CN218792482U - Electrode plate adjusting device and electrode wire implanting robot - Google Patents
Electrode plate adjusting device and electrode wire implanting robot Download PDFInfo
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- CN218792482U CN218792482U CN202320081636.8U CN202320081636U CN218792482U CN 218792482 U CN218792482 U CN 218792482U CN 202320081636 U CN202320081636 U CN 202320081636U CN 218792482 U CN218792482 U CN 218792482U
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Abstract
The utility model provides a robot is implanted to plate electrode adjusting device and wire electrode, plate electrode adjusting device is arranged in the wire electrode implants the robot, the plate electrode is fixed on the plate electrode support that the robot is implanted to the wire electrode, plate electrode adjusting device includes that Z is to adjustment mechanism and X to adjustment mechanism, be used for respectively adjusting the plate electrode in Z to with X ascending position, wherein, Z upwards is connected with the connecting rod that the robot was implanted to the wire electrode at Z to adjustment mechanism, X upwards is connected to adjustment mechanism with Z to adjustment mechanism at X, X is to adjustment mechanism and plate electrode support fixed connection. The utility model provides a plate electrode adjusting device has installed new electrode silk piece again after, utilizes Z to adjustment mechanism and X to adjust electrode silk piece to adjustment mechanism Z to with X to with tungsten needle between the relative position, make the silk hole of electrode silk is aimed at to the needle point of tungsten needle to guarantee that tungsten needle can be easier the silk downthehole of wearing into electrode silk, and then show ground and improve implantation efficiency.
Description
Technical Field
The utility model relates to a brain machine interface field especially relates to the wire electrode implantation robot among the brain machine interface device, concretely relates to a plate electrode adjusting device and wire electrode implantation robot for wire electrode implantation robot.
Background
The electrode wire is the core technology of brain-computer interface equipment, is a bridge for connecting brain biological tissues and is a path for receiving and feeding back brain waves. The implantation of wire electrodes or electrodes in the biological tissue of the brain faces the major problem that the electrodes can cause inflammation of the biological tissue and even damage to the biological tissue. The electrode wire can be made very small, thin and flexible, minimizing insertion wounds, allowing target tissue to grow around the implanted electrode, improving the distance between the electrode contact and the target site, and allowing a greater number of electrodes to be implanted. In order to ensure biocompatibility, the dielectric used for the electrode wire comprises chemical materials such as polyimide, epoxy, parylene and acrylic acid.
The wire electrode is soft and thin and requires a large number of wires, so that it is difficult to implant by conventional surgery, and its successful implantation rate is mainly benefited by a robotic surgical system. The robot can implant, for example, 3 to 6 wire electrodes per minute, for example, up to 192. Each wire electrode can be implanted into brain independently with micron-level precision, and can avoid surface blood vessels and aim at specific brain region. The visual positioning principle of the robot operation system is as follows: the metal portion of the robotic end effector is illuminated with a specific color of light (red or green light with near ultraviolet wavelengths between 390 nm and 425 nm) to better contrast edges and features and to guide the robotic assembly to perform a surgical implant of the electrode based on the contour image of the target tissue and the position of the electrode.
The electrode wire implanting robot can be used for implanting the electrode wire into brain tissue. As shown in fig. 1 and 2, before implanting a wire electrode into brain tissue by using a wire electrode implantation robot, one end of the wire electrode on an electrode plate is usually attached to a wire electrode attachment block, and then the electrode plate and the wire electrode attachment block are simultaneously mounted on an attachment block support, which is also called an electrode plate support. Under the assistance of manual observation through a camera, the tungsten needle penetrates through a hole at one end of the electrode wire and is implanted into the brain tissue with the electrode wire driven by the tungsten needle.
In the prior art, as shown in fig. 1, in an XYZ spatial cartesian coordinate system, the Z direction for example corresponds to the direction of the connecting rod, i.e. the vertical direction or the vertical direction, which is perpendicular to the XY plane, which corresponds to the horizontal plane direction, in some embodiments the XY plane for example corresponds to the brain tissue plane. In a particular set-up state of the wire electrode implantation robot (for example when the technician is facing the XZ plane on the side close to the tungsten needle), the skilled person will understand, for example, that the Z-direction corresponds to the up-down direction, in particular the up-direction, the X-direction corresponds to the left-right direction, in particular the right-direction, and the Y-direction corresponds to the front-back direction, in particular the forward direction. In the actual operation of the prior art, after the electrode plate and the electrode wire sticking block are simultaneously installed on the sticking block bracket manually, the position of the electrode wire sticking block can only be adjusted in the Y direction through a Y-axis screw rod (namely a Y-direction screw rod), so that the end part of the electrode wire is positioned in the visual field of a camera and right below a tungsten needle as much as possible, and the position of the electrode plate or the electrode wire sticking block cannot be adjusted in the X and Z directions. If the wire hole of the electrode wire is not in the center of the camera vision field or even in the camera vision field along the X direction, or the wire hole of the electrode wire is not right below the needle point of the tungsten needle, the observation and the perforation are both very inconvenient. At this time, it is necessary to readjust the position of the electrode plate or the wire electrode block in the Y direction or to reinstall the wire electrode block, however, this may seriously affect the wire electrode implanting efficiency.
In addition, after the electrode plate or the unit composed of the electrode plate or the electrode wire iron block is reinstalled, if the distance between the tungsten needle and the wire hole of the electrode wire along the Z direction is too high, the needle point of the tungsten needle needs to move a certain distance along the Z direction to reach the position of the wire hole of the electrode wire. If the tungsten needle is inclined or bent, when the needle tip of the tungsten needle moves to the position of the wire hole of the electrode wire along the Z direction, the position of the needle tip of the tungsten needle and the position of the wire hole of the electrode wire may deviate, and at the moment, the position of the electrode wire sticking block in the Y direction needs to be adjusted again or the electrode wire sticking block needs to be installed again, which will also seriously affect the implantation efficiency of the electrode wire.
SUMMERY OF THE UTILITY MODEL
For overcoming the problem that exists in the correlation technique to a certain extent at least, the utility model provides a plate electrode adjusting device and wire electrode implantation robot for wire electrode implantation robot.
According to the utility model discloses in the first aspect of the embodiment, the utility model provides a plate electrode adjusting device for in the wire electrode implantation robot, the plate electrode is fixed on the plate electrode support that the robot was implanted to the wire electrode, plate electrode adjusting device includes that Z is used for adjusting to adjustment mechanism and X respectively to the adjustment mechanism the plate electrode is in Z to the ascending position of X, wherein, Z to adjustment mechanism for the connecting rod that the robot was implanted to the wire electrode on Z upwards with the connecting rod is connected, X to adjustment mechanism for Z upwards to adjustment mechanism with Z connects to adjustment mechanism, X to adjustment mechanism with plate electrode support fixed connection.
In the electrode plate adjusting apparatus, the Z-direction adjusting mechanism includes a Z-direction slider, the X-direction adjusting mechanism includes an X-direction slider, and the X-direction slider is partially fitted into the Z-direction slider so as to be slidable with respect to the Z-direction slider.
In the above-described electrode plate adjusting apparatus, the Z-direction adjusting mechanism includes a Z-direction slider that is partially fitted into the connecting rod so as to be slidable with respect to the connecting rod.
In the electrode plate adjusting device, the Z-direction adjusting mechanism comprises a Z-direction guide groove, a Z-direction spring baffle, a Z-direction slider, a Z-direction spring and a Z-direction knob; the side wall of the connecting rod is provided with the Z-direction guide groove close to the opposite end of the connecting rod and the Y-axis screw rod; the Z-direction spring baffle is arranged at the opposite end of the connecting rod and the Y-axis screw rod;
the Z-direction sliding block is arranged in the Z-direction guide groove in a sliding manner; the Z-direction spring is arranged between the top end of the Z-direction sliding block and the top surface of the connecting rod where the Z-direction guide groove is located; and the rod part of the Z-direction knob penetrates through the Z-direction spring baffle plate and then is contacted with the Z-direction sliding block.
In the electrode plate adjusting device, the Z-direction adjusting mechanism comprises a Z-direction guide groove, a Z-direction spring baffle, a Z-direction slider, a Z-direction spring and a Z-direction knob; the side wall of the connecting rod is provided with the Z-direction guide groove close to the opposite end of the connecting rod and the Y-axis screw rod; the Z-direction spring baffle is arranged at the opposite end of the connecting rod and the Y-axis screw rod;
the Z-direction sliding block is arranged in the Z-direction guide groove in a sliding manner; one end of the Z-direction slider, which is close to the Z-direction spring baffle, is provided with a Z-direction unthreaded hole, and the Z-direction spring is arranged in the Z-direction unthreaded hole; and the rod part of the Z-direction knob penetrates through the Z-direction spring baffle and the Z-direction spring and then is screwed with the Z-direction sliding block.
Furthermore, the top end of the rod part of the Z-direction knob penetrates out of the Z-direction sliding block along the length direction of the connecting rod, and a preset distance is reserved between the end part of the Z-direction knob and the bottom end of the Z-direction spring baffle.
Further, the top end of the rod part of the Z-direction knob is positioned in the Z-direction sliding block, and the end part of the Z-direction knob is in contact with the bottom end of the Z-direction spring baffle.
Furthermore, a sliding groove is formed in the side wall of the connecting rod where the Z-direction guide groove is located, a sliding table is arranged on the side wall of the Z-direction sliding block, and the sliding table is arranged in the sliding groove in a sliding mode.
In the electrode plate adjusting device, the X-direction adjusting mechanism comprises an X-direction guide groove, an X-direction spring baffle, an X-direction slider, an X-direction spring and an X-direction knob; the opposite end of the connecting end of the Z-direction sliding block and the Z-direction guide groove is provided with the X-direction guide groove; the Z-direction sliding block is provided with the X-direction spring baffle on one side along the X direction;
the X-direction sliding block is arranged in the X-direction guide groove in a sliding manner; the X-direction spring is arranged between the side wall of the Z-direction sliding block, far away from the X-direction spring baffle, of the X-direction sliding block and the side wall of the Z-direction sliding block, where the X-direction guide groove is located;
and the rod part of the X-direction knob penetrates through the X-direction spring baffle and then is contacted with the X-direction sliding block.
In the electrode plate adjusting device, the X-direction adjusting mechanism comprises an X-direction guide groove, an X-direction spring baffle, an X-direction slider, an X-direction spring and an X-direction knob; the opposite end of the connecting end of the Z-direction sliding block and the Z-direction guide groove is provided with the X-direction guide groove; the Z-direction sliding block is provided with the X-direction spring baffle on one side along the X direction;
the X-direction sliding block is arranged in the X-direction guide groove in a sliding manner; an X-direction light hole is formed in one end, close to the X-direction spring baffle, of the X-direction sliding block, and the X-direction spring is arranged in the X-direction light hole; and the rod part of the X-direction knob penetrates through the X-direction spring baffle and the X-direction spring and then is screwed with the X-direction sliding block.
Furthermore, a sliding groove is formed in the side wall of the Z-direction sliding block where the X-direction guiding groove is located, a sliding table is arranged on the side wall of one end, connected with the Z-direction sliding block, of the X-direction sliding block, and the sliding table is arranged in the sliding groove in a sliding mode.
According to the utility model discloses the second aspect of the embodiment, the utility model also provides a wire electrode implantation robot, it has above-mentioned arbitrary electrode plate adjusting device.
According to the above embodiments of the present invention, at least the following advantages are obtained: the utility model provides a plate electrode adjusting device is through increasing Z to adjustment mechanism and X to adjustment mechanism on the basis of current Y axle lead screw and connecting rod, can be after having installed new electrode silk piece again, utilize Z to adjustment mechanism and X to adjust electrode silk piece Z to and X to with tungsten needle between the relative position, the silk hole of electrode silk is aimed at to the needle point that makes the tungsten needle, thereby guarantee that the tungsten needle can be easier the silk hole of entrying the electrode silk, and then improve implantation efficiency with showing.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the invention, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic view of an overall structure of a wire electrode implantation robot in the prior art.
Fig. 2 is a schematic view of a connection relationship between a wire electrode sticking block, a wire electrode and an electrode plate in a wire electrode implantation robot in the prior art.
Fig. 3 is a schematic view of an application state of the electrode plate adjusting device according to an embodiment of the present invention.
Fig. 4 is an enlarged schematic view of a portion a in fig. 3.
Fig. 5 is one of cross-sectional views of a YZ plane of an electrode plate adjusting device according to an embodiment of the present invention.
Fig. 6 is a second cross-sectional view of the YZ plane of the electrode plate adjusting device according to the embodiment of the present invention.
Fig. 7 is a third cross-sectional view of the YZ plane of the electrode plate adjusting device according to the embodiment of the present invention.
Fig. 8 is a cross-sectional view of an X-direction adjusting mechanism XZ plane in the electrode plate adjusting device according to the embodiment of the present invention.
Description of reference numerals:
1. a Z-direction adjusting mechanism;
11. a Z-direction guide groove; 12. a Z-direction spring baffle; 13. a Z-direction slider; 14. a Z-direction spring; 15. a Z-direction knob;
2. an X-direction adjusting mechanism;
21. an X-direction guide groove; 22. an X-direction spring baffle; 23. an X-direction sliding block; 24. a spring in the X direction; 25. an X-direction knob;
3. the support tightly props the screw; 4. the sticking block tightly pushes the screw;
10. a connecting rod; 20. a Y-axis lead screw; 30. sticking a block bracket; 40. a wire electrode sticking block; 50. a wire electrode; 60. an electrode plate; 70. a tungsten needle; 80. a camera.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the spirit of the present invention will be described in detail with reference to the accompanying drawings, and any person skilled in the art can change or modify the techniques taught by the present invention without departing from the spirit and scope of the present invention after understanding the embodiments of the present invention.
The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.
As used herein, "first," "second," "8230," etc., are not specifically referred to in order or sequence, nor are they intended to limit the invention, but only to distinguish one element from another or to distinguish one element from another element or operation described in the same technical term.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
"plurality" in reference to this text includes "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".
Certain words used to describe the invention are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the invention.
As shown in fig. 3 and 4, the electrode plate adjusting device provided by the embodiment of the present invention is used in a wire electrode implantation robot, and includes a Z-direction adjusting mechanism 1 and an X-direction adjusting mechanism 2, wherein the Z-direction adjusting mechanism 1 is disposed at the opposite end of the connecting rod 10 and the Y-axis wire rod 20 along the length direction of the connecting rod 10 in the wire electrode implantation robot. The opposite end of the Z-direction adjusting mechanism 1 connected with the connecting rod 10 is connected with one end of the X-direction adjusting mechanism 2, and the other end of the X-direction adjusting mechanism 2 is connected with a patch bracket 30. Specifically, the patch holder 30 is connected to the other end of the X-direction adjustment mechanism 2 via a holder tightening screw 3.
The sticking block bracket 30 is provided with a wire electrode sticking block 40 and an electrode plate 60, and the wire electrode sticking block 40 is tightly fixed on the sticking block bracket 30 through a sticking block jacking screw 4. One end of the wire electrode 50 having a wire hole is fixed to the edge of the wire electrode mounting block 40 in an abutting manner, and the other end of the wire electrode 50 is fixed to the electrode plate 60. The electrode wires 50 are flexible, particularly ultra-flexible, and the wire holes of the respective electrode wires 50 are exposed from the edge of the electrode wire block 40 so that the tungsten needle 70 can smoothly pass through the wire holes of the electrode wires 50. The tungsten needle 70 is disposed above, particularly directly above, the wire block 40 so as to be subsequently aligned with the filament hole of the electrode filament 50, and the tungsten needle 70 is passed through the filament hole of the electrode filament 50 so as to separate the electrode filament 50 from the edge of the electrode filament block 40, thereby being implanted into a biological tissue.
The Z-direction adjusting mechanism 1 is used for driving the electrode wire 50 to move towards or away from the tungsten needle 70 along the length direction of the connecting rod 10, so as to change the relative position between the wire hole of the electrode wire 50 and the tungsten needle 70 in the Z direction. The X-direction adjusting mechanism 2 is used for driving the electrode wire 50 to move towards the direction close to or away from the tungsten needle 70 along the X direction so as to change the relative position between the wire hole of the electrode wire 50 and the tungsten needle 70 in the X direction.
The Z direction is a length direction of a connecting rod in the wire electrode implanting robot, and the X direction is a direction perpendicular to the Z direction and a direction in which a Y-axis wire rod is located (i.e., the Y direction).
To the problem that robot exists at the electrode wire 50 implantation in-process is implanted to current electrode wire, the embodiment of the utility model provides a plate electrode adjusting device is through increasing Z to adjustment mechanism 1 and X to adjustment mechanism 2 on the basis of current Y axle lead screw 20 and connecting rod 10, can be after installing new electrode wire piece 40 again, utilize Z to adjustment mechanism 1 and X to adjustment mechanism 2 adjust electrode wire piece 40 to Z to and X to and tungsten needle 70 between the relative position, make tungsten needle 70's needle point aim at the filament hole of electrode wire 50, thereby guarantee that tungsten needle 70 can more easily pierce into the filament hole of electrode wire 50, and then improve implantation efficiency.
In one specific embodiment, as shown in fig. 5, the Z-direction adjustment mechanism 1 includes a Z-direction guide slot 11, a Z-direction spring stop 12, a Z-direction slider 13, a Z-direction spring 14, and a Z-direction knob 15. Wherein, near the opposite end of the connecting rod 10 and the Y-axis wire rod 20, a Z-guide groove 11 is opened on the side wall of the connecting rod 10. And a Z-direction spring baffle 12 is arranged at the opposite end of the connecting rod 10 and the Y-axis screw rod 20. When viewed from a cross-sectional view of the YZ plane, the Z-direction spring stopper 12 and the side wall of the link 10 enclose the Z-direction groove 11 as a groove opened on one side.
The Z-direction slider 13 is slidably provided in the Z-direction groove 11 in the longitudinal direction of the link 10. The Z-direction spring 14 is arranged between the top end of the Z-direction slider 13 and the top surface of the connecting rod 10 where the Z-direction groove 11 is located. The top end of the Z-direction slider 13 is the end of the Z-direction slider 13 far away from the Z-direction spring baffle 12 when the Z-direction slider 13 is arranged in the Z-direction guide groove 11 in a sliding manner.
The rod part of the Z-direction knob 15 penetrates through the Z-direction spring baffle 12 and then contacts with the Z-direction sliding block 13.
By rotating the Z-direction knob 15 clockwise or counterclockwise, the height position of the Z-direction slider 13 in the Z-direction guide groove 11 along the length direction of the connecting rod 10 can be adjusted in cooperation with the Z-direction spring 14.
In another specific embodiment, as shown in fig. 6 and 7, the Z-direction adjusting mechanism 1 includes a Z-direction guide groove 11, a Z-direction spring stop 12, a Z-direction slider 13, a Z-direction spring 14, and a Z-direction knob 15. Wherein, near the opposite end of the connecting rod 10 and the Y-axis wire rod 20, a Z-guide groove 11 is opened on the side wall of the connecting rod 10. A Z-direction spring retainer 12 is provided at the end opposite to the end where the connecting rod 10 is connected to the Y-axis screw 20. When viewed from a cross-sectional view of the YZ plane, the Z-direction spring stopper 12 and the side wall of the link 10 enclose the Z-direction groove 11 as a groove opened on one side.
The Z-direction slider 13 is slidably provided in the Z-direction groove 11 in the longitudinal direction (i.e., Z direction) of the connecting rod 10. One end of the Z-direction slider 13 close to the Z-direction spring baffle 12 is provided with a Z-direction unthreaded hole, and the Z-direction spring 14 is arranged in the Z-direction unthreaded hole. The rod part of the Z-direction knob 15 penetrates through the Z-direction spring baffle 12 and the Z-direction spring 14 and then is screwed with the Z-direction slide block 13.
When the Z-direction adjusting mechanism 1 is assembled, the specific process is as follows:
the Z-direction slider 13 is slidably disposed in the Z-direction guide groove 11.
A Z-direction spring 14 is provided in a Z-direction optical hole of the Z-direction slider 13.
The Z-direction spring baffle 12 is fixed at the opposite end of the connecting rod 10 connected with the Y-axis wire rod 20, namely the Z-direction spring baffle 12 is fixed at the bottom end of the connecting rod 10, so that the Z-direction spring 14 is blocked and the Z-direction spring 14 is in a compressed state, and the Z-direction spring 14 pushes the Z-direction slide block 13 to the highest position in the Z-direction groove 11.
A Z-direction knob 15 is screwed into the Z-direction guide groove 11 at the bottom end of the Z-direction spring baffle 12.
The rod part of the Z-direction knob 15 penetrates through the Z-direction spring baffle 12 and the Z-direction spring 14 and then is screwed with the Z-direction slide block 13.
The Z-direction knob 15 is rotated clockwise, and the Z-direction knob 15 has certain pulling force on the Z-direction slider 13, and the pulling force resists the elastic force of the Z-direction spring 14, so that the Z-direction slider 13 moves downwards, namely moves towards the direction close to the Z-direction spring baffle 12.
And rotating the screw of the Z-direction knob 15 anticlockwise, wherein the Z-direction knob 15 does not pull down the Z-direction slider 13 any more, and the Z-direction spring 14 in a compressed state tightly pushes the Z-direction slider 13 upwards, so that the Z-direction slider 13 moves upwards, namely the Z-direction slider 13 is tightly pushed in a direction away from the Z-direction spring baffle plate 12.
In this embodiment, as shown in fig. 6 and 7, the length of the rod portion of the Z-direction knob 15 may be set to be greater than the length of the Z-direction slider 13 along the length direction of the connecting rod 10, so that the top end of the rod portion of the Z-direction knob 15 penetrates through the Z-direction slider 13, the end of the Z-direction knob 15 is not in contact with the bottom end of the Z-direction spring retainer 12, and a preset distance is provided between the two.
Of course, the length of the rod part of the Z-direction knob 15 may also be set to be smaller than the length of the Z-direction slider 13 along the length direction of the connecting rod 10, so that the top end of the rod part of the Z-direction knob 15 is located in the Z-direction slider 13, and the end part of the Z-direction knob 15 is in contact with the bottom end of the Z-direction spring retainer 12.
In each of the above embodiments, specifically, a sliding groove is opened on a side wall of the connecting rod 10 where the Z-guide groove 11 is located, and a sliding table is provided on a side wall of the Z-slide block 13, and the sliding table is slidably provided in the sliding groove, so that the Z-slide block 13 is slidably provided in the Z-guide groove 11 through the sliding table and the sliding groove.
In a specific embodiment, the X-direction adjusting mechanism 2 includes an X-direction guide slot 21, an X-direction spring stop 22, an X-direction slider 23, an X-direction spring 24, and an X-direction knob 25. Wherein, an X-direction guide groove 21 is arranged at the opposite end of the connecting end of the Z-direction slide block 13 and the Z-direction guide groove 11. The Z-direction slider 13 is provided with an X-direction spring stopper 22 on one side in the X-direction. When viewed from the cross-sectional view of the XZ plane, the side wall of the Z-direction slider 13 where the X-direction spring retainer 22 and the X-direction guide groove 21 are located surrounds the X-direction guide groove 21 to form a groove that is open on one side.
The X-direction slider 23 is provided in the X-direction guide groove 21 so as to be slidable in the X-direction. The X-direction spring 24 is arranged between one end of the X-direction slider 23 far away from the X-direction spring baffle 22 and the side wall of the Z-direction slider 13 where the X-direction guide groove 21 is positioned.
The rod part of the X-direction knob 25 passes through the X-direction spring baffle 22 and then contacts with the X-direction slide block 23.
By rotating the X-direction knob 25 clockwise or counterclockwise, the depth position of the X-direction slider 23 in the X-direction guide groove 21 can be adjusted in cooperation with the X-direction spring 24.
In one embodiment, the X-direction adjustment mechanism is connected to the Z-direction adjustment mechanism in a manner that it can slide relative to the Z-direction adjustment mechanism. Meanwhile, the Z-direction adjustment mechanism is connected to the connection rod 10 so as to be slidable with respect to the connection rod 10 of the wire electrode implantation robot.
Specifically, in a specific embodiment, as shown in fig. 6 and 7, the X-direction slider 23 is partially embedded in the Z-direction slider 13 in such a manner as to be slidable with respect to the Z-direction slider 13, for example, the X-direction slider 23 is partially embedded in the Z-direction slider 13 and is slidable in the X direction with respect to the Z-direction slider 13. Meanwhile, the Z-direction slider 13 is partially embedded in the connecting rod 10 in such a manner as to be slidable with respect to the connecting rod 10, for example, the Z-direction slider 13 is partially embedded in the connecting rod 10 and is slidable in the Z-direction with respect to the connecting rod 10.
In another specific embodiment, as shown in fig. 8, the X-direction adjusting mechanism 2 includes an X-direction guide slot 21, an X-direction spring retainer 22, an X-direction slider 23, an X-direction spring 24, and an X-direction knob 25. Wherein, an X-direction guide groove 21 is arranged at the opposite end of the connecting end of the Z-direction slide block 13 and the Z-direction guide groove 11. The Z-direction slider 13 is provided with an X-direction spring stopper 22 on one side in the X-direction. When viewed from the cross-sectional view of the XZ plane, the side wall of the Z-direction slider 13 where the X-direction spring retainer 22 and the X-direction guide groove 21 are located surrounds the X-direction guide groove 21 to form a groove that is open on one side.
The X-direction slider 23 is provided in the X-direction guide groove 21 so as to be slidable in the X-direction. An X-direction light hole is formed in one end, close to the X-direction spring baffle 22, of the X-direction sliding block 23, and the X-direction spring 24 is arranged in the X-direction light hole. The rod part of the X-direction knob 25 passes through the X-direction spring baffle 22 and the X-direction spring 24 and then is screwed with the X-direction slide block 23.
When the X-direction adjusting mechanism 2 is assembled, the specific process is as follows:
the X-direction slider 23 is slidably disposed in the X-direction guide groove 21.
An X-direction spring 24 is provided in an X-direction light hole of the X-direction slider 23.
The X-direction spring baffle 22 is fixed on one side of the Z-direction slide block 13 far away from the tungsten needle 70, the X-direction spring baffle 22 is made to block the X-direction spring 24 and the X-direction spring 24 is made to be in a compressed state, and at the moment, the X-direction spring 24 pushes the X-direction slide block 23 to the deepest position in the X-direction guide groove 21.
An X-direction knob 25 is screwed into the X-direction guide groove 21 outside the X-direction spring baffle 22.
The rod part of the X-direction knob 25 passes through the X-direction spring baffle 22 and the X-direction spring 24 and then is screwed with the X-direction slide block 23.
The X-direction knob 25 is rotated clockwise, and the X-direction knob 25 exerts a certain pulling force on the X-direction slider 23, which resists the elastic force of the X-direction spring 24, thereby moving the X-direction slider 23 in a direction approaching the X-direction spring retainer 22.
The screw of the X-direction knob 25 is rotated counterclockwise, the X-direction knob 25 does not pull the X-direction slider 23 in the direction of approaching the X-direction spring retainer 22 any more, and the compressed X-direction spring 24 tightly pushes the X-direction slider 23 in the direction of separating from the X-direction spring retainer 22, so that the X-direction slider 23 tightly pushes the X-direction slider 23 in the direction of separating from the X-direction spring retainer 22.
In this embodiment, the length of the rod portion of the X-direction knob 25 may be set to be greater than the thickness of the X-direction slider 23, so that the top end of the rod portion of the X-direction knob 25 penetrates through the X-direction slider 23, and the end of the X-direction knob 25 is not in contact with the bottom end of the X-direction spring retainer 22.
Of course, the length of the rod portion of the X-direction knob 25 may be set to be smaller than the thickness of the X-direction slider 23, so that the tip of the rod portion of the X-direction knob 25 is located in the X-direction slider 23, and the end of the X-direction knob 25 contacts with the outer side of the X-direction spring retainer 22.
In each of the above embodiments, specifically, a sliding groove is formed in a side wall of the Z-directional slider 13 where the X-directional guide groove 21 is located, a sliding table is disposed on a side wall of one end of the X-directional slider 23 connected to the Z-directional slider 13, and the sliding table is slidably disposed in the sliding groove, so that the X-directional slider 23 is slidably disposed in the X-directional guide groove 21 through the sliding table and the sliding groove.
The foregoing is only an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present invention should fall within the protection scope of the present invention.
Claims (12)
1. The utility model provides a plate electrode adjusting device for in the robot is implanted to the wire electrode, the plate electrode is fixed on the plate electrode support of robot is implanted to the wire electrode, a serial communication port, plate electrode adjusting device includes that Z is used for adjusting to adjustment mechanism and X respectively the plate electrode is in Z to with X ascending position, wherein, Z upwards is connected with the connecting rod that the robot was implanted to the wire electrode at Z to adjustment mechanism, X upwards to adjustment mechanism at X with Z is connected to adjustment mechanism, X to adjustment mechanism with plate electrode support fixed connection.
2. The electrode plate adjustment apparatus of claim 1, wherein the Z-direction adjustment mechanism comprises a Z-direction slider, and the X-direction adjustment mechanism comprises an X-direction slider partially embedded in the Z-direction slider in a manner slidable relative to the Z-direction slider.
3. The electrode plate adjustment device of claim 1, wherein the Z-direction adjustment mechanism comprises a Z-direction slider that is partially embedded in the connecting rod in a manner slidable relative to the connecting rod.
4. The electrode plate adjusting device of any one of claims 1-3, wherein the Z-direction adjusting mechanism comprises a Z-direction guide slot, a Z-direction spring baffle, a Z-direction slider, a Z-direction spring and a Z-direction knob; the side wall of the connecting rod is provided with the Z-direction guide groove close to the opposite end of the connecting rod and the Y-axis screw rod; the Z-direction spring baffle is arranged at the opposite end of the connecting rod and the Y-axis screw rod;
the Z-direction sliding block is arranged in the Z-direction guide groove in a sliding manner; the Z-direction spring is arranged between the top end of the Z-direction sliding block and the top surface of the connecting rod where the Z-direction guide groove is located; and the rod part of the Z-direction knob penetrates through the Z-direction spring baffle plate and then is contacted with the Z-direction sliding block.
5. The electrode plate adjustment device of any one of claims 1-3, wherein the Z-direction adjustment mechanism comprises a Z-direction guide slot, a Z-direction spring baffle, a Z-direction slider, a Z-direction spring and a Z-direction knob; the side wall of the connecting rod is provided with the Z-direction guide groove close to the opposite end of the connecting rod and the Y-axis screw rod; the Z-direction spring baffle is arranged at the opposite end of the connecting rod and the Y-axis screw rod;
the Z-direction sliding block is arranged in the Z-direction guide groove in a sliding manner; one end of the Z-direction slider, which is close to the Z-direction spring baffle, is provided with a Z-direction unthreaded hole, and the Z-direction spring is arranged in the Z-direction unthreaded hole; and the rod part of the Z-direction knob penetrates through the Z-direction spring baffle and the Z-direction spring and then is screwed with the Z-direction sliding block.
6. The electrode plate adjusting device of claim 5, wherein the top end of the rod part of the Z-direction knob penetrates out of the Z-direction slider along the length direction of the connecting rod, and a preset distance is reserved between the end part of the Z-direction knob and the bottom end of the Z-direction spring baffle.
7. The electrode plate adjustment device of claim 5, wherein the top end of the rod portion of the Z-direction knob is located in the Z-direction slider, and the end of the Z-direction knob is in contact with the bottom end of the Z-direction spring baffle.
8. The electrode plate adjusting device of claim 5, wherein a sliding groove is formed on a side wall of the connecting rod where the Z-direction guide groove is located, and a sliding table is arranged on a side wall of the Z-direction sliding block and is slidably arranged in the sliding groove.
9. The electrode plate adjusting device according to any one of claims 1 to 3, wherein the X-direction adjusting mechanism comprises an X-direction guide groove, an X-direction spring baffle, an X-direction slider, an X-direction spring and an X-direction knob; the opposite end of the connecting end of the Z-direction sliding block and the Z-direction guide groove is provided with the X-direction guide groove; the Z-direction sliding block is provided with the X-direction spring baffle on one side along the X direction;
the X-direction sliding block is arranged in the X-direction guide groove in a sliding manner; the X-direction spring is arranged between the side wall of the Z-direction sliding block, far away from the X-direction spring baffle, of the X-direction sliding block and the side wall of the Z-direction sliding block, where the X-direction guide groove is located;
and the rod part of the X-direction knob penetrates through the X-direction spring baffle and then is contacted with the X-direction sliding block.
10. The electrode plate adjusting device according to any one of claims 1 to 3, wherein the X-direction adjusting mechanism comprises an X-direction guide groove, an X-direction spring baffle, an X-direction slider, an X-direction spring and an X-direction knob; the opposite end of the connecting end of the Z-direction sliding block and the Z-direction guide groove is provided with the X-direction guide groove; the Z-direction sliding block is provided with the X-direction spring baffle on one side along the X direction;
the X-direction sliding block is arranged in the X-direction guide groove in a sliding manner; an X-direction light hole is formed in one end, close to the X-direction spring baffle, of the X-direction sliding block, and the X-direction spring is arranged in the X-direction light hole; and the rod part of the X-direction knob penetrates through the X-direction spring baffle and the X-direction spring and then is screwed with the X-direction sliding block.
11. The electrode plate adjusting device of claim 10, wherein a sliding groove is formed on a side wall of the Z-direction slider where the X-direction guide groove is located, and a sliding table is arranged on a side wall of one end of the X-direction slider connected with the Z-direction slider and is slidably arranged in the sliding groove.
12. A wire electrode implantation robot having the electrode plate adjusting apparatus according to any one of claims 1 to 11.
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| CN202320081636.8U CN218792482U (en) | 2023-01-13 | 2023-01-13 | Electrode plate adjusting device and electrode wire implanting robot |
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| CN202320081636.8U CN218792482U (en) | 2023-01-13 | 2023-01-13 | Electrode plate adjusting device and electrode wire implanting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117982212A (en) * | 2024-04-03 | 2024-05-07 | 北京智冉医疗科技有限公司 | Electrode implantation apparatus and electrode implantation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117982212A (en) * | 2024-04-03 | 2024-05-07 | 北京智冉医疗科技有限公司 | Electrode implantation apparatus and electrode implantation method |
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