Automatic drilling device for limb bones

Abstract

The invention discloses an automatic limb skeleton drilling device which mainly comprises an equipment body, a first drilling device and a second drilling device, four Foma wheels are arranged on the lower side of the equipment body, a front ring frame and a rear ring frame are arranged at the upper end of the equipment body, and a first elastic belt and a second elastic belt are installed in the front ring frame and can fix the inner end of a limb of a patient. The third elastic belt and the fourth elastic belt are installed in the rear ring frame and can fix the outer ends of the limbs of the patient, the first drilling device can move front and back and can swing within the range of 210 degrees on the lower side, the second drilling device can move front and back and can swing within the range of 210 degrees on the upper side, and drill bits in the two drilling devices can move up and down and transversely swing. Therefore, the two drilling devices can completely cover the drilling requirements of the limbs of the patient within the 360-degree range; notches are formed in the upper ends of the front ring frame and the rear ring frame, so that the limbs of the patient can be directly placed on the front supporting plate and the rear supporting plate through the notches, and the limbs of the patient can enter and break away from the drilling device very conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of clinical surgical equipment, and particularly to an automatic drilling device for limb bones. Background Art

[0002] Modern limb orthopedic surgeries tend to be minimally invasive. Drilling techniques can complete operations through small incisions, reducing damage to surrounding soft tissues and accelerating postoperative recovery. For example, in the treatment of limb fractures, doctors usually use instruments such as plates, screws, or intramedullary nails to fix the fracture ends together to promote bone healing. Drilling is used to create channels in the bone for implanting screws or other fixation devices; in ligament or tendon injury repair surgeries, drilling is used to create anchor points on the bone to re-fix the ligament or tendon to the bone; in limb lengthening or orthopedic surgeries, drilling is used to install screws or pins for external fixation brackets. Therefore, the drilling procedure plays a crucial role in limb surgeries. Before the emergence of limb drilling devices, doctors mainly relied on manual tools for bone drilling. Although the operation procedure was simple, there were many limitations: for example, the efficiency was low, manual drilling was time-consuming and laborious, the operation time was long, increasing the patient's pain and the risk of infection; the accuracy was low, it was difficult to precisely control the depth, angle, and position of drilling manually, and it was easy to cause damage to surrounding tissues; the applicable range was limited, and it was difficult for manual tools to meet complex surgical requirements, such as minimally invasive surgeries, joint replacements, etc.

[0003] The invention patent with publication number CN115500893A discloses a device for orthopedics that can integrate positioning drilling and reaming, including a fixing mechanism, a clamping mechanism, a drilling and reaming mechanism, and a moving mechanism. The drilling and reaming mechanism is arranged directly above the moving mechanism, the moving mechanism moves back and forth relative to the fixing mechanism, and the drilling and reaming mechanism rotates relative to the moving mechanism; although it can drill from below, it also has the above-mentioned various defects, and there are only a limited number of positioning holes on the drilling and reaming mechanism, which obviously cannot meet the requirements for precise drilling positioning during surgery.

[0004] In summary, designing a drilling device that can drill limb bones at multiple positions, multiple angles, with high precision, and is convenient to use is of great significance for improving the quality of surgeries. Summary of the Invention

[0005] To solve the deficiencies of the prior art, the object of the present invention is to provide an automatic limb bone drilling device, which mainly includes a device main body, a first ring rod, a first drilling device, an eighth ring rod, an electric slide table, a fifth ring rod, a second drilling device, a fourth ring rod, a second ring rod, a second elastic band, a first elastic band, a fourth elastic band, a rear support plate, a third ring rod, and a sixth ring rod. The characteristics are as follows: Four casters are provided on the lower side of the device main body, and a front ring frame and a rear ring frame are provided at its upper end. Both ring frames are circular ring structures with notches at the upper end. A front support plate is provided at the lower end inside the front ring frame. A set of freely rotatable first guide wheel group and second guide wheel group are respectively provided on the right and left sides inside the front ring frame. A set of freely rotatable third guide wheel group and fourth guide wheel group are respectively provided on the right and left sides inside the rear ring frame. The electric slide table is installed on the lower side inside the rear ring frame, and the rear support plate is installed on the upper side of the slider of the electric slide table; The second ring rod, the third ring rod, the sixth ring rod, and the seventh ring rod are all annular rotating rods with notches at the upper end. The first two are rotatably installed inside the front ring frame and can fix the inner end of the patient's limb by tightening the first elastic band and the second elastic band. The latter two are rotatably installed inside the rear ring frame and can fix the outer end of the patient's limb by tightening the third elastic band and the fourth elastic band; The main structures of the first ring rod, the fourth ring rod, the fifth ring rod, and the eighth ring rod are all annular rotating rods with notches. The above four ring rods are respectively provided with a first connecting plate, a fourth connecting plate, a fifth connecting plate, and an eighth connecting plate at the upper end. The first ring rod and the fourth ring rod are rotatably installed inside the front ring frame, and the fifth ring rod and the eighth ring rod are rotatably installed inside the rear ring frame. A first lead screw and a first guide rod are installed between the first connecting plate and the eighth connecting plate, and a second lead screw and a second guide rod are installed between the fourth connecting plate and the fifth connecting plate; The lead screw slide table in the first drilling device is installed on the first lead screw and the first guide rod and forms a moving pair. The inner end of the rotating arm is rotatably installed on the lower side of the lead screw slide table. The first connecting rod and the second connecting rod are rotatably installed on the right side of the outer end of the rotating arm and jointly form a quadrilateral connecting rod structure with the third connecting rod. The third connecting rod, the fourth connecting rod, the fifth connecting rod, and the right end of the moving table form a quadrilateral connecting rod mechanism. The left end of the moving table is rotatably connected to the left side of the outer end of the rotating arm through the sixth connecting rod and the seventh connecting rod. A drill motor is installed on the upper side of the moving table, and the drill motor can drive the rotation of the drill bit. The electric cylinder is installed between the seventh connecting rod and the second connecting rod and can realize the up and down movement of the drill bit; The second drilling device has the same structure as the first drilling device, and the second drilling device is installed on the second lead screw and the second guide rod and forms a moving pair.

[0006] Preferably, the upper ends of the front support plate and the rear support plate are both arc-shaped plate structures, and the front support plate and the rear support plate can be used to provide support for the patient's limb.

[0007] Preferably, the first elastic band, the second elastic band, the third elastic band and the fourth elastic band are all flat strip structures with elasticity; the upper right end of the second ring rod drives the upper end of the first elastic band to rotate counterclockwise, so that the first elastic band is stretched and attached to the upper left side of the inner end of the patient's limb. The upper left end of the third ring rod drives the upper end of the second elastic band to rotate clockwise, so that the second elastic band is stretched and attached to the upper right side of the inner end of the patient's limb. The upper left end of the sixth ring rod drives the upper end of the third elastic band to rotate clockwise, so that the third elastic band is stretched and attached to the upper right side of the outer end of the patient's limb. The upper right end of the seventh ring rod drives the upper end of the fourth elastic band to rotate counterclockwise, so that the fourth elastic band is stretched and attached to the upper left side of the outer end of the patient's limb.

[0008] Preferably, a transmission thread is provided on the outer side of the first lead screw. The first lead screw is rotatably installed between the first connecting plate and the eighth connecting plate. The first guide rod is a round rod structure with a smooth surface. The first guide rod is fixedly installed between the first connecting plate and the eighth connecting plate, and the first guide rod is parallel to the first lead screw.

[0009] Preferably, a transmission thread is provided on the outer side of the second lead screw. The second lead screw is rotatably installed between the fourth connecting plate and the fifth connecting plate. The second guide rod is a round rod structure with a smooth surface. The second guide rod is fixedly installed between the fourth connecting plate and the fifth connecting plate, and the second guide rod is parallel to the second lead screw.

[0010] Preferably, a right incomplete gear is provided on the outer side of the upper end of the first connecting rod, and a left incomplete gear is provided on the outer side of the upper end of the seventh connecting rod. The left incomplete gear meshes with the right incomplete gear to form a gear transmission structure, so that the seventh connecting rod and the first connecting rod can achieve synchronous opening and closing actions.

[0011] Preferably, the first drilling device can swing within a range of 210° on the lower side, and the second drilling device can swing within a range of 210° on the upper side, so that the two drilling devices can completely cover the drilling requirements within a range of 360° of the patient's limb.

[0012] The beneficial effects of the present invention are as follows: ① The first drilling device can swing within a range of 210° on the lower side, and the second drilling device can swing within a range of 210° on the upper side, so that the two drilling devices can completely cover the drilling requirements within a range of 360° of the patient's limb. ② The rear support plate can move back and forth, so that the distance between the two support plates can be adjusted according to the length of the patient's limb, and the needs of patients with various body types can be met. ③ Notches are provided at the upper ends of the front ring frame and the rear ring frame, and each ring rod is an incomplete circular ring structure with a notch, so that the patient's limb can be directly placed on the front and rear support plates through the notch, and it is very convenient for the patient's limb to enter and exit the drilling device. Description of the Drawings

[0013] Figure 1 This is the overall structural schematic diagram of the present invention.

[0014] Figure 2 This is the overall structural schematic diagram of the present invention.

[0015] Figure 3 This is the overall structural schematic diagram of the present invention.

[0016] Figure 4 This is the overall structural schematic diagram of the device main body in the present invention.

[0017] Figure 5 This is the overall structural schematic diagram of the device main body in the present invention.

[0018] Figure 6 This is the structural schematic diagram of the first ring rod in the present invention.

[0019] Figure 7 This is the partial enlarged schematic diagram of the position of the front ring frame in the present invention.

[0020] Figure 8 This is the structural schematic diagram of the first drilling device in the present invention.

[0021] Figure 9 This is the partial enlarged schematic diagram of the position of the rear ring frame in the present invention.

[0022] Reference numerals in the drawings: 1 main body of the device, 101 front ring bracket, 102 rear ring bracket, 103 front support plate, 104 first guide wheel set, 105 third guide wheel set, 106 first ring bin, 107 second ring bin, 108 third ring bin, 109 fourth ring bin, 110 second guide wheel set, 111 second motor platform, 112 fourth motor platform, 113 first motor platform, 114 fifth ring bin, 115 sixth ring bin, 116 seventh ring bin, 117 eighth ring bin, 118 fourth guide wheel set, 119 seventh motor platform, 120 eighth motor platform, 121 fifth motor platform, 122 third motor platform, 123 sixth motor platform, 2 first ring rod, 201 first connecting plate, 202 first gear ring, 3 first lead screw, 4 first drilling device, 5 first guide rod, 6 eighth ring rod, 601 eighth connecting plate, 602 eighth gear ring, 7 electric slide table, 8 fifth ring rod, 801 fifth connecting plate, 802 fifth gear ring, 9 second lead screw, 10 second drilling device, 11 second guide rod, 12 fourth ring rod, 1201 fourth connecting plate, 1202 fourth gear ring, 13 Fuma wheel, 14 third motor, 1401 third gear, 15 ninth motor, 16 sixth motor, 1601 sixth gear, 17 tenth motor, 18 second motor, 1801 second gear, 19 fourth motor, 1901 fourth gear, 20 first motor, 2001 first gear, 21 seventh motor, 2101 seventh gear, 22 eighth motor, 2201 eighth gear, 23 fifth motor, 2301 fifth gear, 24 slider, 25 second ring rod, 2501 second gear ring, 26 second elastic band, 27 first elastic band, 28 electric cylinder, 29 lead screw slide table, 30 swing arm motor, 31 swing arm, 32 first connecting rod, 33 second connecting rod, 34 third connecting rod, 35 fourth connecting rod, 36 fifth connecting rod, 37 moving platform, 38 drill bit motor, 39 drill bit, 40 sixth connecting rod, 41 seventh connecting rod, 42 fourth elastic band, 43 rear support plate, 44 third ring rod, 4401 third gear ring, 45 sixth ring rod. Detailed implementation manners

[0023] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but do not limit the present invention.

[0024] As Figures 1-9As shown, the automatic limb bone drilling device mainly includes a device main body 1, a first ring rod 2, a first lead screw 3, a first drilling device 4, a first guide rod 5, an eighth ring rod 6, an electric slide table 7, a fifth ring rod 8, a second lead screw 9, a second drilling device 10, a second guide rod 11, a fourth ring rod 12, a caster 13, a third motor 14, a ninth motor 15, a sixth motor 16, a tenth motor 17, a second motor 18, a fourth motor 19, a first motor 20, a seventh motor 21, an eighth motor 22, a fifth motor 23, a slider 24, a second ring rod 25, a second elastic band 26, a first elastic band 27, an electric cylinder 28, a lead screw slide table 29, a swing arm motor 30, a swing arm 31, a first connecting rod 32, a second connecting rod 33, a third connecting rod 34, a fourth connecting rod 35, a fifth connecting rod 36, a moving table 37, a drill bit motor 38, a drill bit 39, a sixth connecting rod 40, a seventh connecting rod 41, a fourth elastic band 42, and a rear support plate 43. It is characterized in that: the device main body 1 is provided with a front support column and a rear support column. The two support columns are connected as a whole by two round rods. Four casters 13 are arranged on the lower sides of the two support columns. The upper end of the front support column is provided with a front ring frame 101. The front ring frame 101 is a circular ring structure with a notch, and the notch is located at its upper end. Inside the front ring frame 101, a first ring bin 106, a second ring bin 107, a third ring bin 108, and a fourth ring bin 109 are arranged in sequence from front to back. Grooves are arranged on the outer sides of the first ring bin 106 and the fourth ring bin 109, and grooves are arranged on the inner sides of the second ring bin 107 and the third ring bin 108. And a set of freely rotatable first guide wheel sets 104 are arranged on the right side of the second ring bin 107, and a set of freely rotatable second guide wheel sets 110 are arranged on the left side of the third ring bin 108. A third motor platform 122 is arranged on the left side of the outside of the front ring frame 101, and a first motor platform 113, a second motor platform 111, and a fourth motor platform 112 are arranged on the right side of the outside of the front ring frame 101. The lower end inside the front ring frame 101 is provided with a front support plate 103. The upper end of the front support plate 103 is an arc-shaped plate structure, and the front support plate 103 can be used to provide support for the inner end of the patient's limb; the upper end of the rear support column is provided with a rear ring frame 102. The rear ring frame 102 is a circular ring structure with a notch, and the notch is located at its upper end. Inside the rear ring frame 102, a fifth ring bin 114, a sixth ring bin 115, a seventh ring bin 116, and an eighth ring bin 117 are arranged in sequence from front to back. Grooves are arranged on the outer sides of the fifth ring bin 114 and the eighth ring bin 117, and grooves are arranged on the inner sides of the sixth ring bin 115 and the seventh ring bin 116. And a set of freely rotatable third guide wheel sets 105 are arranged on the right side of the sixth ring bin 115, and a set of freely rotatable fourth guide wheel sets 118 are arranged on the left side of the seventh ring bin 116. A sixth motor platform 123 is arranged on the left side of the outside of the rear ring frame 102, and a fifth motor platform 121, a seventh motor platform 119, and an eighth motor platform 120 are arranged on the right side of the outside of the rear ring frame 102;The described electric slide table 7 is fixedly installed on the lower side inside the rear ring frame 102. There is a slider 24 that can move back and forth on the upper side of the electric slide table 7. A rear support plate 43 is installed on the upper side of the slider 24. The upper side of the rear support plate 43 is in an arc-shaped plate structure, and the rear support plate 43 can be used to provide support for the outer end of the patient's limb.;

[0025] As Figure 1 , Figure 7 shown, the second ring rod 25 is an annular rotary rod with a notch at the upper end. A second gear ring 2501 is arranged on the outer side of the annular rotary rod. The second ring rod 25 is rotatably installed in the second ring bin 107; the first elastic band 27 is in an elastic flat belt structure. The lower end of the first elastic band 27 is fixedly connected to the lower end inside the front ring frame 101 by screws. The upper end of the first elastic band 27 is fixedly connected to the upper right end of the second ring rod 25 by screws, and the first elastic band 27 is installed between the first guide wheel set 104 and the inner side of the second ring rod 25; the second motor 18 is fixedly installed on the second motor platform 111. The second gear 1801 is coaxially and fixedly connected to the output shaft of the second motor platform 111, and the second gear 1801 meshes with the second gear ring 2501 to form a gear transmission structure. Thus, when the second motor 18 drives the second gear 1801 to rotate clockwise, the upper right end of the second ring rod 25 drives the upper end of the first elastic band 27 to rotate counterclockwise, so that the first elastic band 27 is stretched and pressed against the upper left side of the inner end of the patient's limb, and the fixation of the inner end of the patient's limb is realized through the elastic force of the first elastic band 27; an encoder and a brake are integrated inside the second motor 18. The encoder can monitor the rotation angle of the second gear 1801 in real time, so as to determine the rotation angle of the second ring rod 25 and the pressing elastic force of the first elastic band 27, and the brake can lock the angular position of the second ring rod 25.

[0026] The described No. 3 ring rod 44 is an annular rotary rod with a notch at the upper end. A No. 3 gear ring 4401 is arranged on the outer side of the annular rotary rod. The No. 3 ring rod 44 is rotatably installed in the No. 3 ring bin 108; the described No. 2 elastic band 26 is a flat strip-shaped structure with elasticity. The lower end of the No. 2 elastic band 26 is fixedly connected to the lower end inside the front ring frame 101 by screws, and the upper end of the No. 2 elastic band 26 is fixedly connected to the upper left end of the No. 3 ring rod 44 by screws. And the No. 2 elastic band 26 is installed between the No. 2 guide wheel group 110 and the inner side of the No. 3 ring rod 44; the No. 3 motor 14 is fixedly installed on the No. 3 motor platform 122. The No. 3 gear 1401 is coaxially and fixedly connected to the output shaft of the No. 3 motor 14. And the No. 3 gear 1401 meshes with the No. 3 gear ring 4401 to form a gear transmission structure. Thus, when the No. 3 motor 14 drives the No. 3 gear 1401 to rotate counterclockwise, the upper left end of the No. 3 ring rod 44 drives the upper end of the No. 2 elastic band 26 to rotate clockwise. Thus, the No. 2 elastic band 26 is stretched and pressed against the upper right side of the inner end of the patient's limb. The fixation of the inner end of the patient's limb is realized through the elastic force of the No. 2 elastic band 26; an encoder and a brake are integrated inside the No. 3 motor 14. The encoder can monitor the rotation angle of the No. 3 gear 1401 in real time, so as to determine the rotation angle of the No. 3 ring rod 44 and the pressing elastic force of the No. 2 elastic band 26. The brake can lock the angular position of the No. 3 ring rod 44.

[0027] As Figure 9 shown, the described No. 6 ring rod 45 is an annular rotary rod with a notch at the upper end. A No. 6 gear ring is arranged on the outer side of the annular rotary rod. The No. 6 ring rod 45 is rotatably installed in the No. 6 ring bin 115; the described No. 3 elastic band is a flat strip-shaped structure with elasticity. The lower end of the No. 3 elastic band is fixedly connected to the lower end inside the rear ring frame 102 by screws, and the upper end of the No. 3 elastic band is fixedly connected to the upper left end of the No. 6 ring rod 45 by screws. And the No. 3 elastic band is installed between the No. 3 guide wheel group 105 and the inner side of the No. 6 ring rod 45; the No. 6 motor 16 is fixedly installed on the No. 6 motor platform 123. The No. 6 gear 1601 is coaxially and fixedly connected to the output shaft of the No. 6 motor 16. And the No. 6 gear 1601 meshes with the No. 6 gear ring to form a gear transmission structure. Thus, when the No. 6 motor 16 drives the No. 6 gear 1601 to rotate counterclockwise, the upper left end of the No. 6 ring rod 45 drives the upper end of the No. 3 elastic band to rotate clockwise. Thus, the No. 3 elastic band is stretched and pressed against the upper right side of the outer end of the patient's limb. The fixation of the outer end of the patient's limb is realized through the elastic force of the No. 3 elastic band; an encoder and a brake are integrated inside the No. 6 motor 16. The encoder can monitor the rotation angle of the No. 6 gear 1601 in real time, so as to determine the rotation angle of the No. 6 ring rod 45 and the pressing elastic force of the No. 3 elastic band. The brake can lock the angular position of the No. 6 ring rod 45.

[0028] The seventh ring rod is an annular rotating rod with a notch at the upper end. A seventh gear ring is arranged on the outer side of the annular rotating rod. The seventh ring rod is rotatably installed in the seventh ring bin 116. The fourth elastic band 42 is a flat strip-shaped structure with elasticity. The lower end of the fourth elastic band 42 is fixedly connected to the lower end inside the rear ring frame 102 by screws. The upper end of the fourth elastic band 42 is fixedly connected to the upper right end of the seventh ring rod by screws. And the fourth elastic band 42 is installed between the fourth guide wheel set 118 and the inner side of the seventh ring rod. The seventh motor 21 is fixedly installed on the seventh motor platform 119. The seventh gear 2101 is coaxially and fixedly connected to the output shaft of the seventh motor 21. And the seventh gear 2101 meshes with the seventh gear ring to form a gear transmission structure. Thus, when the seventh motor 21 drives the seventh gear 2101 to rotate clockwise, the upper right end of the seventh ring rod drives the upper end of the fourth elastic band 42 to rotate counterclockwise. Thus, the fourth elastic band 42 is stretched and pressed against the upper left side of the outer end of the patient's limb. The fixation of the outer end of the patient's limb is realized through the elastic force of the fourth elastic band 42. An encoder and a brake are integrated inside the seventh motor 21. The encoder can monitor the rotation angle of the seventh gear 2101 in real time, so as to determine the rotation angle of the seventh ring rod and the pressing elastic force of the fourth elastic band 42. The brake can lock the angular position of the seventh ring rod.

[0029] As Figure 2 , Figure 6 shown, the main structure of the first ring rod 2 is an annular rotating rod with a notch. A first connecting plate 201 is arranged at the upper left end of the annular rotating rod. A first gear ring 202 is arranged on the outer side of the annular rotating rod. The first ring rod 2 is installed in the first ring bin 106 to form a rotating pair. The first motor 20 is fixedly installed on the first motor platform 113. The first gear 2001 is coaxially and fixedly connected to the output shaft of the first motor platform 113. And the first gear 2001 meshes with the first gear ring 202 to form a gear transmission structure. Thus, the first motor 20 can realize the rotation and positioning of the first ring rod 2. An encoder and a brake are integrated inside the first motor 20. The encoder can monitor the rotation angle of the first gear 2001 in real time, so as to determine the phase of the first ring rod 2. The brake can realize the position locking of the first ring rod 2.

[0030] The main structure of the eighth ring rod 6 is an annular rotating rod with a notch. The left upper end of the annular rotating rod is provided with an eighth connecting plate 601, and the outer side of the annular rotating rod is provided with an eighth gear ring 602. The eighth ring rod 6 is installed in the eighth ring bin 117 and forms a rotating pair. The eighth motor 22 is fixedly installed on the eighth motor base 120. The eighth gear 2201 is coaxially and firmly connected to the output shaft of the eighth motor 22, and the eighth gear 2201 meshes with the eighth gear ring 602 to form a gear transmission structure. Thus, the eighth motor 22 can rotate and position the eighth ring rod 6. The eighth motor 22 integrates an encoder and a brake inside. The encoder can monitor the rotation angle of the eighth gear 2201 in real time to determine the phase of the eighth ring rod 6, and the brake can lock the position of the eighth ring rod 6.

[0031] A transmission thread is provided on the outer side of the first lead screw 3. The first lead screw 3 is rotatably installed between the first connecting plate 201 and the eighth connecting plate 601. The first guide rod 5 has a smooth round rod structure. The first guide rod 5 is fixedly installed between the first connecting plate 201 and the eighth connecting plate 601, and the first guide rod 5 is parallel to the first lead screw 3. The ninth motor 15 is fixedly installed on the front side of the outer end of the first connecting plate 201, and the output shaft of the ninth motor 15 is coaxially and firmly connected to the first lead screw 3. The ninth motor 15 integrates an encoder and a brake inside. The encoder can detect the rotation angle of the first lead screw 3 in real time to determine the position of the first drilling device 4, and the brake can lock the position of the first drilling device 4.

[0032] As Figure 1 , Figure 2 shown, the main structure of the fourth ring rod 12 is an annular rotating rod with a notch. The right upper end of the annular rotating rod is provided with a fourth connecting plate 1201, and the outer side of the annular rotating rod is provided with a fourth gear ring 1202. The fourth ring rod 12 is installed in the fourth ring bin 109 and forms a rotating pair. The fourth motor 19 is fixedly installed on the fourth motor base 112. The fourth gear 1901 is coaxially and firmly connected to the output shaft of the fourth motor 19, and the fourth gear 1901 meshes with the fourth gear ring 1202 to form a gear transmission structure. Thus, the fourth motor 19 can rotate and position the fourth ring rod 12. The fourth motor 19 integrates an encoder and a brake inside. The encoder can monitor the rotation angle of the fourth gear 1901 in real time to determine the phase of the fourth ring rod 12, and the brake can lock the position of the fourth ring rod 12.

[0033] The main structure of the fifth ring rod 8 is an annular rotating rod with a notch. A fifth connecting plate 801 is provided at the upper right end of the annular rotating rod, and a fifth gear ring 802 is provided on the outer side of the annular rotating rod. The fifth ring rod 8 is installed in the fifth ring bin 114 to form a rotating pair; the fifth motor 23 is fixedly installed on the fifth motor platform 121. The fifth gear 2301 is coaxially and firmly connected to the output shaft of the fifth motor 23, and the fifth gear 2301 meshes with the fifth gear ring 802 to form a gear transmission structure. Thus, the fifth motor 23 can rotate and position the fifth ring rod 8. The fifth motor 23 integrates an encoder and a brake inside. The encoder can monitor the rotation angle of the fifth gear 2301 in real time to determine the phase of the fifth ring rod 8, and the brake can lock the position of the fifth ring rod 8.

[0034] A transmission thread is provided on the outer side of the second lead screw 9. The second lead screw 9 is rotatably installed between the fourth connecting plate 1201 and the fifth connecting plate 801. The second guide rod 11 has a smooth round rod structure. The second guide rod 11 is fixedly installed between the fourth connecting plate 1201 and the fifth connecting plate 801, and the second guide rod 11 is parallel to the second lead screw 9; the tenth motor 17 is fixedly installed on the front side of the outer end of the fourth connecting plate 1201, and the output shaft of the tenth motor 17 is coaxially and firmly connected to the second lead screw 9. The tenth motor 17 integrates an encoder and a brake inside. The encoder can detect the rotation angle of the second lead screw 9 in real time to determine the position of the second drilling device 10, and the brake can lock the position of the second drilling device 10.

[0035] Such as Figure 8As shown, the first drilling device 4 includes a lead screw slide 29, a swing arm motor 30, a swing arm 31, a first connecting rod 32, a second connecting rod 33, a third connecting rod 34, a fourth connecting rod 35, a fifth connecting rod 36, a moving table 37, a drill motor 38, a drill bit 39, a sixth connecting rod 40, and a seventh connecting rod 41. The lead screw slide 29 is provided with a threaded hole and a smooth round hole, and the threaded hole and the smooth round hole are arranged in parallel. The lead screw slide 29 is installed on the first lead screw 3 and the first guide rod 5. The threaded hole in the lead screw slide 29 is fitted with the first lead screw 3 to form a screw pair, and the smooth round hole in the lead screw slide 29 is coaxially installed with the first guide rod 5 to form a moving pair. Thus, the ninth motor 15 can move the lead screw slide 29 by rotating the first lead screw 3. The swing arm motor 30 is vertically and fixedly installed inside the lead screw slide 29. The output shaft of the swing arm motor 30 is fixedly connected to the inner end of the swing arm 31. An encoder and a brake are provided inside the swing arm motor 30. The encoder can monitor the rotation angle of the swing arm 31 in real time, and the brake can lock the position of the swing arm 31. A left incomplete gear is provided on the outer side of the upper end of the seventh connecting rod 41. The upper end of the seventh connecting rod 41 is rotatably connected to the left outer end of the swing arm 31. A right incomplete gear is provided on the outer side of the upper end of the first connecting rod 32. The upper end of the first connecting rod 32 is rotatably connected to the right outer end of the swing arm 31. The left incomplete gear and the right incomplete gear mesh to form a gear transmission structure. Thus, the seventh connecting rod 41 and the first connecting rod 32 can perform synchronous opening and closing actions. The upper end of the second connecting rod 33 is rotatably connected to the right outer end of the swing arm 31. The lower end of the second connecting rod 33 is rotatably connected to the upper end of the fourth connecting rod 35. The lower end of the fourth connecting rod 35 is rotatably connected to the right end of the moving table 37. The lower end of the first connecting rod 32 is rotatably connected to the upper end of the fifth connecting rod 36. The lower end of the fifth connecting rod 36 is rotatably connected to a position near the right end of the moving table 37. The left end of the third connecting rod 34 is rotatably connected to the lower end of the first connecting rod 32. The right end of the third connecting rod 34 is rotatably connected to the lower end of the second connecting rod 33. Thus, the swing arm 31, the first connecting rod 32, the second connecting rod 33, and the third connecting rod 34 form a quadrilateral connecting rod structure. The third connecting rod 34, the fourth connecting rod 35, the fifth connecting rod 36, and the moving table 37 form a quadrilateral connecting rod mechanism. The lower end of the seventh connecting rod 41 is rotatably connected to the upper end of the sixth connecting rod 40. The lower end of the sixth connecting rod 40 is rotatably connected to the left end of the moving table 37. The drill motor 38 is fixedly installed on the upper side of the moving table 37. The output shaft of the drill motor 38 is coaxially and fixedly connected to the upper end of the drill bit 39. The left end of the electric cylinder 28 is rotatably connected to a position near the lower end of the seventh connecting rod 41. The right end of the electric cylinder 28 is rotatably connected to a position near the upper end of the second connecting rod 33. Thus, when the electric cylinder 28 extends, the moving table 37 drives the drill bit 39 to move upward. When the electric cylinder 28 contracts, the moving table 37 drives the drill bit 39 to move downward. An encoder is integrated inside the electric cylinder 28, and the encoder can monitor the extension amount of the electric cylinder 28 in real time to determine the position of the drill bit 39.

[0036] The structure of the second drilling device 10 is the same as that of the first drilling device 4. The second drilling device 10 is installed on the second lead screw 9 and the second guide rod 11. Moreover, the lead screw slides of the second drilling device 10 respectively form a screw pair and a moving pair with the second lead screw 9 and the second guide rod 11. Thus, the tenth motor 17 drives the rotation of the second lead screw 9 to realize the movement of the second drilling device 10; the first drilling device 4 can swing within a range of 210° on the lower side, and the second drilling device 10 can swing within a range of 210° on the upper side. Thus, the two drilling devices can completely cover the drilling requirements within the 360° range of the patient's limb.

Claims

1. An automatic drilling device for limb bones, mainly comprising a device body (1), a No. 1 ring rod (2), a No. 1 drilling device (4), a No. 8 ring rod (6), an electric slide (7), a No. 5 ring rod (8), a No. 2 drilling device (10), a No. 4 ring rod (12), a No. 2 ring rod (25), a No. 2 elastic band (26), a No. 1 elastic band (27), a No. 4 elastic band (42), a rear support plate (43), a No. 3 ring rod (44), and a No. 6 ring rod (45), characterized in that: The lower side of the equipment body (1) is provided with four Forma wheels (13), the upper end of which is provided with a front ring frame (101) and a rear ring frame (102), both of which are circular ring structures with a notch at the upper end, the lower end of the front ring frame (101) is provided with a front support plate (103), the right side and the left side of the front ring frame (101) are respectively provided with a group of freely rotatable No. 1 guide wheel group (104) and No. 2 guide wheel group (110), the right side and the left side of the rear ring frame (102) are respectively provided with a group of freely rotatable No. 3 guide wheel group (105) and No. 4 guide wheel group (118), the electric slide (7) is installed on the lower side of the rear ring frame (102), and the rear support plate (43) is installed on the upper side of the slider (24) of the electric slide (7); The second ring rod (25), the third ring rod (44), the sixth ring rod (45) and the seventh ring rod are all annular rotating rods with a notch at the upper end. The first two are rotatably mounted inside the front ring frame (101) and can fix the inner ends of the patient's limbs by tightening the first elastic band (27) and the second elastic band (26). The last two are rotatably mounted inside the rear ring frame (102) and can fix the outer ends of the patient's limbs by tightening the third elastic band and the fourth elastic band (42). The main structures of the first ring rod (2), the fourth ring rod (12), the fifth ring rod (8) and the eighth ring rod (6) are all annular rotating rods with notches, and the upper ends of the four ring rods are respectively provided with a first connecting plate (201), a fourth connecting plate (1201), a fifth connecting plate (801) and an eighth connecting plate (601); the first ring rod (2) and the fourth ring rod (12) are rotatably mounted inside the front ring frame (101); the fifth ring rod (8) and the eighth ring rod (6) are rotatably mounted inside the rear ring frame (102); a first screw rod (3) and a first guide rod (5) are mounted between the first connecting plate (201) and the eighth connecting plate (601); and a second screw rod (9) and a second guide rod (11) are mounted between the fourth connecting plate (1201) and the fifth connecting plate (801); The screw slide (29) in the No. 1 drilling device (4) is installed on the No. 1 screw (3) and the No. 1 guide rod (5) to form a moving pair, the inner end of the rotating arm (31) is rotatably installed on the lower side of the screw slide (29), the No. 1 connecting rod (32) and the No. 2 connecting rod (33) are rotatably installed on the right side of the outer end of the rotating arm (31) and together with the No. 3 connecting rod (34) form a quadrilateral connecting rod structure, the No. 3 connecting rod (34), the No. 4 connecting rod (35), the No. 5 connecting rod (36) and the right end of the moving platform (37) form a quadrilateral connecting rod mechanism, and the left end of the moving platform (37) is connected by six The No. 7 connecting rod (40) and the No. 7 connecting rod (41) are rotatably connected to the left side of the outer end of the rotating arm (31); a drill motor (38) is installed on the upper side of the movable platform (37); the drill motor (38) can drive the rotation of the drill (39); the electric cylinder (28) is installed between the No. 7 connecting rod (41) and the No. 2 connecting rod (33) and can realize the up and down movement of the drill (39); the No. 2 drilling device (10) has the same structure as the No. 1 drilling device (4); the No. 2 drilling device (10) is installed on the No. 2 screw rod (9) and the No. 2 guide rod (11) and forms a movable pair.

2. The automatic drilling device for limb bones according to claim 1, characterized in that: The upper ends of the front support plate (103) and the rear support plate (43) are both arc-shaped plate structures, and the front support plate (103) and the rear support plate (43) can be used to provide support for the patient's limbs.

3. The automatic drilling device for limb bones according to claim 1, characterized in that: The No. 1 elastic band (27), the No. 2 elastic band (26), the No. 3 elastic band and the No. 4 elastic band (42) are all elastic flat band structures; the upper right end of the No. 2 ring rod (25) drives the upper end of the No. 1 elastic band (27) to rotate counterclockwise, so that the No. 1 elastic band (27) is stretched and pressed against the upper left side of the inner end of the patient's limb; the upper left end of the No. 3 ring rod (44) drives the upper end of the No. 2 elastic band (26) to rotate clockwise, so that the No. 2 elastic band (26) is stretched and pressed against the upper right side of the inner end of the patient's limb; the upper left end of the No. 6 ring rod (45) drives the upper end of the No. 3 elastic band to rotate clockwise, so that the No. 3 elastic band is stretched and pressed against the upper right side of the outer end of the patient's limb; the upper right end of the No. 7 ring rod drives the upper end of the No. 4 elastic band (42) to rotate counterclockwise, so that the No. 4 elastic band (42) is stretched and pressed against the upper left side of the outer end of the patient's limb.

4. The automatic drilling device for limb bones according to claim 1, characterized in that: The outer side of the first screw rod (3) is provided with a transmission thread, and the first screw rod (3) is rotatably installed between the first connecting plate (201) and the eighth connecting plate (601). The first guide rod (5) is a round rod structure with a smooth surface, and the first guide rod (5) is fixedly installed between the first connecting plate (201) and the eighth connecting plate (601), and the first guide rod (5) is in a parallel state with the first screw rod (3).

5. The automatic drilling device for limb bones according to claim 1, characterized in that: The outer side of the second screw rod (9) is provided with a transmission thread, and the second screw rod (9) is rotatably installed between the fourth connecting plate (1201) and the fifth connecting plate (801). The second guide rod (11) is a round rod structure with a smooth surface, and the second guide rod (11) is fixedly installed between the fourth connecting plate (1201) and the fifth connecting plate (801), and the second guide rod (11) is in a parallel state with the second screw rod (9).

6. The automatic drilling device for limb bones according to claim 1, characterized in that: A right incomplete gear is arranged on the outer side of the upper end of the No. 1 connecting rod (32), and a left incomplete gear is arranged on the outer side of the upper end of the No. 7 connecting rod (41). The left incomplete gear is meshed with the right incomplete gear to form a gear transmission structure, so that the No. 7 connecting rod (41) and the No. 1 connecting rod (32) can realize synchronous opening and closing actions.

7. The automatic drilling device for limb bones according to claim 1, characterized in that: The No. 1 drilling device (4) can swing within a range of 210° on the lower side, and the No. 2 drilling device (10) can swing within a range of 210° on the upper side, so that the two drilling devices can fully cover the drilling needs within a range of 360° of the patient's limbs.

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