CN113017839B - Lifting upright post and surgical robot - Google Patents
Lifting upright post and surgical robot Download PDFInfo
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- CN113017839B CN113017839B CN202110135218.8A CN202110135218A CN113017839B CN 113017839 B CN113017839 B CN 113017839B CN 202110135218 A CN202110135218 A CN 202110135218A CN 113017839 B CN113017839 B CN 113017839B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
- B66F7/025—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars screw operated
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to a lifting upright post which comprises a lifting support, a lifting platform and a counterweight structure. The lifting support is provided with a lifting bottom end and a lifting top end, and the lifting bottom end and the lifting top end are arranged at intervals along the extending direction of the lifting support. The lifting platform is arranged on the lifting support in a sliding mode, and slides along the extending direction of the lifting support under the action of driving force and is close to or far away from the lifting top end. The counterweight structure comprises a gravity balancing component and a magnetic force compensation component, wherein the gravity balancing component balances the weight of the lifting platform, and the magnetic force compensation component compensates the balancing force of the gravity balancing component. The invention also relates to a surgical robot comprising the lifting upright post. Above-mentioned lift stand and surgical robot, the less elastic balance weight structure of volume takes place the weight of elastic force balance elevating platform when elastic deformation with self, and then allows the manual light lift that realizes the elevating platform of operator, perhaps allows the lift of the less power part drive elevating platform of specification for lift stand structure is compacter.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a lifting upright post and a surgical robot.
Background
The surgical robot can assist a doctor in performing more accurate operation in the surgical process. During a surgical procedure using a shell of a surgical robot, a doctor needs to install a registered probe, a surgical instrument (such as a scalpel, a suture structure) and other end tools on a slave manipulator of the surgical robot according to the requirements of a current surgical process, then the doctor operates a main operating platform of the surgical robot, and the slave manipulator performs corresponding operations under the control of the main operating platform. In the process of operating by using the surgical robot, the height of the lifting platform in the lifting upright post needs to be adjusted according to the height of the doctor and the current operating condition. In order to realize free movement of the lifting platform, a counterweight mode is mostly adopted to balance the weight of the lifting platform. However, since the general counter weight block has a large volume and occupies a large amount of space, the lifting column is bulky as a whole, and the lifting column is not suitable for meeting the design direction of the current mechanism design which is more and more portable.
Disclosure of Invention
In view of the above, it is necessary to provide a lifting column and a surgical robot having compact structures, which are directed to the problem that a weight of a lifting table in a general lifting column is large and bulky.
A lifting column, comprising:
the lifting support is provided with a lifting bottom end and a lifting top end, and the lifting bottom end and the lifting top end are arranged at intervals along the extending direction of the lifting support;
the lifting platform is arranged on the lifting support in a sliding mode, slides along the extending direction of the lifting support under the action of driving force and is close to or far away from the lifting top end;
the counterweight structure comprises a gravity balance assembly and a magnetic compensation assembly, the gravity balance assembly is arranged between the lifting support and the lifting platform, the gravity balance assembly balances the weight of the lifting platform, and the magnetic compensation assembly compensates the balance force of the gravity balance assembly.
In one embodiment, the gravity balance assembly comprises a counterweight spring disposed between the lift table and the lift bottom end, and/or the counterweight spring is disposed between the lift table and the lift top end.
In one embodiment, the counterweight spring comprises a bottom spring and a top spring, the bottom spring is arranged between the lifting platform and the lifting bottom end, and the bottom spring pushes against the lifting platform along the lifting direction in the use state; the top spring is arranged between the lifting platform and the lifting top end, and the lifting platform is lifted by the top spring along the lifting direction in the using state.
In one embodiment, the bottom spring is of the type of a constant force spring and/or a linear spring; the top spring is of the type of a constant force spring and/or a linear spring.
In one embodiment, the top spring is a constant force spring, one end of the top spring is fixedly connected with the lifting platform, and the other end of the top spring is connected with the lifting top end; the bottom spring is a compression spring, one end of the bottom spring is abutted with the lifting platform, and the other end of the bottom spring is abutted with the lifting bottom end; the number of the top springs and/or the bottom springs is one, two or more, and the two or more top springs and/or the bottom springs are arranged in parallel at intervals.
In one embodiment, the magnetic compensation assembly is disposed between the lift table and the lift bracket, and the magnetic compensation assembly generates a friction force that resists movement of the lift table.
In one embodiment, the magnetic force compensation assembly includes a first magnetic member and a second magnetic member, the first magnetic member is fixedly connected to the lifting platform, the second magnetic member is fixedly connected to the lifting bracket, the first magnetic member and/or the second magnetic member is/are a magnet, and the first magnetic member and the second magnetic member are magnetically attracted to each other.
In one embodiment, the first magnetic member is a magnet, the second magnetic member is a strip-shaped plate, the strip-shaped plate is fixedly arranged on the lifting bracket, and the strip-shaped plate extends along the extending direction of the lifting bracket.
In one embodiment, the counterweight structure further includes bottom guide posts, the bottom guide posts are fixedly disposed on the lifting support, an extending direction of the bottom guide posts is parallel to an extending direction of the lifting support, the number of the bottom guide posts is the same as the number of the bottom springs, and each bottom spring is sleeved on one corresponding bottom guide post.
In one embodiment, the lifting column further comprises a brake assembly for limiting the sliding of the lifting platform relative to the lifting bracket.
In one embodiment, the brake assembly comprises an electromagnet and a strip-shaped plate; the electromagnet is fixedly arranged on the lifting table, the strip-shaped plate is fixedly arranged on the lifting support, the strip-shaped plate extends along the extension direction of the lifting support, and the electromagnet adsorbs the strip-shaped plate and is relatively fixed with the strip-shaped plate when being electrified; or, the electro-magnet is fixed set up in lifting support, the bar shaped plate fixed set up in the elevating platform, the bar shaped plate is followed lifting support's extending direction extends, adsorb when the electro-magnet circular telegram the bar shaped plate and with bar shaped plate relatively fixed.
In one embodiment, the lifting column further comprises a driving assembly disposed between the lifting bracket and the lifting platform; the driving assembly comprises a power part, a clutch part and a driving part, the power part, the clutch part, the driving part and the lifting platform are sequentially connected in a transmission mode, and the power part drives the lifting platform to slide along the extending direction of the lifting support through the driving part.
A surgical robot comprising the lifting column of any one of the above embodiments.
According to the lifting upright post and the surgical robot, the extending direction of the lifting upright post is the lifting direction in a use state, and the lifting table can slide along the extending direction of the lifting support to execute lifting action. Meanwhile, the counterweight structure with small volume balances the weight of the lifting table in a balanced matching compensation mode, so that an operator is allowed to manually and easily lift the lifting table, or a power part with small specification is allowed to drive the lifting table to lift. Not only the volume of counter weight structure is less, and allows the lift of manual regulation elevating platform or uses the power spare of less specification, can further reduce the whole volume, weight and the cost of lift stand. The lifting upright column and the surgical robot provided by the invention have more compact structures.
Drawings
Fig. 1 is a first perspective view of a lifting column according to an embodiment of the present invention;
fig. 2 is a second perspective view of the lifting column according to an embodiment of the present invention;
fig. 3 is a first perspective view of a part of a lifting column structure according to an embodiment of the present invention;
fig. 4 is a second perspective view of a part of a lifting column structure according to an embodiment of the present invention.
Wherein: 10. lifting the upright post; 100. a lifting support; 100a, a lifting top end; 100b, lifting the bottom end; 110. a first support bar; 120. a second support bar; 130. a top connecting rod; 140. a base plate; 200. a lifting platform; 310. a bottom spring; 320. a top spring; 331. a first magnetic member; 332. a strip plate; 340. a bottom guide post; 400. an electromagnet; 500. a drive assembly; 510. a motor; 520. a clutch member; 530. a screw; 600. a guide rail.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1-2, the present invention provides a lifting column 10, which is compact and can be lifted conveniently. Specifically, the lifting column 10 includes a lifting bracket 100, a lifting platform 200, and a counterweight structure. The lifting bracket 100 has a lifting base end 100b and a lifting top end 100a, and the lifting base end 100b and the lifting top end 100a are spaced apart from each other along the extending direction of the lifting bracket 100. The elevating platform 200 is slidably disposed on the elevating bracket 100, and the elevating platform 200 slides in the extending direction of the elevating bracket 100 by a driving force and approaches or departs from the elevating tip 100 a. The counterweight structure comprises a gravity balance component and a magnetic compensation component, and is arranged between the lifting support 100 and the lifting platform 200, the gravity balance component balances the weight of the lifting platform 200, and the magnetic compensation component compensates the balance force of the gravity balance component.
In the above-mentioned vertical shaft 10, the extending direction of the vertical shaft 10 is the lifting direction in the use state, and the lifting table 200 can perform the lifting operation by sliding along the extending direction of the lifting bracket 100. Meanwhile, the counterweight structure with a smaller volume balances the weight of the lifting platform 200 in a balanced matching compensation mode, so that an operator is allowed to manually and easily realize the lifting of the lifting platform 200, or a power part with a smaller specification is allowed to drive the lifting platform 200 to lift. Not only is the counterweight structure small in size, but also the lifting of the lifting platform 200 is allowed to be manually adjusted or a power member of a smaller specification is used, so that the overall size, weight and cost of the lifting column 10 can be further reduced. The lifting column 10 provided by the invention has a more compact structure.
Alternatively, the weight structure may be a spring, rubber, or the like, which can generate a deformation force when deformed to balance the weight of the lifting platform 200. In an implementation manner, the gravity balance assembly includes a counterweight spring disposed between the lifting platform 200 and the lifting bottom end 100b, and/or a counterweight spring disposed between the lifting platform 200 and the lifting top end 100 a. The weight spring can balance the weight of the lift table 200 with its own deforming force when elastically deformed. The counterweight spring has the advantages of small volume, light weight and compact structure. In the gravity balancing of the lifting platform 200 using the counter weight spring, one counter weight spring, two counter weight springs, or a plurality of counter weight springs may be used, and the counter weight springs may be connected to the top position, the middle position, and/or the bottom position of the lifting platform 200 or the lifting bracket 100.
As shown in fig. 1-2, the counter weight spring includes a bottom spring 310 and a top spring 320, the bottom spring 310 is disposed between the lifting platform 200 and the lifting bottom end 100b, and the bottom spring 310 pushes the lifting platform 200 along the lifting direction in the use state. The top spring 320 is provided between the lift table 200 and the lift tip 100a, and the top spring 320 pulls the lift table 200 in the upward direction in the use state. The weight of the lifting platform 200 is balanced from two directions of the lifting platform 200 close to the top end and the bottom end of the lifting support 100, which is beneficial to providing more stable matching gravity.
As shown in fig. 1-2, the lifting frame 100 is a frame, the lifting frame 100 forms a closed structural frame in a vertical plane in a use state, and the lifting platform 200 and the counterweight spring are respectively disposed within the structural frame. Specifically, the lifting bracket 100 includes a first support bar 110, a second support bar 120, a top connection bar 130, and a bottom plate 140. The first support bar 110 and the second support bar 120 are spaced, opposite and parallel to each other, two ends of the top connection bar 130 are respectively fixedly connected to the top ends of the first support bar 110 and the second support bar 120, and two ends of the bottom plate 140 are respectively fixedly connected to the bottom ends of the first support bar 110 and the second support bar 120. The top spring 320 has both ends connected to the lift table 200 and the top link 130, respectively, and the bottom spring 310 has both ends abutting against the lift table 200 and the bottom plate 140, respectively. As another realizable way, the lifting bracket 100 has a rod-like structure with protrusions at the top and bottom ends of the lifting bracket 100, respectively, for connecting the top spring 320 and the bottom spring 310, respectively.
Optionally, the bottom spring 310 is of the constant force spring and/or linear spring type, and correspondingly, the top spring 320 is of the constant force spring and/or linear spring type. The constant force spring can output a relatively constant deformation force when the deformation quantity changes. The linear spring can output a deformation force within a set range when the amount of deformation is changed, and can also realize a function of balancing the elevating platform 200 in accordance with a sliding friction force between the elevating platform 200 and the elevating bracket 100. Also, the type of the constant force spring as well as the linear spring may be an extension spring, a compression spring, or a torsion spring.
In a practical manner, the top spring 320 and the bottom spring 310 are constant force springs, respectively, and apply a matching force from two ends of the lifting platform 200 close to the lifting bracket 100, respectively, thereby allowing the lifting of the lifting platform 200 to be manually adjusted or using a smaller-sized power member. As another realizable way, the top spring 320 and the bottom spring 310 are linear springs, respectively, and apply a matching gravity force from two ends of the lifting platform 200 close to the lifting support 100, respectively, and match a sliding friction force between the lifting platform 200 and the lifting support 100, thereby allowing manual adjustment of the lifting platform 200 or using a smaller-sized power member.
As shown in fig. 1-2, in an embodiment of the present invention, the top spring 320 is a constant force spring, one end of the top spring 320 is fixedly connected to one side of the lifting platform 200 near the lifting top end 100a, and the other end of the top spring 320 is connected to the top connecting rod 130 at the lifting top end 100 a. The bottom spring 310 is a compression spring, one end of the bottom spring 310 abuts against the side of the lifting base 200 close to the lifting base 100b, and the other end of the bottom spring 310 abuts against the bottom plate 140 located at the lifting base 100 b. During the lifting of the lifting platform 200, the top spring 320 applies a constant amount of weight to the lifting platform 200 along the lifting direction, while the bottom spring 310 provides a set range of weight to the lifting platform 200 along the lifting direction, and the two weights together balance the weight of the lifting platform 200. Optionally, the number of the top springs 320 and/or the bottom springs 310 is one, two or more, and two or more top springs 320 and/or bottom springs 310 are spaced and arranged in parallel. The multiple counterweight springs can provide more accurate counterweight force.
Further, as shown in fig. 1-2, the number of top springs 320 is one, and the number of bottom springs 310 is two, which together provide the counter-weight force for the lift 200. And the counter weight structure still includes bottom guide post 340, and bottom guide post 340 is fixed to be set up in lifting support 100, and the extending direction of bottom guide post 340 is parallel with lifting support 100's extending direction, and the quantity of bottom guide post 340 is the same with the quantity of bottom spring 310, for example two, and every bottom spring 310 cover is located a corresponding bottom guide post 340. The bottom guide post 340 can effectively ensure the stability of the bottom spring 310 in the compression and deformation recovery processes, and avoid the loss of balance force of the bottom spring 310 due to instability.
In an embodiment of the present invention, the lifting platform 200 and the lifting bracket 100 slide relative to each other in a manner of a guide rail 600 matching with a slider. The magnetic force compensation assembly is disposed between the lift stage 200 and the lift bracket 100, and the magnetic force compensation assembly generates a frictional force that hinders the movement of the lift stage 200. The frictional force generated by the magnetic force compensation assembly is the same as the direction of the frictional force generated between the lift table 200 and the lift bracket 100, and the two frictional forces can jointly offset the change of the counterweight force (elastic restoring force) of the bottom spring 310 caused by the change of the deformation amount.
Taking the two extreme positions of the lifting platform 200 as an example, when the lifting platform 200 is at the lowest point, the elastic force of the bottom spring 310 is the largest, and if the elastic force of the bottom spring 310 and the elastic force of the top spring 320 are greater than the gravity of the lifting platform 200, the lifting platform 200 tends to move upwards, and the friction force generated by the magnetic compensation component counteracts the force that the sum of the elastic force of the bottom spring 310 and the elastic force of the top spring 320 exceeds the gravity of the lifting platform 200, so that the lifting platform 200 is still stable and cannot rise naturally. When the elevating platform 200 is raised to the highest point, the elastic force of the bottom spring 310 is the smallest, and if the elastic force of the bottom spring 310 and the elastic force of the top spring 320 are smaller than the gravity of the elevating platform 200 at this time, the elevating platform 200 tends to move downward, and the friction force generated by the magnetic compensation component counteracts the force of the gravity of the elevating platform 200 exceeding the sum of the elastic force of the bottom spring 310 and the elastic force of the top spring 320, so that the elevating platform 200 still keeps stable and does not naturally descend.
It can be understood that the magnetic force compensation assembly only needs to generate a friction force between the lift table 200 and the lift bracket 100 to block the two pairs of movements. As shown in fig. 2 to 4, as an implementation manner, the magnetic force compensation assembly includes a first magnetic member 331 and a second magnetic member, the first magnetic member 331 is fixedly connected to the lifting platform 200, the second magnetic member is fixedly connected to the lifting bracket 100, the first magnetic member 331 and/or the second magnetic member is a magnet, and the first magnetic member 331 and the second magnetic member are magnetically attracted to each other. A friction force is generated between the first magnetic member 331 and the second magnetic member which are attracted to each other at the time of the relative movement. In other embodiments, the friction force may be generated by mechanical clamping, such as adjusting the clamping degree by a screw.
Further, as shown in fig. 2 to 4, the first magnetic member 331 is a magnet, the second magnetic member is a strip 332, the strip 332 is fixedly disposed on the lifting bracket 100, and the strip 332 extends along the extending direction of the lifting bracket 100. The magnets are always magnetically attracted to the strip-shaped plates 332. In other embodiments, the strip 332 may be fixedly attached to the lifting platform 200 and the magnet may be fixedly attached to the lifting bracket 100. The magnet can guarantee the stability of elevating platform 200 in arbitrary position, does not receive the influence of the lift stand outage, guarantees the safety of lift stand.
In one embodiment of the present invention, the lifting column 10 further comprises a brake assembly for limiting the sliding of the lifting platform 200 relative to the lifting frame 100, so as to firmly fix the lifting platform 200 to the lifting frame 100. Optionally, the brake assembly may be a conventional brake structure, or a special brake structure designed based on actual working conditions. In one embodiment of the present invention, as shown in fig. 2-4, the brake assembly includes an electromagnet 400 and a strip 332. The electromagnet 400 is fixedly arranged on the lifting platform 200, the strip-shaped plate 332 is fixedly arranged on the lifting support 100, the strip-shaped plate 332 extends along the extension direction of the lifting support 100, and the electromagnet 400 is adsorbed on the strip-shaped plate 332 and relatively fixed with the strip-shaped plate 332 when being electrified. Or, the electromagnet 400 is fixedly arranged on the lifting support 100, the strip-shaped plate 332 is fixedly arranged on the lifting platform 200, the strip-shaped plate 332 extends along the extension direction of the lifting support 100, and the electromagnet 400 adsorbs the strip-shaped plate 332 and is relatively fixed with the strip-shaped plate 332 when being electrified.
The strip 332 in the above embodiments and the strip 332 in the magnetic compensation assembly may be one strip, or may be two separate strips 332. The first magnetic member 331 may also be designed to be annular, the electromagnet 400 is disposed inside the annular first magnetic member 331, the annular first magnetic member 331 and the electromagnet 400 act independently without interfering with each other, and the annular first magnetic member 331 and the electromagnet 400 may contact the strip-shaped plate 332 respectively.
The lifting column 10 of the above embodiments allows the operator to easily drive the lifting platform 200 to be lifted with a small force by hand. In other embodiments, the automatic lifting of the lifting platform 200 can also be achieved by the driving assembly 500. As one way to realize this, as shown in fig. 1 and fig. 3 to 4, the lifting column 10 further includes a driving assembly 500, and the driving assembly 500 is disposed between the lifting bracket 100 and the lifting platform 200. The driving assembly 500 includes a power member, a clutch member 520 and a driving member, the power member, the clutch member 520, the driving member and the lifting platform 200 are sequentially connected in a transmission manner, and the power member drives the lifting platform 200 to slide along the extending direction of the lifting frame 100 through the driving member. Specifically, the power member is a motor 510, the driving member is a screw 530, and a thread adapted to the driving member is formed on the lifting table 200. When the clutch 520 is in an engaged state, the motor 510 can drive the lifting table 200 to ascend or descend through the screw 530; when the clutch 520 is in the disengaged state, the operator is allowed to manually drive the elevating platform 200 to ascend or descend.
In an embodiment of the present invention, as shown in fig. 1 to 3, the lifting column 10 further includes a slide rail, the slide rail is fixedly disposed on the slide rail along an extending square of the lifting bracket 100, and a sliding slot adapted to the slide rail is formed on the lifting platform 200, so as to realize stable sliding of the lifting platform 200 relative to the lifting bracket 100.
An embodiment of the present invention further provides a surgical robot including the lifting column 10 described in any of the above embodiments. In the surgical robot, the extending direction of the lifting column 10 is the lifting direction in the use state, and the lifting table 200 can perform the lifting operation by sliding along the extending direction of the lifting bracket 100. Meanwhile, the counterweight structure with a small volume balances the weight of the lifting platform 200 by the elastic force generated when the counterweight structure is elastically deformed, so that an operator is allowed to manually and easily lift the lifting platform 200, or a power part with a small specification is allowed to drive the lifting platform 200 to lift. Not only is the counterweight structure small in size, but also the lifting of the lifting platform 200 is allowed to be manually adjusted or a power member of a smaller specification is used, so that the overall size, weight and cost of the lifting column 10 can be further reduced. The surgical robot provided by the invention has a more compact structure.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (11)
1. A lifting column, comprising:
the lifting support is provided with a lifting bottom end and a lifting top end, and the lifting bottom end and the lifting top end are arranged at intervals along the extending direction of the lifting support;
the lifting platform is arranged on the lifting support in a sliding mode, slides along the extending direction of the lifting support under the action of driving force and is close to or far away from the lifting top end;
the counterweight structure comprises a gravity balance assembly and a magnetic compensation assembly, and is arranged between the lifting bracket and the lifting platform, the gravity balance assembly balances the weight of the lifting platform, and the magnetic compensation assembly compensates the balance force of the gravity balance assembly;
the lifting upright column further comprises a brake assembly, and the brake assembly is used for limiting the lifting platform to slide relative to the lifting support; the brake assembly comprises an electromagnet and a strip-shaped plate, the electromagnet is fixedly arranged on one of the lifting platform and the lifting support, and the strip-shaped plate is fixedly arranged on the other of the lifting platform and the lifting support; the strip shaped plate is extended along the extending direction of the lifting support, and the electromagnet is adsorbed when being electrified and is relatively fixed with the strip shaped plate.
2. Lifting column according to claim 1, characterized in that the gravity balancing assembly comprises a counterweight spring which is arranged between the lifting table and the lifting bottom end and/or between the lifting table and the lifting top end.
3. The lifting column according to claim 2, wherein the counterweight spring comprises a bottom spring and a top spring, the bottom spring is disposed between the lifting platform and the lifting bottom end, and the bottom spring pushes against the lifting platform along a lifting direction in a use state; the top spring is arranged between the lifting platform and the lifting top end, and the lifting platform is lifted by the top spring along the lifting direction in the using state.
4. Lifting column according to claim 3, characterized in that the bottom spring is of the type of a constant force spring and/or a linear spring; the top spring is of the type of a constant force spring and/or a linear spring.
5. The lifting column of claim 4, wherein the top spring is of a constant force spring type, one end of the top spring is fixedly connected with the lifting platform, and the other end of the top spring is connected with the lifting top end; the bottom spring is a compression spring, one end of the bottom spring is abutted against the lifting platform, and the other end of the bottom spring is abutted against the lifting bottom end; the number of the top springs and/or the bottom springs is one, two or more, and the two or more top springs and/or the bottom springs are arranged in parallel at intervals.
6. The lifting column of claim 5, wherein the magnetic compensation assembly is disposed between the lifting platform and the lifting bracket, the magnetic compensation assembly generating a frictional force that resists movement of the lifting platform.
7. The lifting column according to claim 6, wherein the magnetic force compensation assembly comprises a first magnetic member and a second magnetic member, the first magnetic member is fixedly connected with the lifting platform, the second magnetic member is fixedly connected with the lifting support, the first magnetic member and/or the second magnetic member is a magnet, and the first magnetic member and the second magnetic member are magnetically attracted to each other.
8. The lifting column according to claim 7, wherein the first magnetic member is a magnet, the second magnetic member is a strip-shaped plate, the strip-shaped plate is fixedly disposed on the lifting bracket, and the strip-shaped plate extends along an extending direction of the lifting bracket.
9. The lifting column according to claim 5, wherein the counterweight structure further comprises a bottom guide post, the bottom guide post is fixedly disposed on the lifting frame, an extending direction of the bottom guide post is parallel to an extending direction of the lifting frame, the number of the bottom guide posts is the same as the number of the bottom springs, and each bottom spring is sleeved on a corresponding bottom guide post.
10. The lifting column according to any one of claims 1 to 9, further comprising a drive assembly disposed between the lifting bracket and the lifting platform; the driving assembly comprises a power part, a clutch part and a driving part, the power part, the clutch part, the driving part and the lifting platform are sequentially connected in a transmission mode, and the power part drives the lifting platform to slide along the extending direction of the lifting support through the driving part.
11. A surgical robot comprising a lifting column according to any one of claims 1 to 10.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110135218.8A CN113017839B (en) | 2021-02-01 | 2021-02-01 | Lifting upright post and surgical robot |
| CN202210995830.7A CN115385261A (en) | 2021-02-01 | 2021-02-01 | Lifting upright column and surgical robot |
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| CN202110135218.8A CN113017839B (en) | 2021-02-01 | 2021-02-01 | Lifting upright post and surgical robot |
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| CN113017839B true CN113017839B (en) | 2022-07-26 |
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| CN202210995830.7A Pending CN115385261A (en) | 2021-02-01 | 2021-02-01 | Lifting upright column and surgical robot |
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| CN115892909A (en) * | 2022-11-28 | 2023-04-04 | 江苏多乐热能设备有限公司 | Conveying elevator for material production and processing |
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Also Published As
| Publication number | Publication date |
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| CN113017839A (en) | 2021-06-25 |
| CN115385261A (en) | 2022-11-25 |
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