Trundle lifting structure for surgical navigation robot

Abstract

The utility model discloses a caster lifting structure for a surgical navigation robot, which is characterized in that a lifting column and a caster have an indirect fixing function, so that the caster has a lifting function, and when a surgical robot positioning trolley needs to move, the caster is landed, so that the surgical robot positioning trolley can move conveniently; in the operation period, the caster is lifted to enable the supporting foot cup to touch the ground, the foot cup is fixedly connected with the mechanical arm frame, and no gap exists, so that absolute stability of the mechanical arm frame can be guaranteed. The method is used for reducing the precision error of the tail end of the mechanical arm caused by shaking of a mechanical arm frame.

Description

Technical Field

[0001] The utility model relates to the field of electromechanical equipment, in particular to a caster lifting structure used in a surgical navigation robot. Background Art

[0002] Currently in the medical field, in joint replacement surgery using robot-assisted equipment, the accuracy of the end of the robotic arm plays a vital role. If the robotic arm frame has a slight shake, it will be transmitted to the end of the robotic arm, resulting in a huge error. Therefore, the shaking problem of the robotic arm frame has a huge impact on the surgical robot. At present, the CN202222853399.0 patent and the CN202223357981.4 patent both use an electric lifting column to enable the foot cup to have a lifting function. During the operation, the foot cup is placed on the ground to maintain the stability of the robotic arm frame. However, no matter what kind of motor lifting column is used, the gap between the lifting shaft and the fixed shaft cannot be avoided. As long as there is a gap, the shaking problem of the robotic arm frame cannot be avoided.

[0003] In summary, a caster lifting structure for a surgical navigation robot is needed to address the deficiencies in the prior art. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a caster lifting structure for a surgical navigation robot, aiming to solve the above problems.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a caster lifting structure for a surgical navigation robot, comprising a mechanical arm frame, a supporting foot cup is arranged at the lower part of the mechanical arm frame, the supporting foot cup is fixedly connected to the mechanical arm frame, a lifting column fixing cover plate is arranged inside the mechanical arm frame, the lifting column fixing cover plate is fixedly connected to the mechanical arm frame, a caster fixing base plate is arranged below the mechanical arm frame, a lifting column is arranged between the caster fixing base plate and the lifting column fixing cover plate, the lifting column passes through the bottom of the mechanical arm frame, the upper end of the lifting column is fixedly connected to the lifting column fixing cover plate, the lower end of the lifting column is fixedly connected to the caster fixing base plate, a universal caster is arranged below the caster fixing base plate, and the universal caster is detachably connected to the caster fixing base plate.

[0006] Optionally, the lifting column includes a lifting outer shell and a lifting inner column, the lifting inner column is arranged in the lifting outer shell, the lifting inner column moves up and down in the lifting outer shell, the lifting outer shell is fixedly connected to the lifting column fixed cover plate, and the lifting inner column is fixedly connected to the caster fixed base plate.

[0007] Optionally, a lifting column avoidance hole is provided at the bottom of the robot arm frame, and the lifting inner column is provided in the lifting column avoidance hole.

[0008] Optionally, a guide shaft is arranged on the caster fixing base plate, and the guide shaft is fixedly connected to the caster fixing base plate; a linear bearing is arranged on the robotic arm frame, and the linear bearing is fixedly connected to the robotic arm frame; and the guide shaft is arranged in the linear bearing.

[0009] Optionally, a foot cup avoidance hole is provided on the caster fixing base plate, and the supporting foot cup is provided in the foot cup avoidance hole.

[0010] Beneficial effects of the utility model:

[0011] 1. In the utility model, the lifting column and the caster have an indirect fixing effect, so that the caster has a lifting function. When the surgical robot positioning trolley needs to be moved, the caster is placed on the ground to facilitate the movement of the surgical robot positioning trolley; during the operation, the caster is raised to make the supporting foot cups on the ground. Because the foot cups are fixedly connected to the mechanical arm frame, there is no gap problem, so the absolute stability of the mechanical arm frame can be guaranteed. It is used to reduce the precision error of the end of the mechanical arm caused by the shaking of the mechanical arm frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0013] Figure 2 The figure is a schematic diagram of a cross-sectional structure of a lifting column.

[0014] In the figure: 1. Robot arm frame; 2. Lifting column fixing cover plate; 3. Caster fixing base plate; 4. Lifting column; 5. Support foot cup; 6. Universal caster; 7. Guide shaft; 8. Linear bearing; 9. Lifting column avoidance hole; 10. Foot cup avoidance hole; 41. Lifting outer cover; 42. Lifting inner column; 43. Lifting motor; 44. Lifting stud. DETAILED DESCRIPTION

[0015] In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] In conjunction with the instruction manual Figure 1 -Attached Figure 2 , explain this technical solution

[0017] like Figure 1-Figure 2As shown, a caster lifting structure for a surgical navigation robot includes a robotic arm frame 1, a supporting foot cup 5 is arranged at the lower part of the robotic arm frame 1, the supporting foot cup 5 is fixedly connected to the robotic arm frame 1, a lifting column fixing cover plate 2 is arranged inside the robotic arm frame 1, the lifting column fixing cover plate 2 is fixedly connected to the robotic arm frame 1, a caster fixing base plate 3 is arranged below the robotic arm frame 1, a lifting column 4 is arranged between the caster fixing base plate 3 and the lifting column fixing cover plate 2, the lifting column 4 passes through the bottom of the robotic arm frame 1, the upper end of the lifting column 4 is fixedly connected to the lifting column fixing cover plate 2, the lower end of the lifting column 4 is fixedly connected to the caster fixing base plate 3, a universal caster 6 is arranged below the caster fixing base plate 3, and the universal caster 6 is detachably connected to the caster fixing base plate 3.

[0018] The lifting column 4 includes a lifting outer shell 41 and a lifting inner column 42. The lifting inner column 42 is arranged in the lifting outer shell 41. The lifting inner column 42 moves up and down in the lifting outer shell 41. The lifting outer shell 41 is fixedly connected to the lifting column fixed cover plate 2. The lifting inner column 42 is fixedly connected to the caster fixed base plate 3. A lifting stud 44 is arranged on the lifting inner column 42. The lifting stud 44 is threadedly connected to the lifting inner column 42. A lifting motor 43 is connected to the lifting stud 44. The lifting motor 43 and the lifting stud 44 are detachably connected. The lifting motor 43 is fixedly connected to the lifting outer shell 41.

[0019] A lifting column avoidance hole 9 is set at the bottom of the robot arm frame 1, and the lifting inner column 42 is set in the lifting column avoidance hole 9. A guide shaft 7 is set on the caster fixing base plate 3, and the guide shaft 7 is fixedly connected to the caster fixing base plate 3. A linear bearing 8 is set on the robot arm frame 1, and the linear bearing 8 is fixedly connected to the robot arm frame 1. The guide shaft 7 is set in the linear bearing 8. A foot cup avoidance hole 10 is set on the caster fixing base plate 3, and the supporting foot cup 5 is set in the foot cup avoidance hole 10.

[0020] Working principle of the utility model: when the surgical robot positioning trolley needs to be moved, the lifting inner column 42 is pushed outward, so that the universal caster 6 touches the ground and the supporting foot cup 5 is off the ground, and the surgical robot positioning trolley can be moved at this time.

[0021] During surgery, the lifting inner column 42 retracts, allowing the supporting foot cup 5 to touch the ground and the universal caster 6 to leave the ground. Because the supporting foot cup 5 is fixedly connected to the robot arm frame 1 and there is no gap problem, the absolute stability of the robot arm frame 1 can be guaranteed.

[0022] The lifting column and the caster have an indirect fixing effect, which enables the caster to have a lifting function. When the surgical robot positioning trolley needs to be moved, the caster is placed on the ground to facilitate the movement of the surgical robot positioning trolley; during the operation, the caster is raised to make the supporting foot cups on the ground. Because the foot cups are fixedly connected to the mechanical arm frame, there is no gap problem, so the absolute stability of the mechanical arm frame can be guaranteed. It is used to reduce the precision error of the end of the mechanical arm caused by the shaking of the mechanical arm frame.

[0023] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A caster lifting structure for a surgical navigation robot, characterized in that: It includes a mechanical arm frame, a supporting foot cup is arranged at the lower part of the mechanical arm frame, the supporting foot cup is fixedly connected to the mechanical arm frame, a lifting column fixing cover plate is arranged inside the mechanical arm frame, the lifting column fixing cover plate is fixedly connected to the mechanical arm frame, a caster fixing base plate is arranged below the mechanical arm frame, a lifting column is arranged between the caster fixing base plate and the lifting column fixing cover plate, the lifting column passes through the bottom of the mechanical arm frame, the upper end of the lifting column is fixedly connected to the lifting column fixing cover plate, the lower end of the lifting column is fixedly connected to the caster fixing base plate, a universal caster is arranged below the caster fixing base plate, and the universal caster is detachably connected to the caster fixing base plate.

2. The caster lifting structure for a surgical navigation robot according to claim 1, characterized in that: The lifting column comprises a lifting outer shell and a lifting inner column, wherein the lifting inner column is arranged in the lifting outer shell, and the lifting inner column moves up and down in the lifting outer shell, the lifting outer shell is fixedly connected to a lifting column fixed cover plate, and the lifting inner column is fixedly connected to a caster fixed bottom plate.

3. The caster lifting structure for a surgical navigation robot according to claim 2, characterized in that: A lifting column avoidance hole is arranged at the bottom of the mechanical arm frame, and the lifting inner column is arranged in the lifting column avoidance hole.

4. The caster lifting structure for a surgical navigation robot according to claim 1, characterized in that: A guide shaft is arranged on the caster fixing base plate, and the guide shaft is fixedly connected to the caster fixing base plate. A linear bearing is arranged on the mechanical arm frame, and the linear bearing is fixedly connected to the mechanical arm frame. The guide shaft is arranged in the linear bearing.

5. The caster lifting structure for a surgical navigation robot according to claim 1, characterized in that: The caster fixing bottom plate is provided with a foot cup avoidance hole, and the supporting foot cup is arranged in the foot cup avoidance hole.

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