CN218739468U - Supporting mechanism and robot system - Google Patents

Abstract

The utility model relates to a robotic system's technical field, in particular to supporting mechanism and robotic system. The utility model provides a pair of supporting mechanism and robot system, be in including support frame body and setting the draw-in groove and the rotatable setting of support frame body bottom are in the cam spanner of support frame body bottom, draw-in groove and bed sliding connection come to fix supporting mechanism through the rotation of cam spanner. The technical problem of inconvenience in mounting of an existing mechanical arm on a sickbed in the prior art is solved.

Description

Supporting mechanism and robot system

Technical Field

The utility model relates to a robotic system's technical field, in particular to supporting mechanism and robotic system.

Background

Vascular diseases, especially cardiovascular diseases, can be treated in various ways. Surgery, such as heart bypass surgery, is one method for treating cardiovascular disease. However, in some cases, vascular disease may be treated with catheter-based interventional procedures, such as angioplasty. Catheter-based interventions are generally considered less invasive than surgery.

In one type of interventional approach, a guide catheter is inserted through an introducer into the femoral artery of a patient and positioned adjacent to the coronary ostium of the patient's heart. A guidewire is typically inserted into the guide catheter through the hemostatic valve and maneuvered through the patient's arterial system until the guidewire reaches the lesion site. The working catheter is then moved along the guidewire until the working catheter (such as a balloon and stent) is positioned adjacent the lesion to open the occlusion site to allow increased blood flow adjacent the lesion. In addition to cardiovascular diseases, other diseases may be treated by catheterization.

The existing catheter conveying device needs to be fixed through a mechanical arm which is fixed on an operation sickbed, and the mechanical arm is inconvenient to mount in the actual use process, so that a supporting mechanism connected with the sickbed is needed.

Disclosure of Invention

An object of the utility model is to overcome above-mentioned prior art not enough, provide a supporting mechanism and robot system, it aims at solving among the prior art not having the supporting mechanism's that is connected with the sick bed technical problem.

In order to achieve the purpose, the utility model provides a supporting mechanism, be in including support frame body and setting the draw-in groove and the rotatable setting of support frame body bottom are in the cam spanner of support frame body bottom, draw-in groove and bed sliding connection come to fix supporting mechanism through the rotation of cam spanner.

Preferably, a spanner arm is arranged on the cam spanner, a limiting block is arranged on the spanner arm, and a groove for installing the cam spanner is formed in the support frame body.

Preferably, a clamping plate connected with the cam wrench is arranged in the clamping groove, a guide shaft is arranged on the clamping plate, and a spring for pushing the clamping plate to be close to the cam wrench is arranged on the guide shaft.

Preferably, the support frame body is vertically connected with a support plate.

Preferably, the guide shafts are provided with four parts which are distributed on four corners of the clamping plate, and the bottom of the support frame body is also provided with notches for the clamping plate to enter.

Preferably, a through hole connected with the guide shaft is formed in one side far away from the clamping groove, and the guide shaft enters the through hole partially.

The utility model also provides a robot system, used foretell supporting mechanism to be used for fixing on the operation sick bed.

Compared with the prior art, the utility model provides a pair of extension arm mechanism and robotic system's beneficial effect does: the supporting mechanism can be better fixed through the cam wrench, and the supporting mechanism is more convenient to disassemble and assemble through the matching of the notch and the through hole.

The features and advantages of the present invention will be described in detail by embodiments with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of an extension arm mechanism according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of another angle of an extension arm mechanism according to an embodiment of the present invention.

Fig. 3 is an enlarged schematic structural diagram of the embodiment of the present invention at C.

Fig. 4 is a schematic structural view of a large arm of a support according to an embodiment of the present invention.

Fig. 5 is a schematic view of the internal structure of the bracket boom according to the embodiment of the present invention.

Fig. 6 is a schematic diagram of the internal structure of the middle arm and the small arm of the stent according to the embodiment of the present invention.

Fig. 7 is an enlarged view of the embodiment of the present invention at D.

Wherein:

50-a support mechanism; 51-a card slot; 52-cam wrench; 521-a wrench arm; 522-a limiting block; 53-splint; 54-a guide shaft; 55-a support plate; 60-support columns; 70-bracket big arm; 71-a latch bolt mechanism; 711-first connecting plate; 712-a first bolt; 713-a second connection board; 714-a second locking bolt; 72-a control mechanism; 721-control the motor; 722-double-end screw rod; 723-a first mobile station; 724-second movable seat; 725-a first microswitch; 726-a second microswitch; 727-square nut; 728-a concave ring; 729-a female ring mount; 73-manual release mechanism; 731-release button; 732-a booster rod; 733 — cam block; 74-big brake tooth; 75-brake middle teeth; 80-bracket middle arm; 81-middle arm rotating seat; 82-middle arm support; 821-connecting rod; 83-cushion cylinder; 84-connecting blocks; 85-lower limit nail; 90-bracket forearm; 91-an adapter; 92-an extension rod; 93-a connector; 94-fixed knob; 95-damping friction plate; 96-coder.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail through the accompanying drawings and embodiments. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

In the description of the present invention, it should be noted that when an element is referred to as being "fixed" or "disposed" to another element, it can be directly on the other element or be indirectly connected to the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

In the description of the present invention, it should be noted that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The embodiment of the utility model provides a robot system uses following extension arm mechanism to adjust the best position of carrying of seal wire.

Referring to fig. 1, in an alternative embodiment, an extension arm mechanism includes a support mechanism 50, a support column 60 disposed on the support mechanism 50, a bracket large arm 70 rotatably disposed on the support column 60, a bracket middle arm 80 rotatably disposed on the bracket large arm 70, and a bracket small arm 90 rotatably disposed on the bracket middle arm 80; the bracket middle arm 80 is tiltable in the height direction.

Specifically, the support mechanism 50 is fixed to the edge of a patient bed on which a patient lies. The stent small arm 90 is provided with a guide wire conveying and rotating device connected thereon. The guidewire delivery and rotation device is adjusted to the optimal position by rotating the stent large arm 70, the stent middle arm 80, and the stent small arm 90. The bracket middle arm 80 can be inclined in the height direction. The mechanism realizes the adjustment in the XYZ axial direction and provides a more proper angle for the delivery guide wire. The guide wire conveying and rotating device can be any one of the devices on the market as long as the guide wire rotating and conveying functions can be realized.

Referring to fig. 2, in an alternative embodiment, a locking slot 51 slidably connected to the bed is provided on the supporting mechanism 50, and a cam wrench 52 is rotatably provided on the supporting mechanism 50, and the supporting mechanism 50 is fixed by rotating the cam wrench 52.

Specifically, the edge of the hospital bed is formed to be engaged with the slot 51. After the supporting mechanism 50 is clamped into the edge of the sickbed through the clamping groove 51, a gap is left to facilitate the sliding of the supporting mechanism 50 along the edge of the sickbed (the sickbed for surgical robots is generally provided with a bed edge connected with the clamping groove 51). The support mechanism 50 can be secured to the rim by rotating the cam wrench 52 on the support mechanism 50. The distance from the bed edge changes during rotation of the cam wrench 52, and in the fixed condition, the cam wrench 52 is pressed against the bed edge.

Referring to fig. 2, in an alternative embodiment, a wrench arm 521 is disposed on the cam wrench 52, and a stop block 522 is disposed on the wrench arm 521. In general, the arm 521 of the cam wrench 52 is parallel to the bed edge, and is in a fixed state, and the arm 521 is hidden in the groove of the supporting mechanism 50, so that the safety is improved, and the arm is prevented from being knocked to cause the supporting mechanism 50 to slide. When the support mechanism 50 is in a slidable state, the arm 52 is at an acute angle to the bed edge, and the arm 52 protrudes from the support mechanism 50. The cam wrench 52 is prevented from over-rotating by the stop block 522, which may cause damage to the cam wrench 52 and the bed edge.

Referring to fig. 2 and 3, in an alternative embodiment, a clamp plate 53 is provided in the pocket 51 in communication with the cam wrench 52. The contact area can be increased by additionally arranging the clamping plate 53, the cam surface of the cam wrench 52 is prevented from being in direct contact with the bed edge, the stress area is too small, the contact position is easy to damage, and the fixing effect is deteriorated after a long time. The clamping plate 53 is provided with a guide shaft 54, the guide shaft 54 is provided with a spring for pushing the clamping plate 53 to be close to the cam wrench 52, and the spring always pushes the clamping plate 53 to be far away from the bed edge, so that the friction force of the supporting mechanism 50 in the sliding process is prevented from being too large. The guide shafts 54 are four and distributed at four corners of the clamping plate 53, and the bottom of the support frame body is also provided with a notch for the clamping plate 53 to enter. A through-hole is provided on the side remote from the catch 51 for connection to a guide shaft 54, into which the guide shaft 54 partially enters. After the spring is mounted in the spring hole, one end of the guide shaft 54 is fitted into the spring hole, the clamp plate 53 is inserted from the notch, and the guide shaft 54 is inserted into the through hole after passing through the clamp plate 53. When detaching, it is only necessary to insert a thin tube from the through hole to detach the guide shaft 54 from the clamp plate 53. So the supporting mechanism is more convenient to disassemble and assemble.

Referring to fig. 2, in an alternative embodiment, a support plate 55 is provided on the support mechanism 50. The device composed of the supporting mechanism 50, the large bracket arm 70, the middle bracket arm 80 and the small bracket arm 90 is large in length and width directions, so that the supporting mechanism 50 is easy to incline, the abrasion is large when the device is connected with a bed edge simply through the clamping groove 51, and the toppling force can be reduced through the supporting plate 55. Since the specifications of the operation bed are the same, the height of the support plate 55 is not required to be adjusted in general. However, for manufacturing errors or tolerance, two waist holes are provided on the support plate 55, and the support plate 55 is fixed on the support mechanism 50 by the cooperation of the waist holes and the screws, and fine adjustment can be realized.

Referring to fig. 6, in an alternative embodiment, the bracket middle arm 80 includes a middle arm rotation seat 81 rotatably disposed on the bracket large arm 70, a middle arm support 82 rotatably mounted on the middle arm rotation seat 81, and a buffer cylinder 83. One end of the buffer cylinder 83 is rotatably mounted on the middle arm rotating seat 81, the other end of the buffer cylinder is rotatably mounted on the middle arm support 82, and the height of the middle arm support 82 in the Z-axis direction is adjusted by extending and contracting the buffer cylinder 83. The bracket middle arm 80 is provided with a housing which encloses the device. Arm 80 sets up to folding when adjustable convenient not using in the height, and on the other hand can make seal wire conveyor's height adjustment littleer, and the security is better.

Referring to fig. 6, in an alternative embodiment, the middle arm frame 82 includes a plurality of parallel connecting rods 821, one end of each connecting rod 821 is rotatably connected to the middle arm rotating base 81, and the other end of each connecting rod 821 is rotatably connected to the connecting block 84. The cushion cylinder 83 is rotatably connected to a link 821. The damping friction plate enables the extension rod to rotate only when the extension rod has a certain energy, the mechanism does not shake after the force is separated, and the encoder can feed back the rotation angle to prompt an operator to adjust to a proper position within a certain range.

Specifically, the number of the links 821 is preferably two, and one end of the cushion cylinder 83 is rotatably fixed to the lower side of the link 821 and the other end thereof is rotatably fixed to the upper side of the link 821. In the unloaded state, the two connecting roots 821 are in a horizontal state, and the cushion cylinder 83 is in an extended state. When receiving a force, the link 821 is slowly lowered on the side away from the middle arm rotation base 81, and the other end is rotated while maintaining the same height, and the cushion cylinder 83 is slowly contracted.

Referring to fig. 6, in an alternative embodiment, a lower stop pin 85 is provided on one of the links 821. The lower limit pin 85 is arranged on the upper link 821 at an adjustable angle, typically 45 °. When the link 821 is lowered on the side away from the center arm pivot base 81, the lower limit pin 85 is not lowered after abutting against the center arm pivot base 81.

Referring to fig. 6, in an alternative embodiment, the bracket forearm 90 includes an adapter 91, an extension rod 92 detachably mounted on the adapter 91, and a connector 93. The adapter 91 is provided with a rotating shaft rotatably connected with the bracket middle arm 80. A connector 93 is arranged at one end of the extension rod 92 far away from the adapter 91, and the connector 93 is used for connecting with a guide wire conveying and rotating device. Be equipped with the fixed knob 94 that is used for fixed extension rod 92 on adapter 91, prevent that extension rod 92 is not hard up at the rotation in-process, and intervene the operation and all be the precision operation, and the fastness can be good, and the security performance is also high. Extension rod 92 inserts in adapter 91, and the side is still fixed through the locating pin axle.

Referring to figure 6, in an alternative embodiment, the rotatable shaft of the adapter 91 is provided with a damping friction plate 95. An encoder 96 is provided at an end of the rotary shaft of the adapter 91 remote from the adapter 91, and a rotary shaft of the encoder 96 and the rotary shaft of the adapter 91 are fixed and rotate together. The encoder 96 is a commercially available product and can monitor the rotation angle. The damping friction plate 95 enables the extension rod 92 to rotate only when a certain force is applied, the mechanism does not shake after the force is separated, and the encoder 96 can feed back the rotation angle to prompt an operator to adjust to a proper position within a certain range.

Referring to fig. 4, in an alternative embodiment, the bracket large arm 70 includes a latch mechanism 71, a large brake tooth 74 disposed on the support post 60, and a middle brake tooth 75 disposed on the bracket middle arm 80. The bracket arm 70 cannot rotate when the latch mechanism 71 abuts the brake pawl 74. When the latch mechanism 71 abuts the brake center tooth 75, the bracket center arm 80 cannot rotate. The latch mechanism 71 need not to simultaneously support the large braking teeth 74 and the middle braking teeth 75, and the split braking is also understood to fall within the protection scope of the present invention.

Referring to fig. 4, in an alternative embodiment, the latch mechanism 71 includes a first connection plate 711, a first latch 712 disposed on the first connection plate 711, a second connection plate 713, and a second latch 714 disposed on the second connection plate 713. The first lock tongue 712 and the large braking tooth 72 are connected to form a braking effect, and the large support arm 70 can rotate when the first lock tongue and the large braking tooth are separated. The second latch 714 provides a braking action when connected to the brake center tooth 75, and the bracket center arm 80 is rotatable when disconnected. The first locking tongue 712 and the second locking tongue 714 have teeth on their surfaces, which can engage with the brake big teeth 74 and the brake middle teeth 75, respectively, to prevent rotation.

Referring to fig. 4, in an alternative embodiment, a control mechanism 72 is provided on latch mechanism 71 to improve automation. The control mechanism 72 includes a control motor 721, a stud screw 722 controlled by the control motor 721, a first moving seat 723 and a second moving seat 724 mounted on the stud screw 722. The double-end screw 722 and the control motor 721 are connected through a bushing. The first moving base 723 is connected to the first connection plate 711, and the second moving base 724 is connected to the second connection plate 712. Preferably, the first connecting plate 711 and the second connecting plate 712 simultaneously move away from each other (the distance between the first moving seat 723 and the second moving seat 724 is increased), and the first locking tongue 712 and the second locking tongue 714 simultaneously play a role in preventing rotation of the brake. The first connecting plate 711 and the second connecting plate 712 move relatively at the same time (the distance between the first moving seat 723 and the second moving seat 724 becomes smaller), and the latch mechanism 71, the large brake tooth 74 and the middle brake tooth 75 rotate freely.

Referring to fig. 5, in an alternative embodiment, a manual release mechanism 73 is provided on the latch mechanism 71, whereby the manual release mechanism 73 responds to a power outage or other emergency condition. The manual release mechanism 73 includes a release button 731, a boosting lever 732 connected to the release button 731, and a cam block 733 provided on the boosting lever 732, the cam block 733 being connected to both the first connection plate 711 and the second connection plate 713. The assist lever 732 is preferably a hexagonal assist lever. The cam block 733 may be a non-circular cam block, and is preferably elliptical. The release button 731 is rotated by the hand, and the first link plate 711 and the second link plate 712 move toward each other to release the brake.

Since the motor 721 itself has a self-locking effect. The addition of the manual release mechanism 73 requires a corresponding modification to the control mechanism. The control mechanism 72 comprises a control motor 721, a double-end screw rod 722 controlled by the control motor 721, and square nuts 727 symmetrically installed at two sides of the double-end screw rod 722, wherein the two square nuts 727 are respectively connected with the first moving seat 723 and the second moving seat 72. The middle of the double-head screw rod 722 is provided with a concave ring 728, the concave ring 728 is rotatably installed on a concave ring installation seat 729, the concave ring installation seat 729 enables the double-head screw rod 722 to only rotate around the axial center and cannot transversely move left and right along the axial direction, when the double-head screw rod 722 rotates, the square nut 727 can move on the double-head screw rod 722, and the conveying stability of the double-head screw rod 722 is improved through the convex ring installation seat 729. The double-end lead screw 722 and the control motor 721 are connected through a shaft sleeve. The first moving base 723 is connected to the first connection plate 711, and the second moving base 724 is connected to the second connection plate 712. Springs (not shown) are connected to the first locking tongue 712 and the second locking tongue 714. The spring makes the first locking tongue 712 and the second locking tongue 714 respectively engage with the brake big tooth 74 and the brake middle tooth 75 to form a braking action.

In order to improve the stability of the first connecting plate 711 and the second connecting plate 712, a moving groove is formed in the connecting plates, and a limit column is connected to the moving groove. The limiting column clamps the connecting plate and cannot be bent downwards or upwards in the moving process of the connecting plate. While the moving slot provides a sufficient moving distance for the connecting plate.

Referring to fig. 4 and 7, in an alternative embodiment, to increase safety and automation on the basis of a manual release mechanism 73. A microswitch is added to the control mechanism 72. The control mechanism 72 also includes a first microswitch 725 and a second microswitch 726 that are communicatively connected to the control motor 721. A contact is arranged below the first microswitch 725 and the second microswitch 726 respectively. The first moving seat 723 and the second moving seat 724 are respectively provided with a trigger block, and a beveling structure is arranged above the trigger block. When the first connecting plate 711 and the second connecting plate 712 move towards each other and the first moving seat 723 triggers the contact, the motor stops moving; when the first connecting plate 711 and the second connecting plate 712 move back to back, the second moving seat 724 triggers the contact, and the motor stops moving.

The specific working mode is as follows:

the initial state is a locked state. At this time, the teeth of the first locking tongue 712 and the second locking tongue 714 are engaged with the large braking teeth 74 and the middle braking teeth 75, respectively, to prevent rotation. Pressing the release button (on the operating arm of the guidewire delivery system) rotates the motor 721, and the double-ended lead screw 722 rotates on the female ring mount 729. The square nut 727 is provided at the step of the first moving seat 723 and the second moving seat 724. The square nut 727 drives the first movable seat 723 and the second movable seat 724 to move towards each other. The first connecting plate 711 and the second connecting plate 712 move towards each other, and the first locking tongue 712 and the second locking tongue 714 are slowly separated from the large braking tooth 74 and the middle braking tooth 75, respectively, to release the brake, and at this time, the elastic force of the spring is also gradually increased. After the brake is released, the joints of the middle arm and the large arm can rotate freely. The motor 721 stops rotating when the trigger block of the first moving seat 723 triggers the contacts of the first microswitch 725.

The release button motor 721 is released to rotate in the reverse direction and the double-headed screw 722 rotates to move the two square nuts 727 in a back-to-back direction. The first connection plate 711 and the second connection plate 712 also move back to back under the spring force. The motor 721 stops rotating when the trigger block of the second moving seat 724 triggers the contact of the second microswitch 726. At this time, the teeth of the first locking tongue 712 and the second locking tongue 714 respectively engage with the brake big teeth 74 and the brake middle teeth 75 to play a braking role.

In an emergency or power-off state, the device is not free to rotate in the locked state. The first connecting plate 711 and the second connecting plate 712 are moved toward each other by rotating the release button 73 against the pulling force of the spring, and the first locking tongue 712 and the second locking tongue 714 are slowly separated from the large braking tooth 74 and the middle braking tooth 75, respectively, to release the brake. By turning the release button 73 to the home position, the first link plate 711 and the second link plate 712 are moved back and forth under the spring action to achieve the locked state.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the present invention.

Claims (7)

1. A support mechanism, characterized by: the support frame comprises a support frame body, a clamping groove (51) and a cam wrench (52), wherein the clamping groove (51) is formed in the bottom of the support frame body, the cam wrench (52) is rotatably arranged at the bottom of the support frame body, the clamping groove (51) is connected with a bed in a sliding mode, and a support mechanism is fixed through rotation of the cam wrench (52).

2. A support mechanism as claimed in claim 1, wherein: a wrench arm (521) is arranged on the cam wrench (52), a limiting block (522) is arranged on the wrench arm (521), and a groove for mounting the cam wrench (52) is formed in the support frame body.

3. A support mechanism as claimed in claim 2, wherein: a clamping plate (53) connected with the cam wrench (52) is arranged in the clamping groove (51), a guide shaft (54) is arranged on the clamping plate (53), and a spring for pushing the clamping plate (53) to be close to the cam wrench (52) is arranged on the guide shaft (54).

4. A support mechanism as claimed in claim 1, wherein: the support frame body is vertically connected with a support plate (55).

5. A support mechanism as claimed in claim 3, wherein: the guide shafts (54) are four and distributed on four corners of the clamping plate (53), and the bottom of the support frame body is also provided with a notch for the clamping plate (53) to enter.

6. A support mechanism as claimed in claim 3, wherein: and a through hole connected with the guide shaft (54) is formed in one side far away from the clamping groove (51), and part of the guide shaft (54) enters the through hole.

7. A robotic system, characterized by: use of a support mechanism according to any of claims 1-6 for fixation on a surgical bed.

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