Novel displacement mechanical arm system and radiotherapy system

Abstract

The invention belongs to the technical field of high-end medical equipment, and relates to a novel displacement mechanical arm system oriented to an automatic medical scene and a radiotherapy system. When the mechanical arm system is used, the supporting assembly is installed through the connecting piece, then the mechanical arm assembly bears the supporting assembly and guides the supporting assembly to horizontally move or rotate, and then the supporting assembly is moved to the target space position. The novel displacement mechanical arm system provided by the invention has the advantages of high adaptability, higher rigidity and precision and small size for an automatic medical scene, can be buried underground, and realizes miniaturization of a radiotherapy system. According to the novel displacement mechanical arm system, all movement directions can be independently controlled, fault monitoring and analysis are facilitated, stability is higher, the rotation angle of the novel displacement mechanical arm system can be 360 degrees or above, the space displacement range of the supporting assembly is enlarged, and a larger design space is further provided for an automatic medical scheme.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-end medical equipment and relates to a novel position-changing robotic arm system for automated medical scenarios. Background Art

[0002] Automated medical care can replace a large number of operations by medical staff. It has the advantages of low risk, high reliability and high efficiency. It is the development trend of the medical industry in the future. Robotic arm components are indispensable equipment in automated medical care. Their application in medical environments requires high precision, light weight, high rigidity, miniaturization and low noise. However, traditional serial robotic arm components are large in size and can only be installed on the ground, which is not easy to achieve miniaturization. Although traditional parallel robotic arm components are small, rigid and precise, their end motion is controlled by multi-axis joint control. It is difficult to monitor and analyze faults during operation, and the safety is low. The small rotation angle of the z-axis leads to limited movement space of parts or design space for inspection and treatment plans. Therefore, the traditional solution cannot solve many problems such as miniaturization, high precision and safety at the same time, resulting in excessive occupation of movement space or design space.

[0003] Therefore, there is an urgent need to provide innovative product technology solutions to solve the above problems. Summary of the invention

[0004] In view of the above problems, a new type of variable position robotic arm system for automated medical scenarios is now provided to effectively solve the problems of occupying mobile space or excessive design space in the prior art.

[0005] The first aspect of the present invention is to provide a novel position-changing mechanical arm system, comprising:

[0006] a support assembly for carrying a load; and

[0007] The mechanical arm assembly is used to make the supporting assembly perform lifting motion, tilting motion or rotating motion, and the supporting assembly is installed on the mechanical arm assembly.

[0008] Further, the robotic arm assembly includes:

[0009] The end plate, the support assembly is rotatably mounted on the end plate through a connecting piece;

[0010] Two mechanical arm frames spaced apart from each other; and

[0011] Two groups of main rod components are arranged opposite to each other on the left and right, and are installed between the two mechanical arm frames, including two main rods that can move independently, and the top of the main rod is rotatably installed on the end plate.

[0012] Furthermore, the robotic arm assembly also includes:

[0013] At least one group of coordination rod components is located between the two main rod components. The coordination rod components are installed between the two mechanical arm frames, and the coordination rod components include a coordination rod. The top of the coordination rod is rotatably installed on the end plate.

[0014] Furthermore, the main rod component also includes:

[0015] Sliding bar 1, fixedly installed between the mechanical arm frames;

[0016] Screw rod one is rotatably installed between the mechanical arm frames, and screw rod one is located on one side of sliding rod one;

[0017] Slide rod 2 is rotatably installed between the mechanical arm frames, and is located on the side of the screw rod 1 away from the slide rod 1 432, and the screw rod 2 is fixedly installed on the slide rod 2;

[0018] A main push block is spirally connected to the screw rod 1, and the main push block is also passed through the slide rod 1, and the bottom of one of the main rods is rotatably mounted on the main push block; and

[0019] The auxiliary push block is spirally connected to the second screw rod, and the auxiliary push block is also penetrated on the first slide rod. The bottom of another main rod is rotatably installed on the auxiliary push block.

[0020] Furthermore, the main push block is also penetrated on the second slide rod, and the auxiliary push block is also penetrated on the first screw rod.

[0021] Furthermore, the coordination rod component also includes:

[0022] At least one sliding rod three is fixedly installed between the robot arm frames;

[0023] The screw rod 3 is rotatably mounted between the robot arm frames, and the screw rod 3 is located on one side of the slide rod 3; and

[0024] The coordination push block is spirally connected to the screw rod three, and the coordination push block is also penetrated on the slide rod three, and the bottom of the coordination rod is rotatably installed on the coordination push block.

[0025] Furthermore, there are two sliding rods three, and the two sliding rods three are located on both sides of the screw rod three.

[0026] Furthermore, the coordinating rod components are divided into two groups, and the two groups of coordinating rod components are located between the two groups of main rod components.

[0027] Furthermore, the robotic arm system also includes a rotating mechanism for driving the connecting member to rotate, the rotating mechanism includes a reducer, a telescopic reduction rod and a driver, the reducer is mounted on the end plate, the input shaft of the reducer is connected to the top of the reduction rod, the reduction rod extends downward and is connected to the driver, and the connecting member is mounted on the output shaft of the reducer.

[0028] The second aspect of the present invention is to provide a radiotherapy system including the above-mentioned novel displacement robot system.

[0029] The beneficial effects of the above scheme are:

[0030] 1) In the novel position-shifting mechanical arm system provided by the present invention, two main rods that can move independently can be used to make the support assembly move up and down or tilt, thereby facilitating fault monitoring and analysis;

[0031] 2) The support assembly of the present invention is 360° rotatably mounted on the robotic arm assembly, which makes up for the defect of low z-axis rotation range of the traditional parallel robotic arm assembly, thereby increasing the spatial displacement range of the support assembly and further providing a larger design space for the treatment plan;

[0032] 3) Most of the components in the leading rod component, the coordinating rod component, the synchronous differential mechanism and the rotating mechanism in the novel displacement manipulator system provided by the present invention are composed of two force rods, and the rigidity and precision are higher than those of the traditional serial manipulator components;

[0033] 4) The novel position-shifting robotic arm system provided by the present invention has the advantages of high adaptability, higher rigidity and precision, and small size for automated medical scenarios, and can be buried underground to achieve miniaturization of the radiotherapy system;

[0034] 5) Each movement direction of the new displacement robot system provided by the present invention can be independently controlled, which is convenient for fault monitoring and analysis, has higher stability, and its rotation angle can reach more than 360 degrees, which increases the spatial displacement range of the support component and further provides a larger design space for automated medical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a robotic arm system provided in an embodiment of the present invention;

[0036] Figure 2 It is a schematic diagram of the exploded structure of a novel position-changing mechanical arm system provided in an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of the structure of a mechanical arm assembly provided in an embodiment of the present invention;

[0038] Figure 4 It is a schematic diagram of the exploded structure of the main rod component provided in an embodiment of the present invention;

[0039] Figure 5 Schematic diagram of the driving structure in an embodiment of the present invention.

[0040] In the accompanying drawings: 1. Support assembly; 2. Connector; 3. Underground installation space; 4. Robot arm assembly; 41. End plate; 42. Robot arm frame; 43. Main rod assembly; 431. Main rod; 432. Slide rod one; 433. Screw rod one; 434. Slide rod two; 435. Screw rod two; 436. Main push block; 437. Auxiliary push block; 44. Coordinating rod assembly; 441. Coordinating rod; 442. Slide rod three; 443. Screw rod three; 444. Coordinating push block; 445. Synchronous differential mechanism; 451. Worm; 452. Worm wheel; 46. Rotating mechanism; 461. Reducer; 462. Reducer rod. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0044] like Figures 1 to 5 As shown, the novel displacement robot system provided in the embodiment of the present invention comprises: a support assembly 1 and a robot arm assembly 4, wherein the support assembly 1 is used to carry a load; the robot arm assembly 4 is used to make the support assembly 1 perform lifting motion, tilting motion or rotational motion, and the support assembly 1 is installed on the robot arm assembly 4.

[0045] The load objects supported by the support assembly 1 in the present invention include but are not limited to parts that need to be moved during the production process, patients during medical examinations or treatments, etc. If the load object needs to undergo a radioactive examination, the above-mentioned displacement robot system can be installed in the underground installation space 3.

[0046] When the above-mentioned robot arm system is in use, the robot arm assembly 4 controls the support assembly 1 to descend to the lowest point, and then the support assembly 1 is loaded and fixed, and the robot arm assembly 4 lifts the support assembly 1 and displaces it in the target area to realize the relevant functions of the corresponding support assembly 1. The robot arm assembly 4 moves the parts stably, continuously, evenly and accurately or realizes specific medical functions according to the inspection and treatment plan through the displacement of the support assembly 1, including lifting or tilting left and right or rotating movements, that is, it can help the patient to move in various postures, including lying or non-lying, during the inspection and treatment process.

[0047] In the present invention, the support assembly 1 can be specifically configured to be any shape such as a flat plate, L-shape, or U-shape that can cooperate with the load object to bring the load object to a predetermined position, or any load-bearing structure in the prior art.

[0048] As a specific example, Figures 1 to 4 As shown, the robot arm assembly 4 in the present invention includes: an end plate 41, two robot arm frames 42 spaced apart from each other, and two groups of main rod components 43 arranged opposite to each other on the left and right. The support assembly 1 can be mounted on the end plate 41 in a 360° rotatable manner through a connecting piece 2; the two groups of main rod components 43 are mounted between the two robot arm frames 42, and each group of main rod components 43 includes two main rods 431 that can move independently, and the top of the main rod 431 is rotatably mounted on the end plate 41 through a universal joint; under the above structure, four main rods 431 are connected to the left and right sides of the end plate 41, and each main rod 431 can move independently, so that when the two main rods 431 in the front move upward and the two main rods 431 in the rear move upward, the two main rods 431 in the rear move upward. When 431 moves downward, the end plate 41 flips and tilts backward, thereby driving the support assembly 1 and the load thereon to flip and tilt backward; when the two front main rods 431 move downward and the two rear main rods 431 move upward, the end plate 41 flips and tilts forward, thereby driving the support assembly 1 and the load thereon to flip and tilt forward; when two main rods 431 in one group of main rod components 43 move upward and two main rods 431 in another group of main rod components 43 move downward, the end plate 41 flips and tilts to one side, thereby driving the support assembly 1 and the load thereon to flip and tilt to one side; when a total of four main rods 431 in two groups of main rod components 43 move upward or downward synchronously, the end plate 41 can be driven to move up or down.

[0049] In the present invention, the main rod 431 can be used to tilt the end plate 41 in various movement directions, which is convenient for fault monitoring and analysis; and the 360° rotatable structure of the support component 1 increases the spatial displacement range of the support component 1, and further provides a larger design space for the treatment plan.

[0050] As an example of a specific driving main rod 431, Figures 2 to 4As shown, the main rod component 43 of the present invention also includes: a slide rod 432, a screw rod 433, a slide rod 434, a main push block 436 and an auxiliary push block 437. The slide rod 432 is fixedly installed in the robot arm frame 42; the screw rod 433 is rotatably installed in the robot arm frame 42 through a bearing, and the screw rod 433 is located on one side of the slide rod 432; the slide rod 434 is rotatably installed in the robot arm frame 42 through a bearing, and the slide rod 434 is located on the side of the screw rod 433 away from the slide rod 432, and the slide rod 434 is fixedly installed with a screw rod 435; the main push block 436 is spirally connected to the screw rod 433, and the main push block 436 is also penetrated On the slide bar 1 432, the bottom of one of the main rods 431 is rotatably mounted on the main push block 436 via a universal joint; the auxiliary push block 437 is spirally connected to the screw rod 2 435, and the auxiliary push block 437 is also inserted into the slide bar 1 432, and the bottom of the other main rod 431 is rotatably mounted on the auxiliary push block 437 via a universal joint; under the above structure, when the screw rod 1 433 rotates, one of the main rods 431 can be driven up and down by the main push block 436, and when the screw rod 2 435 rotates, the other main rod 431 can be driven up and down by the auxiliary push block 437, and the two main rods 431 can be independently moved by two screw rods that can move independently of each other. In order to further reduce the overall space occupied by the device, as shown in FIG. Figure 3 , Figure 4 As shown, in the present invention, the main push block 436 and the auxiliary push block 437 can be further optimized to be in an "L" shape, and the main push block 436 is correspondingly passed through the slide bar 434 (the main push block 436 does not contact the slide bar 434 when moving up and down), and the auxiliary push block 437 is passed through the screw rod 433 (the auxiliary push block 437 does not contact the screw rod 433 when moving up and down).

[0051] On the basis of the above technical solution, in order to further cooperate with the action of the main rod component 43 and improve the structural stability, at least one group of coordination rod components 44 can be designed in the robot arm system provided by this embodiment. Specifically, the coordination rod component 44 is located between the two main rod components 43, the coordination rod component 44 is installed between the two robot arm frames 42, and the coordination rod component 44 includes a coordination rod 441, and the top of the coordination rod 441 is rotatably installed on the end plate 41 through a universal joint; in this way, when the coordination rod 441 can provide support for the end plate 43 from the side by moving up and down.

[0052] As an example of a specific driving coordination rod 441, Figure 2 , Figure 3As shown, the coordination rod component 44 also includes: at least one sliding rod 3 442, a screw rod 3 443 and a coordination push block 444, the sliding rod 3 442 is fixedly installed in the robot arm frame 42; the screw rod 3 443 is rotatably installed in the robot arm frame 42 through a bearing, and the screw rod 3 443 is located on one side of the sliding rod 3 442; the coordination push block 444 is spirally connected to the screw rod 3 443, and the coordination push block 444 is also passed through the sliding rod 3 442, and the bottom of the coordination rod 441 is rotatably installed on the coordination push block 444 through a universal joint; under the above structure, when the screw rod 3 443 rotates, it drives the coordination push block 444 to move upward or downward, thereby driving the coordination rod 441 upward or downward, so as to utilize the coordination rod 441 to assist the main rod 431 to complete the movement of the end plate 41, thereby improving the operating stability of the device.

[0053] In order to further improve the running stability of the coordination push block 444, the present invention can choose to set two slide bars 442, and the two slide bars 442 are located on both sides of the screw rod 443. In order to further improve the running stability of the coordination rod 441, the present invention can also choose to set two coordination rod components 44, and correspondingly install two groups of coordination rod components 44 between two groups of main rod components 43.

[0054] In addition, this embodiment also provides a synchronous differential mechanism 45 that can be used to synchronously drive the two sliding rods 434 to rotate. The synchronous differential mechanism 45 includes a worm 451 and two worm wheels 452. The worm 451 is rotatably installed on the robot arm frame 42, and the worm wheel 452 is correspondingly fixedly installed on the sliding rod 434. The worm wheel 452 is transmission-connected to the worm 451.

[0055] In addition, in order to avoid interference with the movement of the main rod 431 and the coordination rod 441 and further reduce the space occupied by the upper part of the device, a rotating mechanism 46 for driving the connecting member to rotate is also provided in this embodiment. The rotating mechanism 46 includes a reducer 461, a telescopic reduction rod 462 (which can be formed by connecting two reduction rods with a key) and a driver (not shown in the figure). The reducer 461 is installed on the end plate 41, and the input shaft of the reducer 461 is connected to the top of the reduction rod 462 through a universal joint. The bottom of the reduction rod 462 extends downward and is connected to the driver through a universal joint. The connecting member 3 is installed on the output shaft of the reducer 461. In this way, the connecting member 3 can be driven by the driver to realize a 360° rotation of the support assembly 1, thereby increasing the spatial displacement range of the support assembly 1, and further providing a larger design space for the treatment plan.

[0056] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A new type of position-changing robot arm system, characterized in that: include: A support assembly for carrying a load; as well as The mechanical arm assembly is used to make the support assembly perform lifting motion, tilting motion or rotational motion, and the support assembly is mounted on the mechanical arm assembly.

2. The novel position-changing robot arm system according to claim 1 is characterized in that: The mechanical arm assembly comprises: an end plate, the support assembly being rotatably mounted on the end plate via the connecting member; Two mechanical arm frames spaced apart from each other; and Two groups of main rod components are arranged opposite to each other on the left and right, and are installed between the two mechanical arm frames, including two main rods that can move independently, and the tops of the main rods are rotatably installed on the end plates.

3. The novel position-changing robot arm system according to claim 2 is characterized in that: The main rod component also includes: Sliding rod 1, fixedly installed between the mechanical arm frames; Screw rod 1 is rotatably mounted between the mechanical arm frames, and the screw rod 1 is located on one side of the sliding rod 1; Sliding rod 2 is rotatably mounted between the mechanical arm frames, and the sliding rod 2 is located on a side of the screw rod 1 away from the sliding rod 1, and the screw rod 2 is fixedly mounted on the sliding rod 2; A main push block is spirally connected to the screw rod 1, and the main push block is also passed through the slide rod 1, wherein the bottom of one of the main guide rods is rotatably mounted on the main push block; and The auxiliary push block is spirally connected to the second screw rod, and the auxiliary push block is also penetrated on the first slide rod. The bottom of the other main rod is rotatably mounted on the auxiliary push block.

4. The novel position-changing robot arm system according to claim 3 is characterized in that: The main push block is also penetrated on the second slide rod, and the auxiliary push block is also penetrated on the first screw rod.

5. The novel position-changing robot arm system according to claim 2 is characterized in that: The mechanical arm assembly also includes: At least one group of coordination rod components is located between the two main rod components, the coordination rod components are installed between the two mechanical arm frames, and the coordination rod components include a coordination rod, the top of which is rotatably installed on the end plate.

6. The novel position-changing robot arm system according to claim 5 is characterized in that: The coordination rod component also includes: At least one sliding rod three is fixedly installed between the mechanical arm frames; A screw rod three is rotatably mounted between the mechanical arm frames, and the screw rod three is located on one side of the sliding rod three; and The coordination push block is spirally connected to the screw rod three, and the coordination push block is also penetrated on the slide rod three. The bottom of the coordination rod is rotatably mounted on the coordination push block.

7. The novel position-changing robot arm system according to claim 6 is characterized in that: There are two sliding rods three, and the two sliding rods three are located on both sides of the screw rod three.

8. The novel position-changing mechanical arm system according to any one of claims 5 to 7, characterized in that: The coordinating rod components are divided into two groups, and the two groups of coordinating rod components are located between the two groups of main guiding rod components.

9. The novel position-changing robot arm system according to claim 2 is characterized in that: The robotic arm system also includes a rotating mechanism for driving the connecting member to rotate, the rotating mechanism includes a reducer, a telescopic reduction rod and a driver, the reducer is mounted on the end plate, the input shaft of the reducer is connected to the top of the reduction rod, the reduction rod extends downward and is connected to the driver, and the connecting member is mounted on the output shaft of the reducer.

10. A radiotherapy system, comprising the novel position-changing robot arm system according to any one of claims 1 to 9.

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