CN219594790U

CN219594790U - Movable lifting supporting device of surgical robot

Info

Publication number: CN219594790U
Application number: CN202223558664.9U
Authority: CN
Inventors: 陈盛; 荣健; 李华卫
Original assignee: Hangzhou Jianjia Medical Technology Co ltd
Current assignee: Hangzhou Jianjia Medical Technology Co ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-08-29
Anticipated expiration: 2032-12-30

Abstract

The utility model provides a movable lifting support device of a surgical robot, which comprises: robot body, movable truckle, supporting head, bottom plate, two guide groove plates, single guide groove plate, guide rail, elevator motor, slider, jump ring, bush, slide bar, bearing. According to the utility model, the sliding rod can slide up and down through the matching of the bushing and the sliding rod, and the three lifting modules can be linked to prop up or put down the robot under the telescopic action of the lifting motor through the circular arc opening characteristics of the double guide groove plates and the single guide groove plates and the sliding support provided by the bearing on the sliding rod and the sliding block. Compared with the prior art, the movable lifting support device for the surgical robot can realize the lifting of the robot by a single power unit through the conduction of the mechanical mechanism, thereby saving the cost and eliminating the problem that three power units are not synchronously lifted.

Description

Movable lifting supporting device of surgical robot

Technical Field

The utility model relates to the field of mechanical structures, in particular to the technical field of medical equipment, and particularly relates to a movable lifting support device of a surgical robot.

Background

With the development and progress of science and technology, there is an increasing demand for using robot-assisted surgery in the medical field. However, at present, some or complicated or insufficient stability schemes exist in the moving and fixing of the surgical robot, which directly affects the time and accuracy of the whole operation process, so that hidden danger exists in the postoperative rehabilitation of the patient.

Patent number CN201921943103.6 provides a portable lifting support device of orthopedic surgery robot, but the device adopts three elevator motor, and power unit is more, and the cost is relatively higher, and has the problem that three power unit goes up and down asynchronously.

Disclosure of Invention

The utility model aims to solve the defects of the prior art scheme described in the background art, and provides a movable lifting support device for a surgical robot, which is conducted by a mechanical mechanism, realizes the lifting of the robot by a single power unit, saves the cost and solves the problem that three power units are not lifted synchronously.

In order to achieve the above purpose, the utility model is realized by adopting the following technical scheme: a surgical robot mobile lifting support device comprising: robot body, movable truckle, supporting head, bottom plate, two guide groove plates, single guide groove plate, guide rail, elevator motor, slider, jump ring, bush, slide bar, bearing.

The movable casters are fixed on four corners of the bottom plate and can move freely, three lifting modules are arranged below the bottom plate, under the action of the expansion and contraction of the lifting motor, through the circular arc opening characteristics of the double guide groove plates and the single guide groove plates, the movable casters are matched with bearings on the sliding rods and sliding supports provided by the sliding blocks, the three lifting modules can be linked to prop up or put down the surgical robot, the lifting motor comprises a lifting motor push rod head and a lifting motor power unit, the lifting motor push rod head can linearly stretch out and retract under the action of the lifting motor power unit, and the bottom of the lifting motor is fixed on the bottom plate.

Further, the bushing is fixed on the bottom plate and serves as a sliding bearing, the sliding rod is sleeved in the bushing and can slide up and down inside, and the sliding rod is fixed with the supporting head below the bottom plate.

Further, the side face of the sliding rod is provided with a protruding cylindrical feature, the bearing is fixed on the protruding cylindrical feature, and the clamp spring limits the bearing on the sliding rod to prevent the bearing from falling off.

Further, the two guide rails are fixed above the bottom plate, and the two sliding blocks are fixed with the guide rails and can slide on the guide rails.

Further, the double guide groove plates are fixed on the two sliding blocks, two sides of each double guide groove plate are provided with arc guide groove openings, bearings on the two sliding rods are limited in the arc guide groove openings respectively, and the bearings can roll in the arc guide groove openings.

Further, the lifting motor push rod head of the lifting motor is fixed on the double guide groove plate, and the single guide groove plate is fixed with the double guide groove plate.

Further, the side surface of the single guide groove plate is also provided with an arc guide groove opening, and a bearing on the third sliding rod is limited in the arc guide groove opening.

Further, when the supporting head is not supported, the lifting motor push rod head is in an extension state, and the bearing is positioned at the top of the opening of the circular arc guide groove.

Further, when the lifting motor push rod head of the lifting motor stretches out and draws back, the double guide groove plate moves along the stretching direction on the guide rail under the action of the sliding block, meanwhile, the single guide groove plate is driven to move in the same direction, so that the bearings on the three sliding rods move along the arc guide groove opening path line, at the moment, the supporting head moves downwards to contact the ground, the robot body is finally supported, and the purpose of fixing the robot is achieved.

The utility model provides a movable lifting support device of a surgical robot, which is matched with a sliding rod through a bushing, can enable the sliding rod to slide up and down, and can realize linkage of three lifting modules under the telescopic action of a lifting motor through circular arc opening characteristics of a double guide groove plate and a single guide groove plate, and matched with a bearing on the sliding rod and a sliding support provided by a sliding block so as to support or put down the robot. Compared with the prior art, the movable lifting support device for the surgical robot can realize the lifting of the robot by a single power unit through the conduction of the mechanical mechanism, thereby saving the cost and eliminating the problem that three power units are not synchronously lifted.

Drawings

Features, advantages, and technical effects of exemplary embodiments of the present utility model will be described below with reference to the accompanying drawings.

FIG. 1 is a schematic view of an above-floor fixture according to an embodiment of the present utility model;

FIG. 2 is a schematic view of an apparatus under a base plate according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a lift motor according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a part of a structure of a movable lifting support device according to an embodiment of the present utility model;

FIG. 5 is a schematic view of a supporting head according to an embodiment of the present utility model when not supported;

FIG. 6 is a schematic view of a supporting head according to an embodiment of the present utility model supporting a ground surface;

fig. 7 is a schematic view of a mobile lifting support device supporting a robot body according to an embodiment of the present utility model;

reference numerals illustrate: 1. a robot body; 2. a movable caster; 3, supporting a head; 4. a bottom plate; 5. double guide groove plates; 6. a single guide groove plate; 7. a guide rail; 8. elevating the motor pusher head; 9. a lifting motor power unit; 10. a slide block; 11. clamping springs; 12. a bushing; 13. a slide bar; 14. and (3) a bearing.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that, unless otherwise indicated, the meaning of "multiple" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like are merely used for convenience in describing the present utility model and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "assembled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model can be understood as appropriate by those of ordinary skill in the art.

For a better understanding of the present utility model, embodiments of the present utility model are described in detail below with reference to the drawings.

As shown in fig. 1 to 7, the present utility model provides a mobile lifting support device for a surgical robot, the device comprising: robot body 1, movable castor 2, supporting head 3, bottom plate 4, two guide slot boards 5, single guide slot board 6, guide rail 7, elevator motor, slider 10, jump ring 11, bush 12, slide bar 13, bearing 14.

The movable caster 2 is fixed on four corners of the bottom plate 4 and can move freely, three lifting modules are arranged below the bottom plate 4, under the telescopic action of the lifting motor, three lifting modules can be linked to prop up or put down the surgical robot through the circular arc opening characteristics of the double guide groove plates 5 and the single guide groove plates 6, the bearing 14 on the sliding rod and the sliding support provided by the sliding block 10, as shown in fig. 2, the lifting motor comprises a lifting motor push rod head 8 and a lifting motor power unit 9, the lifting motor push rod head 8 can linearly stretch out and retract under the action of the lifting motor power unit 9, and the bottom of the lifting motor is fixed on the bottom plate 4.

As shown in fig. 4, the bushing 12 is fixed on the bottom plate 4 and serves as a sliding bearing, the sliding rod 13 is sleeved in the bushing 12 and can slide up and down inside, and the sliding rod 13 is fixed with the supporting head 3 below the bottom plate.

As an alternative embodiment, the side of the sliding rod 13 has a protruding cylindrical feature, the bearing 14 is fixed on the protruding cylindrical feature, and the clamping spring 11 limits the bearing 14 on the sliding rod 13 to prevent the bearing from falling out.

As an alternative embodiment, two guide rails 7 are fixed above the base plate 4, and two slide blocks 10 are fixed to the guide rails 7 and slidable on the guide rails 7.

As shown in fig. 1, the double-guide-groove plate 5 is fixed on two sliding blocks 10, two sides of the double-guide-groove plate 5 are provided with circular arc guide-groove openings, the bearings 14 on the two sliding rods are respectively limited in the circular arc guide-groove openings, and the bearings 14 can roll in the circular arc guide-groove openings.

As an alternative embodiment, the lifter knob 8 of the lifter is fixed to the double-guide plate 5, and the single-guide plate 6 is fixed to the double-guide plate 5.

As an alternative embodiment, the side surface of the single guide groove plate 6 is also provided with an arc-shaped guide groove opening, and the bearing 14 on the third sliding rod is limited in the arc-shaped guide groove opening.

As shown in fig. 5, when the supporting head 3 is not supported, the elevating motor pusher head 8 is in an extended state, and the bearing 14 is located at the top of the opening of the circular arc guide groove.

As shown in fig. 6, when the lifting motor push rod head 8 of the lifting motor stretches along the direction a, the double guide groove plate 5 is pulled to move, the double guide groove plate 5 moves along the stretching direction on the guide rail 7 under the action of the sliding block 10, and meanwhile drives the single guide groove plate 6 to move in the same direction, so that the bearings 14 on the three sliding rods move along the arc guide groove opening path line, and at the moment, the supporting head 3 moves towards the direction B and contacts the ground to finally support the robot body 1, as shown in fig. 7, so that the purpose of fixing the robot is achieved.

While the utility model has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present utility model is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. A mobile lifting support device for a surgical robot, comprising: the robot comprises a robot body (1), movable casters (2), a supporting head (3), a bottom plate (4), a double-guide-groove plate (5), a single-guide-groove plate (6), a guide rail (7), a lifting motor, a sliding block (10), a clamp spring (11), a bushing (12), a sliding rod (13) and a bearing (14);

the movable casters (2) are fixed on four corners of the bottom plate (4) and can move freely, three lifting modules are arranged below the bottom plate (4), under the telescopic action of the lifting motor, through the circular arc opening characteristics of the double guide groove plates (5) and the single guide groove plates (6), the movable casters cooperate with bearings (14) on the sliding rods and the sliding support provided by the sliding blocks (10), three lifting modules can be linked to prop up or put down the surgical robot, the lifting motor comprises a lifting motor pushing head (8) and a lifting motor power unit (9), the lifting motor pushing head (8) can extend and retract linearly under the action of the lifting motor power unit (9), and the bottom of the lifting motor is fixed on the bottom plate (4).

2. A mobile lifting support device for surgical robots according to claim 1, characterized in that the bushing (12) is fixed on the base plate (4) and acts as a sliding bearing, the sliding rod (13) is sleeved in the bushing (12) and can slide up and down inside, and the sliding rod (13) is fixed with the support head (3) below the base plate.

3. A mobile lifting support device for surgical robots according to claim 1 characterized in that the side of the slide bar (13) has a protruding cylindrical feature, the bearing (14) is fixed on the protruding cylindrical feature, the snap spring (11) limits the bearing (14) on the slide bar (13) preventing it from coming out.

4. A mobile lifting support for surgical robots according to claim 1, characterized in that two of said guide rails (7) are fixed above said base plate (4), and two of said slide blocks (10) are fixed to said guide rails (7) and slidable on said guide rails (7).

5. The movable lifting support device for the surgical robot according to claim 4, wherein the double guide groove plates (5) are fixed on two sliding blocks (10), two sides of each double guide groove plate (5) are provided with arc guide groove openings, bearings (14) on two sliding rods are limited in the arc guide groove openings respectively, and the bearings (14) can roll in the arc guide groove openings.

6. A mobile lifting support device for a surgical robot according to claim 1, characterized in that a lifting motor pusher head (8) of the lifting motor is fixed on the double guide groove plate (5), and the single guide groove plate (6) is fixed with the double guide groove plate (5).

7. The movable lifting support device for the surgical robot according to claim 6, wherein the side surface of the single guide groove plate (6) is also provided with an arc guide groove opening, and the bearing (14) on the third sliding rod is limited in the arc guide groove opening.

8. A mobile lifting support device for surgical robots according to claim 7 characterized in that when the support head (3) is not supported, the lifting motor pusher head (8) is in an extended state and the bearing (14) is at the top of the circular arc guide slot opening.

9. A movable lifting support device for a surgical robot according to claim 5 or 7, wherein when a lifting motor push rod head (8) of the lifting motor stretches, the double guide groove plates (5) are pulled to move, the double guide groove plates (5) move on the guide rail (7) along the stretching direction under the action of the sliding blocks (10), and meanwhile, the single guide groove plates (6) are driven to move in the same direction, so that bearings (14) on three sliding rods move along the opening path line of the circular arc guide groove, and at the moment, the support head (3) moves downwards to contact the ground, so that the robot body (1) is finally supported, and the purpose of fixing the robot is achieved.