CN115891934A - Mobile device's parking subassembly, base structure and surgical robot - Google Patents
Mobile device's parking subassembly, base structure and surgical robot Download PDFInfo
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- CN115891934A CN115891934A CN202310036385.6A CN202310036385A CN115891934A CN 115891934 A CN115891934 A CN 115891934A CN 202310036385 A CN202310036385 A CN 202310036385A CN 115891934 A CN115891934 A CN 115891934A
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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
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Abstract
The invention discloses a parking component, a base structure and a surgical robot of mobile equipment, wherein the parking component specifically comprises: a first mounting member; the screw rod is installed through the first installation piece, and a parking pin is arranged at the tail end of the screw rod; the screw rod is sleeved with a nut and connected through a thread groove formed in the surface of the screw rod, and the nut drives a parking pin at the tail end of the screw rod to move when rotating; and the first power output part is arranged on the first mounting part and is used for driving the nut to rotate. In the scheme provided by the embodiment of the invention, the parking component realizes the automatic parking of mechanical control by driving the lead screw to stretch through the first servo motor, so that the accurate, timely and reliable parking control is realized; the base structure adopts the parking component, so that the parking reliability of the base structure can be improved.
Description
Technical Field
The invention relates to the technical field of mobile equipment parking, in particular to a parking component and a base structure of mobile equipment and a surgical robot adopting the base structure.
Background
The base structure of mobile device has played and has supported, remove and stable effect to the mobile device, and the stability of consequently base has decided the holistic stability of mobile device.
After the mobile equipment stops moving, the mobile equipment is usually stopped by locking the driving wheel, or stopped by friction through the pedal type lifting supporting legs, but the locking of the driving wheel needs to accurately control the driving wheel, and if the control of the driving wheel fails, the stopping effect is influenced; the standing and stopping are realized by manually treading the pedals in the manner of treading the lifting supporting feet, and the accuracy and timeliness are not as good as those of a mechanical control manner.
Disclosure of Invention
In view of the above problems, the present invention provides a parking assembly of a mobile device, a base structure and a surgical robot that overcome or at least partially solve the above problems, the technical solutions are as follows:
a parking assembly for a mobile device, comprising:
a first mounting member;
the screw rod is installed through the first installation piece, and a parking pin is arranged at the tail end of the screw rod; the screw rod is sleeved with a nut and connected through a thread groove formed in the surface of the screw rod, and the nut drives a parking pin at the tail end of the screw rod to move when rotating;
and the first power output part is arranged on the first mounting part and is used for driving the nut to rotate.
In the parking module, optionally, the first power output element includes a first synchronous belt, and an output shaft of the first power output element is connected to the nut through the first synchronous belt.
In the parking module, optionally, the first power output element further includes a first servo motor, a first speed reducer and a second synchronous belt, the first servo motor and the first speed reducer are mounted on the first mounting element, an output shaft of the first servo motor is connected to an input shaft of the first speed reducer through the second synchronous belt, and an output shaft of the first speed reducer is used as an output shaft of the first power output element.
In the parking assembly, optionally, a position sensing piece is arranged on the screw rod, a position sensor is installed on the first installation piece, and when the first power output piece drives the nut to rotate so as to move the screw rod, the position sensing piece moves in a direction away from or close to the position sensor.
A base structure for a mobile device, comprising a base body and at least one set of parking components, said parking components comprising:
a first mounting member connected to the base body;
the screw rod is installed through the first installation piece and is vertically arranged relative to the base body, and a parking pin is arranged at the tail end of the screw rod; the screw rod is sleeved with a nut and connected through a thread groove arranged on the surface of the screw rod, and the nut drives a parking pin at the tail end of the screw rod to move along the direction vertical to the base body when rotating;
and the first power output element is arranged on the first mounting element and is used for driving the nut to rotate.
In the above structure, optionally, a first connecting piece is arranged at one end of the output shaft of the first power output piece;
the base structure of mobile device still includes at least a set of manual parking control subassembly, and a set of manual parking control subassembly corresponds a set of parking subassembly setting, manual parking control subassembly includes:
a second mounting member connected to the base body;
the dwang, through the second installed part is installed, the one end of dwang sets up the second connecting piece, the second connecting piece is used for connecting first connecting piece makes the manual rotation drive during the dwang the output shaft of first power take off spare is rotatory together.
In the above structure, optionally, the first connecting piece and the second connecting piece are always connected.
In the above structure, optionally, the second mounting member includes:
the cylindrical shell is perpendicular to the base body, the rotating rod penetrates through the cylindrical shell, a protrusion is arranged on the rotating rod, and the second connecting piece is arranged on one side of the rotating rod, which penetrates through the bottom surface of the cylindrical shell;
the bearing is arranged in the cylindrical shell and used for mounting the rotating rod;
the first spring is arranged in the cylindrical shell, one end of the first spring is connected with the bottom surface of the cylindrical shell, and the other end of the first spring is connected with the protrusion of the rotating rod;
applying pressure to one side of the rotating rod, which is not provided with the second connecting piece, so that the first spring is compressed, and the second connecting piece moves towards the direction close to the first connecting piece until being connected with the first connecting piece; after the pressure is removed, the first spring is deformed and restored to drive the second connecting piece to move and separate from the first connecting piece.
In the above structure, optionally, the base structure of the mobile device further includes at least one set of driving components, where the driving components include:
a third mounting member connected to the base body;
a wheel mounted on the third mount;
and the second power output part is arranged on the third mounting part and is used for driving the wheel to rotate.
In the above configuration, optionally, the third mounting member includes a fixed mounting member for mounting the second power output member, a movable mounting member for mounting the wheel, and a second spring;
fixed mounting spare with base body fixed connection, be provided with the perpendicular to on the fixed mounting spare the linear guide that base body set up, the movable mounting spare sets up on the linear guide, second spring one end is connected the movable mounting spare, the other end is connected fixed mounting spare.
In the above structure, optionally, the second power output element includes a second servo motor, a second speed reducer and a clutch, and an output signal of the second servo motor sequentially passes through the second speed reducer and the clutch and drives the wheel to rotate.
In the above structure, optionally, the wheel is a mecanum wheel.
A surgical robot comprises a base structure and an operation main body arranged on the base structure, wherein the base structure adopts the base structure.
Compared with the prior art, the invention has the following advantages: in the scheme provided by the embodiment of the invention, the parking component drives the screw rod to stretch and retract through the first servo motor to realize the automatic parking of mechanical control, so that the accurate, timely and reliable parking control is realized; the base structure adopts the parking component, so that the parking reliability of the base structure can be improved; in the embodiment, the manual parking control assembly is designed on the base structure, and a locking and unlocking mode of a manual control parking state is provided under special conditions; in addition, a wheel height self-adaptive structure is further arranged on the driving assembly, so that the base structure provided by the embodiment of the invention can adapt to different ground conditions.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of a base structure of a mobile device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a base structure of a mobile device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a parking module of a mobile device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a parking module of a mobile device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a manual parking control assembly in a base structure of a mobile device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of another structure of a manual parking control assembly in a base structure of a mobile device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a manual parking control assembly in a base structure of a mobile device according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a driving assembly in a base structure of a mobile device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a driving assembly in a base structure of a mobile device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a schematic block diagram of a three-dimensional structure of a base structure of a mobile device according to an embodiment of the present invention, fig. 2 shows a schematic plan view of the structure of fig. 1, and the structures shown in fig. 1 to fig. 2 are a feasible implementation scheme of the base structure according to the embodiment of the present invention, and the base structure of the mobile device specifically includes a base body 1 and at least one set of parking components 3, and a mechanized parking control is implemented by the at least one set of parking components 3. In order to stabilize the base body 1, the arrangement position and the number of the parking components 3 can be optionally arranged, and the arrangement position and the number are selected according to the shape of the base body 1; if the base body 1 is rectangular, a group of parking assemblies 3 can be arranged at each of four corners of the rectangular base body 1, so that stable parking is realized.
Referring to fig. 3 and fig. 4, a schematic perspective structure diagram and a schematic plan structure diagram of a parking module of a mobile device according to an embodiment of the present invention are respectively shown; the parking assembly comprises a first mounting part 31; the screw rod 382 is installed through the first installation part 31, and a parking pin 381 is arranged at the tail end of the screw rod 382; the screw rod 382 is sleeved with a nut and connected through a thread groove arranged on the surface of the screw rod 382, and the nut drives a parking pin 381 at the tail end of the screw rod 382 to move when rotating; and the first power output element is arranged on the first mounting element 31 and is used for driving the nut to rotate. When the first power output element drives the nut to rotate, the screw rod 382 in threaded fit with the nut moves along the rotating shaft of the nut, so that the parking pin 381 arranged at the tail end of the screw rod 382 is driven to move.
In the base structure of the mobile device provided in the embodiment of the present invention, the parking module 3 is installed, and when the parking module 3 is installed in the base structure, optionally, the parking module 3 includes: a first mounting member 31 connected to the base body 1; a screw 382 installed by the first installation part 31 and vertically arranged with respect to the base body 1; the screw rod 382 is sleeved with a nut and is connected through a thread groove arranged on the surface of the screw rod 382, and a parking pin 381 is arranged at the tail end of the screw rod 382; and the first power output element is arranged on the first mounting element 31 and is used for driving the nut to rotate.
In the structure provided by the embodiment of the invention, the nut on the screw rod 382 is controlled to rotate through the first power output part, the nut rotates to drive the screw rod 382 to move up and down, and when parking is needed, the nut is controlled to rotate in the corresponding direction to drive the screw rod 382 to move down, so that at least part of a parking foot 381 is in contact with the ground, and at least part of the weight of the base structure is supported; when the parking is not needed, the control nut rotates in the opposite direction to drive the screw rod 382 to move upwards, so that the parking foot 381 is separated from the ground. Compared with a parking mode of locking wheels or pedal type lifting supporting feet, the parking control device can improve the accuracy and timeliness of parking control through mechanical control.
Optionally, the first power output member includes a first synchronous belt 35, and the output shaft 341 of the first power output member is connected to the nut through the first synchronous belt 35. The output shaft 341 of the first power output member rotates to make the first synchronous belt 35 move, thereby driving the nut to rotate and realizing the control of the up-and-down movement of the screw rod 382. The first mounting member 31 may comprise a sleeve 36, the lead screw 382 and nut being mounted within the sleeve 36. Alternatively, the first synchronization belt 35 may be directly connected to the nut or indirectly connected to the nut; the sleeve 36 can be provided with a connecting disc 37, the first synchronous belt 35 drives the nut to rotate so as to drive the screw rod 382 to rotate and move up and down at the same time, and the connecting disc 37 can be connected with the screw rod 382 and rotate along with the screw rod 382.
Optionally, the first power output element further includes a first servo motor 32, a first speed reducer 34 and a second synchronous belt 33, the first servo motor 32 and the first speed reducer 34 are mounted on the first mounting element 31, an output shaft of the first servo motor 32 is connected to an input shaft of the first speed reducer 34 through the second synchronous belt 33, and an output shaft of the first speed reducer 34 serves as the output shaft 341 of the first power output element. The first servo motor 32 outputs torque, and drives the nut to rotate through the first speed reducer 34 and the synchronous belt, so as to drive the screw rod 382 to move up and down, and the parking pin 381 is supported on the ground to play a role in braking. By generating a control signal to the first servo motor 32, a mechanical control is achieved that accurately and timely achieves parking; the first servo motor 32, the first speed reducer 34, the first synchronous belt 35 and the second synchronous belt 33 jointly form a three-level speed reducing mechanism, and the adjustment speed reducing ratio can adapt to different use requirements.
Optionally, in order to ensure that the lead screw 382 moves upward to a specified position and prevent the lead screw 382 from moving upward incompletely or excessively, a position sensing device is further disposed in the parking assembly in the structure provided in the embodiment of the present invention, referring to fig. 3, a position sensing member 391 is disposed on the lead screw 382, a position sensor 392 is mounted on the first mounting member 31, and when the first power output member drives the nut to rotate so as to move the lead screw 382 downward, the position sensing member 391 moves in a direction away from the position sensor 392; when the first pto rotates the nut to move the screw 382 upward, the position sensor 392 moves toward the position sensor 392 until the position sensor 391 contacts the position sensor 392. When the position sensing member 391 contacts the position sensor 392, the position sensor 392 can send out a prompt signal to control the first servo motor 32 to stop outputting the torque.
According to the structure provided by the embodiment of the invention, parking and parking release control can be realized through the first servo motor 32, optionally, at least one group of manual parking control assemblies for manually unlocking and controlling the parking assemblies 3 is further arranged, and each group of parking assemblies 3 can be correspondingly provided with one group of manual parking control assemblies. One end of an output shaft 341 of a first power output part in the parking component 3 is provided with a first connecting piece 342, and the manual parking control component realizes parking control and parking release control of the parking component 3 by being connected with the first connecting piece 342.
Referring to fig. 5, a schematic structural diagram of a manual parking control assembly in a base structure of a mobile device according to an embodiment of the present invention is shown; the manual parking control assembly comprises: a second mounting member 51 connected to the base body 1; the rotating rod 521 is installed through the second installation part 51, a second connecting part 53 is arranged at one end of the rotating rod 521, and the second connecting part 53 is used for connecting the first connecting part 342, so that the output shaft 31 of the first power output part is driven to rotate together when the rotating rod 521 is manually rotated.
According to the structure provided by the embodiment of the invention, the first connecting piece 342 and the second connecting piece 53 are connected, so that the manual parking control assembly is assembled on the output shaft 31 of the first power output piece, the second connecting piece 53 is arranged on the rotating rod 521 and rotates along with the rotating rod 521, after the first connecting piece 342 and the second connecting piece 53 are connected, the output shaft 31 of the first power output piece also rotates along with the rotating rod 521, the output shaft 31 of the first power output piece drives the nut to rotate through the first synchronous belt 35, and therefore, the manual control of the upward movement or the downward movement of the screw rod 382 is realized. When a special condition occurs, such as a failure of the first servo motor 32, the manual control of the screw 382 to move up or down can be realized.
Alternatively, the first connecting part 342 may be a polygonal connecting column, the second connecting part 53 may be a connecting groove with a corresponding shape, and the second connecting part 53 is sleeved into the first connecting part 342 to be clamped, so that the rotating rod 521 is fixedly connected with the output shaft 31 of the first power output part. Furthermore, the side of the rotating rod 521 not provided with the second connecting member 53 is provided with an external port 522, and the external port 522 can also be provided with a polygonal cylinder structure, so that a wrench or other structures can be sleeved into the external port 522 to control the rotating rod 521 to rotate during manual control.
For convenience of operation, the rotating rod 521 can be extended out of the base body 1, but other components are usually disposed on the base body 1, and if the rotating rod 521 is extended out of the base body 1, the setting of the other components may be affected, so that the rotating rod 521 can be selected to not extend out of the base body 1 or to only extend out by a short length, referring to the structure shown in fig. 5, at this time, the first connecting member 342 and the second connecting member 53 can be always connected, for example, the second connecting member 53 can be always sleeved on the first connecting member 342, and when the output shaft 31 of the first power output member is driven by the first servo motor 32 to rotate, the rotating rod 521 can also rotate.
If the base body 1 is configured to allow the rotating rod 521 to extend out of the longer portion to the upper side of the base body 1, the second connecting member 53 can be selectively connected to the first connecting member 342, the second connecting member 53 can be connected to the first connecting member 342 when manual control is needed, and the second connecting member 53 can be disconnected from the first connecting member 342 when manual control is not needed. Referring to fig. 6, there is shown a schematic structural diagram of a manual parking control assembly in a base structure of a mobile device according to an embodiment of the present invention when the manual parking control assembly controllably connects the second connector 53 to the first connector 342; fig. 7 is a cross-sectional view of the structure of fig. 6.
Referring to fig. 6 and 7, in the manual parking control assembly at this time, the second mount includes: a cylindrical housing 51 installed perpendicular to the base body 1, the rotation lever 521 passing through the cylindrical housing 51, the rotation lever 521 having a protrusion 41 thereon, the second coupling member 53 being provided on a side of the rotation lever 521 passing through a bottom surface of the cylindrical housing 51; a bearing 43 provided in the cylindrical housing 51 for mounting the rotating lever 521; and a first spring 42 disposed in the cylindrical housing 51, one end of which is connected to the bottom surface of the cylindrical housing 51 and the other end of which is connected to the protrusion 41 of the rotating lever.
In the device provided by the embodiment of the invention, the cylindrical shell 51 is arranged in the direction perpendicular to the base body 1, the rotating rod 521 is installed on the cylindrical shell 51 and penetrates through the cylindrical shell 51, the second connecting piece 53 is arranged at the tail end of the rotating rod 521 at the lower side of the base body 1 and is used for being controllably connected with the first connecting piece 342, and the tail end of the rotating rod 521 at the upper side of the base body 1 is optionally provided with the external connection port 522 which is used for providing a control port when manual control is needed and can be used for connecting devices such as a wrench and the like. When a pressing force is applied to the external connection port 522, so that the entire rotating rod 521 moves down, the second connecting member 53 disposed below the rotating rod 521 may be disposed above the first connecting member 342 without contacting the first connecting member 342, and when the rotating rod 521 moves down, the second connecting member 53 moves down to connect with the first connecting member 342. Due to the arrangement of the protrusion 41 of the rotating lever 521, the first spring 42 is compressed when the rotating lever 521 moves down, and when the pressing force at the external connection port 522 is removed, the first spring 42 is deformed and restored, and the rotating lever 521 is driven to move up, so that the second connecting member 53 arranged below the rotating lever 521 also follows the moving up and is disconnected from the first connecting member 342.
Alternatively, the cylindrical housing 51 may be provided with a coupling plate 54, and the coupling plate 54 is attached to the base body 1 by a first coupling screw 55; the bearing 43 is also mounted to the cylindrical housing 51 by the second coupling screw 44.
The base structure provided by the embodiment of the invention is arranged on the mobile equipment, the mobile equipment comprises the base structure and equipment arranged on the base structure, if the equipment is arranged at the rear end of the base structure, the rear-end manual parking control component 5 with the structure shown in fig. 5 can be arranged at the rear end of the base structure, and the part of the rotating rod 521, extending out of the base body 1, in the rear-end manual parking control component 5 is short or not, so that the installation of the equipment is not influenced. The front end of the base structure is not provided with a device, the front end manual parking control component 4 with the structure shown in fig. 6 can be arranged, and the part of the front end manual parking control component 4, extending out of the base body 1, of the rotating rod 521 can be arranged to be longer, so that the operation is convenient.
The base structure provided by the embodiment of the present invention can be moved by wheels, and optionally, the base structure of the mobile device further includes at least one set of driving assemblies 2, and fig. 8 is a block diagram illustrating a three-dimensional structure of the driving assemblies 2 in the base structure of the mobile device provided by the embodiment of the present invention, and fig. 9 is a schematic plan view of the structure of fig. 8. The drive assembly 2 includes: a third mounting member connected to the base body 1; a wheel 23 mounted on the third mount; and the second power output element is arranged on the third mounting element and is used for driving the wheels 23 to rotate.
Optionally, wheels 23 can be implemented by mecanum wheels, which can rotate in all directions and are suitable for small-space movement control. Wheel 23 and second power take off pass through the third installed part and install on base body 1, and is optional, the third installed part includes fixed mounting 24, movable mounting part 26 and second spring 27, fixed mounting 24 is used for the installation the second power take off, fixed mounting 24 with base body 1 fixed connection guarantees the stable installation of second power take off.
The movable mounting part 26 is used for mounting the wheel 23, the fixed mounting part 24 is provided with a linear guide 25 perpendicular to the base body 1, the movable mounting part 26 is arranged on the linear guide 25, and the movable mounting part 26 can slide along the linear guide 25. The second spring 27 has one end connected to the movable mounting member 26 and the other end connected to the fixed mounting member 24. Under the effect of second spring 27, movable mounting part 26 can slide on linear guide 25 for fixed mounting part 24, make wheel 23 of installing on movable mounting part 26 can realize reciprocating, adapt to different ground environment, if when base structure is placed on uneven ground, all wheels 23 all contact ground, probably there is the condition that the distance is different between different wheels 23 and base body 1, realize that wheel 23 height self-adaptation is adjustable through the cooperation of second spring 27, fixed mounting part 24 and movable mounting part 26, guarantee that every wheel 23 can both contact ground.
Optionally, the second power output element includes a second servo motor 21, a second speed reducer 22 and a clutch, the clutch may be built in the fixed mounting element 24, which is not shown in the figure, and an output signal of the second servo motor 21 sequentially passes through the second speed reducer 22 and the clutch to drive the wheel 23 to rotate, so that the second servo motor 21 outputs a torque, and the wheel 23 is driven to rotate by the second speed reducer 22 and the clutch. Optionally, according to the movement law of the wheat wheels, the rotation directions of the 4 wheat wheels can be adjusted through a control program, so that the omnidirectional movement of the base structure is realized, wherein the omnidirectional movement comprises back and forth movement, in-situ rotation, transverse movement, oblique movement and the like.
In the structure provided by the embodiment of the present invention, the setting positions and the number of the driving components 2 can be set according to the shape of the base body 1 and the motion control requirements of the mobile device, referring to fig. 1, in the embodiment, a group of driving components 2 is respectively arranged at four corners of the base body 1, a group of parking components 3 can be arranged beside each group of driving components 2, and each group of parking components 3 can also be configured with a group of manual parking control components. Drive assembly 2 is used for supporting and drive base structure motion, and base structure stop motion back, accessible stopping subassembly 3 brakies the base structure to guarantee whole mobile device's stability. The manual parking control assembly realizes the locking and unlocking of the parking state of the parking assembly 3 under special conditions. The base structure is a supporting part of the whole mobile equipment, and not only can enough rigidity and stability be ensured, but also the flexibility of movement in a limited space can be ensured. In order to ensure the stability of the mobile equipment after stopping moving, the parking component arranged on the base structure can ensure that the mobile equipment cannot move. In order to conveniently remove the parking state in emergency, a manual parking control assembly is arranged beside each group of parking assemblies, so that the parking can be manually unlocked and the mobile equipment can be pushed in special conditions.
The embodiment of the invention also provides a surgical robot, which comprises a base structure and an operation main body arranged on the base structure, wherein the base structure adopts the base structure. The operation body may include various operation components used by the surgical robot to perform a surgical operation.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (13)
1. A parking assembly for a mobile device, comprising:
a first mounting member;
the screw rod is installed through the first installation piece, and a parking pin is arranged at the tail end of the screw rod; the screw rod is sleeved with a nut and connected through a thread groove arranged on the surface of the screw rod, and the nut drives a parking pin at the tail end of the screw rod to move when rotating;
and the first power output part is arranged on the first mounting part and is used for driving the nut to rotate.
2. The parking assembly of a mobile device of claim 1, wherein the first power take off includes a first synchronizing strap, the output shaft of the first power take off being coupled to the nut via the first synchronizing strap.
3. The parking assembly of mobile equipment according to claim 2, wherein the first power output element further comprises a first servo motor, a first speed reducer and a second synchronous belt, the first servo motor and the first speed reducer are mounted on the first mounting element, an output shaft of the first servo motor is connected with an input shaft of the first speed reducer through the second synchronous belt, and an output shaft of the first speed reducer serves as an output shaft of the first power output element.
4. The parking module of claim 1, wherein the screw rod is provided with a position sensor, the first mounting member is provided with a position sensor, and when the first power output member drives the nut to rotate so as to move the screw rod, the position sensor moves in a direction away from or close to the position sensor.
5. A base structure of a mobile device, comprising a base body and at least one set of parking components, said parking components comprising:
a first mounting member connected to the base body;
the screw rod is installed through the first installation piece and is vertically arranged relative to the base body, and a parking pin is arranged at the tail end of the screw rod; the screw rod is sleeved with a nut and connected through a thread groove arranged on the surface of the screw rod, and the nut drives a parking pin at the tail end of the screw rod to move along the direction vertical to the base body when rotating;
and the first power output element is arranged on the first mounting element and is used for driving the nut to rotate.
6. The base structure of the mobile device according to claim 5, wherein a first coupling member is provided at one end of the output shaft of the first power output member;
the base structure of mobile device still includes at least a set of manual parking control subassembly, and a set of manual parking control subassembly corresponds a set of parking subassembly setting, manual parking control subassembly includes:
a second mounting member connected to the base body;
the dwang, through the second installed part is installed, the one end of dwang sets up the second connecting piece, the second connecting piece is used for connecting first connecting piece makes the manual rotation drive during the dwang the output shaft of first power take off spare is rotatory together.
7. The base structure of mobile device according to claim 6, wherein said first connector and said second connector remain connected at all times.
8. The base structure of a mobile device of claim 6, wherein said second mount comprises:
the cylindrical shell is perpendicular to the base body, the rotating rod penetrates through the cylindrical shell, a protrusion is arranged on the rotating rod, and the second connecting piece is arranged on one side, through which the rotating rod penetrates, of the bottom surface of the cylindrical shell;
the bearing is arranged in the cylindrical shell and used for mounting the rotating rod;
the first spring is arranged in the cylindrical shell, one end of the first spring is connected with the bottom surface of the cylindrical shell, and the other end of the first spring is connected with the protrusion of the rotating rod;
applying pressure to one side of the rotating rod, which is not provided with the second connecting piece, so that the first spring is compressed, and the second connecting piece moves towards the direction close to the first connecting piece until being connected with the first connecting piece; after the pressure is removed, the first spring is deformed and restored to drive the second connecting piece to move and separate from the first connecting piece.
9. The base structure of a mobile device according to claim 5, further comprising at least one set of drive components, said drive components comprising:
a third mounting member connected to the base body;
a wheel mounted on the third mount;
and the second power output part is arranged on the third mounting part and is used for driving the wheel to rotate.
10. The base structure of the mobile device of claim 9, wherein the third mount comprises a fixed mount for mounting the second power take off, a movable mount for mounting the wheel, and a second spring;
fixed mounting spare with base body fixed connection, be provided with the perpendicular to on the fixed mounting spare the linear guide that base body set up, the movable mounting spare sets up on the linear guide, second spring one end is connected the movable mounting spare, the other end is connected fixed mounting spare.
11. The base structure of the mobile device according to claim 9, wherein the second power output unit includes a second servo motor, a second speed reducer, and a clutch, and an output signal of the second servo motor sequentially passes through the second speed reducer and the clutch to drive the wheel to rotate.
12. The base structure of the mobile device of claim 9, wherein the wheels are mecanum wheels.
13. A surgical robot comprising a base structure and an operating body mounted on the base structure, the base structure employing a base structure as claimed in any one of claims 5 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310036385.6A CN115891934A (en) | 2023-01-09 | 2023-01-09 | Mobile device's parking subassembly, base structure and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310036385.6A CN115891934A (en) | 2023-01-09 | 2023-01-09 | Mobile device's parking subassembly, base structure and surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115891934A true CN115891934A (en) | 2023-04-04 |
Family
ID=86481985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310036385.6A Pending CN115891934A (en) | 2023-01-09 | 2023-01-09 | Mobile device's parking subassembly, base structure and surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115891934A (en) |
-
2023
- 2023-01-09 CN CN202310036385.6A patent/CN115891934A/en active Pending
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