A robotic arm feeding device for an implantable medical device

Abstract

This invention relates to the field of robotic arm technology, specifically to a robotic arm feeding device for implantable medical devices. The device includes a robotic arm and further comprises: a connecting frame mounted on the robotic arm for fixing a support base; a connecting base for mounting a robotic gripper; a positioning support mechanism mounted on the connecting frame for precise alignment during installation and stable support during disassembly; and a double-sided limiting mechanism located on the support base for simultaneously limiting and fixing the inner and outer sides of the connecting base. By using the positioning support mechanism, a folded support plate slides into a first spring. When the sliding block aligns with the inner slot, pulling the bottom inserts on both sides causes the sliding block to extend into the inner slot under the elastic action of the first spring, achieving initial fixation of the connecting base and the robotic gripper. Pushing the connecting base upwards causes the folded support plate to slide upwards, achieving a positioning function and realizing precise alignment during installation of the support base and the connecting base.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robotic arm feeding device for implantable medical devices. Background Technology

[0002] In modern medicine, implantable medical devices are increasingly widely used, becoming an indispensable technical tool in critical surgical scenarios. Especially in complex surgeries such as artificial joint replacement, mechanical grippers play a crucial role, precisely grasping and installing large implantable devices such as artificial hip and knee joints, ensuring the accuracy and stability of the surgery. However, to ensure the hygiene and safety of the surgery, mechanical grippers require thorough disinfection after each use, which typically necessitates removing the grippers from the feeding device.

[0003] Currently, there is a common problem with the robotic arm feeding devices for implantable medical devices on the market: the installation and removal of the robotic gripper usually requires the use of corresponding professional tools, which makes the removal process complicated and time-consuming, increasing the workload and time cost of medical staff. In addition, during the removal process, the robotic arm needs to be operated by hand, which makes its stability relatively low. This instability can easily lead to damage to the device during the removal process, thereby affecting the efficiency and lifespan of the medical device. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm feeding device for implantable medical devices to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm feeding device for implantable medical devices, comprising a robotic arm, and further comprising:

[0006] Connector, mounted on the robotic arm, is used to securely mount the support base;

[0007] Connector base, used for mounting mechanical grippers;

[0008] The positioning support mechanism, set on the connecting frame, is used for precise alignment between the support base and the connecting base during installation and for stable support during disassembly.

[0009] The double-sided limiting mechanism, located on the support base, is used to simultaneously limit and fix the inner and outer sides of the connecting seat, firmly locking the connecting seat onto the support base, which facilitates the installation and disassembly of the mechanical gripper.

[0010] When the mechanical gripper needs to be disassembled, the support base and the connecting base are unlocked through the double-sided limiting mechanism. Under the gravity of the connecting base and the mechanical gripper, the positioning support mechanism supports the connecting base and the mechanical gripper to move down automatically. The positioning support mechanism includes a damping component, which uses air suction to slowly move the connecting base and the mechanical gripper down to improve the stability of the device.

[0011] Preferably, the dual-sided limiting mechanism includes a limiting component for simultaneously limiting and fixing the inner and outer sides of the connecting seat, and a clamping component for locking the limiting component.

[0012] Preferably, the positioning support mechanism further includes a support plate for supporting the mitigation component, the mitigation component including a folded support plate for movable support, a fixed cavity plate fixedly installed on the support plate, and a piston plate slidably connected inside the fixed cavity plate.

[0013] Preferably, the fixed cavity plate is provided with an air outlet pipe and a connecting pipe, and the air outlet pipe is provided with a one-way air outlet valve.

[0014] Preferably, the support base is provided with a positioning groove, a limiting block and an installation groove, the installation groove is formed on the limiting block, and the connecting base is provided with a positioning block, a limiting groove, a sliding hole and a locking groove. The positioning groove allows the positioning block to extend into it, the limiting groove allows the limiting block to extend into it, and the sliding hole is formed on the positioning block.

[0015] Preferably, the limiting component includes a connecting slide rod slidably connected to the middle of the support base. A return spring is sleeved on the connecting slide rod. One end of the return spring is connected to the lower pressure plate, and the other end is connected to the support base. A driving square plate is fixedly connected to the lower end of the connecting slide rod. A driving connecting plate is hinged to the driving square plate. A limiting insert plate is hinged to the end of the driving connecting plate away from the driving square plate. The limiting insert plate can slide out from the mounting groove and extend into the locking groove to limit and fix the inner side of the connecting base.

[0016] Preferably, a push plate is hinged to the lower pressure plate, and a sliding folding plate is hinged to one end of the push plate. The sliding folding plate is slidably connected to the support base, and a movable connecting plate is fixedly connected to one end of the sliding folding plate. A limiting post is fixedly connected to one end of the movable connecting plate, and the limiting post can extend into the sliding hole to limit and fix the connecting base from the outside.

[0017] Preferably, the clamping assembly includes a connecting slider fixedly mounted on the lower pressure plate and a fixed slide fixedly mounted on the support base. The connecting slider is slidably connected within the fixed slide. A lower insert block and an upper insert block are slidably connected within the fixed slide. The connecting slider is provided with a slot, into which both the lower insert block and the upper insert block can extend. A first fixing piece is fixedly connected to one end of the lower insert block. A third spring is fixedly connected between the fixed slide and the first fixing piece. The third spring is sleeved on the lower insert block. A fourth spring is sleeved on the upper insert block. One end of the fourth spring is connected to the fixed slide, and the other end is connected to the second fixing piece.

[0018] Preferably, the positioning support mechanism further includes a connecting square plate fixedly mounted on the folded support plate, a pull plate slidably connected to the connecting square plate, a sliding block fixedly connected to one end of the pull plate, a first spring sleeved on the pull plate, one end of the first spring fixedly connected to the connecting square plate, the other end of the first spring fixedly connected to the sliding block, a support frame fixedly connected to the lower end of the folded support plate, a bottom insert plate slidably connected to the support frame, a second spring sleeved on the bottom insert plate, a plate connected to one end of the bottom insert plate, one end of the plate connected to the second spring, and the other end of the second spring connected to the pull plate.

[0019] Preferably, the pull plate has a bottom groove for the bottom insert plate to extend into, and the connecting seat has a sliding groove for the folded support plate to slide and an inner slot for the sliding block to be engaged.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] By incorporating a positioning support mechanism, the folded support plate slides into the first spring. When the sliding block aligns with the inner slot, pulling the bottom insert plates on both sides allows the sliding block to extend into the inner slot under the elastic action of the first spring, thus initially fixing the connecting seat and the mechanical gripper. Pushing the connecting seat upward causes the folded support plate to slide upward, serving a positioning function and achieving precise alignment between the support seat and the connecting seat during installation. When disassembling the support seat and the connecting seat, under the gravity of the connecting seat and the mechanical gripper, the connecting seat separates from the support seat. The connecting seat and the mechanical gripper move downward, and the folded support plate drives the piston plate downward. External gas can only enter the fixed cavity plate through the connecting pipe, allowing the folded support plate and the piston plate to move slowly downward, thereby enabling the connecting seat and the mechanical gripper to move slowly downward, improving the stability of the downward movement of the connecting seat and the mechanical gripper.

[0022] By setting up a double-sided limiting mechanism, the connecting slider can be limited and locked, ensuring the stability of the connecting slider. During the upward movement of the lower pressure plate, the driving square plate drives the limiting insert plate through the mounting groove and into the locking groove via the driving connecting plate, so as to limit and fix the inner side of the connecting seat. The sliding folding plate drives the moving connecting plate to move, and the moving connecting plate drives the limiting post to extend into the sliding hole, so as to limit and fix the outer side of the connecting seat, thereby realizing the installation of the mechanical gripper and improving convenience. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is a schematic diagram of a partial first-state structure of the present invention.

[0025] Figure 3 This is a schematic diagram of a partial second-state structure of the present invention.

[0026] Figure 4 This is a schematic diagram of the disassembled structure of the connector of the present invention.

[0027] Figure 5 This is a first-view structural schematic diagram of the positioning support mechanism of the present invention.

[0028] Figure 6 This is a second-view structural diagram of the positioning support mechanism of the present invention.

[0029] Figure 7 This is a schematic diagram of the fixed cavity plate structure of the present invention.

[0030] Figure 8 This is a schematic diagram of another state of the folded tray structure of the present invention.

[0031] Figure 9 This is a schematic diagram of the support structure of the present invention.

[0032] Figure 10 This is a schematic diagram of the connector structure of the present invention.

[0033] Figure 11 This is a schematic diagram of the inner structure of the connector of the present invention.

[0034] Figure 12 This is a partial structural diagram of the double-sided limiting mechanism of the present invention.

[0035] Figure 13 This is a schematic diagram of the overall structure of the double-sided limiting mechanism of the present invention.

[0036] Figure 14 This is a partial structural diagram of the present invention.

[0037] Figure 15 For the present invention Figure 14 Schematic diagram of the structure at point A in the middle.

[0038] In the diagram: 1. Robotic arm; 2. Connecting frame; 3. Support base; 4. Connecting base; 5. Mechanical gripper; 6. Positioning support mechanism; 7. Double-sided limiting mechanism; 31. Positioning groove; 32. Limiting block; 33. Mounting groove; 41. Positioning block; 42. Limiting groove; 43. Sliding hole; 44. Locking groove; 45. Sliding groove; 46. Inner slot; 60. Bottom groove; 61. Support plate; 62. Folded support plate; 63. Sliding block; 64. Pulling plate; 65. First spring; 66. Support frame; 67. Bottom insert plate; 68. Second spring; 69. Live 610. Plug plate; 611. Fixed cavity plate; 612. Air outlet pipe; 613. Connecting pipe; 614. Connecting square plate; 71. Lower pressure plate; 72. Push plate; 73. Sliding folding plate; 74. Moving connecting plate; 75. Limiting post; 76. Connecting slide rod; 77. Return spring; 78. Driving square plate; 79. Driving connecting plate; 710. Limiting insert plate; 711. Connecting slider; 712. Fixed slide; 713. Lower insert block; 714. First fixing piece; 715. Third spring; 716. Upper insert block; 717. Fourth spring; 718. Second fixing piece. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Please see Figures 1 to 15This invention provides a technical solution: a robotic arm feeding device for an implantable medical device, comprising a robotic arm 1, and further comprising: a connecting frame 2, mounted on the robotic arm 1, for fixing a support base 3; a connecting base 4, for mounting a robotic gripper 5; a positioning support mechanism 6, disposed on the connecting frame 2, for precise docking of the support base 3 and the connecting base 4 during installation and stable support during disassembly; and a double-sided limiting mechanism 7, located on the support base 3, for simultaneously limiting and fixing the inner and outer sides of the connecting base 4, firmly locking the connecting base 4 onto the support base 3. For the installation and removal of the mechanical gripper 5; wherein, when it is necessary to remove the mechanical gripper 5, the support base 3 and the connecting base 4 are unlocked by the double-sided limiting mechanism 7. Under the gravity of the connecting base 4 and the mechanical gripper 5, the positioning support mechanism 6 supports the connecting base 4 and the mechanical gripper 5 to move down automatically. The positioning support mechanism 6 includes a slowing component, which realizes the slowing down of the connecting base 4 and the mechanical gripper 5 by inhaling air, so as to improve the stability of the device. In actual use, the robotic arm 1 and the mechanical gripper 5 are both existing technologies to realize the gripping and feeding of implantable medical devices;

[0041] By setting a positioning support mechanism, the folded support plate is slid into the first spring. When the sliding block is aligned with the inner slot, the bottom insert plates on both sides are pulled. Under the elastic action of the first spring, the sliding block extends into the inner slot, which initially fixes the connecting seat and the mechanical gripper. Pushing the connecting seat upward, the folded support plate slides upward, which plays a positioning role and achieves precise docking when the support seat and the connecting seat are installed. When disassembling the support seat and the connecting seat, under the gravity of the connecting seat and the mechanical gripper, the connecting seat separates from the support seat. The connecting seat and the mechanical gripper move downward, and the folded support plate drives the piston plate to move downward. External gas can only enter the fixed cavity plate through the connecting pipe, which can realize the slow downward movement of the folded support plate and the piston plate, and thus the slow downward movement of the connecting seat and the mechanical gripper, improving the stability of the downward movement of the connecting seat and the mechanical gripper.

[0042] By setting up a double-sided limiting mechanism, the connecting slider can be limited and locked, ensuring the stability of the connecting slider. During the upward movement of the lower pressure plate, the driving square plate drives the limiting insert plate through the mounting groove and into the locking groove via the driving connecting plate, so as to limit and fix the inner side of the connecting seat. The sliding folding plate drives the moving connecting plate to move, and the moving connecting plate drives the limiting post to extend into the sliding hole, so as to limit and fix the outer side of the connecting seat, thereby realizing the installation of the mechanical gripper and improving convenience.

[0043] refer to Figure 7 as well as Figure 8It is understood that the positioning support mechanism 6 also includes a support plate 61 for supporting the mitigation component. The mitigation component includes a folded support plate 62 for movable support. A fixed cavity plate 610 is fixedly installed on the support plate 61. A piston plate 69 is slidably connected inside the fixed cavity plate 610. An air outlet pipe 611 and a connecting pipe 612 are connected and arranged on the fixed cavity plate 610. A one-way air outlet valve is provided on the air outlet pipe 611.

[0044] refer to Figure 4 as well as Figure 11 It is understood that the support base 3 is provided with a positioning groove 31, a limiting block 32 and an installation groove 33. The installation groove 33 is opened on the limiting block 32. The connecting base 4 is provided with a positioning block 41, a limiting groove 42, a sliding hole 43 and a locking groove 44. The positioning groove 31 allows the positioning block 41 to extend into it, the limiting groove 42 allows the limiting block 32 to extend into it, and the sliding hole 43 is opened on the positioning block 41.

[0045] refer to Figure 13 It is understood that the dual-sided limiting mechanism 7 includes a limiting component for simultaneously limiting and fixing the inner and outer sides of the connecting seat 4, and a clamping component for locking the limiting component. The limiting component includes a connecting slide rod 76 slidably connected to the middle of the support seat 3. A return spring 77 is sleeved on the connecting slide rod 76. One end of the return spring 77 is connected to the lower pressure plate 71, and the other end is connected to the support seat 3. A driving square plate 78 is fixedly connected to the lower end of the connecting slide rod 76. A driving connecting plate 79 is hinged to the driving square plate 78. A limiting insert plate 710 is hinged to the end of the driving connecting plate 79 away from the driving square plate 78. The limiting insert plate 710 can slide out from the mounting groove 33 and extend into the locking groove 44 to achieve limiting and fixing of the inner side of the connecting seat 4.

[0046] refer to Figure 13 as well as Figure 15Understanding: A push plate 72 is hinged to the lower pressure plate 71. A sliding folding plate 73 is hinged to one end of the push plate 72. The sliding folding plate 73 is slidably connected to the support base 3. A movable connecting plate 74 is fixedly connected to one end of the sliding folding plate 73. A limiting post 75 is fixedly connected to one end of the movable connecting plate 74. The limiting post 75 can extend into the sliding hole 43 to limit and fix the connecting seat 4 from the outside. The clamping assembly includes a connecting slider 711 fixedly installed on the lower pressure plate 71 and a fixed slide 712 fixedly installed on the support base 3. The connecting slider 711 is slidably connected to the fixed slide 712. Inside the fixed slide 712, a lower insert block 713 and an upper insert block 716 are slidably connected. A slot is provided on the connecting slider 711, and both the lower insert block 713 and the upper insert block 716 can be inserted into the slot. One end of the lower insert block 713 is fixedly connected to a first fixing piece 714. A third spring 715 is fixedly connected between the fixed slide 712 and the first fixing piece 714. The third spring 715 is sleeved on the lower insert block 713. A fourth spring 717 is sleeved on the upper insert block 716. One end of the fourth spring 717 is connected to the fixed slide 712, and the other end is connected to the second fixing piece 718.

[0047] refer to Figure 5 as well as Figure 6 The positioning support mechanism 6 also includes a connecting square plate 613 fixedly installed on the folded support plate 62. A pull plate 64 is slidably connected to the connecting square plate 613. A sliding block 63 is fixedly connected to one end of the pull plate 64. A first spring 65 is sleeved on the pull plate 64. One end of the first spring 65 is fixedly connected to the connecting square plate 613, and the other end of the first spring 65 is fixedly connected to the sliding block 63. A support frame 66 is fixedly connected to the lower end of the folded support plate 62. A bottom insert plate 67 is slidably connected to the support frame 66. A second spring 68 is sleeved on the bottom insert plate 67. A plate is connected to one end of the bottom insert plate 67. One end of the plate is connected to the second spring 68, and the other end of the second spring 68 is connected to the pull plate 64. A bottom groove 60 is provided on the pull plate 64 for the bottom insert plate 67 to extend into. A sliding groove 45 is provided on the connecting seat 4 for the folded support plate 62 to slide and an inner slot 46 for the sliding block 63 to be inserted into.

[0048] In practical use, when installing the mechanical gripper 5, refer to... Figure 5 as well as Figure 6 Understanding is that by pulling the pull plates 64 on both sides in sequence, when the bottom groove 60 moves above the bottom insert plate 67, the elastic force of the second spring 68 causes the bottom insert plate 67 to engage with the bottom groove 60, thus fixing the pull plate 64. At this time, the sliding block 63 is in the retracted state. (Refer to...) Figure 4Understanding the process, the folded support plate 62 is slid into the first spring 65. When the sliding block 63 aligns with the inner slot 46, the bottom insert plates 67 on both sides are pulled. Under the elastic action of the first spring 65, the sliding block 63 extends into the inner slot 46, achieving initial fixation of the connecting seat 4 and the mechanical clamp 5. Pushing the connecting seat 4 upward causes the folded support plate 62 to slide upward, serving a positioning function for precise alignment of the support seat 3 and the connecting seat 4 during installation. The folded support plate 62 drives the piston plate 69 to expel the gas in the fixed cavity plate 610 through the vent pipe 611 and the connecting pipe 612. When the support seat 3 contacts the connecting seat 4, the positioning block 41 extends into the positioning groove 31, and the limiting block 32 extends into the limiting groove 42. (Refer to...) Figure 15 Understandably, before installation, the lower insert block 713 is in the slot on the connecting slider 711, and the return spring 77 is in a compressed state. By pulling the first fixing piece 714, the lower insert block 713 is moved out of the slot, releasing the restriction of the lower insert block 713 on the connecting slider 711. Under the elastic action of the return spring 77, the lower pressure plate 71 moves upward, and the lower pressure plate 71 moves the connecting slider 711 upward, thereby allowing the upper insert block 716 to extend into the slot on the connecting slider 711, achieving the limiting and locking of the connecting slider 711. During the movement, the connecting slide rod 76 moves upward, which in turn moves the driving square plate 78 upward. The driving square plate 78, through the driving connecting plate 79, drives the limiting insert plate 710 through the mounting groove 33 and into the locking groove 44 to limit and fix the inner side of the connecting seat 4. When the lower pressure plate 71 moves upward, it drives the moving connecting plate 74 through the sliding folding plate 73. The moving connecting plate 74 drives the limiting post 75 to extend into the sliding hole 43 to limit and fix the outer side of the connecting seat 4, thereby realizing the installation of the mechanical gripper 5. When it is necessary to... When the mechanical gripper 5 is disassembled, the second fixing plate 718 is pulled to move the upper insert 716 out of the slot on the connecting slider 711, and the lower pressure plate 71 is pressed down until the lower insert 713 is engaged in the slot on the connecting slider 711. The lower pressure plate 71 moves downward to allow the limiting insert 710 to move out of the locking groove 44 and the limiting post 75 to move out of the sliding hole 43. Under the action of gravity of the connecting seat 4 and the mechanical gripper 5, the connecting seat 4 separates from the support seat 3. The connecting seat 4 and the mechanical gripper 5 move downward, and the folded support plate 62 drives the piston plate 69 downward. The movement is facilitated by a one-way valve on the vent pipe 611, which allows external gas to enter the fixed cavity plate 610 only through the connecting pipe 612. This enables the folded support plate 62 and piston plate 69 to move slowly downwards, thereby allowing the connecting seat 4 and mechanical gripper 5 to move slowly downwards. This improves the stability of the downward movement of the connecting seat 4 and mechanical gripper 5. Finally, by pulling the pull plates 64 on both sides, the bottom insert plate 67 is inserted into the bottom groove 60, allowing the sliding block 63 to be removed from the inner slot 46. This allows the connecting seat 4 to be removed from the folded support plate 62, improving convenience.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic feedthrough for an implantable medical device, comprising a robotic arm, wherein, Also include: Connecting frame, installed on the mechanical arm, for supporting the fixed installation of the seat; Connecting seat for the installation of the mechanical clamp hand; Positioning support mechanism, provided on the connecting frame, for supporting the precise docking of the seat when installed with the connecting seat and stable support when disassembled; Double-sided limiting mechanism located on the support seat for simultaneously limiting and fixing the inner and outer sides of the connecting seat, firmly locking the connecting seat on the support seat, facilitating the installation and disassembly of the mechanical clamp hand; When the mechanical clamp hand needs to be disassembled, the double-sided limiting mechanism is used to unlock the support seat and the connecting seat, and under the gravitational force of the connecting seat and the mechanical clamp hand, the positioning support mechanism holds the connecting seat and the mechanical clamp hand and automatically moves downward. The positioning support mechanism includes a slowing-down component that slows down the downward movement of the connecting seat and the mechanical clamp hand through air suction to improve the stability of the device. The double-sided limiting mechanism includes a limiting component for simultaneously limiting and fixing the inner and outer sides of the connecting seat and a clamping component for locking the limiting component. The positioning support mechanism also includes a support plate for supporting the slowing-down component. The slowing-down component includes a folding support plate for moving support. The support plate is fixedly installed with a fixed cavity plate. The fixed cavity plate is slidably connected with a piston plate. The fixed cavity plate is provided with an air outlet pipe and a communication pipe. The air outlet pipe is provided with a one-way air outlet valve. The support seat is provided with a positioning groove, a limiting block, and an installation slot. The installation slot is opened in the limiting block. The connecting seat is provided with a limiting block, a limiting slot, a sliding hole, and a locking slot. The positioning groove allows the limiting block to extend in. The limiting slot allows the limiting block to extend in. The sliding hole is opened in the limiting block. The limiting component includes a connecting slide rod slidably connected in the middle of the support seat. The connecting slide rod is sleeved with a return spring. One end of the return spring is connected with a pressing plate, and the other end is connected with the support seat. The lower end of the connecting slide rod is fixedly connected with a driving square plate. The driving square plate is hingedly connected with a driving connecting plate. One end of the driving connecting plate away from the driving square plate is hingedly connected with a limiting insertion plate. The limiting insertion plate can slide out of the installation slot and extend into the locking slot to limit and fix the inner side of the connecting seat. The pressing plate is hingedly connected with a pushing plate. One end of the pushing plate is hingedly connected with a sliding folding plate. The sliding folding plate is slidably connected with the support seat. One end of the sliding folding plate is fixedly connected with a moving connecting plate. One end of the moving connecting plate is fixedly connected with a limiting column. The limiting column can slidably extend into the sliding hole to limit and fix the connecting seat from the outside. The clamping component includes a connecting slide block fixedly installed on the pressing plate and a fixed slide seat fixedly installed on the support seat. The connecting slide block is slidably connected in the fixed slide seat. The fixed slide seat is slidably connected with a lower insertion block and an upper insertion block. The connecting slide block is provided with a clamping groove. The lower inserting block and the upper inserting block can extend into the card slot, one end of the lower inserting block is fixedly connected with a first fixed sheet, a third spring is fixedly connected between the fixed sliding seat and the first fixed sheet, the third spring is sleeved on the lower inserting block, a fourth spring is sleeved on the upper inserting block, one end of the fourth spring is connected with the fixed sliding seat, and the other end of the fourth spring is connected with a second fixed sheet; The positioning and supporting mechanism further comprises a connecting square plate fixedly installed on the fold-shaped supporting plate, a pulling plate is slidably connected on the connecting square plate, one end of the pulling plate is fixedly connected with a sliding block, a first spring is sleeved on the pulling plate, one end of the first spring is fixedly connected with the connecting square plate, the other end of the first spring is fixedly connected with the sliding block, a supporting frame is fixedly connected to the lower end of the fold-shaped supporting plate, a bottom inserting plate is slidably connected on the supporting frame, a second spring is sleeved on the bottom inserting plate, one end of the bottom inserting plate is connected with a sheet plate, one end of the sheet plate is connected with the second spring, and the other end of the second spring is connected with the pulling plate.

2. The robotic implantation device feeder of claim 1, wherein: A bottom slot for the bottom inserting plate to extend into is formed on the pulling plate, a sliding groove for the fold-shaped supporting plate to slide and an inner clamping groove for the sliding block to clamp into are formed on the connecting seat.

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