A multi-directional robotic arm gripper head

Abstract

This utility model relates to a multi-directional robotic arm gripper head, including a mounting base, a connecting column mounted on the top of the mounting base, a first telescopic cylinder mounted on the top of the connecting column, a drive motor mounted on the top of the first telescopic cylinder, a gripping component fixed to the output shaft of the drive motor, and a spraying component provided outside the connecting column. This utility model can not only securely grip various surgical instruments using the first C-shaped gripping slots on both sides, but also switch to a limb fixation mode, achieving dual limiting through the second C-shaped gripping slot and the second gripping plate to ensure limb stability; it can also quickly switch the position of surgical instruments with the help of the drive motor, improving surgical efficiency. At the same time, the elastic plate engagement makes the gripping block easy to install and remove, and can be adapted to different patient limb sizes, enhancing the versatility and practicality of the device.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm grippers, specifically a multi-directional robotic arm gripper. Background Technology

[0002] A robotic arm consists of a mechanical base, a robotic arm, a gripper head, and accessories, and is used in various fields.

[0003] According to publicly available patent CN221985116U, a robotic arm with an easily replaceable gripper head is disclosed. It includes a mechanical base, on the surface of which a robotic arm body is mounted. A gripper head body is located on one side of the robotic arm body. An adjustment structure is located on the side of the robotic arm body near the gripper head body. The adjustment structure includes a fixing plate, which is fixedly connected to the robotic arm body. An arched plate is fixedly connected to one side of the fixing plate. A connecting rod is rotatably connected to the inner wall of the arched plate. Two cross plates are fixedly connected to the arc surface of the connecting rod. Screws are threaded onto the inner walls of both cross plates. A connecting plate is fixedly connected to the side of the gripper head body near the robotic arm body. Two cross grooves are formed on one side of the connecting plate. This utility model provides a robotic arm with an easily replaceable gripper head, offering the advantage of convenient and quick disassembly and installation of the gripper head body.

[0004] However, in practice, traditional multi-directional robotic arm grippers use a single-head gripping method. This method can only grip one tool at a time. During surgery, it is often necessary to support the patient's limbs or fix various surgical instruments (such as endoscopes and surgical staplers). Due to the limitations of the single-head gripping method, which can only handle one tool at a time, it is difficult to meet the diverse and varied needs that arise during surgery. Therefore, a new technical solution is needed. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology, adapt to practical needs, and provide a multi-directional robotic arm gripper head. This addresses the problem that current traditional multi-directional robotic arm grippers use a single gripper head for operation. In this gripping mode, only one tool can be gripped at a time. However, during surgery, it is often necessary to provide support for the patient's limbs or to fix various surgical instruments (such as endoscopes, surgical staplers, etc.). Due to the limitations of the single gripper head method, which can only handle one tool at a time, it is difficult to meet the diverse and different needs that arise during surgery.

[0006] To achieve the purpose of this utility model, the technical solution adopted by this utility model is as follows: a multi-directional robotic arm gripping head is designed, including a mounting base, a connecting column is installed on the top of the mounting base, a first telescopic cylinder is installed on the top of the connecting column, a drive motor is installed on the top of the first telescopic cylinder, a gripping component is fixed on the output shaft of the drive motor, and a spraying component is provided on the outside of the connecting column.

[0007] Preferably, the clamping assembly includes a clamping block, and a first C-shaped clamping groove is provided on both sides of the clamping block. An adjusting screw passes through the bottom of the first C-shaped clamping groove and is connected to a screw hole in the through position. A first clamping plate is fixed to one end of the adjusting screw located in the first C-shaped clamping groove.

[0008] Preferably, the clamping block has an installation groove on its top, and a limiting slot is provided on both sides of the inner wall of the installation groove. A protrusion at one end of an elastic piece is engaged inside the limiting slot, and a clamping block is fixed at the other end of the elastic piece. A second C-shaped clamping groove is provided on the top of the clamping block.

[0009] Preferably, one end of a second telescopic cylinder is installed on both sides of the top of the clamping block, and a movable plate is fixed to the other end of the second telescopic cylinder. A connecting pipe passes through the top of the movable plate, and the bottom of the connecting pipe is sealed and fixed with a second clamping disc. The connection position between the connecting pipe and the movable plate is fixed, and a nozzle is connected to the top of the connecting pipe.

[0010] Preferably, the spraying assembly includes an annular liquid tank, with a circular through hole integrally formed in the center of the annular liquid tank, and a connecting column passing through the circular through hole. One end of the annular liquid tank is connected to a liquid pump, one end of the liquid pump is connected to a hose, and the other end of the hose is connected to the outside of the connecting pipe.

[0011] Preferably, the annular liquid tank has a tube connected to both the upper and lower ends of its side, and the other end of the tube is detachably connected to a tube cap.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. This utility model, through the combination of a clamping block, a C-shaped clamping groove, and a second telescopic cylinder, not only allows for the clamping and limiting of different surgical instruments using the first C-shaped clamping grooves located on both sides of the clamping block, but also, when it is necessary to fix a patient's limb, allows the limb to pass directly through the gap between the moving plate and the clamping block and directly into the second C-shaped clamping groove for limiting. The second telescopic cylinder then drives the connecting pipe and the second clamping plate to move downwards, further limiting the patient's limb. When it is not necessary to limit the patient's limb, by clamping surgical instruments on both sides, the position of different surgical instruments can be directly switched using a drive motor. Furthermore, due to the clamping mechanism... The clamping block engages with the holding block via an elastic plate. The clamping blocks can be easily disassembled and reassembled, allowing for the replacement of clamping blocks with different second C-shaped clamping slots. This adapts to different limb sizes and solves the problem of traditional multi-directional robotic arm clamping heads using a single clamping head. In this clamping mode, only one tool can be clamped at a time. However, during surgery, it is often necessary to provide support for the patient's limb or to fix various surgical instruments (such as endoscopes and surgical staplers). Due to the limitations of the single clamping head method, only one tool can be handled at a time, making it difficult to meet the diverse and different needs that arise during surgery.

[0014] 2. This utility model combines a connecting pipe, a flexible hose, and an annular liquid tank, directly placing the annular liquid tank outside the connecting column, saving external space. The annular liquid tank can be filled with disinfectant, hemostatic agent, or saline solution. After the gripping head and the robotic arm are installed, the position of the gripping head can be directly adjusted using the robotic arm, and the gripping head can directly spray disinfectant, hemostatic agent, or saline solution, giving the gripping head a spraying function and further enhancing its functionality. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the limiting slot structure of this utility model;

[0017] Figure 3 This is an exploded view of the present invention.

[0018] In the diagram: 1. Mounting base; 101. Connecting column; 102. First telescopic cylinder; 103. Drive motor; 2. Clamping block; 201. Mounting groove; 202. Clamping block; 203. Second telescopic cylinder; 204. Moving plate; 205. Second clamping disc; 206. Connecting pipe; 207. First C-shaped clamping groove; 208. Adjusting screw; 209. First clamping disc; 210. Limiting groove; 211. Elastic piece; 212. Second C-shaped clamping groove; 3. Annular liquid tank; 301. Liquid pump; 302. Hose; 303. Pipe body; 304. Pipe cap; 305. Nozzle. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Example 1: A multi-directional robotic arm gripper head, see [link / reference] Figures 1 to 3The system includes a mounting base 1, a connecting column 101 mounted on top of the mounting base 1, a first telescopic cylinder 102 mounted on top of the connecting column 101, a drive motor 103 mounted on top of the first telescopic cylinder 102, a clamping assembly fixed to the output shaft of the drive motor 103, and a spraying assembly on the outside of the connecting column 101. First, the mounting base 1 and the mounting part of the robotic arm are installed and fixed. During the operation, if it is necessary to fix surgical instruments, multiple surgical instruments are placed in the first C-shaped clamping slots 207 on both sides of the clamping block 2. Then, the adjusting screw 208 is rotated, which drives the first clamping plate 209 to move, thereby using the first clamping plate 209 to clamp different sizes of surgical instruments. The surgical instruments are clamped and limited to ensure their stability. When it is necessary to fix the patient's limb, the patient's limb is passed through the gap between the moving plate 204 and the clamping block 2 and inserted into the second C-shaped clamping groove 212 for initial limitation. Then, the second telescopic cylinder 203 is activated, which drives the connecting pipe 206 and the second clamping plate 205 to move down, further limiting the patient's limb to ensure the stability of the patient's limb during the operation. If it is not necessary to limit the patient's limb and only the surgical instruments need to be operated, the surgical instruments are clamped on both sides, and the drive motor 103 is activated. The drive motor 103 drives the clamping block 2 to rotate, thereby realizing the switching of different surgical instrument positions and facilitating the operation. Furthermore, the clamping block 202 engages with the limiting slot 210 in the mounting groove 201 via the elastic piece 211. When assembling or disassembling the clamping block 202, the protrusion of the elastic piece 211 can engage or disengage from the limiting slot 210, enabling convenient assembly and disassembly. Consequently, the clamping block 202 with a suitable second C-shaped clamping slot 212 can be replaced according to the limb size of different patients to meet the limb fixation needs of different patients. This solves the problem that the traditional multi-directional robotic arm clamping head uses a single clamping head to perform operations. In this clamping mode, only a single tool can be clamped at a time. However, during surgery, it is often necessary to provide support for the patient's limb or fix various surgical instruments (such as endoscopes, surgical staplers, etc.). Due to the limitations of the single clamping head method, only one tool can be handled at a time, making it difficult to meet the diverse and different needs that arise during surgery.

[0021] For details, see Figure 1 The clamping assembly includes a clamping block 2. Both sides of the clamping block 2 are provided with a first C-shaped clamping groove 207. An adjusting screw 208 passes through the bottom of the first C-shaped clamping groove 207. The adjusting screw 208 is connected to a screw hole in the through position. A first clamping plate 209 is fixed to one end of the adjusting screw 208 located in the first C-shaped clamping groove 207.

[0022] Further, see Figure 2The clamping block 2 has an installation groove 201 on the top. The inner walls of the installation groove 201 are provided with limit slots 210 on both sides. The limit slots 210 are fitted with a protrusion at one end of an elastic piece 211. The other end of the elastic piece 211 is fixed with a clamping block 202. The top of the clamping block 202 has a second C-shaped clamping groove 212.

[0023] It is worth noting that, see Figure 1 The clamping block 2 has a second telescopic cylinder 203 installed on both sides of its top. The other end of the second telescopic cylinder 203 is fixed with a movable plate 204. A connecting pipe 206 passes through the top of the movable plate 204. The bottom of the connecting pipe 206 is sealed and fixed with a second clamping plate 205. The connection position of the connecting pipe 206 and the movable plate 204 is fixed, and the top of the pipe is connected to a nozzle 305.

[0024] It is worth noting that, see Figure 1 The spraying assembly includes an annular liquid tank 3, with a circular through-hole integrally formed in the center of the annular liquid tank 3. A connecting post 101 passes through the circular through-hole. One end of the annular liquid tank 3 is connected to a liquid pump 301, and one end of the liquid pump 301 is connected to a hose 302. The other end of the hose 302 is connected to the outside of the connecting pipe 206. By directly mounting the annular liquid tank 3 outside the connecting post 101, external space is effectively saved, making the overall structure more compact. The annular liquid tank 3 can store different liquids such as disinfectant, hemostatic agent, or saline to meet diverse needs during surgery. After the mounting base 1 and the robotic arm are installed, the robotic arm... The adjustment allows for the adjustment of the position of the nozzle 305, ensuring it accurately points towards the target area. Subsequently, the liquid pump 301 is activated, and with its suction force, it draws the liquid from the annular liquid tank 3 into the hose 302. The liquid flows along the hose 302 into the connecting pipe 206 and is finally sprayed out through the nozzle 305. Whether it is disinfectant for disinfecting the surgical site, hemostatic agent for controlling bleeding, or saline for cleaning the wound, all can be achieved through the spraying function. This enhances the functionality of the clamping head, provides more convenience and support for surgical operations, and ensures that the surgery can be performed more smoothly and efficiently.

[0025] It is worth mentioning that, see Figure 1 The annular liquid tank 3 has a tube 303 connected to both the upper and lower ends of its side, and the other end of the tube 303 is detachably connected to a tube cap 304.

[0026] It should be noted that the main body of the elastic piece 211 is an arc-shaped thin sheet structure. One end is fixed to the side wall of the clamping block 202, and the other end is a free end with a semi-circular or wedge-shaped protrusion. When the clamping block 202 is pushed into the mounting groove 201, the guide slope of the protrusion of the elastic piece 211 first contacts the groove entrance. As the insertion depth increases, the slope decomposes the axial thrust into a vertical component, causing the elastic piece 211 to bend and deform inward. When the protrusion reaches the groove position, the elastic potential energy is released, and the vertical surface of the protrusion completely fits the bottom surface of the groove, generating a locking torque. During disassembly, a pulling force is directly applied along the axial direction, and the free end of the elastic piece 211 bends and deforms inward under the action of the pulling force, causing the vertical surface of the protrusion to disengage from the groove. The slot outlet is equipped with a 15°-20° release angle, which, together with the elastic piece with an interference of 0.3-0.5mm, allows the protrusion to slide out automatically along the angle under the action of tension, achieving tool-free quick disassembly.

[0027] When using a multi-directional robotic arm gripper head, firstly, the mounting base 1 is installed and fixed to the mounting part of the robotic arm. During the operation, if it is necessary to fix surgical instruments, multiple surgical instruments are placed in the first C-shaped gripping grooves 207 on both sides of the gripping block 2. Then, the adjusting screw 208 is rotated, which drives the first gripping plate 209 to move. The first gripping plate 209 is then used to clamp and limit surgical instruments of different sizes, ensuring the stability of the surgical instruments. When it is necessary to fix the patient's limb, the patient's limb is passed through the moving plate 204. The gap between the clamping block 2 and the second C-shaped clamping groove 212 is initially limited. Then, the second telescopic cylinder 203 is activated, which drives the connecting pipe 206 and the second clamping plate 205 to move down, further limiting the patient's limb to ensure the stability of the patient's limb during the operation. If it is not necessary to limit the patient's limb and only the surgical instruments need to be operated, the surgical instruments are clamped on both sides, and the drive motor 103 is activated. The drive motor 103 drives the clamping block 2 to rotate, thereby realizing the switching of different surgical instrument positions and facilitating the operation. Furthermore, the clamping block 202 engages with the limiting groove 210 within the mounting slot 201 via an elastic piece 211. When assembling or disassembling the clamping block 202, the protrusion of the elastic piece 211 can engage or disengage from the limiting groove 210, enabling convenient assembly and disassembly. This allows for the replacement of the clamping block 202 with a suitable second C-shaped clamping groove 212 according to the limb size of different patients, thus adapting to the limb fixation needs of different patients. The annular liquid tank 3 is directly positioned outside the connecting column 101, effectively saving external space and making the overall structure more compact. The annular liquid tank 3 can store different liquids such as disinfectant, hemostatic agent, or saline solution to meet diverse needs during surgery. After the mounting base 1 and the robotic arm are installed, the adjustment of the robotic arm can adjust the position of the nozzle 305 so that it accurately points to the target area. Then, the liquid pump 301 is started. The liquid pump 301 starts to work and uses its suction force to draw the liquid in the annular liquid tank 3 into the hose 302. The liquid flows along the hose 302 into the connecting pipe 206 and is finally sprayed out through the nozzle 305. Whether it is disinfectant for disinfecting the surgical site, hemostatic agent for controlling bleeding, or saline for cleaning the wound, it can all be achieved through the spraying function. This enhances the functionality of the clamping head, provides more convenience and support for surgical operations, and ensures that the surgery can be carried out more smoothly and efficiently.

[0028] In addition, all components designed in this utility model are general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods. Those skilled in the art can fully implement them, so there is no need to elaborate. The content protected by this utility model does not involve improvements to the internal structure and method.

Claims

1. A multi-directional robotic arm gripper head, comprising a mounting base (1), characterized in that, A connecting column (101) is mounted on the top of the mounting base (1). A first telescopic cylinder (102) is mounted on the top of the connecting column (101). A drive motor (103) is mounted on the top of the first telescopic cylinder (102). A clamping assembly is fixed to the output shaft of the drive motor (103). A spraying assembly is provided outside the connecting column (101). The clamping assembly includes a clamping block (2). A first C-shaped clamping groove (207) is provided on both sides of the clamping block (2). An adjusting screw (208) passes through the bottom of the first C-shaped clamping groove (207). The rod (208) is connected to the screw hole in the through position. The first clamping plate (209) is fixed at one end of the adjusting screw (208) located in the first C-shaped clamping groove (207). The clamping block (2) has an installation groove (201) on the top. Limiting slots (210) are opened on both sides of the inner wall of the installation groove (201). The protrusion of one end of the elastic piece (211) is engaged in the limiting slot (210). The other end of the elastic piece (211) is fixed with a clamping block (202). The top of the clamping block (202) has a second C-shaped clamping groove (212).

2. The multi-directional robotic arm gripper head as described in claim 1, characterized in that, The clamping block (2) has a second telescopic cylinder (203) installed on both sides of its top. The other end of the second telescopic cylinder (203) is fixed with a movable plate (204). A connecting pipe (206) passes through the top of the movable plate (204). The bottom of the connecting pipe (206) is sealed and fixed with a second clamping disc (205). The connection position between the connecting pipe (206) and the movable plate (204) is fixed, and a nozzle (305) is connected to its top.

3. The multi-directional robotic arm gripper head as described in claim 1, characterized in that, The spraying assembly includes an annular liquid tank (3), which has a circular through hole integrally formed in the middle. A connecting column (101) passes through the circular through hole. One end of the annular liquid tank (3) is connected to a liquid pump (301), and one end of the liquid pump (301) is connected to a hose (302). The other end of the hose (302) is connected to the outside of the connecting pipe (206).

4. The multi-directional robotic arm gripper head as described in claim 3, characterized in that, The annular liquid tank (3) has one end of a tube (303) connected to both the upper and lower ends of its side, and the other end of the tube (303) is detachably connected to a tube cap (304).

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