X-ray auxiliary robot operating arm

Abstract

The utility model relates to the technical field of operating arms, and discloses an X-ray auxiliary robot operating arm which comprises a mechanical arm, a base is fixedly connected to one side of the mechanical arm, a butt-joint groove is formed in the surface of the side, away from the mechanical arm, of the base, a butt-joint plate is slidably connected into the butt-joint groove, and a detector is fixedly connected to the surface of the side, away from the mechanical arm, of the butt-joint plate. The surface of the detector is sleeved with a shell, a first T-shaped groove is formed in one side of the base, a closing plate is slidably connected into the first T-shaped groove, a first storage groove is formed in one side of the first T-shaped groove, an adjusting mechanism used for adjusting the closing plate is arranged in the first storage groove, and four fixing grooves are formed in the surface of the side, close to the base, of the detector. And restraining mechanisms for restraining the detector are arranged in the four fixing grooves. According to the utility model, through the arrangement of the butt-joint plate, the detector can be quickly disassembled, and the butt-joint plate can be restrained through the closing plate, so that the detector can be taken down after the closing plate and the fixing column are reset.

Description

TECHNICAL FIELD

[0001] The utility model relates to operation arm technical field especially relates to X -ray auxiliary robot operation arm. BACKGROUND

[0002] X -ray auxiliary robot operation arm is a kind of equipment combined with robot technology and medical imaging, mainly used when carrying out X -ray examination, provide higher precision and higher efficiency operation support.This kind of robot arm usually has the following functions, automatic positioning: robot operation arm can automatically adjust position and angle, to ensure that X -ray machine can accurately aim at the specific part of patient, to obtain clear image;Stability: robot arm can keep stable, reduce the jitter caused by manual operation, to improve image quality;Reduce radiation exposure: by accurately controlling the angle and time of X -ray irradiation, robot arm can help reduce the radiation exposure of patient and medical staff;Improve efficiency: robot can quickly complete repetitive operation, to improve the efficiency of examination, save time;Enhance safety: in some cases, robot can reduce the working time of medical staff in high radiation environment, improve work safety.

[0003] X -ray robot operation arm when using, it is usually necessary to be connected with X -ray detector first, so that operation arm can drive detector to move normally, the existing detector is fixedly connected with operation arm, most is connected by screw and operation arm, and the number of screw is also more, to cause when overhauling and maintaining detector, need to consume a lot of time, therefore, need to solve the problem. UTILITARY MODEL CONTENT

[0004] The utility model aims at solving the shortcomings in prior art, and provides X -ray auxiliary robot operation arm.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] X -ray auxiliary robot operation arm, including mechanical arm, the mechanical arm one side fixedly connected with base, the base away from the mechanical arm one side surface is equipped with the docking slot, the docking slot inside is connected with the docking plate of sliding, the docking plate away from the mechanical arm one side surface fixedly connected with detector, the detector surface is equipped with the shell, the base one side is equipped with the first T -shaped groove, the first T -shaped groove inside is connected with the closing plate of sliding, the first T -shaped groove one side is equipped with the first storage slot, the first storage slot inside is equipped with the adjusting mechanism for adjusting closing plate, the detector is close to the base one side surface and is equipped with four fixed slots, four The fixed slot inside is equipped with the restraint mechanism for the constraint detector, through the setting of docking plate, can quickly disassemble detector.

[0007] As a further scheme of the utility model, the adjusting mechanism includes a lead screw, the lead screw is rotationally connected inside the first receiving groove, a sliding block is sleeved on the surface of the lead screw, a third receiving groove is formed in the top of the sliding block, a first tension spring is fixedly connected to the inner surface of the third receiving groove, a connecting plate is fixedly connected to the top of the first tension spring, the connecting plate is fixedly connected to one side of the closing plate, a rotating mechanism for rotating the lead screw is arranged on the surface of the side of the lead screw close to the sliding block, and the closing plate can be adjusted through the arrangement of the lead screw.

[0008] As a further scheme of the utility model, the rotating mechanism includes a second receiving groove, the second receiving groove is formed in one side of the first receiving groove, a worm gear is sleeved on the surface of the lead screw, a worm is matched with the surface of the worm gear, the worm is rotationally connected to one side inside the second receiving groove, first synchronous wheels are sleeved on the two sides of the worm, a gear is rotationally connected inside the side of the second receiving groove close to the butt joint groove, second synchronous wheels are sleeved on the surface of the side of the gear close to the two first synchronous wheels, the second synchronous wheels and the first synchronous wheels are sleeved with a same synchronous belt, a rack is fixedly connected to the top of the side of the butt joint plate close to the gear, the rack and the gear are arranged in a matched mode, and the lead screw can be rotated through the arrangement of the rack.

[0009] As a further scheme of the utility model, the constraint mechanism includes a second sliding groove, the second sliding groove is formed in one side of the base, a fixed column is slidably connected inside the second sliding groove, the fixed column is slidably connected inside the fixed groove, a fourth receiving groove is formed in the end portion of the side of the fixed column away from the fixed groove, a second tension spring is fixedly connected to one side inside the fourth receiving groove, the other end of the second tension spring is fixedly connected to one side inside the second sliding groove, a pressing groove is formed in one side of the fixed column, and a displacement mechanism for displacing the fixed column is arranged inside the pressing groove, and the detector can be constrained through the arrangement of the fixed column.

[0010] As a further scheme of the utility model, the displacement mechanism includes a first sliding groove, the first sliding groove is formed in the top of the base, an adjusting plate is slidably connected inside the first sliding groove, the adjusting plate is slidably connected inside the pressing groove, a pressing plate is fixedly connected to the surface of the side of the adjusting plate close to the pressing groove, the pressing plate and the pressing groove are arranged in a matched mode, a sliding plate is slidably connected to the top of the adjusting plate, two adjusting grooves are symmetrically formed in the adjusting plate, adjusting blocks are slidably connected inside the two adjusting grooves, the two adjusting blocks are fixedly connected to one side of the sliding plate, an L-shaped plate is fixedly connected to the top of the sliding plate, a second T-shaped groove is formed in the surface of the side of the closing plate away from the sliding block, a T-shaped block is slidably connected inside the second T-shaped groove, and the T-shaped block is fixedly connected to one side of the L-shaped plate.

[0011] The utility model discloses the following beneficial effects:

[0012] 1. The utility model discloses a through the technical scheme of the docking plate fixed detector, when the detector needs to overhaul and maintain, can quickly disassemble, thereby effectively solve the existing detector when fixed connection with the operating arm, most is through the screw and operating arm and is connected, and the number of screw is also more, thereby leading to when overhauling and maintaining the detector, need to spend a large amount of time's problem, when needing to disassemble the detector, can pull the L board, because L board is through T -shaped block and the closed plate cooperation, thereby when pulling the L board, the closed plate also can move up along with it, in this way will dock the groove open, still install the adjusting block on the side of L board, and the adjusting block is with the adjusting groove in the adjusting board cooperation, because the adjusting groove is a certain length, thereby when L board initial moves up, the adjusting board will not move, but when L board moves up to certain, the adjusting groove will be restricted to the adjusting block, and when the adjusting groove is restricted to the adjusting block, the adjusting board can drive the extrusion plate and move up, so that fixed post can also reset, when the closed plate, fixed post complete reset, can take down the detector. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is overall structure schematic diagram of X -ray auxiliary robot operating arm that the utility model provides;

[0014] Figure 2 It is first partial structure schematic diagram of X -ray auxiliary robot operating arm that the utility model provides;

[0015] Figure 3 It is rotating mechanism schematic diagram of X -ray auxiliary robot operating arm that the utility model provides;

[0016] Figure 4 It is second partial schematic diagram of X -ray auxiliary robot operating arm that the utility model provides;

[0017] Figure 5 It is cross -section structure schematic diagram of X -ray auxiliary robot operating arm that the utility model provides;

[0018] Figure 6 It is internal structure schematic diagram of X -ray auxiliary robot operating arm that the utility model provides;

[0019] Figure 7 It is adjusting mechanism schematic diagram of X -ray auxiliary robot operating arm that the utility model provides;

[0020] Figure 8 It is constraint mechanism schematic diagram of X -ray auxiliary robot operating arm that the utility model provides;

[0021] Figure 9 It is Figure 8An enlarged structural schematic view of position A in FIG.

[0022] Figure 10 For Figure 8 An enlarged structural schematic view of position B in FIG.

[0023] In the figure: 1, mechanical arm; 2, detector; 3, base; 4, closing plate; 5, L plate; 201, shell; 202, docking plate; 203, rack; 204, fixing groove; 301, docking groove; 302, first T-shaped groove; 303, first storage groove; 304, second storage groove; 305, first sliding groove; 306, second sliding groove; 401, second T-shaped groove; 402, connecting plate; 403, first tension spring; 404, screw rod; 405, worm wheel; 406, sliding block; 407, third storage groove; 408, worm; 409, first synchronous wheel; 410, synchronous belt; 411, gear; 412, second synchronous wheel; 501, T-shaped block; 502, sliding plate; 503, adjusting block; 504, adjusting plate; 505, extrusion plate; 506, adjusting groove; 507, fixing column; 508, extrusion groove; 509, fourth storage groove; 510, second tension spring. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments.

[0025] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0026] With reference to Figures 1-10 , the X-ray assisted robot operating arm comprises a mechanical arm 1, one side of the mechanical arm 1 is fixedly connected with a base 3, the surface of the side, away from the mechanical arm 1, of the base 3 is provided with a docking groove 301, the docking groove 301 is slidably connected with a docking plate 202 inside, the surface of the side, away from the mechanical arm 1, of the docking plate 202 is fixedly connected with a detector 2, the detector 2 is sleeved with a shell 201, one side of the base 3 is provided with a first T-shaped groove 302, the first T-shaped groove 302 is slidably connected with a closing plate 4 inside, one side of the first T-shaped groove 302 is provided with a first storage groove 303, the first storage groove 303 is provided with an adjusting mechanism for adjusting the closing plate 4 inside, the surface of the side, close to the base 3, of the detector 2 is provided with four fixing grooves 204, the four fixing grooves 204 are all provided with a constraint mechanism for constraining the detector 2 inside, through the arrangement of the docking plate 202, the detector 2 can be quickly disassembled.

[0027] With reference to Figures 5-7In one preferred embodiment, the adjusting mechanism comprises a lead screw 404 rotatably connected inside the first receiving groove 303, a sliding block 406 sleeved on the surface of the lead screw 404, a third receiving groove 407 opened on the top of the sliding block 406, a first tension spring 403 fixedly connected to the inner surface of the third receiving groove 407, a connecting plate 402 fixedly connected to the top of the first tension spring 403, and the connecting plate 402 fixedly connected to one side of the closing plate 4. A rotating mechanism for rotating the lead screw 404 is arranged on the surface of the lead screw 404 close to the sliding block 406. The arrangement of the lead screw 404 can adjust the closing plate 4.

[0028] Referring to FIGS Figure 2 , Figure 5 and Figure 7 In one preferred embodiment, the rotating mechanism comprises a second receiving groove 304 opened on one side of the first receiving groove 303, a worm gear 405 sleeved on the surface of the lead screw 404, a worm 408 matched with the surface of the worm gear 405, the worm 408 rotatably connected inside one side of the second receiving groove 304, first synchronous wheels 409 sleeved on both sides of the worm 408, a gear 411 rotatably connected inside one side of the second receiving groove 304 close to the butt joint groove 301, second synchronous wheels 412 sleeved on the surface of the gear 411 close to both sides of the first synchronous wheels 409, and the same synchronous belt 410 sleeved on the surfaces of the second synchronous wheels 412 and the first synchronous wheels 409. The rack 203 is fixedly connected to the top of one side of the butt joint plate 202 close to the gear 411, and the gear 411 and the rack 203 are arranged in a matching manner. The arrangement of the rack 203 can rotate the lead screw 404.

[0029] Referring to FIGS Figure 3 , Figure 8 and Figure 10 In one preferred embodiment, the constraint mechanism comprises a second sliding groove 306 opened on one side of the base 3, a fixed column 507 slidably connected inside the second sliding groove 306, the fixed column 507 slidably connected inside the fixed groove 204, a fourth receiving groove 509 opened on the end of one side of the fixed column 507 away from the fixed groove 204, a second tension spring 510 fixedly connected to one side inside the fourth receiving groove 509 and the other end of the second tension spring 510 fixedly connected to one side inside the second sliding groove 306, an extrusion groove 508 opened on one side of the fixed column 507, and a displacement mechanism for displacing the fixed column 507 arranged inside the extrusion groove 508. The arrangement of the fixed column 507 can constrain the detector 2.

[0030] Referring to Figures 8-10In a preferred implementation, the displacement mechanism comprises a first sliding groove 305, which is provided on the top of the base 3. A regulating plate 504 is slidably connected inside the first sliding groove 305. The regulating plate 504 is slidably connected inside the extrusion groove 508. An extrusion plate 505 is fixedly connected to the surface of the side of the regulating plate 504 close to the extrusion groove 508. The extrusion plate 505 is arranged in cooperation with the extrusion groove 508. A sliding plate 502 is slidably connected to the top of the regulating plate 504. Two adjusting grooves 506 are symmetrically provided inside the regulating plate 504. Two adjusting blocks 503 are slidably connected inside the adjusting grooves 506. The two adjusting blocks 503 are fixedly connected to the side of the sliding plate 502. The L-shaped plate 5 is fixedly connected to the top of the sliding plate 502. The second T-shaped groove 401 is provided on the surface of the side of the sealing plate 4 away from the sliding block 406. The T-shaped block 501 is slidably connected inside the second T-shaped groove 401. The T-shaped block 501 is fixedly connected to the side of the L-shaped plate 5. The provision of the extrusion plate 505 can enable the fixed column 507 to displace.

[0031] From the above description, it can be seen that the above-mentioned embodiments of the utility model realize the following technical effects: the docking plate 202 is installed on one side of the detector 2, when the detector 2 needs to be installed, the docking plate 202 is docked with the docking groove 301 on one side of the base 3, then the docking plate 202 is pushed into the inside of the docking groove 301, the gear 411 is installed in the inside of the docking groove 301, the gear 411 is matched with the rack 203 on the top of the docking plate 202, so when the docking plate 202 is pushed into the inside of the docking groove 301, the rack 203 drives the gear 411 to rotate, the synchronous belt 410 is installed on one side of the gear 411, the other end of the synchronous belt 410 is matched with the worm 408, so when the gear 411 rotates, the worm 408 rotates synchronously, the worm wheel 405 is matched with the surface of the worm 408, the worm wheel 405 is installed on the surface of the lead screw 404, so when the worm 408 rotates, the lead screw 404 rotates synchronously, the sliding block 406 is installed on the surface of the lead screw 404, the sliding block 406 is constrained by the base 3, so when the lead screw 404 rotates, the sliding block 406 can move downwards, the closing plate 4 is installed on one side of the sliding block 406, the closing plate 4 is connected with the sliding block 406 through the first tension spring 403, so when the sliding block 406 moves downwards, the closing plate 4 also moves downwards synchronously, but the overall size of the closing plate 4 is large, so when the docking plate 202 does not completely enter the inside of the docking groove 301, the docking plate 202 blocks the closing plate 4 from moving downwards, when the docking plate 202 completely enters the inside of the docking groove 301, the first tension spring 403 drives the closing plate 4 to move downwards, so that the docking groove 301 can be closed, to avoid the phenomenon that the docking plate 202 falls off, the T-shaped block 501 is installed on one side of the closing plate 4, when the closing plate 4 moves downwards to a certain height, the T-shaped block 501 is pulled, so that the T-shaped block 501 moves downwards, the L plate 5 is installed on one side of the T-shaped block 501, the L plate 5 is matched with the adjusting plate 504, so when the T-shaped block 501 drives the L plate 5 to move downwards, the adjusting plate 504 also moves downwards synchronously, the extrusion plate 505 is installed on one side of the adjusting plate 504, the extrusion plate 505 is matched with the fixed column 507 in the base 3, because the extrusion plate 505 is triangularly arranged, so when the extrusion plate 505 moves downwards, the fixed column 507 is extruded, so that the fixed column 507 moves upwards, the fixed column 507 is matched with the fixed groove 204 on one side of the detector 2, so when the fixed column 507 moves upwards, the fixed column 507 enters the inside of the fixed groove 204, so that the detector 2 is constrained and fixed again, when the detector 2 needs to be disassembled, the L plate 5 can be pulled, because the L plate 5 is matched with the closing plate 4 through the T-shaped block 501, so when the L plate 5 is pulled, the closing plate 4 also moves upwards, so that the docking groove 301 is opened,An adjustment block 503 is also installed on one side of the L-plate 5. The adjustment block 503 cooperates with the adjustment slot 506 inside the adjustment plate 504. Because the adjustment slot 506 has a certain length, when the L-plate 5 initially moves upward, the adjustment plate 504 does not move. However, when the L-plate 5 moves upward to a certain point, the adjustment slot 506 will constrain the adjustment block 503. When the adjustment slot 506 constrains the adjustment block 503, the adjustment plate 504 will drive the extrusion plate 505 upward, allowing the fixing column 507 to also reset. After the closing plate 4 and the fixing column 507 have been reset, the detector 2 can be removed.

[0032] For ease of description, spatially relative terms such as "above," "above," "on the upper surface of," and "upper" may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in a drawing is inverted, a device described as "above" or "on top of" another device or structure would then be positioned as "below" or "beneath" the other device or structure. Thus, the exemplary term "above" could include both the "above" and "below" orientations. The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used herein should be interpreted accordingly.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An X-ray assisted robotic manipulator, comprising a robotic arm (1), characterized in that: One side of the robotic arm (1) is fixedly connected to a base (3); a surface of the base (3) away from the robotic arm (1) is provided with a docking groove (301); a docking plate (202) is slidably connected inside the docking groove (301); a detector (2) is fixedly connected to the surface of the docking plate (202) away from the robotic arm (1); a housing (201) is provided on the surface of the detector (2); a first T-shaped groove (302) is provided on one side of the base (3); a closing plate (4) is slidably connected inside the first T-shaped groove (302); a first receiving groove (303) is provided on one side of the first T-shaped groove (302); an adjusting mechanism for adjusting the closing plate (4) is provided inside the first receiving groove (303); four fixing grooves (204) are provided on the surface of the detector (2) close to the base (3); and a restraining mechanism for restraining the detector (2) is provided inside each of the four fixing grooves (204).

2. The X-ray assisted robot manipulator according to claim 1, characterized in that: The adjustment mechanism includes a screw rod (404), the screw rod (404) is rotatably connected to the inside of the first receiving groove (303), a slider (406) is sleeved on the surface of the screw rod (404), a third receiving groove (407) is opened on the top of the slider (406), a first tension spring (403) is fixedly connected to the inner surface of the third receiving groove (407), the top of the first tension spring (403) is fixedly connected to a connecting plate (402), the connecting plate (402) is fixedly connected to one side of the closing plate (4), and a rotating mechanism for rotating the screw rod (404) is provided on the surface of the screw rod (404) close to the slider (406).

3. The X-ray assisted robot manipulator according to claim 2, characterized in that: The rotating mechanism comprises a second receiving groove (304), the second receiving groove (304) being opened on one side of the first receiving groove (303), a worm wheel (405) being sleeved on the surface of the lead screw (404), a worm gear (408) being matched with the surface of the worm gear (405), the worm gear (408) being rotatably connected to one side of the interior of the second receiving groove (304), first synchronous wheels (409) being sleeved on both sides of the worm gear (408), a gear (411) being rotatably connected to the interior of the second receiving groove (304) near the docking groove (301), the gear (411) being sleeved on the surface of the side near the two first synchronous wheels (409), the second synchronous wheel (412) and the first synchronous wheel (409) being sleeved on the same synchronous belt (410), a rack (203) being fixedly connected to the top of the docking plate (202) near the gear (411), the rack (203) and the gear (411) being arranged as accessories to each other.

4. The X-ray assisted robot manipulator according to claim 1, characterized in that: The restraint mechanism includes a second slide groove (306), the second slide groove (306) is opened on one side of the base (3), a fixed column (507) is slidably connected inside the second slide groove (306), the fixed column (507) is slidably connected inside the fixed groove (204), a fourth receiving groove (509) is opened at the end of the fixed column (507) away from the fixed groove (204), a second tension spring (510) is fixedly connected to one side of the fourth receiving groove (509), the other end of the second tension spring (510) is fixedly connected to one side of the second slide groove (306), an extrusion groove (508) is opened on one side of the fixed column (507), and a displacement mechanism for displacing the fixed column (507) is provided inside the extrusion groove (508).

5. The X-ray assisted robot manipulator according to claim 4, characterized in that: The displacement mechanism includes a first slide groove (305), the first slide groove (305) is opened at the top of the base (3), an adjustment plate (504) is slidably connected inside the first slide groove (305), the adjustment plate (504) is slidably connected inside the extrusion groove (508), the surface of the adjustment plate (504) close to the extrusion groove (508) is fixedly connected to the extrusion plate (505), the extrusion plate (505) and the extrusion groove (508) are arranged to cooperate with each other, the top of the adjustment plate (504) is slidably connected to the slide plate (502), and two adjustment grooves (506) are symmetrically opened inside the adjustment plate (504).

6. The X-ray assisted robot manipulator according to claim 5, characterized in that: The two adjusting grooves (506) are both slidably connected to an adjusting block (503), and the two adjusting blocks (503) are both fixedly connected to one side of the slide plate (502). The top of the slide plate (502) is fixedly connected to an L-plate (5). A second T-shaped groove (401) is provided on the surface of the closing plate (4) away from the slider (406). A T-shaped block (501) is slidably connected to the inside of the second T-shaped groove (401), and the T-shaped block (501) is fixedly connected to one side of the L-plate (5).

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