor 16 fixedly connected to the top of the inner wall of the equipment cavity 5, a box body 17 is arranged at the bottom of the output end of the motor 16 in a penetrating way, fixing rods 18 fixedly connected with the inner wall of the equipment cavity 5 are arranged at two sides of the box body 17, rotating rods 19 are rotatably connected to the surfaces of the fixing rods 18, connecting rods 20 are connected to the bottom of the box body 17 in a penetrating way, connecting gears 21 are fixedly connected to the bottom of the connecting rods 20, two connecting rods 22 are symmetrically arranged on the inner wall of the fixing cavity 6 close to the bottom, sliding blocks 23 are fixedly connected to the end parts of the connecting rods 22, racks 24 meshed with the connecting gears 21 are symmetrically arranged on the two sides of the connecting gears 21, sliding grooves 25 for sliding connection of the sliding blocks 23 are arranged on one side, away from the connecting gears 21, plug-in grooves 26 for plugging the racks 24 are arranged on the inner wall of the fixing cavity 6 close to the bottom, the bottom of the motor 16 is connected with the box body 17 in a penetrating way and fixedly connected with a first bevel gear 161, the end of the rotating rod 19 is penetrated through and fixedly connected with a second bevel gear 191 with the box body 17, the top end of the connecting rod 20 is penetrated through and fixedly connected with a third bevel gear 201 with the box body 17, the side surface of the first bevel gear 161 is meshed with the second bevel gear 191, the bottom of the second bevel gear 191 is meshed with the third bevel gear 201, a connecting hole for the rotating rod 19 to rotate and connect is arranged on the movable arm 3, a cross groove 27 is arranged at the end of the rotating rod 19, after the equipment is positioned, an operator starts a motor 16 to drive the first bevel gear 161 to rotate in the box body 17, then the first bevel gear 161 is utilized to drive the second bevel gear 191 to rotate, the rotating second bevel gear 191 is utilized to drive the third bevel gear 201 and the connecting rod 20 at the bottom of the third bevel gear 201 to rotate, the connecting gear 21 is driven to rotate by the rotating connecting rod 20, the connecting gear 21 is utilized to drive the two racks 24 to move in opposite directions at the same time, so that the sliding block 23 at the end part of the connecting rod 22 slides in the sliding groove 25 formed in the racks 24, the racks 24 are fixed through the connecting rod 22, and the racks 24 enter the inserting groove 26 to finish limiting and fixing of the driving arm 4 under the driving of the connecting gear 21.
The operation principle is that firstly, an operator pulls the adjusting block 10 outwards to drive the movable rod 8 to move outwards, the movable rod 8 is limited by the first baffle ring 9, at the moment, the operator presses the positioning cylinder 13 again, so that the positioning cylinder 13 moves to the deep position of the fixed groove 11, meanwhile, the extruded positioning cylinder 13 is used for extruding the reset spring 15, and the second baffle ring 14 is used for moving in the positioning cylinder 13, so that the reset spring 15 is guided to avoid deformation or displacement of the reset spring 15 to damage the reset spring 15, after the positioning cylinder 13 completely enters the fixed groove 11, the operator assembles the driving arm 4 by the fixed cavity 6 formed in the top of the driving arm and the movable arm 3, so that the movable arm 3 enters the fixed cavity 6, then moves the driving arm 4 upwards, when the driving arm 4 moves to the positioning cylinder 13 pressed by the operator, the hand is loosened, the positioning cylinder 13 is extruded by the inner wall of the fixed cavity 6, then the driving arm 4 is continuously moved upwards, and when the positioning groove 7 formed on the driving arm 4 moves to the second baffle ring 14, the elastic positioning cylinder 7 driven by the extruded reset spring 15 moves to the positioning cylinder 7, at the moment, and the positioning arm 4 is positioned to the inside the positioning groove 4;
After the equipment is positioned, an operator starts a motor 16 to drive a first bevel gear 161 to rotate in a box body 17, then drives a second bevel gear 191 to rotate by using the first bevel gear 161, drives a third bevel gear 201 and a connecting rod 20 at the bottom of the third bevel gear 201 to rotate by using the rotating second bevel gear 191, drives a connecting gear 21 to rotate by using the rotating connecting rod 20, and drives two racks 24 to move in opposite directions simultaneously by using the connecting gear 21, so that a sliding block 23 at the end part of a connecting rod 22 slides on a sliding groove 25 formed in the racks 24, and the racks 24 are fixed by using the connecting rod 22, so that the racks 24 enter a splicing groove 26 to finish limiting and fixing of a driving arm 4 under the driving of the connecting gear 21;
When the driving arm 4 needs to be disassembled, the motor 16 is started to reversely rotate, the motor 16 drives the first bevel gear 161 to reversely rotate, the first bevel gear 161 drives the second bevel gear 191 and the third bevel gear 201 to reversely rotate, the connecting gear 21 is driven to reversely rotate through the reversely rotating connecting rod 20, the rack 24 is driven to reversely move through the reversely rotating connecting gear 21 at the moment, the rack 24 is removed from the inserting groove 26, after the motor 16 is damaged, an operator reversely rotates the rotating rod 19 by using a cross screwdriver, the second bevel gear 191 is driven to reversely rotate through the reversely rotating rod 19, then the operator repeats, the rack 24 is removed from the inserting groove 26, after the inserting groove 26 is removed, the operator presses the adjusting block 10, the adjusting block 10 drives the movable rod 8 to move the positioning cylinder 13 clamped in the positioning groove 7 into the fixing groove 11, and after the movable rod 8 can not move any more, the operator downwards pulls the driving arm 4, at the moment, the operator removes the driving arm 4 from the movable arm 3.
It should be noted that the foregoing description is only a preferred embodiment of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiments, it should be understood that modifications, equivalents, improvements and modifications to the technical solution described in the foregoing embodiments may occur to those skilled in the art, and all modifications, equivalents, and improvements are intended to be included within the spirit and principle of the present utility model.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420807234.6U CN222467082U (en) | 2024-04-18 | 2024-04-18 | Multifunctional surgical robot auxiliary arm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420807234.6U CN222467082U (en) | 2024-04-18 | 2024-04-18 | Multifunctional surgical robot auxiliary arm mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222467082U true CN222467082U (en) | 2025-02-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420807234.6U Active CN222467082U (en) | 2024-04-18 | 2024-04-18 | Multifunctional surgical robot auxiliary arm mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN222467082U (en) |
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- 2024-04-18 CN CN202420807234.6U patent/CN222467082U/en active Active
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