CN206296921U - Mechanical arm for medical use - Google Patents
Mechanical arm for medical use Download PDFInfo
- Publication number
- CN206296921U CN206296921U CN201621493791.7U CN201621493791U CN206296921U CN 206296921 U CN206296921 U CN 206296921U CN 201621493791 U CN201621493791 U CN 201621493791U CN 206296921 U CN206296921 U CN 206296921U
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- CN
- China
- Prior art keywords
- mechanical
- mechanical arm
- respectively arranged
- resilient clamp
- clamp bodies
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The utility model discloses a kind of mechanical arm for medical use, including mechanical arm, two forks of the mechanical arm are respectively articulated with and are provided with mechanical finger；Two forks of the mechanical arm are respectively arranged with bearing pin, and pin-and-hole is respectively arranged with the middle part of two mechanical fingers；Arc clamping part is respectively arranged with the relative side wall in the front end of two mechanical fingers, resilient clamp bodies are correspondingly arranged on respectively at two arc clamping parts, and guiding clamping structure is respectively arranged between each described resilient clamp bodies and the corresponding mechanical finger；The rear end of two mechanical fingers is respectively arranged with waist type elongated hole, and the push-and-pull pin being connected with driver part is inserted with the waist type elongated hole.The utility model structure design is simply compact, it is easy for operation flexible, by latticed rubber or the compound resilient clamp bodies of stratiform sponge, increase the frictional force being crawled between medicament pipe and mechanical finger, crawl effect is improve, grasping stability is reliable, it is easy to fall off not allow.
Description
Technical field
The utility model is related to technical field of medical instruments, more particularly to a kind of mechanical arm for medical use.
Background technology
In canning process of infusing, it is sometimes desirable to which the transmission for completing flask for medicinal preparations or pipe by manipulator joins, so that respectively
Individual processing step is carried out continuously, and improves operating efficiency.The manipulator used in current flask for medicinal preparations or pipe transmission handshaking, structure
Design is complex, and flexible movements degree is inadequate；And during crawl flask for medicinal preparations, if manipulator is larger to flask for medicinal preparations grasp force, hold
Easily flask for medicinal preparations is caused to damage, if manipulator is smaller to flask for medicinal preparations grasp force, is easily slid from manipulator, cause operation
In-convenience in use.
Utility model content
Technical problem to be solved in the utility model is to provide that a kind of structure design is simple, operates with safe ready,
Beneficial to the mechanical arm for medical use for improving operating efficiency.
In order to solve the above technical problems, the technical solution of the utility model is：
Mechanical arm for medical use, including fork-shaped mechanical arm；Two forks of the mechanical arm are respectively articulated with and are provided with bracket
The mechanical finger of type, two mechanical fingers are oppositely arranged；Two forks of the mechanical arm are respectively arranged with bearing pin, two
The pin-and-hole being adapted with the bearing pin is respectively arranged with the middle part of the individual mechanical finger, the mechanical arm passes through the bearing pin
It is connected with the mechanical finger；
Arc clamping part, two arcs folders are respectively arranged with the relative side wall in the front end of two mechanical fingers
Hold and be correspondingly arranged on resilient clamp bodies at portion respectively, between each described resilient clamp bodies and the corresponding mechanical finger respectively
It is provided with guiding clamping structure；The rear end of two mechanical fingers is respectively arranged with waist type elongated hole, the waist type elongated hole interpolation
It is provided with the push-and-pull pin being connected with driver part.
Used as preferred technical scheme, the guiding clamping structure includes the T-shaped guide card set on the mechanical finger
Tight groove, the resilient clamp bodies bottom is provided with and the T-shaped T-shaped guiding clamping bar for being oriented to clamping slot phase snap-fit.
Used as preferred technical scheme, the resilient clamp bodies are latticed rubber bodies, and the T-shaped guiding clamping bar is hard
Matter rubber strip.
Used as another preferred technical scheme, the resilient clamp bodies are stratiform sponge complex, and layered sponge is answered
It is fit to include sponge top layer, rubber substrate and plastic bottom layer successively within outer.
Used as improved technical scheme, the T-shaped guiding clamping bar is to be moulded with the integrally formed hard of the plastic bottom layer
Material strip.
Mechanical arm for medical use with the above mentioned technical proposal, including fork-shaped mechanical arm, the mechanical arm
Two forks are respectively articulated with the mechanical finger for being provided with bracket type, and two mechanical fingers are oppositely arranged；The mechanical arm
Two forks are respectively arranged with bearing pin, and the pin being adapted with the bearing pin is respectively arranged with the middle part of two mechanical fingers
Hole, the mechanical arm is connected by the bearing pin with the mechanical finger.The front end of two mechanical fingers is relative
Arc clamping part is respectively arranged with the wall of side, resilient clamp bodies are correspondingly arranged on respectively at two arc clamping parts, each
Guiding clamping structure is respectively arranged between the resilient clamp bodies and the corresponding mechanical finger；Two mechanical fingers
Rear end be respectively arranged with waist type elongated hole, the push-and-pull pin being connected with driver part is inserted with the waist type elongated hole；This practicality
It is new to have the advantages that：Structure design is simply compact, can be driven by electromagnetic component, easy for operation flexible, portion
Part changes easy to maintenance, by the compound resilient clamp bodies of latticed rubber or stratiform sponge, increase be crawled medicament pipe with
Frictional force between mechanical finger, improves crawl effect, and grasping stability is reliable, it is easy to fall off not allow, and due to latticed bullet
Property cramping body or stratiform sponge complex elastic reaction, will not to medicament pipe cause damage.
Brief description of the drawings
The following drawings is only intended to, in the utility model is done schematic illustration and explanation, not limit model of the present utility model
Enclose.Wherein：
Fig. 1 is the structural representation of the utility model embodiment one；
Fig. 2 is the structural representation of mechanical arm；
Fig. 3 is two assembling schematic diagrams of mechanical finger in the utility model embodiment one；
Fig. 4 is the structural representation of the utility model embodiment two；
Fig. 5 is the structural representation of resilient clamp bodies in the utility model embodiment two.
In figure：1- mechanical arms；11- forks；12- bearing pins；2- mechanical fingers；21- arc clamping parts；22- waist type elongated holes；
23- pin-and-holes；24-T types are oriented to clamping slot；3- resilient clamp bodies；31-T types are oriented to clamping bar；32- sponges top layer；33- rubber-baseds
Layer；34- plastic bottom layers；4- push-and-pull pins.
Specific embodiment
With reference to the accompanying drawings and examples, the utility model is expanded on further.In the following detailed description, only by saying
Bright mode describes some one exemplary embodiments of the present utility model.Undoubtedly, one of ordinary skill in the art can be with
Recognize, in the case of without departing from spirit and scope of the present utility model, can be with a variety of modes to described
Embodiment is modified.Therefore, accompanying drawing and description are inherently illustrative, rather than the protection for limiting claim
Scope.
Embodiment one
As shown in Figure 1 to Figure 3, mechanical arm for medical use, including fork-shaped mechanical arm 1；Two forks of the mechanical arm 1
11 are respectively articulated with the mechanical finger 2 for being provided with bracket type, and two mechanical fingers 2 are oppositely arranged；Two of the mechanical arm 1
Fork is respectively arranged with bearing pin 12, and the middle part of two mechanical fingers 2 is respectively arranged with the pin being adapted with the bearing pin 12
Hole 23, the mechanical arm 1 is connected by the bearing pin 12 with the mechanical finger 2, and structure design is simply compact, changes dimension
Shield is convenient.
Arc clamping part 21, two arcs are respectively arranged with the relative side wall in the front end of two mechanical fingers 2
Resilient clamp bodies 3 are correspondingly arranged at shape clamping part 21 respectively, each described resilient clamp bodies 3 and the corresponding mechanical finger
Guiding clamping structure is respectively arranged between 2；The rear end of two mechanical fingers 2 is respectively arranged with waist type elongated hole 22, described
The push-and-pull pin 4 being connected with driver part (not shown) is inserted with waist type elongated hole 22, driver part can use electromagnetism
The common structure such as valve or oil cylinder is realized, by driving push-and-pull pin 4 movable, two arcs of mechanical finger 2 can be driven to clamp
Portion 21 closes up or separates, so as to realize capturing or relieving action, flexible and convenient operation.
In the present embodiment, the clamping structure that is oriented to includes the T-shaped guiding clamping slot 24 set on the mechanical finger 2,
The bottom of the resilient clamp bodies 3 is provided with and the T-shaped T-shaped guiding clamping bar 31 for being oriented to the phase snap-fit of clamping slot 24.Its
In, the resilient clamp bodies 3 are latticed rubber bodies, while improving chucking power, it is not easy to be damaged to medicament pipe or coupon,
Its same function can certainly be realized using multiple spaced rhombus block rubbers, be no longer described in detail.It is described T-shaped to lead
It is vulcanie bar to clamping bar 31, it can be with resilient clamp bodies 3 by a sulfidization molding, and convenient formation is cheap,
And conveniently change at any time.
Embodiment two
As shown in Figure 4 and Figure 5, the present embodiment is essentially identical with the structural principle of embodiment one, and something in common is no longer gone to live in the household of one's in-laws on getting married
State, its unique difference is：
The resilient clamp bodies 3 are stratiform sponge complex, and layered sponge complex includes sea within outer successively
Continuous top layer 32, rubber substrate 33 and plastic bottom layer 34, this species complex have surface flexible concurrently, and clamping effect can be more preferable.This implementation
It is easy to process in example, T-shaped guiding clamping bar 31 is and the integrally formed rigid plastics bar of the plastic bottom layer 34.
The schematical specific embodiment of the utility model is the foregoing is only, model of the present utility model is not limited to
Enclose.Any those skilled in the art, the done equivalent change on the premise of design of the present utility model and principle is not departed from
Change and change, the scope of the utility model protection all should be belonged to.
Claims (5)
1. the mechanical arm of mechanical arm for medical use, including fork-shaped；It is characterized in that：
Two forks of the mechanical arm are respectively articulated with the mechanical finger for being provided with bracket type, and two mechanical fingers set relatively
Put；Two forks of the mechanical arm are respectively arranged with bearing pin, are respectively arranged with the middle part of two mechanical fingers and institute
The pin-and-hole that bearing pin is adapted is stated, the mechanical arm is connected by the bearing pin with the mechanical finger；
Arc clamping part, two arc clamping parts are respectively arranged with the relative side wall in the front end of two mechanical fingers
Place is correspondingly arranged on resilient clamp bodies respectively, is respectively provided between each described resilient clamp bodies and the corresponding mechanical finger
There is guiding clamping structure；The rear end of two mechanical fingers is respectively arranged with waist type elongated hole, is inserted with the waist type elongated hole
The push-and-pull pin being connected with driver part.
2. mechanical arm for medical use as claimed in claim 1, it is characterised in that：The guiding clamping structure includes the mechanical finger
The T-shaped guiding clamping slot of upper setting, the resilient clamp bodies bottom is provided with and the T-shaped guiding clamping slot phase snap-fit
T-shaped guiding clamping bar.
3. mechanical arm for medical use as claimed in claim 2, it is characterised in that：The resilient clamp bodies are latticed rubber bodies, institute
It is vulcanie bar to state T-shaped guiding clamping bar.
4. mechanical arm for medical use as claimed in claim 2, it is characterised in that：The resilient clamp bodies are stratiform sponge complex,
Layered sponge complex includes sponge top layer, rubber substrate and plastic bottom layer within outer successively.
5. mechanical arm for medical use as claimed in claim 4, it is characterised in that：It is described it is T-shaped guiding clamping bar be and the plastic bottom
The integrally formed rigid plastics bar of layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621493791.7U CN206296921U (en) | 2016-12-26 | 2016-12-26 | Mechanical arm for medical use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621493791.7U CN206296921U (en) | 2016-12-26 | 2016-12-26 | Mechanical arm for medical use |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206296921U true CN206296921U (en) | 2017-07-04 |
Family
ID=59203730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621493791.7U Expired - Fee Related CN206296921U (en) | 2016-12-26 | 2016-12-26 | Mechanical arm for medical use |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206296921U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019235151A1 (en) * | 2018-06-07 | 2019-12-12 | コニカミノルタ株式会社 | Gripping device, and method for manufacturing resilient body |
| CN111153248A (en) * | 2020-01-20 | 2020-05-15 | 珠海市商劲智能机械设备有限公司 | Facial mask feeding mechanism and facial mask material loading machine |
| CN111803089A (en) * | 2020-06-05 | 2020-10-23 | 哈工大机器人(中山)无人装备与人工智能研究院 | Miniature electromagnetic type unilateral positioning finger clamping jaw |
| US11148696B2 (en) | 2018-12-27 | 2021-10-19 | Toyota Research Institute, Inc. | Assistive robots including assemblies for accommodating obstacles and methods for using the same |
| US11420338B2 (en) | 2018-12-27 | 2022-08-23 | Toyota Research Institute, Inc. | Assistive robot systems for container tilting |
| US11505017B2 (en) | 2018-12-27 | 2022-11-22 | Toyota Research Institute, Inc. | Devices including deployable hitch assemblies and autonomous engagement systems incorporating the same |
| US11827500B2 (en) | 2018-12-27 | 2023-11-28 | Toyota Research Institute, Inc. | Assistive robot systems for transporting containers |
-
2016
- 2016-12-26 CN CN201621493791.7U patent/CN206296921U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019235151A1 (en) * | 2018-06-07 | 2019-12-12 | コニカミノルタ株式会社 | Gripping device, and method for manufacturing resilient body |
| JPWO2019235151A1 (en) * | 2018-06-07 | 2021-06-17 | コニカミノルタ株式会社 | Manufacturing method of gripping device and elastic body |
| JP7577537B2 (en) | 2018-06-07 | 2024-11-05 | コニカミノルタ株式会社 | Gripping device and method for manufacturing elastic body |
| US11148696B2 (en) | 2018-12-27 | 2021-10-19 | Toyota Research Institute, Inc. | Assistive robots including assemblies for accommodating obstacles and methods for using the same |
| US11420338B2 (en) | 2018-12-27 | 2022-08-23 | Toyota Research Institute, Inc. | Assistive robot systems for container tilting |
| US11505017B2 (en) | 2018-12-27 | 2022-11-22 | Toyota Research Institute, Inc. | Devices including deployable hitch assemblies and autonomous engagement systems incorporating the same |
| US11597098B2 (en) | 2018-12-27 | 2023-03-07 | Toyota Research Institute, Inc. | Assistive robot systems for container lifting |
| US11827500B2 (en) | 2018-12-27 | 2023-11-28 | Toyota Research Institute, Inc. | Assistive robot systems for transporting containers |
| CN111153248A (en) * | 2020-01-20 | 2020-05-15 | 珠海市商劲智能机械设备有限公司 | Facial mask feeding mechanism and facial mask material loading machine |
| CN111803089A (en) * | 2020-06-05 | 2020-10-23 | 哈工大机器人(中山)无人装备与人工智能研究院 | Miniature electromagnetic type unilateral positioning finger clamping jaw |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170704 Termination date: 20171226 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |