Mechanical arm with multi-angle adjusting function

Abstract

The invention relates to the technical field of medical equipment, in particular to a mechanical arm with a multi-angle adjusting function, which comprises a base, a first driving structure is arranged on the base, the first driving structure is connected with a second driving structure, and the second driving structure is connected with a third driving structure; the tail end of the third driving structure is connected with an adjusting motor, and an output shaft of the adjusting motor is fixedly connected with the connecting plate. The connecting plate is rotationally connected with a driving gear and connecting gears, the two connecting gears are meshed with each other, one connecting gear is meshed with the driving gear, and the driving gear is fixedly connected with an output shaft of an auxiliary motor fixedly connected to the connecting plate. The first driving structure drives the whole body to rotate, the mechanical arm can achieve multi-angle position adjustment in cooperation with adjustment of the second driving structure and the third driving structure, and a tail end instrument can be conveniently driven to move to the needed position; and the two sets of clamping jaws are driven to rotate synchronously to be opened and closed, and the surgical operating instrument can be stably clamped and fixed.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a robotic arm with multi-angle adjustment capabilities. Background Technology

[0002] Patent CN120203791B discloses a clamping robotic arm device for surgical robots, including a base, with a robotic arm body disposed inside the base, a support plate fixedly connected to the outer surface of the base, a clamping and mounting device disposed on the support plate, and two symmetrical fixing blocks fixedly connected to the robotic arm body. A trapezoidal positioning groove is formed on the top of the fixing blocks, and a trapezoidal positioning rod is slidably connected inside the trapezoidal positioning groove.

[0003] In existing technologies, when a robotic arm disinfects the gripper during surgery, it drives the water supply and outlet pipes to move back and forth via a connecting plate, enabling the nozzle to disinfect the gripping surface of the gripper more comprehensively. However, since multiple structures in the gripper area are interconnected and rotate, the nozzle cannot completely sterilize the area.

[0004] Therefore, a robotic arm with multi-angle adjustment function is proposed to solve the problems mentioned above. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: including a base, on which a first driving structure is provided, the first driving structure being connected to a second driving structure, and the second driving structure being connected to a third driving structure; The end of the third drive structure is connected to an adjusting motor, and the output shaft of the adjusting motor is fixedly connected to the connecting plate. The connecting plate is rotatably connected to a drive gear and a connecting gear. There are two sets of connecting gears, which mesh with each other. One set of connecting gears meshes with the drive gear, and the drive gear is fixedly connected to the output shaft of the auxiliary motor fixedly connected to the connecting plate. The connecting gear is rotatably connected to the side wall of the gripper, and the other end of the gripper is rotatably connected to the connecting rod. The connecting plate is hollowed out to form a negative pressure chamber, which is connected to a connecting pipe. The connecting pipe is connected to one end of a three-way solenoid valve, and the other two ends of the three-way solenoid valve are connected to the first chamber and the second chamber, respectively.

[0006] In one possible implementation, an electric push rod is fixedly connected to the side wall of the third drive structure, and the moving end of the electric push rod is fixedly connected to the cleaning mechanism. The cleaning mechanism can flexibly adjust the delivery position of the hot air by controlling the opening of the second electromagnetic valves on different side walls inside the outer cylinder, so that the hot air can be precisely applied to different parts of the gripper area.

[0007] In one possible implementation, the cleaning mechanism includes an outer cylinder, which is fixedly connected to the moving end of an electric push rod. The inner wall of the outer cylinder forms a first cavity and a second cavity. Multiple sets of first solenoid valves and second solenoid valves are fixedly connected at equal intervals on the inner wall of the outer cylinder. The first solenoid valves and second solenoid valves are used to adjust the airflow direction inside the outer cylinder.

[0008] In one possible implementation, the first solenoid valve is connected to the first cavity, the second solenoid valve is connected to the second cavity, and the outer cylinder is fixedly connected with the first connecting pipe and the second connecting pipe.

[0009] In one possible implementation, the first connecting pipe is connected to the first cavity, and the second connecting pipe is connected to the second cavity.

[0010] In one possible implementation, a drive motor is bolted to the side wall of the outer cylinder, and the output shaft of the drive motor is fixedly connected to an auxiliary gear. There are two sets of auxiliary gears, and the two sets of auxiliary gears mesh with each other.

[0011] In one possible implementation, two sets of auxiliary gears are fixedly connected to a set of swing rods, and a shielding membrane is connected to the side wall of the two sets of swing rods. The other end of the shielding membrane is connected to the side wall of the outer cylinder.

[0012] In one possible implementation, the swing rod drives the shielding membrane to unfold, which can seal the bottom of the outer cylinder and form a relatively sealed cleaning space.

[0013] In one possible implementation, the drive gear, connecting gear, gripper, and connecting rod are all hollowed out and have a cavity.

[0014] In one possible implementation, the cavities within the drive gear, connecting gear, gripper, and connecting rod are interconnected, and the cavity within the drive gear is connected to the negative pressure chamber.

[0015] Compared with the prior art, the present invention provides a robotic arm with multi-angle adjustment function, which has the following beneficial effects: 1. The present invention drives the overall rotation through the first driving structure, and with the adjustment of the second and third driving structures, the robotic arm can achieve multi-angle position adjustment, which facilitates the movement of the end effector to the required position; the two sets of grippers are driven to rotate and open and close synchronously, which can stably clamp and fix surgical instruments.

[0016] 2. This invention uses a three-way solenoid valve to switch between the negative pressure chamber and the first chamber, using negative pressure to draw air from the cavity, guide air flow, and drive sterilization mist into the connection points of each component to improve the sterilization contact effect; at the same time, the flow of hot air can also accelerate the heating rate of the gripper area; the negative pressure chamber switches to connect with the second chamber, and the negative pressure chamber blows air out through the cavity, forming an internal extraction or external blowing switch.

[0017] 3. This invention controls the cleaning mechanism to move downwards via an electric push rod, enclosing the gripper area inside the outer cylinder. In conjunction with the drive motor, auxiliary gear, and swing rod, the shielding film unfolds, sealing the bottom of the outer cylinder and forming a relatively enclosed cleaning space. After cleaning is completed, the outer cylinder moves upwards, facilitating the movement of subsequent instruments.

[0018] 4. In this invention, after external hot air or air carrying sterilizing mist is delivered to the second cavity via a conveying pipe connected to the second connecting pipe, the position of the hot air delivery can be flexibly adjusted by controlling the opening of the second electromagnetic valves on different side walls inside the outer cylinder. This allows the hot air to be precisely applied to different parts of the gripper area, improving the targeting of cleaning and sterilization. The first connecting pipe is connected to an external negative pressure device to create negative pressure in the first cavity. Opening the first electromagnetic valve allows air from inside the outer cylinder to be drawn into the first cavity. By controlling the opening of the first electromagnetic valves in different areas, the flow direction of air inside the outer cylinder can be flexibly adjusted, further increasing the contact area and effect between the air and the gripper area, and enhancing the cleaning and sterilization efficiency. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A in the diagram; Figure 4 This is a schematic diagram of the structure of the present invention. Figure 3 ; Figure 5 This is a schematic diagram of the structure of the present invention. Figure 4 ; Figure 6 This is a schematic diagram of the cleaning mechanism structure of the present invention. Figure 1 ; Figure 7 This is a schematic diagram of the cleaning mechanism structure of the present invention. Figure 2 .

[0020] In the diagram: 1. Base; 2. First drive structure; 3. Second drive structure; 4. Third drive structure; 5. Adjustment motor; 6. Connecting plate; 7. Drive gear; 8. Connecting gear; 9. Gripper; 10. Connecting rod; 11. Cavity; 12. Connecting pipe; 13. Negative pressure chamber; 14. Electric push rod; 15. Cleaning mechanism; 151. Outer cylinder; 152. First cavity; 153. Second cavity; 154. First solenoid valve; 155. Second solenoid valve; 156. First connecting pipe; 157. Second connecting pipe; 158. Drive motor; 159. Auxiliary gear; 1510. Swing rod. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figure 1 - Figure 4 In this embodiment, a robotic arm with multi-angle adjustment function includes a base 1, a first drive structure 2 is provided on the base 1, the base 1 is used to drive the first drive structure 2 to rotate, the first drive structure 2 is connected to a second drive structure 3, and the second drive structure 3 is connected to a third drive structure 4. Among them, the first drive structure 2, the second drive structure 3 and the third drive structure 4 are composed of a stepper motor and a robotic arm; the first drive structure 2 is used to drive the second drive structure 3 and the third drive structure 4 to adjust their positions, so that the robotic arm can be adjusted at multiple angles and can easily drive the instrument to move. The third drive structure 4 is connected to an adjustment motor 5 at its end, and the output shaft of the adjustment motor 5 is fixedly connected to the connecting plate 6.

[0023] Please see Figure 1 - Figure 6 The connecting plate 6 is rotatably connected to a drive gear 7 and a connecting gear 8. There are two sets of connecting gears 8, which mesh with each other. One set of connecting gears 8 meshes with the drive gear 7, and the drive gear 7 is fixedly connected to the output shaft of the auxiliary motor fixedly connected to the connecting plate 6. Specifically, the connecting gear 8 is rotatably connected to the side wall of the gripper 9, and the other end of the gripper 9 is rotatably connected to the connecting rod 10; More specifically, the auxiliary motor drives the drive gear 7 to rotate, the drive gear 7 drives the connecting gear 8 to rotate, the connecting gear 8 meshes and drives another set of connecting gears 8 to rotate, so that the two sets of connecting gears 8 drive the gripper 9 to rotate, and the two sets of grippers 9 can clamp and fix surgical instruments. Specifically, the drive gear 7, connecting gear 8, gripper 9, and connecting rod 10 are all hollowed out and each has a cavity 11. The cavities 11 in the drive gear 7, connecting gear 8, gripper 9, and connecting rod 10 are interconnected. The cavity 11 in the drive gear 7 is connected to the negative pressure chamber 13. Specifically, the drive gear 7, connecting gear 8, gripper 9, and connecting rod 10 are provided with multiple sets of through holes on their side walls, and the through holes are connected to the cavity 11 inside. Specifically, the connecting plate 6 has a hollowed-out cavity forming a negative pressure chamber 13, which is connected to the connecting pipe 12. The connecting pipe 12 is connected to one end of the three-way solenoid valve, and the other two ends of the three-way solenoid valve are connected to the first cavity 152 and the second cavity 153 respectively. By switching the three-way solenoid valve, the negative pressure chamber 13 is connected to the first chamber 152 and the second chamber 153. When connected to the first chamber 152, the negative pressure state inside the first chamber 152 is connected to the negative pressure chamber 13, and the air in the cavity 11 of the drive gear 7, connecting gear 8, gripper 9, and connecting rod 10 is drawn out through the negative pressure chamber 13. This allows the air in the outer cylinder 151 to be drawn into the cavity 11. During the extraction process, the air can flow to the connection points of the drive gear 7, connecting gear 8, gripper 9, and connecting rod 10, improving the contact effect between the sterilization mist in the air and the drive gear 7, connecting gear 8, gripper 9, and connecting rod 10, and increasing the heating rate of the hot air on the drive gear 7, connecting gear 8, gripper 9, and connecting rod 10.

[0024] Please see Figure 6 - Figure 7 An electric push rod 14 is fixedly connected to the side wall of the third drive structure 4, and the moving end of the electric push rod 14 is fixedly connected to the cleaning mechanism 15. The cleaning mechanism 15 includes an outer cylinder 151, which is fixedly connected to the moving end of the electric push rod 14. The inner wall of the outer cylinder 151 forms a first cavity 152 and a second cavity 153. Multiple sets of first solenoid valves 154 and second solenoid valves 155 are fixedly connected at equal intervals on the inner wall of the outer cylinder 151. The first solenoid valve 154 is connected to the first cavity 152, the second solenoid valve 155 is connected to the second cavity 153, and the first connecting pipe 156 and the second connecting pipe 157 are fixedly connected to the outer cylinder 151. The first connecting pipe 156 is connected to the first cavity 152, and the second connecting pipe 157 is connected to the second cavity 153; Specifically, a drive motor 158 is bolted to the side wall of the outer cylinder 151. The output shaft of the drive motor 158 is fixedly connected to an auxiliary gear 159. There are two sets of auxiliary gears 159, which mesh with each other. Each set of auxiliary gears 159 is fixedly connected to a set of swing rods 1510. A shielding membrane is connected to the side wall of each set of swing rods 1510, and the other end of the shielding membrane is connected to the side wall of the outer cylinder 151. The side wall of the swing rods 1510 is provided with a rubber layer, so that when the two sets of swing rods 1510 approach each other, the rubber layers on their side walls come into contact and are squeezed together. Specifically, the top sidewall of the outer cylinder 151 matches the sidewall structure of the robotic arm on the third drive structure 4, so that the sidewall of the upper opening of the outer cylinder 151 contacts the sidewall of the robotic arm. When the outer cylinder 151 contacts the robotic arm, the upper end of the outer cylinder 151 is in close contact with the robotic arm, avoiding any gap between the robotic arm and the upper opening of the outer cylinder 151. More specifically, when it is necessary to sterilize the area of ​​the gripper 9, the electric push rod 14 is controlled to drive the cleaning mechanism 15 to move downward, so that the cleaning mechanism 15 wraps the area of ​​the gripper 9. The drive motor 158 is controlled to drive the auxiliary gear 159 to rotate, the auxiliary gear 159 drives the swing rod 1510 to rotate, and the two sets of auxiliary gears 159 drive the two sets of swing rods 1510 to rotate, so that the swing rod 1510 rotates downward and drives the shielding film to unfold, and wraps and seals the bottom of the outer cylinder 151. Then, the external hot air or the delivery pipe containing sterilization mist is connected to the second connecting pipe 157 and delivered to the second cavity 153. The second solenoid valves 155 on the four side walls inside the outer cylinder 151 are controlled to open. The air inside is delivered to the surface of the gripper 9 area through the second solenoid valves 155. The through hole controls the opening of the second solenoid valves 155 in different areas, thereby adjusting the delivery position of the hot air. The first connecting pipe 156 is connected to an external negative pressure device. The negative pressure device draws out the first connecting pipe 156, and the first connecting pipe 156 draws out the first cavity 152 to form a negative pressure. This opens the first solenoid valve 154, allowing the first solenoid valve 154 to draw air from the outer cylinder 151 into the first cavity 152. By controlling the opening of the first solenoid valve 154 in different areas, the flow direction of air in the outer cylinder 151 can be adjusted, thereby improving the contact area and effect between the air and the gripper 9 area.

[0025] The installation method, connection method, or setting method disclosed in this embodiment are all common mechanical connections. Any connection method that can achieve its beneficial effect can be implemented, so the specific structural composition and working principle will not be described in detail in this embodiment.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm with multi-angle adjustment function, comprising a base (1), a first drive structure (2) provided on the base (1), the first drive structure (2) being connected to a second drive structure (3), and the second drive structure (3) being connected to a third drive structure (4); The end of the third drive structure (4) is connected to an adjustment motor (5), and the output shaft of the adjustment motor (5) is fixedly connected to the connecting plate (6); Its features are: The connecting plate (6) is rotatably connected with a drive gear (7) and a connecting gear (8). There are two sets of connecting gears (8), and the two sets of connecting gears (8) mesh with each other. One set of connecting gears (8) meshes with the drive gear (7), and the drive gear (7) is fixedly connected to the output shaft of the auxiliary motor fixedly connected to the connecting plate (6). The connecting gear (8) is rotatably connected to the side wall of the gripper (9), and the other end of the gripper (9) is rotatably connected to the connecting rod (10); The connecting plate (6) has a hollowed-out design to form a negative pressure chamber (13). The negative pressure chamber (13) is connected to the connecting pipe (12). The connecting pipe (12) is connected to one end of the three-way solenoid valve. The other two ends of the three-way solenoid valve are connected to the first chamber (152) and the second chamber (153) respectively.

2. The robotic arm with multi-angle adjustment function according to claim 1, characterized in that: An electric push rod (14) is fixedly connected to the side wall of the third drive structure (4), and the moving end of the electric push rod (14) is fixedly connected to the cleaning mechanism (15). The cleaning mechanism (15) can flexibly adjust the delivery position of hot air by controlling the opening of the second electromagnetic valve (155) on different side walls inside the outer cylinder (151), so that the hot air can be accurately applied to different parts of the gripper (9) area.

3. A robotic arm with multi-angle adjustment function according to claim 2, characterized in that: The cleaning mechanism (15) includes an outer cylinder (151), which is fixedly connected to the moving end of the electric push rod (14). The inner wall of the outer cylinder (151) forms a first cavity (152) and a second cavity (153). Multiple sets of first solenoid valves (154) and second solenoid valves (155) are fixedly connected at equal intervals on the inner wall of the outer cylinder (151). The first solenoid valve (154) and the second solenoid valve (155) are used to regulate the airflow direction inside the outer cylinder (151).

4. A robotic arm with multi-angle adjustment function according to claim 3, characterized in that: The first solenoid valve (154) is connected to the first cavity (152), the second solenoid valve (155) is connected to the second cavity (153), and the first connecting pipe (156) and the second connecting pipe (157) are fixedly connected to the outer cylinder (151).

5. A robotic arm with multi-angle adjustment function according to claim 4, characterized in that: The first connecting pipe (156) is connected to the first cavity (152), and the second connecting pipe (157) is connected to the second cavity (153).

6. A robotic arm with multi-angle adjustment function according to claim 3, characterized in that: The outer cylinder (151) is bolted to the side wall of the drive motor (158). The output shaft of the drive motor (158) is fixedly connected to the auxiliary gear (159). There are two sets of auxiliary gears (159), and the two sets of auxiliary gears (159) mesh with each other.

7. A robotic arm with multi-angle adjustment function according to claim 6, characterized in that: Two sets of auxiliary gears (159) are fixedly connected to a set of swing rods (1510). A shielding membrane is connected to the side wall of the two sets of swing rods (1510), and the other end of the shielding membrane is connected to the side wall of the outer cylinder (151).

8. A robotic arm with multi-angle adjustment function according to claim 7, characterized in that: The swing rod (1510) causes the shielding film to unfold, which can close the bottom of the outer cylinder (151) and form a relatively closed cleaning space.

9. A robotic arm with multi-angle adjustment function according to claim 1, characterized in that: The drive gear (7), connecting gear (8), gripper (9), and connecting rod (10) are all hollowed out and each has a cavity (11).

10. A robotic arm with multi-angle adjustment function according to claim 1, characterized in that: The cavities (11) inside the drive gear (7), connecting gear (8), gripper (9), and connecting rod (10) are interconnected, and the cavity (11) inside the drive gear (7) is connected to the negative pressure chamber (13).

Images