Movable lifting supporting mechanism of orthopedic surgery robot

Abstract

The utility model discloses a mobile lifting support mechanism of an orthopedic surgery robot, which relates to the technical field of medical equipment and comprises a robot body, a support plate fixedly mounted on the outer bottom surface of the robot body and universal wheels fixedly connected to four corners of the outer bottom surface of the support plate. Through type round holes are symmetrically formed in the two ends of the inner bottom face of the square cavity, supporting columns are slidably connected to the inner sides of the four round holes, and a synchronous assembly used for driving the four supporting columns to synchronously ascend and descend so as to support or put down the surgical robot is arranged in the square cavity. The driving motor drives the first rotating shaft rod to rotate, so that the two L-shaped connecting plates are driven to move relatively under meshing connection of the first gear, the two rotating shaft rods are driven to rotate synchronously under mutual assistance of a transverse straight plate, a second rack and a third gear, and therefore the four supporting columns are pushed to move up and down synchronously; therefore, the surgical robot is supported or put down.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to a mobile lifting support mechanism for orthopedic surgical robots. Background Technology

[0002] With the development and progress of science and technology, the demand for robot-assisted surgery in the medical field is increasing. However, in terms of the movement and fixation of surgical robots, there are currently some solutions that are either too complex or lack stability. For example, installing support wheels such as casters on the base facilitates movement and adjustment of the placement position. However, due to the inherent characteristics of support wheels, they cannot provide stable support for the equipment. Even when using self-locking support wheels, medical equipment such as trolleys supported by support wheels will inevitably shake under external forces or equipment vibration. For medical equipment such as surgical robots that require precise operation, even slight shaking can affect the accuracy of the entire operation and the surgical outcome.

[0003] For example, Chinese Patent Publication No. CN211355865U discloses a mobile lifting support device for orthopedic surgical robots, including: casters, directional wheels, a base plate, a lifting motor flange, a lifting motor, an oil-free bushing, and a guide module. The aforementioned publication achieves convenient movement and precise positioning for orthopedic surgical robots. However, in practical use, this patent employs three lifting motors, resulting in numerous power units and relatively high costs. Furthermore, the three power units operate at different speeds, hindering long-term use and widespread adoption. Therefore, those skilled in the art have provided a mobile lifting support mechanism for orthopedic surgical robots to address the problems mentioned in the background section. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a mobile lifting support mechanism for orthopedic surgical robots, which solves the problems mentioned in the background technology, such as the use of three lifting motors, resulting in a large number of power units, relatively high costs, and asynchronous lifting of the three power units, which are not conducive to long-term use and promotion.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution: a mobile lifting support mechanism for an orthopedic surgical robot, comprising a robot body, a support plate fixedly installed on the outer bottom surface of the robot body, and universal wheels fixedly connected to the four corners of the outer bottom surface of the support plate. The support plate has a square cavity inside, and the inner bottom surface of the square cavity has symmetrical through-holes at both ends. Support columns are slidably connected to the inner sides of the four holes, and one end of each of the four support columns extends to the outer bottom surface of the support plate and is fixedly installed with a block. Meanwhile, the other end of each of the four support columns extends into the interior of the robot body. Furthermore, the interior of the square cavity is provided with a synchronization component for driving the four support columns to lift and lower the surgical robot synchronously.

[0006] As a further technical solution of this utility model, the synchronization component includes a rotating shaft rotatably installed at the center of the inner sidewall of the square cavity, a gear fixedly installed at the center of the outer peripheral surface of the rotating shaft, and L-shaped connecting plates that are parallel and intersecting at both ends of the gear. The interior of each of the four support columns is provided with a through-type vertical sliding groove.

[0007] As a further technical solution of this utility model, rack 1 is fixedly installed on the outer surface of one side of each of the two L-shaped connecting plates, and the two rack 1 are meshed and connected to the upper and lower ends of gear 1. A drive motor is fixedly installed on the inner bottom surface of the square cavity, and the output end of the drive motor is fixedly connected to the rotating shaft 1.

[0008] As a further technical solution of this utility model, horizontal plates are fixedly installed on the bottom of the opposite outer side walls of the two L-shaped connecting plates, horizontal bars are fixedly installed on the opposite side outer walls of the two horizontal plates, and racks are fixedly installed on the outer top surfaces of the two horizontal bars. Racks are fixedly installed on the inner side walls of the four sets of vertical sliding grooves. At the same time, rotating shafts are rotatably installed on both ends of the inner side walls of the square cavity. Gears are fixedly installed on both ends of the outer peripheral surfaces of the two rotating shafts and inside the four sets of vertical sliding grooves. The four gears are meshed with the four racks. At the same time, a through-type horizontal sliding groove is opened at the center position of both ends of the bottom surface of the square cavity.

[0009] As a further technical solution of this utility model, racks three are fixedly installed on the outer top surfaces of the two horizontal bars, and gears three are fixedly installed at the center of the outer peripheral surfaces of the two rotating shafts two and directly below the two racks three. The two racks three and the two gears three are meshed and connected. Slider blocks are fixedly installed on the outer bottom surfaces of the two horizontal plates, and the two sliders are slidably connected in the inner side of the two horizontal sliding grooves.

[0010] As a further technical solution of this utility model, the outer bottom surfaces of the four sets of blocks are all fixedly equipped with interlocking anti-slip teeth.

[0011] This utility model provides a mobile lifting support mechanism for orthopedic surgical robots, which has the following advantages compared with the prior art:

[0012] 1. This design discloses a mobile lifting support mechanism for an orthopedic surgical robot. A drive motor serves as the power source, driving a rotating shaft to rotate. This, in turn, drives two L-shaped connecting plates to move relative to each other through the meshing of gear one. Furthermore, with the mutual assistance of the horizontal and vertical plates, rack two, and gear three, the two rotating shafts rotate synchronously, thereby pushing four support columns to move up and down synchronously. This allows the surgical robot to be raised or lowered, achieving the function of lifting the robot with a single power unit, saving costs, and eliminating the problem of asynchronous lifting and lowering when three power units are in operation.

[0013] 2. The mobile lifting support mechanism for an orthopedic surgical robot designed in this paper increases the frictional resistance between the support column and the ground by setting blocks and anti-slip teeth, thereby further improving the stability of the surgical robot when it is supported. Attached Figure Description

[0014] Figure 1 A first three-dimensional structural schematic diagram of a mobile lifting support mechanism for an orthopedic surgical robot;

[0015] Figure 2 This is a schematic diagram of the second three-dimensional structure of a mobile lifting support mechanism for an orthopedic surgical robot.

[0016] Figure 3 A cross-sectional three-dimensional structural diagram of a mobile lifting support mechanism for an orthopedic surgical robot;

[0017] Figure 4 This is an exploded view of the overall structure of a mobile lifting support mechanism for an orthopedic surgical robot.

[0018] In the picture:

[0019] 1. Robot body; 101. Support plate; 102. Casters; 103. Square cavity; 104. Round hole; 105. Support column; 106. Cube;

[0020] 2. Synchronization components; 201. Rotating shaft one; 202. Gear one; 203. L-shaped connecting plate; 204. Vertical slide groove; 205. Rack one; 206. Drive motor;

[0021] 3. Horizontal and vertical plates; 301. Horizontal bar; 302. Rack two; 303. Rack three; 304. Rotating shaft two; 305. Gear two; 306. Horizontal slide groove; 307. Gear three; 308. Slider;

[0022] 4. Anti-slip teeth. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-4This utility model provides a technical solution for a mobile lifting support mechanism for an orthopedic surgical robot: it includes a robot body 1, a support plate 101 fixedly installed on the outer bottom surface of the robot body 1, and casters 102 fixedly connected to the four corners of the outer bottom surface of the support plate 101. The support plate 101 has a square cavity 103 inside. Symmetrical through-holes 104 are formed at both ends of the inner bottom surface of the square cavity 103. Support columns 105 are slidably connected to the inner sides of the four holes 104. The other ends of the four support columns 105 extend into the interior of the robot body 1. Furthermore, the square cavity 103 is equipped with a mechanism for driving the four support columns 105. The synchronous component 2, which uses the support columns 105 to raise and lower the surgical robot, includes a rotating shaft 201 rotatably mounted at the center of the inner wall of the square cavity 103. A gear 202 is fixedly mounted at the center of the outer circumferential surface of the rotating shaft 201. Both ends of the gear 202 have parallel and intersecting L-shaped connecting plates 203. Each of the four support columns 105 has a through-type vertical groove 204 inside. Racks 205 are fixedly mounted on the corresponding outer surfaces of the two L-shaped connecting plates 203. Both racks 205 are connected to the upper and lower ends of the gears 202. The square cavity 103 is meshed and connected. A drive motor 206 is fixedly installed on the inner bottom surface of the square cavity 103. The output end of the drive motor 206 is fixedly connected to the rotating shaft 201. Horizontal plates 3 are fixedly installed on the bottom of the opposite outer side walls of the two L-shaped connecting plates 203. Horizontal bars 301 are fixedly installed on the opposite outer side walls of the two horizontal plates 3. A rack 302 is fixedly installed on the outer top surface of the two horizontal bars 301. A rack 303 is fixedly installed on the inner side wall of the four sets of vertical sliding grooves 204. At the same time, rotating shafts 304 are rotatably installed on both ends of the inner side walls of the square cavity 103. The outer circumference of the two rotating shafts 304... Gears 2 305 are fixedly installed at both ends of the surface and inside the four sets of vertical sliding grooves 204. The four gears 2 305 are meshed with the four racks 3 303. At the same time, a through-type transverse sliding groove 306 is opened at the center of both ends of the bottom surface of the square cavity 103. Gears 3 307 are fixedly installed at the center of the outer peripheral surface of the two rotating shafts 2 304 and directly above the two racks 2 302. The two racks 2 302 are meshed with the two gears 3 307. Slider 308 is fixedly installed on the outer bottom surface of the two horizontal plates 3. The two sliders 308 are slidably connected in the inner side of the two transverse sliding grooves 306.The robot body 1 is moved to the work area by the casters 102. Then, the drive motor 206 is controlled and started to drive the rotating shaft 201 to drive the gear 202 to rotate. Under the meshing transmission of the gear 202, the two racks 205 are driven to push the two L-shaped connecting plates 203 to move away from each other. This causes the two horizontal plates 3 to push the horizontal bar 301 to move relative to each other. Then, the rack 302 drives the gear 307 to drive the rotating shaft 304 to rotate synchronously through meshing. This causes the gear 305 to drive the rack 303 on the vertical slide 204 to move under the meshing characteristics. This causes the four support columns 105 to move downward inside the round hole 104 and abut against the ground. Finally, the robot body 1 is supported and the robot is fixed. Then, the rotating shaft 201 is fixed by the shaft lock on the outer wall of the support plate 101 to prevent the rotating shaft 201 from spinning. Meanwhile, the sliding of slider 308 on the inner side of horizontal groove 306 can ensure the stability of horizontal and vertical plates 3 during relative movement.

[0025] Furthermore, one end of each of the four support columns 105 extends to the outer bottom surface of the support plate 101 and is fixedly installed with a block 106. The outer bottom surfaces of the four blocks 106 are all fixedly equipped with interlocking anti-slip teeth 4. When the support column 105 drives the block 106 to abut against the ground, the anti-slip teeth 4 on the block 106 can increase the frictional resistance between the support column 105 and the ground, thereby improving the support stability of the support column 105.

[0026] The working principle of this utility model is as follows: When in use, the robot body 1 is first moved to the working area, and then the drive motor 206 is controlled and started to drive the rotating shaft 201 to drive the gear 202 to rotate. This drives the two racks 205 to push the two L-shaped connecting plates 203 to move relative to each other, so that the two horizontal plates 3 push the horizontal bar 301 to move relative to each other. Then, the rack 302 drives the gear 307 to drive the two rotating shafts 304 to rotate synchronously.

[0027] At the same time, when the two rotating shafts 304 rotate synchronously, the gear 305 drives the rack 303 on the vertical slide 204 to mesh and transmit power, so that the four support columns 105 move downward synchronously inside the round hole 104 and abut against the ground to support the robot body 1 and achieve the purpose of fixing the robot.

[0028] At the same time, when the support column 105 drives the block 106 to contact the ground, the anti-slip teeth 4 on the block 106 can increase the frictional resistance between the support column 105 and the ground, thereby improving the support stability of the support column 105 on the robot body 1.

[0029] After use, simply rotate in the opposite direction to lower the robot body 1 and transfer it for placement.

[0030] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model are implemented according to conventional methods in the art, unless otherwise specified or limited.

Claims

1. A mobile lifting support mechanism for an orthopedic surgical robot, characterized in that, The system includes a robot body (1), a support plate (101) fixedly mounted on the bottom surface of the robot body (1), and casters (102) fixedly connected to the four corners of the bottom surface of the support plate (101). The support plate (101) has a square cavity (103) inside. The bottom surface of the square cavity (103) has symmetrical through holes (104) at both ends. The inner sides of the four holes (104) are slidably connected to support columns (105). One end of the four support columns (105) extends to the bottom surface of the support plate (101) and a block (106) is fixedly installed thereon. The other end of the four support columns (105) extends into the interior of the robot body (1). The square cavity (103) is provided with a synchronization component (2) for driving the four support columns (105) to rise and fall synchronously to support or lower the surgical robot.

2. The mobile lifting support mechanism for an orthopedic surgical robot according to claim 1, characterized in that, The synchronization component (2) includes a rotating shaft (201) rotatably mounted at the center of the inner wall of the square cavity (103). A gear (202) is fixedly mounted at the center of the outer peripheral surface of the rotating shaft (201). Both the upper and lower ends of the gear (202) are provided with parallel and intersecting L-shaped connecting plates (203). The interiors of the four support columns (105) are provided with through vertical sliding grooves (204).

3. The mobile lifting support mechanism for an orthopedic surgical robot according to claim 2, characterized in that, On the outer surfaces of the two L-shaped connecting plates (203) respectively, racks (205) are fixedly installed. Both racks (205) are meshed with the upper and lower ends of gears (202). A drive motor (206) is fixedly installed on the inner bottom surface of the square cavity (103). The output end of the drive motor (206) is fixedly connected to the rotating shaft (201).

4. The mobile lifting support mechanism for an orthopedic surgical robot according to claim 2, characterized in that, A horizontal plate (3) is fixedly installed on the bottom of the opposite outer side wall of the two L-shaped connecting plates (203). A horizontal bar (301) is fixedly installed on the opposite side outer wall of the two horizontal plates (3). A rack (302) is fixedly installed on the top surface of the two horizontal bars (301). A rack (303) is fixedly installed on the inner side wall of the four sets of vertical slide grooves (204). At the same time, a rotating shaft (304) is rotatably installed on both ends of the inner side wall of the square cavity (103). A gear (305) is fixedly installed on both ends of the outer peripheral surface of the two rotating shafts (304) and inside the four sets of vertical slide grooves (204). The four gears (305) are meshed with the four racks (303). At the same time, a through-type horizontal slide groove (306) is opened at the center position of both ends of the bottom surface of the square cavity (103).

5. The mobile lifting support mechanism for an orthopedic surgical robot according to claim 4, characterized in that, Gear 3 (307) is fixedly installed at the center of the outer peripheral surface of the two rotating shafts (304) and directly above the two racks (302). The two racks (302) and the two gears (307) are meshed together. Slider (308) is fixedly installed on the outer bottom surface of the two horizontal plates (3). The two sliders (308) are slidably connected in the inner side of the two horizontal sliding grooves (306).

6. The mobile lifting support mechanism for an orthopedic surgical robot according to claim 1, characterized in that, The outer bottom surfaces of the four sets of blocks (106) are all fixedly equipped with interlocking anti-slip teeth (4).

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