A multi-angle grasping hand structure for a medical robot

Abstract

The present invention discloses a multi-angle grasping hand structure for a medical robot, which includes: a load tension cylinder frame, inside which a guiding rotating member is coaxially installed; a steering assembly, coaxially installed in the load tension cylinder frame, and a plurality of groups of grasping rods are installed at the lower end of the steering assembly in a circumferential distribution, and one group of the grasping rods includes two telescopic support arms, the two telescopic support arms are hinged to each other at the head and tail, and a clamping part is installed at the end of the slide bar in the lower telescopic support arm; a control assembly, configured in multiple groups, one group of the grasping rods is controlled by two groups of the control assemblies, and the control assembly on the outer ring side is used to control the lower telescopic support arm in one group of the grasping rods, and the control assembly on the inner ring side is used to control the upper telescopic support arm in one group of the grasping rods.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and particularly to a multi-angle grasping hand structure for a medical robot. Background Art

[0002] When using medical devices to examine lesions, harmful tissues, or grasp other objects, sometimes it is necessary to cooperate with a medical robot to jointly operate to complete the preparation and grasping of samples. However, the existing grasping hands installed or mounted on medical robots are difficult to grasp the required samples from multiple angles, resulting in insufficient grasping accuracy of the samples and difficulty in appropriately changing the size of the grasping area according to the size of the tissue where the sample is located. As a result, the proportion of effective samples in the sample is relatively low, and normal tissues are damaged.

[0003] Therefore, those skilled in the art have provided a multi-angle grasping hand structure for a medical robot to solve the problems raised in the above background art. Summary of the Invention

[0004] To achieve the above object, the present invention provides the following technical solution: A multi-angle grasping hand structure for a medical robot, which includes:

[0005] A load tensioning cylinder frame, inside which a guiding rotating member is coaxially installed;

[0006] A steering assembly, coaxially installed in the load tensioning cylinder frame, and a plurality of groups of grasping rods are installed at the lower end of the steering assembly in a circumferential distribution. And one group of the grasping rods includes two telescopic support arms, the two telescopic support arms are hinged at the head and tail, and a clamping part is installed at the end of the sliding bar of the lower telescopic support arm.

[0007] A regulating assembly, configured in multiple groups. One group of the grasping rods is regulated by two groups of the regulating assemblies. The regulating assembly on the outer ring side is used to regulate the lower telescopic support arm in one group of the grasping rods, and the regulating assembly on the inner ring side is used to regulate the upper telescopic support arm in one group of the grasping rods.

[0008] As a preferred technical solution of the present invention, the telescopic support arm includes:

[0009] A sleeve bar cylinder, inside which a cross-shaped guiding slot is opened;

[0010] A sliding bar, embedded in the sleeve bar cylinder for sliding connection, and a cross-shaped guiding block is fixed at the end of the sliding bar embedded in one end of the sleeve bar cylinder. The cross-shaped guiding block is embedded in the cross-shaped guiding slot for sliding connection, and divides the inner cavity of the sleeve bar cylinder into an upper compression cavity and a lower compression cavity.

[0011] As a preferred technical solution of the present invention, the load tensioning cylinder frame includes:

[0012] Load cylinder;

[0013] Expanding support swivel ring, which includes an outer fixed ring, and an inner rotating ring coaxially and rotatably installed on the inner ring wall of the outer fixed ring. Elastic telescopic rods arranged in a circular pattern are respectively installed on the ring surfaces of the upper and lower outer fixed rings. Transfer shell covers are respectively installed at the corresponding upper and lower ends of the elastic telescopic rods, and the upper transfer shell cover is coaxially fixed by being embedded in the inner cylinder wall of the load cylinder;

[0014] Motor, installed on the upper end ring surface of the upper transfer shell cover, and a main gear is installed at the output end of the motor.

[0015] As a preferred technical solution of the present invention, the inner wall surface of the transfer shell cover is of a spherical arc surface structure. Circumferentially distributed ball grooves are opened on the spherical arc surface, and balls are embedded in the ball grooves.

[0016] As a preferred technical solution of the present invention, the steering assembly includes:

[0017] Steering ball shells, configured in two groups, respectively rotatably installed in the upper and lower transfer shell covers. A cylindrical cavity is opened in the shaft part of the upper steering ball shell, and axial and cross-structured convex strips are fixed on the cavity wall of the cylindrical cavity. An inclination positioning chuck is installed at the upper end shell of the shaft part of the lower steering ball shell, and a gear disk meshingly connected with the main gear is coaxially sleeved on the upper end shell of the upper steering ball shell;

[0018] Main steering rod, a groove for sliding in cooperation with the convex strips is opened on its outer side wall, and an upper connecting rod is hinged at the lower end of the main steering rod. The lower end of the upper connecting rod is hinged with a lower connecting rod, and the lower end of the lower connecting rod is hingedly installed on the inclination positioning chuck.

[0019] As a preferred technical solution of the present invention, axially parallel multiple groups of slide bar grooves are opened on the outer side wall of the upper steering ball shell, and a curved surface ring groove is opened on the outer side wall of the lower steering ball shell.

[0020] As a preferred technical solution of the present invention, the guiding rotating member includes:

[0021] Three-rod disk ring, coaxially and rotatably installed on the inner cylinder wall of the load cylinder, and a guiding hole one is opened on the middle disk surface of the three-rod disk ring;

[0022] Upper disk ring, coaxially and rotatably installed on the inner cylinder wall of the load cylinder, and located above the three-rod disk ring. Guiding holes two and three located on the same radial line are opened on the upper disk ring, and the guiding hole three is coaxially arranged with the guiding hole one;

[0023] Convex blocks, configured in multiple groups, respectively arranged in a cross structure and installed on the wall of the disk holes of the three-rod disk ring and the wall of the disk holes of the upper disk ring.

[0024] As a preferred technical solution of the present invention, the regulation assembly includes:

[0025] A regulation rod, the regulation rod on the outer ring side of the regulation assembly is embedded in the second guide hole and is slidably connected, and the regulation rod on the inner ring side of the regulation assembly is sequentially embedded in the third guide hole and the first guide hole and is slidably connected;

[0026] A first support strip plate, which is fixed on the shell wall of the shaft part of the upper steering ball shell, and a axial guide sliding cylinder is fixed on the first support strip plate;

[0027] An I-shaped disc rod, the shaft bar of which is embedded in the guide sliding cylinder and is slidably connected. The upper disc part of the I-shaped disc rod is connected to the regulation rod through a first rope body. The lower disc part of the I-shaped disc rod is connected with an upper pulling spring, and the upper end of the upper pulling spring is connected with the lower end part of the guide sliding cylinder;

[0028] A transmission part, which is arranged in the lower steering ball shell, and the transmission part is connected to the lower disc part of the I-shaped disc rod through a second rope body.

[0029] As a preferred technical solution of the present invention, the transmission part includes:

[0030] A second support strip plate, which is fixed on the shell wall of the shaft part of the lower steering ball shell, and an axial sealing cylinder is fixed on the second support strip plate, and damping liquid is filled in the sealing cylinder;

[0031] An I-shaped disc plug, the lower disc plug of which is embedded in the sealing cylinder, and the inner cylinder cavity of the sealing cylinder is divided into an upper cylinder cavity and a lower cylinder cavity. The upper disc part of the I-shaped disc plug is connected to the second rope body above, and the upper disc part of the I-shaped disc plug is also connected to the upper end shell wall of the sealing cylinder through a lower pressing spring;

[0032] A first conduit, the upper and lower ends of which are respectively communicated with the upper cylinder cavity and the lower compression cavity;

[0033] A second conduit, the upper and lower ends of which are respectively communicated with the lower cylinder cavity and the upper compression cavity.

[0034] As a preferred technical solution of the present invention, there is also a clamping assembly configured in multiple groups, and one group of the clamping assemblies is cooperatively regulated with one group of the grasping rods. The clamping assembly includes:

[0035] A tensioning cylinder, which is axially arranged and installed at the shaft part of the lower rotating ball shell;

[0036] A short sliding column, which is embedded in the tensioning cylinder and is slidably connected, and the upper end of the short sliding column is connected to the lower end of a tensioning spring, and the upper end of the tensioning spring is connected to the top of the inner cylinder wall of the tensioning cylinder;

[0037] Retention rings, configured in two groups, are respectively installed on the middle cylinder walls of the upper and lower sleeve strip cylinders;

[0038] The third rope body, its lower end is connected to the lower fixing ring described above, and its upper end passes through the upper fixing ring and is connected to the short sliding column.

[0039] Compared with the prior art, the present invention provides a multi-angle grasping hand structure for a medical robot, having the following beneficial effects:

[0040] In the present invention, through the cooperative regulation of the regulation component, the steering component and the guiding rotating part, the orientation regulation of the grasping rod is made more flexible and convenient, and the size and shape of the grasping and covering area formed by the grasping rod can be regulated and changed within a certain range, thereby improving the grasping accuracy and efficiency. And through the setting of the transmission part and the grasping rod, the inertia generated during the grasping process is buffered, thus ensuring the stability of the grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the multi-angle grasping hand structure of the present invention;

[0042] Figure 2 Enlarged schematic diagram of the partial structure of the steering component of the present invention;

[0043] Figure 3 Enlarged schematic diagram of the partial structure of the guiding rotating part and the load tensioning cylinder frame of the present invention;

[0044] Figure 4 Enlarged schematic diagram of the partial structure of the regulation component of the present invention;

[0045] Figure 5 Enlarged schematic diagram of the upper steering spherical shell and its internal structure of the present invention;

[0046] Figure 6 Enlarged schematic diagram of the partial structure of the transmission part of the present invention;

[0047] Figure 7 Enlarged schematic diagram of the structure of the sticking and clamping part of the present invention;

[0048] In the figure: 1. Steering assembly; 2. Load tensioning cylinder frame; 3. Guiding rotating part; 4. Regulation and control assembly; 5. Second rope body; 6. Grabbing rod; 7. Clamping assembly; 8. Transmission part; 11. Steering ball shell; 12. Ring groove; 13. Curved surface ring groove; 14. Lower connecting rod; 15. Upper connecting rod; 16. Inclination positioning chuck; 17. Main steering rod; 18. Groove; 19. Rib; 110. Gear disk; 21. Load cylinder; 22. Adapter housing; 23. Elastic telescopic rod; 24. Expanding and supporting rotating ring; 25. Ball groove; 26. Ball; 27. Motor; 28. Main gear; 31. Three-rod disk ring; 32. Upper disk ring; 33. First guiding hole; 34. Second guiding hole; 35. Third guiding hole; 36. Bump; 41. Guiding sliding cylinder; 42. I-shaped disk rod; 43. First strip plate; 44. Upper pulling spring; 45. Regulation and control rod; 46. First rope body; 61. Telescopic support arm; 62. Clamping and attaching part; 63. Sleeve strip cylinder; 64. Sliding strip rod; 65. Clamping column; 66. Grabbing sleeve; 81. Sealing cylinder; 82. Second strip plate; 83. I-shaped disk plug; 84. Lower pressing spring; 85. Damping liquid; 86. First conduit; 87. Second conduit; 71. Tensioning cylinder; 72. Tight pulling spring; 73. Short sliding column; 74. Third rope body; 75. Retaining ring. Detailed implementation manner

[0049] Refer to Figure 1-7 , the present invention provides a technical solution: a multi-angle grasping hand structure for a medical robot, which includes:

[0050] A load tensioning cylinder frame 2, inside which a guiding rotating part 3 is coaxially installed, and the load tensioning cylinder frame can be detachably installed on an external guiding driving extension tube, so as to obtain a longer grasping distance through the external guiding driving extension tube;

[0051] A steering assembly 1, coaxially installed in the load tensioning cylinder frame 2, and a plurality of groups of grabbing rods 6 distributed in a circumferential manner are installed at the lower end of the steering assembly 1. One group of the grabbing rods 6 includes two telescopic support arms 61. The two telescopic support arms 61 are hinged at the head and tail, and a sliding strip rod 64 at the end of the lower telescopic support arm 61 is provided with a clamping and attaching part 62. The clamping and attaching part further includes a clamping column 65 fixed at the end of the sliding strip rod, and a grabbing sleeve 66 sleeved outside the clamping column 65. A pressure sensing unit is arranged at the fitting interface between the clamping column and the grabbing sleeve, so as to accurately regulate and sense the clamping force of the object to be grabbed;

[0052] As a preferred embodiment, a camera module is installed at the lower end of the steering assembly. Among the plurality of groups of clamping and attaching parts, two symmetrically arranged clamping and attaching parts can be selected for disassembly, and then the clamping and attaching parts with sharp blades are reinstalled, so as to complete the cutting and grabbing of the object to be grabbed;

[0053] The control components 4 are configured in multiple groups. One set of the grasping rods 6 is controlled by two sets of the control components 4. The control component 4 on the outer ring side is used to control the lower telescopic arm 61 in one set of the grasping rods 6, and the control component 4 on the inner ring side is used to control the upper telescopic arm 61 in one set of the grasping rods 6;

[0054] As a preferred embodiment, it is installed and used in cooperation with a colonoscope and a bronchoscope, so as to grasp harmful tissues at the advancing end of the colonoscope and the bronchoscope. Through the coordinated control of the control component, the steering component and the guiding rotating part, the orientation of the grasping rod is more flexible and convenient, and the size of the grasping and covering area formed by the grasping rod can be adjusted and changed within a certain range, so as to timely adapt to harmful tissues of different volumes within a certain range, thereby improving the grasping accuracy and efficiency;

[0055] In this embodiment, six sets of the grasping rods are circumferentially distributed, and the number of the control components is twelve sets. Among them, the distribution form of the twelve sets of the control components is: two sets of the control components are arranged on the same radius a line, and then six sets are arranged in a circumferential distribution again, that is, six sets are arranged on the outer ring with a radius of a1, and six sets are arranged on the inner ring with a radius of a2. Herein, a > a1 > a2 is taken, and it should also be noted that the two sets of the control components on the same radius a line jointly act to control one set of the grasping rods.

[0056] Furthermore, the telescopic arm 61 includes:

[0057] A sleeve barrel 63, which is internally provided with a cross guide groove, and the sleeve barrel 63 is internally filled with damping liquid 85;

[0058] A sliding bar 64, which is embedded in the sleeve barrel 63 and slidably connected. The end of the sliding bar 64 embedded in one end of the sleeve barrel 63 is fixed with a cross guide block, and the cross guide block is embedded in the cross guide groove and slidably connected, and the inner cavity of the sleeve barrel 63 is divided into an upper compression cavity and a lower compression cavity. It should be explained that the damping liquid not only serves as a component directly acting on the cross guide block to control the movement, but also can buffer the inertial impact caused by the unstable acting force during the grasping process through the slow flow of the damping liquid, so that the grasping process of the grasping rod is more stable and smooth, and the probability of the unstable acting force appearing is reduced.

[0059] In this embodiment, the load tensioning cylinder frame 2 includes:

[0060] A load cylinder 21;

[0061] The expansion support rotating ring 24 includes an outer fixed ring and an inner rotating ring coaxially and rotatably installed on the inner ring wall of the outer fixed ring. Elastic telescopic rods 23 arranged in a circumferential pattern are respectively installed on the ring surfaces of the outer fixed ring above and below. Transfer shell covers 22 are respectively installed at the corresponding upper and lower ends of the elastic telescopic rods 23 above and below. The transfer shell cover 22 above is coaxially fixed by being embedded in the inner cylinder wall of the load cylinder 21. Among them, the expansion support rotating ring is coaxially arranged with the load cylinder. The outer diameter of the expansion support rotating ring is slightly smaller than the outer diameter of the load cylinder, and the inner diameter of the expansion support rotating ring is slightly smaller than the inner diameter of the load cylinder, so that a relatively large space is left inside the expansion support rotating ring for the hinged ends of the upper connecting rod and the lower connecting rod to move in and out away from the axis.

[0062] It should also be noted that a first anti-slip hole for the second rope body to pass through is also opened on the inner rotating ring, and the inner rotating ring can rotate freely under the action of the second rope body. The elastic telescopic rod is mainly used to tension the second rope body.

[0063] The motor 27 is installed on the upper ring surface of the transfer shell cover 22 above, and the output end of the motor 27 is equipped with a main gear 28.

[0064] Furthermore, the inner wall surface of the transfer shell cover 22 is of a spherical arc surface structure. Ball grooves 25 distributed in a circumferential pattern are opened on the spherical arc surface. Ball bearings 26 are embedded in the ball grooves 25. In this embodiment, as Figure 3 shown, the included angles formed by the upper and lower sides of the longitudinal section of the spherical arc surface of the transfer shell cover with the center of the sphere are 60°.

[0065] In this embodiment, the steering assembly 1 includes:

[0066] The steering ball housing 11 is configured into two groups and is respectively rotatably installed in the upper and lower adapter housing covers 22. A cylindrical cavity is formed in the shaft portion of the upper steering ball housing 11, and axially arranged and cross-structured convex strips 19 are fixed on the cavity wall of the cylindrical cavity. An inclination positioning chuck 16 is installed at the upper end of the shaft portion of the lower steering ball housing 11. A gear disk 110 meshed with the main gear 28 is coaxially sleeved on the upper end housing of the upper steering ball housing 11. The upper and lower ends of the upper and lower steering ball housings are of a planar structure. Twelve anti-slip holes II are formed in the upper planar housing of the upper steering ball housing. The distribution pattern of the twelve anti-slip holes II is as follows: two anti-slip holes II are provided on the same radius b line and are again arranged in a circular pattern, that is, six anti-slip holes II are provided on the outer circle with a radius of b1, and six anti-slip holes II are provided on the inner circle with a radius of b2. Herein, b > b1 > b2 is taken to facilitate the penetration and sliding of the first rope body. Twelve anti-slip holes III are formed in the lower planar housing of the upper steering ball housing, and twelve anti-slip holes IV are formed in the upper planar housing of the lower steering ball housing. Each anti-slip hole III and each anti-slip hole IV are coaxially arranged with each anti-slip hole II. It should also be noted that an annular opening is formed in the curved shell wall of the lower steering ball housing near the planar housing at the lower end to facilitate the introduction of the first conduit and the second conduit;

[0067] The main steering rod 17 is provided with a groove 18 on its outer side wall for sliding cooperation with the convex strip 19. The lower end of the main steering rod 17 is hinged to an upper connecting rod 15. The lower end of the upper connecting rod 15 is hinged to a lower connecting rod 14. The lower end of the lower connecting rod 14 is hinged and installed on the inclination positioning chuck 16. It should also be explained that the inclination positioning chuck is used to adjust and fix the initial tilting angle of the lower connecting rod, that is, after the lower connecting rod is initially adjusted to deviate from the axis by a certain angle α, it is fixed, so that the lower connecting rod forms an integral structure with the lower steering ball housing. The upper end of the lower connecting rod thus deviates from the axis. Therefore, when the upper connecting rod presses down to push the lower connecting rod, the lower connecting rod continues to rotate and only rotates in the direction of initially deviating from the axis, so that the initial starting rotation direction of the lower steering ball housing during adjustment has unidirectionality, that is, the direction of the initial starting rotation direction is the direction in which the upper end of the lower connecting rod deviates from the axis. In this embodiment, the initial angle of the lower connecting rod deviating from the axis is 5°. This not only makes the initial starting rotation direction of the lower steering ball housing have unidirectionality but also increases the angle range of the rotation direction of the lower steering ball housing deviating from the axis, thereby increasing the degree of multi-angle torsion and orientation of the grasping rod member;

[0068] Among them, the rotation of the gear disc is actively regulated by driving the main gear with a motor, thereby driving the upper steering ball shell, the main steering rod, the upper disc ring, the three-rod disc ring, the inner rotating ring, the lower steering ball shell, and the grasping rod to rotate, thus avoiding the difficulty of accurately synchronously driving the upper steering ball shell, the main steering rod, the upper disc ring, the three-rod disc ring, the inner rotating ring, the lower steering ball shell, and the grasping rod to rotate due to the overlong external guiding drive extension tube. Therefore, through the short-distance active regulation method and the auxiliary regulation function of the main steering rod, the rotation control accuracy of the finally obtained grasping rod and the accuracy of the known rotation amount are improved. Among them, it should be explained that the main steering rod is a splicable and extendable rod and has a certain flexibility. By actively pushing and pulling the main steering rod, the regulation of the swinging direction of the lower connecting rod is made more convenient and efficient.

[0069] Further, a plurality of groups of slide groove pairs parallel to the axis are provided on the outer side wall of the upper steering ball shell 11, so that the upper steering ball shell rotates self-rotationally around its longitudinal axis. A curved surface ring groove 13 is provided on the outer side wall of the lower steering ball shell 11, so that the lower steering ball shell rotates in all directions around its spherical center. In this embodiment, as Figure 6 shown, in the longitudinal section of the curved surface ring groove on the steering ball shell, the included angle formed by the upper and lower groove walls and the spherical center is 120°. Therefore, with the longitudinal axis as the baseline c and set as 0°, the effective angles of the left and right tilting rotations of the lower adapter ball shell are both 0° to 30°, and it can rotate 360° around the baseline c, thus completing the multi-angle orientation regulation of the grasping rod.

[0070] In this embodiment, the guiding rotating member 3 includes:

[0071] A three-rod disc ring 31, coaxially and rotatably installed on the inner wall of the inner cylinder of the load cylinder 21, and a guiding hole one 33 is provided on the disc surface of the middle disc of the three-rod disc ring 31;

[0072] An upper disc ring 32, coaxially and rotatably installed on the inner wall of the inner cylinder of the load cylinder 21 and located above the three-rod disc ring 31, and guiding holes two 34 and three 35 located on the same radial line are provided on the upper disc ring 32, and the guiding hole three 35 is coaxially arranged with the guiding hole one 33;

[0073] A plurality of convex blocks 36, configured in a cross structure and respectively installed on the hole walls of the three-rod disc ring 31 and the upper disc ring 32;

[0074] Among them, the structural design of the three-rod disc ring and the upper disc ring is mainly used for assembling and installing the regulating rod in the regulating component, and both the three-rod disc ring and the upper disc ring can rotate freely on the inner wall of the inner cylinder of the load cylinder. The convex blocks are used to fit into the grooves to promote the synchronous rotation of the three-rod disc ring, the upper disc ring and the main steering rod.

[0075] In this embodiment, the regulation component 4 includes:

[0076] A regulation rod 45. The regulation rod 45 on the outer ring side of the regulation component 4 is embedded in the second guide hole 34 for sliding connection. The regulation rod 45 on the inner ring side of the regulation component 4 is sequentially embedded in the third guide hole 35 and the first guide hole 33 for sliding connection. Moreover, the regulation rod is a splicable and extendable rod and has a certain flexibility;

[0077] A first support strip plate 43 is fixed on the axial wall of the shaft part of the upper steering ball shell 11, and an axial guide sliding cylinder 41 is fixed on the first support strip plate 43;

[0078] An I-shaped disc rod 42. The axial rod part of the I-shaped disc rod 42 is embedded in the guide sliding cylinder 41 for sliding connection. The upper disc part of the I-shaped disc rod 42 is connected to the regulation rod 45 through a first rope 46. The lower disc part of the I-shaped disc rod 42 is connected with an upper pulling spring 44. The upper end of the upper pulling spring 44 is connected to the lower end part of the guide sliding cylinder 41. The initial state of the upper pulling spring is a stretched state;

[0079] A transmission part 8 is arranged in the lower steering ball shell 11. The transmission part 8 is connected to the lower disc part of the I-shaped disc rod 42 through a second rope 5;

[0080] By pushing and pulling the six groups of regulation rods on the outer ring with a radius of a1, the filling amount of the damping liquid in the upper compression cavity and the lower compression cavity in the lower telescopic support arm is regulated, so as to complete the telescoping and extension of the telescopic support arm. And for the six groups of regulation rods on the inner ring with a radius of a2, the filling amount of the damping liquid in the upper compression cavity and the lower compression cavity in the upper telescopic support arm is regulated, so as to complete the telescoping and extension of the telescopic support arm. Furthermore, the covering area size of the telescopic support arm is changed, so as to improve the tightness with the object to be grasped, and the regulation of the volume of the object to be grasped clamped is more accurate.

[0081] Further, the transmission part 8 includes:

[0082] A second support strip plate 82 is fixed on the axial wall of the shaft part of the lower steering ball shell 11, and an axial sealing cylinder 81 is fixed on the second support strip plate 82. Moreover, the sealing cylinder 81 is filled with damping liquid 85;

[0083] An I-shaped disc plug 83. The lower disc plug of the I-shaped disc plug 83 is embedded in the sealing cylinder 81 and divides the inner cavity of the sealing cylinder 81 into an upper cylinder cavity and a lower cylinder cavity. The upper disc part of the I-shaped disc plug 83 is connected to the upper second rope 5. The upper disc part of the I-shaped disc plug 83 is also connected to the upper shell wall of the sealing cylinder 81 through a lower pressing spring 84. The initial state of the lower pressing spring is a stretched state and is also in a stretched state in real time;

[0084] The first catheter 86 has its upper and lower ends respectively communicating with the upper cylinder cavity and the lower compression cavity;

[0085] The second catheter 87 has its upper and lower ends respectively communicating with the lower cylinder cavity and the upper compression cavity;

[0086] Among them, the telescopic support arm shortening regulation step is that by driving and lifting the I-shaped plug, the damping liquid inside the upper cylinder cavity is promoted to flow into the lower compression cavity through the first catheter, and the damping liquid in the upper compression cavity flows into the lower cylinder cavity through the second catheter. The telescopic support arm extension regulation step is that by driving and pressing the I-shaped plug, the damping liquid inside the lower cylinder cavity is promoted to flow into the lower compression cavity through the first catheter, and the damping liquid in the upper compression cavity flows into the upper cylinder cavity through the second catheter. And it should also be noted that each group of the regulating rods can be regulated independently, so that the length of each group of grasping rods can be flexibly changed, thereby improving the diversity of the shape of the grasping opening formed by the cooperation of multiple groups of clamping parts, and further improving the best-adapted grasping flexibility for different shapes of objects to be grasped.

[0087] In this embodiment, there is also included a clamping assembly 7 configured in multiple groups, and one group of the clamping assembly 7 is cooperatively regulated with one group of the grasping rods 6. The clamping assembly 7 includes:

[0088] The tensioning cylinder 71 is axially arranged and installed at the shaft part of the lower rotating spherical shell 11;

[0089] The short sliding column 73 is embedded in the tensioning cylinder 71 and is slidably connected. The upper end of the short sliding column 73 is connected to the lower end of the tension spring 72, and the upper end of the tension spring 72 is connected to the top of the inner cylinder wall of the tensioning cylinder 71. And the tension spring is in a tensile state with a relatively high tensile strength, which is the power for the grasping rod to tighten the grasp;

[0090] The retaining rings 75 are configured in two groups and are respectively installed on the middle cylinder walls of the upper and lower strip cylinders 63;

[0091] The third rope body 74 has its lower end connected to the lower retaining ring 75, and its upper end passes through the upper retaining ring 75 and is connected to the short sliding column 73.

[0092] In specific implementation, it includes the following steps:

[0093] S1: Select a certain number of load cylinders, and inside this load cylinder, a guiding rotating part, a main steering rod, and a regulating rod are installed, and they are spliced and connected to form an extended rod. And install this grasping hand structure at the end of the extended rod, and install the extended rod at the telescopic regulation end of the medical robot. And there are at least two groups of telescopic regulation ends. One group is used to push the forward movement of the extended rod, and one group is used to regulate the telescopic movement of the main steering rod. And the connecting end of the telescopic regulation end connected to the main steering rod can rotate;

[0094] S2: Observe the traveling path through the camera module, move forward, and determine the object to be grasped.

[0095] S3: Through the cooperation and regulation of the motor and the main steering rod, change the orientation of the covered area again. Through six groups of regulating rods on the outer circle with a radius of a1 and six groups of regulating rods on the inner circle with a radius of a2, complete the size and shape of the covered area surrounded by the clamping part, and fit and grasp the object to be grasped.

[0096] As mentioned above, it is only a preferred specific embodiment of the invention, but the protection scope of the invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the invention, according to the technical solution of the invention and its inventive concept, makes equivalent substitutions or changes, and should be covered within the protection scope of the invention.

Claims

1. A multi-angle grasping hand structure for a medical robot, characterized in that: Comprising: A load tensioning cylinder frame (2) with a guiding rotating member (3) coaxially installed inside it; A steering assembly (1) coaxially installed in the load tensioning cylinder frame (2). Multiple groups of grasping rods (6) distributed in a circle are installed at the lower end of the steering assembly (1). One group of the grasping rods (6) includes two telescopic support arms (61). The two telescopic support arms (61) are hinged to each other at the head and tail. A clamping portion (62) is installed at the end of the sliding bar (64) in the lower telescopic support arm (61); A control assembly (4) configured in multiple groups. One group of the grasping rods (6) is controlled by two of the control assemblies (4). The control assembly (4) on the outer ring side is used to control the lower telescopic support arm (61) in one group of the grasping rods (6), and the control assembly (4) on the inner ring side is used to control the upper telescopic support arm (61) in one group of the grasping rods (6); The load tensioning cylinder frame (2) includes: A load cylinder (21); An expansion and support rotating ring (24), including an outer fixed ring and an inner rotating ring coaxially and rotatably installed on the inner ring wall of the outer fixed ring. Elastic telescopic rods (23) arranged in a circle are respectively installed on the upper and lower ring surfaces of the outer fixed ring. The upper end of the elastic telescopic rod (23) above and the lower end of the elastic telescopic rod (23) below are respectively installed with adapter shell covers (22). The adapter shell cover (22) above is embedded in the inner cylinder wall of the load cylinder (21) and is coaxially fixed with the load cylinder (21); The steering assembly (1) includes: Steering spherical shells (11), configured in two groups, respectively rotatably installed in the upper and lower adapter shell covers (22). A cylindrical cavity is opened in the shaft part of the upper steering spherical shell (11). A convex strip (19) arranged axially and in a cross structure is fixed on the cavity wall of the cylindrical cavity. An inclination positioning chuck (16) is installed at the upper end shell of the shaft part of the lower steering spherical shell (11). A gear disc (110) meshed with the main gear (28) is coaxially sleeved on the upper end shell of the upper steering spherical shell (11); A main steering rod (17) with a groove (18) on its outer side wall that cooperates with the convex strip (19) for sliding. The lower end of the main steering rod (17) is hinged with an upper connecting rod (15). The lower end of the upper connecting rod (15) is hinged with a lower connecting rod (14). The lower end of the lower connecting rod (14) is hinged and installed on the inclination positioning chuck (16); 2. The multi-angle grasping hand structure for a medical robot according to claim 1, characterized in that: The telescopic support arm (61) includes: A sleeve bar cylinder (63) with a cross-shaped guiding strip groove opened inside it; A sliding bar (64) embedded in the sleeve bar cylinder (63) for sliding connection. A cross-shaped guiding block is fixed at the end of the sliding bar (64) embedded in one end of the sleeve bar cylinder (63). The cross-shaped guiding block is embedded in the cross-shaped guiding strip groove for sliding connection and divides the inner cylinder cavity of the sleeve bar cylinder (63) into an upper compression cavity and a lower compression cavity; 3. The multi-angle grasping hand structure for a medical robot according to claim 1, characterized in that: The load tensioning cylinder frame (2) further includes a motor (27) installed on the upper end ring surface of the upper adapter shell cover (22). The output end of the motor (27) is installed with a main gear (28).

4. The multi-angle grasping hand structure for a medical robot according to claim 1, characterized in that: The inner wall surface of the adapter housing (22) is of a spherical arc surface structure. Ball grooves (25) are provided on the spherical arc surface in a circumferential distribution, and balls (26) are embedded in the ball grooves (25).

5. The multi-angle grasping hand structure for a medical robot according to claim 1, characterized in that: Sliding groove strips (12) in multiple groups with parallel axes are provided on the outer side wall of the steering ball housing (11) located above, and a curved surface ring groove (13) is provided on the outer side wall of the steering ball housing (11) located below.

6. The multi-angle grasping hand structure for a medical robot according to claim 1, characterized in that: The guiding rotating member (3) includes: A three-rod disk ring (31) is coaxially and rotatably installed on the inner wall of the inner cylinder of the load cylinder (21), and a guiding hole one (33) is provided on the disk surface of the middle disk of the three-rod disk ring (31); An upper disk ring (32) is coaxially and rotatably installed on the inner wall of the inner cylinder of the load cylinder (21) and is located above the three-rod disk ring (31). A guiding hole two (34) and a guiding hole three (35) are provided on the upper disk ring (32) on the same radial line, and the guiding hole three (35) is coaxially arranged with the guiding hole one (33); The bumps (36) are configured in multiple groups and are respectively arranged in a cross structure and installed on the wall of the disk holes of the three-rod disk ring (31) and the wall of the disk holes of the upper disk ring (32).

7. The multi-angle grasping hand structure for a medical robot according to claim 6, characterized in that: The regulation assembly (4) includes: A regulation rod (45). The regulation rod (45) in the regulation assembly (4) on the outer ring side is embedded in the guiding hole two (34) for sliding connection, and the regulation rod (45) in the regulation assembly (4) on the inner ring side is sequentially embedded in the guiding hole three (35) and the guiding hole one (33) for sliding connection; A first support strip plate (43) is fixed on the axial shell wall of the steering ball housing (11) located above, and an axial guiding sliding cylinder (41) is fixed on the first support strip plate (43); An I-shaped disk rod (42) has its axial strip rod embedded in the guiding sliding cylinder (41) for sliding connection. The upper disk part of the I-shaped disk rod (42) is connected to the regulation rod (45) through a first rope (46). A tension spring (44) is connected to the lower disk part of the I-shaped disk rod (42), and the upper end of the tension spring (44) is connected to the lower end part of the guiding sliding cylinder (41); A transmission part (8) is arranged in the steering ball housing (11) located below, and the transmission part (8) is connected to the lower disk part of the I-shaped disk rod (42) through a second rope (5).

8. The multi-angle grasping hand structure for a medical robot according to claim 7, characterized in that: The transmission part (8) includes: A second support strip plate (82) is fixed on the axial shell wall of the steering ball housing (11) located below, and an axial sealing cylinder (81) is fixed on the second support strip plate (82). A damping liquid (85) is filled in the sealing cylinder (81); An I-shaped disk plug (83) has its lower disk plug embedded in the sealing cylinder (81), and the inner cavity of the sealing cylinder (81) is divided into an upper cylinder cavity and a lower cylinder cavity by the I-shaped disk plug (83). The upper disk part of the I-shaped disk plug (83) is connected to the second rope (5), and the upper disk part of the I-shaped disk plug (83) is also connected to the upper shell wall of the sealing cylinder (81) through a compression spring (84); A first conduit (86) has its upper and lower ends respectively communicated with the upper cylinder cavity and the lower compression cavity; A second conduit (87) has its upper and lower ends respectively communicated with the lower cylinder cavity and the upper compression cavity.

9. The multi-angle grasping hand structure for a medical robot according to claim 2, characterized in that: It further includes clamping assemblies (7) configured into multiple groups, and one group of the clamping assemblies (7) is cooperatively regulated with one group of the grasping rods (6). The clamping assemblies (7) include: A tensioning cylinder (71) axially arranged and installed at the shaft part of the steering ball housing (11) located below; A short sliding column (73) embedded in the tensioning cylinder (71) for sliding connection, and the upper end of the short sliding column (73) is connected to the lower end of a tension spring (72), and the upper end of the tension spring (72) is connected to the top of the inner cylinder wall of the tensioning cylinder (71); Retention rings (75) configured into two groups and respectively installed on the middle cylinder walls of the upper and lower strip cylinders (63); A third rope body (74) whose lower end is connected to the lower retention ring (75) and whose upper end passes through the upper retention ring (75) to be connected to the short sliding column (73).

Images