A robot hand bone needle gripper

Abstract

The utility model relates to a robot hand bone needle clamp, a six-axis robot swing arm at the rear end of a fixed cylinder, a front end of a fixed cylinder plugging the rear end of a clamping column through a square clamping installation hole of a flange seat, and a clamping column comprising two square semi-clamping columns of a carbon fiber structure that are symmetrical on both sides, a plurality of clamping needle grooves along the axial direction of the clamping column are symmetrically arranged on the splicing plane of the front parts of the two square semi-clamping columns, two or more clamping column front fixing screw holes and one clamping column rear fixing screw hole perpendicular to the splicing plane of the two square semi-clamping columns are respectively arranged at the front and rear parts of the two square semi-clamping columns, at least two of the two or more clamping column front fixing screw holes are arranged at the front and rear positions of all the clamping needle grooves in the axial direction, the sizes of the plurality of clamping needle grooves are the same or different, a needle spring fixing screw is inserted into the clamping column front fixing screw holes of the two square semi-clamping columns, and a clamping column spring fixing screw is inserted into the front fixing hole and the clamping column rear fixing screw holes. The utility model has a simple structure, is conducive to rapid assembly, stable clamping, meets the clamping use of needle bodies of multiple specifications, and is convenient for X-ray operation monitoring.

Description

Technical Field

[0001] The utility model relates to the field of medical equipment, in particular to a robot hand bone needle clamp. Background Art

[0002] With the development of medical technology, more and more medical surgeries are gradually becoming popular with robot operations. For example, in existing fracture prying and reduction surgeries, a six-axis robot with a splint is used to clamp the bone needle. The stability of the splint is poor, and the needle is easily offset or falls off during needle insertion, thus causing surgical accidents. In addition, the metal structure of the splint blocks X-rays, which is not conducive to accurate real-time X-ray operation monitoring. Summary of the invention

[0003] The utility model provides a robot hand-claw bone needle clamp which has a simple structure, is conducive to rapid assembly, stably clamps, meets the clamping use of needle bodies of multiple specifications and is convenient for X-ray operation monitoring.

[0004] The technical solution adopted by the utility model is: a robot hand bone needle clamp, characterized in that it includes a fixing tube and a clamping column, a fixing port is arranged at the rear end of the fixing tube, the fixing port is connected to the swing arm of the six-axis robot, the front end surface of the fixing tube is connected to the flange end surface of the flange seat, a square clamping installation hole is arranged at the front end of the flange neck of the flange seat, front fixing holes are arranged on both sides of the square clamping installation hole at the flange neck of the flange seat, the rear end of the clamping column is inserted into the square clamping installation hole, the clamping column includes two square semi-clamping columns with carbon fiber structures that are symmetrical on the left and right, and the front parts of the two square semi-clamping columns are assembled A plurality of clamping needle grooves along the axial direction of the clamping column are symmetrically arranged on the connecting plane, and more than two clamping column front fixing screw holes and one clamping column rear fixing screw hole perpendicular to the joint plane of the two square half-clamping columns are respectively arranged at the front and rear parts of the two square half-clamping columns. At least two of the more than two clamping column front fixing screw holes are arranged at the front and rear positions of all the clamping needle grooves in the axial direction. The sizes of the plurality of clamping needle grooves are the same or different. Needle spring fixing screws are passed through the front fixing screw holes of the clamping columns of the two square half-clamping columns, and clamping column spring fixing screws are passed through the front fixing holes and the rear fixing screw holes of the clamping columns.

[0005] Furthermore, more than two rear fixing holes are arranged around the circumference on the outer wall of the rear end of the fixing tube, and fixing screws are passed through the rear fixing holes to connect to the swing arm of the six-axis robot.

[0006] Furthermore, the two square semi-clamping columns are provided with a clamping column front fixing screw hole between each or more than two clamping needle grooves.

[0007] Furthermore, the main body of the needle spring fixing screw and the main body of the clamping column spring fixing screw are made of carbon fiber material.

[0008] Furthermore, the needle spring fixing screw and the clamping column spring fixing screw are made of carbon fiber material.

[0009] Furthermore, the fixing cylinder is a stainless steel structure.

[0010] Furthermore, the flange seat is locked and connected to the front end surface of the fixing tube through a circle of multiple screws passing through the flange holes in the axial direction of the fixing tube.

[0011] Furthermore, the flange seat is a stainless steel structure.

[0012] Furthermore, the front fixing screw hole of the clamping column arranged at the rear position of all the clamping needle grooves in the axial direction is arranged in front of the rear fixing screw hole of the clamping column at the rear part of the square half-clamping column.

[0013] The beneficial effects of the utility model are:

[0014] 1. The rear end of the fixing tube is connected to the six-axis robot swing arm, and the fixing screws are inserted through the rear fixing holes on its outer periphery to lock it, ensuring a firm connection while facilitating assembly and replacement; the flange surface of the flange seat is locked and connected to the front end of the fixing tube, which is convenient for replacing flange seats of different specifications, meeting the plug-in use of clamping columns of different specifications and expanding the scope of use;

[0015] 2. The flange seat is inserted with two square half-clamping columns through the square clamping installation hole, and the front fixing hole on the outer side corresponds to the rear fixing screw hole of the clamping column of the two square half-clamping columns, and the clamping column spring fixing screw is inserted to lock it, ensuring that the clamping column is firmly connected. The clamping column spring fixing screw is used to facilitate locking assembly and replacement, ensuring that the locking is not loose; the square clamping column spliced ​​by two square half-clamping columns is easy to grasp, effectively avoiding the sliding of the circular column structure, and helping to stabilize the clamping operation after grasping;

[0016] 3. A flat handrail structure is set at the front end of the fixed tube, which is convenient for operators to hold and can meet the manual adjustment of manual intervention in automated operations. Combined with the anti-slip structure on its flat surface, it effectively ensures stable installation operation;

[0017] 4. There are multiple needle clamping grooves on the joint plane of the two square semi-clamping columns. The sizes of the needle clamping grooves can be set to be the same or different, which can meet the clamping of bone needles of the same or different specifications without replacing the clamper. The front fixing screw holes of the clamping column are set in front and behind the multiple needle clamping grooves. The front fixing screw holes of the clamping column are set in front and behind any needle clamping groove, and the needle spring fixing screws are connected. This can meet the clamping requirements when clamping bone needles on needle clamping grooves of different specifications and sizes. The needle spring fixing screws use carbon fiber structure spring screws, which are convenient for fast and firm locking assembly and meet the requirements of real-time X-ray. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 2 for Figure 1 A top view of

[0020] In the figure: fixing cylinder 1, fixing mouth 2, rear fixing hole 3, fixing screw 4, flange seat 5, flange neck 6, square clamping mounting hole 7, front fixing hole 8, clamping column spring fixing screw 9, square semi-clamping column 10, clamping needle groove 11, clamping column front fixing screw hole 12, clamping column rear fixing screw hole 13, needle spring fixing screw 14. DETAILED DESCRIPTION

[0021] The following is a further description with reference to the accompanying drawings.

[0022] Figure 1-2 As shown: A robot hand bone needle clamp comprises a fixing cylinder 1, a fixing screw 4, a clamping column spring fixing screw 9, a square semi-clamping column 10, a clamping column front fixing screw hole 12, a clamping column rear fixing screw hole 13 and a needle spring fixing screw 14. A fixing port 2 is arranged at the rear end of the fixing cylinder 1, and more than two rear fixing holes 3 are arranged around the circumference on the outer wall of the rear end of the fixing cylinder 2, and the rear fixing hole 3 is connected with the fixing screw 4 to connect to the swing arm of the six-axis robot.

[0023] The front of the fixing tube 1 is connected to the flange end face of the flange seat 5 by screw locking, and a square clamping mounting hole 7 is opened forward on the flange neck 6 at the front end of the flange seat 5, and front fixing holes 8 are opened on both sides of the square clamping mounting hole 7 at the front end of the flange neck 6. Two square semi-clamping columns 10 symmetrically connected to each other form an integral clamping column. The square semi-clamping column 10 is a carbon fiber structure, and the rear end of the integral clamping column is inserted into the square clamping mounting hole 7. A plurality of clamping needle grooves 11 along the axial direction of the clamping column are symmetrically arranged on the splicing plane at the front of the two square semi-clamping columns 10. The sizes of the plurality of clamping needle grooves are the same or different. The front and rear parts of the two square semi-clamping columns 10 are respectively arranged perpendicular to the two square There are two or more clamping column front fixing screw holes 12 and one clamping column rear fixing screw hole 13 on the splicing plane of the square half-clamping column, and the clamping column spring fixing screws 9 are passed through the front fixing hole 8 and the clamping column rear fixing screw hole 13 to lock the connection between the two square half-clamping columns 10 and the fixing tube 1, at least two of the two or more clamping column front fixing screw holes 12 are arranged at the front and rear positions of all clamping needle grooves in the axial direction, and the clamping column front fixing screw holes arranged in the axial rear position of all clamping needle grooves are arranged in front of the clamping column rear fixing screw hole 13 at the rear part of the square half-clamping column, and the needle spring fixing screws 14 are passed through the clamping column front fixing screw holes 12 of the two square half-clamping columns 10.

[0024] In this embodiment, the clamping column spring fixing screw and the needle spring fixing screw can be selected as carbon fiber screws.

[0025] On the basis of this embodiment, three clamping column front fixing screw holes 12 are respectively located at the front and rear positions and the middle position of all the clamping needle grooves to improve the clamping process. On this basis, according to the clamping specifications, each or more than two clamping needle grooves can be set with clamping column front fixing screw holes.

Claims

1. A robot hand bone needle holder, characterized in that: The invention comprises a fixing cylinder and a clamping column, a fixing port is arranged at the rear end of the fixing cylinder, the fixing port is connected to the swing arm of the six-axis robot, the front end face of the fixing cylinder is connected to the flange end face of the flange seat, a square clamping mounting hole is arranged at the front end of the flange neck of the flange seat, and front fixing holes are arranged on both sides of the square clamping mounting hole at the flange neck of the flange seat, and the rear end of the clamping column is inserted into the square clamping mounting hole, the clamping column comprises two square semi-clamping columns with carbon fiber structure which are symmetrical on the left and right, a plurality of clamping needle grooves along the axial direction of the clamping column are symmetrically arranged on the splicing plane of the front parts of the two square semi-clamping columns, and more than two clamping column front fixing screw holes and one clamping column rear fixing screw hole which are perpendicular to the splicing plane of the two square semi-clamping columns are respectively arranged at the front and rear parts of the two square semi-clamping columns, at least two of the more than two clamping column front fixing screw holes are arranged at the front and rear positions of all the clamping needle grooves in the axial direction, and the sizes of the multiple clamping needle grooves are the same or different, a needle spring fixing screw is passed through the front fixing screw hole of the clamping column of the two square semi-clamping columns, and a clamping column spring fixing screw is passed through the front fixing hole and the rear fixing screw hole of the clamping column.

2. The robot hand bone needle holder according to claim 1, characterized in that: More than two rear fixing holes are arranged around the circumference on the rear end outer wall of the fixing cylinder, and the rear fixing holes are connected with fixing screws to connect with the swing arm of the six-axis robot.

3. The robot hand bone needle holder according to claim 1, characterized in that: The two square semi-clamping columns are provided with clamping column front fixing screw holes between each or more than two clamping needle grooves.

4. The robot hand bone needle holder according to claim 1, characterized in that: The main parts of the needle spring fixing screw and the main parts of the clamping column spring fixing screw are made of carbon fiber material.

5. The robot hand bone needle holder according to claim 1, characterized in that: The needle spring fixing screw and the clamping column spring fixing screw are made of carbon fiber material.

6. A robot hand bone needle holder according to claim 1 or 2, characterized in that: The fixing cylinder is made of stainless steel.

7. The robot hand bone needle holder according to claim 1, characterized in that: The flange seat is locked and connected to the front end surface of the fixing tube through a circle of multiple screws passing through the flange holes in the axial direction of the fixing tube.

8. A robot hand bone needle holder according to claim 1, 2 or 7, characterized in that: The flange seat is a stainless steel structure.

9. The robot hand bone needle holder according to claim 1, characterized in that: The front fixing screw hole of the clamping column arranged at the rear position of all the clamping needle grooves in the axial direction is arranged in front of the rear fixing screw hole of the clamping column at the rear part of the square half clamping column.

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