Medical manipulator device
By using a common motor and synchronous belt pulley transmission, combined with guide bearing limit, the problems of high cost and difficult replacement of existing medical robotic arm motors are solved, realizing a low-cost and quick-replacement medical robotic arm device.
Patent Information
- Application Number
- CN202520133440.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-21
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2035-01-21
AI Technical Summary
Existing medical robotic grippers generally use a hybrid left-right rotating motor as a power source, resulting in high costs and long procurement cycles, and difficulty in quickly replacing them in case of failure.
A conventional motor and synchronous belt pulley drive are used to replace the left-right rotating hybrid motor, and the lifting and lowering process of the hollow shaft and rack is limited by a guide bearing to avoid deflection.
It reduced the price of parts, shortened the procurement cycle, and improved the practicality and reliability of the device, avoiding the difficulty of quick replacement in case of motor failure.
Smart Images
Figure CN223671261U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to medical instrument technical field, concretely relates to a medical manipulator device. BACKGROUND
[0002] The medical manipulator is a method for solving some defects in current hospital service, can replace part operation of medical staff, completes some heavy and boring work, can improve the working condition of medical staff, has applicability and safety. The medical manipulator can be durable and labor-saving, not only can liberate medical staff from heavy and monotonous mechanical work, gradually realizes the mechanization, programming and automation of medical treatment, improves the safety and reliability of medical treatment, can also avoid the operation mistake of human being affected by outside, has high accuracy and high stability. Therefore, many countries invest a lot of manpower and material resources to research and apply the manipulator.
[0003] The current manipulator gripper generally adopts left and right rotation mixed motor as power source to realize clamping and grabbing, the motor has higher cost and relatively longer procurement cycle, once failure, it is difficult to replace in a short time. UTILITY MODEL CONTENT
[0004] In view of the above technical problems of the prior art, the utility model aims at providing a medical manipulator device, which can solve the problem that the current manipulator gripper generally adopts left and right rotation mixed motor as power source to realize clamping and grabbing, the motor has higher cost and relatively longer procurement cycle, once failure, it is difficult to replace in a short time.
[0005] In order to achieve the above purpose, the utility model provides the following technical scheme:
[0006] A medical manipulator device, comprising a gripper assembly and a lifting assembly, the lifting assembly and the gripper assembly are connected through a flange seat, the gripper assembly comprises a gripper top plate, a grabbing motor mounting seat is arranged on the bottom surface of the gripper top plate; a grabbing motor is arranged on the grabbing motor mounting seat; a driving wheel is arranged on the output shaft of the grabbing motor; the driving wheel is connected with a driven wheel through a synchronous belt; the driven wheel is sleeved on a lead screw; lead screw nuts are arranged on both sides of the lead screw; L-shaped plates are connected to both lead screw nuts; gripper side plates are arranged on both sides of the gripper top plate; the lead screw is rotatably connected to the gripper side plates at both ends; a gripper bottom plate is arranged at the bottom of the gripper side plate; a gripper guide rail is arranged at the bottom of the gripper bottom plate; two gripper sliding blocks are slidably connected to the gripper guide rail; the two gripper sliding blocks are connected with the two L-shaped plates respectively; grippers are connected to the bottom ends of the two gripper sliding blocks.
[0007] Preferably, the lifting assembly comprises a hollow shaft; the lower end of the hollow shaft is connected with the gripper top plate through a flange seat; the hollow shaft is provided with a rack; two open linear bearings are slidably connected on the hollow shaft; the two open linear bearings are fixed on a support; the support is provided with a lifting motor mounting seat; a lifting motor is mounted on the lifting motor mounting seat; a gear is arranged on the output shaft of the lifting motor; the gear is engaged with the rack.
[0008] Preferably, the same side of the two open linear bearings is provided with a guide bearing mounting plate; the guide bearing mounting plate is provided with a guide bearing; the guide bearings are symmetrically arranged on both sides of the rack and are tangent to the rack.
[0009] Preferably, the inner side of the gripper is provided with a gripper anti-skid gasket.
[0010] Preferably, the threads on the screw rod are right and left threads.
[0011] Compared with the prior art, the utility model has the beneficial effects that:
[0012] The utility model discloses a common motor and synchronous pulley transmission mode are adopted, and the left and right rotation mixed motor is replaced, under the condition of meeting the functional requirement, the procurement cycle is shortened, and the part price is reduced, and the practicality is higher.
[0013] The utility model discloses a guide bearing is set up, and the angle of hollow shaft and rack lifting process is limited, avoids its deflection. DRAWINGS
[0014] In order to more clearly illustrate the technical scheme in the embodiment or prior art of the present application, the drawings needed in the embodiment will be briefly introduced as follows, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings for the ordinary skilled in the art.
[0015] Fig. 1 It is the whole structure schematic diagram of the utility model;
[0016] Fig. 2 It is the gripper assembly structure schematic diagram of the utility model;
[0017] Fig. 3 It is the open linear bearing plan view of the utility model.
[0018] Marking of the drawing:
[0019] 1-Gripper top plate, 2-Gripper motor mounting base, 3-Gripper motor, 4-Drive wheel, 5-Synchronous belt, 6-Driven wheel, 7-Lead screw, 8-Lead screw nut, 9-L-shaped plate, 10-Gripper side plate, 11-Gripper bottom plate, 12-Gripper guide rail, 13-Gripper slider, 14-Gripper, 15-Flange seat, 16-Hollow shaft, 17-Rack and pinion, 18-Open linear bearing, 19-Bracket, 20-Lifting motor mounting base, 21-Lifting motor, 22-Gear, 23-Guide bearing mounting plate, 24-Guide bearing, 25-Anti-slip pad. Detailed Implementation
[0020] The invention will now be described in detail with reference to the accompanying drawings, by way of example. Obviously, the described embodiments are only some embodiments of the invention, and not all embodiments. Example
[0021] like Figs. 1 to 3 As shown, this utility model discloses a medical robotic arm device, including a gripper assembly and a lifting assembly. The lifting assembly and the gripper assembly are connected by a flange seat 15. The gripper assembly includes a gripper top plate 1, and a gripping motor mounting seat 2 is provided on the bottom surface of the gripper top plate 1. A gripping motor 3 is provided on the gripping motor mounting seat 2. A drive wheel 4 is provided on the output shaft of the gripping motor 3. The drive wheel 4 is connected to a driven wheel 6 through a synchronous belt 5. The driven wheel 6 is sleeved on a lead screw 7, and the thread on the lead screw 7 is a forward and reverse thread. Lead screw nuts 8 are provided on both sides of the lead screw 7. L-shaped plates 9 are connected to both lead screw nuts 8. L-shaped plates 9 are provided on both sides of the gripper top plate 1. The device includes a gripper side plate 10; the two ends of the lead screw 7 are rotatably connected to the gripper side plate 10; the bottom of the gripper side plate 10 is provided with a gripper base plate 11; the bottom of the gripper base plate 11 is provided with a gripper guide rail 12; two gripper sliders 13 are slidably connected to the gripper guide rail 12; the two gripper sliders 13 are respectively connected to two L-shaped plates 9; the bottom ends of the two gripper sliders 13 are each connected to a gripper 14. By setting a gripping motor 3 to drive the drive wheel 4 to rotate, the drive wheel 4 is connected to the driven wheel 6 through a synchronous belt 5, and the driven wheel 6 is sleeved on the lead screw 7, thereby realizing the rotation of the lead screw 7. The rotation of the lead screw 7 drives the L-shaped plate 9 to move, thereby realizing the gripper 14's function of gripping and releasing.
[0022] Further, in the embodiment, the lifting assembly comprises a hollow shaft 16, the lower end of the hollow shaft 16 is connected with the gripper top plate 1 through a flange base 15, a rack 17 is arranged on the hollow shaft 16, two open linear bearings 18 are slidably connected on the hollow shaft 16, the two open linear bearings 18 are fixed on a support 19, a lifting motor mounting base 20 is arranged on the support 19, a lifting motor 21 is mounted on the lifting motor mounting base 20, a gear 22 is arranged on the output shaft of the lifting motor 21, the gear 22 is engaged with the rack 17, the gear 22 is driven to rotate by the lifting motor 20, thereby driving the rack 17 and the hollow shaft 16 to move up and down, and the lifting of the gripper 14 is realized.
[0023] Further, in the embodiment, the same side of the two open linear bearings 18 is provided with a guide bearing mounting plate 23, the guide bearing mounting plate 23 is provided with a guide bearing 24, the guide bearings 24 are symmetrically arranged on the two sides of the rack 17 and are tangent to the rack 17, by arranging the guide bearings 24, the angle of the hollow shaft 16 and the rack 17 during lifting is limited, and the deflection of the hollow shaft 16 and the rack 17 is avoided.
[0024] Further, in the embodiment, the inner side of the gripper 14 is provided with a gripper anti-skid gasket 25, which can effectively avoid slipping during grabbing.
[0025] Working principle: during grabbing, the manipulator device moves above the object to be grabbed, the lifting motor 21 drives the gear 22 to rotate, the gear 22 drives the rack 17 and the hollow shaft 16 to move down along the open linear bearing 18 to a specified height, at this time, the grabbing motor 3 drives the driving wheel 4 to rotate, the driving wheel 4 drives the driven wheel 6 through the synchronous belt 5, thereby driving the screw rod 7 to rotate, the two screw nuts 8 drive the L-shaped plate 9, the gripper sliding block 13 and the gripper 14 to move inward, and the grabbing is realized.
[0026] The above is only the preferred specific implementation manner of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the application concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.
Claims
1. A medical manipulator device comprising a gripper assembly and a lifting assembly, said lifting assembly and gripper assembly being connected by means of a flange seat (15), characterized in that: The gripper assembly comprises a gripper top plate (1), a grabbing motor mounting seat (2) is arranged on the bottom surface of the gripper top plate (1); a grabbing motor (3) is arranged on the grabbing motor mounting seat (2); a driving wheel (4) is arranged on the output shaft of the grabbing motor (3); the driving wheel (4) is connected with a driven wheel (6) through a synchronous belt (5); the driven wheel (6) is sleeved on a lead screw (7); lead screw nuts (8) are arranged on both sides of the lead screw (7); L-shaped plates (9) are connected to the lead screw nuts (8); gripper side plates (10) are arranged on both sides of the gripper top plate (1); the lead screw (7) is rotatably connected to the gripper side plates (10) at both ends; a gripper bottom plate (11) is arranged at the bottom of the gripper side plate (10); a gripper guide rail (12) is arranged at the bottom of the gripper bottom plate (11); two gripper sliding blocks (13) are slidably connected to the gripper guide rail (12); the two gripper sliding blocks (13) are connected with the two L-shaped plates (9) respectively; grippers (14) are connected to the bottom ends of the two gripper sliding blocks (13).
2. The medical manipulator device according to claim 1, wherein: The lifting assembly comprises a hollow shaft (16); the hollow shaft (16) is connected with the gripper top plate (1) through a flange seat (15); a rack (17) is arranged on the hollow shaft (16); two open linear bearings (18) are slidably connected to the hollow shaft (16); the two open linear bearings (18) are fixed on a support (19); a lifting motor mounting seat (20) is arranged on the support (19); a lifting motor (21) is arranged on the lifting motor mounting seat (20); a gear (22) is arranged on the output shaft of the lifting motor (21); the gear (22) is engaged with the rack (17).
3. The medical manipulator device according to claim 2, wherein: The same sides of the two open linear bearings (18) are provided with guide bearing mounting plates (23); guide bearings (24) are arranged on the guide bearing mounting plates (23); the guide bearings (24) are symmetrically arranged on both sides of the rack (17) and are tangent to the rack (17).
4. The medical manipulator device according to claim 1, wherein: A gripper anti-skid gasket (25) is arranged on the inner side of the gripper (14).
5. The medical manipulator device according to claim 1, wherein: The threads on the lead screw (7) are right and left threads.