CN111329594B

CN111329594B - Mechanical arm and medical equipment

Info

Publication number: CN111329594B
Application number: CN202010106156.3A
Authority: CN
Inventors: 魏凯; 王浩; 杨战孝; 陈培涛
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority date: 2020-02-20
Filing date: 2020-02-20
Publication date: 2022-04-19
Anticipated expiration: 2040-02-20
Also published as: CN111329594A

Abstract

The invention discloses a mechanical arm and medical equipment. The mechanical arm is used for being connected with the fixed interface, the end part of the fixed interface is provided with a first transition part, the mechanical arm comprises an installation member and a locking member, the installation member comprises a first body part, a first protruding part and a second transition part, the cross section of the first protruding part is in a non-circular shape, the first protruding part is connected with the first body part through the second transition part, one end, far away from the second transition part, of the first protruding part is provided with a hole, a matching structure is arranged in the hole, the locking member comprises a second protruding part, the second protruding part is provided with a joint structure, the second protruding part extends into the hole, and the joint structure is connected with the matching structure in a matched mode so that the second transition part can be abutted to the first transition part. According to the mechanical arm provided by the invention, no fit clearance exists between the mechanical arm and the fixed interface, no return clearance exists between the mounting component and the fixed interface, and the mechanical arm and the fixed interface are firmly connected and are not easy to shake.

Description

Mechanical arm and medical equipment

Technical Field

The invention relates to the technical field of medical instruments, in particular to a mechanical arm and medical equipment.

Background

Existing ventilators or anesthesia machines include a gantry that can be connected to a robotic arm. Typically the robotic arm is connected to the gantry by a handle nut. The rack can be further provided with a fixing component, and the fixing component can be in threaded connection with the mechanical arm. Alternatively, the fixing member may be used to clamp the flat tube. However, the above-mentioned threaded connection method easily causes a gap between the mechanical arm and the fixing member, and the phenomenon of thread slipping easily occurs, which affects the use of the mechanical arm and causes the mechanical arm to shake.

Therefore, there is a need to provide a mechanical arm and a medical device to at least partially solve the above problems.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In order to at least partially solve the above problem, according to a first aspect of the present invention, there is provided a robot arm for connection with a fixed interface, an end of the fixed interface being provided with a first transition portion, the robot arm comprising:

the mounting component comprises a first body part, a first protruding part and a second transition part, the cross section of the first protruding part is in a non-perfect-circular shape, the first protruding part is connected with the first body part through the second transition part, one end, far away from the second transition part, of the first protruding part is provided with a hole, and a matching structure is arranged in the hole; and

a locking member including a second protrusion, the second protrusion being provided with an engagement structure, the second protrusion extending into the aperture, the engagement structure being in mating connection with the mating structure such that the second transition abuts the first transition.

According to the mechanical arm provided by the invention, the mechanical arm is used for being connected with a fixed interface, the end part of the fixed interface is provided with a first transition part, the mechanical arm comprises an installation member and a locking member, the cross section of the first protruding part of the installation member is in a non-regular circular shape, the installation member comprises a hole, a second protruding part of the locking member can extend into the hole, a joint structure of the second protruding part can be in matched connection with a matching structure of the hole so that the second transition part is abutted against the first transition part, a matching gap does not exist between the mechanical arm and the fixed interface, a return gap does not exist between the installation member and the fixed interface, and the connection between the mechanical arm and the fixed interface is firm and is not easy to shake.

Optionally, the non-perfect circle comprises a long side and a short side, and two opposite ends of the short side are respectively connected with the two long sides. Therefore, the gap between the first protruding part and the fixed interface is reduced, and the firmness of connection between the mechanical arm and the fixed interface is ensured.

Optionally, the non-perfect circle comprises a straight and/or curved line segment.

Optionally, the fixing interface is disposed on the fixing member, the fixing interface has a non-perfect circular cross-sectional shape, and the fixing interface has a cross-sectional shape matching the cross-sectional shape of the first protrusion. Like this, can guarantee the stability of installation component and fixed interface connection, prevent that the arm from rocking.

Optionally, the fixing member is further provided with a mounting hole, the mounting hole is communicated with the fixing interface, and the second protrusion of the locking member extends into the hole through the mounting hole. Thereby, the locking member can be prevented from falling.

Optionally, the fixing member includes a main body portion provided with the fixing interface and a hinge portion provided with the mounting hole, the hinge portion being hinged to the main body portion to be movable between a clamping position and an opening position, the hinge portion and the main body portion in the clamping position being for clamping a flat tube. Thereby facilitating the securing of the robot arm.

Optionally, the mounting device further comprises at least one support arm, and one end of the support arm is connected with the mounting component through a first rotating component. Thus, the application range of the mechanical arm is expanded.

Optionally, adjacent arms are connected by a second rotating member, and/or the other end of each arm is provided with a flexible member and/or a suspension member. Thereby facilitating use.

Optionally, the mating structure is an internal thread and the engagement structure is an external thread, the internal thread engaging with the external thread to connect the locking member with the mounting member. Thereby facilitating the connection.

The invention also provides medical equipment which comprises the mechanical arm and the fixed interface.

According to the medical equipment that this embodiment provided, medical equipment includes arm and fixed interface, the arm is connected with fixed interface, the tip of fixed interface is provided with first transition portion, the arm includes mounting member and locking member, the cross sectional shape of the first protruding portion of mounting member is non-perfect circular, the mounting member includes the hole, the second protruding portion of locking member can extend in the manhole, the joint structure of second protruding portion can be connected with the cooperation structure cooperation in hole so that second transition portion offsets with first transition portion, there is not the fit clearance between arm and the fixed interface, there is not the return stroke clearance between mounting member and the fixed interface, the arm is connected firmly and is difficult for rocking with fixed interface.

Optionally, the medical device further comprises a fixing member provided with the fixing interface, the fixing interface has a non-perfect circular cross-sectional shape, the fixing interface has a cross-sectional shape matching a cross-sectional shape of the first protrusion, and the first protrusion of the mounting member extends into the fixing interface. Like this, can guarantee the stability of installation component and fixed interface connection, prevent that the arm from rocking.

Optionally, the first transition and the second transition each comprise a straight and/or curved section. Therefore, the device can adapt to various use environments.

Optionally, the fixing member further comprises a main body portion provided with the fixing interface and a hinge portion provided with the mounting hole, the hinge portion being hinged to the main body portion to be movable between a clamping position and an opening position, the hinge portion and the main body portion in the clamping position being for clamping a flat tube. Thereby facilitating the securing of the robot arm.

Optionally, the medical device is configured as a ventilator, anesthesia machine, operating table, hospital bed or medical rack.

Drawings

The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles and apparatus of the invention. In the drawings, there is shown in the drawings,

FIG. 1 is a schematic illustration in partial cross-section of a medical device according to a preferred embodiment of the present invention;

FIG. 2 is a perspective view of the mounting member shown in FIG. 1;

FIG. 3 is a perspective view of the fixation member shown in FIG. 1;

FIG. 4 is a schematic illustration in partial longitudinal section of a medical device according to a first preferred embodiment of the present invention;

FIG. 5 is a schematic illustration in partial longitudinal section of a medical device according to a second preferred embodiment of the present invention;

FIG. 6 is a perspective view of the robotic arm shown in FIG. 4;

FIG. 7 is a perspective view of the medical device shown in FIG. 5;

FIG. 8 is a front view of the robotic arm shown in FIG. 7; and

fig. 9 is a perspective view of the robotic arm shown in fig. 8, wherein the robotic arm is coupled to a flat tube.

Description of reference numerals:

100: the robot arm 110: fixed interface

111: first transition portion 112: interface side part

113: first end portion 114: mounting hole

120: mounting member 121: first body part

122: first protruding portion 123: second transition part

125: the hole 126: long side

127: short side 140: locking member

141: the second body portion 142: second protrusion

150: fixing member 151: main body part

152: the hinge portion 153: second end portion

160: flat tubes 170: support arm

171: first rotating member 172: second rotating member

173: the flexible member 174: suspension member

200: breathing machine trolley

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the following description, for purposes of explanation, specific details are set forth in order to provide a thorough understanding of the present invention. It is apparent that the practice of the invention is not limited to the specific details set forth herein as are known to those of skill in the art. The following detailed description of the preferred embodiments of the present invention, however, the present invention may have other embodiments in addition to the detailed description, and should not be construed as being limited to the embodiments set forth herein.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, as the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. When the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The terms "upper", "lower", "front", "rear", "left", "right" and the like as used herein are for purposes of illustration only and are not limiting.

Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, such as a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component".

In the following, specific embodiments of the present invention will be described in more detail with reference to the accompanying drawings, which illustrate representative embodiments of the invention and do not limit the invention.

As shown in fig. 1 to 9, the present embodiment provides a robot arm 100, and the robot arm 100 is used for connecting with a fixed interface 110. Alternatively, the robotic arm 100 may extend into the fixed interface 110 in an axial direction of the fixed interface 110 and be securely connected with the fixed interface 110 and not easily shaken.

Specifically, as shown in fig. 3, an end portion of the fixing interface 110 may be provided with a first transition portion 111, and the first transition portion 111 may be provided around a circumferential direction of the end portion of the fixing interface 110. The fixation interface 110 may be disposed on the fixation member 150, and the fixation member 150 may include an interface side 112 and a first end 113, the interface side 112 may be connected with the first end 113 by a first transition 111. The length direction of the interface side portion 112 may be parallel to the axial direction of the fixed interface 110, and the length direction of the first end portion 113 may be perpendicular to the axial direction of the fixed interface 110.

Preferably, the cross-section of the fixing interface 110 may be non-perfect circular on a plane perpendicular to the axial direction of the fixing interface 110 to ensure stability of the connection with the robot arm 100.

As shown in fig. 4, the robot arm 100 includes a mounting member 120 and a locking member 140, the locking member 140 is coupled with the mounting member 120, and the mounting member 120 may abut against the first transition portion 111 of the fixed interface 110 to enable a secure connection between the robot arm 100 and the fixed interface 110.

As shown in fig. 2, the mounting member 120 may include a first body portion 121, a first protrusion portion 122, and a second transition portion 123, and the first protrusion portion 122 may be connected to the first body portion 121 through the second transition portion 123. The second transition portion 123 may be disposed about a circumferential direction of the fixing interface 110. The first body portion 121 may be configured to be substantially cylindrical to facilitate connection of other components. The central axis of the first body portion 121 may coincide with the central axis of the fixing interface 110 to ensure the coaxiality of the mounting member 120 and the fixing interface 110.

The first protrusion 122 may protrude outward from an outer surface of the first body part 121 facing the fixing interface 110. Preferably, the extending direction of the first protrusion 122 may be parallel to the axial direction of the fixing interface 110. Likewise, to ensure the coaxiality of the mounting member 120 and the fixing interface 110, the central axis of the first protrusion 122 coincides with the central axis of the fixing interface 110. The first protrusion 122 may extend into the fixing interface 110 in an axial direction of the fixing interface 110.

In order to prevent the robot arm 100 from shaking, as shown in fig. 1, the cross-section of the first protrusion 122 may be non-circular in shape matching the fixed interface 110 on a plane perpendicular to the axial direction of the fixed interface 110, so that the robot arm 100 cannot rotate relative to the fixed interface 110 after being inserted into the fixed interface 110 through the first protrusion 122. Further, as shown in fig. 4, an end of the first protruding portion 122 away from the second transition portion 123 is provided with a hole 125, and an axial direction of the hole 125 may be parallel to an axial direction of the fixing interface 110. Of course, to ensure concentricity, the central axis of the bore 125 may coincide with the central axis of the fixed interface 110. The hole 125 may extend through the first protrusion 122 and the first body portion 121 in the axial direction of the fixing interface 110, thereby facilitating processing.

The aperture 125 may be coupled with a locking member 140. The locking member 140 includes a second protrusion 142, and the second protrusion 142 may extend in a direction parallel to the axial direction of the fixing interface 110. Likewise, to ensure the coaxiality of the mounting member 120 and the fixing interface 110, the central axis of the second protrusion 142 coincides with the central axis of the fixing interface 110. The second protrusion 142 may extend into the bore 125 in an axial direction of the fixation interface 110.

In order to connect the second protrusion 142 with the hole 125, a mating structure is provided in the hole 125, and the second protrusion 142 is provided with an engaging structure, which can be mated with the mating structure. Alternatively, the aperture 125 comprises a threaded aperture, the mating structure may be disposed in the threaded aperture, and the engagement structure may be disposed at an end of the second projection 142. In this way, the extended length of the second projection 142 is reduced, thereby reducing the size of the lock member 140. Preferably, the mating structure may be an internal thread, and the engagement structure may be an external thread, and the internal thread may be engaged with the external thread to facilitate the coupling of the locking member 140 with the mounting member 120. Thereby, processing and assembly are facilitated.

Optionally, the bore 125 also includes a stepped bore that is closer to the lock member 140 than the threaded bore in the axial direction of the fixing interface 110. The diameter of the stepped hole is larger than that of the threaded hole. The second protrusion 142 can enter the threaded hole through a stepped hole, and the stepped hole can play a role in guiding the second protrusion 142, so that the installation difficulty is reduced.

Of course, the mating and engaging structures may also be configured as other connecting structures. In an embodiment not shown, the mating structure may be configured as a ball and the engagement structure may be configured as a groove. The ball can be along the scalable removal of fixed interface's radial direction, and the recess can with the ball block. The second protrusion moves in the hole in a direction toward the first body portion in an axial direction of the fixing interface, and an outer surface of the second protrusion may press the ball to move outward in a radial direction of the fixing interface so that the groove opposes the ball. The ball moves inwards along the radial direction of the fixed interface, and the ball is clamped with the groove, so that the joint structure is connected with the matching structure.

The engagement structure is in mating connection with the mating structure such that the second transition 123 abuts the first transition 111. Thereby, the fit gap between the robotic arm 100 and the fixed interface 110 is eliminated. When the robot arm 100 rotates circumferentially along the horizontal direction, there is no return gap between the mounting member 120 and the fixed interface 110, so as to ensure the connection between the robot arm 100 and the fixed interface 110, and prevent the robot arm 100 from shaking.

According to the robot arm 100 provided by the invention, the robot arm 100 is used for being connected with the fixed interface 110, the end of the fixed interface 110 is provided with the first transition portion 111, the robot arm 100 comprises the mounting member 120 and the locking member 140, the cross section of the first protrusion 122 of the mounting member 120 is in a non-perfect circular shape, the mounting member 120 comprises the hole 125, the second protrusion 142 of the locking member 140 can extend into the hole 125, the joint structure of the second protrusion 142 can be in fit connection with the fit structure of the hole 125 so that the second transition portion 123 abuts against the first transition portion 111, no fit gap exists between the robot arm and the fixed interface, no return gap exists between the mounting member and the fixed interface, and the connection between the robot arm and the fixed interface is firm and is not easy to shake.

Further, as shown in fig. 1, the cross-section of the first protrusion 122 may have a non-perfect circle shape, the non-perfect circle shape may include a long side 126 and a short side 127, and opposite ends of the short side 127 may be connected to the two long sides 126, respectively. In this way, the gap between the first protrusion 122 and the fixing interface 110 may be reduced, and the firmness of the connection between the robot arm 100 and the fixing interface 110 may be ensured.

Further, as described above, the cross-sectional shape of the fixing interface 110 is a non-perfect circle and the cross-sectional shape of the first protrusion 122 is a non-perfect circle on a plane perpendicular to the axial direction of the fixing interface 110. The first protrusion 122 may extend into the fixation interface 110, and the shape of the cross-section of the fixation interface 110 may match the shape of the cross-section of the first protrusion 122. In this way, the stability of the connection of the mounting member 120 and the fixing interface 110 can be ensured, and the robot arm 100 is prevented from shaking. The non-perfect circle may be a polygon composed of straight line segments, for example, the cross section of the first protrusion 122 may be a quadrangle, and the cross section of the fixing interface 110 may be a quadrangle, so as to facilitate the processing. Of course, the cross-sectional shape of the first protrusion 122 and the cross-sectional shape of the fixation interface 110 may be other shapes. For example, the cross-sectional shape of the first protrusion 122 and the cross-sectional shape of the fixation interface 110 may each be triangular to ensure stability of the first protrusion 122 and the fixation interface 110. Of course, the cross-sectional shape of the first protrusion 122 and the cross-sectional shape of the fixing interface 110 may also be pentagonal, or hexagonal or octagonal, to be able to be applied in different situations.

The non-perfect circle may be an ellipse, an ellipse-like, etc. formed by a curved line segment, as long as the first protrusion 122 cannot rotate relative to the fixed interface 110 after being inserted into the fixed interface. Thus, stability of the connection of the mounting member 120 and the fixing interface 110 is ensured, and the robot arm 100 is prevented from shaking. Of course, the non-perfect circle may be composed of straight line segments and curved line segments, for example, the non-perfect circle may be D-shaped to be applicable to different situations. Furthermore, the non-perfect circle may also be composed of two straight line segments and two curved line segments, the two straight line segments of the non-perfect circle are arranged in parallel with each other, and two opposite ends of the straight line segment of the non-perfect circle are respectively connected with the sides of the two curved line segments of the non-perfect circle. The straight line segment of the fixation interface 110 may correspond to and match the straight line segment of the first protrusion 122, and the curved line segment of the fixation interface 110 may correspond to and match the curved line segment of the first protrusion 122. Thus, stability of the connection of the mounting member 120 and the fixing interface 110 is ensured, and the robot arm 100 is prevented from shaking.

The locking member 140 may be configured as a handle nut. To further ensure the connection between the fixing interface 110 and the mounting member 120, as shown in fig. 4, the locking member 140 further includes a second body portion 141, and the second body portion 141 may be connected to the second protrusion 142. The second body portion 141 has a dimension in the radial direction of the fixing interface 110 greater than that of the second protrusion 142. The second protrusion 142 may protrude from an outer surface of the second body part 141 facing the mounting member 120 toward the mounting member 120. The central axis of the second body part 141 and the central axis of the second protrusion part 142 coincide to ensure coaxiality.

The fixing member 150 further includes a mounting hole 114, and the mounting hole 114 may communicate with the fixing interface 110. The axial direction of the mounting hole 114 may be parallel to the axial direction of the fixing interface 110. The mounting hole 114 may be closer to the lock member 140 than the fixing interface 110 in an axial direction of the fixing interface 110. The central axis of the mounting hole 114 may coincide with the central axis of the fixed interface 110. The second protrusion 142 may extend into the fixed interface 110 and the aperture 125 via the mounting aperture 114 and connect with the aperture 125. Thereby, the coaxiality of the second projection 142, the mounting hole 114, the fixing interface 110, and the hole 125 is ensured, and the connection of the second projection 142 with the hole 125 is ensured.

The second projection 142 of the locking member 140 extends into the hole 125 through the mounting hole 114. Preferably, the mounting hole 114 may be configured as a threaded hole, the second protrusion 142 may be provided with an external thread at a position adjacent to the second body part 141, and the second protrusion 142 may be screwed with the mounting hole 114. The second projection 142 of the lock member 140 extends into the aperture 125 after being coupled to the mounting aperture 114. Thereby, the locking member 140 can be prevented from falling. The first protrusion 122 is movable in the axial direction of the fixing interface 110 towards the second body portion 141, the second protrusion 142 can extend into the hole 125, and the engagement structure and the mating interface can be cooperatively connected such that the mounting member 120 can be coupled with the locking member 140.

The fixing member 150 further includes a second end 153 opposite the first end 113 in the axial direction of the fixing interface 110, the first end 113 facing the first body portion 121 of the mounting member 120, the second end 153 facing the second body portion 141 of the lock member 140. The first end portion 113 is connected to the interface side portion 112 via the first transition portion 111, the second protrusion 142 extends into the aperture 125, the engagement structure is in mating connection with the mating structure, and the first body portion 121 moves in a direction toward the first end portion 113 along an axial direction of the fixed interface 110.

Further, the engaging structure and the mating structure may be in mating connection, the first protrusion 122 may move along the axial direction of the fixing interface 110 toward the second body portion 141, and the gap between the outer surface of the first body portion 121 and the first end portion 113 gradually decreases. When the first transition portion 111 abuts against the second transition portion 123, the outer surface of the first body portion 121 and the first end portion 113 may be spaced apart to ensure that the first transition portion 111 and the second transition portion 123 may be in pre-contact when the mounting member 120 and the fixing interface 110 are connected. Of course, the first protrusion 122 may continue to move in the axial direction of the fixing interface 110 toward the second body 141, and the outer surface of the first body 121 and the first end 113 may abut, so as to eliminate a gap between the outer surface of the first body 121 and the first end 113.

Still further, the fixation member 150 also includes an interface end surface disposed on an interior of the fixation member 150. The interface end surface is located between the first end 113 and the second end 153 in the axial direction of the fixing interface 110, and the interface end surface faces the end surface of the first protrusion 122.

The engagement structure and the mating structure may be in mating connection, the first protrusion 122 may be movable in the axial direction of the fixing interface 110 towards the second body portion 141, and the gap between the end surface of the first protrusion 122 and the interface end surface gradually decreases. When the first transition portion 111 abuts the second transition portion 123, the end surface and the interface end surface of the first protrusion 122 may be spaced apart to ensure that the first transition portion 111 and the second transition portion 123 may be in pre-contact when the mounting member 120 and the fixing interface 110 are coupled together. Of course, the first protrusion 122 may continue to move in the axial direction of the fixing interface 110 toward the second body portion 141, and the end surface of the first protrusion 122 and the interface end surface may be in close contact, so as to eliminate a gap between the end surface of the first protrusion 122 and the interface end surface.

Optionally, first transition 111 and second transition 123 may each comprise a straight line segment. For example, the first transition portion 111 may be inclined upward and outward in the radial direction of the fixing interface 110 from the top end of the interface side portion 112, and the second transition portion 123 may be inclined upward and outward in the radial direction of the fixing interface 110 from the end of the first protrusion portion 122. Of course, both the first transition portion 111 and the second transition portion 123 may include at least one straight segment, at least one straight segment being connected to each other. Therefore, the device can adapt to various use environments.

Optionally, the first transition portion 111 and the second transition portion 123 may each include a curved segment. The interface side portion 112 may be in circular-arc transition with the first end portion 113, and the first body portion 121 and the first protrusion portion 122 may be in circular-arc transition. The shapes of the first transition portion 111 and the second transition portion 123 may be matched to ensure that the first transition portion 111 and the second transition portion 123 may contact first during the connection of the engagement structure and the mating structure. The robotic arm 100 may be connected to the fixed interface 110 by a plug-in connection, thereby facilitating installation.

Alternatively, the first transition portion 111 may include a straight line segment and a curved line segment, and the straight line segment and the curved line segment of the first transition portion 111 may be connected to accommodate various use environments. Accordingly, the second transition portion 123 may also include a straight section and a curved section, and the straight section and the curved section of the second transition portion 123 may be connected to accommodate various usage environments. The straight line segment of the first transition portion 111 and the straight line segment of the second transition portion 123 are correspondingly arranged, and the curved line segment of the first transition portion 111 and the curved line segment of the second transition portion 123 are correspondingly arranged, so that the first transition portion 111 and the second transition portion 123 can be contacted firstly in the process of connecting the joint structure and the matching structure.

Further, as shown in fig. 5, the fixing member 150 may further include a body portion 151 and a hinge portion 152, and the hinge portion 152 may be hinged with the body portion 151 to be movable between a clamping position and an opening position. Hinge portion 152 and body portion 151 in the clamped position may be used to clamp flat tube 160 to connect flat tube 160 so that robotic arm 100 may be secured to a gantry. The hinge portion 152 and the body portion 151 in the open position may be separated from the flat tube 160 to allow the robot arm 100 to be detached from the stand. Preferably, the distance between the hinge portion 152 and the body portion 151 at the clamping position may be 8 to 15mm, the width of the flat tube 160 may be 8 to 15mm, and the length of the flat tube 160 may be 20 to 30 mm.

The body portion 151 is provided with the fixing interface 110, and the hinge portion 152 is provided with the mounting hole 114. The hinge portion 152 is closer to the second body portion 141 than the main body portion 151 in the axial direction of the fixing interface 110, and the main body portion 151 is closer to the first body portion 121 than the hinge portion 152 is in the axial direction of the fixing interface 110. The second projection 142 of the lock member 140 protrudes into the hole 125 through the mounting hole 114 of the hinge portion 152. Preferably, the second protrusion 142 may be connected with the mounting hole 114 of the hinge 152 and then extend into the hole 125 of the first protrusion 122.

Specifically, the second protrusion 142 may extend into the fixing interface 110 of the main body portion 151 via the mounting hole 114 of the hinge portion 152 located at the clamping position in the axial direction of the fixing interface 110. Second tab 142 may be coupled to mounting hole 114 and may also be coupled to the hole to hold hinge 152 in the clamped position.

The mounting member 120 may be movable in the axial direction of the fixing interface 110 towards the second body portion 141, and the first protrusion 122 may extend into the fixing interface 110 of the main body portion 151. The second tab 142 may extend into the aperture 125 of the first tab 122 and connect with the aperture 125. The hinge portion 152 and the clamping force arm between the main body portion 151 and the flat tube 160 at the clamping position are smaller than the total length of the mechanical arm 100, and the second transition portion 123 abuts against the first transition portion 111, so that the stable connection between the mechanical arm 100 and the fixed interface 110 is ensured. Therefore, when the stage is moved or when the robot arm 100 is rotated in the horizontal direction, the robot arm 100 is not easily shaken.

Further, as shown in fig. 6 and 8, the robotic arm 100 further includes at least one arm 170, and the arm 170 may support the vent line to move the vent line to the patient's location. One end of the arm 170 may be connected to the mounting member 120 via a first rotating member 171. The central axis of the first rotating member 171 coincides with the central axis of the fixed interface 110 to ensure coaxiality. The axial direction of the first rotating member 171 is parallel to the axial direction of the fixed interface 110, and the first rotating member 171 can rotate around the circumferential direction of the fixed interface 110, so that the support arm 170 can rotate circumferentially, the ventilation pipeline can rotate circumferentially, and the operating area of the robot arm 100 is enlarged.

Adjacent arms 170 may be connected by a second rotation member 172, and the second rotation member 172 may adjust the position of adjacent arms 170. For example, second rotational member 172 may adjust the angle between adjacent arms 170, thereby allowing arms 170 to be adjusted to different positions for use.

Alternatively, the other end of the arm 170 may be provided with a flexible member 173, and the flexible member 173 may be configured as an elastic bent pipe to be lengthened and shortened, thereby increasing the extension range of the robot arm 100. Alternatively, the other end of arm 170 may be provided with a hanging member 174, and hanging member 174 may be configured as a hook that may hang the ventilation line. Arm 170 may extend the ventilation tubing over the head of the patient. The ventilation circuit is tethered by the suspension member 174 to avoid interference with the patient.

In an alternative embodiment of the present invention, the first body portion 121 of the mounting member 120 may be disposed above the second body portion 141 of the locking member 140 in an axial direction of the fixing interface 110. The second protrusion 142 of the locking member 140 may extend into the hole 125 from bottom to top in the axial direction of the fixing interface 110 and connect with the hole 125, and the second transition portion 123 abuts against the first transition portion 111, thereby eliminating the fit clearance. The horizontal direction may be perpendicular to the axial direction of the fixed interface 110. The robot arm 100 can be rotated circumferentially in the horizontal direction so that there is no return gap when the robot arm 100 is rotated, thereby ensuring a firm connection of the robot arm 100 with the fixed interface 110.

In an embodiment of the invention, which is not shown in the drawings, the first body portion of the locking member may be arranged above the first body portion of the mounting member in the axial direction of the fixing interface. The second projection of the locking member may extend from up to down into the bore in the axial direction of the fixation interface and connect with the bore, the second transition abutting the first transition, thereby eliminating a fit clearance.

In another embodiment of the present invention, which is not shown in the drawings, the locking member may be disposed on a side of the mounting member, and a central axis of the hole and a central axis of the second protrusion may be perpendicular to a central axis of the fixing interface. The second projection may extend into the bore in the axial direction of the bore and connect with the bore, the second transition abutting the first transition, thereby eliminating a fit clearance.

The present invention also provides a medical device comprising the above-described robotic arm 100 and a fixed interface 110.

According to the medical equipment provided by the embodiment, the medical equipment comprises a mechanical arm 100 and a fixed interface 110, the mechanical arm 100 is connected with the fixed interface 110, a first transition portion 111 is arranged at the end portion of the fixed interface 110, the mechanical arm 100 comprises a mounting member 120 and a locking member 140, the cross section of a first protruding portion 122 of the mounting member 120 is in a non-regular circular shape, the mounting member 120 comprises a hole 125, a second protruding portion 142 of the locking member 140 can extend into the hole 125, a joint structure of the second protruding portion 142 can be in fit connection with a fit structure of the hole 125 so that the second transition portion 123 abuts against the first transition portion 111, a fit gap does not exist between the mechanical arm and the fixed interface, a return gap does not exist between the mounting member and the fixed interface, and the connection between the mechanical arm and the fixed interface is firm and is not prone to shake.

As shown in fig. 7 to 9, the fixing member 150 may be connected to the stand, for example, the fixing member 150 may be fixedly connected to the stand to secure the fixing member 150. Of course, the fixing member 150 may be detachably coupled with the stand to facilitate installation and removal. As described above, the fixing member 150 is provided with the fixing interface 110. The cross-section of the fixing interface 110 may be non-perfect circular, the cross-section of the first protrusion 122 may be non-perfect circular, and the cross-section of the fixing interface 110 may be matched with the cross-section of the first protrusion 122 in a plane perpendicular to the axial direction of the fixing interface 110, so as to ensure the stability of the connection with the robot arm 100.

The first protrusion 122 of the mounting member 120 may extend into the fixation interface 110, and the engagement structure of the mounting member 120 matingly connects with the mating structure such that the second transition 123 abuts the first transition 111. Thereby, the fit gap between the robotic arm 100 and the fixed interface 110 is eliminated. When the robot arm 100 rotates circumferentially along the horizontal direction, there is no return gap between the mounting member 120 and the fixed interface 110, so as to ensure the connection between the robot arm 100 and the fixed interface 110, and prevent the robot arm 100 from shaking.

The fixing member 150 further includes a mounting hole 114, and the mounting hole 114 may communicate with the fixing interface 110. The mounting hole 114 may be closer to the lock member 140 than the fixing interface 110 in an axial direction of the fixing interface 110. The second protrusion 142 may extend into the fixed interface 110 and the aperture 125 via the mounting aperture 114 and connect with the aperture 125. Thereby, the second projection 142 is ensured to be connected with the hole 125.

The second projection 142 of the locking member 140 extends into the hole 125 through the mounting hole 114. Preferably, the second protrusion 142 may be screwed with the mounting hole 114. The second projection 142 of the lock member 140 extends into the aperture 125 after being coupled to the mounting aperture 114. Thereby, the locking member 140 can be prevented from falling. The first protrusion 122 is movable in the axial direction of the fixing interface 110 towards the second body portion 141, the second protrusion 142 can extend into the hole 125, and the engagement structure and the mating interface can be cooperatively connected such that the mounting member 120 can be coupled with the locking member 140.

The first transition portion 111 and the second transition portion 123 may each comprise a straight line segment. For example, the first transition portion 111 and the second transition portion 123 may each include an inclined surface, the first transition portion 111 may be inclined upward and outward in a radial direction of the fixing interface 110 from a top end of the interface side portion 112, and the second transition portion 123 may be inclined upward and outward in the radial direction of the fixing interface 110 from an end of the first protrusion 122. Of course, both the first transition portion 111 and the second transition portion 123 may include at least one straight segment, at least one straight segment being connected to each other. Therefore, the device can adapt to various use environments.

The fixing member 150 may further include a body portion 151 and a hinge portion 152, and the hinge portion 152 may be hinged with the body portion 151 to be movable between a clamping position and an opening position. The hinged portion 152 and the body portion 151 in the clamped position may be used to clamp the flat tube 160, and the robotic arm 100 may be coupled to the gantry via the flat tube 160, thereby enabling the robotic arm 100 to be secured to the gantry for use. The hinge portion 152 and the body portion 151 in the open position may be separated from the flat tube 160 to allow the robot arm 100 to be detached from the stand.

The second protrusion 142 may extend into the fixing interface 110 of the main body portion 151 via the mounting hole 114 of the hinge portion 152 located at the clamping position in the axial direction of the fixing interface 110. The second protrusion 142 may be coupled with the mounting hole 114 to hold the hinge 152 in the clamped position.

The mounting member 120 may be movable in the axial direction of the fixing interface 110 towards the direction of the second body portion 141, the first protrusion 122 may extend into the fixing interface 110 of the body portion 151, and the second protrusion 142 may extend into the aperture 125 of the first protrusion 122 and connect with the aperture 125. The hinge portion 152 and the clamping force arm between the main body portion 151 and the flat tube 160 at the clamping position are smaller than the total length of the mechanical arm 100, and the second transition portion 123 abuts against the first transition portion 111, so that the stable connection between the mechanical arm 100 and the fixed interface 110 is ensured. Therefore, when the stage is moved or when the robot arm 100 is rotated in the horizontal direction, the robot arm 100 is not easily shaken.

Preferably, the medical device may be configured as a ventilator or anesthesia machine to facilitate manipulation of the ventilation circuit by the robotic arm 100. As shown in fig. 7, the robot arm 100 may be directly attached to the cart 200 by a user or detached from the cart 200 by a user. Preferably, the robotic arm 100 may be directly mounted or dismounted by the user's bare hand. The robotic arm 100 may be suspended with a vent line when using a ventilator or anesthesia machine. The arm 170 of the robotic arm 100 may extend the ventilation tubing over the head of the patient. The ventilation circuit may also be tethered by a suspension member 174 to avoid interference with the patient.

Of course, the medical device may also be configured as an operating table, a hospital bed, or a medical rack, and likewise, the robotic arm 100 may be directly mounted on or detached from the rack of the operating table, hospital bed, or medical rack by the user. Thus, the robotic arm 100 may be compatibly mounted on the racks of a variety of medical devices to expand the range of use.

Unless defined otherwise, 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 belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "part," "member," and the like, when used herein, can refer to either a single part or a combination of parts. Terms such as "mounted," "disposed," and the like, as used herein, may refer to one component as being directly attached to another component or one component as being attached to another component through intervening components. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a mechanical arm, its characterized in that, mechanical arm is used for being connected with fixed interface, the tip of fixed interface is provided with first transition portion, mechanical arm includes:

the mounting component comprises a first body part, a first protruding part and a second transition part, the cross section of the first protruding part is in a non-regular circular shape, the first protruding part is connected with the first body part through the second transition part, the first protruding part protrudes outwards from the outer surface of the first body part facing the fixing interface, the first protruding part extends into the fixing interface along the axial direction of the fixing interface, one end of the first protruding part far away from the second transition part is provided with a hole, and a matching structure is arranged in the hole; and

2. A robotic arm as claimed in claim 1, in which the non-perfect circle comprises a long side and a short side, opposite ends of the short side being connected to the two long sides respectively.

3. A robotic arm as claimed in claim 1, in which the non-perfect circle comprises a straight and/or curved section.

4. A robotic arm as claimed in claim 1, in which the fixing interface is provided on a fixing member, the fixing interface having a cross-sectional shape which is non-circular, the fixing interface having a cross-sectional shape which matches the cross-sectional shape of the first protrusion.

5. A robotic arm as claimed in claim 4, in which the securing member is further provided with a mounting hole, the mounting hole being in communication with the securing interface, the second projection of the locking member projecting into the hole through the mounting hole.

6. A robot arm as claimed in claim 5, wherein the securing member comprises a main body portion provided with the securing interface and a hinged portion provided with the mounting aperture, the hinged portion being hinged to the main body portion so as to be movable between a clamping position and an open position, the hinged portion and the main body portion in the clamping position being for clamping a flat tube.

7. A robotic arm as claimed in claim 4, further comprising at least one arm, one end of the arm being connected to the mounting member by a first rotational member.

8. A robotic arm as claimed in claim 7, in which adjacent arms are connected by a second rotational member and/or in which the other end of the arm is provided with a flexible member and/or a suspension member.

9. A robotic arm as claimed in claim 1, in which the cooperating formation is an internal thread and the engagement formation is an external thread, the internal thread engaging the external thread to connect the locking member with the mounting member.

10. A medical device, characterized in that it comprises a robotic arm according to any one of claims 1-9 and a fixed interface.

11. The medical device of claim 10, further comprising a fixation member provided with the fixation interface having a cross-sectional shape that is non-circular, the cross-sectional shape of the fixation interface matching a cross-sectional shape of the first protrusion, the first protrusion of the mounting member extending into the fixation interface.

12. The medical device of claim 11, wherein the first transition and the second transition each comprise a linear segment and/or a curvilinear segment.

13. The medical device of claim 11 or 12, wherein the fixation member is further provided with a mounting hole communicating with the fixation interface, the second protrusion of the locking member protruding into the hole through the mounting hole.

14. The medical device of claim 13, wherein the fixation member further comprises a main body portion provided with the fixation interface and a hinge portion provided with the mounting hole, the hinge portion being hinged with the main body portion to be movable between a clamping position and an open position, the hinge portion and the main body portion in the clamping position for clamping a flat tube.

15. The medical device of claim 10, wherein the medical device is configured as a ventilator, an anesthesia machine, an operating table, a hospital bed, or a medical hanger.