High-stability nephroscope robot clamping device

Abstract

The invention discloses a nephroscope robot lens clamping device with high stability. The nephroscope robot lens clamping device comprises a bearing plate, and a movable lens clamping component and a driving component capable of driving the lens clamping component to move are arranged on the bearing plate; the lens clamping part and the supporting plate are connected with each other through a sliding mechanism, and the lens clamping part moves on the supporting plate along a preset path under the driving of the driving part; the sliding mechanism comprises a guide rail and a sliding block which are connected in a sliding mode. The bottom face of the sliding block is provided with an anti-shake structure capable of forming abutting pressure perpendicular to the length direction of the guide rail on the two sides of the guide rail. According to the nephroscope, shaking generated when the nephroscope clamping component moves can be reduced, so that stable puncture of the nephroscope can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of a nephroscope robot clamping a nephroscope device, and in particular to a nephroscope robot clamping device with high stability. Background Art

[0002] A nephroscope is a medical detection instrument that integrates an image sensor, an optical lens, a light source, a mechanical device, etc. It can enter the stomach through the mouth or enter the body through other natural orifices. The nephroscope can be used to see lesions that cannot be shown by X-rays, so it is very useful to doctors.

[0003] When medical staff in the prior art use a nephroscope for surgery, the doctor needs to hold the nephroscope for a long time, which puts a heavy burden on the doctor's hands and is prone to shaking, affecting the progress of the operation and even causing damage to the patient's body. For this reason, a nephroscope robot has emerged to assist doctors in performing nephroscope surgery, using a machine to replace human hands to hold the nephroscope, thereby avoiding the doctor holding the nephroscope for a long time. However, when the nephroscope robot performs nephroscope puncture, due to the matching gap in the mechanical structure that performs the puncture action, the container shakes during movement, causing the nephroscope to shake accordingly, making it difficult to perform a smooth puncture. Moreover, nephroscope surgery is a delicate minimally invasive surgery, and even a slight shake will cause discomfort to the patient and even affect the smooth progress of the operation. Summary of the invention

[0004] The object of the present invention is to provide a nephroscope robot clamping device with high stability, which can reduce shaking and thus achieve smooth nephroscope puncture.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A highly stable nephroscope robot clamping device comprises a supporting plate, on which a movable clamping component is provided, and a driving component capable of driving the clamping component to move; the clamping component and the supporting plate are connected to each other via a sliding mechanism, and driven by the driving component, the clamping component moves along a preset path on the supporting plate; the sliding mechanism comprises a guide rail and a slider that are slidably connected to each other, and the slider is provided with an anti-shake structure on the bottom surface that can form a resisting force perpendicular to the length direction of the guide rail on both sides of the guide rail.

[0007] On the basis of the above technical solution, the present invention can be improved as follows:

[0008] Furthermore, the anti-shake structure includes a fixed plate with its top end connected to the bottom surface of the slider, and a gap is formed between the bottom end of the fixed plate and the supporting plate; the fixed plate is detachably connected to a sleeve on the inner side, and a movable rod and an elastic member are provided on the sleeve, and the elastic member provides elastic force to the movable rod, driving the movable rod to press against the two sides of the guide rail.

[0009] Furthermore, the sleeve is provided with an external thread at the barrel mouth, the fixing plate is provided with a connecting groove on the inner side, the connecting groove is provided with an internal thread on the inner wall, and the barrel mouth of the sleeve is threadedly connected with the connecting groove on the fixing plate; a through hole connected to the barrel cavity is formed at the end of the sleeve away from the barrel mouth, so that the movable rod can extend out of the sleeve to press the guide rail.

[0010] Furthermore, one axial end of the movable rod is a force-bearing end and is provided with a force-bearing plate, and the other axial end of the movable rod is an extended end and extends out of the sleeve through a through hole on the sleeve; the elastic member can apply elastic force to the force-bearing plate on the movable rod in the sleeve cavity of the sleeve, so that the extended end of the movable rod extends out of the sleeve and presses against the guide rail.

[0011] Furthermore, the movable rod is provided with a pressing block at the protruding end, and the pressing block has an abutting surface on the outside that can fit with the outer side surface of the guide rail, and the abutting surface is a smooth surface.

[0012] Furthermore, the elastic member is a spring, which is accommodated in the barrel cavity of the sleeve, one end of the spring abuts against the inner side surface of the fixed plate, and the other end of the spring abuts against the force-bearing plate on the movable rod; under normal conditions, the spring is in a compressed state.

[0013] Furthermore, the clamping mirror component includes a movable plate, on the top surface of which at least two clamping seats are detachably provided, and a plurality of mounting grooves are provided on the top surface of the movable plate, wherein the mounting grooves are parallel to the length direction of the movable plate, and openings are formed at both ends of the length direction of the movable plate so that bolts can be inserted into the mounting grooves, and the top end of the bolts extends from the notch of the mounting grooves to the top surface of the movable plate to connect with the clamping seats.

[0014] Furthermore, the clamping seat includes two clamping blocks that are butt-jointed with each other, and the two clamping blocks are provided with a clamping groove in the middle of the butt-jointed surface, and bolt holes are provided on both sides of the clamping groove; when the two clamping blocks are butt-jointed with each other, the clamping grooves on the two clamping blocks are spliced ​​to form a clamping cavity.

[0015] Furthermore, the clamping grooves on the two clamping blocks are grooves with a V-shaped cross section. When clamped, the inner side surface of the clamping groove is tangent to the outer peripheral surface of the nephroscope to form a clamping force around the nephroscope.

[0016] Furthermore, the driving component is an electric lead screw, which includes a threaded rod and a servo motor. Both ends of the threaded rod are rotatably connected to the bottom surface of the support plate through supports. The axial direction of the threaded rod is parallel to the length direction of the guide rail. A lead screw nut is threaded on the threaded rod, and one side of the lead screw nut is fixedly connected to the clamping mirror component; the servo motor is fixedly connected to the bottom surface of the support plate, and the output end of the servo motor is connected to one end of the threaded rod. A through groove is formed on the support plate for the lead screw nut to pass through the support plate to connect to the clamping mirror component, and the lead screw nut can slide along the through groove.

[0017] Compared with the prior art, the technology of the present invention has the following advantages:

[0018] The present invention provides a movable lens clamping component on a support plate to clamp and fix the nephroscope, connects the support plate to a mechanical arm, and moves the nephroscope to a position to be punctured by mechanical means instead of human hands, and provides an anti-shake structure on the bottom surface of the slider to form a resisting force perpendicular to the length direction of the guide rail on both sides of the guide rail, thereby reducing the shaking generated when the lens clamping component moves, so that the nephroscope can be punctured smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a schematic diagram of the top structure of the nephroscope robot clamping device with high stability in this embodiment;

[0021] Figure 2 This is a schematic diagram of the bottom structure of the nephroscope robot clamping device with high stability in this embodiment;

[0022] Figure 3 Schematic diagram of the structure of the sliding mechanism of this embodiment;

[0023] Figure 4 is a cross-sectional view of the sliding mechanism of this embodiment;

[0024] Figure 5 Schematic diagram of the structure of the slider in this embodiment;

[0025] Figure 6 Schematic diagram of the structure of the clamping seat of this embodiment.

[0026] Markings on the accompanying drawings: 1-mirror tube part, 2-grip part, 3-operating part, 4-first interface part, 5-second interface part, 6-third interface part, 7-support plate, 8-connecting part, 9-guide rail, 9a-first straight part, 9b-second straight part, 9c-vertical part, 10-slider, 11-guide rail groove, 12-fixed plate, 13-sleeve, 14-movable rod, 15-force plate, 16-pressure block, 17-spring, 18-threaded rod, 19-servo motor, 20-screw nut, 21-through groove, 22-movable plate, 23-installing groove, 24-first clamping block, 25-second clamping block, 26-clamping groove, 27-support. DETAILED DESCRIPTION

[0027] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. The description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] See also Figures 1 to 6 The present embodiment relates to a nephroscope robot clamping device with high stability. The nephroscope clamped by the nephroscope robot clamping device is a prior art. The nephroscope includes a mirror tube portion 1 and a gripping portion 2 connected to each other. The front end of the mirror tube portion 1 (i.e., the end away from the gripping portion 2) is used for puncturing the human body; the mirror tube portion 1 and the gripping portion 2 form a main channel connected to each other; the rear end of the gripping portion 2 is provided with an operating portion 3, and the gripping portion 2 is provided with a first interface portion 4, a second interface portion 5 and a third interface portion 6 on the outer peripheral side. The operating portion 3, the first interface portion 4, the second interface portion 5 and the third interface portion 6 all form a main channel connected to each other. Branch channel; wherein, the operating part 3 is used to introduce surgical instruments connected to a guide wire, the first interface part 4 is used to introduce a monitoring device connected to an optical fiber, the second interface part 5 is used to connect to an external liquid supply device through a pipeline, and the third interface is used to connect to an external liquid suction device through a pipeline; the specific positions of the operating part 3 and the three interface parts on the holding part 2 can be arranged accordingly according to actual needs, and the first interface part 4 of the nephroscope in this embodiment is located near the front end of the holding part 2, the second interface part 5 and the third interface part 6 are located near the rear end of the holding part 2 and are symmetrically arranged on both sides of the holding part 2.

[0029] The nephroscope is connected to the mechanical arm of the nephroscope robot through the nephroscope robot clamping device of this embodiment to maintain the stability of the nephroscope when in use.

[0030] The nephroscope robot clamping device includes a supporting plate 7, on which is provided a connecting portion 8 for connecting to the mechanical arm of the nephroscope robot, a clamping component for clamping the nephroscope, and a driving component that can drive the clamping component to move on the supporting plate 7; the nephroscope is fixed to the supporting plate 7 by the clamping component, and reaches the puncture position under the drive of the mechanical arm; the clamping component and the supporting plate 7 are connected to each other through a sliding mechanism, and under the drive of the driving component, the clamping component moves along a preset path on the supporting plate 7 to drive the nephroscope to move accordingly to puncture the human body; an anti-shake structure is provided on the sliding mechanism, and the anti-shake structure is used to reduce the shaking generated when the clamping component moves, so that the nephroscope can puncture smoothly.

[0031] Specifically, the supporting plate 7 is a rectangular plate structure, which can be replaced by plate structures of other shapes, such as a square or circular plate structure, depending on actual conditions; a connecting portion 8 is formed at one end of the supporting plate 7 in the length direction, and the connecting portion 8 is a circular plate structure, which can be replaced by plate structures of other shapes, such as a rectangular or square plate structure, depending on actual conditions; the connecting portion 8 is fixedly connected to the supporting plate by bolts so that the supporting plate 7 is perpendicular to the connecting portion 8, and the connecting portion 8 and the supporting plate 7 form a T-shaped structural combination in cross section; the second end face of the connecting portion 8 is connected and fixed by a second bolt, and a bolt hole is provided on the connecting portion 8 for locking the bolt for fixing when docking with the mechanical arm of the nephroscope robot.

[0032] The sliding mechanism includes a guide rail 9 and a slider 10 slidably connected to the guide rail 9; the guide rail 9 is fixedly installed on the top surface of the support plate 7, and the slider 10 is fixedly connected to the clamping mirror component, and the slider 10 and the guide rail 9 are slidably connected so that the clamping mirror component can move on the support plate 7 under the drive of the driving component; the guide rail 9 is a linear guide rail 9 with an I-shaped cross-section, and the guide rail 9 forms a moving path for guiding a linear shape. The guide rail 9 includes a first straight portion 9a, a second straight portion 9b, and a vertical portion 9c connected between the first straight portion 9a and the second straight portion 9b, and the first straight portion 9a is connected to the support plate 7; the slider 10 is a rectangular block, and the slider 10 forms a guide rail groove 11 on the bottom surface; when the slider 10 and the guide rail 9 are slidably connected, the second straight portion 9b of the guide rail 9 is accommodated in the guide rail groove 11 of the slider 10.

[0033] In this embodiment, two sliding mechanisms are provided, and the two sliding mechanisms are arranged in parallel and opposite to each other to form two supporting forces on the supporting plate 7 to support the clamping mirror component, so that the clamping mirror component is subjected to uniform force, thereby avoiding the clamping mirror component from tilting during movement due to uneven force.

[0034] The anti-shake structure includes a fixed plate 12 whose top end is connected to the bottom surface of the slider 10, and a gap is formed between the bottom end of the fixed plate 12 and the supporting plate 7 so that the bottom end of the fixed plate 12 contacts and rubs against the supporting plate 7 when the slider 10 slides relative to the guide rail 9; the fixed plate 12 is detachably connected to a sleeve 13 on the inner side, and a movable rod 14 and an elastic member are provided on the sleeve 13. The elastic member provides elastic force to the movable rod 14, driving the movable rod 14 to press against the vertical portion 9c of the guide rail 9, so that the slider 10 can reduce shaking when sliding on the guide rail 9.

[0035] The sleeve 13 is a hollow circular cylindrical structure, one end of the sleeve 13 forms a barrel mouth, and the sleeve 13 is provided with an external thread at the barrel mouth; the fixed plate 12 is provided with a circular connecting groove on the inner side, and the connecting groove is provided with an internal thread on the inner wall, and the barrel mouth of the sleeve 13 is threadedly connected to the connecting groove on the fixed plate 12; the other end of the sleeve 13 forms a through hole connected to the barrel cavity, and the diameter of the through hole corresponds to the diameter of the movable rod 14.

[0036] The movable rod 14 is a cylindrical rod body structure, one axial end of the movable rod 14 is a force-bearing end and is provided with a force-bearing plate 15, and the other axial end of the movable rod 14 is an extended end and extends out of the sleeve 13 through the through hole on the sleeve 13; the extending direction of the movable rod 14 is perpendicular to the vertical outer side surface of the guide rail 9; the elastic member can apply elastic force to the force-bearing plate 15 on the movable rod 14 in the sleeve cavity of the sleeve 13, so that the extended end of the movable rod 14 extends out of the sleeve 13 to press against the vertical portion 9c of the guide rail 9; the diameter of the force-bearing plate 15 is larger than the diameter of the movable rod 14, so as to increase the force-bearing area and prevent the movable rod 14 from detaching from the sleeve 13.

[0037] The movable rod 14 is provided with a pressing block 16 at the extended end. When the movable rod 14 extends out to press the vertical portion 9c of the guide rail 9, the outer side surface of the pressing block 16 fits with the outer side surface of the vertical portion 9c of the guide rail 9 to increase the contact area and make the vertical portion 9c evenly stressed; at this time, the outer side surface of the pressing block 16 is a contact surface, and the pressing block 16 is a smooth surface on the contact surface. When the slider 10 slides, the pressing block 16 can slide accordingly on the outer side surface of the vertical portion 9c of the guide rail 9 relative to the guide rail 9 to reduce the friction vibration generated between the vertical portion 9c of the guide rail 9 and improve the stability of nephroscope puncture; a lubricating liquid layer is applied between the contact surface of the pressing block 16 and the outer side surface of the vertical portion 9c of the guide rail 9 to further reduce the friction resistance; the pressing block 16 is connected to the extended end of the movable rod 14 by bolts to facilitate disassembly and replacement during maintenance, and corresponding bolt holes are provided on the extended end of the pressing block 16 and the movable rod 14.

[0038] The elastic member is a spring 17, which is accommodated in the cylindrical cavity of the sleeve 13. One end of the spring 17 abuts against the inner side surface of the fixed plate 12, and the other end of the spring 17 abuts against the force plate 15 on the movable rod 14. Under normal circumstances, the spring 17 is in a compressed state, and provides elastic force to the force plate 15 to keep the extended end of the movable rod 14 pressed against the vertical portion 9c of the guide rail 9.

[0039] The driving component is an electric lead screw, which is arranged on the bottom surface of the support plate 7. The electric lead screw includes a threaded rod 18 and a servo motor 19. Both ends of the threaded rod 18 are rotatably connected to the bottom surface of the support plate 7 through supports 27. The axial direction of the threaded rod 18 is parallel to the length direction of the guide rail 9. A lead screw nut 20 is threadedly connected to the threaded rod 18, and one side of the lead screw nut 20 is fixedly connected to the clamping mirror component; the servo motor 19 is fixedly connected to the bottom surface of the support plate 7, and the output end of the servo motor 19 is connected to one end of the threaded rod 18. The driving force is generated by the servo motor 19, so that the rotation of the threaded rod 18 drives the lead screw nut 20 to move axially, thereby driving the clamping mirror component to move on the support plate 7; a support plate 7 is formed with a screw nut 20 for the lead screw to move. The nut 20 passes through the support plate 7 and is connected to the through slot 21 of the clamping mirror component. The through slot 21 is an elongated slot body, and the lead screw nut 8 can slide along the through slot 21; the servo motor 19 is a servo motor 19 in the prior art, and the servo motor 19 has a self-locking component inside, which can limit the rotation of the output end to achieve self-locking when it is stationary, so that the threaded rod 18 stops rotating, and the lead screw nut 20 is correspondingly stationary, and the clamping mirror component remains in a fixed position so that it can remain fixed when the nephroscope is punctured to the set position; due to the use of a transmission structure in which the threaded rod 18 and the lead screw nut 20 cooperate with each other, the transmission structure has high transmission accuracy, so that the clamping component can be adjusted to a small feed amount, thereby achieving a small movement of the nephroscope, meeting the needs of minimally invasive surgery, and reducing human discomfort during surgery.

[0040] The clamping mirror component includes a movable plate 22, the bottom surface of the movable plate 22 is connected to one side of the screw nut 20 by bolts, and the movable plate 22 is detachably provided with at least two clamping seats on the top surface, and the specific number of the clamping seats can be increased or decreased according to the structure of the nephroscope to be fixed; in the present embodiment, there are three clamping seats, which respectively correspond to the holding part 2, the second interface part 5 and the third interface part 6 of the nephroscope for clamping and fixing.

[0041] The movable plate 22 has a plurality of mounting grooves 23 on its top surface. The mounting grooves 23 are elongated grooves with a T-shaped cross section. The mounting grooves 23 are parallel to the length direction of the movable plate 22 and have openings at both ends of the length direction of the movable plate 22. Bolts are inserted into the mounting grooves 23 through the openings. The top ends of the bolts extend out of the top surface of the movable plate 22 through the notches of the mounting grooves 23 to connect to the clamping seat, so that the position of the clamping seat can be adjusted on the movable plate 22 by moving to meet the clamping and fixing needs of nephroscopes of different specifications.

[0042] The clamping seat includes a first clamping block 24 and a second clamping block 25 that are butt-jointed with each other. The first clamping block 24 and the second clamping block 25 are provided with a clamping groove 26 in the middle of the butt-jointed surface, and bolt holes are provided on both sides of the clamping groove 26; the first clamping block 24 and the second clamping block 25 are butt-jointed with each other, and are fastened by locking bolts into the bolt holes; when the first clamping block 24 and the second clamping block 25 are butt-jointed with each other, the clamping grooves 26 on the first clamping block 24 and the second clamping block 25 are spliced ​​to form a clamping cavity; the clamping grooves 26 on the first clamping block 24 and the second clamping block 25 are groove bodies with a V-shaped cross-section. When clamped, the inner side surface of the clamping groove 26 is tangent to the outer peripheral surface of the nephroscope to form a clamping force on the peripheral side of the nephroscope, thereby clamping and fixing the nephroscope.

[0043] The first clamp block 24 is installed on the movable plate 22. A bolt hole is set in the middle of the first clamp block 24 for the bolts in the mounting groove 23 of the movable plate 22 to penetrate and be tightened by locking nuts. The first clamp block 24 is provided with an escape groove for the nut to be locked at the lowest point of the clamp groove 26; according to actual conditions, the second clamp block 25 can also be installed on the movable plate 22. The second clamp block 25 is provided with an escape groove for the nut to be locked at the lowest point of the clamp groove 26.

[0044] The first clamping block 24 and the second clamping block 25 are provided with elastic pads (not shown in the figure) on the inner side of the clamping groove 26. The elastic pads enable the clamping groove 26 to elastically contact with the outer peripheral surface of the nephroscope to avoid damage to the nephroscope due to rigid contact, while increasing the clamping force of the nephroscope, effectively preventing the nephroscope from loosening and improving stability.

[0045] The above embodiments of the present invention are not intended to limit the protection scope of the present invention, and the implementation modes of the present invention are not limited thereto. All other modifications, replacements or changes made to the above structures of the present invention based on the above contents of the present invention, in accordance with common technical knowledge and customary means in the art, without departing from the above basic technical ideas of the present invention, should fall within the protection scope of the present invention.

Claims

1. A high-stability nephroscope robot clamping device, comprising a support plate, a movable clamping component is arranged on the support plate, and a driving component can drive the clamping component to move; the clamping component and the support plate are connected to each other through a sliding mechanism, and under the drive of the driving component, the clamping component moves along a preset path on the support plate; characterized in that The sliding mechanism comprises a guide rail and a slider which are slidably connected to each other. The bottom surface of the slider is provided with an anti-shake structure which can form a resisting force perpendicular to the length direction of the guide rail on both sides of the guide rail.

2. The high-stability nephroscope robot clamping device according to claim 1 is characterized in that: The anti-shake structure includes a fixed plate with a top end connected to the bottom surface of the slider, and a gap is formed between the bottom end of the fixed plate and the supporting plate; the fixed plate is detachably connected to a sleeve on the inner side, and a movable rod and an elastic member are provided on the sleeve, and the elastic member provides elastic force to the movable rod, driving the movable rod to press against the two sides of the guide rail.

3. The high-stability nephroscope robot clamping device according to claim 2 is characterized in that: The sleeve is provided with an external thread at the barrel mouth, a connecting groove is provided on the inner side of the fixing plate, an internal thread is provided on the inner wall of the connecting groove, and the barrel mouth of the sleeve is threadedly connected with the connecting groove on the fixing plate; a through hole connected to the barrel cavity is formed at the end of the sleeve away from the barrel mouth, so that the movable rod can extend out of the sleeve to press the guide rail.

4. The high-stability nephroscope robot clamping device according to claim 3 is characterized in that: One axial end of the movable rod is a force-bearing end and is provided with a force-bearing plate, and the other axial end of the movable rod is an extended end and extends out of the sleeve through a through hole on the sleeve; the elastic member can apply elastic force to the force-bearing plate on the movable rod in the sleeve cavity of the sleeve, so that the extended end of the movable rod extends out of the sleeve and presses against the guide rail.

5. The high-stability nephroscope robot clamping device according to claim 4 is characterized in that: The movable rod is provided with a pressing block at the extended end, and the pressing block has an abutting surface on the outer side thereof which can be fitted with the outer side surface of the guide rail, and the abutting surface is a smooth surface.

6. The high-stability nephroscope robot clamping device according to claim 5, characterized in that: The elastic member is a spring, which is accommodated in the barrel cavity of the sleeve, one end of the spring abuts against the inner side surface of the fixed plate, and the other end of the spring abuts against the force-bearing plate on the movable rod; under normal conditions, the spring is in a compressed state.

7. The high-stability nephroscope robot clamping device according to any one of claims 1 to 6, characterized in that: The mirror clamping component includes a movable plate, on the top surface of which at least two clamping seats are detachably provided, and a plurality of mounting grooves are provided on the top surface of the movable plate, wherein the mounting grooves are parallel to the length direction of the movable plate, and openings are formed at both ends of the length direction of the movable plate so that bolts can be inserted into the mounting grooves, and the top ends of the bolts extend out from the notches of the mounting grooves to connect the clamping seats to the top surface of the movable plate.

8. The high-stability nephroscope robot clamping device according to claim 7, characterized in that: The clamping seat comprises two clamping blocks butted against each other, wherein the two clamping blocks are provided with a clamping groove in the middle of the butting surface and bolt holes on both sides of the clamping groove; when the two clamping blocks are butted against each other, the clamping grooves on the two clamping blocks are spliced ​​to form a clamping cavity.

9. The high-stability nephroscope robot clamping device according to claim 8, characterized in that: The clamping grooves on the two clamping blocks are grooves with a V-shaped cross section. When clamped, the inner side of the clamping groove is tangent to the outer peripheral surface of the nephroscope to form a clamping force around the nephroscope.

10. The high-stability nephroscope robot clamping device according to claim 9, characterized in that: The driving component is an electric lead screw, which includes a threaded rod and a servo motor. Both ends of the threaded rod are rotatably connected to the bottom surface of the support plate through supports. The axial direction of the threaded rod is parallel to the length direction of the guide rail. A lead screw nut is threaded on the threaded rod, and one side of the lead screw nut is fixedly connected to the clamping mirror component; the servo motor is fixedly connected to the bottom surface of the support plate, and the output end of the servo motor is connected to one end of the threaded rod. A through groove is formed on the support plate for the lead screw nut to pass through the support plate to connect to the clamping mirror component, and the lead screw nut can slide along the through groove.

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