Multifunctional surgical robot auxiliary arm mechanism

Abstract

The utility model discloses a multifunctional surgical robot auxiliary arm mechanism which comprises a rotating seat, a mechanical arm body is rotatably connected to the rotating seat, a movable arm is rotatably connected to the end portion of the mechanical arm body, a driving arm is arranged at the bottom of the movable arm, an equipment cavity is formed in the bottom of the movable arm, and the driving arm and the equipment cavity are arranged in the equipment cavity. A fixing cavity is formed in the top of the driving arm, positioning mechanisms are arranged on the two sides, close to the inner wall of the top, of the fixing cavity, and an inserting mechanism is arranged on the top of the inner wall of the equipment cavity. According to the utility model, through the arrangement of the positioning mechanism and the inserting mechanism, the driving arm can be positioned on the outer wall of the movable arm when the equipment is used, so that an operator can conveniently and quickly install and process the equipment, and through the arrangement of the inserting mechanism, the driving arm can be effectively fixed on the outer contour of the movable arm; and the connecting and fixing effect of the equipment is improved, and after the motor is damaged, an operator can quickly disassemble the driving arm through a rotating rod.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a multifunctional surgical robot auxiliary arm mechanism. Background Art

[0002] Medical devices refer to instruments, equipment, appliances, in vitro diagnostic reagents and calibrators, materials and other similar or related items used directly or indirectly on the human body, including the required computer software. Medical devices can be divided into three categories. The first category refers to those medical devices whose safety and effectiveness can be ensured through routine management. The second category refers to those medical devices that require special control of their safety and effectiveness. The third category refers to those medical devices implanted in the human body to support or maintain life, or are potentially dangerous to the human body, and therefore their safety and effectiveness must be strictly controlled.

[0003] For example, patent announcement number CN208339598U discloses a surgical robot that is easy to install a mechanical arm. The key points of its technical solution are: it includes a base, a column is fixedly connected to the upper surface of the base, a swivel seat is overlapped on the left side of the column, a movable groove is opened on the upper surface of the swivel seat, a rotating block is movably connected inside the movable groove, an adjustment groove is opened on the left side of the column, and a bracket is fixedly connected to the right side of the swivel seat and inside the adjustment groove. The surgical robot that is easy to install a mechanical arm achieves the effect of easy installation of the mechanical arm of the surgical robot through the coordination of the movable arm, the active arm, the motor, the screw, the auxiliary plate, the screw hole, the contact rod, the axis, the swivel, the collar, the first limiting rod, the second limiting rod, the first limiting hole, the second limiting hole, the first fixed groove and the second fixed groove, and solves the problem that the mechanical arm of the existing surgical robot is complicated in installation process, time-consuming and labor-intensive, and inconvenient to install.

[0004] However, when the above-mentioned device is in use, the motor drives the screw rod to descend, so that the screw rod drives the axis, the swivel and the sleeve ring to rotate and descend, thereby inserting the two limit rods into the fixing grooves. When the device is used for a long time, it is very easy to cause the axis or the two limit rods to break, which reduces the connection and fixing effect of the active arm and the movable arm, greatly reducing the service life of the equipment. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes a multifunctional surgical robot auxiliary arm mechanism.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a multifunctional surgical robot auxiliary arm mechanism, including a rotating seat, a mechanical arm body is rotatably connected to the rotating seat, a movable arm is rotatably connected to the end of the mechanical arm body, an active arm is arranged at the bottom of the movable arm, a device cavity is opened at the bottom of the movable arm, a fixed cavity is opened at the top of the active arm, positioning mechanisms are arranged on both sides of the fixed cavity close to the top inner wall, and a plug-in mechanism is arranged at the top of the inner wall of the equipment cavity.

[0007] As a further description of the above technical solution:

[0008] The positioning mechanism comprises positioning grooves opened on both sides of the inner wall of the fixing cavity close to the top, the inner wall of the positioning groove is limitedly slidably connected with a movable rod, and the end of the movable rod is fixedly connected with an adjusting block.

[0009] As a further description of the above technical solution:

[0010] The positioning mechanism also includes a fixing groove opened on the movable arm near the positioning groove, the inner wall of the fixing groove is fixedly connected to a guide rod, the end of the guide rod is slidingly connected to a positioning cylinder, the end of the positioning cylinder away from the guide rod is plugged into the positioning groove, and a reset spring is sleeved on the outer contour of the guide rod.

[0011] As a further description of the above technical solution:

[0012] A first retaining ring is fixedly connected to the middle of the outer contour of the movable rod, a second retaining ring is fixedly connected to the end of the guide rod, and the inner wall of the positioning cylinder is also connected to the second retaining ring limiter.

[0013] As a further description of the above technical solution:

[0014] The plug-in mechanism includes a motor fixedly connected to the top of the inner wall of the equipment cavity, a box body is penetrated at the bottom of the motor output end, and fixed rods fixedly connected to the inner wall of the equipment cavity are arranged on both sides of the box body, and a rotating rod is rotatably connected to the surface of the fixed rod, and a connecting rod is penetrated and connected to the bottom of the box body, and a connecting gear is fixedly connected to the bottom of the connecting rod, and two connecting rods are symmetrically installed on the inner wall of the fixed cavity near the bottom, and sliders are fixedly connected to the ends of the connecting rods, and racks meshing with them are symmetrically arranged on both sides of the connecting gear, and a sliding groove for sliding connection of the slider is opened on the side of the rack away from the connecting gear, and a plug-in groove for plugging the rack is opened on the inner wall of the fixed cavity near the bottom.

[0015] As a further description of the above technical solution:

[0016] The bottom of the motor is penetrated by the box body and fixedly connected with a first bevel gear, the end of the rotating rod is penetrated by the box body and fixedly connected with a second bevel gear, the top of the connecting rod is penetrated by the box body and fixedly connected with a third bevel gear, the side surface of the first bevel gear is meshed with the second bevel gear, and the bottom of the second bevel gear is meshed with the third bevel gear.

[0017] As a further description of the above technical solution:

[0018] The movable arm is provided with a connection hole for rotationally connecting the rotating rod, and the end of the rotating rod is provided with a cross groove.

[0019] The utility model has the following beneficial effects:

[0020] 1. Compared with the prior art, the auxiliary arm mechanism of the multifunctional surgical robot can position the active arm on the outer wall of the movable arm when the equipment is used by means of the positioning mechanism and the plug-in mechanism, so as to facilitate the operator to quickly install the equipment and improve the practical performance of the equipment.

[0021] 2. Compared with the prior art, the auxiliary arm mechanism of the multifunctional surgical robot can effectively fix the active arm on the outer contour of the movable arm through the provided plug-in mechanism, thereby increasing the connection and fixing effect of the equipment. After the motor is damaged, the rotating rod can be used to allow the operator to quickly disassemble the active arm, thereby increasing the maintenance efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a partial cross-sectional structural diagram of the active arm and the movable arm of a multifunctional surgical robot auxiliary arm mechanism proposed in the utility model

[0023] Figure 2 ; This is a schematic diagram of the overall main structure of a multifunctional surgical robot auxiliary arm mechanism proposed in the utility model;

[0024] Figure 3 A multifunctional surgical robot auxiliary arm mechanism proposed by the utility model Figure 2 A schematic diagram of the enlarged structure at point A;

[0025] Figure 4 This is a schematic diagram of the cross-sectional structure of a box body of a multifunctional surgical robot auxiliary arm mechanism proposed by the utility model.

[0026] Legend:

[0027] 1. Rotating seat; 2. Robot arm body; 3. Movable arm; 4. Active arm; 5. Equipment cavity; 6. Fixed cavity; 7. Positioning slot; 8. Movable rod; 9. First retaining ring; 10. Adjusting block; 11. Fixed slot; 12. Guide rod; 13. Positioning cylinder; 14. Second retaining ring; 15. Reset spring; 16. Motor; 17. Box body; 18. Fixed rod; 19. Rotating rod; 20. Connecting rod; 21. Connecting gear; 22. Connecting rod; 23. Slider; 24. Rack; 25. Slide; 26. Plug-in slot; 27. Cross slot; 161. First bevel gear; 191. Second bevel gear; 201. Third bevel gear. DETAILED DESCRIPTION

[0028] 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.

[0029] Reference Figure 1-4 The utility model provides a multifunctional surgical robot auxiliary arm mechanism, including a rotating seat 1, a mechanical arm body 2 is rotatably connected to the rotating seat 1, a movable arm 3 is rotatably connected to the end of the mechanical arm body 2, an active arm 4 is arranged at the bottom of the movable arm 3, an equipment cavity 5 is opened at the bottom of the movable arm 3, a fixed cavity 6 is opened at the top of the active arm 4, positioning mechanisms are arranged on both sides of the fixed cavity 6 close to the top inner wall, and a plug-in mechanism is arranged at the top of the inner wall of the equipment cavity 5. First, the active arm 4 is installed with the movable arm 3 through the fixed cavity 6 opened at the top, and then the positioning mechanism on the active arm 4 is used to enable the operator to perform positioning after the movable arm 3 and the active arm 4 are plugged in. At this time, the plug-in mechanism is used to effectively limit and fix the active arm 4 after the top position, thereby increasing the fixing effect of the equipment.

[0030] The positioning mechanism includes positioning grooves 7 provided on both sides of the inner wall of the fixed cavity 6 near the top, the inner wall of the positioning groove 7 is limitedly connected with a movable rod 8, and the end of the movable rod 8 is fixedly connected with an adjusting block 10. The positioning mechanism also includes a fixing groove 11 provided on the movable arm 3 near the side of the positioning groove 7, the inner wall of the fixing groove 11 is fixedly connected with a guide rod 12, and the end of the guide rod 12 is limitedly connected with a positioning cylinder 13, and the end of the positioning cylinder 13 away from the guide rod 12 is plugged into the positioning groove 7, and a reset spring 15 is sleeved on the outer contour of the guide rod 12. The middle part of the outer contour of the movable rod 8 is fixedly connected with a first retaining ring 9, and the end of the guide rod 12 is fixedly connected with a second retaining ring 14. The inner wall of the positioning cylinder 13 is also connected to the second retaining ring 14. First, the operator pulls the adjusting block 10 outward to drive the movable rod 8 to move outward, and uses the first retaining ring 9 to limit the movable rod 8. At this time, the operator presses the positioning cylinder 13 again to make the fixed The positioning tube 13 moves to the depth of the fixed groove 11, and at the same time, the reset spring 15 is squeezed by the squeezed positioning tube 13, and the second retaining ring 14 is used to move in the positioning tube 13 to guide the reset spring 15 to prevent the reset spring 15 from being deformed or displaced and thus damaged. When the positioning tube 13 completely enters the fixed groove 11, the operator assembles the active arm 4 with the movable arm 3 using the fixed cavity 6 opened at the top thereof, so that the movable arm 3 enters the fixed cavity 6, and then moves the active arm 4 upward. When the active arm 4 moves to the positioning tube 13 pressed by the operator, the operator releases his hand so that the positioning tube 13 is squeezed by the inner wall of the fixed cavity 6, and then continues to move the active arm 4 upward. When the positioning groove 7 opened on the active arm 4 moves to the second retaining ring 14, the elasticity of the squeezed reset spring 15 is used to drive the positioning tube 13 to move into the positioning groove 7. At this time, the positioning process of the active arm 4 is completed.

[0031] The plug-in mechanism includes a motor 16 fixedly connected to the top of the inner wall of the equipment cavity 5, a box body 17 is provided through the bottom of the output end of the motor 16, and fixed rods 18 fixedly connected to the inner wall of the equipment cavity 5 are provided on both sides of the box body 17. The surface of the fixed rod 18 is rotatably connected to a rotating rod 19, and a connecting rod 20 is connected through the bottom of the box body 17. A connecting gear 21 is fixedly connected to the bottom of the connecting rod 20. Two connecting rods 22 are symmetrically installed on the inner wall of the fixed cavity 6 near the bottom, and a slider 23 is fixedly connected to the end of the connecting rod 22 , racks 24 meshing with the connecting gear 21 are symmetrically arranged on both sides, a slide groove 25 for sliding connection of the slider 23 is provided on the side of the rack 24 away from the connecting gear 21, and a plug-in groove 26 for plugging the rack 24 is provided on the inner wall of the fixed cavity 6 near the bottom, the bottom of the motor 16 and the box body 17 penetrate and are fixedly connected with a first bevel gear 161, the end of the rotating rod 19 and the box body 17 penetrate and are fixedly connected with a second bevel gear 191, and the top of the connecting rod 20 and the box body 17 penetrate and are fixedly connected with a third The side of the first bevel gear 161 is meshed with the second bevel gear 191, and the bottom of the second bevel gear 191 is meshed with the third bevel gear 201. The movable arm 3 is provided with a connecting hole for the rotating rod 19 to rotate and connect. The end of the rotating rod 19 is provided with a cross groove 27. When the equipment completes the positioning, the operator starts the motor 16 to drive the first bevel gear 161 to rotate in the box body 17, and then uses the first bevel gear 161 to drive the second bevel gear 191 to rotate. The gear 191 drives the third bevel gear 201 and the connecting rod 20 at the bottom of the third bevel gear 201 to rotate, and the rotating connecting rod 20 drives the connecting gear 21 to rotate, and the connecting gear 21 drives the two racks 24 to move in opposite directions at the same time, so that the slider 23 at the end of the connecting rod 22 slides in the slide groove 25 opened on the rack 24, so that the rack 24 is fixed by the connecting rod 22, so that the rack 24 enters the plug-in groove 26 under the drive of the connecting gear 21 to complete the limiting fixation of the active arm 4.

[0032] Working principle: First, the operator pulls the adjustment block 10 outward to drive the movable rod 8 to move outward, and uses the first retaining ring 9 to limit the movable rod 8. At this time, the operator presses the positioning cylinder 13 again, so that the positioning cylinder 13 moves deep into the fixed groove 11, and at the same time uses the squeezed positioning cylinder 13 to squeeze the reset spring 15, and uses the second retaining ring 14 to move in the positioning cylinder 13 to guide the reset spring 15 to prevent the reset spring 15 from deformation or displacement, thereby causing damage to it. When the positioning cylinder 13 completely enters the fixed groove 11, the operator The active arm 4 is assembled with the movable arm 3 by using the fixed cavity 6 opened on the top thereof, so that the movable arm 3 enters the fixed cavity 6, and then the active arm 4 is moved upward. When the active arm 4 moves to the positioning cylinder 13 pressed by the operator, the operator releases the hand, so that the positioning cylinder 13 is squeezed by the inner wall of the fixed cavity 6, and then the active arm 4 continues to move upward. When the positioning groove 7 opened on the active arm 4 moves to the second retaining ring 14, the elasticity of the squeezed return spring 15 is used to drive the positioning cylinder 13 to move into the positioning groove 7, and at this time, the positioning process of the active arm 4 is completed;

[0033] When the equipment completes positioning, the operator starts the motor 16 to drive the first bevel gear 161 to rotate in the box body 17, and then uses the first bevel gear 161 to drive the second bevel gear 191 to rotate, and the third bevel gear 201 and the connecting rod 20 at the bottom of the third bevel gear 201 are driven to rotate by the rotating second bevel gear 191, and the connecting gear 21 is driven to rotate by the rotating connecting rod 20, and the connecting gear 21 is used to drive the two racks 24 to move in opposite directions at the same time, so that the slider 23 at the end of the connecting rod 22 slides in the slide groove 25 provided on the rack 24, so that the rack 24 is fixed by the connecting rod 22, so that the rack 24 enters the plug-in slot 26 under the drive of the connecting gear 21 to complete the limit fixation of the active arm 4;

[0034] When the active arm 4 needs to be disassembled, the motor 16 is first started to rotate in the reverse direction, so that the motor 16 drives the first bevel gear 161 to rotate in the reverse direction, so that the first bevel gear 161 drives the second bevel gear 191 and the third bevel gear 201 to rotate in the reverse direction. At this time, the connecting rod 20 rotates in the reverse direction to drive the connecting gear 21 to rotate in the reverse direction. At this time, the connecting gear 21 rotates in the reverse direction to drive the rack 24 to move in the reverse direction, and the rack 24 is removed from the plug-in slot 26. After the motor 16 is damaged, the operator uses a cross screwdriver to Rotate the rotating rod 19 in the opposite direction, and drive the second bevel gear 191 to rotate in the opposite direction through the rotating rod 19 that rotates in the opposite direction, and then repeat the above operation again to move the rack 24 out of the plug-in slot 26. After moving out of the plug-in slot 26, the operator presses the adjusting block 10, so that the adjusting block 10 drives the movable rod 8 to move the positioning cylinder 13 engaged in the positioning slot 7 into the fixed slot 11. When the movable rod 8 can no longer move, the operator pulls down the active arm 4. At this time, the operator will remove the active arm 4 from the movable arm 3.

[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional surgical robot auxiliary arm mechanism, comprising a rotating seat (1), characterized in that: A mechanical arm body (2) is rotatably connected to the rotating seat (1), a movable arm (3) is rotatably connected to the end of the mechanical arm body (2), an active arm (4) is arranged at the bottom of the movable arm (3), a device cavity (5) is opened at the bottom of the movable arm (3), a fixed cavity (6) is opened at the top of the active arm (4), positioning mechanisms are arranged on both sides of the fixed cavity (6) close to the top inner wall, and a plug-in mechanism is arranged at the top of the inner wall of the device cavity (5).

2. The multifunctional surgical robot auxiliary arm mechanism according to claim 1, characterized in that: The positioning mechanism comprises positioning grooves (7) provided on both sides of the inner wall of the fixing cavity (6) near the top, the inner wall of the positioning groove (7) is limitedly slidably connected to a movable rod (8), and the end of the movable rod (8) is fixedly connected to an adjustment block (10).

3. The multifunctional surgical robot auxiliary arm mechanism according to claim 2, characterized in that: The positioning mechanism further comprises a fixing groove (11) provided on a side of the movable arm (3) close to the positioning groove (7); a guide rod (12) is fixedly connected to the inner wall of the fixing groove (11); a positioning cylinder (13) is limitedly slidably connected to the end of the guide rod (12); an end of the positioning cylinder (13) away from the guide rod (12) is plugged into the positioning groove (7); and a return spring (15) is sleeved on the outer contour of the guide rod (12).

4. The multifunctional surgical robot auxiliary arm mechanism according to claim 3, characterized in that: A first retaining ring (9) is fixedly connected to the middle of the outer contour of the movable rod (8), a second retaining ring (14) is fixedly connected to the end of the guide rod (12), and the inner wall of the positioning tube (13) is also connected to the second retaining ring (14) for limiting.

5. The multifunctional surgical robot auxiliary arm mechanism according to claim 1, characterized in that: The plug-in mechanism comprises a motor (16) fixedly connected to the top of the inner wall of the equipment cavity (5); a box body (17) is provided through the bottom of the output end of the motor (16); fixed rods (18) fixedly connected to the inner wall of the equipment cavity (5) are provided on both sides of the box body (17); a rotating rod (19) is rotatably connected to the surface of the fixed rod (18); a connecting rod (20) is connected through the bottom of the box body (17); and a connecting gear (20) is fixedly connected to the bottom of the connecting rod (20). 1), two connecting rods (22) are symmetrically installed on the inner wall of the fixed cavity (6) near the bottom, and the ends of the connecting rods (22) are fixedly connected with sliders (23), and racks (24) meshing with the connecting gear (21) are symmetrically arranged on both sides of the connecting gear (21), and a sliding groove (25) for sliding connection of the slider (23) is provided on the side of the rack (24) away from the connecting gear (21), and a plug-in groove (26) for plugging the rack (24) is provided on the inner wall of the fixed cavity (6) near the bottom.

6. The multifunctional surgical robot auxiliary arm mechanism according to claim 5, characterized in that: The bottom of the motor (16) and the box body (17) are penetrated by a first bevel gear (161) and fixedly connected thereto; the end of the rotating rod (19) and the box body (17) are penetrated by a second bevel gear (191) and fixedly connected thereto; the top of the connecting rod (20) and the box body (17) are penetrated by a third bevel gear (201) and fixedly connected thereto; the side surface of the first bevel gear (161) is meshingly connected to the second bevel gear (191); and the bottom of the second bevel gear (191) is meshingly connected to the third bevel gear (201).

7. The multifunctional surgical robot auxiliary arm mechanism according to claim 6, characterized in that: The movable arm (3) is provided with a connection hole for rotationally connecting the rotating rod (19), and the end of the rotating rod (19) is provided with a cross groove (27).

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