Fixing structure for medical robot arm
By designing a limiting turntable and limiting components, the stability problem of the medical robotic arm on the combined plane of the X and Z axes is solved, realizing stable fixation and quick assembly/disassembly of the robotic arm, and improving stability during use.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- TAIZHOU WEIYE MACHINERY MFG CO LTD
- Filing Date
- 2025-04-28
- Publication Date
- 2026-07-21
AI Technical Summary
The connection structure of existing medical robotic arms on the combined plane of the X and Z axes results in insufficient stability, making them prone to displacement or wobbling, which affects the stability of use.
Design a fixed structure including a limiting turntable, a rotating component, and a limiting component. Through the cooperation of the limiting block and the limiting slot, the base of the robotic arm is limited to avoid displacement and shaking caused by inertia or force.
This improves the stability of the robotic arm during movement, avoids deviation and swaying caused by inertia or force, and enhances the stability of its use.
Smart Images
Figure CN224527216U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm auxiliary structure technology, specifically a fixed structure for a medical robotic arm. Background Technology
[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics. They can be found in fields such as industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they vary in form, they all have one thing in common: they can receive instructions and accurately position themselves at a point in three-dimensional (or two-dimensional) space to perform operations.
[0003] A search revealed that patent publication number CN214352448U discloses an installation and fixing structure for a robotic arm. Addressing the problem that existing technologies use welding methods, resulting in slow, time-consuming, and labor-intensive installation processes, and causing significant inconvenience for later disassembly, maintenance, and replacement, thus reducing the practicality of the robotic arm, this invention proposes the following solution. The solution includes a hollow mounting base with four circular, evenly distributed guide holes at its top. Each guide hole contains a support rod, and the tops of the four support rods are fixedly connected to a common base plate. The bottom of the base plate contacts the outer wall of the top of the mounting base. This invention uses a limiting disc that passes through the circular holes and rotates by turning a handle to rotate the disc, thus limiting the movement of the limiting disc. This facilitates the installation and disassembly of the robotic arm, simplifying operation, saving time and effort, and improving the practicality of the robotic arm.
[0004] In actual use, the above technical solution has the following drawbacks: due to the connection between the chassis and the mounting base, the chassis lacks a limiting structure in the plane combining the X and Z axes, and the outer diameter of the support rod is smaller than the inner diameter of the guide hole. During actual movement, the robotic arm will generate a certain inertia or force in a certain direction. At this time, the chassis will shift or shake in the plane combining the X and Z axes, affecting the stability of the robotic arm in actual use. Therefore, a fixed structure for medical robotic arms is designed. Utility Model Content
[0005] In view of the defects or deficiencies of the fixing structure used in medical robotic arms, the purpose of this utility model is to provide a fixing structure for medical robotic arms that can effectively limit and fix the robotic arm body, thereby improving the stability of the robotic arm body during use.
[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: This utility model provides a fixing structure for a medical robotic arm, including a robotic arm body, a robotic arm base at the bottom end of the robotic arm body, and the robotic arm base is located at the top of a mounting base. The mounting base is provided with a limiting turntable for limiting the robotic arm base in a certain direction. The mounting base is provided with a rotating component for driving the limiting turntable to rotate and a limiting component for limiting the rotation of the rotating component. The top of the mounting base has four mounting holes arranged in a ring array, and the inner wall of the mounting holes has four first limiting slots arranged in a ring array. The surface of the limiting turntable is provided with four second limiting slots arranged in a ring array. The second limiting slots are composed of a first slot and a second slot. The first slot is located at one end of the second slot, and the first slot and the second slot are connected. The bottom of the robotic arm base is provided with four mounting columns arranged in a ring array. Four limiting blocks arranged in a ring array are provided on the upper part of the outer wall of the mounting columns. The bottom end of the mounting column extends through the mounting hole into the interior of the mounting base and through the second limiting slot to connect with the first limiting plate. The limiting block is located in the first limiting slot.
[0007] Preferably, the limiting assembly is composed of a second limiting plate, a spring, a connecting post, a third limiting plate, and a positioning post, with connecting posts installed above and below one side of the outer wall of the second limiting plate.
[0008] Preferably, the other end of the connecting column passes through the through hole on the outer wall of the mounting base and extends into the interior of the mounting base to connect with the third limiting plate. A spring is sleeved on the outer side of the outer wall of the connecting column, and the spring is located between one side of the outer wall of the second limiting plate and the circumferential outer wall of the mounting base.
[0009] Preferably, the rotating assembly is composed of a first rotating shaft, a first bevel gear, a second rotating shaft, a second bevel gear, and a rotating adjustment plate. The top end of the second rotating shaft is installed at the center of the lower surface of the limiting turntable, and the bottom end of the second rotating shaft is installed in a bearing seat, which is installed at the center of the bottom end of the mounting base.
[0010] Preferably, a first bevel gear is provided on the circumferential outer wall of the second rotating shaft, the first bevel gear meshes with a second bevel gear, the second bevel gear is installed at one end of the first rotating shaft, and the other end of the first rotating shaft extends through a bearing on the outer wall of the mounting base to the outside and passes through a through hole on the outer wall of the second limiting plate to connect with the rotating adjustment plate.
[0011] Preferably, positioning posts are installed on the upper and lower sides of the other outer wall of the second limiting plate, and the other end of the positioning post is disposed in the positioning hole, which is located on the upper and lower sides of the outer wall of the rotating adjustment plate.
[0012] Preferably, the outer wall of the mounting post and the inner wall of the mounting hole are in clearance fit, the outer wall of the limiting block and the hole wall of the first limiting slot are in clearance fit, the outer wall of the mounting post and the hole wall of the second slot are in clearance fit, the outer diameter of the first limiting plate is equal to the inner diameter of the first slot, and the inner diameter of the first slot is greater than the slot width of the second slot.
[0013] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: 1. In this utility model, through the coordinated arrangement of a series of structures such as the limiting block and the first limiting slot, when the robotic arm base on the robotic arm body is fixed on the mounting base, the coordinated arrangement of the limiting block and the first limiting slot can limit the robotic arm base in the plane composed of the X-axis and Z-axis, thereby avoiding the situation where the robotic arm body shifts or shakes in the plane composed of the X-axis and Z-axis due to a certain inertia or force generated in a certain direction during the movement of the robotic arm body, thus improving the stability of the robotic arm body during the movement.
[0014] 2. In this utility model, through the coordinated arrangement of structures such as limiting components, the limiting components can limit the rotation of the rotating components, avoiding the situation where the rotating components rotate due to the inertia or force generated in a certain direction during the movement of the robotic arm body. This prevents the limiting turntable from releasing the limiting of the robotic arm body due to the rotation of the rotating components, thus avoiding the situation where the robotic arm body shakes, and further improving the stability of the robotic arm body during the movement. Attached Figure Description
[0015] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.
[0016] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model.
[0017] Figure 2 This is a structural schematic diagram of the mounting base of this utility model.
[0018] Figure 3 This is a cross-sectional view of the connection structure between the mounting base and the robotic arm base of this utility model.
[0019] Figure 4 This is a utility model Figure 3 A magnified schematic diagram of the structure at point A in the diagram.
[0020] Figure 5 This is a schematic diagram of the structure of the robotic arm base of this utility model.
[0021] Figure 6 This is a schematic diagram of the structure of the limiting turntable of this utility model.
[0022] In the picture: 100. Robotic arm body; 110. Robotic arm base; 111. Mounting column; 112. Limiting block; 113. First limiting plate; 200, Mounting base; 210, First limiting slot; 220, Mounting hole; 300, Limiting component; 310, Second limiting plate; 320, Spring; 330, Connecting post; 340, Third limiting plate; 350, Positioning post; 400. Rotating assembly; 410. First rotating shaft; 420. First bevel gear; 430. Second rotating shaft; 440. Second bevel gear; 450. Rotary adjusting plate; 500, Limiting turntable; 510, Second limiting slot; 511, First slot; 512, Second slot. Detailed Implementation
[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0024] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.
[0025] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0026] like Figure 1-6As shown, a fixing structure for a medical robotic arm includes a robotic arm body 100, a robotic arm base 110 at the bottom end of the robotic arm body 100, and the robotic arm base 110 is disposed at the top of a mounting base 200. The mounting base 200 is provided with a limiting turntable 500 for limiting the robotic arm base 110 in a certain direction. The mounting base 200 is provided with a rotating component 400 for driving the limiting turntable 500 to rotate and a limiting component 300 for limiting the rotation of the rotating component 400. The top of the mounting base 200 has four mounting holes 220 arranged in a ring array, and the inner wall of the mounting holes 220 has four first limiting slot holes 210 arranged in a ring array. The surface of the limiting turntable 500 is provided with four second limiting slots 510 arranged in a ring array. The second limiting slots 510 are composed of a first slot 511 and a second slot 512. The first slot 511 is located at one end of the second slot 512, and the first slot 511 and the second slot 512 are connected. The bottom of the robotic arm base 110 is provided with four mounting posts 111 arranged in a ring array. The upper part of the outer wall of the mounting posts 111 is provided with four limiting blocks 112 arranged in a ring array. The bottom end of the mounting posts 111 extends through the mounting hole 220 into the interior of the mounting base 200 and through the second limiting slot 510 to connect with the first limiting plate 113. The limiting blocks 112 are located in the first limiting slot 210. When the mounting posts 111 are in the second slot 512, the first limiting plate 113 can limit the robotic arm body 100 in the Y-axis direction.
[0027] The limiting assembly 300 is composed of a second limiting plate 310, a spring 320, a connecting post 330, a third limiting plate 340, and a positioning post 350. The connecting post 330 is installed on the upper and lower sides of the outer wall of one side of the second limiting plate 310.
[0028] The other end of the connecting column 330 passes through the through hole on the outer wall of the mounting base 200 and extends into the interior of the mounting base 200 to connect with the third limiting plate 340. A spring 320 is sleeved on the outer side of the outer wall of the connecting column 330, and the spring 320 is located between the outer wall of one side of the second limiting plate 310 and the circumferential outer wall of the mounting base 200. When the operator disassembles the robotic arm body 100 and needs to release the limiting component 300 from the rotating component 400, the operator presses the second limiting plate 310 in a certain direction and causes the positioning column 350 to move out of the positioning hole on the rotating adjustment plate 450, thereby releasing the limiting component 300 from the rotating component 400.
[0029] The rotating assembly 400 is composed of a first rotating shaft 410, a first bevel gear 420, a second rotating shaft 430, a second bevel gear 440, and a rotating adjustment plate 450. The top end of the second rotating shaft 430 is installed at the center of the lower surface of the limiting turntable 500, and the bottom end of the second rotating shaft 430 is installed in the bearing seat, which is installed at the center of the bottom of the mounting base 200.
[0030] A first bevel gear 420 is provided on the circumferential outer wall of the second rotating shaft 430. The first bevel gear 420 meshes with a second bevel gear 440. The second bevel gear 440 is installed at one end of the first rotating shaft 410. The other end of the first rotating shaft 410 extends to the outside through a bearing on the outer wall of the mounting base 200 and passes through a through hole on the outer wall of the second limiting plate 310 to connect with the rotating adjustment plate 450. When the rotating adjustment plate 450 rotates, it will drive the first rotating shaft 410 to rotate. When the first rotating shaft 410 rotates, it will drive the second bevel gear 440 to rotate. When the second bevel gear 440 rotates, it will drive the first bevel gear 420 to rotate. When the first bevel gear 420 rotates, it will cause the second rotating shaft 430 to rotate. When the second rotating shaft 430 rotates, it will cause the limiting turntable 500 to rotate.
[0031] Positioning posts 350 are installed on the upper and lower sides of the outer wall of the second limiting plate 310. The other end of the positioning post 350 is set in the positioning hole, and the positioning hole is opened on the upper and lower sides of the outer wall of the rotating adjustment plate 450.
[0032] The outer wall of the mounting post 111 and the inner wall of the mounting hole 220 are clearance fit, the outer wall of the limiting block 112 and the hole wall of the first limiting slot 210 are clearance fit, the outer wall of the mounting post 111 and the hole wall of the second slot 512 are clearance fit, the outer diameter of the first limiting plate 113 is equal to the inner diameter of the first slot 511, and the inner diameter of the first slot 511 is greater than the slot width of the second slot 512.
[0033] Working Principle: During use, when the operator fixes the robotic arm body 100 onto the mounting base 200, the operator installs the robotic arm base 110 onto the top of the mounting base 200, with the mounting post 111 passing through the mounting hole 220 and the first slot 511 in sequence. The operator then rotates the rotating adjustment plate 450 on the rotating assembly 400 to rotate the limiting turntable 500. When the limiting turntable 500 rotates to a certain angle, and the mounting post 111 is in the second slot 512, the installation of the robotic arm body 100 is complete. When the operator needs to disassemble the robotic arm body 100, the operator rotates the limiting turntable 500 to a certain angle, and when the mounting post 111 is in the first slot 511, the operator can then disassemble and reassemble the robotic arm body 100. This facilitates quick assembly and disassembly of the robotic arm body 100. When the robotic arm base 110 on the robotic arm body 100 is fixed on the mounting base 200, the limiting block 112 and the first limiting slot... The 210 mechanism, in conjunction with the mechanical arm base 110, limits the movement of the mechanical arm body 100 in the plane formed by the X and Z axes. This prevents the mechanical arm body 100 from shifting or wobbling in the plane formed by the X and Z axes due to inertia or force generated in a certain direction during its movement, thus improving the stability of the mechanical arm body 100 during its movement. The limiting component 300 also limits the rotation of the rotating component 400, preventing the rotating component 400 from rotating due to inertia or force generated in a certain direction during its movement. This prevents the limiting turntable 500 from releasing the mechanical arm body 100 due to the rotation of the rotating component 400, thus preventing the mechanical arm body 100 from wobbling. This further improves the stability of the mechanical arm body 100 during its movement.
[0034] The above description is merely a preferred embodiment of this utility model and is not intended to limit the invention. For those skilled in the art, various modifications and variations can be made to this invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.
Claims
1. A fixing structure for a medical robotic arm, comprising a robotic arm body (100), characterized in that: The bottom end of the robotic arm body (100) is provided with a robotic arm base (110), and the robotic arm base (110) is provided at the top of the mounting base (200). The mounting base (200) is provided with a limiting turntable (500) for limiting the robotic arm base (110) in a certain direction. The mounting base (200) is provided with a rotating component (400) for driving the limiting turntable (500) to rotate and a limiting component (300) for limiting the rotation of the rotating component (400). The top of the mounting base (200) is provided with four mounting holes (220) arranged in a ring array, and the inner wall of the mounting holes (220) is provided with four first limiting slots (210) arranged in a ring array. The surface of the limiting turntable (500) is provided with four second limiting slots (510) arranged in a ring array. The second limiting slots (510) are composed of a first slot (511) and a second slot (512). The first slot (511) is located at one end of the second slot (512), and the first slot (511) and the second slot (512) are connected. The bottom end of the robotic arm base (110) is provided with four mounting posts (111) arranged in a ring array. The upper part of the outer circumferential wall of the mounting posts (111) is provided with four limiting blocks (112) arranged in a ring array. The bottom end of the mounting posts (111) extends through the mounting hole (220) into the interior of the mounting base (200) and through the second limiting slot (510) to connect with the first limiting plate (113). The limiting blocks (112) are located in the first limiting slot (210).
2. The fixing structure for a medical robotic arm according to claim 1, characterized in that: The limiting component (300) is composed of a second limiting plate (310), a spring (320), a connecting post (330), a third limiting plate (340), and a positioning post (350). The connecting post (330) is installed on the upper and lower sides of the outer wall of one side of the second limiting plate (310).
3. The fixing structure for a medical robotic arm according to claim 2, characterized in that: The other end of the connecting column (330) passes through the through hole on the outer wall of the mounting base (200) and extends into the interior of the mounting base (200) to connect with the third limiting plate (340). A spring (320) is sleeved on the outer side of the outer wall of the connecting column (330), and the spring (320) is located between one side of the outer wall of the second limiting plate (310) and the circumferential outer wall of the mounting base (200).
4. The fixing structure for a medical robotic arm according to claim 1, characterized in that: The rotating assembly (400) is composed of a first rotating shaft (410), a first bevel gear (420), a second rotating shaft (430), a second bevel gear (440), and a rotating adjustment plate (450). The top end of the second rotating shaft (430) is installed at the center of the lower surface of the limiting turntable (500), and the bottom end of the second rotating shaft (430) is installed in the bearing seat, which is installed at the center of the bottom end inside the mounting base (200).
5. The fixing structure for a medical robotic arm according to claim 4, characterized in that: A first bevel gear (420) is provided on the circumferential outer wall of the second rotating shaft (430). The first bevel gear (420) meshes with the second bevel gear (440). The second bevel gear (440) is installed at one end of the first rotating shaft (410). The other end of the first rotating shaft (410) extends through the bearing on the outer wall of the mounting base (200) to the outside and passes through the through hole on the outer wall of the second limiting plate (310) to connect with the rotating adjustment plate (450).
6. The fixing structure for a medical robotic arm according to claim 3, characterized in that: Positioning posts (350) are installed on the upper and lower sides of the outer wall of the second limiting plate (310). The other end of the positioning post (350) is set in the positioning hole, and the positioning hole is opened on the upper and lower sides of the outer wall of the rotating adjustment plate (450).
7. The fixing structure for a medical robotic arm according to claim 1, characterized in that: The outer wall of the mounting post (111) and the inner wall of the mounting hole (220) are in clearance fit. The outer wall of the limiting block (112) and the hole wall of the first limiting slot (210) are in clearance fit. The outer wall of the mounting post (111) and the hole wall of the second slot (512) are in clearance fit. The outer diameter of the first limiting plate (113) is equal to the inner diameter of the first slot (511). The inner diameter of the first slot (511) is greater than the slot width of the second slot (512).