CN110960322A - Cross shaft for endoscope conveying robot - Google Patents
Cross shaft for endoscope conveying robot Download PDFInfo
- Publication number
- CN110960322A CN110960322A CN201911340038.2A CN201911340038A CN110960322A CN 110960322 A CN110960322 A CN 110960322A CN 201911340038 A CN201911340038 A CN 201911340038A CN 110960322 A CN110960322 A CN 110960322A
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- CN
- China
- Prior art keywords
- brake
- bearing
- cross
- endoscope
- end cover
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- 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.)
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The invention discloses a cross shaft for an endoscope conveying robot, relates to a cross shaft and aims to solve the problems that the labor intensity of holding an endoscope is high and medical care personnel are easily infected. The invention can keep or adjust the position of the endoscope conveying robot conveying device by controlling the brake and the brake release of the brake on the vertical shaft and the horizontal shaft in the cross shaft and adjusting the angle between the vertical shaft and the horizontal shaft in the cross shaft, so that medical staff can accurately aim the endoscope at the mouth of a patient for controlling.
Description
Technical Field
The invention relates to a cross shaft, in particular to a cross shaft for an endoscope conveying robot, and belongs to the technical field of medical equipment.
Background
The endoscope can enter the stomach through the mouth or enter the body through other natural orifices. Since a lesion which cannot be displayed by X-ray can be seen by an endoscope, it is very useful for a doctor. Traditional endoscope diagnosis and treatment needs to be carried the patient oral cavity with the endoscope by the handheld endoscope of medical personnel, diagnoses the in-process and needs the whole handheld endoscope of medical personnel. However, medical resources in China are short, patients are more, the labor intensity of holding the endoscope is high, and medical care personnel are easily infected.
Disclosure of Invention
The invention aims to solve the problems that the labor intensity of holding an endoscope is high and medical care personnel are easily infected, and further provides a cross shaft used for adjusting the angle of the endoscope on a digestive endoscope conveying robot.
The technical scheme adopted by the invention for solving the problems is as follows:
the cross shaft for the endoscope conveying robot comprises a cross shaft bracket, a vertical shaft assembly, a horizontal shaft assembly and a brake seat, wherein the brake seat is installed in the cross shaft bracket, and the horizontal shaft assembly and the vertical shaft assembly are both connected with the brake seat.
Further, the cross axle support comprises a main support, an upper cover plate and an end cover plate, wherein the main support is composed of an upper plate body, a back plate and two side plates, the upper cover plate is an arc-shaped plate body, two ends of the upper cover plate are respectively connected with the lower parts of the two side plates, and the end cover plate is installed at the lower end of the main support through a fastening piece.
Further, the vertical shaft assembly includes a lower bearing end cap, a bolt, a first stopper, a screw, a first stopper piece, an upper bearing end cap, and a first bearing,
the first bearing is sleeved at the upper end of the brake seat, the first bearing is installed on the upper plate body of the main support, the end cover of the upper bearing is positioned on the upper surface of the first bearing, and the end cover of the upper bearing is connected with the upper plate body; the first brake and the second bearing are sequentially sleeved at the lower end of the brake base from top to bottom, and a first brake piece is arranged between the brake base and the first brake; the first brake is connected with the end cover plate through a bolt, and the lower bearing end cover is positioned at the lower part of the second bearing and is connected with the bottom of the end cover plate.
Furthermore, the vertical shaft assembly further comprises an adjusting gasket and a first gasket, the first gasket is arranged between the upper bearing end cover and the first bearing, and the adjusting gasket is arranged between the first brake block and the brake seat.
Further, the horizontal shaft assembly comprises a bolt, a connecting seat, a connecting shaft, a second adjusting gasket, a second brake piece, a screw, a second brake, a second bearing, a bolt, a sleeve and a precise U-shaped nut,
one end of the connecting shaft is provided with a connecting seat through a bolt; the other end of the connecting shaft passes through the second adjusting gasket, the second brake block, the second brake, the brake seat and the sleeve in sequence and then is fixed through the U-shaped nut.
Furthermore, the upper end surface of the brake seat is provided with a first limiting groove, and the upper plate body is provided with a first limiting part matched with the first limiting groove.
Furthermore, a second limiting groove is formed in the upper portion of the connecting seat, and a second limiting piece matched with the second limiting groove is arranged on the brake seat.
The invention has the beneficial effects that:
the invention can keep or adjust the position of the conveying device of the endoscope conveying robot by controlling the brake and the brake release of the brake on the vertical shaft and the horizontal shaft in the cross shaft and adjusting the angles of the vertical shaft and the horizontal shaft in the cross shaft; the invention can well reduce the labor intensity of medical staff and prevent the medical staff from being infected.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is an exploded schematic view of the present invention;
FIG. 3 is a schematic view of FIG. 1 taken in the direction A;
FIG. 4 is a cross-sectional view B-B of FIG. 3;
FIG. 5 is a cross-sectional view C-C of FIG. 4;
fig. 6 is a cross-sectional view taken along line D-D of fig. 4.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 6, and the cross shaft for the endoscope conveying robot in the embodiment includes a cross shaft bracket 1, a vertical shaft assembly 2, a horizontal shaft assembly 3, and a brake seat 22, wherein the brake seat 22 is installed in the cross shaft bracket 1, and the horizontal shaft assembly 3 and the vertical shaft assembly 2 are both connected with the brake seat 22. The position of the endoscope conveying robot conveying device can be maintained or adjusted by controlling the brake and the release of the brakes on the vertical shaft assembly and the horizontal shaft assembly.
The second embodiment is as follows: referring to fig. 2, the cross-axle bracket 1 of the present embodiment includes a main bracket 4, an upper cover plate 5 and an end cover plate 6, wherein the main bracket 4 is composed of an upper plate body 4-1, a back plate 4-2 and two side plates 4-3, the upper cover plate 5 is an arc-shaped plate body, two ends of the upper cover plate 5 are respectively connected with lower portions of the two side plates 4-3, and the end cover plate 6 is mounted at a lower end of the main bracket 4 through a fastening member.
Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: referring to the present embodiment described with reference to fig. 2 and 4, the vertical shaft assembly 2 according to the present embodiment includes a lower bearing end cap 7, a bolt 8, a first stopper 9, a screw 10, a first stopper piece 11, an upper bearing end cap 26, and a first bearing 28,
the first bearing 28 is sleeved at the upper end of the brake seat 22, the first bearing 28 is installed on the upper plate body 4-1 of the main bracket 4, the upper bearing end cover 26 is positioned on the upper surface of the first bearing 28, and the upper bearing end cover 26 is connected with the upper plate body 4-1; the first brake 9 and the second bearing 30 are sequentially sleeved at the lower end of the brake base 22 from top to bottom, and a first brake block 11 is arranged between the brake base 22 and the first brake 9; the first brake 9 is connected with the end cover plate 6 through a bolt 8, the lower bearing end cover 7 is positioned at the lower part of the second bearing 30, and the lower bearing end cover 7 is connected with the bottom of the end cover plate 6.
When the first brake 9 is released, the endoscope conveying device arranged on the connecting seat 14 can rotate along the vertical shaft, namely can swing in the horizontal direction; when the first brake 9 is braked, the endoscope feeding device mounted on the connecting base 14 will maintain the position along the vertical axis. Other components are connected in the same manner as in the first or second embodiment.
The fourth concrete implementation mode: the present embodiment is described with reference to fig. 2 and 4, and the vertical shaft assembly 2 according to the present embodiment further includes an adjustment pad 12 and a first pad 27, the first pad 27 is provided between the upper bearing end cap 26 and the first bearing 28, and the adjustment pad 12 is provided between the first brake pad 11 and the brake seat 22. Other components and connection relationships are the same as those in the first, second or third embodiment.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 2 and 4, the horizontal shaft assembly 3 of the present embodiment includes a bolt 13, a connecting seat 14, a connecting shaft 15, a second adjusting washer 16, a second brake pad 17, a screw 18, a second brake 19, a second bearing 20, a bolt 23, a sleeve 24 and a precision U-shaped nut 25,
one end of the connecting shaft 15 is provided with a connecting seat 14 through a bolt 13; the other end of the connecting shaft 15 passes through the second adjusting shim 16, the second brake block 17, the second brake 19, the brake seat 22 and the sleeve 24 in sequence and then is fixed by the U-shaped nut 25. The second brake block 17 is connected with the connecting seat 14 through a screw 18, the second brake is connected with the brake seat 22 through a bolt 23, and a second gasket 16 is arranged between the second brake block 17 and the connecting seat 14.
When the second brake 19 is released, the endoscope conveying device arranged on the connecting seat 14 can rotate along the horizontal shaft, namely can swing in the vertical direction; when the second brake 19 is braked, the endoscope feeding device will maintain the position along the horizontal axis.
Other components and connections are the same as those of the first, second, third or fourth embodiments.
The sixth specific implementation mode: referring to fig. 2 and 6, the brake holder 22 of the present embodiment has a first limiting groove 22-1 formed on an upper end surface thereof, and the upper plate body 4-1 is provided with a first limiting member 29 engaged with the first limiting groove 22-1. The limiting piece 29 is arranged on the cross-axle bracket 1, and the stopper seat 22 is provided with a limiting piece groove, so that when the first stopper 9 is released, the rotation angle of the endoscope conveying robot conveying device arranged on the connecting seat 14 around the vertical shaft can be limited.
Other components and connection relationships are the same as those in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: referring to fig. 2 and 5, the second limiting groove 14-1 is disposed at the upper portion of the connecting base 14, and the second limiting member 21 engaged with the second limiting groove 14-1 is disposed on the brake base 22.
The stopper 21 is installed on the stopper seat 22, the second stopper groove 14-1 is opened on the connecting seat 14, and when the second stopper 19 is released, the rotation angle of the endoscope conveying robot conveying device installed on the connecting seat 14 around the horizontal shaft can be limited.
Other components and connection relationships are the same as those in the first, second, third, fourth, fifth or sixth embodiment.
The working principle is as follows:
the endoscope conveying device is arranged on the connecting seat 14, can be adjusted to rotate along the vertical shaft by releasing the first brake 9, namely can swing in the horizontal direction, and can keep the position along the vertical shaft when the first brake 9 brakes;
by releasing the second brake 19, the endoscope conveying device arranged on the connecting seat 14 can rotate along the horizontal shaft, namely can swing in the vertical direction; when the second brake 19 is braked, the endoscope feeding device will maintain the position along the horizontal axis.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A cross axle for endoscope conveying robot, its characterized in that: the cross shaft for the endoscope conveying robot comprises a cross shaft bracket (1), a vertical shaft assembly (2), a horizontal shaft assembly (3) and a brake seat (22), wherein the brake seat (22) is installed in the cross shaft bracket (1), and the horizontal shaft assembly (3) and the vertical shaft assembly (2) are connected with the brake seat (22).
2. The cross for an endoscope delivery robot according to claim 1, wherein: the cross-shaft support (1) comprises a main support (4), an upper cover plate (5) and an end cover plate (6), wherein the main support (4) consists of an upper plate body (4-1), a back plate (4-2) and two side plates (4-3), the upper cover plate (5) is an arc-shaped plate body, two ends of the upper cover plate (5) are respectively connected with the lower parts of the two side plates (4-3), and the end cover plate (6) is installed at the lower end of the main support (4) through a fastening piece.
3. The cross for an endoscope delivery robot according to claim 1 or 2, wherein: the vertical shaft assembly (2) comprises a lower bearing end cover (7), a bolt (8), a first brake (9), a screw (10), a first brake block (11), an upper bearing end cover (26) and a first bearing (28),
the first bearing (28) is sleeved at the upper end of the brake seat (22), the first bearing (28) is installed on an upper plate body (4-1) of the main support (4), the upper bearing end cover (26) is located on the upper surface of the first bearing (28), and the upper bearing end cover (26) is connected with the upper plate body (4-1); the first brake (9) and the second bearing (30) are sequentially sleeved at the lower end of the brake base (22) from top to bottom, and a first brake block (11) is arranged between the brake base (22) and the first brake (9); the first brake (9) is connected with the end cover plate (6) through a bolt (8), the lower bearing end cover (7) is positioned at the lower part of the second bearing (30), and the lower bearing end cover (7) is connected with the bottom of the end cover plate (6).
4. The cross for an endoscope delivery robot according to claim 3, wherein: the vertical shaft assembly (2) further comprises an adjusting gasket (12) and a first gasket (27), the first gasket (27) is arranged between the upper bearing end cover (26) and the first bearing (28), and the adjusting gasket (12) is arranged between the first brake block (11) and the brake seat (22).
5. The cross for an endoscope delivery robot according to claim 1, wherein: the horizontal shaft assembly (3) comprises a bolt (13), a connecting seat (14), a connecting shaft (15), a second adjusting gasket (16), a second brake block (17), a screw (18), a second brake (19), a second bearing (20), a bolt (23), a sleeve (24) and a precise U-shaped nut (25),
one end of the connecting shaft (15) is provided with a connecting seat (14) through a bolt (13); the other end of the connecting shaft (15) passes through a second adjusting gasket (16), a second brake block (17), a second brake (19), a brake seat (22) and a sleeve (24) in sequence and then is fixed through a U-shaped nut (25).
6. The cross for an endoscope delivery robot according to claim 1, wherein: the upper end surface of the brake seat (22) is provided with a first limiting groove (22-1), and the upper plate body (4-1) is provided with a first limiting piece (29) matched with the first limiting groove (22-1).
7. The cross for an endoscope delivery robot according to claim 1, wherein: the upper part of the connecting seat (14) is provided with a second limiting groove (14-1), and the brake seat (22) is provided with a second limiting piece (21) matched with the second limiting groove (14-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911340038.2A CN110960322B (en) | 2019-12-23 | 2019-12-23 | Cross shaft for endoscope conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911340038.2A CN110960322B (en) | 2019-12-23 | 2019-12-23 | Cross shaft for endoscope conveying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110960322A true CN110960322A (en) | 2020-04-07 |
| CN110960322B CN110960322B (en) | 2021-06-15 |
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ID=70035959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911340038.2A Active CN110960322B (en) | 2019-12-23 | 2019-12-23 | Cross shaft for endoscope conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110960322B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066591A (en) * | 2006-05-02 | 2007-11-07 | 刘忠刚 | Copying robot |
| CN101100058A (en) * | 2006-07-07 | 2008-01-09 | 南京理工大学 | Intelligent grass-removing robot |
| CN201057129Y (en) * | 2006-11-28 | 2008-05-07 | 陆昌新 | Chute and roller coordinated type body energy driving machine |
| WO2013142386A1 (en) * | 2012-03-18 | 2013-09-26 | Avneri Itzhak | Devices and methods for endovascular access and therapy |
| WO2015023888A1 (en) * | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Instrument shaft for computer-assisted surgical system |
| CN105287002A (en) * | 2015-12-02 | 2016-02-03 | 吉林大学 | Flexible multi-joint operation micro instrument for robot-assisted minimally invasive surgery |
| CN105496579A (en) * | 2016-01-07 | 2016-04-20 | 河北工业大学 | Tooth implantation drilling robot based on small cavity |
| CN205234675U (en) * | 2016-01-07 | 2016-05-18 | 河北工业大学 | Implant drilling machine people based on little cavity |
| CN108742733A (en) * | 2018-06-29 | 2018-11-06 | 哈尔滨理工大学 | Novel telescopic type Minimally Invasive Surgery motion arm |
| CN209611305U (en) * | 2018-09-30 | 2019-11-12 | 泗洪县正心医疗技术有限公司 | A kind of operating robot based on gimbal suspension |
-
2019
- 2019-12-23 CN CN201911340038.2A patent/CN110960322B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066591A (en) * | 2006-05-02 | 2007-11-07 | 刘忠刚 | Copying robot |
| CN101100058A (en) * | 2006-07-07 | 2008-01-09 | 南京理工大学 | Intelligent grass-removing robot |
| CN201057129Y (en) * | 2006-11-28 | 2008-05-07 | 陆昌新 | Chute and roller coordinated type body energy driving machine |
| WO2013142386A1 (en) * | 2012-03-18 | 2013-09-26 | Avneri Itzhak | Devices and methods for endovascular access and therapy |
| WO2015023888A1 (en) * | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Instrument shaft for computer-assisted surgical system |
| CN105287002A (en) * | 2015-12-02 | 2016-02-03 | 吉林大学 | Flexible multi-joint operation micro instrument for robot-assisted minimally invasive surgery |
| CN105496579A (en) * | 2016-01-07 | 2016-04-20 | 河北工业大学 | Tooth implantation drilling robot based on small cavity |
| CN205234675U (en) * | 2016-01-07 | 2016-05-18 | 河北工业大学 | Implant drilling machine people based on little cavity |
| CN108742733A (en) * | 2018-06-29 | 2018-11-06 | 哈尔滨理工大学 | Novel telescopic type Minimally Invasive Surgery motion arm |
| CN209611305U (en) * | 2018-09-30 | 2019-11-12 | 泗洪县正心医疗技术有限公司 | A kind of operating robot based on gimbal suspension |
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| Publication number | Publication date |
|---|---|
| CN110960322B (en) | 2021-06-15 |
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