Clamping mechanism for medical mechanical arm

Abstract

The clamping mechanism for the medical mechanical arm comprises a mounting plate, a connecting arm, a movable frame and a clamping plate, the top of the connecting arm is fixedly connected with a supporting assembly, and the bottom of the inner wall of the connecting arm is fixedly connected with a transmission assembly. By arranging the fixing base, the screw rod, the connecting column and the through hole, the connecting column and the screw rod can be limited through the through hole, the fixing base can fix and limit the connecting column and the screw rod, and the connecting column and the screw rod can be driven to rotate by rotating the clamping plate so that the screw rod can be separated from the interior of the fixing base; the problems that due to the fact that a power pump is connected with a clamping plate through a connecting block and belongs to a non-detachable structure, clamping plates of different shapes need to be used for clamping according to different medical instruments, if different medical robots are used, the investment cost needs to be increased, frequent replacement is troublesome, and the working efficiency is high are solved. Therefore, the clamping plates are not detachable, the investment amount is increased, and the working efficiency is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical robots, in particular to a clamping mechanism for a medical robot arm. Background Art

[0002] A medical robot refers to a robot used for medical or auxiliary medical treatment in hospitals and clinics. It is an intelligent service robot that can independently compile operation plans, determine action programs based on actual conditions, and then convert the actions into movements of operating mechanisms. Medical robots mainly use mechanical arms to clamp medical devices.

[0003] For example, publication number CN213320219U discloses a medical robot for clamping medical instruments. The medical robot includes a driving joint, a driving arm and a clamping arm. The driving arms are connected to the driving joint on both sides, and the clamping arm is connected to the head end of the driving joint. A connecting plate is provided in the middle of the driving arm, and the inner side of the connecting plate is connected to the first sleeve and the second sleeve. By dividing the driving arm into a first sleeve and a second sleeve, and connecting the first sleeve and the second sleeve by an electric telescopic rod, the length of the driving arm can be adjusted by the electric telescopic rod driving the sleeve to extend and retract, thereby facilitating the small-range adjustment movement of the mechanical arm. In addition, two sets of reverse clamping mechanisms are provided at the clamping end of the mechanical arm, so that the mechanical arm can clamp two instruments at the same time, avoiding the need to replace the instruments back and forth during use, ensuring the stability and efficiency of the operation, and the structural design is novel and reasonable, which is convenient for popularization and use.

[0004] Based on the search of patent numbers and combined with the deficiencies in the prior art, it is found that:

[0005] Although the mechanical arm of this medical robot used to clamp medical devices can clamp two devices at the same time, avoiding the need to replace them back and forth during use and ensuring stable and efficient operation, when in use, the power pump is connected to the splint through a connecting block and is a non-detachable structure. Depending on the different medical devices, splints of different shapes are required for clamping. If different medical robots are used, the investment cost will be increased, and frequent replacement is more troublesome. Therefore, the non-detachable splint will lead to an increase in the investment amount and a decrease in work efficiency. Utility Model Content

[0006] In order to solve the problems raised in the above-mentioned background technology, the purpose of the utility model is to provide a clamping mechanism for a medical robot arm, which has the advantage of easy disassembly and replacement of the splint, and solves the problem that the power pump is connected to the splint through a connecting block and is a non-detachable structure, and different shapes of splints are required for clamping according to different medical devices. If different medical robots are used, the investment cost needs to be increased, and frequent replacement is troublesome. Therefore, the non-detachable splint will lead to an increase in investment amount and a decrease in work efficiency.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a clamping mechanism for a medical robot arm, comprising a mounting plate, a connecting arm, a movable frame and a splint, the top of the mounting plate is fixedly connected to the bottom of the connecting arm, the movable frame is located on both sides of the top of the connecting arm, the splint is located on the inner side of the movable frame, the inner side of the movable frame is fixedly connected to a fixing seat, the inner side of the fixing seat is threadedly connected to a screw, the other end of the screw is fixedly connected to a connecting column, a through hole is opened on the outer side of the splint, the inner wall of the through hole is movably connected to the surface of the connecting column away from one end of the fixing seat, the top of the connecting arm is fixedly connected to a supporting assembly, and the bottom of the inner wall of the connecting arm is fixedly connected to a transmission assembly.

[0008] As a preferred embodiment of the utility model, the support assembly includes a connecting frame, a connecting groove is formed on the top of the connecting frame, a support platform is fixedly connected to the inner wall of the connecting groove, and the top of the support platform is movably connected to the top of the movable frame.

[0009] As a preferred embodiment of the utility model, the transmission assembly includes an electric telescopic rod, the output end of the electric telescopic rod is fixedly connected to a movable plate, the front and rear sides of the top of the movable plate are fixedly connected to a vertical plate, the front and rear sides of the top of the connecting frame are provided with movable grooves, the surface of the vertical plate is slidably connected to the inner wall of the movable groove, the front and rear sides of the vertical plate are movably connected to two movable arms via an axle pin, the bottom of the movable frame is fixedly connected to two connecting parts, and the end of the movable arm away from the vertical plate is movably connected to the connecting part via an axle pin.

[0010] As a preferred embodiment of the utility model, the front and rear sides of the support platform are movably connected with guide rods through axle pins, the end of the guide rod away from the support platform is fixedly connected to a limiting plate, the surface of the guide rod is movably connected to the surface of the movable wall, and the inner side of the limiting plate is movably connected to the surface of the movable arm.

[0011] As a preferred embodiment of the utility model, sliding blocks are fixedly connected to both sides of the movable plate, sliding grooves are opened on both sides of the inner wall of the connecting arm, and the surface of the sliding block is slidably connected to the inner wall of the sliding groove.

[0012] As a preferred embodiment of the utility model, the bottom of the movable frame is fixedly connected to a fixing part, a sliding rod is provided on the left side of the support platform, the right end of the sliding rod passes through the support platform and extends to the right side of the support platform, the surface of the sliding rod is slidably connected to the inner wall of the fixing part, the sliding rod is fixedly connected to the support platform, and both ends of the sliding rod are fixedly connected to limiting plates.

[0013] As a preferred embodiment of the utility model, a spring is fixedly connected to the inner side of the inner wall of the through hole, the other end of the spring is fixedly connected to one end of the connecting column close to the splint, a rubber ring is fixedly connected to the inner side of the fixing seat, the inner wall of the rubber ring is tightly fitted with the surface of the connecting column, limiting grooves are provided on the top and bottom of the inner wall of the through hole, limiting blocks are fixedly connected to the top and bottom of the surface of the connecting column, and the inner wall of the limiting groove is slidably connected to the surface of the limiting block.

[0014] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0015] 1. The utility model provides a fixing seat, a screw, a connecting column and a through hole. The through hole can limit the connecting column and the screw, the fixing seat can fix and limit the connecting column and the screw, and the connecting column and the screw can be driven to rotate by rotating the splint to make the screw detach from the inside of the fixing seat. This solves the problem that the power pump is connected to the splint through the connecting block and is a non-detachable structure. Different splints of different shapes are required for clamping according to different medical devices. If different medical robots are used, the investment cost needs to be increased, and frequent replacement is more troublesome. Therefore, the non-detachable splint will lead to an increase in the investment amount and a decrease in work efficiency, thereby achieving the effect of facilitating the disassembly and replacement of the splint.

[0016] 2. The utility model sets a support assembly, the connecting arm can fix and limit the connecting frame, the connecting frame can fix and limit the supporting platform, the supporting platform can support the movable frame, and the connecting groove can improve the stability of the supporting platform, thereby improving the supporting effect of the supporting platform.

[0017] 3. The utility model sets a transmission component, and by starting the electric telescopic rod, the output end of the electric telescopic rod can drive the movable plate and the vertical plate to move upward. By utilizing the limiting effect of the guide rod, the upward movement of the vertical plate can drive the movable arm to move upward and rotate at the same time. The rotation of the movable arm can drive the connecting piece and the movable frame to move away from the support platform. The movable frame moving away from the support platform can drive the splint away from the splint. At this time, by adjusting the connecting arm, the user can move the splint to both sides of the medical device, thereby facilitating the clamping of the medical device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 2 It is a three-dimensional exploded cross-sectional structural diagram of the support assembly and the transmission assembly of the utility model;

[0020] Figure 3 This is a schematic diagram of a three-dimensional exploded cross-sectional structure of the movable frame and the clamping plate of the utility model;

[0021] Figure 4 For this utility model Figure 3 A in the middle is an enlarged schematic diagram of the three-dimensional structure.

[0022] In the figure: 1. mounting plate; 2. connecting arm; 3. movable frame; 4. clamping plate; 5. fixing seat; 6. screw rod; 7. connecting column; 8. through hole; 9. supporting assembly; 91. connecting frame; 92. connecting groove; 93. supporting table; 10. transmission assembly; 101. electric telescopic rod; 102. movable plate; 103. vertical plate; 104. movable groove; 105. movable arm; 106. connecting piece; 11. guide rod; 12. limit plate; 13. sliding block; 14. sliding groove; 15. fixing piece; 16. sliding rod; 17. limit plate; 18. spring; 19. rubber ring; 20. limit groove; 21. limit block. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] like Figures 1 to 4 As shown, the utility model provides a clamping mechanism for a medical robot arm, comprising a mounting plate 1, a connecting arm 2, a movable frame 3 and a splint 4, the top of the mounting plate 1 is fixedly connected to the bottom of the connecting arm 2, the movable frame 3 is located on both sides of the top of the connecting arm 2, the splint 4 is located on the inner side of the movable frame 3, the inner side of the movable frame 3 is fixedly connected with a fixing seat 5, the inner side of the fixing seat 5 is threadedly connected with a screw 6, the other end of the screw 6 is fixedly connected with a connecting column 7, a through hole 8 is opened on the outer side of the splint 4, the inner wall of the through hole 8 is movably connected to the surface of the connecting column 7 away from one end of the fixing seat 5, the top of the connecting arm 2 is fixedly connected with a supporting assembly 9, and the bottom of the inner wall of the connecting arm 2 is fixedly connected with a transmission assembly 10.

[0025] refer to Figure 1 and Figure 2 The support assembly 9 includes a connection frame 91 , a connection groove 92 is formed on the top of the connection frame 91 , a support platform 93 is fixedly connected to the inner wall of the connection groove 92 , and the top of the support platform 93 is movably connected to the top of the movable frame 3 .

[0026] As a technical optimization solution of the utility model, by setting the support assembly 9, the connecting arm 2 can fix and limit the connecting frame 91, the connecting frame 91 can fix and limit the support platform 93, the support platform 93 can support the movable frame 3, and the connecting groove 92 can improve the stability of the support platform 93, thereby improving the supporting effect of the support platform 93.

[0027] refer to Figure 1 , Figure 2 and Figure 3 The transmission assembly 10 includes an electric telescopic rod 101, the output end of the electric telescopic rod 101 is fixedly connected to a movable plate 102, the front and rear sides of the top of the movable plate 102 are fixedly connected to a vertical plate 103, the front and rear sides of the top of the connecting frame 91 are provided with movable grooves 104, the surface of the vertical plate 103 is slidably connected to the inner wall of the movable groove 104, the front and rear sides of the vertical plate 103 are movably connected to two movable arms 105 through axle pins, the bottom of the movable frame 3 is fixedly connected to two connecting pieces 106, and the end of the movable arm 105 away from the vertical plate 103 is movably connected to the connecting piece 106 through axle pins.

[0028] As a technical optimization scheme of the utility model, by setting up a transmission component 10, by starting the electric telescopic rod 101, the output end of the electric telescopic rod 101 can drive the movable plate 102 and the vertical plate 103 to move upward, and by utilizing the limiting effect of the guide rod 11, the upward movement of the vertical plate 103 can drive the movable arm 105 to move upward and rotate at the same time, and the rotation of the movable arm 105 can drive the connecting piece 106 and the movable frame 3 to move away from the support platform 93, and the movable frame 3 away from the support platform 93 can drive the splint 4 away from the splint 4. At this time, by adjusting the connecting arm 2, the user can move the splint 4 to both sides of the medical device, thereby facilitating the clamping of the medical device.

[0029] refer to Figure 3 The front and rear sides of the support platform 93 are movably connected with a guide rod 11 through an axle pin. The end of the guide rod 11 away from the support platform 93 is fixedly connected to a limiting plate 12. The surface of the guide rod 11 is movably connected to the surface of the movable wall, and the inner side of the limiting plate 12 is movably connected to the surface of the movable arm 105.

[0030] As a technical optimization solution of the utility model, by setting a guide rod 11 and a limit plate 12, the guide rod 11 can limit the movable arm 105, so that the movable arm 105 can rotate during the rising process, so that the movable arm 105 can drive the connecting part 106 and the movable frame 3 to move away from the support platform 93, and the limit plate 12 can limit the movable arm 105, so as to improve the stability of the rotation of the movable arm 105.

[0031] refer to Figure 2 Sliding blocks 13 are fixedly connected to both sides of the movable plate 102 , sliding grooves 14 are opened on both sides of the inner wall of the connecting arm 2 , and the surface of the sliding block 13 is slidably connected to the inner wall of the sliding groove 14 .

[0032] As a technical optimization solution of the utility model, by setting the sliding block 13 and the sliding groove 14, the movement of the movable plate 102 can drive the sliding block 13 to slide inside the sliding groove 14, and the sliding groove 14 can limit the sliding block 13 in the front, back, left and right directions. The front, back, left and right directions of the sliding block 13 can limit the movable plate 102 in the front, back, left and right directions, thereby improving the movement stability and movement efficiency of the movable plate 102.

[0033] refer to Figure 1 A fixing part 15 is fixedly connected to the bottom of the movable frame 3, a sliding rod 16 is arranged on the left side of the support platform 93, the right end of the sliding rod 16 passes through the support platform 93 and extends to the right side of the support platform 93, the surface of the sliding rod 16 is slidably connected to the inner wall of the fixing part 15, the sliding rod 16 is fixedly connected to the support platform 93, and both ends of the sliding rod 16 are fixedly connected to the limiting plate 17.

[0034] As a technical optimization solution of the utility model, by setting the fixing part 15, the sliding rod 16 and the limiting plate 17, the sliding rod 16 can guide the fixing part 15 and the movable frame 3, thereby improving the stability of the movement of the movable frame 3. At the same time, the sliding rod 16 can play a certain supporting role for the fixing part 15 and the movable frame 3, and the limiting plate 17 can prevent the fixing part 15 from separating from the sliding rod 16.

[0035] refer to Figure 3 and Figure 4 A spring 18 is fixedly connected to the inner side of the inner wall of the through hole 8, and the other end of the spring 18 is fixedly connected to one end of the connecting column 7 close to the splint 4. A rubber ring 19 is fixedly connected to the inner side of the fixing seat 5, and the inner wall of the rubber ring 19 is tightly fitted with the surface of the connecting column 7. Limiting grooves 20 are provided at the top and bottom of the inner wall of the through hole 8, and the top and bottom of the surface of the connecting column 7 are fixedly connected to the limiting block 21, and the inner wall of the limiting groove 20 is slidably connected to the surface of the limiting block 21.

[0036] As a technical optimization scheme of the utility model, by setting a spring 18, a rubber ring 19, a limit groove 20 and a limit block 21, the spring 18 is used to connect the splint 4 and the connecting column 7. At the same time, the spring 18 can play a certain buffering effect when the splint 4 clamps the medical device, thereby preventing the clamping strength of the splint 4 from being too large and causing damage to the medical device. The rubber ring 19 can improve the stability of the connecting column 7 and the screw 6, thereby preventing the screw 6 from loosening. The limit groove 20 can limit the limit block 21 and the connecting column 7, thereby preventing the spring 18 from twisting when the splint 4 rotates.

[0037] The working principle and use process of the utility model are as follows: during use, when it is necessary to clamp the medical device, the electric telescopic rod 101 is first started to enable the output end of the electric telescopic rod 101 to drive the movable plate 102 and the vertical plate 103 to move upward. By utilizing the limiting effect of the guide rod 11, the vertical plate 103 moves upward to drive the movable arm 105 to move upward and rotate at the same time. The rotation of the movable arm 105 can drive the connecting piece 106 and the movable frame 3 to move in the direction away from the support platform 93. The movable frame 3 moves away from the support platform 93 to drive the splint 4 away from the splint 4. At this time, by adjusting the connecting arm 2, the user can move the splint 4 to both sides of the medical device, and then drive the splint 4 to move in the direction close to the support platform 93 through the reverse operation, so that the medical device can be stably clamped. According to the different shapes of the medical device, the user can drive the connecting column 7 and the screw 6 to rotate by rotating the splint 4 to make the screw 6 disengage from the fixed seat 5 to disassemble the splint 4, thereby facilitating the replacement of splints 4 of other shapes.

[0038] To sum up: this clamping mechanism for a medical robot arm, by setting a fixed seat 5, a screw 6, a connecting column 7 and a through hole 8, the through hole 8 can limit the connecting column 7 and the screw 6, the fixed seat 5 can fix and limit the connecting column 7 and the screw 6, and the connecting column 7 and the screw 6 can be driven to rotate by rotating the splint 4 to make the screw 6 detach from the inside of the fixed seat 5, which solves the problem that the power pump is connected to the splint through the connecting block and is a non-detachable structure, and different shapes of splints are required for clamping according to different medical devices. If different medical robots are used, the investment cost needs to be increased, and frequent replacement is more troublesome. Therefore, the non-detachable splint will lead to an increase in investment amount and a decrease in work efficiency.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A clamping mechanism for a medical robot arm, comprising a mounting plate (1), a connecting arm (2), a movable frame (3) and a clamping plate (4), characterized in that: The top of the mounting plate (1) is fixedly connected to the bottom of the connecting arm (2); the movable frame (3) is located on both sides of the top of the connecting arm (2); the clamping plate (4) is located on the inner side of the movable frame (3); the inner side of the movable frame (3) is fixedly connected to a fixing seat (5); the inner side of the fixing seat (5) is threadedly connected to a screw rod (6); the other end of the screw rod (6) is fixedly connected to a connecting column (7); a through hole (8) is provided on the outer side of the clamping plate (4); the inner wall of the through hole (8) is movably connected to the surface of the connecting column (7) away from the fixed seat (5); the top of the connecting arm (2) is fixedly connected to a supporting assembly (9); and the bottom of the inner wall of the connecting arm (2) is fixedly connected to a transmission assembly (10).

2. The clamping mechanism for a medical robot arm according to claim 1, characterized in that: The support assembly (9) comprises a connection frame (91), a connection groove (92) is provided on the top of the connection frame (91), a support platform (93) is fixedly connected to the inner wall of the connection groove (92), and the top of the support platform (93) is movably connected to the top of the movable frame (3).

3. The clamping mechanism for a medical robot arm according to claim 2, characterized in that: The transmission assembly (10) comprises an electric telescopic rod (101), the output end of the electric telescopic rod (101) is fixedly connected to a movable plate (102), the front side and the rear side of the top of the movable plate (102) are fixedly connected to a vertical plate (103), the front side and the rear side of the top of the connection frame (91) are both provided with a movable groove (104), the surface of the vertical plate (103) is slidably connected to the inner wall of the movable groove (104), the front side and the rear side of the vertical plate (103) are movably connected to two movable arms (105) via an axle pin, the bottom of the movable frame (3) is fixedly connected to two connecting pieces (106), and one end of the movable arm (105) away from the vertical plate (103) is movably connected to the connecting piece (106) via an axle pin.

4. The clamping mechanism for a medical robot arm according to claim 3, characterized in that: The front and rear sides of the support platform (93) are movably connected to a guide rod (11) via an axle pin, and one end of the guide rod (11) away from the support platform (93) is fixedly connected to a limit plate (12), the surface of the guide rod (11) is movably connected to the surface of the movable wall, and the inner side of the limit plate (12) is movably connected to the surface of the movable arm (105).

5. The clamping mechanism for a medical robot arm according to claim 3, characterized in that: Sliding blocks (13) are fixedly connected to both sides of the movable plate (102), sliding grooves (14) are provided on both sides of the inner wall of the connecting arm (2), and the surface of the sliding block (13) is slidably connected to the inner wall of the sliding groove (14).

6. The clamping mechanism for a medical robot arm according to claim 2, characterized in that: The bottom of the movable frame (3) is fixedly connected with a fixing member (15), and a sliding rod (16) is arranged on the left side of the support platform (93). The right end of the sliding rod (16) passes through the support platform (93) and extends to the right side of the support platform (93). The surface of the sliding rod (16) is slidably connected with the inner wall of the fixing member (15). The sliding rod (16) is fixedly connected with the support platform (93), and both ends of the sliding rod (16) are fixedly connected with a limiting plate (17).

7. The clamping mechanism for a medical robot arm according to claim 1, characterized in that: A spring (18) is fixedly connected to the inner side of the inner wall of the through hole (8), and the other end of the spring (18) is fixedly connected to one end of the connecting column (7) close to the clamping plate (4). A rubber ring (19) is fixedly connected to the inner side of the fixing seat (5), and the inner wall of the rubber ring (19) is tightly fitted with the surface of the connecting column (7). Limiting grooves (20) are provided at the top and bottom of the inner wall of the through hole (8), and the top and bottom of the surface of the connecting column (7) are fixedly connected to limiting blocks (21), and the inner wall of the limiting groove (20) is slidably connected to the surface of the limiting block (21).

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