CN221083797U - Driving device - Google Patents

Abstract

The present disclosure provides a driving device, and relates to the technical field of medical instruments. The driving device is applied to an interventional operation robot, the interventional operation robot comprises a robot body and a consumable box, the robot body comprises a shell, the shell is provided with a notch, and the driving device comprises a supporting component, a driving body, a power component and a sensor. The supporting component is arranged in the shell; the driving body is slidably arranged on the supporting component and is used for connecting the consumable box to drive the consumable box to move along the extending direction of the notch; the power assembly is used for driving the driving body to move relative to the supporting assembly, and comprises a rack and a gear, wherein the gear is in meshed connection with the rack and is used for driving the driving body to move along the extending direction of the rack; the sensor is arranged on the supporting component, is electrically connected to the driving body and is used for matching with the meshing movement of the gear and the rack, and sensing the position information of the driving body relative to the rack. The driving device can accurately control the motion of the driving body.

Description

Driving device

Technical Field

The disclosure relates to the technical field of medical instruments, and in particular relates to a driving device.

Background

In the vascular intervention operation robot treatment process, the intervention operation robot is connected to the intervention consumable, so that accurate treatment on a patient is realized by controlling the intervention consumable. However, since the whole size of the interventional operation robot is large, only rough position adjustment of interventional consumable materials can be realized, and in order to realize accurate adjustment of the interventional consumable materials, a driving device is required to be arranged on the interventional operation robot, the interventional consumable materials are connected, and accurate treatment of a patient is realized.

In a related driving manner, the driving device is generally driven by a belt, and the interventional consumable is connected to the driving device. Specifically, drive arrangement includes drive body and belt, and the belt is connected in intervene surgical robot, and drive body sets up on the belt, connects in the outside and intervenes the consumptive material to through the drive of belt, drive body motion, thereby drive and intervene the accurate treatment of consumptive material to the patient.

However, the tension of the belt is affected by various factors such as tension and resilience force, which affect the accuracy of the motion of the driving body.

Disclosure of utility model

The present disclosure aims to overcome at least one of the above-mentioned disadvantages of the related art, and provide a driving device capable of precisely controlling the movement of a driving body.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

According to an aspect of the present disclosure, there is provided a driving device applied to an interventional operation robot including a robot body and a consumable cartridge, the robot body including a housing provided with a notch, the driving device including:

The support component is arranged in the shell;

The driving body is slidably arranged on the supporting component and is used for connecting the consumable box to drive the consumable box to move along the extending direction of the notch;

The power assembly is used for driving the driving body to move relative to the supporting assembly;

The power assembly comprises a rack and a gear, the rack is arranged on one side, close to the driving body, of the supporting assembly, the extending direction of the rack is parallel to the extending direction of the notch, and the gear is arranged on the driving body and is in meshed connection with the rack and is used for driving the driving body to move along the extending direction of the rack;

the sensor is arranged on the supporting component, is electrically connected to the driving body and is used for matching with the meshing movement of the gear and the rack and sensing the position information of the driving body relative to the rack.

In one exemplary embodiment of the present disclosure, a gear includes:

The driving gear is arranged on the driving body;

the driven gear is connected with the driving gear and the rack;

The power assembly further comprises a motor, and a driving shaft of the motor is connected to the driving gear.

In one exemplary embodiment of the present disclosure, a driven gear includes:

the first driven gear is connected with the driving gear in a meshing manner;

The second driven gear is coaxially connected with the first driven gear and is meshed with the rack, so that the position of the driving gear relative to the rack is changed through the connection of the first driven gear and the second driven gear.

In one exemplary embodiment of the present disclosure, the sensor is a grating scale comprising:

The grating ruler body is arranged on one side, facing the driving body, of the supporting component and has the same extending direction as the rack;

The grating reading head is movably arranged on the grating ruler body.

In an exemplary embodiment of the present disclosure, the driving apparatus further includes:

And the storage piece is arranged on one side of the supporting component and is used for accommodating the connecting wire of the driving body and the connecting wire of the sensor.

In one exemplary embodiment of the present disclosure, the storage member includes a telescopic housing, one end of the telescopic housing is connected to the support assembly, the other end is connected to the driving body, the telescopic housing is switched between an extended state and a retracted state when the driving body moves relative to the rack, and a connection line of the driving body and a connection line of the sensor are received in the telescopic housing.

In an exemplary embodiment of the present disclosure, the driving apparatus further includes:

The limiting assembly comprises a plurality of limiting switches and a plurality of limiting pieces, wherein the limiting switches are respectively arranged on two sides of the rack, and the limiting pieces are respectively arranged on two sides of the driving body along the movement direction of the rack and are used for switching between the connecting state and the separating state with the limiting switches.

In one exemplary embodiment of the present disclosure, the spacing assembly further includes:

The fixing pieces are arranged on the supporting component and are respectively connected to two ends of the rack, and the limit switch is arranged on one side, deviating from the supporting component, of the fixing pieces.

In one exemplary embodiment of the present disclosure, a support assembly includes:

The support frame is arranged in the shell;

The guide rail is arranged on one side of the support frame facing the driving body, and the extending direction of the guide rail is the same as that of the rack, and the driving body is movably arranged on the guide rail.

In one exemplary embodiment of the present disclosure, the length in the rack extension direction is greater than or equal to the length in the slot extension direction.

The driving device is applied to an interventional operation robot, the interventional operation robot comprises a robot body and a consumable box, the robot body comprises a shell, and the shell is provided with a notch. The driving device comprises a supporting component, a driving body, a power component and a sensor, wherein the supporting component is arranged in the shell, the driving body, the power component and the sensor are arranged on the supporting component, the power component is connected to the supporting component and the driving body, the driving component is driven to move relative to the supporting component by meshing movement of the gear and the rack, and the sensor is matched to sense the position information of the driving body relative to the rack, so that the movement of the driving body can be accurately controlled.

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 disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

Fig. 1 is a schematic structural view of a driving device of the present disclosure.

Fig. 2 is a schematic structural view of the driving device of the present disclosure applied to an interventional surgical robot.

Fig. 3 is an exploded view of the drive device of the present disclosure.

Fig. 4 is a front view of fig. 1.

Fig. 5 is an enlarged partial schematic view at a in fig. 1.

Fig. 6 is a top view of fig. 1.

Fig. 7 is a left side view of fig. 1.

The main element reference numerals in the drawings are explained as follows:

1. A driving device;

2. an interventional surgical robot; 21. a robot body; 211. a housing; 2111. a notch;

3. a consumable box;

11. A support assembly; 12. a driving body; 13. a power assembly; 14. a sensor; 15. a storage member; 16. a limit component;

111. A support frame; 112. a guide rail;

131. A rack; 132. a gear; 133. a motor;

141. a grating ruler; 1411. a grating ruler body; 1412. a grating reading head;

151. A telescoping housing;

161. A limit switch; 162 limit; 163. a fixing member;

1321. A drive gear; 1322. a driven gear; 1323. a first driven gear; 1324. and a second driven gear.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus detailed descriptions thereof will be omitted. Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale.

Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification for convenience only, such as in terms of the orientation of the examples in the drawings. It will be appreciated that if the device of the icon is flipped upside down, the recited "up" component will become the "down" component. When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

The terms "a," "an," "the," "at least one," and "the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. in addition to the listed elements/components/etc.; the terms "first" and "second" are used merely as labels, and do not limit the number of their objects.

The embodiment of the disclosure provides a driving device which is applied to an interventional operation robot. The interventional operation robot comprises a robot body and a consumable box, wherein the robot body comprises a shell, and the shell is provided with a notch. The driving device comprises a supporting component, a driving body, a power component and a sensor, wherein the supporting component is arranged in the shell, and the driving body, the power component and the sensor are arranged on the supporting component. The drive body is used for connecting the inside consumable box that is provided with intervenes the consumptive material, and slidable sets up on supporting component to drive the consumable box and remove along the extending direction of notch, power component includes gear and rack, sets up respectively on drive body and supporting component, thereby through the meshing motion of gear and rack, cooperation sensor realizes the sensing to the relative positional information of rack of drive body, can accurate control drive body's motion.

The vascular interventional procedure robot further comprises a robotic arm. The mechanical arm is connected to the robot body, the vascular intervention operation robot is fixed on an operating table in the process of intervention treatment positions of patients, and the position of the mechanical arm is adjusted, so that the robot body is driven to face the positions of the patients to be treated, and the first position adjustment is carried out on the robot body. And then under actuating mechanism's drive, drive the consumable box motion to the treatment position of patient is intervened according to the demand to the intervention consumptive material that makes in the consumable box, carries out the second time position adjustment to the intervention consumptive material in the consumable box, realizes intervene the operation treatment to patient's blood vessel, thereby improves the accuracy of treatment. After the vascular intervention operation robot finishes the operation on a patient, the disposable consumables such as the consumable box and the intervention consumable are removed, so that bacteria and viruses are prevented from polluting the vascular intervention operation robot, and in addition, the vascular intervention operation robot can be placed in a storage area through the disassembly mechanical arm, so that a doctor can conveniently use the operation table normally.

As shown in fig. 1 and 2, a driving device 1 according to an embodiment of the present disclosure is applied to an interventional surgical robot 2. Because doctors can use various medical instruments in the operation process, the doctors can receive the radiation of part of the medical instruments in the operation process, the physical health of the doctors is affected, and the doctors can conduct interventional operation on the parts of the patients needing to be treated by operating the interventional consumable, so that a great deal of energy of the doctors can be consumed. Therefore, in the operation process of a doctor, the intervention operation robot 2 is arranged, the doctor operates the intervention operation robot 2, and then the operation treatment is carried out on the part of the patient which needs to be treated, so that the doctor can realize that the doctor does not need to manually operate the intervention consumable, and the intervention operation can be carried out on the part of the patient which needs to be treated by operating the intervention consumable by means of the intervention operation robot 2.

Because the doctor does not need to manually operate the intervention consumable, the intervention operation robot 2 is operated, so that the treatment of the part of the patient needing to be treated is realized. On the one hand, the doctor can be prevented from being radiated by part of medical instruments in the operation process, and the damage of the radiation generated by the medical instruments to the doctor is reduced. On the other hand, the doctor does not need to directly operate the intervention consumable, the operation on the intervention consumable can be realized only by controlling the intervention operation robot 2, the physical labor of the doctor can be lightened, the working intensity of the doctor is lightened, the doctor can keep full spirit and physical strength in the operation process of the patient, the doctor can concentrate on the treatment of the patient more, and the treatment effect on the patient is improved.

In addition, the slight gap on the treatment part of the patient can influence various aspects such as the treatment effect of the patient, the perception of the pain of the patient, the time required for rehabilitation after the operation and the like, the operation is carried out on the part of the patient which needs to be treated through the traditional doctor direct operation intervention consumable, and the doctor can be influenced by factors such as the concentration degree of the doctor, the mental state, the shake of the hand holding intervention consumable and the like in the process of operating the intervention consumable due to the randomness of the part of the patient which needs to be treated, so that the accuracy of the doctor operation intervention consumable on the part of the patient which needs to be treated is influenced.

Through setting up intervention operation robot 2, doctor controls intervention operation robot 2 to treat the position that needs the treatment of patient, only need send corresponding control command to intervention operation robot 2, just can set up intervention operation robot 2 in the position that needs the treatment of patient, and then carries out corresponding operation to the position that needs the treatment of patient. The interventional consumable arranged on the interventional operation robot 2 can be accurately aligned to the part of the patient to be treated by controlling the interventional operation robot 2, so that accurate treatment on the patient is realized. Meanwhile, the interventional operation robot 2 can be controlled to accurately align the interventional consumable with the part to be treated, which is difficult to align when a doctor operates the interventional consumable, so that the surgical operation of the doctor is facilitated.

Wherein the interventional procedure robot 2 comprises a robot body 21. As shown in fig. 2, the robot body 21 is used as a core driving body 12 of the interventional operation robot 2 and is used for driving the interventional consumable to move, so as to adjust the position of the interventional consumable relative to the part of the patient to be treated. However, due to the large volume of the robot body 21, the position of the interventional consumable material relative to the part of the patient to be treated can only be roughly adjusted by the robot body 21, and in order to realize the accurate adjustment of the interventional operation robot 2 relative to the part of the patient to be treated, the driving device 1 is arranged on the robot body 21 so as to realize the accurate adjustment of the part of the patient to be treated. Specifically, the robot body 21 includes a housing 211, the housing 211 is provided with a notch 2111, and the driving device 1 is disposed in the notch 2111 and connected to the housing 211 and the intervention consumable, thereby realizing accurate adjustment of a portion of the patient requiring treatment.

Further, the driving device 1 includes a support assembly 11, a driving body 12, a power assembly 13, and a sensor 14. As shown in fig. 1 and 2, the supporting assembly 11 is disposed in the housing 211 as a supporting frame of the driving device 1 for supporting the driving body 12, the power assembly 13 and the sensor 14 so that the driving body 12, the power assembly 13 and the sensor 14 can operate normally. The driving body 12 is slidably disposed on the supporting component 11, and the driving body 12 is used for connecting the consumable cartridge 3 to drive the consumable cartridge 3 to move along the extending direction of the notch 2111.

Wherein, consumable box 3 is used for depositing and intervenes the consumable (such as consumable such as seal wire pipe support), and drive body 12 is as drive arrangement 1's drive structure for the position is adjusted to the position that needs the treatment of the relative patient of drive consumable box 3, thereby the position of the relative patient needs the treatment of the position of the accurate regulation of intervene consumable in the in-process of adjusting consumable box 3 motion.

The power component 13 is used as a power structure of the driving device 1 and is used for driving the driving body 12 to move relative to the supporting component 11 so as to drive the consumable box 3 to move, and finally, accurate adjustment of the interventional consumable is realized. Specifically, the power assembly 13 includes a rack 131 and a gear 132, the rack 131 is disposed on the support assembly 11 near one side of the driving body 12, the extending direction X of the rack 131 is parallel to the extending direction of the slot 2111, and the gear 132 is disposed on the driving body 12 and engaged with the rack 131 for driving the driving body 12 to move along the extending direction X of the rack 131.

Since the power assembly 13 includes the rack 131 and the gear 132. As shown in fig. 1 and 3, the rack 131 is disposed on a side of the support assembly 11 near the driving body 12, and the gear 132 is disposed on the driving body 12, so that the driving body 12 can be moved along the extending direction X of the rack 131 by engagement connection of the gear 132 and the rack 131. Because the meshing connection of the gear 132 and the rack 131 is performed through a plurality of meshing teeth, when the driving body 12 moves along the extending direction X of the rack 131, only the number of the meshing teeth of the gear 132 along the rack 131 needs to be controlled, and accurate adjustment of the moving distance of the driving body 12 can be realized by combining the number of the meshing teeth with the tooth pitch of the meshing teeth.

On the other hand, since the gear 132 and the rack 131 are tightly connected with each other through the teeth of the gear 132 and the teeth of the rack 131, the gear 132 and the rack 131 are not easy to fall off, and meanwhile, since the gear 132 and the rack 131 are rigidly connected with each other through the teeth of the gear 132 and the teeth of the rack 131, the accuracy of the movement of the driving body 12 can be ensured without being influenced by elastic force, thereby precisely adjusting the movement of the driving body 12.

Meanwhile, since the extending direction of the rack 131 is parallel to the extending direction of the notch 2111, the gear 132 is arranged on the driving body 12 and is in meshed connection with the rack 131, in the moving process of the driving body 12, the gear 132 can be moved to any position on the rack 131 only through the meshed movement of the gear 132 and the rack 131, and it can be understood that the gear 132 can be moved to any position of the rack 131 relative to the notch 2111, so that the driving body 12 can be driven to any position along the extending direction of the notch 2111, the length of the notch 2111 is not limited, the long-stroke movement of the driving body 12 relative to the robot body 21 is facilitated, long-distance linear movement can be provided for the consumable box 3, and the long-stroke requirement of the vascular interventional operation robot 2 is met.

In addition, the sensor 14 is disposed on the supporting component 11, and is electrically connected to the driving body 12, for sensing the position information of the driving body 12 relative to the rack 131 in cooperation with the meshing motion of the gear 132 and the rack 131.

In the process of the meshing movement of the driving body 12 relative to the rack 131 through the gear 132, although accurate adjustment of the movement process of the driving body 12 can be realized through connection between the meshing teeth of the gear 132 and the meshing teeth of the rack 131, sensing and feedback cannot be performed on the position information of the gear 132 relative to the rack 131, so that whether the gear 132 moves to a required position or not cannot be judged, and the distance between the gear 132 and the required position cannot be measured and fed back.

Since the sensor 14 can accurately sense the positional information of the driving body 12 with respect to the rack 131, and can intuitively respond to the positional information of the driving body 12 with respect to the rack 131 by connecting an external display mechanism. In the process of accurately adjusting the meshing teeth of the gear 132 and the meshing teeth of the rack 131, the real-time position of the driving body 12 is sensed by combining the sensor 14, so that the movement of the driving body 12 can be accurately controlled in the movement process of the driving body 12.

It will be appreciated that the smaller the mesh size of the gear 132 and the rack 131, the smaller the distance the gear 132 and the rack 131 move per unit distance, and the smaller the distance the driving body 12 moves along the extending direction X of the rack 131, so that the movement of the driving body 12 can be regulated more precisely.

The following describes each part of the driving device 1 in detail:

In an exemplary embodiment of the present disclosure, gears 132 include a driving gear 1321 and a driven gear 1322. As shown in fig. 4, the driving gear 1321 is disposed on the driving body 12; the driven gear 1322 is connected to the driving gear 1321 and the rack 131; the power assembly 13 further includes a motor 133 coupled to a drive gear 1321.

On the one hand, when the distance between the gear 132 and the rack 131 is larger, if only one gear 132 is provided, the gear 132 needs to be provided with a larger size, which causes unstable connection between the gear 132 and the rack 131, and the larger gear 132 can generate larger pressure on the rack 131, thereby affecting the service life of the rack 131 and even damaging the connecting piece for connecting the gear 132. On the other hand, if only one gear 132 is provided, the direction in which the gear 132 is engaged with the rack 131 can be along the direction in which the teeth of the gear 132 are engaged with the teeth of the rack 131, but the structure of the driving device 1 and the housing 211 of the robot body 21 is complex, which may cause a problem in that other parts inside the driving device 1 and the robot body 21 cannot be provided, and the internal space is limited.

Because the gear 132 comprises the driving gear 1321 and the driven gear 1322, the pressure of the gear 132 on the rack 131 can be reduced through the meshing connection between the plurality of gears 132 and the rack 131, and the service life of the rack 131 is prolonged; on the other hand, when other components are required to be provided in the driving device 1 and the robot body 21, the relative positions of the gear 132 and the rack 131 can be changed by the meshing connection between the plurality of gears 132, so that the meshing connection between the gear 132 and the rack 131 is not limited to the internal space of the driving device 1 and the robot body 21.

In addition, since the power assembly 13 further includes the motor 133 connected to the driving gear 1321, the driving gear 1321 may be powered by the motor 133 to rotate the driving gear 1321, so that the rotational force of the driving gear 1321 is transferred to the driven gear 1322 through the engagement of the driving gear 1321 and the driven gear 1322, and finally, the rotational force of the driven gear 1322 is transferred to the rack 131 through the engagement of the driven gear 1322 and the rack 131, so as to realize the movement of the driving body 12 along the extending direction X of the rack 131.

In an exemplary embodiment of the present disclosure, the driven gears 1322 include a first driven gear 1323 and a second driven gear 1324. As shown in fig. 5, a first driven gear 1323 is in meshed connection with the driving gear 1321; the second driven gear 1324 is coaxially coupled to the first driven gear 1323 and is engaged with the rack 131 to change the position of the driving gear 1321 relative to the rack 131 by the coupling of the first driven gear 1323 and the second driven gear 1324.

Specifically, the motor 133 is connected to the driving gear 1321, the driving gear 1321 is engaged with and connected to the first driven gear 1323, the first driven gear 1323 is coaxially connected to the second driven gear 1324, and the second driven gear 1324 is engaged with and connected to the rack 131. Because the first driven gear 1323 is coaxially connected to the second driven gear 1324, the connection direction of the first driven gear 1323 and the second driven gear 1324 is perpendicular to the direction in which the first driven gear 1323 is meshed with the driving gear 1321, and is perpendicular to the direction in which the second driven gear 1324 is meshed with the rack 131, the position of the driving gear 1321 relative to the rack 131 can be changed through the connection of the first driven gear 1323 and the second driven gear 1324, so that the connection direction between the plurality of gears 132 and the rack 131 is changed, and the connection between the plurality of gears 132 and the rack 131 can be reasonably arranged according to the driving device 1 and the space inside the robot body 21, so that the utilization rate of the driving device 1 and the space inside the robot body 21 is improved.

It should be noted that the number of driven gears 1322 and the connection manner can be adaptively set according to the driving device 1 and the space inside the robot body 21, and the number of driven gears 1322 and the connection manner will not be described here.

In one exemplary embodiment of the present disclosure, the sensor 14 is a grating ruler 141. The grating ruler 141 is a measurement feedback device working by utilizing the optical principle of the grating, and the signal output by measurement is digital pulse, and has the characteristics of large detection range, high detection precision and high response speed. Specifically, the grating scale 141 includes a grating scale body 1411 and a grating reading head 1412, as shown in fig. 6 and 7, the grating scale body 1411 is disposed on a side of the supporting component 11 facing the driving body 12, and the grating reading head 1412 is movably disposed on the grating scale body 1411 along the extending direction X of the rack 131.

The grating reading head 1412 is composed of a light source, a converging lens, an indicating grating, a photoelectric element, an adjusting mechanism and the like, and because the grating ruler body 1411 is arranged on the supporting component 11 towards one side of the driving body 12 and is the same as the extending direction X of the rack 131, the grating reading head 1412 is movably arranged on the grating ruler body 1411, and in the process that the driving body 12 moves along the extending direction X of the rack 131, the grating reading head 1412 synchronously moves along the extending direction of the grating ruler body 1411, thereby sensing and feeding back each position information of the driving body 12 relative to the rack 131, and realizing accurate sensing of the position information of the driving body 12 relative to the rack 131.

As an alternative embodiment, the sensor 14 is a magnetic grid ruler. The magnetic grating ruler is used in a similar method to the recording technology, and the process of recording magnetic waves with exactly equal intervals on the magnetic ruler (or disc) through a recording head is called magnetic recording. The magnetic scale on which the magnetic wave has been recorded is called a magnetic grating scale. The spacing distance between adjacent grating waves on the magnetic grating ruler is called the wavelength of the magnetic grating. Because the magnetic grid ruler is not affected by temperature and the like when sensing the position information of the driving body 12 relative to the rack 131, on one hand, the magnetic grid ruler has lower requirements on the surrounding environment and has relatively longer service life; on the other hand, the water resistance, oil stain resistance, dust resistance, and vibration resistance are better, and the stability of the sensing can be ensured when the position information of the driving body 12 is sensed.

In an exemplary embodiment of the present disclosure, the driving device 1 further comprises a storage member 15. A storage member 15 is provided at one side of the support assembly 11 for accommodating the connection lines of the driving body 12 and the connection lines of the sensor 14.

Because the driving device 1 and the robot body 21 have complex internal structures, the driving device 1 has various connecting wires connecting the structures, and the driving body 12 needs to be connected with the connecting wires in the process of sensing the motion and the sensor 14, so that the driving body 12 and the sensor 14 can work normally. Because drive arrangement 1 includes storage 15, storage 15 sets up in one side of supporting component 11, can set up the connecting wire of drive body 12 and the connecting wire of sensor 14 in storage 15 to avoid taking place the winding between the connecting wire, even the connecting wire twines on drive arrangement 1 and the inner structure of robot body 21, influences the normal work of drive arrangement 1 and robot body 21.

In an exemplary embodiment of the present disclosure, the storage member 15 includes a telescopic housing 151, as shown in fig. 3 and 4, one end of the telescopic housing 151 is connected to the support assembly 11, the other end is connected to the driving body 12, for switching between an extended and a contracted state when the driving body 12 moves relative to the rack 131, and a connection line of the driving body 12 and a connection line of the sensor 14 are received in the telescopic housing 151.

Specifically, in the process that the driving body 12 moves along the extending direction X of the rack 131, the sensor 14 moves synchronously with the movement of the driving body 12, the connection line of the driving body 12 and the connection line of the sensor 14 may correspondingly expand and contract. Because the storage piece 15 includes the flexible casing 151, the connecting wire of the driving body 12 and the connecting wire of the sensor 14 are accommodated in the flexible casing 151, can make the connecting wire of the driving body 12 and the connecting wire of the sensor 14 correspondingly stretch along with stretching of the flexible casing 151, correspondingly shrink along with shrinking of the flexible casing 151, can ensure that the connecting wire of the driving body 12 and the connecting wire of the sensor 14 keep synchronous with the flexible state of the flexible casing 151 all the time, can play the constraint effect through the flexible casing 151 to the state of the connecting wire of the driving body 12 and the connecting wire of the sensor 14, avoid the connecting wire of the driving body 12 and the connecting wire of the sensor 14 to twine, influence the normal use of the driving body 12 and the sensor 14.

Optionally, the storage element 15 is a drag chain, which is also called a wire and cable protection drag chain, and is a device for restraining a cable or a wire or an air pressure pipe and an oil pressure pipe so as to facilitate the rotation and movement of the cable or the wire or the air pressure pipe and the oil pressure pipe. The connecting wire of the driving body 12 and the connecting wire of the sensor 14 are contained in the drag chain, so that the connecting wire of the driving body 12 and the connecting wire of the sensor 14 can be restrained, and meanwhile, the connecting wire of the driving body 12 and the connecting wire of the sensor 14 are changed along with the movement state of the drag chain, so that the stacking and winding of the connecting wire of the driving body 12 and the connecting wire of the sensor 14 are avoided; in addition, in the course of the movement of the driving body 12 along the extending direction X of the rack 131, the drag chain moves along with the movement of the driving body 12, and since the connection line of the driving body 12 and the connection line of the sensor 14 are received in the drag chain, the connection line of the driving body 12 and the connection line of the sensor 14 can be sequentially curved and moved along with the movement of the drag chain.

In an exemplary embodiment of the present disclosure, the driving device 1 further comprises a limiting assembly 16. As shown in fig. 1, 4 and 6, the limiting component 16 is disposed at two sides of the driving body 12 as a limiting structure of the driving device 1, and is used for limiting the position of the driving body 12 when the driving body 12 moves to two ends along the extending direction X of the rack 131, so as to prevent the driving body 12 from continuing to move to interfere with or even destroy other parts inside the driving device 1 and the robot body 21.

Specifically, the limiting assembly 16 includes a plurality of limit switches 161 and a plurality of limit members 162, where the limit switches 161 are respectively disposed on two sides of the rack 131, and the limit members 162 are respectively disposed on two sides of the driving body 12 along the movement direction of the rack 131, and are used for switching between the connection state and the separation state with the limit switches 161. When the limiting piece 162 on the driving body 12 is connected with the limiting switch 161, the driving body 12 stops moving; when the limit piece 162 of the driving body 12 is separated from the limit switch 161, the driving body 12 moves along the extending direction X of the rack 131, so as to limit the position of the driving body 12.

In one exemplary embodiment of the present disclosure, the spacing assembly 16 further includes a plurality of fasteners 163. The fixing members 163 are disposed on the supporting component 11 and are respectively connected to two ends of the rack 131, and the limit switch 161 is disposed on one side of the fixing members 163 facing away from the supporting component 11.

Because the limit assembly 16 comprises a plurality of fixing pieces 163, the fixing pieces 163 are respectively connected to two ends of the rack 131, and the limit switch 161 is arranged on one side of the fixing piece 163, which is away from the support assembly 11, on one hand, the limit assembly can be used as a support fixing structure of the limit switch 161, and plays a role in supporting and fixing the limit switch 161, so that when the limit piece 162 is connected with the limit switch 161, the limit switch 161 does not shake or even move due to the impact force of the limit piece 162; on the other hand, the fixing members 163 are disposed at two ends of the rack 131, the limit switch 161 is disposed on one side of the fixing members 163 away from the supporting component 11, so that the limit switch 161 can be ensured to be disposed at the position closest to the rack 131, and when the limit switch 161 is prevented from being disposed at the position far away from the rack 131, the connection between the limit switch 161 and the driving body 12 is required to be realized through the switching device, so that the design of the limit component 16 can be simplified, and the manufacturing cost of the limit component 16 can be reduced.

In one exemplary embodiment of the present disclosure, the support assembly 11 includes a support bracket 111 and a guide rail 112. As shown in fig. 1 and 6, the support 111 is disposed in the housing 211, the guide rail 112 is disposed on a side of the support 111 facing the driving body 12, and the driving body 12 is movably disposed on the guide rail 112 in the same direction as the extending direction X of the rack 131.

Specifically, since the support assembly 11 includes the support frame 111 and the guide rail 112, the support frame 111 serves as a support frame of the support assembly 11 for supporting the driving body 12, the gear 132, the rack 131 and the sensor 14 so that the respective parts in the driving apparatus 1 can be operated normally. Since the guide rail 112 is disposed at the side of the support frame 111 facing the driving body 12, and the extending direction X of the rack 131 is the same, the driving body 12 is movably disposed on the guide rail 112, and in the process of moving the driving body 12 along the rack 131, on one hand, the friction resistance of the driving body 12 relative to the support frame 111 can be reduced through the guide rail 112, so that the movement of the driving body 12 can be smoother; on the other hand, since the driving body 12 is disposed on the guide rail 112, the driving body 12 needs to be provided with a through hole for the guide rail 112 to pass through, so that the overall weight of the driving body 12 can be reduced, the driving body 12 can be lighter, and the driving device 1 can be lighter as a whole.

In one exemplary embodiment of the present disclosure, the length of the rack 131 in the extending direction is greater than or equal to the length of the notch 2111 in the extending direction.

Specifically, since the length of the rack 131 in the extending direction X is greater than or equal to the length of the slot 2111 in the extending direction X, when the driving body 12 moves to any end of the slot 2111 along the extending direction X of the rack 131, the driving body 12 is still disposed on the rack 131, so that when the driving body 12 moves to any end of the slot 2111 along the extending direction X of the rack 131, the driving body 12 and the rack 131 are prevented from falling off due to the smaller length of the rack 131, on one hand, the driving body 12 cannot normally drive the consumable box 3 to move along the extending direction X of the rack 131, even the driving body 12 falls off the rack 131 and collides with other parts in the robot body 21, so that the robot body 21 is damaged.

On the other hand, when the length of the rack 131 in the extending direction is smaller than the length of the slot 2111 in the extending direction, and the two ends of the rack 131 are provided with the mechanism for blocking the driving body 12 from falling off, the driving body 12 cannot move to any end of the slot 2111, which results in waste of space between the driving body 12 and any end of the slot 2111 and reduced utilization of the internal space of the housing 211 of the robot body 21.

The operation of the driving device 1 of the present disclosure is as follows: the driving device 1 is applied to an interventional operation robot 2, the interventional operation robot 2 includes a robot body 21, the robot body 21 includes a housing 211, and the housing 211 is provided with a notch 2111. The driving device 1 comprises a support assembly 11, a driving body 12, a power assembly 13, a sensor 14, a storage element 15 and a limiting assembly 16.

The supporting component 11 is disposed in the housing 211 and is used for supporting the driving body 12, the power component 13, the sensor 14, the storage component 15 and the limiting component 16. The drive body 12 is connected with the consumable box 3 for containing the intervention consumable, and drives the consumable box 3 to move along the extending direction of the fastener. The storage 15 is used to house the connection lines of the drive body 12 and the connection lines of the sensor 14. The limiting assemblies 16 are disposed at two sides of the driving body 12, and are used for limiting the position of the driving body 12 when the driving body 12 moves to two ends along the extending direction X of the rack 131.

Specifically, the power assembly 13 includes a rack 131 and a gear 132, the rack 131 is disposed on the support assembly 11 near one side of the driving body 12, the gear 132 is disposed on the driving body 12, and accurate adjustment of the motion process of the driving body 12 can be achieved through connection between the meshing teeth of the gear 132 and the meshing teeth of the rack 131. The sensor 14 can accurately sense the position information of the driving body 12 relative to the rack 131, and can intuitively respond to the position information of the driving body 12 relative to the rack 131 by connecting an external display mechanism.

Because the driving body 12 is in the process of moving along the extending direction X of the rack 131, the accurate adjustment of the moving process of the driving body 12 can be realized through the connection between the meshing teeth of the gear 132 and the meshing teeth of the rack 131, and meanwhile, the position information of the driving body 12 relative to the rack 131 can be accurately sensed through the sensor 14, and the sensing of the sensor 14 can be combined through the meshing connection of the gear 132 and the rack 131, so that the movement of the driving body 12 can be accurately controlled in the moving process of the driving body 12.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (10)

1. The utility model provides a drive arrangement is applied to and intervenes surgical robot, intervene surgical robot includes robot body and consumptive material box, the robot body includes the casing, the casing is equipped with the notch, its characterized in that, drive arrangement includes:

the support component is arranged in the shell;

The driving body is slidably arranged on the supporting component and is used for connecting the consumable box to drive the consumable box to move along the extending direction of the notch;

the power assembly is used for driving the driving body to move relative to the supporting assembly;

The power assembly comprises a rack and a gear, the rack is arranged on one side, close to the driving body, of the supporting assembly, the extending direction of the rack is parallel to the extending direction of the notch, and the gear is arranged on the driving body and is in meshed connection with the rack and is used for driving the driving body to move along the extending direction of the rack;

The sensor is arranged on the supporting component, is electrically connected to the driving body and is used for being matched with the meshing motion of the gear and the rack and sensing the position information of the driving body relative to the rack.

2. The drive of claim 1, wherein the gear comprises:

the driving gear is arranged on the driving body;

The driven gear is connected with the driving gear and the rack;

The power assembly further comprises a motor, and a driving shaft of the motor is connected with the driving gear.

3. The drive device according to claim 2, wherein the driven gear includes:

the first driven gear is connected with the driving gear in a meshing manner;

The second driven gear is coaxially connected with the first driven gear and is in meshed connection with the rack, so that the position of the driving gear relative to the rack is changed through the connection of the first driven gear and the second driven gear.

4. The drive of claim 1, wherein the sensor is a grating scale comprising:

The grating ruler body is arranged on one side, facing the driving body, of the supporting component and is the same as the extending direction of the rack;

and the grating reading head is movably arranged on the grating ruler body.

5. The drive device according to claim 1 or 4, characterized in that the drive device further comprises:

And the storage piece is arranged on one side of the supporting component and is used for accommodating the connecting wire of the driving body and the connecting wire of the sensor.

6. The drive of claim 5, wherein the storage member comprises a telescoping housing having one end connected to the support assembly and the other end connected to the drive body, the telescoping housing being switched between an extended and a retracted state when the drive body is moved relative to the rack, and wherein the connecting wire of the drive body and the connecting wire of the sensor are received within the telescoping housing.

7. The drive device according to any one of claims 1 to 4, characterized in that the drive device further comprises:

The limiting assembly comprises a plurality of limiting switches and a plurality of limiting pieces, wherein the limiting switches are respectively arranged on two sides of the rack, the limiting pieces are respectively arranged on two sides of the driving body along the movement direction of the rack, and the limiting switches are used for switching between connection and separation states.

8. The drive of claim 7, wherein the limit assembly further comprises:

The plurality of fixing pieces are arranged on the supporting component and are respectively connected to two ends of the rack, and the limit switch is arranged on one side, deviating from the supporting component, of the fixing pieces.

9. The drive device of any one of claims 1 to 4, wherein the support assembly comprises:

The support frame is arranged in the shell;

The guide rail is arranged on one side, facing the driving body, of the support frame, and the extending direction of the guide rail is the same as that of the rack, and the driving body is movably arranged on the guide rail.

10. The drive device according to any one of claims 1 to 4, wherein a length in the rack extending direction is greater than or equal to a length in the notch extending direction.