A six-rod automatic centering clamping manipulator

Abstract

The present invention discloses a six-rod automatic centering clamping manipulator, which belongs to the technical field of medical equipment and solves the problem of high labor intensity of medical staff holding ultrasonic probes and covering isolation sleeves. A six-rod automatic centering clamping manipulator includes a power input part, a six-rod clamping manipulator, a flexible matrix clamp, and a pre-motion probe holder; the six-rod automatic centering clamping manipulator provided by the present invention uses a stepper motor as a power source for driving a lead screw, and the lead screw drives a large V-shaped motion connecting rod to perform reciprocating motion, thereby enabling the manipulator fingers on both sides to achieve the function of flexible clamping. The present invention has a simple structure and can replace medical staff holding ultrasonic probes, reduce the workload of medical staff, and improve work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and in particular to a six-rod automatic centering clamping manipulator. Background Art

[0002] Ultrasonic diagnosis is the application of ultrasonic detection technology to the human body, which detects diseases by measuring organ tissue structure data through ultrasound. Ultrasonic examination technology is widely used in clinical practice due to its non-destructive and high sensitivity. After more than 60 years of development, the functions of ultrasonic diagnostic instruments have been increasingly improved, and the human-computer interaction capabilities have been gradually improved. Various ultrasonic examination instruments are used in medical institutions at all levels.

[0003] During ultrasound examination, in order to prevent cross infection, medical staff use isolation covers to isolate the ultrasound probe from the skin and other examination locations; in the process of covering the isolation cover, the medical staff needs to hold the ultrasound probe; however, there are many patients waiting for ultrasound examination in the hospital ultrasound examination room, and the medical staff has to cover the ultrasound probe with the isolation cover each time, which greatly increases the workload and causes a waste of medical resources. Therefore, it is very important to design a six-rod automatic centering clamping manipulator to replace or assist medical staff in covering the ultrasound probe with the isolation cover. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies in the background technology: to provide a six-rod automatic centering clamping manipulator to replace the medical staff holding the ultrasound probe, to cover the isolation sleeve on the inspection surface of the ultrasound probe, and to avoid wasting medical resources.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a six-rod automatic centering clamping manipulator, characterized in that it comprises: a power input part (1), a six-rod clamping manipulator (2), a flexible matrix clamp (3), and a pre-motion probe holder (4); wherein:

[0006] Furthermore, the power input part (1) comprises: a stepper motor (101), a stepper motor mounting base (102), a mounting support plate (103), a bearing support base (104), an inner support mounting base (105), a transmission screw (106), a coupling (107), a linear optical axis guide rail (108), a bearing (109), and an ultrasonic probe (5); the stepper motor (101) and the transmission screw (106) are connected via the coupling (107); the stepper motor (101) is mounted on the stepper motor mounting base (102) to achieve fixed installation of the stepper motor (101); the stepper motor (101) is connected to the transmission screw (106) ... The motor mounting base (102), the bearing (109) and the inner support mounting base (105) are respectively mounted on the same surface of the mounting support plate (103); the two linear optical axis guide rails (108) are respectively mounted on both sides of the bearing support base (104) and are symmetrically distributed; a copper sleeve is installed at the connection between the linear optical axis guide rail (108) and the bearing support base (104) to play a supporting and fixing role; the center line of the transmission screw and the center lines of the two linear bearings (109) are located in the same plane and are symmetrical about the center line of the transmission screw, so that the moving parts of the transmission screw are evenly stressed when the transmission screw makes a reciprocating motion.

[0007] Furthermore, the six-rod clamping manipulator (2) is composed of six parts: a large V-shaped motion connecting rod (201), a manipulator adaptive fingertip (202), a soft steel sheet (203), a manipulator finger (204), a manipulator connecting rod (205), and a U-shaped mounting bracket (206); the large V-shaped motion connecting rod (201) is connected to the transmission screw of the power input part (1) through a screw nut, and the rotational motion of the transmission screw of the power input part (1) is converted into linear motion, thereby driving the large V-shaped motion connecting rod (201) to perform reciprocating motion; the two sides of the large V-shaped motion connecting rod (201) are installed on the two linear optical axis guide rails (108) of the power input part (1), so that the large V-shaped motion connecting rod (201) can perform stable reciprocating motion on the two linear optical axis guide rails (108), and the bearing capacity of the mechanism is improved; the U-shaped mounting bracket (206) is connected to the power input part The mounting support plate (103) of (1) is connected through the inner support mounting seat (105), so that the U-shaped mounting support (206) is fixedly connected to the mounting support plate (103); the U-shaped mounting support (206) is connected to one end of the manipulator connecting rod (205), the middle position of the manipulator finger (204) is connected to the other end of the manipulator connecting rod (205), and the lower connection position of the manipulator is connected to one side of the large V-shaped motion connecting rod (201), thereby forming the mechanical structure of the six-bar clamping manipulator (2); the manipulator finger (204) is installed with the manipulator finger tip, the soft steel sheet (203) is installed on the adaptive finger tip, and the manipulator adaptive finger tip (202) can adapt to the shape of the ultrasonic probe (5) handle during the clamping process, so that the soft steel sheet (203) and the ultrasonic probe (5) handle are matched and clamped, and finally the purpose of clamping the ultrasonic probe (5) is achieved.

[0008] Furthermore, the flexible matrix clamp (3) comprises: a clamping probe (301), an upper shell (302), a locking eccentric shaft (303), a lower shell (304), a first support plate (305), a second support plate (306), a locking clamp plate (307), a hexagon socket head bolt (308), a guide column (309), and a spring (310); a gap is set between the first support plate (305) and the second support plate (306), and the space between the gaps is designed to be a flexible matrix clamp. The self-locking structure of the tool comprises a locking clamp (307) and a locking eccentric shaft (303); the self-locking structure is installed at a circular slot position set on the upper shell (302); the locking clamp (307) structure is composed of a plurality of locking clamps (307) and is installed on the locking eccentric shaft (303); under the action of rotating the locking eccentric shaft (303), the locking clamp (307) moves with the locking eccentric shaft (303), so that the flexible matrix clamp (3) has a good self-locking function.

[0009] Furthermore, the pre-motion probe holder (4) comprises: an arc surface support frame (207) and an S-shaped connecting rod (208); the S-shaped connecting rod (208) is installed on the bearing support seat (104) of the power input part (1) by bolts, and the two S-shaped connecting rods (208) are cross-installed, and the intersection position is installed on the large V-shaped motion connecting rod (201) of the six-bar clamping manipulator (2) by bolts, and the function of holding the probe is realized as the large V-shaped motion connecting rod (201) moves.

[0010] Furthermore, the stepper motor (101) provides the driving torque required for the clamping manipulator to realize the clamping function, and the driving torque is transmitted to the transmission screw installed on the bearing support seat (104) and the U-shaped mounting support (206) through the coupling (107). The transmission screw converts the rotational motion of the stepper motor (101) into the linear motion of the large V-shaped motion connecting rod (201). The large V-shaped motion connecting rod (201) drives the manipulator to move, and the U-shaped mounting support (206) is connected to the manipulator connecting rod (205) by bolts. Under the joint movement of the manipulator fingers (204) and the manipulator connecting rod (205), the function of the six-rod automatic centering clamping manipulator to adaptively clamp the ultrasonic probe (5) is realized.

[0011] Furthermore, when the clamping probe (301) is subjected to pressure from the upper end surface, the spring (310) will be compressed under the pressure. After being compressed to a certain extent, the locking eccentric shaft (303) is rotated to make the locking pressure plate work in conjunction, and the locking clamping plate (307) and the first support plate (305) and the second support plate (306) generate an eccentric distance, so that the spring (310) probe maintains the compressed distance unchanged; when restoring the compressed shape, the locking eccentric shaft (303) is rotated in the opposite direction to restore the eccentric distance generated by the locking clamping plate (307) and the first support plate (305) and the second support plate (306) to the original state; the combination of a single probe is expanded to a combination of probes within a certain area, so that the function of adaptively adapting to the external shape of the object being acted on can be realized; in the locked state, the shape adapted to the external shape of the clamped object can also be maintained.

[0012] Furthermore, the flexible matrix clamp (3) is mounted on the U-shaped mounting support (206) of the six-rod clamping manipulator (2).

[0013] Furthermore, the arc surface retaining frame supports the unclamped object and maintains the shape before clamping.

[0014] Compared with the prior art, the beneficial effects of the present invention are: a six-rod automatic centering clamping manipulator can replace the medical staff's handheld ultrasound probe, so that the clamping manipulator can adapt to the shape of the ultrasound probe handle, saving the labor of the medical staff and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the clamping state structure of a six-rod automatic centering clamping manipulator

[0016] Figure 2 Schematic diagram of the structure of a six-rod automatic centering clamping manipulator in the open state

[0017] Figure 3 Schematic diagram of the explosion structure of a six-rod automatic centering clamping manipulator

[0018] Figure 4 Schematic diagram of the overall structure of a six-rod automatic centering clamping manipulator flexible matrix fixture

[0019] Figure 5 Exploded schematic diagram of the overall structure of a six-rod automatic centering clamping manipulator flexible matrix fixture DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Combination Figure 1 , Figure 2 , Figure 3 As shown, a six-rod automatic centering clamping manipulator is characterized in that it includes: a power input part 1, a six-rod clamping manipulator 2, a flexible matrix fixture 3, and a pre-motion probe holder 4; wherein:

[0022] The power input part 1 includes: a stepper motor 101, a stepper motor mounting base 102, a mounting support plate 103, a bearing support base 104, an inner support mounting base 105, a transmission screw 106, a coupling 107, a linear optical axis guide 108, a bearing 109, and an ultrasonic probe 5; the stepper motor 101 is connected to the transmission screw 106 through the coupling 107; the stepper motor 101 is mounted on the stepper motor mounting base 102 to achieve fixed installation of the stepper motor 101; the stepper motor mounting base 102, the shaft The bearing 109 and the inner support mounting seat 105 are respectively mounted on the same surface of the mounting support plate 103; the two linear optical axis guide rails 108 are respectively mounted on both sides of the bearing support seat 104, and are symmetrically distributed; a copper sleeve is installed at the connection between the linear optical axis guide rail (108) and the bearing support seat (104) to play a supporting and fixing role; the center line of the transmission screw and the center lines of the two linear bearings 109 are located in the same plane, and are symmetrical about the center line of the transmission screw, so that the moving parts of the transmission screw are evenly stressed when the transmission screw makes a reciprocating motion.

[0023] The above-mentioned six-rod clamping manipulator 2 is composed of six parts: a large V-shaped motion connecting rod 201, a manipulator adaptive fingertip 202, a soft steel sheet 203, a manipulator finger 204, a manipulator connecting rod 205, and a U-shaped mounting bracket 206; the large V-shaped motion connecting rod 201 is connected to the transmission screw of the power input part 1 through a transmission screw nut, and the rotational motion of the transmission screw of the power input part 1 is converted into a linear motion, thereby driving the large V-shaped motion connecting rod 201 to reciprocate; the two sides of the large V-shaped motion connecting rod 201 are installed on the two linear optical axis guides 108 of the power input part 1, so that the large V-shaped motion connecting rod 201 can perform stable reciprocating motion on the two linear optical axis guides 108, and improve the bearing capacity of the mechanism; the U-shaped mounting bracket 206 is connected to the power input part 1 The mounting support plate 103 is connected through the inner support mounting seat 105, so that the U-shaped mounting support 206 is fixedly connected to the mounting support plate 103; the U-shaped mounting support 206 is connected to one end of the manipulator connecting rod 205, the middle position of the manipulator finger 204 is connected to the other end of the manipulator connecting rod 205, and the lower connection position of the manipulator is connected to one side of the large V-shaped motion connecting rod 201, thereby forming the mechanical structure of the six-bar clamping manipulator 2; the manipulator finger 204 is equipped with the manipulator finger tip, the soft steel sheet 203 is installed on the adaptive finger tip, and the manipulator adaptive finger tip 202 can adapt to the shape of the handle of the ultrasonic probe 5 during the clamping process, so that the soft steel sheet 203 and the handle of the ultrasonic probe 5 are matched and clamped, and finally the purpose of clamping the ultrasonic probe 5 is achieved.

[0024] The flexible matrix fixture 3 includes: a clamping probe 301, an upper shell 302, a locking eccentric shaft 303, a lower shell 304, a first support plate 305, a second support plate 306, a locking clamp plate 307, a hexagon socket head bolt 308, a guide column 309, and a spring 310; the upper shell 302 is connected to the upper surface of the lower shell 304 by four hexagon socket head bolts 308, so that the upper shell 302 and the lower shell 304 become a fixed whole; the spring 310 is sleeved on the spring 310 guide column 309, and then the clamping probe 301 is connected with the spring 310 guide column 309 to form a flexible individual that can be compressed and restored; the first support plate 305 and the second support plate 306 are connected to each other. A spacing is set in the middle position of the support plate 306, and the space of the spacing is designed as a self-locking structure of the flexible matrix clamp, and the self-locking structure includes a locking clamp 307 and a locking eccentric shaft 303; the self-locking structure is installed at the circular slot position set in the upper shell 302; the locking clamp 307 structure is composed of a plurality of locking clamps 307, and is installed on the locking eccentric shaft 303. Under the action of rotating the locking eccentric shaft 303, the locking clamp 307 moves with the locking eccentric shaft 303, so that the flexible matrix clamp 3 has a good self-locking function; the first support plate 305, the second support plate 306, and the locking clamp 307 are respectively designed with a plurality of spring 310 guide column 309 installation holes, and the three relative spring 310 guide columns 309 are coaxially installed.

[0025] The above-mentioned pre-motion probe holder 4 includes: an arc support frame 207, an S-shaped connecting rod 208; the S-shaped connecting rod 208 is installed on the bearing support seat 104 of the power input part 1 with bolts, and the two S-shaped connecting rods 208 are cross-installed, and the intersection position is installed on the large V-shaped motion connecting rod 201 of the six-bar clamping manipulator 2 by bolts, and along with the movement of the large V-shaped motion connecting rod 201, the function of holding the probe is realized.

[0026] The stepper motor 101 provides the driving torque required for the clamping manipulator to realize the clamping function. The driving torque is transmitted to the transmission screw installed on the bearing support seat 104 and the U-shaped mounting support 206 through the coupling 107. The transmission screw converts the rotational motion of the stepper motor 101 into the linear motion of the large V-shaped motion connecting rod 201. The large V-shaped motion connecting rod 201 drives the manipulator to move. The U-shaped mounting support 206 is connected to the manipulator connecting rod 205 by bolts. Under the joint movement of the manipulator fingers 204 and the manipulator connecting rod 205, the function of the six-rod automatic centering clamping manipulator to adaptively clamp the ultrasonic probe 5 is realized.

[0027] When the clamping probe 301 is subjected to pressure from the upper end surface, the spring 310 will be compressed under the pressure. After being compressed to a certain extent, the locking eccentric shaft 303 is rotated to make the locking pressure plate work in conjunction, and the locking clamping plate 307 and the first support plate 305 and the second support plate 306 generate an eccentric distance, so that the spring 310 probe maintains the compressed distance unchanged; when restoring the compressed shape, the locking eccentric shaft 303 is rotated in the opposite direction to restore the eccentric distance generated by the locking clamping plate 307 and the first support plate 305 and the second support plate 306 to the original state; the combination of a single probe is expanded to a combination of probes within a certain area, which can realize the function of adaptively adapting to the external shape of the object being acted on; in the locked state, it can also maintain a shape adapted to the external shape of the clamped object.

[0028] The above-mentioned flexible matrix clamp 3 is installed on the U-shaped mounting support 206 of the six-bar clamping manipulator 2.

[0029] The arc surface holder supports the unclamped ultrasonic probe 5 to maintain the shape before clamping.

[0030] Compared with the prior art, the beneficial effects of the present invention are: a six-rod automatic centering clamping manipulator can replace the medical staff's handheld ultrasound probe, so that the clamping manipulator can adapt to the shape of the ultrasound probe handle, saving the labor of the medical staff and improving work efficiency.

[0031] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. The general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A six-rod automatic centering clamping manipulator, characterized in that: include: A power input part (1), a six-rod clamping manipulator (2), a flexible matrix clamp (3), and a pre-motion probe holder (4); wherein: the power input part (1) comprises: a stepper motor (101), a stepper motor mounting base (102), a mounting support plate (103), a bearing support seat (104), an inner support mounting seat (105), a transmission screw (106), a coupling (107), a linear optical axis guide rail (108), a bearing (109), and an ultrasonic probe (5); the stepper motor (101) and the transmission screw (106) are connected via a coupling (107); the stepper motor (101) is installed on the stepper motor mounting base (102) to achieve fixed installation of the stepper motor (101); the stepper motor mounting base (102), the bearing (109) and the inner support mounting base (105) are respectively installed on the same surface of the mounting support plate (103); the two linear optical axis guide rails (108) are respectively installed on both sides of the bearing support base (104) and are symmetrically distributed; the center line of the transmission screw and the center lines of the two linear bearings (109) are located in the same plane and are symmetrical about the center line of the transmission screw, so that the moving parts of the transmission screw are evenly stressed when the transmission screw makes a reciprocating motion; The six-rod clamping manipulator (2) is composed of six parts: a large V-shaped motion connecting rod (201), a manipulator adaptive fingertip (202), a soft steel sheet (203), a manipulator finger (204), a manipulator connecting rod (205), and a U-shaped mounting bracket (206); the large V-shaped motion connecting rod (201) is connected to the transmission screw of the power input part (1) through a transmission screw nut, and the rotational motion of the transmission screw of the power input part (1) is converted into linear motion, thereby driving the large V-shaped motion connecting rod (201) to perform reciprocating motion; the two sides of the large V-shaped motion connecting rod (201) are installed on the two linear optical axis guide rails (108) of the power input part (1), so that the large V-shaped motion connecting rod (201) can perform stable reciprocating motion on the two linear optical axis guide rails (108), and the bearing capacity of the mechanism is improved; the U-shaped mounting bracket (206) is connected to the power input part (1) ) is connected through an inner support mounting seat (105), so that the U-shaped mounting support (206) is fixedly connected to the mounting support plate (103); the U-shaped mounting support (206) is connected to one end of the manipulator connecting rod (205), the middle position of the manipulator finger (204) is connected to the other end of the manipulator connecting rod (205), and the lower connection position of the manipulator is connected to one side of the large V-shaped motion connecting rod (201), thereby forming the mechanical structure of the six-bar clamping manipulator (2); the manipulator finger (204) is installed with the manipulator finger tip, the soft steel sheet (203) is installed on the adaptive finger tip, and the manipulator adaptive finger tip (202) can adapt to the shape of the ultrasonic probe (5) handle during the clamping process, so that the soft steel sheet (203) and the ultrasonic probe (5) handle are matched and clamped, and finally the purpose of clamping the ultrasonic probe (5) is achieved; The flexible matrix clamp (3) comprises: a clamping probe (301), an upper shell (302), a locking eccentric shaft (303), a lower shell (304), a first support plate (305), a second support plate (306), a locking clamp plate (307), a hexagon socket head bolt (308), a guide column (309), and a spring (310); a gap is set between the first support plate (305) and the second support plate (306), and the space of the gap is designed to be self-locking of the flexible matrix clamp. The locking structure, the self-locking structure comprises a locking clamp (307) and a locking eccentric shaft (303); the self-locking structure is installed at a circular slot position provided on the upper shell (302); the locking clamp (307) structure is composed of a plurality of locking clamps (307) and is installed on the locking eccentric shaft (303); under the action of rotating the locking eccentric shaft (303), the locking clamp (307) moves with the locking eccentric shaft (303), so that the flexible matrix clamp (3) has a good self-locking function; The pre-motion probe holder (4) comprises: an arc surface support frame (207) and an S-shaped connecting rod (208); the S-shaped connecting rod (208) is bolted to the bearing support seat (104) of the power input part (1); the two S-shaped connecting rods (208) are cross-mounted, and the intersection is bolted to the large V-shaped motion connecting rod (201) of the six-bar clamping manipulator (2), and the function of holding the probe is realized with the movement of the large V-shaped motion connecting rod (201).

2. A six-rod automatic centering clamping manipulator according to claim 1, characterized in that: The stepper motor (101) provides the driving torque required for the clamping manipulator to realize the clamping function. The driving torque is transmitted to the transmission screw installed on the bearing support seat (104) and the U-shaped mounting support (206) through the coupling (107). The transmission screw converts the rotational motion of the stepper motor (101) into the linear motion of the large V-shaped motion connecting rod (201). The large V-shaped motion connecting rod (201) drives the manipulator to move. The U-shaped mounting support (206) and the manipulator connecting rod (205) are connected by bolts. Under the joint movement of the manipulator fingers (204) and the manipulator connecting rod (205), the function of the six-rod automatic centering clamping manipulator to adaptively clamp the ultrasonic probe (5) is realized.

3. A six-rod automatic centering clamping manipulator according to claim 1, characterized in that: The flexible matrix clamp (3) is mounted on the U-shaped mounting support (206) of the six-rod clamping manipulator (2).

4. A six-rod automatic centering clamping manipulator according to claim 1, characterized in that: When the clamping probe (301) is subjected to pressure from the upper end surface, the spring (310) will be compressed under the pressure. After being compressed to a certain extent, the locking eccentric shaft (303) is rotated to make the locking pressure plate work in conjunction, and the locking clamping plate (307) and the first support plate (305) and the second support plate (306) generate an eccentric distance, so that the spring (310) probe maintains the compressed distance unchanged; when restoring the compressed shape, the locking eccentric shaft (303) is rotated in the opposite direction to restore the eccentric distance generated by the locking clamping plate (307) and the first support plate (305) and the second support plate (306) to the original state; the combination of a single probe is expanded to a combination of probes within a certain area, so that the function of adaptively adapting to the external shape of the object being acted on can be realized; in the locked state, the shape adapted to the external shape of the clamped object can also be maintained.

5. The six-rod automatic centering clamping manipulator according to claim 1 is characterized in that: The curved retainer supports the unclamped object and maintains the shape before clamping.

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