Linear transport mechanism and robot arm

Abstract

The application relates to a linear conveying mechanism and a mechanical arm. Two ends of a fixing belt are fixed between a pre-tightening piece and a pressing piece, so that the fixing belt can be kept in proper tension, and then the fixing belt can be attached to a shell and block the opening of a first slot. When the linear output unit moves along the conveying direction, at least one moving piece moves synchronously and is always pressed on the fixing belt. Regardless of the position of the linear output unit, the pressing state of the moving piece and the fixing belt can ensure that the opening of the first slot is closed by the fixing belt, and the sealing effect of the first slot is guaranteed. Dust, impurities and liquid from the outside are prevented from entering the inside of the linear conveying mechanism, the wear of internal parts is reduced, the problems of poor movement or precision reduction caused by impurities entering are avoided, electrical element short circuit caused by liquid invasion is prevented, and the service life of the linear conveying mechanism is prolonged. The cleanliness of the surgical environment is further ensured, and the risk of patient surgical infection is reduced.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to linear delivery mechanisms and robotic arms. Background Technology

[0002] With the continuous advancement of modern medical technology, surgical robots are increasingly widely used in the field of surgery. Taking laparoscopic surgical robots as an example, they have gradually become an important tool assisting many minimally invasive surgeries due to their advantages such as providing more precise operation, smaller incisions, and better surgical vision.

[0003] The linear transport mechanism is a crucial component of a surgical robot, enabling motion transmission and power output. During surgery, the linear transport mechanism drives the instrument drive box to move linearly, thus achieving the linear movement of surgical instruments or endoscopes mounted on the instrument drive box. To achieve linear movement of the instrument drive box, slots with openings need to be created in the linear transport mechanism.

[0004] However, this linear groove is not conducive to maintaining a clean environment inside the linear conveying mechanism and can easily endanger the personal safety of medical staff. Utility Model Content

[0005] Therefore, it is necessary to provide a linear transport mechanism and robotic arm to address the problems of existing linear transport mechanisms affecting the sterility of the surgical environment and posing risks to the personal safety of medical staff.

[0006] A linear conveying mechanism, the linear conveying mechanism comprising:

[0007] The housing has a first slot extending along the conveying direction; fixing components are provided at both ends of the housing along the conveying direction; the fixing components include pre-tightening components and clamping components;

[0008] A linear output unit is configured to be operably movable along the conveying direction; a portion of the linear output unit is located within the first slot, and another portion extends out through the first slot;

[0009] A fixing belt is connected at both ends along the conveying direction between the pre-tightening member and the clamping member; the fixing belt is used to seal the opening of the first slot;

[0010] At least one movable component is connected to the linear output unit and moves synchronously with the linear output unit; at least one of the movable components is pressed against the side of the fixing belt opposite to the first slot.

[0011] In one embodiment, the fixing assembly further includes a first locking member that passes through the clamping member and the pre-tightening member to connect the clamping member and the pre-tightening member.

[0012] In one embodiment, the fixing strap is provided with a first mounting hole, and the first locking member passes through the first mounting hole.

[0013] In one embodiment, the clamping member is provided with an arc-shaped portion, and the fixing band is wrapped around the arc-shaped portion.

[0014] In one embodiment, one of the pretensioner and the housing is provided with a first recess, and the other is provided with a first protrusion for engaging with the first recess;

[0015] And / or, the linear conveying mechanism further includes a second locking member, which passes through the housing and the pretensioner to connect the housing and the pretensioner.

[0016] In one embodiment, the linear conveying mechanism includes at least four of the moving parts, at least two of the moving parts being pressed against the side of the fixing belt away from the first slot, and at least two of the moving parts being connected to the side of the fixing belt facing the first slot.

[0017] In one embodiment, the movable member, the fixing band, and the linear output unit located on the side of the fixing band facing the first slot cooperate to form a wiring groove, which is used for the wiring harness to pass through.

[0018] In one embodiment, the movable component includes a roller and a connecting shaft, the connecting shaft being fixedly connected to the linear output unit, the roller being rotatably connected to the connecting shaft, and the roller being tumbledly connected to the fixed belt.

[0019] In one embodiment, at least one guide portion is provided inside the housing, the guide portion extending along the conveying direction; the linear output unit is slidably connected to the guide portion.

[0020] A robotic arm, comprising the linear conveying mechanism described above.

[0021] The aforementioned linear conveyor mechanism and robotic arm ensure the fixation of the fixed belt by securing both ends between the pre-tensioning and clamping components, maintaining appropriate tension in the fixed belt, and allowing it to conform to the housing and seal the opening of the first slot. When the linear output unit moves along the conveying direction, at least one moving component moves synchronously with it and remains pressed against the fixed belt. Thus, regardless of the position of the linear output unit, the pressing state between the moving component and the fixed belt ensures that the opening of the first slot is sealed by the fixed belt, guaranteeing a tight seal. This prevents external dust, impurities, and liquids from entering the linear conveyor mechanism, reducing wear on internal components and avoiding problems such as sluggish movement or decreased accuracy due to impurities. It also prevents short circuits and corrosion of electrical components caused by liquid intrusion, improving the reliability and service life of the linear conveyor mechanism. Simultaneously, it prevents medical personnel's fingers from accidentally entering the slot, reducing safety hazards. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of this application, the drawings used in the description of the embodiments or exemplary embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a robotic arm provided in one embodiment of this application.

[0024] Figure 2 This is a schematic diagram of a linear conveying mechanism provided in an embodiment of this application.

[0025] Figure 3 for Figure 2 The shown is a cross-sectional view of the linear conveyor mechanism.

[0026] Figure 4 for Figure 3 A magnified view of point A in the linear conveyor mechanism shown.

[0027] Figure 5A for Figure 4 A three-dimensional schematic diagram of the linear conveyor mechanism shown.

[0028] Figure 5B for Figure 5A The diagram shown is an exploded view of the linear conveyor mechanism.

[0029] Figure 6 for Figure 3 A magnified view of point B in the linear conveyor mechanism shown.

[0030] Figure 7 for Figure 2 The side view of the linear conveyor shown.

[0031] Figure 8 for Figure 2 The image shows a bottom view of the linear conveyor mechanism.

[0032] Reference numerals: 10, linear conveyor mechanism; 20, remote central mechanism; 30, instrument drive box; 100, housing; 110, first slot; 120, first recess; 130, guide part; 200, fixing component; 210, pre-tensioning component; 211, first protrusion; 220, clamping component; 221, arc-shaped part; 230, first locking component; 240, second locking component; 300, linear output unit; 310, wiring channel; 320, protrusion; 400, fixing belt; 500, moving part; 511, roller; 512, connecting shaft; 610, wire harness; 620, circuit board. Detailed Implementation

[0033] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0035] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0039] As stated in the background section, the linear transport mechanism is the core module of the surgical robot, and the instrument drive box is mounted on the linear transport mechanism. During surgery, the linear transport mechanism drives the instrument drive box to move linearly, which in turn drives the surgical instruments or endoscopes mounted on the instrument drive box to move linearly. To achieve the linear movement of the instrument drive box, slots with corresponding strokes need to be made in the linear transport mechanism, and the presence of these slots allows power cables, communication cables, and other wiring harnesses to be led out from the linear transport mechanism.

[0040] The presence of this slot allows external dust, particulate matter, and various liquids in the operating room, such as disinfectants and irrigation solutions, to easily enter the linear drive mechanism. The intrusion of dust and impurities can accelerate the wear and tear on internal components, affecting the smoothness of their movement and reducing the precision of the linear drive mechanism, ultimately leading to a decrease in the accuracy of the surgical robot's operation. Liquid intrusion can cause short circuits and corrosion in electrical components, seriously threatening the normal operation and lifespan of the linear drive mechanism and even the entire surgical robot. It can also lead to bacterial growth, affecting the cleanliness of the surgical environment and increasing the risk of surgical infection. Furthermore, when medical staff press the button on the linear delivery mechanism to move the robotic arm before surgery, they can easily accidentally insert their fingers into the slot, potentially endangering their personal safety.

[0041] Based on this, one embodiment of this application provides a linear conveying mechanism that can solve the above-mentioned technical problems. The linear conveying mechanism provided by one embodiment of this application will now be described in detail with reference to the accompanying drawings.

[0042] See Figures 2 to 5B As shown, an embodiment of the linear conveying mechanism 10 provided in this application includes a housing 100, a linear output unit 300, a fixing belt 400, and at least one moving member 500. The housing 100 is configured with a first slot 110 extending along the conveying direction. Fixing components 200 are provided at both ends of the housing 100 along the conveying direction. The fixing components 200 include a pre-tensioning member 210 and a clamping member 220. The linear output unit 300 is configured to be operably movable along the conveying direction. A portion of the linear output unit 300 is located within the first slot 110, and another portion extends out through the first slot 110. The fixing belt 400 is connected at both ends along the conveying direction between the pre-tensioning member 210 and the clamping member 220. The fixing belt 400 is used to block the opening of the first slot 110. At least one moving member 500 is connected to the linear output unit 300 and moves synchronously with the linear output unit 300. At least one moving member 500 is pressed against the side of the fixing belt 400 opposite to the first slot 110. The conveying direction is indicated by arrow X. Figure 1 As shown, in a practical application scenario, the linear conveying mechanism 10 is used in a surgical robot, and the conveying direction can be vertical.

[0043] The aforementioned linear conveying mechanism 10 ensures the fixation of the fixed belt 400 by fixing both ends of the fixed belt 400 between the pre-tensioning member 210 and the pressing member 220, maintaining appropriate tension on the fixed belt 400. This allows the fixed belt 400 to conform to the housing 100 and seal the opening of the first slot 110. When the linear output unit 300 moves along the conveying direction, at least one moving member 500 moves synchronously with it and is always pressed against the fixed belt 400. Thus, regardless of the position of the linear output unit 300, the pressing state between the moving member 500 and the fixed belt 400 ensures that the opening of the first slot 110 is closed by the fixed belt 400, thereby guaranteeing a sealing effect on the first slot 110. This not only prevents external dust, impurities, and liquids from entering the linear conveyor mechanism 10, reducing wear on internal components and avoiding problems such as sluggish movement or decreased accuracy caused by impurities, but also prevents short circuits and corrosion of electrical components caused by liquid intrusion, thus improving the reliability and service life of the linear conveyor mechanism 10. It further ensures the cleanliness of the surgical environment and reduces the risk of surgical infection for patients. Simultaneously, it also prevents medical staff from accidentally inserting their fingers into the slot, reducing safety hazards.

[0044] See Figure 5B As shown, the fixed belt 400 can be a flexible belt with a certain degree of flexibility and deformation, thus possessing good fit and sealing properties. This allows for better sealing of the opening in the first slot 110, ensuring a proper seal. Compared to harder and sharper sealing methods such as steel belts, the flexible belt avoids the possibility of cuts from accidental contact by medical personnel, improving the safety of the linear conveying mechanism 10 and reducing safety hazards. Furthermore, when working with the moving part 500, the flexible belt reduces contact friction, extending the service life of the moving part 500 and ensuring the long-term stable operation of the linear conveying mechanism 10; it also reduces the weight of the mechanism.

[0045] In some embodiments, the fixing strap 400 may be made of thermoplastic polyurethane (TPU) elastomer rubber, giving it high tensile strength, tear strength, and abrasion resistance, as well as good elasticity and flexibility to meet bending and support requirements. In some embodiments, the surface of the fixing strap 400 is coated with Teflon, which further improves its abrasion resistance and anti-stick properties, reducing the possibility of dust and other impurities adhering to it.

[0046] See Figures 4 to 5BAs shown, in one embodiment, the fixing component 200 further includes a first locking member 230, which passes through the clamping member 220 and the pre-tensioning member 210 to connect them. That is, both the clamping member 220 and the pre-tensioning member 210 have connecting holes, and the first locking member 230 passes through these holes sequentially to secure them. The first locking member 230 further enhances the connection reliability between the clamping member 220 and the pre-tensioning member 210, thereby improving the fixing reliability of the fixing band 400 located between them. In other embodiments, the first locking member 230 may be omitted, and a mating structure may be provided between the clamping member 220 and the pre-tensioning member 210 to achieve their connection and fixation. For example, one of the clamping member 220 and the pre-tensioning member 210 is provided with a snap-fit ​​post, and the other is provided with a snap-fit ​​hole. After the fixing strap 400 is pressed onto the pre-tensioning member 210, the clamping member 220 is pressed onto the pre-tensioning member 210 through the snap-fit ​​cooperation of the snap-fit ​​post and the snap-fit ​​hole, thereby fixing the fixing strap 400.

[0047] See Figures 4 to 5B As shown, in one embodiment, the fixing strap 400 is provided with a first mounting hole, and a first locking member 230 passes through the first mounting hole. By having the first locking member 230 further pass through the first mounting hole on the fixing strap 400, the connection reliability between the fixing strap 400 and the fixing assembly 200 is enhanced, reducing the possibility of displacement or loosening of the fixing strap 400. In some embodiments, the first locking member 230 can be a bolt or a locking pin, and the mounting hole can be a threaded hole or a pin hole.

[0048] See Figures 4 to 5B As shown, in one embodiment, the clamping member 220 is provided with an arc-shaped portion 221, and the fixing strap 400 is wrapped around the arc-shaped portion 221. That is, when the fixing strap 400 is wrapped around the arc-shaped portion 221, it forms a bend that cooperates with it, and the bend is sandwiched between the pre-tensioning member 210 and the clamping member 220. For example, the fixing strap 400 successively wraps around the upper surface and side surface of the clamping member 220, and then wraps between the clamping member 220 and the pre-tensioning member 210. With this arrangement, the contact area between the fixing strap 400 and the fixing assembly 200 is further increased, and the connection effect between the two is further improved. At the same time, the transition of the arc-shaped portion 221 avoids stress concentration and extends the service life of the fixing strap 400.

[0049] See Figures 4 to 5BAs shown, in some embodiments, the fixing band 400 has a first mounting hole in the area between the pretensioner 210 and the clamping member 220 for the first locking member 230 to pass through. That is, the first locking member 230 first passes through the clamping member 220, then through the fixing band 400, and then onto the pretensioner 210. In some embodiments, the connecting hole on the clamping member 220 can be a countersunk hole, or the clamping member 220 can have a recess to accommodate the head of the first locking member 230, so that when the first locking member 230 is connected to the clamping member 220, the head of the first locking member 230 will not protrude from the clamping member 220, for example, it will be flush with or lower than the surface of the clamping member 220. In this way, the head of the first locking member 230 will not touch the fixing band 400, preventing the fixing band 400 from being deformed by local stress, which helps to maintain sealing performance and extend service life.

[0050] In other embodiments, the fixing strap may not bypass the clamping member, but may be directly clamped between the clamping member and the pre-tightening member and locked by the first locking member.

[0051] See Figures 4 to 5B As shown, in one embodiment, one of the pretensioner 210 and the housing 100 is provided with a first recess 120, and the other is provided with a first protrusion 211 for engaging with the first recess 120. For example, in the embodiment shown in the figures, the pretensioner 210 is provided with the first protrusion 211, and the housing 100 is provided with the first recess 120. The pretensioner 210 is snapped onto the housing 100 by the first protrusion 211. Of course, the positions of the first protrusion 211 and the first recess 120 can also be interchanged.

[0052] See Figures 4 to 5B As shown, the linear conveying mechanism 10 also includes a second locking member 240, which passes through the housing 100 and the pre-tensioning member 210 to connect them. That is, both the pre-tensioning member 210 and the housing 100 have connecting holes for the second locking member 240 to pass through. The second locking member 240 further locks and fixes the pre-tensioning member 210 and the housing 100, ensuring the reliability of the pre-tensioning member 210's connection to the housing 100, and thus ensuring the reliability of the pre-tensioning member 210 and the clamping member 220's fixation of the fixing belt 400, maintaining a certain tension in the fixing belt 400 and ensuring a sealing effect on the first slot 110. The second locking member 240 can be a bolt, and the connecting hole can be a screw hole, etc.

[0053] See Figure 2 and Figure 6As shown, in one embodiment, the linear conveying mechanism 10 includes at least four moving parts 500, at least two moving parts 500 are pressed against the side of the fixing belt 400 away from the first slot 110, and at least two moving parts 500 are connected to the side of the fixing belt 400 facing the first slot 110.

[0054] For example, in the appendix Figure 6 In the illustrated embodiment, four movable components 500 are provided. Figure 6 In the shown perspective, two movable members 500 are located on the side of the fixing belt 400 away from the first slot 110, i.e., on the upper surface of the fixing belt 400, increasing the pressure points on the fixing belt 400 and ensuring that the fixing belt 400 is tightly attached to the first slot 110, thus guaranteeing a sealing effect. The other two movable members 500 are located on the side of the fixing belt 400 facing the first slot 110, i.e., on the lower surface of the fixing belt 400, providing upward support and positioning, preventing the fixing belt 400 from sagging, swaying, or other unstable situations during operation. By having multiple fixing members located on different sides of the fixing belt 400, the fixing belt 400 is constrained from both above and below, maintaining a certain tension and ensuring a sealing effect on the first slot 110. Simultaneously, the multiple movable members 500 can distribute the external force on the fixing belt 400, reducing the possibility of deformation and extending its service life. In other embodiments, the number of movable members can be set according to actual needs and is not limited thereto.

[0055] See Figure 6 and Figure 7 As shown, in one embodiment, the movable member 500, the fixed belt 400 and the linear output unit 300 located on the side of the fixed belt 400 facing the first slot 110 cooperate to form a wiring groove 310, which is used for the wire harness 610 to pass through.

[0056] Understandably, a circuit board 620 is provided inside the linear output unit 300. The wiring harness 610 is connected to the plug of the circuit board 620, and the wiring harness 610 is led out to the outside of the housing 100 through the wiring channel 310, so that it can be connected to the instrument drive box 30 connected to the linear output unit 300. That is, the method of connecting the external instrument drive box 30 with internal wiring can reduce the risk of the wiring harness 610 being accidentally pulled, ensure the safety of the circuit, and improve the neatness and aesthetics; at the same time, it reduces the occupation of extra space. In some embodiments, the circuit board 620 can be a PCB adapter circuit board 620, which can adapt and convert signals, so that accurate and stable signal transmission can be achieved between different modules. The wiring harness 610 can be an FPC cable, which integrates power lines and signal lines. It has the characteristics of being thin and flexible, and can be flexibly bent and laid out; and its flexibility can be adapted to the motion characteristics of the linear conveying mechanism 10, so that the circuit will not break or have poor contact due to slight bending, stretching or other movements.

[0057] See Figure 2 and Figure 6 As shown, in one embodiment, the moving member 500 includes a roller 511 and a connecting shaft 512. The connecting shaft 512 is fixedly connected to the linear output unit 300, the roller 511 is rotatably connected to the connecting shaft 512, and the roller 511 is rolledly connected to the fixed belt 400. The rolling friction between the roller 511 and the fixed belt 400 reduces the resistance between the moving member 500 and the fixed belt 400, and also reduces noise generated by friction.

[0058] In some embodiments, the roller 511 may have an axially extending connecting hole, through which the connecting shaft 512 passes. Both ends of the connecting shaft 512 are fixedly connected to the linear output unit 300. For example, the linear output unit 300 may have mounting holes. The connecting shaft 512 and the mounting holes are interference-fitted to improve connection reliability. The roller 511 can rotate freely on the connecting shaft 512. In some embodiments, the roller 511 may use bearings to reduce rotational friction.

[0059] In other embodiments, the roller 511 may not have an axially extending connecting hole. The roller 511 has a connecting shaft 512 connected to its two axial sides. The connecting shaft 512 is rotatably connected to the linear output unit 300. When the linear output unit 300 moves linearly, the connecting shaft 512 and the roller 511 rotate synchronously around the central axis of the roller 511.

[0060] See Figure 7 and Figure 8As shown, in one embodiment, at least one guide portion 130 is provided within the housing 100, extending along the conveying direction; the linear output unit 300 is slidably connected to the guide portion 130. The guide portion 130 rigidly constrains the movement direction of the linear output unit 300, precisely controlling its trajectory and ensuring operational accuracy. By embedding the guide portion 130 within the first slot 110, the layout of the entire linear conveying mechanism 10 becomes more compact, and the guide portion 130 is protected, reducing friction and corrosion damage from external dust and other foreign matter. Simultaneously, it prevents accidental interference between the guide portion 130 and other components, improving the reliability and service life of the entire mechanism. Furthermore, the guide portion 130 located within the first slot 110 is closer to the load, less prone to deformation, ensuring rigidity. Additionally, it prevents lubricating oil within the guide portion 130 from contaminating the external environment. In some embodiments, two guide portions 130 are provided, arranged in parallel, further enhancing rigidity. In some embodiments, the guide portion 130 may be a guide rail, on which a slider is slidably connected. The slider is connected to the linear output unit 300, or the slider may be part of the linear output unit 300.

[0061] like Figure 2 and Figure 7 As shown, in one embodiment, the linear output unit 300 may include two protrusions 320, which extend from both sides of the first slot 110. The linear output unit 300 can be connected to the instrument drive box 30 through the two protrusions 320. For example, the protrusions 320 are provided with connecting holes for docking with the instrument drive box 30. In this way, the force distribution is more balanced, improving the connection stability between the linear output unit 300 and the instrument drive box 30. In one embodiment, the drive unit of the linear conveying mechanism can be a screw drive, a belt drive, or an electric push rod, etc. Taking a screw drive as an example, the drive unit includes a servo motor, a ball screw, and a nut seat. The nut seat is rigidly connected to a slider provided on the guide part 130. The servo motor drives the ball screw to rotate, which is then converted into linear motion of the nut seat, thereby outputting linear motion.

[0062] like Figure 1 As shown, in a further embodiment of this application, a robotic arm is provided for use in a surgical robot, the robotic arm including the linear conveying mechanism 10 as described above.

[0063] Because the robotic arm includes the aforementioned linear conveying mechanism 10, it ensures the fixation of the fixing belt 400 by fixing both ends of the fixing belt 400 between the pre-tensioning member 210 and the clamping member 220, maintaining appropriate tension on the fixing belt 400. This allows the fixing belt 400 to conform to the housing 100 and seal the opening of the first slot 110. When the linear output unit 300 moves along the conveying direction, at least one moving member 500 moves synchronously with it and is always pressed against the fixing belt 400. Thus, regardless of the position of the linear output unit 300, the pressing state between the moving member 500 and the fixing belt 400 ensures that the opening of the first slot 110 is closed by the fixing belt 400, thereby guaranteeing a sealing effect on the first slot 110. This not only prevents external dust, impurities, and liquids from entering the linear conveyor mechanism 10, reducing wear on internal components and avoiding problems such as sluggish movement or decreased accuracy caused by impurities, but also prevents short circuits and corrosion of electrical components caused by liquid intrusion, thus improving the reliability and service life of the linear conveyor mechanism 10. It further ensures the cleanliness of the surgical environment and reduces the risk of surgical infection for patients. Simultaneously, it also prevents medical staff from accidentally inserting their fingers into the slot, reducing safety hazards.

[0064] Understandably, surgical robots can also include a control console, allowing doctors to remotely operate robotic arms to perform complex surgical procedures, significantly improving surgical success rates and patient recovery outcomes. In practical applications, surgical robots can be laparoscopic surgical robots, orthopedic surgical robots, etc.

[0065] Understandably, the robotic arm may also include a remote center mechanism 20. The linear conveying mechanism 10 is connected and fixed to the output flange of the remote center mechanism 20, and the remote center mechanism 20 drives the linear conveying mechanism 10 to move around a fixed point. The instrument drive box 30 is mounted on the linear output unit 300 of the linear conveying mechanism 10, and the linear conveying mechanism 10 drives the instrument drive box 30 to slide linearly along the conveying direction. The remote center mechanism 20 ensures that surgical instruments move around a specific remote center point when operating inside the patient, simulating the relatively fixed rotation center of a human hand, thereby ensuring that the surgical operation conforms to human anatomy and surgical requirements, reducing unnecessary damage to the patient's body tissues, and improving the safety and precision of the surgery. The specific structure of the remote center mechanism 20 can be found in existing technology and will not be described in detail here.

[0066] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A linear conveying mechanism, characterized in that, The linear conveying mechanism includes: The housing (100) is configured with a first slot (110) extending along the conveying direction; the housing (100) is provided with fixing components (200) at both ends along the conveying direction; the fixing components (200) include a pre-tightening member (210) and a clamping member (220). A linear output unit (300) is configured to be operably movable along the conveying direction; a portion of the linear output unit (300) is located within the first slot (110), and another portion extends out through the first slot (110); A fixing strap (400) is connected at both ends along the conveying direction between the pretensioner (210) and the clamping member (220); the fixing strap (400) is used to block the opening of the first slot (110); At least one movable element (500) is connected to the linear output unit (300) and moves synchronously with the linear output unit (300); at least one of the movable elements (500) is pressed against the side of the fixing belt (400) away from the first slot (110).

2. The linear conveying mechanism according to claim 1, characterized in that, The fixing assembly (200) further includes a first locking member (230) which passes through the clamping member (220) and the pre-tightening member (210) to connect the clamping member (220) and the pre-tightening member (210).

3. The linear conveying mechanism according to claim 2, characterized in that, The fixing strap (400) is provided with a first mounting hole, and the first locking member (230) passes through the first mounting hole.

4. The linear conveying mechanism according to claim 1, characterized in that, The clamping member (220) is provided with an arc-shaped portion (221), and the fixing band (400) is wrapped around the arc-shaped portion (221).

5. The linear conveying mechanism according to claim 1, characterized in that, One of the pretensioner (210) and the housing (100) is provided with a first recess (120), and the other is provided with a first protrusion (211) for engaging with the first recess (120). And / or, the linear conveying mechanism further includes a second locking member (240) passing through the housing (100) and the pretensioner (210) to connect the housing (100) and the pretensioner (210).

6. The linear conveying mechanism according to claim 1, characterized in that, The linear conveying mechanism includes at least four of the moving parts (500), at least two of the moving parts (500) are pressed against the side of the fixed belt (400) away from the first slot (110), and at least two of the moving parts (500) are connected to the side of the fixed belt (400) facing the first slot (110).

7. The linear conveying mechanism according to claim 6, characterized in that, The movable member (500), the fixed band (400), and the linear output unit (300) located on the side of the fixed band (400) facing the first slot (110) cooperate to form a wiring groove (310), which is used for the wire harness (610) to pass through.

8. The linear conveying mechanism according to claim 1, characterized in that, The moving part (500) includes a roller (511) and a connecting shaft (512). The connecting shaft (512) is fixedly connected to the linear output unit (300), the roller (511) is rotatably connected to the connecting shaft (512), and the roller (511) is tumbledly connected to the fixed belt (400).

9. The linear conveying mechanism according to claim 1, characterized in that, At least one guide portion (130) is provided inside the housing (100), and the guide portion (130) extends along the conveying direction; the linear output unit (300) is slidably connected to the guide portion (130).

10. A robotic arm, characterized in that, Includes the linear conveying mechanism as described in any one of claims 1 to 9.

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