CN107320198B

CN107320198B - Operation trolley base and operation trolley

Info

Publication number: CN107320198B
Application number: CN201710643877.6A
Authority: CN
Inventors: 李志强; 其他发明人请求不公开姓名
Original assignee: Chengdu Borns Medical Robotics Co Ltd
Current assignee: Chengdu Borns Medical Robotics Co Ltd
Priority date: 2017-07-31
Filing date: 2017-07-31
Publication date: 2021-03-19
Anticipated expiration: 2037-07-31
Also published as: CN107320198A

Abstract

The invention discloses a base of an operation trolley, which comprises: the base body, the gyro wheel set up in base body one side, the gyro wheel has a plurality ofly, and wherein there are two drive wheels at least, the motor with the drive wheel corresponds the setting for the rotation of drive wheel, wherein, the motor has reverse braking function. The invention also discloses an operation trolley comprising the operation trolley base. The base of the operation trolley has a simple structure, and has good stability in the braking and running processes, so that the operation trolley has good stability, and the requirement of high stability in the operation is met.

Description

Operation trolley base and operation trolley

Technical Field

The invention relates to the field of medical instruments, in particular to a base of an operation trolley and the operation trolley.

Background

With the continuous development of medical technology and modern technology, the surgical process implemented by the surgical robot is widely adopted by many hospitals. Surgery requires a high degree of precision in the operation of the robot. Therefore, the related mechanisms need to have higher stability to ensure the smooth operation. As an important mechanism of a surgical robot, stability of the surgical trolley is crucial. And the operation trolley base plays a role in supporting the operation trolley and driving other parts of the operation trolley to move, so that the stability of the operation trolley base directly determines the overall stability of the operation trolley and the precision of the operation robot. Therefore, how to obtain a base of the surgical trolley with better stability becomes a technical problem to be solved urgently in the prior art. The operation trolley is often braked in the use process, and whether the operation trolley can be accurately and stably braked is an important aspect for measuring the stability of the operation trolley. The existing operation trolley has unstable technical questions in the aspect of braking.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides a base of an operation trolley, which comprises:

a base body, a first fixing plate and a second fixing plate,

the rollers are arranged on one side of the base body, the rollers are provided with a plurality of rollers, at least two of the rollers are driving wheels,

a motor which is arranged corresponding to the driving wheel and is used for driving the driving wheel to rotate,

wherein the motor has a reverse braking function.

The base of the operation trolley has a simple structure, when the operation trolley needs to be emergently braked, the motor outputs a zero-rotation-speed signal to stop the operation trolley by inputting reverse braking current to the motor, wherein the braking function enables the trolley to be stably braked and accurate braking operation can be realized.

In one embodiment, a clutch is provided between the drive wheel and its associated electric machine.

In one implementation, the device further comprises a driving wheel shaft, wherein the motor is connected with the driving wheel shaft through a clutch so as to drive the driving wheel to rotate; wherein, the driving wheel shaft is supported and fixed by at least two bearings.

In one embodiment, the bearings include a first bearing disposed on one side of a drive wheel shaft connected to the clutch, and a second bearing on the other side of the drive wheel.

In one implementation, the inner and outer races of the first bearing are fixed; the inner ring of the second bearing is fixed, and the outer ring of the second bearing is not fixed. Different choices are adopted for the axial fixing modes of the first bearing and the second bearing, under the condition that the inner ring and the outer ring of the first bearing are not fixed in the axial direction and under the condition that the axial precision of the driving wheel shaft is not particularly high, the outer ring of the first bearing is not fixed, so that the bearings can allow slight movement under the condition that the second bearing and the driving wheel shaft are fixed, and the small deviation of the driving wheel shaft in the axial direction is adapted; further, the driving wheel can be smoothly installed. Therefore, the installation is more convenient due to the arrangement, and the influence of axial machining and assembly errors of the shafting on the installation process of the driving wheel is eliminated.

In one implementation, the roller further comprises at least one driven wheel, the driven wheel being a universal wheel. The driven wheel is set as a universal wheel, so that the flexibility of the movement of the base of the operation trolley is increased.

In one implementation, the universal wheel steering device further comprises a plurality of first parking mechanisms, wherein two driving wheels are provided, the first parking mechanism is arranged between the two driving wheels, and the other first parking mechanisms are arranged corresponding to the universal wheels.

In one embodiment, the base further comprises extension legs, the extension legs are arranged on the extension legs in the length direction of the base body, and the extension legs are used for increasing the supporting distance of the base body.

In one implementation, the extension leg includes an extension bar and a second universal wheel disposed at a rear of the extension bar.

According to the invention, the extensible movable support legs are arranged, so that the support distance of the base body in the length direction is increased, and the base of the operation trolley can be flexibly applied to occasions with different support requirements. Simultaneously, this operation platform truck base has increased the stability of operation in-process through setting up parking mechanism, has reduced the risk that the operating table slided.

Another aspect of the present invention also provides a surgical trolley comprising any of the surgical trolley bases described above.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:

FIG. 1 is a schematic view of the base of a surgical trolley in a first embodiment of the present invention;

FIG. 2 is a right side view of the surgical trolley base in a first embodiment of the present invention;

FIG. 3 is a sectional view taken along line B-B of FIG. 2;

fig. 4 is an enlarged view of a portion a in fig. 3;

fig. 5 is an enlarged view of a portion C in fig. 4;

FIG. 6 is a schematic view of the base of the surgical trolley in a second embodiment of the present invention;

fig. 7 is an enlarged view of a portion D in fig. 6.

In the drawings, like parts are provided with like reference numerals. The drawings are not to scale.

Detailed Description

The invention will be further explained with reference to the drawings.

Fig. 1 is a schematic structural view of a base of a surgical cart according to a first embodiment of the present invention, fig. 2 is a right side view of the base of the surgical cart in fig. 1, fig. 3 is a sectional view taken along line B-B in fig. 2, and fig. 4 is an enlarged view of a portion a of fig. 3.

The first embodiment will be described in detail with reference to fig. 1 to 3.

Operation platform truck base in this implementation, including base body 1, base body 1 wherein sets up to the rectangle structure in this implementation, and the rectangle structure is as the going on that common structure is favorable to actual production more, and the technical staff in this field can carry out specific design according to actual need of course. Be provided with the gyro wheel in one side of base body 1, set up for making overall structure more stable the gyro wheel has a plurality ofly, includes drive wheel 2 and follows driving wheel 3 in the gyro wheel, and a plurality of gyro wheels are evenly arranged in one side of base body. In order to make the drive of the drive wheels to the overall structure more smooth, it is preferable that at least two drive wheels 2 are provided. In this embodiment, two driving wheels 2 are provided at positions corresponding to two adjacent corners of the rectangular structure of the base body 1, and two driven wheels 3 (only one is illustrated in fig. 1) are provided at positions corresponding to the other two corners.

The base of the surgical trolley in this embodiment further comprises a driving device, the driving device is used for driving the driving wheels to rotate, the driving device is a motor 4 as shown in fig. 1 to 3, and the motor 4 is arranged corresponding to the driving wheels 2.

Preferably, the base of the surgical trolley further comprises a control device (not shown in the figure), the control device is respectively connected with the plurality of motors 4, and the rotation speed of the driving wheel 2 is controlled by the motors 4. In this embodiment, the control device is connected to the two motors 4, so that the operating states of the two motors can be controlled, respectively, to control the different rotational speeds and rotational directions of the two driving wheels 2, that is, the advancing, retreating, and turning of the surgical cart can be realized by the direction and rotational speed difference of the two driving wheels 2.

Preferably, a clutch 5 is provided between the drive wheel 2 and the electric motor 4 provided in correspondence therewith. The clutch 5 makes the control of the motor 4 to the driving wheel 2 more stable, and the switching of the speed and the direction is more convenient and stable. Further, for the smooth operation of the operation trolley, the clutch 5 is an electromagnetic clutch, and the motor 4 is provided with a speed reducer.

The present embodiment is a specific improvement to the specific structure of the driving portion, and now defines the driving portion of the base of the surgical trolley as a driving wheel assembly, as shown in fig. 3 and 4. Fig. 3 is a sectional view taken along line B-B of fig. 2, and fig. 4 is an enlarged view of a portion a of fig. 3. As shown in fig. 3 and 4, wherein the driving wheel assembly includes: the driving wheel 2 drives the wheel shaft 21, and the driving wheel shaft 21 penetrates through the driving wheel 2 and is fixedly connected with the driving wheel 2; the clutch 5 is also included, and the clutch 5 is connected with the driving wheel shaft 21; and a driving device connected with the clutch 5, wherein the driving device is connected with the driving wheel shaft 21 through the clutch 5 so as to drive the driving wheel 2 to rotate. The drive means in this embodiment is a motor 4 as shown.

Preferably, in order to fix and support the driving wheel, the driving wheel assembly of the present embodiment further includes a bearing, as shown in fig. 4, the bearing includes at least a first bearing 22 and a second bearing 22 disposed on two sides of the driving wheel 2, where the first bearing 22 is located on a side of the driving wheel 2 away from the clutch 5, and the second bearing 23 is located on a side of the driving wheel 2 close to the clutch 5. Also included is a bearing housing for holding the bearing, wherein a first bearing housing 24 for supporting the first bearing 22 and a second bearing housing 25 for supporting the second bearing 23. In the present embodiment, in order to protect the clutch 5, a clutch case 51 is further provided, the clutch case 51 is disposed around the clutch 5, and in order to simplify the overall structural design and save space, a side wall of the clutch case 51 on the side close to the driving wheel 2 is used as the second bearing seat 25.

Further, for the axial fixation of the bearing, the invention adopts different axial fixation modes for the first bearing 22 and the second bearing 23, wherein the inner ring and the outer ring of the first bearing 22 are not fixed in the axial direction, and the inner ring and the outer ring of the second bearing 23 are both fixed in the axial direction. Such an arrangement makes the requirement for the axial accuracy of the drive axle 21 lower when the drive axle 21, the first bearing 22 and the second bearing 23 are mounted, thereby reducing the difficulty of mounting and the production cost. Specifically, in the case that the inner ring and the outer ring of the first bearing 22 are not fixed in the axial direction, and in the case that the axial accuracy of the drive wheel shaft 21 is not particularly high, since the outer ring of the first bearing is not fixed, the bearing can allow a slight movement in the case that the second bearing and the drive wheel shaft are fixed, so as to accommodate a slight deviation of the drive wheel shaft in the axial direction; further, the driving wheel can be smoothly installed.

Preferably, the first bearing seat 24 may be further modified, specifically as shown in fig. 4, the first bearing seat 24 is provided with a groove 241 for accommodating the first bearing 22, after the first bearing 22 and the driving wheel shaft 21 located therein are mounted, a free space 242 is further provided in the groove 241, a certain space is left in the groove 214 for the first bearing 22 and the driving wheel shaft 21, and the requirement for the axial accuracy of the driving wheel shaft is reduced; meanwhile, a certain expansion space is reserved for the first bearing 22 and the driving wheel shaft 21, and the normal work of the first bearing 22 and the driving wheel shaft 21 can be guaranteed under the condition that the first bearing 22 and the driving wheel shaft 21 expand due to heat.

Fig. 5 shows a partial enlarged view of the portion C in fig. 4, and fig. 5 mainly shows a specific manner of fixing the first bearing 22 and the second bearing 23 in the axial direction of the drive wheel shaft 2. Wherein the first bearing 22 comprises a first bearing cone 221 and a first bearing cup 222; a first retaining ring 26 is arranged between the first bearing inner rings 221 on one side of the first bearing inner rings 221 adjacent to the driving wheel 2, a snap ring 29 is arranged on the other side of the first bearing inner rings 221, a groove 212 for accommodating and fixing the snap ring 29 is arranged at one end, extending out of the first bearing 22, of the driving wheel shaft 21, and the first bearing inner rings 221 are axially fixed through extrusion of the first retaining ring 26 and the snap ring 29; the first bearing outer race 222 is not axially fixed. Wherein the second bearing 23 comprises a second bearing inner ring 231 and a second bearing outer ring 232; the bulge 211 is arranged on the drive wheel shaft 21 along the circumferential direction of the drive wheel shaft 21, the bulge 211 is arranged between the second bearing inner ring 231 and the drive wheel 2, one side of the second bearing inner ring 231, which is far away from the drive wheel 2, is in contact with one side of the second retaining ring 27, and the other side of the second retaining ring 27 is in contact with the clutch 5, so that the axial fixation of the second bearing inner ring 231 is realized. The hole of the second bearing seat 25 through which the driving wheel shaft 21 is allowed to pass is a stepped hole, one end of the stepped hole close to the driving wheel 2 is larger and can accommodate the second bearing 22, and one end of the stepped hole far from the driving wheel 2 is smaller, so that a step 251 is formed; one side of the second bearing outer ring 232 far away from the driving wheel 2 is in contact with one side of the step 251 close to the driving wheel 2, and one side of the second bearing outer ring 232 close to the driving wheel 2 is axially fixed through a flange 28 fixed on one side of the second bearing seat 25 close to the driving wheel 2. The fixing mode is simple in structure and convenient to realize.

In order to realize the emergency stop of the operation trolley during the operation process, the control mode of the motor is improved in the invention, and in the embodiment, the motor 2 preferably has a reverse braking function. In brief, when the operating surgical cart needs to be braked emergently, the motor 4 outputs a zero-rotation-speed signal by inputting a reverse braking current to the motor 4, so that the surgical cart is stopped.

In one embodiment, the bottom of the base body 1 is provided with first parking mechanisms 6 distributed in a triangular shape. The triangular structure utilizes the stability principle of a triangle, and the stability of the base body 1 after standing is improved.

In one embodiment, the first parking mechanism 6 includes a pedal 61 and a supporting foot 62 for controlling the base body 1 to park, and a linkage mechanism (not shown) for controlling the lifting of the supporting foot 62 through the pedal 61.

The first parking mechanism 6 and the roller 3 are independent of each other, and the parking of the base body 1 is not realized by locking the roller 3, but is realized by the friction force between the supporting legs 62 and the ground when contacting with the ground. Specifically, after the operation trolley base moves to the designated position, the pedals 61 are stepped on, the force is transmitted to the supporting legs 62 through the connecting rod mechanism, the supporting legs 62 extend downwards to be in contact with the ground, and large friction force is generated between the weight of the operation trolley base and the ground, so that the operation table is parked. When the parking is finished and the operating table needs to be moved, the pedals 61 can be lifted upwards by feet, the supporting legs 62 move upwards and are separated from the ground, and the parking of the operating table trolley base is released.

Preferably, the bottom of the supporting leg 62 is provided with a rubber pad 63 to increase the friction between the supporting leg 62 and the ground, so as to prevent the operating table from moving under force after standing.

As shown in fig. 1, the base of the surgical cart in this embodiment is a part of the surgical cart, and a column structure may be provided on the base of the surgical cart, and due to the structures of the support arm, the operation handle, and the like, as shown in fig. 1, the first column 91 may be provided with a robot arm (not shown in the figure), and the second column 92 may be provided with an operation handle (not shown in the figure). Of course, the specific setting of the operation trolley can be performed in other manners, and the detailed description is omitted.

As shown in fig. 6, which is a schematic structural diagram of a base of a surgical trolley in a second embodiment of the present invention, as can be seen from fig. 6, in this embodiment, compared with the first embodiment, an extension leg 7 is disposed in a length direction of a base body 1, and the extension leg 7 is used for increasing a supporting distance of the base body 1; the longitudinal direction in the present invention means a direction from the driving pulley 2 disposed at the rear end to the driven pulley 3 as shown in fig. 6. Since the present invention only relates to the base portion of the operating trolley, most of the other portions are not shown, such as the operating table base shown in fig. 6, the first column 91 is not shown compared with fig. 1, and thus the description thereof is omitted. In this embodiment, referring to fig. 6, the base body 1 and the extension leg 7 are connected by a connecting member 8, as shown in fig. 6, the connecting member 8 includes a first connecting plate 81 disposed at an end of the extension leg 7 facing the base body 1, a connecting shaft 82 is disposed at a center position of the first connecting plate 81, and a plurality of first threaded holes (not shown in the figure) are disposed on a circumference of the connecting shaft 82; the setting is in base body 1 orientation the second connecting plate 83 of extension leg 7 one end, the central point of second connecting plate 83 puts and is equipped with connecting hole 84, can wear to establish in connecting hole 84 connecting axle 82, the circumference of connecting hole 84 be equipped with the corresponding second screw hole 85 in first screw hole position.

Specifically, the first connecting plate 81 and the extending leg 7 are integrated, and the second connecting plate 83 and the base body 1 are also integrated. When the support distance of the extension leg 7 to the base body 1 needs to be increased, the connecting shaft 82 is inserted into the connecting hole 84, and the screw is inserted into the first threaded hole and the second threaded hole 85, so that the extension leg 7 and the base body 1 are fixed. Preferably, the cross section of each of the first connecting plate 81 and the second connecting plate 83 is rectangular, and the number of the first threaded holes and the number of the second threaded holes 85 are four, and the four threaded holes are respectively located at four vertex angles of the first connecting plate 81 and the second connecting plate 83.

In one embodiment, as shown in fig. 7, the second connecting plate 83 is provided with a plurality of through holes 86 near the edge, and when the extension leg 7 is detached, an external force is applied to the extension leg 7 through the through holes 86, so that the extension leg 7 is separated from the base body 1. The base body 1 is provided with a groove 87 at a position corresponding to the through hole 86, when the extension leg 7 is detached, a screw penetrates into the through hole 76 from the groove 87, the diameter of the screw is smaller than that of the through hole 76, and the extension leg 2 is ejected out by applying force to the screw. Preferably, the through holes 76 are two and located at two opposite vertex positions of the second connecting plate 83.

In one embodiment, the extension leg 7 includes an extension bar 71 and a second universal wheel 72 disposed at a rear portion of the extension bar 71. The second universal wheels 72 can increase the flexibility of the movement of the base of the operation trolley on one hand and can balance the acting force applied to the extension bar 71 on the other hand. Without the second universal wheel 72, the acting force of the operating table on the extension bar 71 is mostly concentrated on the connecting shaft 82, and the connecting shaft 82 is easily damaged and broken due to long-term stress.

In one embodiment, the bottom of the extension bar 71 at the end away from the base body 1 is provided with a second parking mechanism 73. The second parking mechanism 73 is matched with the first parking mechanism 6 on the base body 1 to increase the stability of the operation trolley base after parking.

The extensible movable support legs are arranged, so that the support distance in the length direction of the support is increased, and the support base can be flexibly applied to occasions with different support requirements. Simultaneously, this support base has increased the stability of operation in-process through setting up parking mechanism, has reduced the risk that the operating table slided.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A surgical trolley base comprising:

a base body, a first fixing plate and a second fixing plate,

a control device which is respectively connected with the plurality of motors so as to respectively control the working states of the two motors,

the motor has a reverse braking function, and a zero-rotation-speed signal is output by the motor to brake the surgical trolley by inputting a reverse braking current to the motor;

a clutch is arranged between the driving wheel and the motor correspondingly arranged on the driving wheel;

the motor is connected with the driving wheel shaft through a clutch so as to drive the driving wheel to rotate; the driving wheel shaft is supported and fixed by at least two bearings;

the bottom of the base body is provided with first parking mechanisms which are distributed in a triangular shape, each first parking mechanism comprises a pedal, supporting legs and a connecting rod mechanism, the supporting legs are used for controlling the base body to park, the connecting rod mechanism controls the supporting legs through the pedals, and rubber pads are arranged at the bottoms of the supporting legs;

the bearing comprises a first bearing arranged on one side of a driving wheel shaft connected with the clutch and a second bearing positioned on the other side of the driving wheel;

the inner ring and the outer ring of the second bearing are fixed; the inner ring of the first bearing is fixed, and the outer ring of the first bearing is not fixed;

the first bearing seat is used for supporting the first bearing, and the second bearing seat is used for supporting the second bearing; the first bearing seat is provided with a groove body for accommodating the first bearing, and a moving space is also arranged in the groove body;

one side of the inner ring of the first bearing is provided with a first baffle ring, the other side of the inner ring of the first bearing is provided with a snap ring, and one end of the first bearing is provided with a groove for accommodating and fixing the snap ring.

2. The surgical trolley base of claim 1 wherein the rollers further comprise at least one driven wheel, the driven wheel being a universal wheel.

3. The surgical trolley base of claim 2 further comprising a plurality of first parking mechanisms, two of the drive wheels, a first parking mechanism disposed between the two drive wheels, and other first parking mechanisms disposed corresponding to the universal wheels.

4. The surgical trolley base of claim 3 further comprising extension legs disposed in a length direction of the base body, the extension legs for increasing a support distance of the base body.

5. The surgical trolley base of claim 4 wherein the extension leg includes an extension bar and a second universal wheel disposed at a rear portion of the extension bar.

6. A surgical trolley comprising the surgical trolley base of any one of claims 1 to 5.