Driving mechanism of movable carrying table and ophthalmologic operation robot

Abstract

The utility model discloses a driving mechanism of moving platform deck and ophthalmologic operation robot, the driving mechanism of moving platform deck includes base plate, first transfer subassembly, second transfer subassembly and third transfer subassembly, first transfer subassembly is provided on the base plate, is provided with second transfer subassembly, third transfer subassembly is provided on the second transfer subassembly, and third transfer subassembly is provided on the base plate. The first transferring assembly enables the second transferring assembly to move in the first direction. The second transferring assembly is provided with a third transferring assembly, the second transferring assembly enables the third transferring assembly to move in the second direction, the third transferring assembly is provided with a movable carrying table, and the third transferring assembly drives the movable carrying table to move in the vertical direction. According to the driving mechanism of the movable carrying table, the second transferring assembly is moved in the first horizontal direction through the first transferring assembly, the third transferring assembly is moved in the second horizontal direction through the second transferring assembly, and the movable carrying table is moved in the vertical direction through the third transferring assembly, so that the movable carrying table can move in a multi-axis mode, the structure is simple, and operation is convenient. The occupied space is small.

Description

Technical Field

[0001] The utility model relates to the technical field of ophthalmic surgical robots, in particular to a driving mechanism of a mobile platform and an ophthalmic surgical robot. Background Art

[0002] In ophthalmic surgery, the target tissue of intraocular surgery is located inside the eyeball, which is bounded by the posterior membrane of the lens and is divided into anterior segment surgery (such as cataract phacoemulsification and trabeculectomy, etc.) and posterior segment surgery (such as vitrectomy, retinal vein catheterization and retinal vein bypass, etc.). Especially in posterior segment surgery, the target tissue is the most precise and the operation accuracy requirements are the highest.

[0003] Therefore, surgical robots with high motion accuracy and good control stability to assist or replace doctors in performing surgery have become the research direction of the scientific community to solve the above pain points. At present, ophthalmic surgical robots usually include a mobile platform, on which a control system and an actuator are arranged. During the use of the ophthalmic surgical robot, the mobile platform needs to be driven by the platform driving mechanism to move; most of the existing ophthalmic surgical robot platform driving mechanisms can only drive the mobile platform to rise and fall, which causes the actuator to complete more actions when working, and the overall structure of the actuator is complex and occupies a large space. Utility Model Content

[0004] In order to solve the related technical problems, the purpose of the present utility model is to provide a driving mechanism for a mobile platform to solve the problems of complex structure and large space occupied by the driving mechanism; in addition, the present utility model also provides an ophthalmic surgical robot including the driving mechanism of the above-mentioned mobile platform.

[0005] To achieve the above purpose, the embodiment of the utility model adopts the following technical solutions:

[0006] A driving mechanism for a mobile stage comprises a substrate, a first transfer assembly, a second transfer assembly and a third transfer assembly, wherein:

[0007] The first transfer assembly includes a first driving member and a first moving member, the fixed end of the first driving member is mounted on the base plate, the driving end of the first driving member is connected to the first moving member, the first moving member is mounted on the base plate so as to be reciprocatingly movable along a first horizontal direction, and the first driving member is configured to drive the first moving member to reciprocate along the first horizontal direction;

[0008] The second transfer assembly is arranged on the first moving member, the second transfer assembly comprises a second driving member and a second moving member, the fixed end of the second driving member is fixedly mounted on the first moving member, the second moving member is reciprocatably mounted on the first moving member along a second horizontal direction, and the first driving member is configured to drive the second moving member to reciprocate along the second horizontal direction;

[0009] The third transfer assembly is arranged on the second movable member, and the third transfer assembly includes a third driving member and a third movable member. The fixed end of the third driving member is installed on the second movable member, and the driving end of the third driving member is connected to the third movable member. The third movable member is installed on the second movable member in a liftable manner, and a movable carrier is installed on the third movable member.

[0010] Optionally, the first driving member includes a first servo motor, a first screw rod and a first nut, the fixed end of the first servo motor is mounted on the substrate, the first screw rod is rotatably mounted on the substrate and extends along a first horizontal direction, the driving end of the first servo motor is connected to the first screw rod, the first servo motor is configured to drive the first screw rod to rotate, and the first nut is mounted on the first screw rod and fixedly connected to the first moving member.

[0011] Optionally, the second driving member includes a second servo motor, a second screw rod and a second nut, the fixed end of the second servo motor is mounted on the first movable member, the second screw rod is rotatably mounted on the first movable member and extends along a second horizontal direction, the driving end of the second servo motor is connected to the second screw rod, the second servo motor is configured to drive the second screw rod to rotate, and the second nut is sleeved on the second screw rod and fixedly connected to the second movable member.

[0012] Optionally, the third driving member includes a third servo motor, a third screw rod, a third nut and a transmission assembly, the fixed end of the third servo motor is mounted on the second movable member, the third screw rod is rotatably mounted on the second movable member and extends in a vertical direction, the driving end of the third servo motor is connected to the first end of the third screw rod through a transmission assembly, the third servo motor is configured to drive the third screw rod to rotate, and the third nut is mounted on the third screw rod and fixedly connected to the movable carrier.

[0013] Optionally, the transmission assembly includes a first transmission wheel, a second transmission wheel and a transmission belt, the first transmission wheel is fixedly mounted on the driving end of the third servo motor, the second transmission wheel is fixedly mounted on the first end of the third screw rod, and the first transmission wheel and the second transmission wheel are connected via a transmission belt.

[0014] Optionally, first sensing members are provided at both ends of the substrate along the first horizontal direction, and are spaced apart on one side of the first driving member, the first sensing member is configured to limit the moving distance of the first moving member in the first horizontal direction, second sensing members are provided at both ends of the first moving member along the second horizontal direction, and are spaced apart on one side of the second driving member, the second sensing member is configured to limit the moving distance of the second moving member in the second horizontal direction, third sensing members are provided at both ends of the second moving member along the vertical direction, and are spaced apart on one side of the third driving member, the third sensing member is configured to limit the moving distance of the third moving member in the vertical direction.

[0015] Optionally, a first slide rail is arranged on the base plate along the first horizontal direction, the first movable member is movably mounted on the first slide rail, a second slide rail is arranged on the first movable member along the second horizontal direction, the second movable member is movably mounted on the second slide rail, a third slide rail is arranged on the second movable member along the vertical direction, and the third slide rail is arranged on both sides of the second horizontal direction of the third screw rod, and the third movable member is movably mounted on the third slide rail.

[0016] Optionally, the second movable member includes a first mounting plate and a second mounting plate, the first mounting plate is horizontally arranged on the first nut along the first direction, the second mounting plate is arranged vertically to the first mounting plate, and a through hole is opened at the bottom of the second mounting plate, and the through hole is configured to pass through the transmission belt.

[0017] Optionally, the third movable member includes a connecting plate and a third mounting plate, the connecting plate is an L-shaped plate, the connecting plate includes a first connecting portion and a second connecting portion that are perpendicular to each other, the first connecting portion is vertically arranged and fixedly connected to the third movable member, an avoidance groove is provided at the bottom of the first connecting portion, the first end of the second connecting portion is arranged at the top end of the first connecting portion, and the third mounting plate is vertically installed at the second end of the second connecting portion.

[0018] An ophthalmic surgical robot comprises the above-mentioned driving mechanism of a movable platform.

[0019] The beneficial effects of the utility model are as follows: compared with the prior art, the driving mechanism of the mobile platform provided by the utility model has the following beneficial effects:

[0020] 1. The second moving assembly is moved in the first horizontal direction by the first moving assembly, the third moving assembly is moved in the second horizontal direction by the second moving assembly, and the mobile stage is moved in the vertical direction by the third moving assembly, so that the mobile stage can be driven to move in three axes, with a simple structure and small space occupation;

[0021] 2. By installing one end of the first moving member on the first nut and connecting the other end to the first slide rail, installing one end of the second moving member on the second nut and connecting the other end to the second slide rail, installing one end of the third moving member on the third nut and connecting the other end to the third slide rail, the stability of the driving mechanism in the first horizontal direction, the second horizontal direction and the vertical direction is increased;

[0022] 3. The first driving member, the second driving member and the third driving member all adopt servo motors, the driving stroke control accuracy is high and the driving stroke is adjustable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following briefly introduces the background technology of the present invention and the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0024] Figure 1 It is a structural schematic diagram of a driving mechanism of a mobile platform and an ophthalmic surgical robot provided in an embodiment of the utility model;

[0025] Figure 2 It is a structural schematic diagram of a driving mechanism of a mobile platform and an ophthalmic surgical robot provided in an embodiment of the utility model;

[0026] Figure 3 It is a structural schematic diagram of a driving mechanism of a mobile platform and an ophthalmic surgical robot provided in an embodiment of the utility model;

[0027] Figure 4 It is a structural schematic diagram of a driving mechanism of a mobile platform and a first transfer component in an ophthalmic surgical robot provided by an embodiment of the utility model;

[0028] Figure 5 It is a structural schematic diagram of a driving mechanism of a mobile platform and a second transfer component in an ophthalmic surgical robot provided by an embodiment of the utility model;

[0029] Figure 6 It is a structural schematic diagram of a driving mechanism of a mobile platform and a third transfer component in an ophthalmic surgical robot provided by an embodiment of the utility model;

[0030] Figure 7 It is a structural schematic diagram of a driving mechanism of a mobile platform and a third transfer component in an ophthalmic surgical robot provided by an embodiment of the utility model;

[0031] Figure 8 It is a schematic structural diagram of a driving mechanism of a movable platform and a third movable part in an ophthalmic surgical robot provided by an embodiment of the utility model. DETAILED DESCRIPTION

[0032] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0033] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively with reference to the relevant drawings. The preferred embodiments of the utility model are given in the drawings. However, the utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thoroughly understood. It should be noted that when a component is referred to as "fixed to" another component, it can be directly on another component or there can also be a central component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a central component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the utility model. The terms used in the specification of the utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the utility model. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0034] See also Figures 1 to 8 As shown, this embodiment provides a driving mechanism for a movable stage, which includes a substrate 1, a first moving assembly 2, a second moving assembly 3 and a third moving assembly 4.

[0035] The first transfer assembly 2 includes a first driving member 21 and a first moving member 22. The fixed end of the first driving member 21 is mounted on the substrate 1. The driving end of the first driving member 21 is connected to the first moving member 22. The first moving member 22 is mounted on the substrate 1 so as to be reciprocatingly movable along a first horizontal direction. The first driving member 21 is configured to drive the first moving member 22 to reciprocate along the first horizontal direction.

[0036] The second transfer assembly 3 is disposed on the first moving member 22, and the second transfer assembly 3 includes a second driving member 31 and a second moving member 32. The fixed end of the second driving member 31 is fixedly mounted on the first moving member 22, and the second moving member 32 is reciprocatably mounted on the first moving member 22 along the second horizontal direction. The first driving member 21 is configured to drive the second moving member 32 to reciprocate along the second horizontal direction.

[0037] The third transfer assembly 4 is arranged on the second movable member 32, and the third transfer assembly 4 includes a third driving member 41 and a third movable member 42. The fixed end of the third driving member 41 is installed on the second movable member 32, and the driving end of the third driving member 41 is connected to the third movable member 42. The third movable member 42 is installed on the second movable member 32 in a liftable manner, and a movable platform 5 is installed on the third movable member 42.

[0038] Specifically, the length direction of the first movable member 22 is the first horizontal direction, the width direction of the first movable member 22 is the second horizontal direction, the first horizontal direction and the second horizontal direction are perpendicular to each other, the first driving member 21 includes a first servo motor 211, a first screw rod 212 and a first nut 213, the fixed end of the first servo motor 211 is installed on the substrate 1, the first screw rod 212 is rotatably installed on the substrate 1 and extends along the first horizontal direction, the driving end of the first servo motor 211 is connected to the first screw rod 212, the first servo motor 211 is configured to drive the first screw rod 212 to rotate, the first nut 213 is sleeved on the first screw rod 212 and is fixedly connected to the first movable member 22; the second driving member 31 includes a second servo motor 311, a second screw rod 312 and a second nut 313, the fixed end of the second servo motor 311 is installed on the first movable member 22, the second screw rod 312 is rotatable The third driving member 41 comprises a third servo motor 411, a third screw rod 412, a third nut 413 and a transmission assembly 414. The fixed end of the third servo motor 411 is mounted on the second moving member 32. The third screw rod 412 is rotatably mounted on the second moving member 32 and extends in a vertical direction. The driving end of the third servo motor 411 is connected to the second screw rod 312. The second servo motor 311 is configured to drive the second screw rod 312 to rotate. The second nut 313 is sleeved on the second screw rod 312 and is fixedly connected to the second moving member 32. The third driving member 41 comprises a third servo motor 411, a third screw rod 412, a third nut 413 and a transmission assembly 414. The fixed end of the third servo motor 411 is mounted on the second moving member 32. The third screw rod 412 is rotatably mounted on the second moving member 32 and extends in a vertical direction. The driving end of the third servo motor 411 is transmission-connected to the first end of the third screw rod 412 through the transmission assembly 414. The third servo motor 411 is configured to drive the third screw rod 412 to rotate. The third nut 413 is sleeved on the third screw rod 412 and is fixedly connected to the moving carrier 5.

[0039] It can be seen that the second transfer component 3 is moved in the first horizontal direction through the first transfer component 2, the third transfer component 4 is moved in the second horizontal direction through the second transfer component 3, and the mobile platform 5 is moved in the vertical direction through the third transfer component 4, so as to drive the mobile platform 5 to perform three-axis movement, with a simple structure and small space occupation.

[0040] As an embodiment, the transmission assembly 414 includes a first transmission wheel, a second transmission wheel and a transmission belt. The first transmission wheel is fixedly mounted on the driving end of the third servo motor 411, the second transmission wheel is fixedly mounted on the first end of the third screw rod 412, and the first transmission wheel and the second transmission wheel are connected by a transmission belt.

[0041] Specifically, the second movable member 32 includes a first mounting plate 321 and a second mounting plate 322. The first mounting plate 321 is horizontally arranged on the first nut 213 along the first direction, and the second mounting plate 322 is vertically arranged on the first mounting plate 321. A through hole 323 is opened at the bottom of the second mounting plate 322, and the through hole 323 is configured to pass through the transmission belt.

[0042] It can be seen that the third driving member 41 and the third screw rod 412 arranged on both sides of the second mounting plate 322 are connected in transmission through the transmission assembly 414, so the structure is more compact and space is saved.

[0043] As an embodiment, first sensing members 6 are provided at both ends of the substrate 1 along the first horizontal direction, and are spaced apart on one side of the first driving member 21. The first sensing member 6 is configured to limit the moving distance of the first moving member 22 in the first horizontal direction. Second sensing members 7 are provided at both ends of the first moving member 22 along the second horizontal direction, and are spaced apart on one side of the second driving member 31. The second sensing member 7 is configured to limit the moving distance of the second moving member 32 in the second horizontal direction. Third sensing members 8 are provided at both ends of the second moving member 32 along the vertical direction, and are spaced apart on one side of the third driving member 41. The third sensing member 8 is configured to limit the moving distance of the third moving member 42 in the vertical direction.

[0044] It can be seen that, by providing the first sensing element 6, the second sensing element 7 and the third sensing element 8, movement overload is avoided when the driving mechanism moves in the first horizontal direction, the second horizontal direction and the vertical direction, thereby improving the stability of movement.

[0045] As an embodiment, a first slide rail 11 is arranged on the substrate 1 along the first horizontal direction, the first movable member 22 is movably mounted on the first slide rail 11, a second slide rail 12 is arranged on the first movable member 22 along the second horizontal direction, the second movable member 32 is movably mounted on the second slide rail 12, a third slide rail 13 is arranged on the second movable member 32 along the vertical direction, and the third slide rail 13 is arranged on both sides of the second horizontal direction of the third screw rod 412, and the third movable member 42 is movably mounted on the third slide rail 13.

[0046] It can be seen that by installing one end of the first movable member 22 on the first nut 213, the other end of the first movable member 22 is connected to the first slide rail 11, one end of the second movable member 32 is installed on the second nut 313, the other end of the second movable member 32 is connected to the second slide rail 12, one end of the third movable member 42 is installed on the third nut 413, and the other end of the third movable member 42 is connected to the third slide rail 13, the stability of the driving mechanism moving in the first horizontal direction, the second horizontal direction and the vertical direction is increased.

[0047] As an embodiment, the third movable member 42 includes a connecting plate 421 and a third mounting plate 422, the connecting plate 421 is an L-shaped plate, and the connecting plate 421 includes a first connecting portion and a second connecting portion that are perpendicular to each other, the first connecting portion is vertically arranged, and is fixedly connected to the third movable member 42, an avoidance groove 423 is provided at the bottom of the first connecting portion, the first end of the second connecting portion is arranged at the top end of the first connecting portion, and the third mounting plate 422 is vertically installed at the second end of the second connecting portion.

[0048] It can be seen that by providing the avoidance groove 423, interference between the movable platform 5 and other components when moving in the vertical direction is avoided, thereby reducing the space occupied by the driving mechanism.

[0049] An ophthalmic surgical robot comprises the above-mentioned driving mechanism of a movable platform.

[0050] The specific working principle of the driving mechanism of the above-mentioned mobile stage is as follows:

[0051] The first servo motor 211 drives the first screw rod 212 to rotate so as to drive the first movable member 22 to move in the first horizontal direction through the first nut 213, and the second transfer component 3 moves following the first movable member 22. The second servo motor 311 drives the second screw rod 312 to rotate so as to drive the second movable member 32 to move in the second horizontal direction through the second screw, and the third transfer component 4 moves following the second movable member 32. The kinetic energy of the driving end of the third servo motor 411 is transmitted to the third screw rod 412 through the transmission component 414 to drive the third movable member 42 to drive the movable carrier 5 to move in the vertical direction through the third nut 413.

[0052] In the embodiments disclosed in the present invention, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "connect" can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments disclosed in the present invention can be understood according to specific circumstances.

[0053] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A driving mechanism for a mobile stage, characterized in that: The driving mechanism of the movable stage includes a base plate, a first moving assembly, a second moving assembly and a third moving assembly, wherein: The first transfer assembly includes a first driving member and a first moving member, the fixed end of the first driving member is mounted on the base plate, the driving end of the first driving member is connected to the first moving member, the first moving member is mounted on the base plate so as to be reciprocatingly movable along a first horizontal direction, and the first driving member is configured to drive the first moving member to reciprocate along the first horizontal direction; The second transfer assembly is arranged on the first moving member, the second transfer assembly comprises a second driving member and a second moving member, the fixed end of the second driving member is fixedly mounted on the first moving member, the second moving member is reciprocatably mounted on the first moving member along a second horizontal direction, and the first driving member is configured to drive the second moving member to reciprocate along the second horizontal direction; The third transfer assembly is arranged on the second movable member, and the third transfer assembly includes a third driving member and a third movable member. The fixed end of the third driving member is installed on the second movable member, and the driving end of the third driving member is connected to the third movable member. The third movable member is installed on the second movable member in a liftable manner, and a movable carrier is installed on the third movable member.

2. A driving mechanism for a mobile stage according to claim 1, characterized in that: The first driving member includes a first servo motor, a first screw rod and a first nut. The fixed end of the first servo motor is mounted on the substrate. The first screw rod is rotatably mounted on the substrate and extends along the first horizontal direction. The driving end of the first servo motor is connected to the first screw rod. The first servo motor is configured to drive the first screw rod to rotate. The first nut is mounted on the first screw rod and is fixedly connected to the first moving member.

3. A driving mechanism for a mobile stage according to claim 2, characterized in that: The second driving member includes a second servo motor, a second screw rod and a second nut. The fixed end of the second servo motor is mounted on the first movable member. The second screw rod is rotatably mounted on the first movable member and extends along the second horizontal direction. The driving end of the second servo motor is connected to the second screw rod. The second servo motor is configured to drive the second screw rod to rotate. The second nut is mounted on the second screw rod and fixedly connected to the second movable member.

4. The driving mechanism of the mobile stage according to claim 3, characterized in that: The third driving member includes a third servo motor, a third screw rod, a third nut and a transmission assembly. The fixed end of the third servo motor is mounted on the second movable member. The third screw rod is rotatably mounted on the second movable member and extends in a vertical direction. The driving end of the third servo motor is connected to the first end of the third screw rod through the transmission assembly. The third servo motor is configured to drive the third screw rod to rotate. The third nut is sleeved on the third screw rod and fixedly connected to the movable carrier.

5. The driving mechanism of a mobile stage according to claim 4, characterized in that: The transmission assembly includes a first transmission wheel, a second transmission wheel and a transmission belt. The first transmission wheel is fixedly mounted on the driving end of the third servo motor, the second transmission wheel is fixedly mounted on the first end of the third screw rod, and the first transmission wheel and the second transmission wheel are connected by the transmission belt.

6. The driving mechanism of a mobile stage according to claim 1, characterized in that: First sensing members are provided at both ends of the substrate along the first horizontal direction, and are spaced apart on one side of the first driving member, and the first sensing members are configured to limit the moving distance of the first moving member in the first horizontal direction; second sensing members are provided at both ends of the first moving member along the second horizontal direction, and are spaced apart on one side of the second driving member, and the second sensing members are configured to limit the moving distance of the second moving member in the second horizontal direction; third sensing members are provided at both ends of the second moving member along the vertical direction, and are spaced apart on one side of the third driving member, and the third sensing members are configured to limit the moving distance of the third moving member in the vertical direction.

7. The driving mechanism of a mobile stage according to claim 4, characterized in that: A first slide rail is arranged on the base plate along a first horizontal direction, the first movable member is movably mounted on the first slide rail, a second slide rail is arranged on the first movable member along a second horizontal direction, the second movable member is movably mounted on the second slide rail, a third slide rail is arranged on the second movable member along a vertical direction, and the third slide rail is arranged on both sides of the second horizontal direction of the third screw rod, and the third movable member is movably mounted on the third slide rail.

8. The driving mechanism of a mobile stage according to claim 5, characterized in that: The second movable member includes a first mounting plate and a second mounting plate, the first mounting plate is horizontally arranged on the first nut along a first direction, the second mounting plate is arranged vertically to the first mounting plate, and a through hole is opened at the bottom of the second mounting plate, and the through hole is configured to pass through the transmission belt.

9. The driving mechanism of a mobile stage according to claim 4, characterized in that: The third movable member includes a connecting plate and a third mounting plate, wherein the connecting plate is an L-shaped plate, and includes a first connecting portion and a second connecting portion that are perpendicular to each other, wherein the first connecting portion is vertically arranged and fixedly connected to the third movable member, wherein an avoidance groove is provided at the bottom of the first connecting portion, wherein the first end of the second connecting portion is arranged at the top end of the first connecting portion, and the third mounting plate is vertically mounted at the second end of the second connecting portion.

10. An ophthalmic surgical robot, characterized in that: The ophthalmic surgical robot comprises a driving mechanism for a movable platform as described in any one of claims 1 to 9.

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