Miniaturized motion execution mechanism for uterus involution instrument

Abstract

The utility model discloses a miniaturized motion actuating mechanism for a uterus involution instrument, which comprises a substrate I, a stepping motor is mounted in the middle of the upper side surface of the substrate I, the stepping motor is horizontally arranged on the substrate I, a driving gear is sleeved on an output shaft of the stepping motor, a main shaft is further arranged on the substrate I, a driven gear is mounted on the main shaft, and the driven gear is sleeved on the main shaft. The end, located on the lower side face of the first base plate, of the main shaft is connected with a rotary disc. A driven shaft is arranged on the turntable, the lower end of the driven shaft is connected with a base plate II, a linear guide rail II is arranged on the base plate II, a sliding block II slides on the linear guide rail II, the sliding block II is connected to a magnetic module, and a treatment head of the uterus involution instrument is mounted below the magnetic module; the second base plate is further provided with a driven hinge point, the driven hinge point is connected with a first sliding block, the first sliding block is arranged on a first linear guide rail in a sliding mode, and the first linear guide rail is fixed to the lower side face of the first base plate. The rigidity and the operation stability of the mechanism can be greatly optimized.

Description

Technical Field

[0001] The utility model relates to the technical field of automated medical external treatment and rehabilitation, and particularly relates to a miniaturized motion execution mechanism for a uterine involution instrument. Background Art

[0002] The ultrasonic uterine involution instrument is for uterine restoration. It adopts the ultrasonic focusing technology to converge ultrasonic energy on the uterus. By stimulating the uterine smooth muscle with low-intensity ultrasonic waves, it can promote uterine contraction, improve local pelvic blood circulation, promote the recovery of uterine function, and promote the absorption of local inflammatory effusion, having an anti-inflammatory effect.

[0003] The existing automated motion execution mechanism used in the automated uterine involution instrument is relatively large in volume, especially in the height direction. The motor of the existing automated motion execution mechanism is vertically installed on the substrate, and the motor shaft is parallel (or coaxial) to the driving shaft. Therefore, when the automated motion execution mechanism requires a large torque or a large motion radius, the torque requirement for the motor increases. And the existing automated motion execution mechanism often uses a stepping motor. A larger motor torque requires a motor with a larger volume, a larger weight, especially a longer length. The vertical placement of the motor makes the height, volume, and weight of the automated motion execution mechanism larger. In the automated uterine involution instrument, a treatment head is installed at the end of the automated motion execution mechanism, and the treatment head needs to reciprocate on the patient's body surface. The height and weight of the entire motion execution mechanism will affect the rigidity and operation stability of the mechanism. The larger the height and weight are, the smaller the rigidity of the mechanism is and the worse the operation stability is. Summary of the Utility Model

[0004] Technical Objective: Aiming at the deficiencies of the prior art, the utility model discloses a miniaturized motion execution mechanism for a uterine involution instrument, which can effectively solve the problems of large height, volume, and weight existing in the existing automated execution mechanism when a large torque and a large motion radius are required, and greatly optimize the rigidity and operation stability of the mechanism.

[0005] Technical Solution: To achieve the above technical objective, the utility model adopts the following technical solution:

[0006] A miniaturized motion execution mechanism for a uterine involution instrument includes a first substrate. A stepping motor is installed in the middle of the upper side of the first substrate. The stepping motor lies horizontally on the first substrate, and a driving gear is sleeved on the output shaft. A main shaft penetrating through both side surfaces of the first substrate is further provided on the first substrate. A driven gear is installed on the part of the main shaft located on the upper side of the first substrate. The driving gear meshes with the driven gear, and the transmission ratio of the driving gear to the driven gear is greater than 1. A turntable is connected to the part of the main shaft located on the lower side of the first substrate.

[0007] A driven shaft is provided at the edge of the turntable. The driven shaft and the main shaft are respectively located on the upper and lower sides of the turntable. A second substrate is connected to the lower end of the driven shaft. A second linear guide is provided on the surface of the second substrate away from the driven shaft. A second slider is slidably arranged on the second linear guide. The second slider is fixedly connected to the magnetic module. A treatment head of the uterine involution instrument is installed below the magnetic module.

[0008] A driven hinge point is also provided on the second substrate. The driven hinge point and the driven shaft are on the same surface of the second substrate. The driven hinge point is connected to the first slider. The first slider is slidably arranged on the first linear guide. The first linear guide is fixed on the lower side of the first substrate.

[0009] Preferably, both the driving gear and the driven gear are bevel gears, and the transmission ratio between the driving gear and the driven gear is 1:X, where X>1.

[0010] Preferably, a first substrate located at the upper end of the first linear guide is equipped with a photoelectric sensor, and an induction iron sheet is installed on the first slider.

[0011] Preferably, the first substrate is also provided with a motor mounting plate and a support sheet metal for installing and supporting the stepper motor.

[0012] Preferably, the driven shaft is connected to the second substrate through a bearing support.

[0013] Preferably, the main shaft is rotatably connected to the first substrate through a copper bushing.

[0014] Preferably, the magnetic module is connected to the mounting seat through an adapter plate below, and the mounting seat is used for installing the treatment head.

[0015] Beneficial effects: A miniaturized motion execution mechanism for a uterine involution instrument disclosed by the present utility model has the following beneficial effects:

[0016] In the present utility model, a reduction gear mechanism with a transmission ratio greater than 1 is adopted. The number of teeth of the driven gear is greater than that of the driving gear. At the same time, the stepper motor is horizontally placed on the first substrate, and the output shaft of the stepper motor is perpendicular to the main shaft. The power of the stepper motor is transmitted through the driving gear and the driven gear to produce a 90° angle change. The torque is amplified through the transmission ratio of the driving gear and the driven gear. A stepper motor with a smaller volume can be selected, which can well reduce the weight of the entire mechanism. The horizontally placed stepper motor can also greatly reduce the height of the entire mechanism, and keep the center of gravity at a position close to the middle of the first substrate.

[0017] Due to the reduction of the height and weight of the entire motion execution mechanism, and the amplification of the motor torque, the rigidity and torque of the mechanism have been greatly improved. Therefore, the motion radius of the entire mechanism can reach 10 mm. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the description of the embodiments or the prior art.

[0019] Figure 1 It is a three-dimensional structure diagram of the miniaturized motion actuator of the present invention;

[0020] Figure 2 It is a plane structure diagram of the miniaturized motion actuator of the present invention.

[0021] In the figure: 1. First substrate; 2. Stepper motor; 3. Driving gear; 4. Driven gear; 5. Main shaft; 6. Turntable; 7. Driven shaft; 8. Second substrate; 9. Second linear guide; 10. Second slider; 11. Magnetic module; 12. Driven hinge point; 13. First slider; 14. First linear guide; 15. Photoelectric sensor; 16. Inductive iron sheet; 17. Motor mounting plate; 18. Support sheet metal; 19. Bearing support; 20. Copper bushing; 21. Adapter plate; 22. Mounting seat. Specific embodiments

[0022] The following will more clearly and completely illustrate the present invention by way of a preferred embodiment in conjunction with the drawings, but the present invention is not thereby limited to the scope of the described embodiments.

[0023] As Figure 1-2As shown in the figure, the present utility model provides a miniaturized motion execution mechanism for a uterine involution instrument, including a first substrate 1. In the middle of the upper side of the first substrate 1, a stepping motor 2 is installed. The stepping motor 2 lies horizontally on the first substrate 1, and a driving gear 3 is sleeved on the output shaft. In the selection of the stepping motor, the models with increased torque often have a significant increase in length and weight. When placed vertically, there are serious defects in height and weight increase. When placed horizontally, the height problem brought about by selecting a stepping motor with a large torque can be perfectly avoided. On the first substrate 1, a main shaft 5 passing through both side surfaces of the first substrate 1 is also provided. The main shaft 5 is rotatably connected to the first substrate 1 through a copper bushing 20. At the end of the part of the main shaft 5 located on the upper side of the first substrate 1, a driven gear 4 is installed. The driving gear 3 meshes with the driven gear 4, and the transmission ratio of the driving gear 3 to the driven gear 4 is greater than 1. Both the driving gear 3 and the driven gear 4 are bevel gears. The characteristic of the bevel gear set is that it allows the power transmission to generate an angular change. In the present utility model, the two bevel gears cause the power transmission to generate a 90° angular change. The transmission ratio between the driving gear 3 and the driven gear 4 is 1:X, where X > 1. The value of X theoretically has no upper limit. Because under ideal transmission conditions (i.e., no loss), the input and output powers are the same, and the power P = T * N / 9550. From the formula, it can be seen that when the transmission ratio is 1:X, the input and output torques T and rotational speeds N are inversely proportional. When the device has high requirements for volume and weight, the value of X can be reasonably selected by weighing the rotational speed and the motor volume. In the present utility model, the transmission ratio can be taken as 1:2 or 1:3, for example. At the end of the part of the main shaft 5 located on the lower side of the first substrate 1, a turntable 6 is connected. The main shaft 5 is connected to the center of the turntable 6. The 90° transmission angle plus the horizontal placement of the stepping motor 2 can well reduce the height of the entire mechanism, and selecting a smaller stepping motor 2 can greatly reduce the weight of the entire mechanism.

[0024] On the edge of the turntable 6, a driven shaft 7 is provided. The driven shaft 7 and the main shaft 5 are respectively located on the upper and lower sides of the turntable 6. The lower end of the driven shaft 7 is connected to a second substrate 8. The driven shaft 7 is connected to the second substrate 8 through a bearing support 19. On the surface of the second substrate 8 away from the driven shaft 7, a second linear guide 9 is provided. A second slider 10 is slidably arranged on the second linear guide 9. The second slider 10 is fixedly connected to a magnetic force module 11. A treatment head of the uterine involution instrument is installed below the magnetic force module 11. Among them, the magnetic force module 11 is connected to a mounting seat 22 through an adapter plate 21. The mounting seat 22 is used for installing the treatment head.

[0025] A driven hinge point 12 is further provided on the second substrate 8. The driven hinge point 12 and the driven shaft 7 are located on the same surface of the second substrate 8. The driven hinge point 12 is connected to the first slider 13. The first slider 13 is slidably arranged on the first linear guide rail 14. The first linear guide rail 14 is fixed on the lower side surface of the first substrate 1. The first substrate 1 at the upper end of the first linear guide rail 14 is provided with a photoelectric sensor 15. An induction iron sheet 16 is installed on the first slider 13. The induction iron sheet 16 will reciprocally pass through the photoelectric sensor 15 as the driven hinge point 12 moves, and generate an electrical signal. By collecting this electrical signal, the movement speed and working state of the entire movement execution mechanism can be detected.

[0026] The first substrate 1 is further provided with a motor mounting plate 17 and a support sheet metal 18 for mounting and supporting the stepping motor 2. The motor mounting plate 17 and the support sheet metal 18 are both vertically installed on the first substrate 1. The output shaft of the stepping motor 2 passes through the motor mounting plate 17.

[0027] The working principle of using the present utility model is as follows: As Figure 2 shown, start the stepping motor 2. The output shaft of the stepping motor 2 rotates to drive the driving gear 3 to rotate. The driving gear 3 drives the driven gear 4 meshing with it to rotate. The driven gear 4 rotates to drive the main shaft 5 to rotate. The main shaft 5 rotates to drive the turntable 6 to rotate. The turntable 6 drives the driven shaft 7 to perform a circular motion with a radius of 10 mm. The second substrate 8 drives the driven hinge 12 to move. The driven hinge point 12 performs a linear motion under the constraint of the first linear guide rail 14. The induction iron sheet 16 on the first slider 13 will reciprocally pass through the photoelectric sensor 15 as the driven hinge point 12 moves and generate an electrical signal. By collecting this electrical signal, the movement speed and working state of the entire movement assembly can be detected.

[0028] The treatment head of the ultrasonic uterine involution instrument is installed on the miniaturized movement execution mechanism of the present utility model through the mounting seat 22. The movement trajectory of the treatment head can be controlled by adjusting the position of the second slider in the miniaturized movement execution mechanism. The second slider 10 can slide along the second linear guide rail 9. The sliding of the second slider 10 is manually adjusted. Different positions of the second slider 10 mean different movement trajectories. The closer it is to the main shaft 5, the closer the movement trajectory of the mounting seat 22 is to a circle. And when it is directly below the main shaft 5, the mounting seat 22 presents a circular movement trajectory. When the position of the second slider 10 is closer to the driven hinge point 12, the trajectory of the mounting seat 22 is closer to a straight line. And when the second slider 10 is directly below the driven hinge point 12, the mounting seat 22 presents a linear movement trajectory. That is, between the main shaft 5 and the driven hinge point 12 of the second slider 10, the movement trajectory of the mounting seat 22 changes gradually from a circle to a straight line. There are countless movement trajectories between the straight line and the circular movement for the movement trajectory of the mounting seat 22. The largest area of all the movement trajectories presents a spindle shape.

[0029] Due to the reduction in the height and weight of the entire motion execution mechanism and the amplification of the torque of the stepper motor, the rigidity and torque of the motion execution mechanism of the present utility model have been greatly improved. The motion radius of the entire mechanism has also reached 10 mm. Since an increase in the motion radius will increase the reaction force received by the entire motion execution mechanism during the treatment process and also increase the requirement for the rigidity of the mechanism, the miniaturized motion execution mechanism of the present utility model can just meet the requirements.

[0030] The above are only the preferred embodiments of the present utility model. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present utility model, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present utility model.

Claims

1. A miniaturized motion actuator for a uterine involution instrument, characterized in that, It includes a first substrate (1). In the middle of the upper side of the first substrate (1), a stepping motor (2) is installed. The stepping motor (2) lies horizontally on the first substrate (1), and a driving gear (3) is sleeved on the output shaft. On the first substrate (1), there is also a main shaft (5) passing through both side faces of the first substrate (1). A driven gear (4) is installed on the part of the main shaft (5) located on the upper side of the first substrate (1). The driving gear (3) meshes with the driven gear (4), and the transmission ratio of the driving gear (3) to the driven gear (4) is greater than 1. The part of the main shaft (5) located on the lower side of the first substrate (1) is connected to a turntable (6). A driven shaft (7) is arranged at the edge of the turntable (6). The driven shaft (7) and the main shaft (5) are respectively located on the upper and lower sides of the turntable (6). The lower end of the driven shaft (7) is connected to a second substrate (8). On the face of the second substrate (8) far from the driven shaft (7), a second linear guide (9) is provided. A second slider (10) is slidably arranged on the second linear guide (9). The second slider (10) is fixedly connected to a magnetic force module (11). Below the magnetic force module (11), a treatment head of the uterine involution instrument is installed. On the second substrate (8), there is also a driven hinge point (12). The driven hinge point (12) and the driven shaft (7) are on the same face of the second substrate (8). The driven hinge point (12) is connected to a first slider (13). The first slider (13) is slidably arranged on a first linear guide (14). The first linear guide (14) is fixed on the lower side of the first substrate (1).

2. The miniaturized motion actuator for a uterine involution instrument according to claim 1, characterized in that, Both the driving gear (3) and the driven gear (4) are bevel gears, and the transmission ratio between the driving gear (3) and the driven gear (4) is 1:X, where X>1.

3. The miniaturized motion actuator for a uterine involution instrument according to claim 1, characterized in that, On the first substrate (1) at the upper end of the first linear guide (14), an optoelectronic sensor (15) is installed. An induction iron sheet (16) is installed on the first slider (13).

4. The miniaturized motion actuator for a uterine involution instrument according to claim 1, characterized in that, The first substrate (1) is also provided with a motor mounting plate (17) and a support sheet metal (18) for installing and supporting the stepping motor (2).

5. The miniaturized motion actuator for a uterine involution instrument according to claim 1, characterized in that The driven shaft (7) is connected to the second substrate (8) through a bearing support (19).

6. The miniaturized motion actuator for a uterine involution instrument according to claim 1, characterized in that, The main shaft (5) is rotatably connected to the first substrate (1) through a copper bushing (20).

7. A miniaturized motion actuator for a uterine involution instrument according to claim 1, characterized in that, Below the magnetic force module (11), it is connected to a mounting seat (22) through an adapter plate (21). The mounting seat (22) is used for installing the treatment head.

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