CN115385261A - Lifting upright column and surgical robot - Google Patents
Lifting upright column and surgical robot Download PDFInfo
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- CN115385261A CN115385261A CN202210995830.7A CN202210995830A CN115385261A CN 115385261 A CN115385261 A CN 115385261A CN 202210995830 A CN202210995830 A CN 202210995830A CN 115385261 A CN115385261 A CN 115385261A
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- 230000005484 gravity Effects 0.000 claims abstract description 22
- 230000003028 elevating effect Effects 0.000 claims abstract description 16
- 230000009471 action Effects 0.000 claims abstract description 4
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims 1
- 230000005489 elastic deformation Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
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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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention relates to a lifting upright post and a surgical robot. It includes lifting support, elevating platform and counter weight 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, 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 component and a magnetic compensation component, wherein the gravity balance component balances the weight of the lifting platform, and the magnetic compensation component compensates the balance force of the gravity balance component; the lifting support is a frame support, and the lifting platform and the counterweight structure are arranged in the frame support. The lifting upright post and the surgical robot have the advantages that the elastic counterweight structure with smaller volume balances the weight of the lifting platform by the elastic force when the elastic counterweight structure per se generates elastic deformation; simultaneously, the lifting platform and the counterweight structure are not easy to collide with each other by external objects, the lifting upright post is difficult to topple and fall, and the whole lifting upright post structure is more compact.
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 counterweight block has a large volume and occupies a large amount of space, the counterweight block is mostly arranged on the periphery of the lifting support, so that the structure of the whole lifting upright column is too overstaffed, and the counterweight block is also easy to be collided with by objects in the external environment, so that the lifting upright column is easy to topple.
Disclosure of Invention
Therefore, it is necessary to provide a lifting column and a surgical robot with compact structures to solve the problems that a counterweight of a lifting table in a common lifting column is large and bloated, and the counterweight is easy to be knocked by objects in the external environment, so that the lifting column is easy to topple over.
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 support is a frame support, and the lifting platform and the counterweight structure are respectively arranged in the frame support.
In one embodiment, the outrigger frame is a closed structural frame.
In one embodiment, the structural frame comprises a first support bar, a second support bar, a top connecting bar, and a bottom plate;
the first supporting rod and the second supporting rod are arranged in a spaced, opposite and parallel mode, two ends of the top connecting rod are fixedly connected with the top ends of the first supporting rod and the second supporting rod respectively, and two ends of the bottom plate are fixedly connected with the bottom ends of the first supporting rod and the second supporting rod respectively.
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 type of constant force spring and the linear spring is an extension spring, a compression spring, or a torsion 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 top connecting rod; the bottom spring is a compression spring, one end of the bottom spring is abutted to the lifting platform, and the other end of the bottom spring is abutted to the bottom plate.
In one embodiment, the number of the top springs and/or the bottom springs is one, two or more, and two or more of the top springs and/or the bottom springs are arranged in parallel and spaced.
In one embodiment, the number of the top springs is one, and the number of the bottom springs is two.
In one embodiment, the counterweight structure further includes a bottom guiding column, the bottom guiding column is fixedly disposed on the lifting support, and an extending direction of the bottom guiding column is parallel to an extending direction of the lifting support.
In one embodiment, the number of the bottom end guide posts is the same as that of the bottom springs, and each bottom spring is sleeved on one corresponding bottom end guide post.
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, and the second magnetic member is a strip-shaped plate; the magnet is fixedly arranged on the lifting table, the strip-shaped plate is fixedly arranged on the lifting support, and the strip-shaped plate extends along the extension direction of the lifting support; or
The first magnetic part is a strip-shaped plate, and the second magnetic part is a magnet; the bar shaped plate is fixed set up in the elevating platform, the bar shaped plate is followed lifting support's extending direction extends, magnet fixed set up in lifting support.
In one embodiment, the lifting column further comprises a brake assembly for limiting the sliding of the lifting platform relative to the lifting bracket; the brake assembly comprises an electromagnet and a strip-shaped plate, the electromagnet is fixedly arranged on one of the lifting table and the lifting support, and the strip-shaped plate is fixedly arranged on the other of the lifting table 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.
In one embodiment, the first magnetic member is in an annular structure, the electromagnet is placed inside the annular first magnetic member, and both the annular first magnetic member and the electromagnet can be in contact with the strip-shaped plate.
In one embodiment, the lifting column further comprises 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.
In one embodiment, the power part is a motor, the driving part is a screw rod, and the lifting platform is provided with a thread matched with the screw rod;
when the clutch is in an engaged state, the motor can drive the lifting platform to ascend or descend through the screw rod; when the clutch member is in the disengaged state, an operator can manually drive the lifting platform to ascend or descend.
In one embodiment, the lifting column further comprises a slide rail, the slide rail is fixedly arranged along the extending direction of the lifting column, and a sliding groove matched with the slide rail is formed in the lifting platform.
The present invention also provides a surgical robot capable of solving at least one of the above-mentioned technical problems.
The invention provides a surgical robot, which comprises the lifting upright column in any one of the embodiments.
The invention has the beneficial effects that:
according to the lifting upright and the surgical robot, the extending direction of the lifting upright is the lifting direction in a use state, and the lifting table can slide along the extending direction of the lifting support to perform 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. Moreover, the lifting support is a frame type support, and the lifting platform and the counterweight structure are respectively arranged in the frame type support, so that the lifting support can protect the lifting platform and the counterweight structure, the lifting platform and the counterweight structure are not easy to collide with objects in the external environment, and the lifting upright column is difficult to topple over; and the whole volume of the whole lifting upright post is smaller, so that the lifting upright post 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-shaped 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 more comprehensible, embodiments accompanying 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 such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited 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 connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
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," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean 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 100a. 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 elevating column 10, the extending direction of the elevating column 10 is the elevating direction in the use state, and the elevating table 200 can perform the elevating operation by sliding along the extending direction of the elevating bracket 100. Meanwhile, the counterweight structure with a small 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 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 volume of the counterweight structure small, 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 volume, 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 that can generate a deformation force when deformed to balance the weight of the lifting table 200. In one implementation, the gravity balance assembly includes a counterweight spring disposed between the lift platform 200 and the lift bottom end 100b, and/or a counterweight spring disposed between the lift platform 200 and the lift top end 100a. 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 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 bracket 100 is a frame bracket, the lifting bracket 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 arranged in the range of 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, two ends of the top connecting bar 130 are respectively fixedly connected with 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 with 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-shaped structure, and there are 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 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 lifting table 200 in accordance with a sliding friction force between the lifting table 200 and the lifting 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 bracket 100, respectively, and match a sliding friction force between the lifting platform 200 and the lifting bracket 100, thereby allowing manual adjustment of the lifting platform 200 or use of 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 close to the lifting top end 100a, and the other end of the top spring 320 is connected to the top connecting rod 130 located at the lifting top end 100a. The bottom spring 310 is a compression spring, one end of the bottom spring 310 abuts against the side of the lift stage 200 close to the lift base 100b, and the other end of the bottom spring 310 abuts against the bottom plate 140 located at the lift 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 balance the weight of the lifting platform 200 together. 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. A plurality of counter weight springs can provide more accurate counter weight force.
Further, as shown in fig. 1-2, the top spring 320 is one in number and the bottom spring 310 is two in number, which together provide the weight of the lift platform 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 bottom spring 310 losing balance force 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 lifting platform 200 and the lifting bracket 100, and the magnetic force compensation assembly generates a friction force that hinders the movement of the lifting platform 200. The direction of the friction force generated by the magnetic force compensation assembly is the same as the direction of the friction force generated between the lifting platform 200 and the lifting support 100, and the two friction 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 quantity.
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 lifting platform 200 is lifted 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 lifting platform 200 at this time, the lifting platform 200 has a downward trend, and the friction force generated by the magnetic compensation assembly counteracts the force of the gravity of the lifting 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 lifting platform 200 is still stable and cannot naturally descend.
It can be understood that the magnetic force compensation assembly only needs to generate a friction force between the lifting platform 200 and the lifting 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 magnet and the strip-shaped plate 332 are always kept in magnetic attraction. In other embodiments, the strip 332 may be fixedly mounted on the lifting platform 200, and the magnet may be fixedly mounted on 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 disposed on the lifting bracket 100, the strip-shaped plate 332 is fixedly disposed on the lifting platform 200, the strip-shaped plate 332 extends along the extending direction of the lifting bracket 100, and the electromagnet 400, when being powered on, adsorbs the strip-shaped plate 332 and is relatively fixed with the strip-shaped plate 332.
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 may also be achieved by the driving assembly 500. In one implementation, as shown in fig. 1 and 3-4, 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 bracket 100 through the driving member. Specifically, the power component is a motor 510, the driving component is a screw 530, and a thread adapted to the driving component is formed on the lifting platform 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 smaller volume balances the weight of the lifting platform 200 by the elastic force generated when the counterweight structure per se is elastically deformed, so that an operator is allowed to manually and easily lift 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 volume of the counterweight structure small, 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 volume, 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 shall be subject to the appended claims.
Claims (20)
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 support is a frame support, and the lifting platform and the counterweight structure are respectively arranged in the frame support.
2. Lifting column according to claim 1, characterized in that the frame support is a closed structural frame.
3. The lifting column of claim 2, wherein the structural frame comprises a first support bar, a second support bar, a top connecting bar, and a bottom plate;
the first supporting rod and the second supporting rod are arranged in an interval, opposite and parallel mode, two ends of the top connecting rod are fixedly connected with the top ends of the first supporting rod and the second supporting rod respectively, and two ends of the bottom plate are fixedly connected with the bottom ends of the first supporting rod and the second supporting rod respectively.
4. The lifting column of claim 3, wherein the gravity balance assembly comprises a counterweight spring disposed between the lifting table and the lifting bottom end, and/or the counterweight spring is disposed between the lifting table and the lifting top end.
5. The lifting column according to claim 4, 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.
6. Lifting column according to claim 5, 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.
7. The lifting column of claim 6, wherein the constant force spring and the linear spring are of the type an extension spring, a compression spring, or a torsion spring.
8. The lifting column according to claim 6, wherein 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 top connecting rod; the bottom spring is a compression spring, one end of the bottom spring is abutted to the lifting platform, and the other end of the bottom spring is abutted to the bottom plate.
9. The lifting column according to claim 8, characterized in that the number of the top springs and/or the bottom springs is one, two or more, respectively, and two or more of the top springs and/or the bottom springs are spaced apart and arranged in parallel.
10. The lifting column according to claim 9, wherein the number of top springs is one and the number of bottom springs is two.
11. The lifting column according to any one of claims 5 to 10, wherein the counterweight structure further comprises a bottom guide pillar, the bottom guide pillar is fixedly disposed on the lifting support, and an extending direction of the bottom guide pillar is parallel to an extending direction of the lifting support.
12. The lifting column of claim 11, wherein the number of bottom guide posts is the same as the number of bottom springs, each bottom spring being sleeved over a corresponding bottom guide post.
13. The lifting column of claim 1, 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 bracket, 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.
14. The lifting column according to claim 13, wherein the first magnetic member is a magnet and the second magnetic member is a strip; the magnet is fixedly arranged on the lifting table, the strip-shaped plate is fixedly arranged on the lifting support, and the strip-shaped plate extends along the extension direction of the lifting support; or
The first magnetic part is a strip-shaped plate, and the second magnetic part is a magnet; the bar shaped plate is fixed set up in the elevating platform, the bar shaped plate is followed lifting support's extending direction extends, magnet fixed set up in lifting support.
15. The lifting column of claim 14, further comprising a brake assembly for limiting sliding movement of the lift table relative to the lifting bracket; 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.
16. The lifting column according to claim 15, wherein the first magnetic member is of an annular structure, the electromagnet is disposed inside the annular first magnetic member, and both the annular first magnetic member and the electromagnet can contact the strip-shaped plate.
17. The lifting column of claim 1, further comprising a drive assembly disposed between the lifting bracket and the lifting table; 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.
18. The lifting column of claim 17, wherein the power member is a motor, the driving member is a screw, and the lifting platform is provided with a thread adapted to the screw;
when the clutch is in an engaged state, the motor can drive the lifting platform to ascend or descend through the screw rod; when the clutch is in a separation state, an operator can manually drive the lifting platform to ascend or descend.
19. The lifting column according to any one of claims 1 to 10 or 12 to 18, further comprising a slide rail, wherein the slide rail is fixedly arranged along the extending direction of the lifting column, and a sliding groove adapted to the slide rail is formed on the lifting platform.
20. A surgical robot comprising a lifting column according to any one of claims 1 to 19.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210995830.7A CN115385261A (en) | 2021-02-01 | 2021-02-01 | Lifting upright column and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210995830.7A CN115385261A (en) | 2021-02-01 | 2021-02-01 | Lifting upright column and surgical robot |
| CN202110135218.8A CN113017839B (en) | 2021-02-01 | 2021-02-01 | Lifting upright post and surgical robot |
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| CN202110135218.8A Active CN113017839B (en) | 2021-02-01 | 2021-02-01 | Lifting upright post and surgical robot |
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Cited By (1)
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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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| US20240164946A1 (en) * | 2022-11-23 | 2024-05-23 | Vialase, Inc. | Mechanisms and methods with variable counterbalance to control movement and force of a head of a medical system at an anatomical site |
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Also Published As
| Publication number | Publication date |
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| CN113017839A (en) | 2021-06-25 |
| CN113017839B (en) | 2022-07-26 |
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