CN221691204U - Linear motion member and puncture robot - Google Patents

Abstract

The present application discloses a linear motion component and a puncture robot, including: a motor seat, a motor housing, a drive motor, a lead screw, a lead screw nut, a third guide rail and a guide rail slider; the motor seat is fixed at one end of the motor housing, the drive motor is fixed in the motor seat, the lead screw is arranged in the motor housing and is transmission-connected with the drive motor, the lead screw nut is threadedly connected to the lead screw, and the lead screw nut can move linearly with the rotation of the lead screw; the third guide rail is fixedly connected to the lead screw nut, the end of the third guide rail extends out of the motor housing, the guide rail slider is fixed in the motor housing and is slidably connected to the third guide rail to limit the movement direction of the third guide rail. The present application achieves the technical effect of improving the stability of the third guide rail during linear motion, thereby solving the problem of insufficient stability of the telescopic member in the linear motion component in the related art during the movement.

Description

Linear motion components and puncture robots

Technical Field

The present application relates to the technical field of medical equipment, and in particular to a linear motion component and a puncture robot.

Background Art

Robotic puncture can effectively improve the stability and accuracy of the puncture operation. The robot can stably clamp the puncture needle and maintain the puncture position and angle.

The robot clamps the puncture needle through the end effector and performs the puncture operation. The end effector needs to have the function of clamping the puncture needle. In addition, the end effector must be able to quickly release the puncture needle. After the puncture is completed, the puncture needle is released and the puncture needle and the patient undergo a CT scan together to verify whether the puncture is in place.

In the puncture robot, a linear motion component is required to drive the end movement. Generally, the linear motion component is mainly a screw transmission mechanism, which has the advantage of easy control of the motion stroke. When this structure is adopted, the telescopic part is connected to the screw nut, and the telescopic part is connected to the corresponding part of the end. The screw nut can move linearly with the rotation of the screw, thereby driving the telescopic part to move linearly. Since the telescopic part has a certain length, it is easy to produce a certain amount of deviation during the linear motion process, resulting in reduced motion stability control of the end.

Utility Model Content

The main purpose of the present application is to provide a linear motion component to solve the problem of insufficient stability of the telescopic member in the linear motion component in the related art during the movement.

In order to achieve the above-mentioned purpose, the present application provides a linear motion component, including: a motor seat, a motor housing, a drive motor, a lead screw, a lead screw nut, a third guide rail and a guide rail slider;

The motor seat is fixedly mounted at one end of the motor housing, the drive motor is fixedly mounted in the motor seat, the lead screw is disposed in the motor housing and is transmission-connected to the drive motor, the lead screw nut is threadedly connected to the lead screw, and the lead screw nut can move linearly with the rotation of the lead screw;

The third guide rail is fixedly connected to the lead screw nut, an end of the third guide rail extends out of the motor housing, and the guide rail slider is fixed in the motor housing and slidably connected to the third guide rail to limit the movement direction of the third guide rail.

Furthermore, two guide rail sliders are provided and are located on both sides of the third guide rail.

Furthermore, slide grooves are provided on both sides of the third guide rail, and the slide grooves extend along the length direction of the third guide rail. A sliding protrusion is provided on the guide rail slider on the side facing the third guide rail, and the sliding protrusion is inserted into the slide groove and slidably cooperates with the slide groove.

Furthermore, a supporting edge extends from the inner side of the lower end of the guide rail slider toward the lower end surface of the third guide rail, and the supporting edge supports two sides of the third guide rail. The supporting edge is slidably connected to the third guide rail.

Furthermore, a cover plate is fixedly provided at the front end of the motor housing, a guide rail through-hole is provided on the cover plate, and the third guide rail slides through the guide rail through-hole.

Furthermore, a bearing mounting hole is provided on the cover plate, a bearing is fixed in the bearing mounting hole, and the end of the lead screw has a smooth rod portion which is sleeved and fixed with the inner ring of the bearing.

Furthermore, the motor base includes a first base body and a second base body arranged opposite to each other, and a slot for engaging with the drive motor is formed on the first base body and the second base body, and the first base body and the second base body are engaged with the drive motor through the slot, and the first base body and the second base body are fixedly connected by a plurality of bolts.

Furthermore, a fixing frame is fixedly provided at the rear end of the driving motor, a driving control board is arranged on the fixing frame, and the driving control board is electrically connected to the driving motor.

Furthermore, the motor housing includes a bottom shell and an upper cover, the guide rail slider is fixed in the bottom shell, and the upper cover is buckled and fixed to the upper end of the bottom shell.

According to another aspect of the present application, a puncture robot is provided, comprising the above-mentioned linear motion component.

In the embodiment of the present application, through a motor base, a motor housing, a drive motor, a screw, a screw nut, a third guide rail and a guide rail slider; the motor base is fixedly arranged at one end of the motor housing, the drive motor is fixedly arranged in the motor base, the screw is arranged in the motor housing and is transmission-connected to the drive motor, the screw nut is threadedly connected to the screw, and the screw nut can move linearly with the rotation of the screw; the third guide rail is fixedly connected to the screw nut, the end of the third guide rail extends out of the motor housing, the guide rail slider is fixed in the motor housing and is slidingly connected to the third guide rail to limit the movement direction of the third guide rail, thereby achieving the purpose of guiding and limiting the third guide rail (telescopic part) by the guide rail slider installed in the motor housing, thereby achieving the technical effect of improving the stability of the third guide rail during linear motion, and then solving the problem of insufficient stability of the telescopic part in the linear motion component in the related technology during the motion.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

FIG1 is a schematic structural diagram according to an embodiment of the present application;

FIG2 is a schematic structural diagram of a parallel limiting member according to an embodiment of the present application;

FIG3 is a schematic diagram of an exploded structure of a linear motor according to an embodiment of the present application;

FIG4 is a schematic diagram of the assembly structure of a linear motor according to an embodiment of the present application;

FIG5 is a schematic cross-sectional view of a linear motor according to an embodiment of the present application;

FIG6 is a schematic diagram of the explosion structure of the terminal according to an embodiment of the present application;

FIG7 is a schematic diagram of a side view of the terminal according to an embodiment of the present application;

Fig. 8 is a schematic cross-sectional view of the structure taken along line B-B in Fig. 7;

FIG. 9 is a schematic diagram of the assembly of the terminal according to an embodiment of the present application.

Among them, 1 mounting platform, 2 motion platform, 21 limiting parallel member, 211 slide seat, 212 mounting hole, 213 guide member, 214 second guide rail, 215 linear bearing, 22 linear motion member, 221 connecting arm, 222 motor seat, 223 driving motor, 224 lead screw nut, 225 lead screw, 226 third guide rail, 2261 slide groove, 227 motor housing, 228 guide rail slider, 2281 sliding protrusion, 2282 supporting edge, 229 cover plate, 2291 bearing installation Hole, 2292 guide rail perforation, 230 first seat body, 231 second seat body, 232 card slot, 233 drive control board, 234 fixed frame, 23 connecting piece, 24 universal joint, 3 end, 31 puncture connecting plate, 311 connecting column, 312 fixed column, 32 end connecting piece, 321 connecting hole, 322 first buckle slot, 323 first fixed slot, 33 end detachable part, 331 second fixed slot, 332 second buckle slot, 333 handle, 34 puncture sleeve, 4 first guide rail, 5 first slider.

DETAILED DESCRIPTION

In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

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 numbers used in this way can be interchanged where appropriate, so as to describe the embodiments of the present application described herein.

In this application, the terms "upper", "lower", "inner", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

In addition, the terms "disposed", "provided with", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In addition, the term "plurality" shall mean two or more.

It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

Due to the complexity of puncture surgery, the end effector needs to have multiple degrees of freedom of movement. In order to achieve multi-degree-of-freedom operation, the related art adopts the method of superimposing multiple motion platforms. For example, the related art adopts two large motion platforms superimposed, and each large motion platform includes two superimposed sub-motion platforms, and the output direction of the sub-motion platform is perpendicular. Although this type of end effector can meet the requirements of motion freedom, it will cause the longitudinal volume of the end effector to increase, affecting the accuracy of operation.

To solve the above technical problems, as shown in FIG1 , an embodiment of the present application provides an electric end effector for robot puncture surgery, the electric end effector comprising: a mounting platform 1, a motion platform 2 and an end 3; wherein,

The motion platform 2 is arranged on the mounting platform 1, and the motion platform 2 is provided with two and is distributed up and down; the motion platform 2 comprises two linear motion components 22 arranged in the horizontal direction, a connecting member 23, a universal joint 24 and a parallel limiting component 21;

Two linear motion components 22 are respectively arranged on both sides of the mounting platform 1, the first ends of the two linear motion components 22 are hinged to the mounting platform 1, and the second ends thereof are respectively hinged to the two ends of the connecting member 23, and the universal joint 24 is hinged to the connecting member 23;

A connection line 1 is formed between the hinge points of the two linear motion components 22 and the mounting platform 1, and a connection line 2 is formed between the hinge points of the two linear motion components 22 and the connecting member 23. The connection line 1 and the connection line 2 are parallel, and the linear motion directions of the two linear motion components 22 are not parallel.

One end of the parallel limiting member 21 is connected to the mounting platform 1, and the other end is connected to the connecting member 23, so that the second connecting line can be limited to remain parallel to the first connecting line during the movement;

A first guide rail 4 parallel to the needle insertion direction is provided on the end 3 , wherein the universal joint 24 in one motion platform 2 is slidably connected to the first guide rail 4 via a first slider 5 , and the universal joint 24 in the other motion platform 2 is connected to the end 3 .

In this embodiment, the electric end 3 actuator mainly includes a mounting platform 1, a motion platform 2 and an end 3. The mounting platform 1 is a fixed part, which serves as the mounting base of the motion platform 2 and also as a structure connected to the mechanical arm of the puncture robot. The structure of the mounting platform 1 only needs to meet the installation of two motion platforms 2. In one embodiment, the mounting platform 1 is frame-shaped or plate-shaped, preferably frame-shaped, which can reduce weight while ensuring structural strength. The motion platform 2 is a moving component in the end 3 actuator, which is installed on the mounting platform 1. The end 3 is connected to the output end of the motion platform 2 as an operated part, and the motion platform 2 drives the end 3 to perform multi-degree-of-freedom movement.

In order to keep the terminal 3 in a certain posture, both ends of the terminal 3 need to be provided with a motion platform 2 to be connected thereto. For this reason, the motion platforms 2 in this embodiment are arranged as two motion platforms distributed up and down. The two motion platforms 2 can be installed on the upper side or the lower side of the mounting platform 1 at the same time, or the two motion platforms 2 can be installed on the upper and lower sides of the mounting platform 1 respectively. It is preferred to install them on the upper and lower sides of the mounting platform 1 to avoid mutual influence between the two motion platforms 2. The two connection points with the terminal 3 are determined by the two motion platforms 2 distributed up and down, so that the terminal 3 can be kept in a certain posture during the movement.

In order to reduce the longitudinal volume of the end effector 3, as shown in FIG1, the two linear motion components 22 in the motion platform 2 in this embodiment are arranged in the horizontal direction and are respectively installed on both sides of the mounting platform 1. Compared with the stacking method of four sub-motion platforms, the longitudinal volume is significantly reduced. The linear motion component 22 is a structure capable of generating linear motion, and it can be composed of a structure capable of achieving linear motion, such as a linear motor or a cylinder.

In order to realize the multi-degree-of-freedom movement of the terminal 3, the motion platform 2 in this embodiment can form a trapezoidal motion component. Specifically, as shown in Figure 1, the first end of the linear motion component 22 is hinged to the mounting platform 1. For one motion platform 2, the line 1 formed between the hinge points of the two linear motion components 22 and the mounting platform 1 serves as the bottom side of the trapezoid, and the bottom side is fixed. The linear motion directions of the two linear motion components 22 are not parallel, so the linear motion paths of the two linear motion components 22 serve as the hypotenuse of the trapezoid. The second ends of the two linear motion components 22 are hinged to the two ends of the connecting member 23, so the line 2 formed between the two hinge points serves as the top side of the trapezoid. As a structure connected to the output end of the linear motion component 22, the top side needs to move under the action of the linear motion component 22, and the terminal 3 is adjusted to different postures through the position change between the top sides of the upper and lower motion platforms 2.

In order to make the structure stable, it is necessary to constrain the moving components of the trapezoid so that the bottom and top sides always remain parallel. To this end, an additional limiting parallel component 21 is arranged in this embodiment, one end of the limiting parallel component 21 is connected to the mounting platform 1, and the other end is connected to the connecting member 23, so that the connection line 2 and the connection line 1 remain parallel during the movement. The movement of the top side can be decomposed into linear motion along the X-axis and the Y-axis on the horizontal plane. Therefore, the role of the limiting parallel component 21 is to prevent the top side from tilting during the movement of the top side, so that it can remain parallel to the bottom side. Therefore, in one embodiment, the limiting parallel component 21 can be a composite structure that can realize linear motion along the X-axis and the Y-axis. After it is connected to the top side, it can constrain the position of the top side so that it can only move linearly along the X-axis and the Y-axis, and finally realize the parallel constraint of the top side.

When the terminal 3 makes some posture adjustments, the distance between the two universal joints 24 on the terminal 3 needs to change. For this reason, in this embodiment, a first guide rail 4 is provided on the terminal 3, and the first guide rail 4 is parallel to the needle insertion direction. The universal joint 24 of one motion platform 2 is slidably connected to the first guide rail 4 through the first slider 5, and the universal joint 24 of the other motion platform 2 is directly connected to the terminal 3. When the posture of the terminal 3 changes, the distance between the two universal joints 24 changes, and the universal joint 24 connected to the first guide rail 4 through the first slider 5 slides along the guide rail, thereby achieving the adjustment of the posture of the terminal 3.

In this embodiment, two motion platforms 2 are arranged up and down, and the two linear motion components 22 in each motion platform 2 are arranged horizontally. The two linear motion components 22 in each motion platform 2 form a trapezoidal motion component after being connected with the mounting platform 1 and the connecting member 23. During the movement, the limiting parallel component 21 is used to maintain the parallelism of the two parallel sides of the motion component, thereby achieving the purpose of reducing the longitudinal volume of the end 3 actuator while realizing multi-degree-of-freedom precise operation of the end 3, thereby solving the problem in the related art that the longitudinal volume of the multi-degree-of-freedom end 3 actuator is large, which affects the operation accuracy.

In a specific embodiment of the limiting parallel member 21, as shown in Fig. 1 and Fig. 2, it includes a second guide rail 214, a slide seat 211 and a guide member 213;

The second guide rail 214 is arranged on the mounting platform 1 and extends along the first direction. The slide seat 211 is slidably arranged on the second guide rail 214. The guide member 213 extends along the second direction and is slidably arranged on the slide seat 211. The end of the guide member 213 is fixedly connected to the connecting member 23. The first direction is parallel to the connecting line 2, and the first direction is perpendicular to the second direction.

In this embodiment, the second guide rail 214 is installed at the front end of the mounting platform 1 (i.e., the end close to the end 3) along the first direction, the slide 211 is installed on the second guide rail 214 and can slide along the first direction, the guide member 213 is arranged along the second direction and is slidably connected to the slide 211, and the end of the guide member 213 close to the connecting member 23 is fixedly connected to the connecting member 23. When the two linear components of the motion platform 2 move forward linearly synchronously from the zero position, the slide 211 remains stationary, and the guide member 213 moves forward linearly with the connecting member 23. At this time, the slide 211 serves as a guiding structure for the guide member 213 and also as a guiding structure for the connecting member 23. When the linear motion amounts of the two linear components of the motion platform 2 are different, the first ends of the two linear motion components 22 generate rotational motion around the hinge point, while the slide 211 moves linearly along the first guide rail 4, and the guide member 213 moves linearly along the slide 211, so as to constrain the connecting member 23 to perform translational motion.

In one embodiment, in order to facilitate the linear movement of the guide member 213 along the slide 211, a mounting hole 212 is provided on the slide 211 in this embodiment, a linear bearing 215 is provided in the mounting hole 212, the guide member 213 is configured as a guide light axis, the guide light axis is slidably sleeved in the linear bearing 215, and the end of the guide light axis is fixedly connected to the connecting member 23. The mounting hole 212 can be set to two, and the corresponding guide light axes are also set to two, thereby improving stability.

Since the linear motion directions of the linear motion component 22 are not parallel and the connecting member 23 serves as the short side of the trapezoid, in order to enable the linear motion component 22 to smoothly drive the connecting member 23 to move, as shown in Figure 1, the linear motion component 22 in this embodiment includes a linear motor and a connecting arm 221, the linear motor is hinged to the mounting platform 1, the first end of the connecting arm 221 is hinged to the output end of the linear motor, and the second end is hinged to the connecting member 23, and the connecting arm 221 and the output end of the linear motor form an obtuse angle.

The output stability and accuracy of the linear motor directly affect the performance of the terminal 3. Therefore, in order to enable the linear motor to achieve stable and accurate linear output, as shown in Figures 3 to 5, the linear motor in this embodiment includes a motor seat 222, a motor housing 227, a drive motor 223, a lead screw 225, a lead screw nut 224, a third guide rail 226 and a guide rail slider 228;

The motor seat 222 is fixed to one end of the motor housing 227, the drive motor 223 is fixed in the motor seat 222, the lead screw 225 is arranged in the motor housing 227 and is drivingly connected to the drive motor 223, the lead screw nut 224 is threadedly connected to the lead screw 225, and the lead screw nut 224 can move linearly with the rotation of the lead screw 225;

The third guide rail 226 is fixedly connected to the screw nut 224 , and the end of the third guide rail 226 extends out of the motor housing 227 and is connected to the connecting arm 221 . The guide rail slider 228 is fixed in the motor housing 227 and is slidably connected to the third guide rail 226 to limit the movement direction of the third guide rail 226 .

In this embodiment, the motor housing 227 can limit the rotational freedom of the lead screw nut 224, so that the lead screw nut 224 can move linearly when the lead screw 225 rotates. In order to enable the lead screw 225 to rotate stably, the two ends of the lead screw 225 and the motor housing 227 can be connected through bearings. The motor seat 222 is a structure for fixing the drive motor 223, which is installed at one end of the motor housing 227 away from the connecting member 23. After the drive motor 223 is connected to the lead screw 225, the drive motor 223 drives the lead screw 225 to rotate, thereby driving the lead screw nut 224 to move linearly.

In order to stably output the linear movement of the lead screw nut 224, this is achieved in the present embodiment by the cooperation of the third guide rail 226 and the guide rail slider 228. The guide rail slider 228 is fixed in the motor housing 227. The third guide rail 226 is fixedly connected to the lead screw nut 224 and slidably cooperates with the guide rail slider 228. The guide rail slider 228 can guide the linear movement of the guide rail, so that the guide rail will not deviate when performing a long linear movement, thereby improving the stability and accuracy of the movement.

It can be understood that the lead screw in this embodiment can be a ball screw, a threaded rod, a trapezoidal lead screw 225, etc.

In order to facilitate the detection of the displacement during the movement, the linear motor in this embodiment also includes a position sensor, and the detection end of the position sensor is connected to the screw nut 224 to detect the movement position of the screw nut 224.

As shown in FIG. 3 , in order to make the third guide rail 226 bear force evenly, two guide rail sliders 228 are provided in this embodiment and are located on both sides of the third guide rail 226 .

In order to further improve the stability of the movement of the third guide rail 226, in this embodiment, slide grooves 2261 are provided on both sides of the third guide rail 226, and the slide grooves 2261 extend along the length direction of the third guide rail 226. A sliding protrusion 2281 is provided on the side of the guide rail slider 228 facing the third guide rail 226, and the sliding protrusion 2281 is inserted into the slide groove 2261 and slidably cooperates with the slide groove 2261. Since the third guide rail 226 has a certain length, in order to prevent the third guide rail 226 from bending, in this embodiment, a supporting edge 2282 extends from the inner side of the lower end of the guide rail slider 228 toward the lower end surface of the third guide rail 226, and the supporting edge 2282 supports both sides of the third guide rail 226, and the supporting edge 2282 is slidably connected to the third guide rail 226.

In one embodiment, a cover plate 229 is fixedly disposed at the front end of the motor housing 227, and a guide rail through hole 2292 is provided on the cover plate 229, and the third guide rail 226 slides through the guide rail through hole 2292. To a certain extent, the guide rail through hole 2292 can also play a role in guiding the third guide rail 226 accurately.

To facilitate the movement of the lead screw 225, a bearing mounting hole 2291 is provided on the cover plate 229 in this embodiment. A bearing is fixed in the bearing mounting hole 2291, and the end of the lead screw 225 has a smooth rod portion that is sleeved and fixed with the inner ring of the bearing.

To facilitate the installation of the drive motor 223, the motor seat 222 in this embodiment includes a first seat body 230 and a second seat body 231 that are relatively arranged. The first seat body 230 and the second seat body 231 are formed with a slot 232 that is engaged with the drive motor 223. The first seat body 230 and the second seat body 231 are engaged with the drive motor 223 through the slot 232. The first seat body 230 and the second seat body 231 are fixedly connected by a number of bolts.

On this basis, a fixing frame 234 is fixedly arranged at the rear end of the driving motor 223, and a driving control board 233 is arranged on the fixing frame 234, and the driving control board 233 is electrically connected to the driving motor 223. The motor housing 227 includes a bottom shell and an upper cover, the guide rail slider 228 is fixedly arranged in the bottom shell, and the upper cover is buckled and fixed to the upper end of the bottom shell.

To facilitate installation and removal of the terminal 3, as shown in FIGS. 6 to 9, the terminal 3 in this embodiment includes a puncture connection plate 31, a terminal connection member 33, a terminal detachable member 33 and a puncture sleeve 34;

A first guide rail 4 is provided on the first side of the puncture connection plate 31, wherein the universal joint 24 in one motion platform 2 is slidably connected to the first guide rail 4 via a first slider 5, and the universal joint 24 in the other motion platform 2 is connected to the puncture connection plate 31;

The terminal connecting piece 33 is detachably fixed to the second side of the puncture connecting plate 31 , the terminal detachable piece 33 is detachably fixed to the terminal connecting piece 33 , and the puncture sleeve 34 is detachably fixed to the terminal detachable piece 33 .

In this embodiment, the puncture connecting plate 31 and the terminal connecting member 33 are roughly arranged in an L shape, and the first guide rail 4 is arranged on the vertical surface of the puncture connecting plate 31. The lower end of the puncture connecting plate 31 has a connecting portion directly hinged to the universal joint 24, and the first slider 5 arranged on the first guide rail 4 also has a connecting portion directly hinged to the universal joint 24. The terminal connecting member 33 is detachably connected to the side of the puncture connecting plate 31 away from the first guide rail 4. Specifically, the upper end of the puncture connecting plate 31 is provided with a connecting column 311, and the upper end of the terminal connecting member 33 is provided with a connecting hole 321 that is plugged and matched with the connecting column 311. The aperture of the connecting hole 321 is larger than the diameter of the connecting column 311. When the terminal connecting member 33 is plugged into the connecting column 311 through the connecting hole 321, the terminal connecting member 33 can rotate clockwise or counterclockwise on the connecting column 311.

In order to enable the puncture connection plate 31 to be fixed to the terminal connection piece 33, in this embodiment, a fixing column 312 is provided on the second side of the puncture connection plate 31, and a fixing hole is provided on the terminal connection piece 33 to be plugged and fixed with the fixing column 312; after the connection column 311 is plugged and matched with the connection hole 321, the terminal connection piece 33 can be rotated to plug the fixing hole into the fixing column 312. The fixing column 312 has a spindle-shaped connecting portion, and the fixing hole has a groove body that is clamped with the connecting portion.

In order to facilitate the installation and removal of the terminal connector 33 and the terminal detachable part 33, in this embodiment, the lower ends of the terminal connector 33 are provided with first buckle grooves 322 on both sides, and the terminal detachable part 33 is provided with second buckle grooves 332 that are buckled and fixed with the first buckle grooves 322. The first buckle grooves 322 and the second buckle grooves 332 can be fixedly connected in a buckle manner. In order to facilitate disassembly, the terminal detachable part 33 is provided with handles 333 that expand outward on both sides, and the handles 333 are configured to be able to disengage the second buckle groove 332 from the first buckle groove 322 by pressing. In order to facilitate the fixing of the puncture sleeve 34, in this embodiment, the terminal connector 33 is provided with a first fixed groove 323 at one end facing the terminal detachable part 33, and a second fixed groove 331 corresponding to the first fixed groove 323 is provided in the second buckle groove 332, and the puncture sleeve 34 is fixed between the first fixed groove 323 and the second fixed groove 331. When the puncture sleeve 34 is cylindrical, the first fixing groove 323 and the second fixing groove 331 may be set to be semicircular.

According to another aspect of the present application, a puncture robot is provided, comprising the above-mentioned electric end effector.

The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Within the spirit and principle of the present application, any modification, equivalent replacement, improvement, etc. made shall be included in the protection scope of the present application.

Claims (10)

1. A linear motion component, characterized in that it comprises: a motor seat, a motor housing, a drive motor, a lead screw, a lead screw nut, a third guide rail and a guide rail slider; The motor seat is fixedly arranged at one end of the motor housing, the drive motor is fixedly arranged in the motor seat, the lead screw is arranged in the motor housing and is transmission-connected with the drive motor, the lead screw nut is threadedly connected to the lead screw, and the lead screw nut can move linearly with the rotation of the lead screw; The third guide rail is fixedly connected to the lead screw nut, an end of the third guide rail extends out of the motor housing, and the guide rail slider is fixed in the motor housing and slidably connected to the third guide rail to limit the movement direction of the third guide rail. 2 . The linear motion component according to claim 1 , wherein the guide rail sliders are provided in two numbers and are located on both sides of the third guide rail. 3. The linear motion component according to claim 2 is characterized in that sliding grooves are opened on both sides of the third guide rail, and the sliding grooves extend along the length direction of the third guide rail. A sliding protrusion is provided on the guide rail slider facing the side of the third guide rail, and the sliding protrusion is inserted into the sliding groove and slidably cooperates with the sliding groove. 4. The linear motion component according to claim 3 is characterized in that a supporting edge extends from the inner side of the lower end of the guide rail slider toward the lower end surface of the third guide rail, the supporting edge supports both sides of the third guide rail, and the supporting edge is slidably connected to the third guide rail. 5. The linear motion component according to claim 4 is characterized in that a cover plate is fixedly provided at the front end of the motor housing, a guide rail through-hole is provided on the cover plate, and the third guide rail slides through the guide rail through-hole. 6. The linear motion component according to claim 5, characterized in that a bearing mounting hole is opened on the cover plate, a bearing is fixed in the bearing mounting hole, and the end of the lead screw has a smooth rod portion which is sleeved and fixed with the inner ring of the bearing. 7. The linear motion component according to claim 1 is characterized in that the motor seat includes a first seat body and a second seat body arranged opposite to each other, and a slot for engaging with the drive motor is formed on the first seat body and the second seat body, and the first seat body and the second seat body are engaged with the drive motor through the slot, and the first seat body and the second seat body are fixedly connected by a plurality of bolts. 8. The linear motion component according to claim 7, characterized in that a fixing frame is fixedly provided at the rear end of the driving motor, a driving control board is arranged on the fixing frame, and the driving control board is electrically connected to the driving motor. 9. The linear motion component according to claim 8, characterized in that the motor housing comprises a bottom shell and an upper cover, the guide rail slider is fixed in the bottom shell, and the upper cover is buckled and fixed to the upper end of the bottom shell. 10. A puncture robot, characterized by comprising the linear motion component according to any one of claims 1 to 9.