Two-shaft cantilever type 90-degree manipulator structure used in medical industry

Abstract

The utility model relates to the technical field of medical machinery, in particular to a two-shaft cantilever type 90-degree manipulator structure used in the medical industry, which comprises a box body, a sliding plate is slidably connected in the box body, the bottom of the sliding plate is fixedly connected with rotating seats A which are symmetrically arranged, a sliding chute is arranged on the bottom surface in the box body, and the rotating seats A are fixedly connected with the sliding chute. A sliding groove is formed in the bottom of the sliding plate, a sliding block is slidably connected into the sliding groove, a rotating seat B is fixedly connected to the top of the sliding block, the rotating seat A and the rotating seat B are rotationally connected through a connecting rod, and a plurality of sets of damping springs are fixedly connected to the two ends of the bottom of the sliding plate. Height adjustment and overturning operation of the clamping jaws are achieved, adaptability and flexibility are enhanced, stable clamping and safe carrying of workpieces are ensured through the synergistic effect of the vacuum pump and the intelligent sensor, meanwhile, damage to the workpieces is avoided, and operation stability and safety are improved.

Description

Technical Field

[0001] This utility model relates to the field of medical machinery technology, and in particular to a two-axis cantilever 90-degree robotic arm structure used in the medical industry. Background Technology

[0002] As an important component of modern medical technology, medical robotic arms are receiving widespread attention globally for their research and application. They can not only replace medical personnel in performing repetitive and labor-intensive tasks, but also improve the precision and safety of surgeries to a certain extent. With technological advancements, the application scope of medical robotic arms has gradually expanded from initial rehabilitation assistance to multiple fields such as surgery, diagnosis, and treatment.

[0003] Current robotic arms simply lift objects by clamping them from both sides. During the handling process, the objects inevitably slide down due to gravity. If the objects fall, they will inevitably be damaged, resulting in low work efficiency for the robotic arms.

[0004] In view of this, this paper studies and improves the existing problems, and provides a two-axis cantilever 90-degree robotic arm structure for use in the medical industry. This solves the problem that the clamped object is prone to slipping due to gravity in the process of handling in the existing clamping device. The aim of this technology is to solve the problem and improve its practical value. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a two-axis cantilever 90-degree robotic arm structure for use in the medical industry. This invention achieves height adjustment and flipping operation of the gripper through drive motor, rotary motor and reducer control, enhancing adaptability and flexibility. The synergistic effect of vacuum pump and intelligent sensor ensures stable clamping and safe handling of workpieces, while avoiding damage to workpieces and improving operational stability and safety.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a two-axis cantilever 90-degree robotic arm structure for use in the medical industry, including a raised base and a main arm. The main arm is disposed on one side of the raised base. A cylinder is fixedly installed at the bottom of the raised base. A piston A is slidably connected inside the cylinder. A piston rod is fixedly connected to the bottom of the piston A. A shell is fixedly connected to the bottom of the cylinder. Sliding grooves are provided on both sides of the top of the shell. A slider is slidably connected inside the sliding groove. A connecting plate is fixedly connected to one side of the slider. Sliding rails are fixedly connected to both sides of the bottom of the shell. A rack A is slidably connected inside the sliding rail. The upper surface of the rack A... The meshing connection includes a missing gear, with a rotating shaft fixedly connected through its center. The rotating shaft is rotatably connected to the inner wall of the outer shell via a bearing. A vertical rod is fixedly connected to the bottom of the connecting plate, and the vertical rod is rotatably connected to the rotating shaft via a connecting rod. A vacuum pump is fixedly installed on the surface of the raised base, and the vacuum pump is fixedly connected to the cylinder via a gas supply pipe. An air extraction pipe is fixedly installed inside the outer shell. A transmission rod is fixedly connected to the bottom of the connecting plate, and a piston B is fixedly connected to one end of the transmission rod that extends into the air extraction pipe. A suction cup is fixedly connected to the bottom of the air extraction pipe. A clamping claw is fixedly connected to the bottom of the rack A, and a sensing mechanism is provided inside the clamping claw.

[0007] Preferably, a return spring is sleeved on the outer side of the piston rod, the top end of the return spring is fixedly connected to the bottom of the piston A, and the bottom end of the return spring is fixedly connected to the bottom of the cylinder.

[0008] Preferably, the sensing mechanism includes a sensor and a guide rod. The gripper has an internal mounting groove. The sensor is fixedly mounted inside the mounting groove. The guide rod is embedded inside the mounting groove. A spring seat is fixedly connected inside the mounting groove. The spring seat is connected to the guide rod.

[0009] Preferably, multiple sets of anti-slip strips are fixedly installed on the surface of the gripping claw.

[0010] Preferably, the sensor is electrically connected to the vacuum pump via a wire.

[0011] Preferably, the main arm has symmetrically arranged guide rails fixedly mounted on its surface, a rotary motor and a drive motor are slidably connected to the surface of the guide rails, a helical gear is fixedly mounted on the output end of the drive motor through a reducer, and a rack B is fixedly connected to the inner side of the guide rails, with the helical gear meshing with the rack B.

[0012] Preferably, anti-collision blocks are fixedly installed at the top and bottom of one side of the main arm, and the surface of the anti-collision blocks is provided with rubber pads.

[0013] This utility model has the following beneficial effects:

[0014] This invention relates to a two-axis cantilever 90-degree robotic arm structure for use in the medical industry. Through the cooperation of a drive motor and a reducer, the rotational motion of the helical gears is converted into linear motion, allowing for easy adjustment of the gripper height and improving the robotic arm's adaptability to different medical environments. The rotary motor can rotate 90 degrees according to the control system's instructions, enabling the gripper to flip, significantly increasing the robotic arm's working range and operational flexibility. The coordinated operation of a vacuum pump, piston rod, and slider achieves stable clamping of medical workpieces. Simultaneously, the cooperation of sensors and a microprocessor control system intelligently controls the clamping force to prevent workpiece damage. The suction cup, provided by the vacuum pump, stably transports medical workpieces, improving stability and safety during transport. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a two-axis cantilever 90-degree robotic arm structure for use in the medical industry, as proposed in this utility model.

[0016] Figure 2 This is a schematic cross-sectional view of a two-axis cantilever 90-degree robotic arm structure for use in the medical industry proposed in this utility model.

[0017] Figure 3 This is an enlarged structural diagram of part A of a two-axis cantilever 90-degree robotic arm structure for use in the medical industry proposed in this utility model.

[0018] Figure 4 This is an enlarged structural diagram of part B of a two-axis cantilever 90-degree robotic arm structure for use in the medical industry proposed in this utility model.

[0019] Figure 5 This is a schematic diagram of the main arm structure of a two-axis cantilever 90-degree robotic arm structure for use in the medical industry, as proposed in this utility model.

[0020] Legend:

[0021] 1. Elevating seat; 2. Main boom; 3. Cylinder body; 4. Piston A; 5. Piston rod; 6. Return spring; 7. Housing; 8. Slide groove; 9. Slider; 10. Connecting plate; 11. Slide rail; 12. Rack A; 13. Gear missing; 14. Rotating shaft; 15. Vertical rod; 16. Connecting rod; 17. Vacuum pump; 18. Evacuation pipe; 19. Transmission rod; 20. Piston B; 21. Suction cup; 22. Clamping claw; 23. Mounting slot; 24. Sensor; 25. Guide rod; 26. Spring seat; 27. Guide rail; 28. Rotary motor; 29. ​​Drive motor; 30. Helical gear; 31. Rack B. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0024] Reference Figure 1-5A two-axis cantilever 90-degree robotic arm structure for use in the medical industry includes a raised base 1 and a main arm 2. The main arm 2 is located on one side of the raised base 1. A cylinder 3 is fixedly installed at the bottom of the raised base 1. A piston A4 is slidably connected inside the cylinder 3. A piston rod 5 is fixedly connected to the bottom of the piston A4. A shell 7 is fixedly connected to the bottom of the cylinder 3. Slide grooves 8 are provided on both sides of the top of the shell 7. A slider A9 is slidably connected inside the slide grooves 8. A connecting plate 10 is fixedly connected to one side of the slider A9. Slide rails 11 are fixedly connected to both sides of the bottom of the shell 7. A rack A12 is slidably connected, and a missing gear 13 is meshed on the upper surface of the rack A12. A rotating shaft 14 is fixedly connected through the center of the missing gear 13. The rotating shaft 14 is rotatably connected to the inner wall of the outer shell 7 through a bearing. A vertical rod 15 is fixedly connected to the bottom of the connecting plate 10. The vertical rod 15 and the rotating shaft 14 are rotatably connected through a connecting rod 16. A vacuum pump 17 is fixedly installed on the surface of the raised seat 1. The vacuum pump 17 is fixedly connected to the cylinder 3 through a gas supply pipe. An air extraction pipe 18 is fixedly installed inside the outer shell 7. A transmission rod 19 is fixedly connected to the bottom of the connecting plate 10. A piston B20 is fixedly connected to one end of rod 19 that extends into the interior of suction pipe 18. A suction cup 21 is fixedly connected to the bottom of suction pipe 18. A clamping claw 22 is fixedly connected to the bottom of rack A12. A sensing mechanism is installed inside the clamping claw 22. When material needs to be clamped, vacuum pump 17 is activated, evacuating the interior of cylinder 3. This causes piston rod 5 to move piston A4 upwards. Piston rod 5, through the action of slider A9, moves connecting plate 10 upwards synchronously, causing both vertical rods 15 to move upwards together. The transmission via connecting rod 16 allows for the adjustment of the clamping mechanism. When gear 13 rotates, the meshing connection between gear 13 and rack A12 allows both racks A12 to move the gripping claws 22 inward together, thereby clamping the medical workpiece. Simultaneously, as the connecting plate 10 moves upward, it also moves the transmission rod 19 upward, causing the transmission rod 19 to drive the piston B20 to create a vacuum on the suction cup 21. This allows the suction cup 21 to be precisely adsorbed onto the surface of the workpiece, enabling the gripping claws 22 to stably transport the medical workpiece during medical operations and improving the stability of the collaborative gripping.

[0025] Specifically, a return spring 6 is sleeved on the outer side of the piston rod 5. The top end of the return spring 6 is fixedly connected to the bottom of the piston A4, and the bottom end of the return spring 6 is fixedly connected to the bottom of the cylinder 3. The return spring 6 can provide a stable restoring force for the piston A4, ensuring that the piston A4 can accurately return to the predetermined position after each action, thereby enhancing the stability and reliability of the robot operation.

[0026] Specifically, the sensing mechanism includes a sensor 24 and a guide rod 25. The gripper 22 has an internal mounting groove 23. The sensor 24 is fixedly installed inside the mounting groove 23, and the guide rod 25 is embedded inside the mounting groove 23. A spring seat 26 is fixedly connected inside the mounting groove 23 and is connected to the guide rod 25. When clamping an object, the object will squeeze the guide rod 25, causing the guide rod 25 to come into contact with the sensor 24. After the sensor 24 detects the signal, it will send an electrical signal. This signal is transmitted to the microprocessor control system. After receiving the signal, the control system will send a control command to the vacuum pump 17 according to the preset program. After receiving the control command, the vacuum pump 17 stops working, thereby avoiding excessive clamping force that could damage the material by the gripper 22.

[0027] Specifically, multiple anti-slip strips are fixedly installed on the surface of the gripper 22. The anti-slip strips can increase the friction between the gripper 22 and the object being transported, preventing the object from slipping during transport. They are especially suitable for objects with smooth or slippery surfaces.

[0028] Specifically, the sensor 24 is electrically connected to the vacuum pump 17 via a wire. Through this electrical connection, the sensor 24 can precisely control the opening and closing of the vacuum pump 17, thereby achieving precise control over the adsorption and release functions of the gripper 22.

[0029] Specifically, symmetrically arranged guide rails 27 are fixedly mounted on the surface of the main arm 2. A rotary motor 28 and a drive motor 29 are slidably connected to the surface of the guide rails 27. A helical gear 30 is fixedly mounted on the output end of the drive motor 29 through a reducer. A rack B31 is fixedly connected to the inner side of the guide rails 27. The helical gear 30 and the rack B31 mesh with each other. By starting the drive motor 29, the drive motor 29 reduces the speed and increases the output torque through the reducer, thereby driving the rotational motion of the helical gear 30 to be converted into linear motion through the rack B31. A moving block is mounted on the guide rail 27. The helical gear 30, which meshes with the rack B31, drives the moving block to move up and down along the guide rail 27, thereby facilitating the adjustment of the working height of the gripper 22 and improving the applicability of the structure. By starting the rotary motor 28, a 90-degree rotational motion is performed according to the control system command, thereby driving the gripper 22 to perform a flipping operation, thus providing a larger working range and higher operational flexibility.

[0030] Specifically, anti-collision blocks are fixedly installed on the top and bottom of one side of the main arm 2. The surface of the anti-collision blocks is covered with rubber pads. The anti-collision blocks are used to determine the movement limit position of the robot arm and ensure that the robot arm will not exceed the predetermined range during operation, thereby improving the accuracy and safety of operation. The rubber pads can absorb the impact and vibration generated by the robot arm during movement and protect the robot arm structure from damage.

[0031] Working principle: By starting the drive motor 29, the drive motor 29 reduces the speed and increases the output torque through the reducer, thereby driving the rotational motion of the helical gear 30 to be converted into linear motion through the rack B31. A moving block is mounted on the guide rail 27. The helical gear 30, which meshes with the rack B31, drives the moving block to move up and down along the guide rail 27, thereby facilitating the adjustment of the working height of the clamping claw 22 and improving the applicability of the structure. By starting the rotary motor 28, a 90-degree rotation is performed according to the control system command, thereby driving the clamping claw 22 to perform a flipping operation, thus providing a larger working range and higher operational flexibility. When it is necessary to clamp materials, by starting the vacuum pump 17, the vacuum pump 17 evacuates the inside of the cylinder 3, causing the piston rod 5 to drive the piston A4 to move upward. Thus, the piston rod 5 drives the connecting plate 10 to move upward synchronously through the action of the slider A9, so that the two vertical rods 15 move upward together. Through the transmission of the connecting rod 16, the missing gear 13 can be rotated. The meshing connection between gear 13 and rack A12 allows the two racks A12 to move the gripping claws 22 inward together, thereby clamping the medical workpiece. Simultaneously, as the connecting plate 10 moves upward, it also moves the transmission rod 19 upward, causing the transmission rod 19 to drive the piston B20 to create a vacuum on the suction cup 21. This allows the suction cup 21 to accurately adhere to the surface of the workpiece, enabling the gripping claws 22 to stably transport the medical workpiece during medical operations and improving the stability of the collaborative gripping. When clamping an object, the object will squeeze the guide rod 25, causing the guide rod 25 to come into contact with the sensor 24. After detecting the signal, the sensor 24 will send an electrical signal, which is transmitted to the microprocessor control system. Upon receiving the signal, the control system will send a control command to the vacuum pump 17 according to the preset program. Upon receiving the control command, the vacuum pump 17 will stop working, thus preventing excessive clamping force from damaging the material by the gripping claws 22.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A two-axis cantilever 90-degree robotic arm structure for use in the medical industry, comprising a raised base (1) and a main arm (2), characterized in that: The main arm (2) is set on one side of the heightening seat (1). A cylinder (3) is fixedly installed at the bottom of the heightening seat (1). A piston A (4) is slidably connected inside the cylinder (3). A piston rod (5) is fixedly connected to the bottom of the piston A (4). A shell (7) is fixedly connected to the bottom of the cylinder (3). Slide grooves (8) are opened on both sides of the top of the shell (7). A slider (9) is slidably connected inside the slide grooves (8). A connecting plate (10) is fixedly connected to one side of the slider (9). A slide rail (11) is fixedly connected to both sides of the bottom of the shell (7). A rack A (12) is slidably connected inside the slide rail (11). A missing gear (13) is meshed on the upper surface of the rack A (12). A rotating shaft (14) is fixedly connected through the center of the missing gear (13). The rotating shaft (14) is rotatably connected to the inner wall of the outer shell (7) through a bearing. A vertical rod (15) is fixedly connected to the bottom of the connecting plate (10). The vertical rod (15) and the rotating shaft (14) are rotatably connected through a connecting rod (16). A vacuum pump (17) is fixedly installed on the surface of the raised seat (1). The vacuum pump (17) and the cylinder (3) are fixedly connected through a gas supply pipe. An air extraction pipe (18) is fixedly installed inside the outer shell (7). A transmission rod (19) is fixedly connected to the bottom of the connecting plate (10). A piston B (20) is fixedly connected to one end of the transmission rod (19) that passes through the air extraction pipe (18). A suction cup (21) is fixedly connected to the bottom of the air extraction pipe (18). A clamping claw (22) is fixedly connected to the bottom of the rack A (12). A sensing mechanism is provided inside the clamping claw (22).

2. The two-axis cantilever 90-degree robotic arm structure for use in the medical industry according to claim 1, characterized in that: A return spring (6) is sleeved on the outside of the piston rod (5). The top end of the return spring (6) is fixedly connected to the bottom of the piston A (4), and the bottom end of the return spring (6) is fixedly connected to the bottom of the cylinder (3).

3. The two-axis cantilever 90-degree robotic arm structure for use in the medical industry according to claim 1, characterized in that: The sensing mechanism includes a sensor (24) and a guide rod (25). The gripper (22) has an installation groove (23) inside. The sensor (24) is fixedly installed inside the installation groove (23). The guide rod (25) is embedded in the installation groove (23). A spring seat (26) is fixedly connected inside the installation groove (23). The spring seat (26) is connected to the guide rod (25).

4. The two-axis cantilever 90-degree robotic arm structure for use in the medical industry according to claim 1, characterized in that: Multiple anti-slip strips are fixedly installed on the surface of the gripper (22).

5. The two-axis cantilever 90-degree robotic arm structure for use in the medical industry according to claim 1, characterized in that: The sensor (24) is electrically connected to the vacuum pump (17) via a wire.

6. The two-axis cantilever 90-degree robotic arm structure for use in the medical industry according to claim 1, characterized in that: The main arm (2) is fixedly mounted with symmetrically arranged guide rails (27). A rotary motor (28) and a drive motor (29) are slidably connected to the surface of the guide rails (27). A helical gear (30) is fixedly mounted on the output end of the drive motor (29) through a reducer. A rack B (31) is fixedly connected to the inner side of the guide rails (27). The helical gear (30) and the rack B (31) mesh with each other.

7. The two-axis cantilever 90-degree robotic arm structure for use in the medical industry according to claim 1, characterized in that: Anti-collision blocks are fixedly installed on the top and bottom of one side of the main arm (2), and rubber pads are provided on the surface of the anti-collision blocks.

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