CN114366307A - Vehicle-carrying chassis and control method thereof - Google Patents
Vehicle-carrying chassis and control method thereof Download PDFInfo
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- CN114366307A CN114366307A CN202210037222.5A CN202210037222A CN114366307A CN 114366307 A CN114366307 A CN 114366307A CN 202210037222 A CN202210037222 A CN 202210037222A CN 114366307 A CN114366307 A CN 114366307A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000002324 minimally invasive surgery Methods 0.000 claims description 12
- 238000001356 surgical procedure Methods 0.000 claims description 7
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- 238000004590 computer program Methods 0.000 description 9
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- 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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Abstract
The specification discloses a vehicle-carrying chassis and a control method of the vehicle-carrying chassis, wherein the vehicle-carrying chassis is provided with trundles, support rods, a driving part and a horizontal cross rod, the two ends of the horizontal cross rod are provided with ground contact parts, the middle of the horizontal cross rod is provided with a connecting point connected with one end of the support rod, the vehicle-carrying chassis moves on the ground through the trundles, the driving part controls the support rods to support the vehicle-carrying chassis to be lifted up when the position of the vehicle-carrying chassis is fixed, so that the trundles are separated from the ground, and the ground contact parts at the two ends of the horizontal cross rod are in contact with the ground.
Description
Technical Field
The specification relates to the technical field of vehicle carrying chassis, in particular to a vehicle carrying chassis and a control method of the vehicle carrying chassis.
Background
At present, with the continuous development of medical technology, more and more surgical robots are applied to clinical operations, and the vehicle carrying chassis is used as an extremely important bearing part of the surgical robot, so that the stability of the vehicle carrying chassis has an important influence on the operation precision and the operation result of the surgical robot.
In the prior art, in order to fix the vehicle carrying chassis in the operation process of the surgical robot, the liftable supporting legs are usually arranged in the vehicle carrying chassis, and the supporting legs are lifted to abut against the ground to lift the vehicle body, so that the surgical robot is stabilized. However, when the surgical robot is located on uneven or inclined ground, the vehicle carrying chassis is prone to shaking or sliding, and the like, so that the stability of the surgical robot is seriously affected, and further the operation is affected.
Therefore, how to enhance the stability of the vehicle-carrying chassis under various ground environments while ensuring the flexibility of the vehicle-carrying chassis movement is an urgent problem to be solved.
Disclosure of Invention
The specification provides a vehicle-carrying chassis and a control method of the vehicle-carrying chassis, and aims to partially solve the problems in the prior art.
The technical scheme adopted by the specification is as follows:
the specification provides a vehicle-carrying chassis, wherein the vehicle-carrying chassis is internally provided with trundles, support rods, a driving part and a horizontal cross rod, two ends of the horizontal cross rod are provided with a ground contact part, the middle of the horizontal cross rod is provided with a connecting point connected with one end of the support rod, and the vehicle-carrying chassis moves on the ground through the trundles;
the driving part is used for controlling the supporting rod to support the vehicle-carrying chassis to be lifted when the vehicle-carrying chassis is fixed in position so as to enable the caster to be separated from the ground, and the ground-contacting parts at two ends of the horizontal cross rod are used for contacting the ground, wherein when the ground-contacting parts are contacted with the ground, the horizontal cross rod rotates at the connecting point by taking the supporting rod as a rotating shaft according to the leveling condition of the ground so as to enable the vehicle-carrying chassis fixed in position to be kept horizontal.
Optionally, a hinge component is further arranged between the driving component and the support rod, one end of the hinge component is connected with the driving component, and the other end of the hinge component is hinged with the support rod;
the hinged part is used for driving the supporting rod to lift under the action of driving force provided by the driving part so as to enable the caster wheels to be separated from the ground, and the ground contact parts at two ends of the horizontal cross rod are in contact with the ground.
Optionally, a groove is further formed in the vehicle carrying chassis;
the groove is used for accommodating the horizontal cross rod and the grounding parts arranged at two ends of the horizontal cross rod when the supporting rod is attached to the vehicle-carrying chassis.
Optionally, the vehicle carrying chassis is provided with four support rods, each support rod is connected with a horizontal cross rod, and the shape defined by the projection of the horizontal cross rods connected with the four support rods on the ground is a regular quadrangle.
Optionally, the vehicle chassis is used for carrying minimally invasive surgery equipment for performing surgery on a patient.
The specification provides a control method of a vehicle-carrying chassis, wherein the vehicle-carrying chassis is provided with trundles, support rods, a driving part and a horizontal cross rod, the two ends of the horizontal cross rod are provided with a grounding part, the middle of the horizontal cross rod is provided with a connecting point connected with one end of the support rod, the vehicle-carrying chassis moves on the ground through the trundles, and the method comprises the following steps:
acquiring a fixed instruction aiming at the vehicle carrying chassis;
according to the fixing instruction, the supporting rod is controlled to support the vehicle-carrying chassis to lift through the driving part so that the caster is separated from the ground, and the ground-contacting parts at two ends of the horizontal cross rod are contacted with the ground, wherein when the ground-contacting parts are contacted with the ground, the horizontal cross rod rotates at the connecting point by taking the supporting rod as a rotating shaft according to the leveling condition of the ground so as to enable the vehicle-carrying chassis which is subjected to position fixing to be kept horizontal.
Optionally, a hinge component is further arranged between the driving component and the support rod, one end of the hinge component is connected with the driving component, and the other end of the hinge component is hinged with the support rod;
through drive part, control the bracing piece supports carry the car chassis and lift, specifically include:
and by controlling the driving part, driving force is provided for the hinged part, so that the hinged part drives the supporting rod to lift, the caster is separated from the ground, and the ground contact parts at two ends of the horizontal cross rod are contacted with the ground.
Optionally, a groove is further formed in the vehicle carrying chassis;
the method further comprises the following steps:
acquiring a support rod retracting instruction for the vehicle carrying chassis;
and controlling the driving part to withdraw the supporting rod according to the supporting rod withdrawing instruction so that the horizontal cross rod and the grounding parts arranged at two ends of the horizontal cross rod are withdrawn into the groove when the supporting rod is attached to the vehicle carrying chassis.
Optionally, the vehicle carrying chassis is provided with four support rods, each support rod is connected with a horizontal cross rod, and the shape defined by the projection of the horizontal cross rods connected with the four support rods on the ground is a regular quadrangle.
Optionally, the vehicle chassis is used for carrying minimally invasive surgery equipment for performing surgery on a patient.
The technical scheme adopted by the specification can achieve the following beneficial effects:
in the control method of the vehicle-mounted chassis provided by the specification, a fixing instruction for the vehicle-mounted chassis is firstly obtained, then according to the fixing instruction, the supporting rod is controlled to support the vehicle-mounted chassis to be lifted through the driving part so that the caster is separated from the ground, and the ground contacting parts at two ends of the horizontal cross rod are contacted with the ground, wherein when the ground contacting parts are contacted with the ground, the horizontal cross rod rotates at a connecting point by taking the supporting rod as a rotating shaft according to the leveling condition of the ground so that the vehicle-mounted chassis with the fixed position is kept horizontal.
According to the method, when the vehicle-carrying chassis needs to be fixed, the supporting rod can be controlled by the driving part to support the vehicle-carrying chassis to be lifted, and the contact between the grounding part and the ground is adjusted by the horizontal cross rod, so that even if the vehicle-carrying chassis is fixed on uneven ground, the equipment erected on the vehicle-carrying chassis can be effectively kept horizontal, and the stability of the equipment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic view of a first form of a vehicle chassis provided in this specification;
fig. 2 is a schematic view of a horizontal cross bar of a vehicle chassis provided in this specification;
fig. 3 is a second schematic view of a vehicle chassis provided in this specification;
fig. 4 is a schematic flow chart of a control method of a vehicle loading chassis provided in this specification.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
In prior art, in order to help stabilize surgical robot, be equipped with the pillar of liftable in carrying the car chassis usually, rise through the pillar of liftable and support ground, raise the automobile body, play the effect of the robot that stably bears, but when surgical robot is in the ground of the unevenness of height or slope, carry the car chassis and just appear rocking easily or slip scheduling problem, and because the design of the pillar self of liftable, lead to the liftable pillar inevitable when withdrawing to keep one section pillar can not withdraw completely, thereby make the flexibility of carrying the car chassis when removing receive the influence.
In order to solve the problems that a vehicle carrying chassis with liftable supporting legs cannot adapt to various ground environments and the flexibility of the vehicle carrying chassis during moving is affected in the prior art, the specification provides a vehicle carrying chassis, wherein the vehicle carrying chassis is provided with trundles, supporting rods, driving parts and a horizontal cross rod, the two ends of the horizontal cross rod are provided with grounding parts, the middle of the horizontal cross rod is provided with a connecting point connected with one end of the supporting rod, the vehicle carrying chassis moves on the ground through the trundles, the supporting rods are controlled to be retracted and released through the driving parts, and the contact between the grounding parts and the ground is adjusted through the horizontal cross rod, so that the flexibility of the vehicle carrying chassis during moving is guaranteed, and the adaptability of the vehicle carrying chassis under different ground environments is enhanced, as shown in fig. 1.
Fig. 1 is a schematic view of a first form of a vehicle chassis provided in this specification.
It can be seen from combining fig. 1 that the drive part of carrying the car chassis can carry out the position when fixed at a year car chassis, provides drive power for articulated part, drives the bracing piece through articulated part and lifts up along pin joint (articulated part can the pivoted point of being connected with the bracing piece) to support and carry the car chassis and prop up, make the truckle break away from ground, the part contact ground that contacts by what horizontal cross rod both ends were connected simultaneously makes and carries the car chassis fixed. The mode that the bracing piece was opened adopts by the laminating in the vehicle carrier chassis, under the drive of articulated parts, opens with the form of outside swing.
Further, when the ground contacting component contacts the ground, the horizontal cross bar can be adaptively rotated and adjusted at the connecting point of the horizontal cross bar and the supporting rod by using the supporting rod as a rotating shaft, so as to eliminate the height difference of the ground contacted by the ground contacting components at the two ends of the horizontal cross bar, as shown in fig. 2.
Fig. 2 is a schematic view of a horizontal cross bar of a vehicle chassis provided in this specification.
As can be seen from fig. 2, when the vehicle-mounted chassis is on a local uneven ground or an inclined ground, the height difference H between the ground contacting parts at the two ends of the horizontal cross bar can be adjusted through the rotation of the horizontal cross bar so as to adapt to the height difference H existing in the ground environment. The ground contact component can be a circular drum-shaped ground contact wheel, and the ground contact wheel can reduce the loss of driving force in the lifting process of the vehicle carrying chassis. The outer surface material of the ground contacting wheel can be soft rubber material, for example: rubber etc. the flexible glue material of adoption can have small deformation when can playing the supporting role, through the small deformation of flexible glue material, can increase the area of contact that contacts to the ground part and ground, and then increases the frictional force that contacts to the ground part, increases the stability on year car chassis to through the small deformation of software material, can make and carry the car chassis and be having the piece, perhaps have the ground of small undulation, can have better stability.
In addition, if the vehicle-carrying chassis can better adapt to the local uneven ground environment, the horizontal cross rod can rotate up and down in a self-adaptive manner in a plane perpendicular to the supporting rods by taking the supporting rods as rotating shafts, and the horizontal cross rod can rotate left and right in a certain angle in a self-adaptive manner in a plane parallel to the supporting rods by taking a connecting point between the supporting rods and the horizontal cross rod as a rotating center. It can be understood that, after one end of the horizontal cross bar rotates by taking the connecting point between the horizontal cross bar and the supporting rod as a rotating center, a spherical top cone with the connecting point as a vertex can be obtained.
In this specification, the ground engaging wheel can realize the self-adaptation rotation adjustment of the horizontal cross rod in a mode that the horizontal cross rod rolls on the ground as a rotating shaft, so as to better contact the ground and eliminate the influence on the fixation of the vehicle carrying chassis caused by the uneven ground.
Further, in practical application, if the ground contact part of the vehicle carrying chassis is close to the ground in a retracted state, when the vehicle carrying chassis moves on uneven ground by using the caster, the ground contact part may scratch the ground, so that the trafficability of the vehicle carrying chassis is affected. And in order to strengthen the flexibility of the vehicle-carrying chassis when moving, the vehicle-carrying chassis is also provided with a groove, as shown in fig. 1, the groove can be used for accommodating the horizontal cross rod and the parts contacting the ground at the two ends of the horizontal cross rod when the support rod is attached to the vehicle-carrying chassis (namely, the support rod is controlled to be retracted by the driving part), as shown in fig. 3.
Fig. 3 is a second schematic view of the vehicle chassis provided in this specification.
As can be seen from fig. 3, when the vehicle-carrying chassis is in a non-fixed state, the driving part can control the supporting rod to retract and cling to the vehicle-carrying chassis, and the horizontal cross rod and the grounding part can be stored in the groove, so that the suspension of the vehicle-carrying chassis is higher, and the influence on the flexibility of the vehicle-carrying chassis during movement due to the existence of the grounding part, the horizontal cross rod and the supporting rod is prevented.
In addition, in order to ensure the stability when the vehicle carrying chassis is fixed, four support rods are arranged in the vehicle carrying chassis, and the shape enclosed by the projection of each horizontal cross rod connected with the four support rods on the ground is a regular quadrangle, so that the ground contact part can fix the vehicle carrying chassis in four directions, namely front, back, left and right, and the vehicle carrying chassis cannot move in any direction after all the ground contact parts are fixed.
The control mode of opening and retracting the four support rods can be integrally controlled by the driving part, that is, the driving part controls the support rods to be opened or retracted simultaneously, or the driving part can be divided into four sub-parts, and each sub-part correspondingly controls one support rod to be opened or retracted.
Of course, if the control cost is considered, or there is a more detailed demand for the ground contact control of the vehicle carrying chassis, the number of the supporting rods can be increased or decreased according to the actual needs, for example: assuming that the vehicle carrying chassis of the robot has lower requirements on the stability of the vehicle carrying chassis, when the requirement of control cost is considered, three support rods which are in a triangular state can be arranged on the vehicle carrying chassis. Based on this, the car-carrying chassis that this specification provided can be equipped with at least three bracing piece.
In this specification, the vehicle carrying chassis can carry equipment which needs to be fixed in position and has a high requirement on the stability of the vehicle carrying chassis when the vehicle carrying chassis is fixed in position, for example: the minimally invasive surgery equipment for performing surgery on a patient is placed on the vehicle carrying chassis, so that the relative displacement which is possibly generated between the minimally invasive surgery equipment and the ground when the minimally invasive surgery equipment is fixed on the uneven ground can be effectively avoided, and the adverse effect on the surgery process caused by the uneven ground is further avoided.
According to the above, the support rods are controlled to be retracted by the driving part, and the ground contact part is controlled to be in contact with the ground by the rotation of the horizontal cross rod so as to eliminate the height difference of the ground, so that the vehicle-carrying chassis can be guaranteed to have good enough flexibility when moving, and can be guaranteed to be kept horizontal and stable when being fixed in position under various ground environments.
For further explanation of the present specification, a process of controlling the vehicle chassis through the provided controller is described in detail below, as shown in fig. 4.
Fig. 4 is a schematic flow chart of a control method for a vehicle loading chassis provided in this specification, including the following steps:
s401: and acquiring a fixed instruction aiming at the vehicle carrying chassis.
In practical application, in order to enable the vehicle carrying chassis to automatically control the vehicle carrying chassis to be fixed, the vehicle carrying chassis can be controlled to be fixed through a preset controller. Before the fixing instruction is received by the controller of the vehicle-carrying chassis, the controller of the vehicle-carrying chassis can control the vehicle-carrying chassis to be fixed according to the fixing instruction.
For example: when minimally invasive surgery is required to be performed on a patient through minimally invasive surgery equipment, a controller of the minimally invasive surgery equipment can receive a fixing instruction sent by a doctor, then the vehicle carrying chassis is controlled to be fixed according to the fixing instruction, and after the vehicle carrying chassis is fixed, minimally invasive surgery is performed on the patient through the minimally invasive surgery equipment.
S402: according to the fixing instruction, the supporting rod is controlled to support the vehicle-mounted chassis to lift through the driving part so that the caster is separated from the ground, and the ground-contacting parts at two ends of the horizontal cross rod are in contact with the ground, wherein when the ground-contacting parts are in contact with the ground, the horizontal cross rod rotates at the connecting point by taking the supporting rod as a rotating shaft according to the leveling condition of the ground, so that the vehicle-mounted chassis which is subjected to position fixing is kept horizontal.
Carry the controller on car chassis, can be according to received fixed instruction, provide drive power for the articulated part between drive part and the bracing piece through control drive part, and then make articulated part drive the bracing piece and lift up, make the truckle break away from ground to contact ground by the part that contacts with earth of horizontal pole both ends department.
When the ground contact component is contacted with the ground, the horizontal cross rod can be enabled to be arranged at the connecting point of the horizontal cross rod and the supporting rod, the supporting rod is used as a rotating shaft, self-adaptive rotation adjustment is carried out according to the leveling condition of the ground, the height difference of the ground contacted with the ground contact component at the two ends of the horizontal cross rod is eliminated, and the vehicle carrying chassis with the fixed position is enabled to be kept horizontal.
In order to enable the supporting rod, the horizontal cross rod and the grounding part not to influence the flexibility of the movement of the vehicle carrying chassis when the vehicle carrying chassis moves. The controller can also receive a support rod withdrawing instruction aiming at the vehicle-carrying chassis, so that the drive part is controlled to withdraw the support rod according to the support rod withdrawing instruction, and when the support rod is attached to the vehicle-carrying chassis, the horizontal cross rod and the ground contact parts arranged at the two ends of the horizontal cross rod are withdrawn into the groove.
Considering that the vehicle carrying chassis shakes possibly when fixed, the vehicle carrying chassis is provided with four support rods, each support rod is connected with a horizontal cross rod, and the shape defined by the projection of the horizontal cross rods connected with the four support rods on the ground is a regular quadrangle, so that the vehicle carrying chassis can correspond to the front direction, the rear direction, the left direction and the right direction when the controller controls the vehicle carrying chassis to be fixed, and the vehicle carrying chassis cannot move in any direction.
In this specification, an individual controller may be provided for the vehicle-mounted chassis, or a controller for controlling the vehicle-mounted chassis may be provided on a device carried by the vehicle-mounted chassis.
It should be further noted that the vehicle chassis provided in the present specification may be used in other fields, such as the medical field mentioned above (i.e. a minimally invasive surgery device for surgery is erected on the vehicle chassis), and also may be used in other fields where an object to be erected on the vehicle chassis needs to be kept horizontal when being fixed in position, for example: when a computer mainboard is soldered, the vehicle-carrying chassis provided in the specification can be used for carrying arm-shaped machine equipment for placing components, and the specification does not limit specific application scenarios.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (10)
1. A vehicle-carrying chassis is characterized in that the vehicle-carrying chassis is internally provided with trundles, support rods, a driving part and a horizontal cross rod, wherein both ends of the horizontal cross rod are provided with grounding parts, the middle of the horizontal cross rod is provided with a connecting point connected with one end of the support rod, and the vehicle-carrying chassis moves on the ground through the trundles;
the driving part is used for controlling the supporting rod to support the vehicle-carrying chassis to be lifted when the vehicle-carrying chassis is fixed in position so as to enable the caster to be separated from the ground, and the ground-contacting parts at two ends of the horizontal cross rod are used for contacting the ground, wherein when the ground-contacting parts are contacted with the ground, the horizontal cross rod rotates at the connecting point by taking the supporting rod as a rotating shaft according to the leveling condition of the ground so as to enable the vehicle-carrying chassis fixed in position to be kept horizontal.
2. The vehicle chassis according to claim 1, wherein a hinge member is further provided between the driving member and the support rod, one end of the hinge member is connected to the driving member, and the other end is hinged to the support rod;
the hinged part is used for driving the supporting rod to lift under the action of driving force provided by the driving part so as to enable the caster wheels to be separated from the ground, and the ground contact parts at two ends of the horizontal cross rod are in contact with the ground.
3. The vehicle chassis of claim 1, wherein the vehicle chassis is further provided with a groove therein;
the groove is used for accommodating the horizontal cross rod and the grounding parts arranged at two ends of the horizontal cross rod when the supporting rod is attached to the vehicle-carrying chassis.
4. The vehicle chassis according to claim 1, wherein the vehicle chassis is provided with four support rods, each support rod is connected with a horizontal cross rod, and the shape defined by the projection of each horizontal cross rod connected with the four support rods on the ground is a regular quadrangle.
5. The vehicle chassis according to any one of claims 1 to 4, wherein the vehicle chassis is used for carrying minimally invasive surgery equipment for performing surgery on a patient.
6. A control method of a vehicle-carrying chassis is characterized in that the vehicle-carrying chassis is provided with trundles, support rods, a driving part and a horizontal cross rod, the two ends of the horizontal cross rod are provided with a grounding part, the middle of the horizontal cross rod is provided with a connection point connected with one end of the support rod, the vehicle-carrying chassis moves on the ground through the trundles, and the method comprises the following steps:
acquiring a fixed instruction aiming at the vehicle carrying chassis;
according to the fixing instruction, the supporting rod is controlled to support the vehicle-mounted chassis to lift through the driving part so that the caster is separated from the ground, and the ground-contacting parts at two ends of the horizontal cross rod are in contact with the ground, wherein when the ground-contacting parts are in contact with the ground, the horizontal cross rod rotates at the connecting point by taking the supporting rod as a rotating shaft according to the leveling condition of the ground, so that the vehicle-mounted chassis which is subjected to position fixing is kept horizontal.
7. The method as claimed in claim 6, wherein an articulated member is further provided between the driving member and the support bar, one end of the articulated member being connected to the driving member and the other end being articulated to the support bar;
through drive part, control the bracing piece supports carry the car chassis and lift, specifically include:
and by controlling the driving part, driving force is provided for the hinged part, so that the hinged part drives the supporting rod to lift, the caster is separated from the ground, and the ground contact parts at two ends of the horizontal cross rod are contacted with the ground.
8. The method of claim 6, wherein the vehicle chassis is further provided with a groove therein;
the method further comprises the following steps:
acquiring a support rod retracting instruction for the vehicle carrying chassis;
and controlling the driving part to withdraw the supporting rod according to the supporting rod withdrawing instruction so that the horizontal cross rod and the grounding parts arranged at two ends of the horizontal cross rod are withdrawn into the groove when the supporting rod is attached to the vehicle carrying chassis.
9. The method of claim 6, wherein the vehicle chassis is provided with four support rods, each support rod is connected with a horizontal cross rod, and the projection of each horizontal cross rod connected with the four support rods on the ground forms a regular quadrangle.
10. The method of any one of claims 6 to 9, wherein the cart chassis is used to carry minimally invasive surgical equipment for performing surgery on a patient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210037222.5A CN114366307B (en) | 2022-01-13 | 2022-01-13 | Vehicle-mounted chassis and control method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975787A (en) * | 2012-12-13 | 2013-03-20 | 中国农业大学 | Automatic transverse level-adjusting mechanism for vehicle chassis |
| CN112414362A (en) * | 2020-11-06 | 2021-02-26 | 石立君 | Movable bridge deflection detection equipment |
| CN112729791A (en) * | 2020-12-24 | 2021-04-30 | 苏交科集团股份有限公司 | Well lid bearing capacity and deformation test equipment |
| CN112901977A (en) * | 2021-01-19 | 2021-06-04 | 山东威高手术机器人有限公司 | Method for controlling locking of base of patient operating table of surgical robot |
| CN214499031U (en) * | 2021-01-20 | 2021-10-26 | 刘宏宇 | Coal mine geological exploration drilling device |
| CN215228378U (en) * | 2021-03-26 | 2021-12-21 | 杭州三坛医疗科技有限公司 | Trolley for loading surgical robot |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975787A (en) * | 2012-12-13 | 2013-03-20 | 中国农业大学 | Automatic transverse level-adjusting mechanism for vehicle chassis |
| CN112414362A (en) * | 2020-11-06 | 2021-02-26 | 石立君 | Movable bridge deflection detection equipment |
| CN112729791A (en) * | 2020-12-24 | 2021-04-30 | 苏交科集团股份有限公司 | Well lid bearing capacity and deformation test equipment |
| CN112901977A (en) * | 2021-01-19 | 2021-06-04 | 山东威高手术机器人有限公司 | Method for controlling locking of base of patient operating table of surgical robot |
| CN214499031U (en) * | 2021-01-20 | 2021-10-26 | 刘宏宇 | Coal mine geological exploration drilling device |
| CN215228378U (en) * | 2021-03-26 | 2021-12-21 | 杭州三坛医疗科技有限公司 | Trolley for loading surgical robot |
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| CN114366307B (en) | 2024-05-24 |
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