Medical manipulator

Abstract

A medical manipulator relates to the technical field of medical instruments and comprises a fixing plate, a dovetail seat is arranged on the fixing plate, and a dovetail slide rail is slidably connected into the dovetail seat; a rack is arranged on the dovetail slide rail; the lower end of the dovetail sliding rail is connected with a gripper assembly. The dovetail seat comprises a dovetail body; one side of the dovetail body is fixedly connected with two positioning bearings through short plug screws; the other side of the dovetail body is connected with a bearing fixing block through a long plug screw; the bearing fixing block is fixedly connected with two positioning bearings through short plug screws; bearing adjusting blocks are arranged at the upper end and the lower end of the dovetail body; external screw bearings are arranged on the two bearing adjusting blocks; according to the mechanical arm, the dovetail base and the dovetail sliding rail are adopted for accurate positioning, the gear drives the rack to move, the grabbing stroke of the mechanical arm can be adjusted at will, and the positioning accuracy is high; the manipulator device is small in size and low in energy consumption.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a medical robotic arm. Background Technology

[0002] Medical robotic arms are a solution to some deficiencies in current hospital services. They can replace medical staff in performing certain tasks, completing heavy and tedious work, thus improving working conditions for medical personnel. They are both practical and safe. Medical robotic arms are durable and long-lasting, not only freeing medical staff from arduous and monotonous work, but also gradually realizing the mechanization, proceduralization, and automation of medical treatment, improving the safety and reliability of medical care. Furthermore, they can avoid human error caused by external influences, exhibiting high precision and stability. Therefore, many countries have invested significant resources in the research and application of robotic arms.

[0003] The lifting mechanism of existing robotic arms generally adopts the method of linear motor + guide rail, which results in the robotic arm being large in size and weight, and the energy consumption during operation and control is also increased accordingly. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a medical robotic arm that can solve the problem that the existing robotic arms generally use a linear motor + guide rail lifting mechanism, which results in a large size and weight of the robotic arm and a corresponding increase in energy consumption during operation and control.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A medical robotic arm includes a fixed plate with a dovetail base. A dovetail slide rail is slidably connected within the dovetail base. A rack is provided on the dovetail slide rail. A gripper assembly is connected to the lower end of the dovetail slide rail. The dovetail base includes a dovetail body. Two positioning bearings are fixedly connected to one side of the dovetail body via short plug screws. A bearing fixing block is connected to the other side of the dovetail body via long plug screws. Two positioning bearings are fixedly connected to the bearing fixing block via short plug screws. Bearing adjusting blocks are provided at both the upper and lower ends of the dovetail body. Each of the two bearing adjusting blocks is equipped with an external screw bearing.

[0007] Preferably, the fixed plate is provided with a motor bracket; a lifting motor is mounted on the motor bracket; a drive wheel is provided on the output shaft of the lifting motor; the drive wheel is connected to the driven wheel through a synchronous belt; the driven wheel is sleeved on a gear shaft; the gear shaft passes through the side wall of the dovetail body and is rotatably connected to the side wall of the dovetail body through a bearing; a gear is provided at one end of the gear shaft; the gear is located inside the dovetail body and meshes with a rack; an eccentric sleeve is provided at the other end of the gear shaft.

[0008] Preferably, the gripper assembly includes a gripper upper sealing plate; a gripper back plate is provided on one side of the gripper upper sealing plate; a gripper outer sealing plate is provided on the other side of the gripper upper sealing plate; a gripper motor fixing plate is provided on the bottom surface of the gripper upper sealing plate; a left and right rotary motor is mounted on the gripper motor fixing plate; lead screws are connected to the output shafts on both sides of the left and right rotary motors; finger fixing blocks are provided on both lead screws; guide rail sliders are connected to the rear ends of the two finger fixing blocks; the two guide rail sliders are slidably connected to the guide rail; the guide rail is mounted on the gripper outer sealing plate; and grippers are provided at the bottom of the two finger fixing blocks.

[0009] Preferably, the gripper has an anti-slip pad on its inner side.

[0010] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0011] This invention uses a dovetail base and dovetail slide rail for precise positioning, and drives the rack and pinion movement through gears, allowing for arbitrary adjustment of the robotic arm's gripping stroke, resulting in high positioning accuracy.

[0012] This invention limits the running trajectory of the dovetail slide rail by setting multiple positioning bearings, effectively preventing it from deviating.

[0013] This utility model has a compact overall structure, small weight, and low operating energy consumption. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0015] Figure 1 The three-dimensional representation of this utility model Figure 1 ;

[0016] Figure 2 The three-dimensional representation of this utility model Figure 2 ;

[0017] Figure 3 This is a schematic diagram of the dovetail support structure of this utility model;

[0018] Figure 4 This is a schematic diagram of the gripper assembly structure of this utility model.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1-Fixed plate, 2-Dovetail seat, 21-Dovetail body, 22-Short plug screw, 23-Positioning bearing, 24-Long plug screw, 25-Bearing fixing block, 26-Bearing adjusting block, 27-External screw bearing, 3-Dovetail slide rail, 4-Rack, 5-Gripper assembly, 51-Gripper upper sealing plate, 52-Gripper back plate, 53-Gripper outer sealing plate, 54-Gripper motor fixing plate, 55-Left and right rotating motor, 56-Lead screw, 57-Finger fixing block, 58-Guide rail slider, 59-Guide rail, 510-Gripper, 511-Anti-slip pad, 6-Motor bracket, 7-Lifting motor, 8-Drive wheel, 9-Synchronous belt, 10-Driven wheel, 11-Gear shaft, 12-Bearing, 13-Gear, 14-Eccentric sleeve. Detailed Implementation

[0021] 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

[0022] like Figures 1 to 4 As shown, this utility model discloses a medical robotic arm, including a fixing plate 1, a dovetail seat 2 on the fixing plate 1, and a dovetail slide rail 3 slidably connected inside the dovetail seat 2; a rack 4 on the dovetail slide rail 3; a gripper assembly 5 connected to the lower end of the dovetail slide rail 3; the dovetail seat 2 includes a dovetail body 21; two positioning bearings 23 are fixedly connected to one side of the dovetail body 21 by short plug screws 22; a bearing fixing block 25 is connected to the other side of the dovetail body 21 by long plug screws 24; two positioning bearings 23 are fixedly connected to the bearing fixing block 25 by short plug screws 22; bearing adjusting blocks 26 are provided at both the upper and lower ends of the dovetail body 21; each of the two bearing adjusting blocks 26 is provided with an external screw bearing 27. By setting multiple positioning bearings 23 to cooperate with the dovetail slide rail 3, the running trajectory of the dovetail slide rail 3 is limited, effectively preventing it from deviating.

[0023] Furthermore, in this embodiment, the fixed plate 1 is provided with a motor bracket 6; the motor bracket 6 is equipped with a lifting motor 7; the output shaft of the lifting motor 7 is provided with a drive wheel 8; the drive wheel 8 is connected to the driven wheel 10 through a synchronous belt 9; the driven wheel 10 is sleeved on a gear shaft 11; the gear shaft 11 passes through the side wall of the dovetail body 21 and is rotatably connected to the side wall of the dovetail body 21 through a bearing 12; one end of the gear shaft 11 is provided with a gear 13; the gear 13 is located inside the dovetail body 21 and meshes with the rack 4; the other end of the gear shaft 11 is provided with an eccentric sleeve 14. The lifting motor 7 drives the driven wheel 10 to rotate through the drive wheel 8 and the synchronous belt 9. The driven wheel 10 drives the gear shaft 11 and the gear 13 to rotate, thereby driving the rack 4 and the dovetail slide rail 3 to move up and down, realizing the lifting and lowering of the gripper assembly 5.

[0024] Further, in this embodiment, the gripper assembly 5 includes a gripper upper sealing plate 51; a gripper back plate 52 is provided on one side of the gripper upper sealing plate 51; a gripper outer sealing plate 53 is provided on the other side of the gripper upper sealing plate 51; a gripper motor fixing plate 54 is provided on the bottom surface of the gripper upper sealing plate 51; a left and right rotary motor 55 is mounted on the gripper motor fixing plate 54; lead screws 56 are connected to the output shafts on both sides of the left and right rotary motors 55; finger fixing blocks 57 are provided on both lead screws 56; guide rail sliders 58 are connected to the rear ends of both finger fixing blocks 57; the two guide rail sliders 58 are slidably connected to guide rails 59; guide rails 59 are mounted on the gripper outer sealing plate 53; grippers 510 are provided at the bottom of both finger fixing blocks 57. During gripping, the left and right rotary motors 55 drive the lead screws 56 to rotate, thereby driving the finger fixing blocks 57 and guide rail sliders 58 to slide along the guide rails 59, thereby realizing the gripper 510's function of gripping and releasing.

[0025] Furthermore, in this embodiment, the gripper 510 is provided with an anti-slip pad 511 on its inner side, which can effectively prevent slippage during gripping.

[0026] Working principle: During grasping, the robotic arm moves above the object to be grasped. The lifting motor 7 drives the driven wheel 10 to rotate through the driving wheel 8 and the synchronous belt 9. The driven wheel 10 drives the gear shaft 11 and the gear 13 to rotate, which in turn drives the rack 4 and the dovetail slide rail 3 to move downward. The dovetail slide rail 3 drives the gripper assembly 5 to move down to the specified height. The left and right rotation motor 55 is started. The left and right rotation motor 55 drives the lead screw 56 to rotate, which in turn drives the finger fixing block 57 and the guide rail slider 58 to slide inward along the guide rail 59, which drives the gripper 510 to grasp.

[0027] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and application concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A medical robotic hand, comprising a fixing plate (1), characterized in that: The fixed plate (1) is provided with a dovetail seat (2), and a dovetail slide rail (3) is slidably connected inside the dovetail seat (2); a rack (4) is provided on the dovetail slide rail (3); and a gripper assembly (5) is connected to the lower end of the dovetail slide rail (3). The dovetail seat (2) includes a dovetail body (21); two positioning bearings (23) are fixedly connected to one side of the dovetail body (21) by short plug screws (22); a bearing fixing block (25) is connected to the other side of the dovetail body (21) by long plug screws (24); two positioning bearings (23) are fixedly connected to the bearing fixing block (25) by short plug screws (22); bearing adjusting blocks (26) are provided at both the upper and lower ends of the dovetail body (21); and external screw bearings (27) are provided on both bearing adjusting blocks (26).

2. The medical robotic hand as described in claim 1, characterized in that: The fixed plate (1) is provided with a motor bracket (6); a lifting motor (7) is installed on the motor bracket (6); a drive wheel (8) is provided on the output shaft of the lifting motor (7); the drive wheel (8) is connected to the driven wheel (10) through a synchronous belt (9); the driven wheel (10) is sleeved on the gear shaft (11); the gear shaft (11) passes through the side wall of the dovetail body (21) and the gear shaft (11) is rotatably connected to the side wall of the dovetail body (21) through a bearing (12); a gear (13) is provided at one end of the gear shaft (11); the gear (13) is located inside the dovetail body (21) and meshes with the rack (4); an eccentric sleeve (14) is provided at the other end of the gear shaft (11).

3. The medical robotic hand as described in claim 1, characterized in that: The gripper assembly (5) includes a gripper upper cover plate (51); a gripper back plate (52) is provided on one side of the gripper upper cover plate (51); a gripper outer cover plate (53) is provided on the other side of the gripper upper cover plate (51); a gripper motor fixing plate (54) is provided on the bottom surface of the gripper upper cover plate (51); a left and right rotary motor (55) is installed on the gripper motor fixing plate (54); a lead screw (56) is connected to the output shafts on both sides of the left and right rotary motor (55); a finger fixing block (57) is provided on both lead screws (56); a guide rail slider (58) is connected to the rear end of both finger fixing blocks (57); the two guide rail sliders (58) are slidably connected to the guide rail (59); the guide rail (59) is installed on the gripper outer cover plate (53); a gripper (510) is provided at the bottom of both finger fixing blocks (57).

4. The medical robotic hand as described in claim 3, characterized in that: The gripper (510) is provided with an anti-slip pad (511) on its inner side.

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