Supporting and positioning mechanism and surgical robot thereof

Abstract

The supporting and positioning mechanism comprises a supporting seat, a supporting mechanism is arranged at the bottom end of the supporting seat, a lifting mechanism is arranged above the supporting mechanism and comprises a movable plate and a lead screw, a movable cavity is formed in the supporting seat, the outer wall of the movable plate is connected with the inner wall of the movable cavity in a sliding mode, and the lead screw is arranged in the movable cavity. The movable plate is connected with the supporting mechanism, the lead screw is rotationally connected to the inner wall of the movable cavity, a first threaded hole is formed in the top end of the movable plate, the outer wall of the lead screw is in threaded connection with the inner wall of the first threaded hole, and a driving mechanism is arranged at the top end of the lead screw. The movable cavity, the movable plate, the lead screw and the first threaded hole are arranged, the lead screw rotates and is in threaded fit with the inner wall of the first threaded hole, the movable plate can be driven to ascend and descend along with rotation of the lead screw, and therefore the supporting mechanism can overall ascend and descend, and the overall ascending and descending amplitude of the supporting mechanism is the same; and therefore, the use convenience and stability of the supporting mechanism are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot support, in particular to a support positioning mechanism and a surgical robot thereof. Background Art

[0002] A surgical robot is a common machine equipment in neurosurgery. It is equipped with a mechanical arm that controls the multi-axis movement of a scalpel to assist doctors in performing surgeries. In order to make the movement more convenient, current surgical robots are generally provided with universal wheels at the bottom of the robot to facilitate the movement of the robot. In addition, a plurality of retractable feet are provided at the bottom of the robot. When the surgical robot needs to work, the universal wheels are lifted off the ground by extending the feet to press against the ground, so that the surgical robot can work stably. However, most of the current feet are extended individually to work, resulting in the need to extend multiple feet one by one, which reduces the convenience of operation. Utility Model Content

[0003] The purpose of the utility model is to provide a support and positioning mechanism and a surgical robot thereof to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the utility model provides the following technical solutions: a support positioning mechanism, comprising a support seat, a moving mechanism is arranged at the bottom end of the support seat, a support mechanism is arranged at the bottom end of the support seat, a lifting mechanism is arranged above the support mechanism, and the lifting mechanism comprises:

[0005] A movable plate, wherein a movable cavity is provided inside the support seat, an outer wall of the movable plate is slidably connected to an inner wall of the movable cavity, and the movable plate is connected to the support mechanism;

[0006] The screw rod is rotatably connected to the inner wall of the movable cavity, a first threaded hole is opened at the top of the movable plate, the outer wall of the screw rod is threadedly connected to the inner wall of the first threaded hole, and a driving mechanism is arranged at the top of the screw rod.

[0007] Preferably, the supporting mechanism comprises a plurality of supporting rods, the top ends of the plurality of supporting rods are respectively fixedly connected to the bottom ends of the movable plates, a plurality of movable holes are opened at the bottom end of the inner wall of the movable cavity, the outer walls of the plurality of supporting rods are respectively movably connected to the inner walls of the plurality of movable holes, and the bottom ends of the plurality of supporting rods are all provided with contact mechanisms.

[0008] Preferably, the driving mechanism comprises a servo motor, a mounting cavity is provided inside the support seat, the servo motor is mounted on the inner wall of the mounting cavity, and the output end of the servo motor is drivingly connected to the top end of the screw rod.

[0009] Preferably, the contact mechanism includes a contact pad, a connecting mechanism is arranged between the contact pad and the support rod, a slot is opened at the bottom end of the support seat, the interior of the slot is connected with the interior of the movable hole, and the outer wall of the contact pad is movably connected with the inner wall of the slot.

[0010] Preferably, the connecting mechanism includes a second threaded hole and an external threaded groove, the second threaded hole is opened at the top of the contact pad, the outer wall of the support rod is movably connected with the inner wall of the second threaded hole, the external threaded groove is opened on the outer wall of the support rod, and the outer wall of the external threaded groove is threadedly connected with the inner wall of the second threaded hole.

[0011] Preferably, the moving mechanism includes a plurality of universal wheels, and the plurality of universal wheels are respectively installed at a plurality of corners of the bottom end of the support seat.

[0012] The utility model also provides a surgical robot, comprising the above-mentioned supporting and positioning mechanism.

[0013] Technical effects and advantages of the utility model:

[0014] The utility model utilizes the arrangement of a movable cavity, a movable plate, a screw rod and a first threaded hole. By rotating the screw rod and cooperating with the thread on the inner wall of the first threaded hole, the movable plate can be driven to rise and fall as the screw rod rotates, so that the supporting mechanism can be raised and lowered as a whole, and the overall lifting range of the supporting mechanism is the same, thereby improving the convenience and stability of the support mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0016] Figure 2 It is a front sectional structural schematic diagram of the support mechanism of the utility model.

[0017] Figure 3 This is a front cross-sectional structural schematic diagram of the contact pad of the utility model.

[0018] In the figure: 101, support seat; 201, movable cavity; 202, movable plate; 203, screw rod; 204, first threaded hole; 301, support rod; 302, movable hole; 401, installation cavity; 402, servo motor; 501, slot; 502, contact pad; 601, second threaded hole; 602, external thread groove; 701, universal wheel. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] The utility model provides Figure 1-3 A supporting and positioning mechanism shown includes a supporting seat 101, a moving mechanism is arranged at the bottom end of the supporting seat 101, a supporting mechanism is arranged at the bottom end of the supporting seat 101, a lifting mechanism is arranged above the supporting mechanism, and the lifting mechanism includes a movable plate 202 and a screw rod 203. A movable cavity 201 is opened inside the supporting seat 101, the outer wall of the movable plate 202 is slidably connected to the inner wall of the movable cavity 201, the movable plate 202 is connected to the supporting mechanism, and the screw rod 203 is rotatably connected to the inner wall of the movable cavity 201, and a first threaded hole 204 is opened at the top of the movable plate 202, the outer wall of the screw rod 203 is threadedly connected to the inner wall of the first threaded hole 204, and a driving mechanism is arranged at the top of the screw rod 203. By rotating the screw rod 203 and cooperating with the thread of the inner wall of the first threaded hole 204, the movable plate 202 can be lifted and lowered as the screw rod 203 rotates, so that the supporting mechanism can be lifted and lowered as a whole, and the overall lifting amplitude of the supporting mechanism is the same, thereby improving the convenience and stability of the support mechanism.

[0021] Among them, the supporting mechanism includes multiple support rods 301, the top ends of the multiple support rods 301 are fixedly connected to the bottom ends of the movable plates 202, the bottom ends of the inner walls of the movable chamber 201 are provided with multiple movable holes 302, the outer walls of the multiple support rods 301 are movably connected to the inner walls of the multiple movable holes 302, and the bottom ends of the multiple support rods 301 are provided with contact mechanisms. When the screw rod 203 rotates to drive the movable plate 202 to rise and fall, the multiple support rods 301 can be driven to rise and fall by the movable plate 202, so that the support rods 301 can support the support seat 101.

[0022] Preferably, the driving mechanism includes a servo motor 402, and an installation cavity 401 is opened inside the support seat 101. The servo motor 402 is installed on the inner wall of the installation cavity 401. The output end of the servo motor 402 is transmission-connected to the top end of the screw rod 203. The servo motor 402 can drive the first threaded hole 204 to rotate, thereby improving the convenience of the support mechanism. The servo motor 402 is electrically connected to the external power supply through an external switch, which is convenient for the operator to control the servo motor 402, thereby improving the safety and convenience of the operation of the servo motor 402.

[0023] Furthermore, the contact mechanism includes a contact pad 502, and a connecting mechanism is arranged between the contact pad 502 and the support rod 301. A card slot 501 is opened at the bottom end of the support seat 101, and the interior of the card slot 501 is connected with the interior of the movable hole 302. The outer wall of the contact pad 502 is movably connected with the inner wall of the card slot 501. The contact pad 502 is hard rubber. When the support mechanism is working, the contact pad 502 is in direct contact with the ground, which increases the friction between the contact pad 502 and the ground and improves the stability of the support mechanism.

[0024] Furthermore, the connecting mechanism includes a second threaded hole 601 and an external threaded groove 602. The second threaded hole 601 is opened at the top of the contact pad 502. The outer wall of the support rod 301 is movably connected with the inner wall of the second threaded hole 601. The external threaded groove 602 is opened on the outer wall of the support rod 301. The outer wall of the external threaded groove 602 is threadedly connected with the inner wall of the second threaded hole 601. Through the cooperation between the external threaded groove 602 and the second threaded hole 601, the contact pad 502 can be connected to the support rod 301, thereby facilitating the replacement of the worn contact pad 502.

[0025] The moving mechanism includes a plurality of universal wheels 701 , which are respectively installed at a plurality of corners at the bottom of the support base 101 , so that the support base 101 can be easily moved by the universal wheels 701 .

[0026] The utility model also provides a surgical robot, comprising the above-mentioned supporting and positioning mechanism.

[0027] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A support and positioning mechanism, comprising a support seat (101), a moving mechanism being arranged at the bottom end of the support seat (101), and a support mechanism being arranged at the bottom end of the support seat (101), characterized in that: A lifting mechanism is arranged above the supporting mechanism, and the lifting mechanism comprises: A movable plate (202), wherein a movable cavity (201) is provided inside the support seat (101), an outer wall of the movable plate (202) is slidably connected to an inner wall of the movable cavity (201), and the movable plate (202) is connected to a supporting mechanism; A screw rod (203) is rotatably connected to the inner wall of the movable chamber (201); a first threaded hole (204) is provided at the top of the movable plate (202); an outer wall of the screw rod (203) is threadedly connected to the inner wall of the first threaded hole (204); and a driving mechanism is provided at the top of the screw rod (203).

2. A supporting and positioning mechanism according to claim 1, characterized in that: The support mechanism comprises a plurality of support rods (301), the top ends of the plurality of support rods (301) are respectively fixedly connected to the bottom ends of the movable plates (202), the bottom ends of the inner walls of the movable chamber (201) are provided with a plurality of movable holes (302), the outer walls of the plurality of support rods (301) are respectively movably connected to the inner walls of the plurality of movable holes (302), and the bottom ends of the plurality of support rods (301) are all provided with contact mechanisms.

3. A supporting and positioning mechanism according to claim 1, characterized in that: The driving mechanism comprises a servo motor (402); a mounting cavity (401) is provided inside the support seat (101); the servo motor (402) is mounted on the inner wall of the mounting cavity (401); and the output end of the servo motor (402) is drivingly connected to the top end of the lead screw (203).

4. A supporting and positioning mechanism according to claim 2, characterized in that: The contact mechanism comprises a contact pad (502), a connection mechanism is arranged between the contact pad (502) and the support rod (301), a card slot (501) is provided at the bottom end of the support seat (101), the interior of the card slot (501) is connected to the interior of the movable hole (302), and the outer wall of the contact pad (502) is movably connected to the inner wall of the card slot (501).

5. A supporting and positioning mechanism according to claim 4, characterized in that: The connecting mechanism comprises a second threaded hole (601) and an external threaded groove (602), wherein the second threaded hole (601) is opened at the top end of the contact pad (502), the outer wall of the support rod (301) is movably connected with the inner wall of the second threaded hole (601), the external threaded groove (602) is opened on the outer wall of the support rod (301), and the outer wall of the external threaded groove (602) is threadedly connected with the inner wall of the second threaded hole (601).

6. A supporting and positioning mechanism according to claim 1, characterized in that: The moving mechanism comprises a plurality of universal wheels (701), and the plurality of universal wheels (701) are respectively installed at a plurality of corners at the bottom end of the support seat (101).

7. A surgical robot, characterized in that: The surgical robot comprises the supporting and positioning mechanism according to any one of claims 1-6.

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