Mechanical arm reference frame fixer

Abstract

The utility model discloses a mechanical arm reference frame fixer, which relates to the technical field of surgical instruments, and comprises a fixer and a mechanical arm fixedly arranged at the top of the fixer, a circular plate is fixedly arranged at the side part of the fixer, a rotating rod is rotatably arranged at the side parts of the circular plate and the fixer in a penetrating manner, and a cam is fixedly sleeved at one end of the rotating rod in the fixer; an elastic telescopic rod is fixedly arranged at the top of the inner wall of the fixator, a clamping plate is fixedly arranged through the elastic telescopic rod, the cam is in contact fit with the top of the clamping plate, the end, located on the outer side of the fixator, of the rotating rod is fixedly sleeved with a rotating plate, and the end of the rotating plate is provided with a torsion separation mechanism and provided with a driving rod through the torsion separation mechanism. A plurality of one-way limiting assemblies which are symmetrically arranged in a surrounding mode are arranged on the outer side of the circular plate. According to the mechanical arm, the clamping plate can be pushed by driving the cam, so that the clamping plate can be quickly fixed to the edge of a sickbed in cooperation with a fixator, meanwhile, the position of the cam can be quickly fixed, and the fixing convenience of the mechanical arm is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical instruments technical field, concretely relates to mechanical arm reference frame fixer. BACKGROUND

[0002] Mechanical arm reference frame is the structure frame that provides reference for the motion control and positioning of mechanical arm, it is a fixed reference coordinate system, the position, posture and so on parameters of each joint and end effector of mechanical arm are determined relative to this reference frame, and the existing medical limb fixing mechanical arm needs the bottom fixer to fix the reference frame and overall mechanical arm when using, and the general fixing frame is usually fixed with the side of sickbed, and the commonly used locking mode is through the rotation of screw rod to drive the clamping block to clamp, and the clamping block needs to rotate screw rod and the like drive assembly for many times when contacting with the sickbed, so that the overall clamping and fixing operation is more cumbersome, and the fixing convenience of mechanical arm is reduced.

[0003] Therefore, we propose mechanical arm reference frame fixer to solve the above problems. CONTENT OF THE UTILITY MODEL

[0004] In view of the above problems existing in the prior art mechanical arm reference frame fixer, the utility model is proposed.

[0005] Therefore, the utility model aims at providing mechanical arm reference frame fixer, solves the problem that the overall operation is more cumbersome when the mechanical arm is fixed with the side of sickbed, and cannot be quickly disassembled and assembled.

[0006] In order to realize the above purpose, the utility model provides the following technical scheme:

[0007] Mechanical arm reference frame fixer, including fixer and fixed mechanical arm in the top of the fixer, the side of the fixer is fixed with round plate, the side of the round plate and fixer is rotatably provided with rotating rod, one end of the rotating rod in the interior of the fixer is fixedly provided with cam, the inner wall top of the fixer is fixedly provided with elastic telescopic rod, and the clamping plate is fixedly provided through the elastic telescopic rod, the cam is in contact with the top of the clamping plate;

[0008] One end of the rotating rod outside the fixer is fixedly provided with rotating plate, the end of the rotating plate is provided with torsion separation mechanism, and the driving rod is provided through the torsion separation mechanism, the outside of the round plate is provided with a plurality of unidirectional limiting components that are symmetrically arranged in a ring, and the driving rod is arranged between two adjacent unidirectional limiting components.

[0009] Preferably, the one-way limiting component comprises a limiting block sliding through the interior of the circular plate, a connecting plate fixed to the side wall of the limiting block, a fixing rod sliding through the interior of the connecting plate, the fixing rod being fixedly connected with the circular plate, a spring sleeved on the rod wall of the fixing rod, and the two ends of the spring being fixedly connected with the connecting plate and the fixing rod respectively.

[0010] Preferably, a guide inclined surface is formed on one side of the limiting block.

[0011] Preferably, the torsion separation mechanism comprises a supporting rod and two symmetrical torsion springs, a rotating groove is formed on one end of the rotating plate close to the driving rod, the supporting rod is fixedly arranged in the rotating groove and rotatingly arranged in the interior of the driving rod, the two torsion springs are sleeved on the two ends of the supporting rod, and the two ends of the torsion springs are fixedly connected with the supporting rod and the driving rod respectively.

[0012] Further, the longitudinal section of the fixator is arranged in a U shape.

[0013] Preferably, a rubber antiskid pad is fixedly arranged on the bottom of the clamping plate.

[0014] In the above technical scheme, the technical effects and advantages of the utility model are provided.

[0015] 1. The utility model discloses a fixing device for mechanical arm, which comprises a fixing device, a circular plate, a rotating rod, a rotating plate, a driving rod, a torsion separation mechanism and a one-way limiting component.

[0016] 2. The utility model discloses a fixing device for mechanical arm, which comprises a fixing device, a circular plate, a rotating rod, a rotating plate, a driving rod, a torsion separation mechanism and a one-way limiting component. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0018] Figure 1 It is a structural schematic view of the utility model;

[0019] Figure 2 It is a side surface structural schematic view of the fixator of the utility model;

[0020] Figure 3The utility model discloses a Figure 1 The A part amplification schematic view of

[0021] Figure 4 The utility model discloses a limiting block's three-dimensional structure schematic view.

[0022] Mark explanation:

[0023] 1, the fixed device of the fixed device 2, the mechanical arm 3, the round plate 4, the rotating rod 5, the cam 6, the elastic telescopic rod 7, the clamping plate 8, the rotating plate 9, the drive rod 10, the limiting block 11, the connecting plate 12, the fixed rod 13, the spring 14, the support rod 15, the torsional spring 16, the rubber antiskid pad. Specific implementation

[0024] In order to make the technical personnel of the prior art better understand the technical scheme of the utility model, the utility model will be introduced further in the following with the drawings.

[0025] The utility model discloses a mechanical arm reference frame fixed device.

[0026] Embodiment 1

[0027] The utility model provides a mechanical arm reference frame fixed device as Figures 1-4 The utility model discloses a mechanical arm reference frame fixed device as The utility model discloses a mechanical arm reference frame fixed device as

[0028] The utility model discloses a mechanical arm reference frame fixed device as The utility model discloses a mechanical arm reference frame fixed device as

[0029] The utility model discloses a mechanical arm reference frame fixed device as The utility model discloses a mechanical arm reference frame fixed device as

[0030] Before the mechanical arm is fixed, the fixator 1 is sleeved on the edge of the hospital bed, the clamping plate 7 is located above the side of the hospital bed, then the fixing position of the mechanical arm is determined, the lateral position of the fixator 1 is adjusted, when the position of the fixator 1 is determined, the rotating plate 8 drives the rotating rod 4 to rotate by operating the driving rod 9, the rotating rod 4 drives the cam 5 to rotate, at this time, the cam 5 slowly contacts the clamping plate 7 in the rotating process, the clamping plate 7 is stably moved under the support of the telescopic rod 6 and contacts the hospital bed by the rubber anti-skid pad 16, in the rotating process of the driving rod 9, the limiting block 10 is pushed to extrude the spring 13 through the sliding cooperation of the connecting plate 11 and the fixing rod 12 by the guide slope of the limiting block 10, when the clamping plate 7 is stably clamped on the side of the hospital bed, the driving rod 9 is loosened, at this time, the driving rod 9 is limited by contacting the vertical surface of the limiting block 9, the position of the cam 5 and the driving rod 9 can be fixed, so that the quick fixing of the fixator 1 and the mechanical arm 2 is completed.

[0031] Embodiment 2

[0032] Embodiment 2 is based on embodiment 1, in order to separate the cam 5 and the clamping plate 7 quickly, the dismounting of the fixator 1 and the mechanical arm 2 is completed, as shown in Figure 1 and Figure 3 The torsion separation mechanism includes a supporting rod 14 and two symmetrical torsion springs 15, the rotating groove is arranged at one end of the rotating plate 8 close to the driving rod 9, the supporting rod 14 is fixedly arranged in the rotating groove and rotates through the inside of the driving rod 9, the two torsion springs 15 are sleeved on the two ends of the supporting rod 14, and the two ends of the torsion spring 15 are fixedly connected with the supporting rod 14 and the driving rod 9 respectively.

[0033] When the fixator 1 needs to be dismounted, the driving rod 9 is pulled forward and backward, so that the driving rod 9 rotates around the supporting rod 14, at this time, the driving rod 9 is away from the adjacent two limiting blocks 10 and twists the torsion spring 15, at this time, the driving rod 9 drives the rotating plate 8 to rotate back to the original position, and the cam 5 is separated from the clamping plate 7, at this time, the dismounting of the fixator 1 is completed, after the fixator 1 is dismounted, the driving rod 9 is loosened, and the rotating plate 8 and the driving rod 9 are in the same straight line again under the torsion force recovery of the torsion spring 15, so that the subsequent quick fixing and installation of the fixator 1 and the mechanical arm 2 can be continued.

[0034] The above only describes certain exemplary embodiments of the present application by way of illustration, without doubt, for ordinary skilled in the art, the described embodiments can be modified in various ways without departing from the spirit and scope of the present application. Therefore, the above drawings and description are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. A robot arm reference frame fixator comprising a fixator (1) and a robot arm (2) fixed to the top of said fixator (1), characterized in that, The side of the fixer (1) is fixed with a round plate (3), the round plate (3) and the side of the fixer (1) rotate together, a rotating rod (4) is arranged in the fixer (1), one end of the rotating rod (4) is fixedly sleeved with a cam (5), the inner wall of the fixer (1) is fixedly provided with an elastic telescopic rod (6), and a clamping plate (7) is fixedly arranged through the elastic telescopic rod (6), the cam (5) is in contact with the top of the clamping plate (7); One end of the rotating rod (4) is fixedly sleeved with a rotating plate (8) outside the fixer (1), the end of the rotating plate (8) is provided with a torsion separation mechanism, and a driving rod (9) is arranged through the torsion separation mechanism, the outer side of the round plate (3) is provided with a plurality of one-way limiting assemblies arranged in a surrounding symmetrical manner, and the driving rod (9) is arranged between two adjacent one-way limiting assemblies.

2. The mechanical arm reference frame holder of claim 1, wherein, The one-way limiting assembly comprises a limiting block (10) which is slidably arranged in the round plate (3), the side wall of the limiting block (10) is fixedly provided with a connecting plate (11), the inside of the connecting plate (11) is slidably provided with a fixing rod (12), the fixing rod (12) is fixedly connected with the round plate (3), the rod wall of the fixing rod (12) is sleeved with a spring (13), and the two ends of the spring (13) are fixedly connected with the connecting plate (11) and the fixing rod (12).

3. The mechanical arm reference frame holder of claim 2, wherein, A guide inclined surface is formed in one side of the limiting block (10).

4. The robotic arm reference frame fixator of claim 1, wherein, The torsion separation mechanism comprises a supporting rod (14) and two symmetrically arranged torsion springs (15), one end of the rotating plate (8) is provided with a rotating groove, the supporting rod (14) is fixedly arranged in the rotating groove and rotatably arranged in the inside of the driving rod (9), the two ends of the two torsion springs (15) are sleeved with the supporting rod (14), and the two ends of the torsion spring (15) are fixedly connected with the supporting rod (14) and the driving rod (9).

5. The mechanical arm reference frame holder of claim 1, wherein, The longitudinal section of the fixer (1) is arranged in a U shape.

6. The mechanical arm reference frame holder of claim 1, wherein, The bottom of the clamping plate (7) is fixedly provided with a rubber non-slip pad (16).

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