CN116965942A - Stand column part and surgical robot - Google Patents

Abstract

The application discloses a column part and a surgical robot. The upright post component comprises a supporting frame, a lifting mechanism, a driving mechanism and a locking mechanism. The lifting mechanism is movably connected with the supporting frame. The driving mechanism comprises a driver and a moving part, and the moving part drives the lifting mechanism to reciprocate along the height direction of the supporting frame under the driving of the driver. The moving part is movably connected with the lifting mechanism through a locking mechanism, and the locking mechanism and the lifting mechanism synchronously move. The locking mechanism has a locked state in which the lifting mechanism is locked in the support frame and an unlocked state in which the lifting mechanism can reciprocate relative to the support frame. When the lifting mechanism falls, the locking mechanism can be reset to a locking state. The application is beneficial to realizing anti-falling and avoiding potential safety hazard and instrument damage caused by anti-falling.

Description

Stand column part and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a column part and a surgical robot.

Background

In the technical field of medical instruments, robots are often used for driving other mechanical components to perform lifting motion, so that the mechanical components are adjusted in different directions, and a user can operate the mechanical components conveniently.

However, the lifting device enables the robot to drive other mechanical components such as the operation robot arm to lift, if one of the lifting device and the robot falls, the other mechanical components fall, on one hand, the phase posture of the other mechanical components such as the operation robot arm and the like caused by falling changes, and the body of a user can be damaged; on the other hand, the impact caused by the falling can also cause damage to the robot and its components, increasing the cost of maintenance.

Disclosure of Invention

The application provides a column part and a surgical robot, which are used for solving the defects of part or all of the related technologies.

The technical scheme is as follows:

according to a first aspect of an embodiment of the present application, there is provided a column component comprising a support frame, a lifting mechanism, a drive mechanism and a locking mechanism. The lifting mechanism is movably connected with the supporting movable frame, the driving mechanism reciprocates along the height direction of the supporting frame through the lifting mechanism, the driving mechanism is movably connected with the lifting mechanism through the locking mechanism, and the locking mechanism is provided with a locking state for locking the lifting mechanism in the supporting frame and a locking state for enabling the lifting mechanism to reciprocate relative to the supporting frame.

The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:

the supporting frame can support the lifting mechanism and the locking mechanism movably connected with the lifting mechanism, the driving mechanism drives the locking mechanism and the lifting mechanism to reciprocate synchronously along the height direction of the supporting frame, the locking mechanism is in a locking state and an unlocking state, and when the lifting mechanism normally reciprocates along the height direction of the supporting frame through the locking mechanism and the driving mechanism, the locking mechanism is in the unlocking state; when the lifting mechanism is in an abnormal state of falling, the locking mechanism resets to a locking state, and the lifting mechanism can be locked into the supporting frame and cannot continue falling. So, through locking mechanism reset in the unlocking state and locking state between the switch, avoid elevating system to be in the in-process of falling and drop always to this avoids falling to cause the striking damage to the column part, and further, avoids falling to cause safety threat to the user to the column part.

The technical scheme of the application is further described below:

in one embodiment, the driving mechanism comprises a driver and a moving part, the moving part is movably connected with the lifting mechanism through a locking mechanism, and the moving part drives the lifting mechanism to reciprocate along the height direction of the supporting frame under the driving of the driver.

In one embodiment, the moving member pulls the lifting mechanism through the locking mechanism to create a pulling force. The pulling force can at least control the locking mechanism to switch from the locked state to the unlocked state.

In one embodiment, the locking mechanism is capable of resetting to the locked state when the pulling force is removed.

In one embodiment, the support frame is provided with a limiting part, and the locking mechanism comprises a connecting assembly and a locking piece, wherein the locking piece is movably connected with the lifting mechanism and has a locking state and an unlocking state. The movable part is movably connected with the connecting component, and the connecting component drives the locking part to switch between a locking state and an unlocking state.

When the locking piece is in a locking state, the locking piece is in locking fit with the limiting part. When the locking piece is in an unlocking state, the locking piece is separated from the limiting part.

In one embodiment, the connecting assembly comprises a transmission rod, one end of the transmission rod is rotationally connected with the moving part, and the other end of the transmission rod is movably connected with the locking part, so that the pulling force can drive the locking part to switch from the locking state to the unlocking state at least.

In one embodiment, the locking member is slidably connected to the lifting mechanism, and the moving direction of the locking member forms an included angle with the height direction of the supporting frame, so that the locking member is close to or far from the supporting frame.

In one embodiment, one of the other end of the transmission rod and the locking piece is provided with a sliding groove, and the other one of the other end of the transmission rod and the locking piece is provided with a convex body which is in sliding fit with the sliding groove, so that the locking piece can be driven to switch between a locking state and an unlocking state in the rotating process of the transmission rod relative to the moving piece.

In one embodiment, the locking mechanism further comprises a sliding block in sliding connection with the support frame and a sliding rail fixedly arranged at the end part of the sliding block, the sliding block is fixedly arranged at the end part of the locking piece, the locking piece is in sliding connection with the sliding rail through the sliding block, and the lifting mechanism is fixedly arranged on the sliding rail.

In one embodiment, the locking mechanism further comprises an elastic reset piece arranged on the sliding block, and the elastic reset piece is propped against the locking piece, so that the locking mechanism can be elastically reset to a locking state when the lifting mechanism falls.

In one embodiment, the driving mechanism further comprises a screw rod, and the moving member comprises a screw body in threaded transmission connection with the screw rod and a connecting body fixedly connected with the screw body. One of the connecting body and the transmission rod is provided with a rotating shaft, and the other is provided with a matching hole which is in rotating fit with the rotating shaft.

In one embodiment, the connecting assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is rotationally connected with the moving part, the other end of the first connecting rod is rotationally connected with one end of the second connecting rod, one end of the second connecting rod is rotationally connected with the lifting mechanism, one end of the third connecting rod is rotationally connected with the lifting mechanism and is arranged at intervals with the second connecting rod, the other end of the third connecting rod is rotationally connected with one end of the fourth connecting rod, the other end of the fourth connecting rod is rotationally connected with the other end of the first connecting rod and one end of the second connecting rod, and the locking part is fixedly arranged on the second connecting rod.

In one embodiment, the connection assembly comprises a traction rope and a guide wheel, and the guide wheel is arranged on the lifting mechanism. One end of the traction rope is fixedly connected with the moving part, and the traction rope is arranged around the guide wheel, so that the other end of the traction rope is fixedly connected with the locking part, and the pulling force drives the locking part to switch between a locking state and an unlocking state.

In one embodiment, the locking mechanism further comprises a resilient return member. The elastic reset piece is arranged on the fourth connecting rod, so that the locking mechanism can be elastically reset to a locking state when the lifting mechanism falls. Or, the elastic resetting piece is arranged on the traction rope and presses the locking piece, so that the locking mechanism can be elastically reset to a locking state when the lifting mechanism falls.

In one embodiment, the connecting assembly comprises a rack and a gear meshed with the rack, and the rack is fixedly arranged on the moving piece. The gear is rotatably arranged on the lifting mechanism and is in transmission connection with the locking piece, so that the pulling force drives the locking piece to switch between a locking state and an unlocking state.

In one embodiment, the locking pieces and the connecting components are in one-to-one correspondence, and two groups of locking pieces and the connecting components are arranged between the moving piece and the lifting mechanism at intervals. The limiting parts comprise two limiting parts and are in one-to-one correspondence with the locking parts, and the two limiting parts are respectively arranged on the supporting frame at intervals.

In one embodiment, the limiting portion includes a plurality of clamping grooves spaced along the height direction of the supporting frame, and the locking member is capable of being in snap fit with the clamping grooves in the locking state. And/or the support frame comprises two support plates which are arranged at intervals to form an accommodating space, wherein corresponding limiting parts are arranged on the support plates, and the locking mechanism and the lifting mechanism are arranged in the accommodating space.

In one embodiment, the driver comprises a first driving part capable of moving along the height direction of the support frame, and the moving piece is fixed on the first driving part.

Or, the driving mechanism further comprises a transmission assembly, the transmission assembly is provided with a second driving part, and the driver is in driving connection with the transmission assembly to drive the second driving part to move along the height direction of the support frame, and the moving part is fixed on the second driving part.

In one embodiment, the transmission assembly comprises a screw rod rotatably arranged on the support frame and a screw nut in transmission fit with the screw rod, and the height direction of the screw rod is arranged in the same direction as the height direction of the support frame. The screw is provided with a second driving part, and the driver is used for driving the screw rod to rotate, and the moving part is fixedly connected with the second driving part so as to reciprocate along the height direction of the screw rod along with the screw.

Or, the transmission assembly comprises a screw and a nut in threaded transmission connection with the screw, the screw is provided with a second driving part, and the nut is rotatably arranged on the support frame. The driver is used for driving the nut to rotate, and the moving part is fixedly connected with the second driving part so as to reciprocate along the height direction of the support frame along with the screw rod.

Or the transmission assembly comprises a transmission rack and a transmission gear meshed with the transmission rack, the transmission rack is provided with a second driving part, and the transmission gear is rotatably arranged on the support frame. The driver is used for driving the transmission gear to rotate, and the moving part is fixedly connected with the second driving part so as to reciprocate along the height direction of the support frame along with the transmission rack.

Or the transmission assembly comprises a flexible transmission part, a driving wheel and a driven wheel, wherein the flexible transmission part is in transmission fit with the driving wheel and the driven wheel, and the flexible transmission part is provided with a second driving part. The driving wheel and the driven wheel are rotatably arranged on the supporting frame and are arranged at two ends of the supporting frame at intervals. The moving part is fixedly connected with the second driving part, and the driver is used for driving the driving wheel to rotate so that the flexible transmission part drives the moving part to reciprocate along the height direction of the supporting frame.

Or, the transmission assembly comprises a transmission rope, the driver comprises a winder arranged on the support frame, the transmission rope is wound on the winder, and the transmission rope is provided with a second driving part.

According to a first aspect of embodiments of the present application, there is provided a surgical robot comprising a column part according to any of the embodiments described above.

The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:

through the setting of stand part in the above-mentioned embodiment for the operation robot can avoid a direct whereabouts, can reduce the striking damage to spare part when the operation robot drops, also can avoid simultaneously falling the in-process to cause safety threat to the user.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural view of an arm robot according to an embodiment.

Fig. 2 is a schematic structural view of the stud member shown in fig. 1.

Fig. 3 is a rear view of the device shown in fig. 2.

Fig. 4 is a schematic structural view of the locking member in a locked state in the embodiment of fig. 2.

Fig. 5 is a partial schematic view of fig. 4.

Fig. 6 is a schematic structural view of the locking member in a locked state in the embodiment of fig. 5.

Fig. 7 is a schematic structural diagram of a connection assembly according to an embodiment.

Fig. 8 is a schematic structural view of a connection assembly according to another embodiment.

Fig. 9 is a schematic structural view of the elastic restoring member in the embodiment of fig. 8.

Fig. 10 is a schematic structural view of a connection assembly according to an embodiment.

Fig. 11 is a schematic structural diagram of the driving mechanism shown in an embodiment of fig. 2.

Fig. 12 is a schematic diagram of the driving mechanism shown in an example of fig. 2.

Fig. 13 is a schematic structural view of a driving mechanism shown in another example of fig. 2.

Reference numerals illustrate:

10. a column member; 100. a support frame; 110. a limit part; 111. a clamping groove; 120. a support plate; 200. a lifting mechanism; 300. a driving mechanism; 301. a second driving section; 310. a driver; 320. a moving member; 321. a nut body; 322. a connection body; 3221. a mating hole; 330. a screw rod; 340. a transmission assembly; 341. a nut; 342. a screw; 343. a nut; 344. a drive rack; 345. a transmission gear; 346. a flexible transmission member; 347. a driving wheel; 348. driven wheel; 349. a driving rope; 400. a locking mechanism; 410. a connection assembly; 411. a transmission rod; 4111. a chute; 4112. a rotating shaft; 412. a first link; 413. a second link; 414. a third link; 415. a fourth link; 416. a traction rope; 417. a guide wheel; 418. a rack; 419. a gear; 420. a locking member; 421. a convex body; 430. a sliding block; 440. a slide rail; 450. an elastic reset piece; a height direction X; a horizontal direction Y; pulling force F.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

Referring to fig. 1, the present application provides a surgical robot including a column part 10, so that other parts of the surgical robot can be driven to perform synchronous lifting movement by the column part 10, such as a surgical operation arm shown in fig. 1. In the operation process of the surgical robot, the height adjustment of the parts such as the surgical operation arm and the like through the upright post part 10 is an important part in the operation, and medical staff can drive the parts such as the surgical operation arm and the like to finish synchronous posture adjustment by adjusting the lifting position of the upright post part 10, so that the position of a patient needing the operation is processed. How to prevent the upright post member 10 from falling down all the time, thereby avoiding the collision damage of the parts such as the operation arm in the operation robot, and avoiding further damage to the wounded position of the doctor and patient at the same time is a key in improving the operation safety performance of the operation robot.

For better explanation, the following directions are defined as shown in fig. 2: the direction parallel to the height direction of the support frame 100 is X, and the direction perpendicular to the height direction of the support frame 100 (i.e., the horizontal direction in fig. 2) is Y.

Specifically, as shown in fig. 2, the column part 10 includes a support frame 100, a lifting mechanism 200, a driving mechanism 300, and a locking mechanism 400. The driving mechanism 300 includes a driver 310 and a moving member 320, wherein the driver 310 is used for driving the moving member 320 to drive the lifting mechanism 200 to reciprocate along the height direction X of the support frame 100. The moving member 320 is movably connected with the lifting mechanism 200 through the locking mechanism 400, so that the driving mechanism 300 can drive the lifting mechanism 200 to synchronously move through the locking mechanism 400. While the locking mechanism 400 has a locked state (locking the lifting mechanism 200 into the support frame 100) and an unlocked state (enabling the lifting mechanism 200 to reciprocate relative to the support frame 100), the locking mechanism 400 can be switched between the locked state and the unlocked state by resetting, so that the state switching that brings the lifting mechanism 200 into locking and relative movement with the support frame 100 is realized. In this way, the lifting mechanism 200 is movably connected with the supporting frame 100 through the reset action of the locking mechanism 400, so that when the lifting mechanism 200 is locked to the supporting frame 100, the supporting frame 100 realizes the bearing and supporting actions on the lifting mechanism 200.

The arrangement of the upright post component 10 is beneficial to realizing that when the lifting mechanism 200 falls down, the trigger locking mechanism 400 is switched from the unlocking state to the locking state, and the lifting mechanism 200 is locked into the supporting frame 100, so that further falling does not occur any more, and the problems of impact damage and personal safety of parts caused by the further falling are avoided.

Wherein, as shown in fig. 1-2, the lifting mechanism 200 may include a movable column (as shown in fig. 2). In addition, the lifting mechanism 200 may also include a cantilever arm coupled to the movable column (see fig. 1). Further, the lifting mechanism 200 may further include a mechanical arm movably connected to the free end of the cantilever.

The switching of the lock mechanism 400 between the unlock state and the lock state may be a mechanical drive switching, an electric drive switching, or the like, and is not limited thereto.

The switching of the locking mechanism 400 between the unlocked and locked states may be a mechanically driven automatic switching, and in some embodiments, as shown in fig. 3 to 4, specifically, the mover 320 pulls the lifting mechanism 200 through the locking mechanism 400 to generate a pulling force F. During normal lifting movement, the driver 310 drives the moving member 320, and when the moving member 320 pulls the lifting mechanism 200 to reciprocate along the height direction of the support frame 100 by the locking mechanism 400, it can be understood that during normal lifting movement, the moving member 320 provides a horizontal component force to the locking mechanism 400 away from the support frame 100, so that the locking mechanism is in an unlocked state.

When the moving member 320 cannot provide the lifting mechanism 200 with a sufficient pulling force F, the lifting mechanism 200 is in an abnormal state of falling, the locking mechanism 400 and the lifting mechanism 200 are not stressed and balanced, the acceleration of the lifting mechanism 200 faces downwards, and the pulling force F is reduced to reset the locking mechanism 400 to be in a locking state, so that the lifting mechanism 200 is locked into the supporting frame 100, and further falling of the lifting mechanism 200 is prevented. It should be noted that, the pulling force F may enable the locking mechanism 400 to reset to a single-side swing to achieve single-side locking, or may control the length of the locking member 420 in the horizontal direction Y by setting a corresponding reset structure (such as an elastic reset member 450, a folding structure such as a folding frame, etc.), so as to achieve single-side or double-side locking, which will be described in detail later.

In this way, the locking mechanism 400 can be controlled to be switched from the unlocking state to the locking state through the pulling force, so that the locking mechanism 400 forms the mechanical internal drive reset to the locking state, the anti-falling function of the lifting mechanism 200 is realized, the electric or manual reaction operation is not needed, the anti-falling response speed is improved, and the anti-falling effect is ensured.

To further increase the accuracy of the fall arrest effect, in some embodiments, the locking mechanism 400 can be reset to the locked state when the pulling force F is lost. As described in the above embodiment, when the lifting mechanism 200 is in the abnormal state of falling, the force between the locking mechanism 400 and the lifting mechanism 200 is not balanced any more, and the disappearance of the pulling force F makes the reset driving force of the locking mechanism 400 itself drive the locking mechanism 400 to reset to the locked state.

In this way, by limiting the locking mechanism 400 to reset to the locked state when the pulling force F disappears, the situation that the locking mechanism 400 resets to the locked state in the normal lifting motion process of the lifting mechanism 200 in the weightlessness state can be avoided, and the falling prevention function of the lifting mechanism 200 is realized when the lifting mechanism 200 is completely weightless (namely falls) is ensured, so that the accuracy of the falling prevention performance is improved.

As shown in fig. 5, the supporting frame 100 is provided with a limiting part 110, and the locking mechanism 400 is provided with a locking piece 420; the locking member 420 is movably coupled to the lifting mechanism 200 such that the locking member 420 is movable relative to the lifting mechanism 200 to be reset to switch between a locked state and an unlocked state. Further, when the locking piece 420 is in the locking state, the locking piece 420 is in locking fit with the limiting part 110, so that the lifting mechanism 200 is locked into the supporting frame 100; when the locking member 420 is in the unlocked state, the locking member 420 is separated from the limiting portion 110, and the lifting mechanism 200 can continue to reciprocate relative to the support frame 100.

It is understood that the number of the limiting portions 110 may be set according to different usage situations. In some embodiments, the support 100 is provided with a limiting portion 110, and at the same time, the locking mechanism 400 is provided with a locking member 420 corresponding to the limiting portion 110, and locking of the lifting mechanism 200 is achieved through locking cooperation of the limiting portion 110 and the locking member 420. Alternatively, in other embodiments, the support 100 is provided with two limiting portions 110, the two limiting portions 110 are disposed at two sides along the height direction of the support 100 at intervals, and the locking mechanism 400 is provided with a locking member 420, where the locking member 420 can swing relative to the lifting mechanism 200, so that the locking member 420 can swing to perform locking fit with one of the limiting portions 110 at two sides. Namely: the number of the limiting portions 110 may be one, two or even more, and is not further limited herein.

In an example, referring back to fig. 5, the supporting frame 100 is provided with two limiting portions 110, the two limiting portions 110 are respectively disposed at two sides along the height direction of the supporting frame 100 at intervals, and the limiting portions 110 are in one-to-one correspondence with the locking members 420. Thus, through the locking cooperation of the two locking pieces 420 and the two limiting parts 110, even when the lifting mechanism 200 is heavier and generates larger impact force, the impact forces at two ends can be mutually offset, so that when one side of the lifting mechanism 200, which is provided with the locking pieces 420 at one side, is prevented from striking the limiting parts 110 to lock, and the other side of the lifting mechanism 200 generates larger falling inertia due to heavier. This arrangement enables balanced locking of the ends of the lifting mechanism 200 into the support 100 with a more balanced and stable locking effect. Further, the falling off of the single-side locking piece 420 on the limiting part 110 is avoided from increasing along with time, the falling off of the locking piece 420 can be avoided by locking the two limiting parts 110 and the two locking pieces 420, the implementation continuity of the falling prevention performance can be further improved, and the safety coefficient is higher.

The locking member 420 may be movable relative to the lifting mechanism 200, and may be driven by a connecting member, or may be driven by directly driving and resetting (e.g., electrically controlling) the body of the locking member 420, and the like, and is not limited thereto.

In combination with any of the embodiments of the locking member 420 described above, in some embodiments, referring back to fig. 3, the locking mechanism 400 further includes a connection assembly 410, the moving member 320 is movably connected with the connection assembly 410, and the connection assembly 410 is connected with the locking member 420, so that the connection assembly 410 can drive the locking member 420 to switch between the locked state and the unlocked state. In other words, the driver 310 drives the moving member 320 to reciprocate along the height direction of the supporting frame 100, and the connecting component 410 can move relative to the moving member 320, so as to drive the locking member 420 to switch between the unlocked state and the locked state.

When the lifting mechanism 200 is in normal lifting motion, the moving member 320 drives the locking member 420 and the lifting mechanism 200 to synchronously move along the height direction X through the connecting assembly 410; wherein a pulling force F is provided to the connection assembly 410 by the driver 310 through the mover 320. When the lifting mechanism 200 is in the abnormal state of falling, the pulling force F decreases or even disappears, and the connecting component 410 moves (e.g. rotates, slides, etc.) relative to the moving component 320, so that the relative position of the connecting component 410 and the moving component 320 changes, and the position of the locking component 420 is further driven to change (i.e. reset), thereby resetting the locking component 420 from the unlocked state to the locked state.

It should be noted that the connection assembly 410 may be implemented in various manners, but not limited to a connecting rod assembly, a mating assembly of a gear 419 and a rack 418, etc., which are not limited thereto.

The connecting assembly 410 may be a link assembly, in some embodiments, referring back to fig. 4, the connecting assembly 410 includes a transmission rod 411, one end of the transmission rod 411 is rotationally connected with the moving member 320, and the other end is movably connected with the locking member 420, and the transmission rod 411 drives the locking member 420 to switch from the unlocked state to the locked state. Specifically, the transmission rod 411 and the locking member 420 form a link so that the transmission rod 411 can be rotated relative to the moving member 320 according to the change of the tensile force. When the lifting mechanism 200 is in normal lifting motion, the moving member 320 provides a horizontal component force to the driving lever 411 away from the supporting frame 100, so that the locking member 420 is in an unlocked state. When the lifting mechanism 200 is falling, the pull force F on the transmission rod 411 decreases or even disappears, so that the transmission rod 411 rotates relative to the moving member 320 and rotates towards the direction of the support frame 100, thereby driving the locking member 420 to be in locking engagement with the limiting portion 110, and the locking member 420 to be in locking engagement.

Therefore, mechanical transmission is realized in a mode of forming the connecting rod assembly, and the structure is simple and the design is convenient. Further, the rotating arrangement, unlike sliding connection, does not need to set larger moving sites to realize movable fit between the transmission rod 411 and the moving member 320, and saves more space.

To further enable the lifting mechanism 200 to timely prevent falling, in some embodiments, as shown in fig. 5, the locking member 420 is slidably connected to the lifting mechanism 200, and the moving direction of the locking member 420 is perpendicular to the height direction X of the support frame 100. Further, one of the locking mechanism 400 and the lifting mechanism 200 is provided with a slide rail 440, and the other is provided with a slide block 430, and the slide block 430 is engaged with the slide rail 440 in a sliding connection.

Specifically, in an embodiment, the end of the locking member 420 is provided with a sliding block 430, the lifting mechanism 200 is provided with a sliding rail 440, the sliding block 430 is slidably connected with the sliding rail 440, and when the pulling force F of the connecting assembly 410 disappears, the connecting assembly 410 drives the sliding block 430 to move along the sliding rail 440 toward the supporting frame 100, so that the locking member 420 is in a locking state, thereby realizing timely falling prevention.

In combination with any of the embodiments of the locking member 420 described above, in some embodiments, as shown in fig. 5, the locking mechanism 400 may further include an elastic restoring member 450, where the elastic restoring member 450 is embedded in the locking member 420, and where: the elastic restoring member 450 may be, but not limited to, a spring, an elastic metal strip, etc. It will be appreciated that when the lifting mechanism 200 is in the normal lifting process, the pulling force F rotates the transmission rod 411 near the side far from the supporting frame 100, and the elastic restoring member 450 is in a compressed state to press the locking member 420, and in the direction Y, the horizontal component of the pulling force F is balanced with the pressing force of the elastic restoring member 450. When the lifting mechanism 200 is in an abnormal condition of falling, in the direction Y, the horizontal component of the pulling force F is reduced, and at this time, the elastic reset member 450 can elastically reset to drive the locking member 420 to move towards the side close to the support frame 100, so as to realize elastic reset of the locking member 420, and make the locking member 420 in a locked state.

Thus, by the arrangement of the elastic reset member 450, the reset speed of the locking member 420 can be increased by the elastic driving force of the elastic reset member 450, so that the speed of locking the lifting mechanism 200 to the supporting frame 100 is increased, the falling time of the lifting mechanism 200 is reduced, and the anti-falling response efficiency is improved.

Specifically, in an embodiment, the elastic restoring member 450 may be disposed on the sliding block 430 and abuts against the locking member 420, so that energy loss of driving the sliding block 430 by the elastic restoring member 450 can be reduced, and the restoring locking efficiency of the sliding block 430 and the supporting frame 100 can be improved.

In other embodiments, the reset of the locking mechanism 400 to the locked state may also be implemented using a magnetic attraction reset, or a magnetic repulsion reset, or the like.

It should be noted that, the manner in which the driving lever 411 is rotatably connected to the moving member 320 may be that the rotating shaft 4112 rotates, or that the sliding block cooperates with the sliding groove 4111 to rotate, which is not limited in this way.

In combination with any of the embodiments of the driving rod 411 described above, in some embodiments, as shown in fig. 6, one of the driving rod 411 and the locking member 420 is provided with a sliding slot 4111, and the other is provided with a protruding body 421, and the driving rod 411 and the locking member 420 are connected in a rotating manner by sliding the protruding body 421 on the sliding slot 4111. In this way, the structure is simple, and the chute 4111 can provide a rotation space for the boss 421. In addition, the sliding groove 4111 may provide a mounting margin for the locking member 420 to be mounted to the driving rod 411, which is convenient for installation.

In an example, the other end of the transmission rod 411 is provided with a sliding slot 4111, the locking member 420 is provided with a protruding body 421, the protruding body 421 is in sliding fit with the sliding slot 4111, and when the locking member 420 is in an unlocked state, the protruding body 421 abuts against the lower end portion of the sliding slot 4111.

Alternatively, in another example, the other end of the transmission rod 411 is provided with a protruding body 421, the locking member 420 is provided with a sliding groove 4111, the protruding body 421 is in sliding fit with the sliding groove 4111, and when the locking member 420 is in the unlocked state, the protruding body 421 abuts against the upper end portion of the sliding groove 4111.

In combination with any of the embodiments of the transmission rod 411, in some embodiments, the driving mechanism 300 further includes a screw rod 330 in power connection with the driver 310, and the driver 310 drives the screw rod 330 to rotate the screw rod 330 to drive the moving member 320 to move along the height direction X of the support frame 100. The moving member 320 includes a nut body 321 in threaded driving connection with the screw rod 330, and a connecting body 322 fixedly connected with the nut body 321, one of the connecting body 322 and the driving rod 411 is provided with a rotating shaft 4112, and the other is provided with a fitting hole 3221 in rotating fit with the rotating shaft 4112. In this way, the rotation fit of the rotating shaft 4112 and the fitting hole 3221 is simple in design and tight in connection, so that the rotation connection strength between the connecting body 322 and the transmission rod 411 can be enhanced.

Note that, when the connecting assembly 410 is a link assembly, the connecting assembly may be a two-link structure, a four-link structure, or the like, which is not limited thereto.

In combination with any one of the embodiments of the connection assembly 410, as shown in fig. 7, in some embodiments, the link assembly may be a four-bar mechanism, specifically, the link assembly includes a first link 412, a second link 413, a third link 414, and a fourth link 415, one end of the first link 412 is rotatably connected to the moving member 320, the other end of the first link 412 is rotatably connected to one end of the second link 413, one end of the second link 413 is rotatably connected to the lifting mechanism 200, one end of the third link 414 is rotatably connected to the lifting mechanism 200, and is disposed at a distance from the second link 413, the other end of the third link 414 is rotatably connected to one end of the fourth link 415, the other end of the fourth link 415 is rotatably connected to the other end of the first link 412 and one end of the second link 413, and the locking member 420 is fixedly disposed on the second link 413.

It can be appreciated that the four-bar linkage is disposed between the lifting mechanism 200 and the moving member 320, such that the four-bar linkage generates a pulling force, wherein the pulling force can control the rotation between the first link 412 and the moving member 320, such that the first link 412 drives the second link 413, the third link 414, and the fourth link 415 to rotate. When the lifting mechanism 200 is in normal lifting motion, the first connecting rod 412, the second connecting rod 413 and the third connecting rod 414 are acted by tensile force, so that the locking piece 420 on the second connecting rod 413 is far away from the supporting frame 100, and the locking piece 420 is in an unlocking state; when the lifting mechanism 200 is falling, the pulling force is reduced or even eliminated, so that the first link 412 rotates along the direction close to the supporting frame 100, and the fourth link 415 drives the locking member 420 on the second link 413 to move along the direction of the limiting portion 110, so that the locking member 420 is locked to the supporting frame 100, and the lifting mechanism 200 is prevented from falling. In this way, through the rotational connection of one ends of the second connecting rod 413 and the third connecting rod 414 with the lifting mechanism 200, when the four-bar linkage assembly drives the locking piece 420 to switch between the unlocking state and the locking state, the lifting mechanism 200 cannot be caused to swing in the horizontal direction Y, the lifting mechanism 200 is prevented from being damaged by collision, and the movement stability of the lifting mechanism 200 is improved.

In an example, as shown in fig. 7, the elastic restoring member 450 is disposed in the four-bar mechanism in the above embodiment, where the elastic restoring member 450 is embedded in the fourth bar 415, and when the lifting mechanism 200 is in normal lifting motion, the elastic restoring member 450 is in a compressed state; when the lifting mechanism 200 is falling, the pulling force drives the first link 412 to rotate along the direction of the support frame 100, the elastic driving force of the elastic reset member 450 accelerates the fourth link 415 to move along the direction of the support frame 100, and then drives the locking member 420 to be rapidly locked onto the support frame 100, so that the falling prevention efficiency is improved, and the falling time of the lifting mechanism 200 is reduced.

In other embodiments of the connection assembly 410, as shown in fig. 8, the connection assembly 410 includes a traction rope 416 and a guiding wheel 417, the guiding wheel 417 is fixedly connected with the lifting mechanism 200, one end of the traction rope 416 is fixedly connected with the moving member 320, the traction rope 416 is disposed around the guiding wheel 417, and the other end of the traction rope 416 is fixedly connected with the locking member 420. Specifically, when the lifting mechanism 200 is in normal lifting motion, the traction rope 416 is disposed between the moving member 320 and the guide wheel 417, and the traction rope 416 is in a tight state by the pulling force F, and the locking member 420 is in an unlocked state; when the lifting mechanism 200 is falling, the pulling force F is reduced, so that a part of the traction rope 416 arranged on the guide wheel 417 rotates, and the locking piece 420 is driven to move along the direction of the support frame 100, and finally the locking piece 420 is locked to the support frame 100. In this way, the locking piece 420 is driven to move between the unlocking state and the locking state by the cooperation of the traction rope 416 and the guide wheel 417, and the setting mode is simple in structure and convenient to set.

In an example, as shown in fig. 9, the elastic restoring member 450 cooperates with the traction rope 416 and the guide wheel 417 in the above embodiment, where the elastic restoring member 450 is disposed on the traction rope 416 and presses against the locking member 420. When the lifting mechanism 200 is in normal lifting motion, the elastic reset piece 450 is in a compressed state and abuts against the locking piece 420; when the lifting mechanism 200 is falling, the traction rope 416 is not tightened any more, and the driving force of the elastic reset element 450 accelerates the locking element 420 to move along the direction of the support frame 100, so that the locking element 420 is quickly locked to the support frame 100, and the efficiency of realizing the anti-falling effect is improved.

In still other embodiments of the connection assembly 410, as shown in fig. 10, the connection assembly 410 includes a rack 418 and a gear 419 engaged with the rack 418, the rack 418 is fixedly disposed on the moving member 320, and the gear 419 is rotatably disposed on the lifting mechanism 200 and is in driving connection with the locking member 420. It will be appreciated that when the lift mechanism 200 is in normal lift motion, the rack 418 and gear 419 are engaged and remain relatively stationary; when the lifting mechanism 200 is falling, the reason for the falling of the lifting mechanism 200 may be: the drive 310 is separated from the moving member 320 in a transmission manner, or a falling occurs between the rack 418 and the moving member 320. In the falling process, the rack 418 moves along the height direction X due to the disappearance of the pulling force, and the gear 419 has an inertia action, so that the movement speed of the gear 419 is smaller than the falling speed of the rack 418, and a short-term different movement can occur between the gear 419 and the rack 418, so that the gear 419 and the rack 418 are not meshed any more, the gear 419 rotates and drives the locking piece 420 to move along the direction of the support frame 100, and the locking piece 420 drives the lifting mechanism 200 to be locked to the support frame 100.

In this way, the gear 419 and the rack 418 cooperate to switch the locking member 420 between the unlocked state and the locked state, and the setting structure is simple and can play a role in preventing falling.

The engagement between the stopper 110 and the locking member 420 may be, but not limited to, a snap engagement, an adhesive engagement, or the like, and is not limited thereto.

In combination with any of the embodiments of the limiting portion 110 described above, the limiting portion 110 and the locking member 420 may be a snap fit. In some embodiments, referring back to fig. 6, the limiting portion 110 is provided with a plurality of clamping grooves 111 along the height direction of the supporting frame 100, and the locking piece 420 is locked to the supporting frame 100 by the locking piece 420 being in a snap fit in the clamping groove 111. Thus, by providing the plurality of the clamping grooves 111, even if the lifting mechanism 200 falls at any position during lifting, the locking of the locking member 420 to the limiting portion 110 is rapidly achieved without being limited by the position. Further, the clamping groove 111 and the locking piece are arranged in a clamping manner, so that the unlocking state and the locking state can be conveniently switched after the clamping and fixing effects are achieved.

Alternatively, in other embodiments, referring back to fig. 7, the limiting portion 110 is provided with a plurality of first serrations along the height direction of the support frame 100, and the locking member 420 is provided with a second serration, and the locking member 420 is locked to the support frame 100 by the second serration being locked between any two first serrations. Alternatively, the limiting portion 110 may be provided with a plurality of locking holes along the height direction of the supporting frame 100, and the locking member 420 is inserted into the locking holes to achieve locking, which will not be further described herein.

It should be noted that the number of the limiting portions 110 may be one, two or even more, which is not limited herein.

In combination with any of the above embodiments of the limiting portion 110, in some embodiments, referring back to fig. 2, the locking members 420 and the connecting assemblies 410 are one-to-one corresponding to one group, and two groups of locking members 420 and connecting assemblies 410 are disposed between the moving member 320 and the lifting mechanism 200 at intervals. Specifically, the supporting frame 100 is provided with two spacing portions 110 disposed at intervals, and the spacing portions 110 are in one-to-one correspondence with the locking members 420. In this way, the locking effect of the lifting mechanism 200 to the supporting frame 100 can be enhanced by the two locking pieces 420 being locked to the limiting portion 110. Further, the locking members 420 on the two sets of connecting assemblies 410 achieve locking, so that the stability of the center of gravity of the lifting mechanism 200 when locked to the supporting frame 100 can be improved, and the locking members 420 are prevented from being restored to the unlocking state due to unstable center of gravity, which is beneficial to improving the stability of the anti-falling effect.

The installation positions of the locking mechanism 400 and the lifting mechanism 200 may be in the support 100 or may be outside the support 100, which is not limited herein.

In some embodiments, referring back to fig. 2, the support 100 includes two support plates 120 disposed at intervals to form an accommodating space, where the two support plates 120 correspond to the connecting assembly 410, corresponding limiting portions 110 are disposed on the support plates 120, the locking member 420 is locked to the limiting portions 110, and the locking mechanism 400 and the lifting mechanism 200 are disposed in the accommodating space. Thus, the support frame 100 is formed by the support plates 120 arranged at intervals, and the structure is simple and the design is convenient. Further, the locking mechanism 400 and the lifting mechanism 200 are disposed in the accommodating space, so that the locking piece 420 is locked to the limiting portion 110 in the accommodating space, which can reduce the space occupation of the locking mechanism 400 and the lifting mechanism 200, and save more space.

In combination with any of the embodiments of the driver 310 described above, in some embodiments, the driver 310 includes a first driving portion (not shown) capable of moving in the height direction of the support frame 100, and the moving member 320 is fixed to the first driving portion (not shown). Specifically, in this case, the actuator 310 may be a device capable of directly providing telescopic power, such as a hydraulic lever, an air pressure lever, or a linear motor, and is fixed to the movable member 320 by the first driving part, and directly transmits the telescopic power to the movable member 320. Thus, the transmission mode can realize direct transmission, and is beneficial to improving the lifting efficiency of the lifting mechanism 200.

In other embodiments, referring back to fig. 3, the driving mechanism 300 further includes a transmission assembly 340, the transmission assembly 340 is provided with a second driving portion 301, and the driver 310 is drivingly connected to the transmission assembly 340, so that when the driver 310 drives the second driving portion 301 to move along the height direction X of the support frame 100, the moving member 320 fixed to the second driving portion 301 moves synchronously with the second driving portion 301. Specifically, the driver 310 may be a motor, a hoist, or the like at this time. Thus, the motor or the hoist and other drivers 310 move more stably, so as to cooperate with the transmission assembly 340 to drive the moving member 320 to move, thereby realizing the stability of the lifting motion of the lifting mechanism 200.

It should be noted that the transmission assembly 340 may be a rotary motion to a linear motion, or may be a linear motion, which is not further limited herein.

In combination with any of the embodiments of the transmission assembly 340 described above, the transmission assembly 340 may be configured to convert rotational motion into linear motion to achieve rotational ascent. In some embodiments, referring back to fig. 6, the transmission assembly 340 includes a screw 330 and a nut 341 in driving engagement with the screw 330, where the height direction of the screw 330 is set in the same direction as the height direction of the support 100, the nut 341 is provided with a second driving portion 301, and the driver 310 is used for driving the screw 330 to rotate, and the moving member 320 is fixedly connected to the second driving portion 301 so as to reciprocate along the height direction of the screw 330 along with the nut 341.

Alternatively, in other embodiments, as shown in fig. 11, the transmission assembly 340 further includes a screw 342 and a nut 343 in threaded connection with the screw 342, the screw 342 is provided with the second driving portion 301, the nut 343 is rotatably disposed on the support frame 100, the driver 310 is configured to drive the nut 343 to rotate, and the moving member 320 is fixedly connected to the second driving portion 301 to reciprocate along the height direction X of the support frame 100 along with the screw 342. In this way, by converting the rotation motion into the linear motion, the contact area between the second driving part 301 and the moving member 320 is larger during the transmission process, the transmission is more stable, and the stability of the lifting motion of the heavy lifting mechanism 200 is improved.

It should be noted that, the fixing manner of the nut 341 and the moving member 320 may be various, including but not limited to welding, fastening, riveting, etc. Further, in an example, the nut 341 is integrally formed with the moving member 320, and at this time, the nut 341 is the nut body 321 of the moving member 320.

In combination with any of the embodiments of the transmission assembly 340, the transmission assembly 340 may drive the transmission member through the rotation member to realize the linear motion of the rotation member. In some embodiments, as shown in fig. 12, the transmission assembly 340 includes a transmission rack 344 and a transmission gear 345 meshed with the transmission rack 344, the transmission rack 344 is provided with a second driving portion 301, the transmission gear 345 is rotatably disposed on the support frame 100, the driver 310 is used for driving the transmission gear 345 to rotate, and the moving member 320 is fixedly connected with the second driving portion 301 so as to reciprocate along the height direction of the support frame 100 along with the transmission rack 344. Thus, the transmission is more accurate and stable through the transmission of the gear 419 and the rack 418, which is beneficial to improving the lifting stability of the lifting mechanism 200.

Alternatively, in other embodiments, as shown in FIG. 13, the transmission assembly 340 includes a flexible transmission 346, a driving wheel 347, and a driven wheel 348, with the flexible transmission 346 being in driving engagement with the driving wheel 347 and the driven wheel 348; the flexible transmission member 346 is provided with a second driving portion 301, a driving wheel 347 and a driven wheel 348 are rotatably disposed on the support frame 100 and are disposed at two ends of the support frame 100 at intervals, the moving member 320 is fixedly connected with the second driving portion 301, and the driver 310 is used for driving the flexible transmission member 346 to move, so that the flexible transmission member 346 drives the moving member 320 to reciprocate along the height direction of the support frame 100. In this way, the driving wheel 347 and the driven wheel 348 are both rotatably arranged on the support frame 100, and the structure is more compact by the transmission of the driving wheel 347, the flexible transmission member 346 and the driven wheel 348, so that the occupation of the upright post component 10 to the accommodating space is reduced. Further, the transmission is more accurate and stable, which is beneficial to preventing falling off and reducing the falling risk of the lifting mechanism 200 caused by the transmission separation of the transmission assembly 340.

It should be noted that the flexible transmission member 346 may be, but is not limited to, a chain or a belt. The corresponding transmission component is a chain transmission mechanism or a belt transmission mechanism.

In some embodiments, the transmission assembly 340 includes a transmission rope, the driver 310 includes a winder (not shown) disposed on the support 100, the transmission rope is wound on the winder (not shown), and the transmission rope is provided with the second driving part 301. Thus, the driving mode is simple in structure and convenient to install by winding or unwinding the driving rope 349 through the winding device (not shown).

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "first," "second," etc. can include at least one such feature, either explicitly or implicitly. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application.

Claims (20)

1. A stud member, comprising:

a support frame;

the lifting mechanism is movably connected with the supporting frame;

a driving mechanism which drives the lifting mechanism to reciprocate along the height direction of the supporting frame;

the locking mechanism is movably connected with the lifting mechanism, moves synchronously with the lifting mechanism, and has a locking state for locking the lifting mechanism in the supporting frame and an unlocking state for enabling the lifting mechanism to reciprocate relative to the supporting frame;

When the lifting mechanism falls, the locking mechanism can be reset to a locking state.

2. The stud member of claim 1, wherein the drive mechanism includes a driver and a mover; the movable piece is movably connected with the lifting mechanism through the locking mechanism, and the movable piece is driven by the driver to drive the lifting mechanism to reciprocate along the height direction of the supporting frame.

3. The stud member of claim 1, wherein said moving member pulls said lifting mechanism by said locking mechanism to create a pulling force; the pulling force is capable of controlling at least the locking mechanism to switch from the unlocked state to the locked state.

4. A stud member according to claim 3 wherein the locking means is capable of resetting to the locked condition when the pulling force is removed.

5. The column part according to claim 3, wherein the supporting frame is provided with a limit part, the locking mechanism comprises a connecting component and a locking piece, the locking piece is movably connected with the lifting mechanism and has the locking state and the unlocking state, and the moving piece is movably connected with the connecting component, so that the pulling force can at least control the connecting component to drive the locking piece to switch between the locking state and the unlocking state;

When the locking piece is in the locking state, the locking piece is in locking fit with the limiting part;

when the locking piece is in the unlocking state, the locking piece is separated from the limiting part.

6. The column assembly of claim 5, wherein the connecting assembly comprises a drive rod having one end rotatably coupled to the moveable member and the other end movably coupled to the locking member such that the pulling force at least moves the locking member from the unlocked state to the locked state.

7. The mast assembly of claim 6, wherein the locking member is slidably coupled to the lift mechanism and wherein the direction of movement of the locking member is at an angle to the height of the support frame such that the locking member is either closer to or farther from the support frame.

8. The column part according to claim 7, wherein one of the other end of the transmission rod and the locking member is provided with a sliding groove, and the other one is provided with a convex body which is in sliding fit with the sliding groove, so that the locking member can be driven to switch between the locking state and the unlocking state during rotation of the transmission rod relative to the moving member.

9. The column component of claim 7, wherein the locking mechanism further comprises a sliding block slidably connected with the support frame and a sliding rail fixedly arranged at the end of the sliding block, the sliding block is fixedly arranged at the end of the locking member, the locking member is slidably connected with the sliding rail through the sliding block, and the lifting mechanism is fixedly arranged on the sliding rail.

10. The column assembly of claim 9, wherein the locking mechanism further comprises a resilient return member disposed on the slider, the resilient return member being in abutment with the locking member to enable the locking mechanism to resiliently return to the locked condition when the lifting mechanism is dropped.

11. The column component of claim 6, wherein the driving mechanism further comprises a screw rod in power connection with the driver, the moving member comprises a screw body in threaded transmission connection with the screw rod and a connecting body fixedly connected with the screw body, one of the connecting body and the transmission rod is provided with a rotating shaft, and the other one of the connecting body and the transmission rod is provided with a matching hole in rotating fit with the rotating shaft.

12. The column component of claim 5, wherein the connecting assembly comprises a first link, a second link, a third link and a fourth link, one end of the first link is rotatably connected with the moving member, the other end of the first link is rotatably connected with one end of the second link, one end of the second link is rotatably connected with the lifting mechanism, one end of the third link is rotatably connected with the lifting mechanism and is arranged at intervals with the second link, the other end of the third link is rotatably connected with one end of the fourth link, the other end of the fourth link is rotatably connected with the other end of the first link and one end of the second link, and the locking member is fixedly arranged on the second link.

13. The column assembly of claim 5, wherein the connection assembly comprises a traction rope and a guide wheel, the guide wheel is arranged on the lifting mechanism, one end of the traction rope is fixedly connected with the moving part, the traction rope is arranged around the guide wheel, the other end of the traction rope is fixedly connected with the locking part, and the pulling force drives the locking part to switch between the locking state and the unlocking state.

14. The stud member of any one of claims 12 or 13, wherein the locking means further comprises a resilient return;

the elastic reset piece is arranged on the fourth connecting rod, so that the locking mechanism can be elastically reset to the locking state when the lifting mechanism falls;

or, the elastic resetting piece is arranged on the traction rope and abuts against the locking piece, so that the locking mechanism can elastically reset to the locking state when the lifting mechanism falls.

15. The column assembly of claim 5, wherein the connecting assembly comprises a rack and a gear engaged with the rack, the rack is fixedly arranged on the moving member, the gear is rotatably arranged on the lifting mechanism and is in transmission connection with the locking member, so that the pulling force drives the locking member to switch between the locking state and the unlocking state.

16. The column component of any one of claims 5 to 15, wherein the limit portion includes a plurality of clip grooves spaced apart along a height direction of the support frame, the locking member being capable of snap-fitting with the clip grooves in the locked state;

and/or the locking pieces are in one-to-one correspondence with the connecting components, and two groups of locking pieces and the connecting components which are arranged at intervals are arranged between the moving piece and the lifting mechanism; the limiting parts comprise two limiting parts, the limiting parts correspond to the locking parts one by one, and the two limiting parts are arranged on the supporting frame at intervals respectively.

17. The column component of claim 16, wherein the support frame comprises two support plates arranged at intervals to form an accommodating space, the support plates are provided with corresponding limiting parts, and the locking mechanism and the lifting mechanism are arranged in the accommodating space.

18. The column component according to claim 2, wherein the driver includes a first driving portion movable in a height direction of the support frame, the moving member being fixed to the first driving portion;

or, the driving mechanism further comprises a transmission assembly, the transmission assembly is provided with a second driving part, the driver is in driving connection with the transmission assembly so as to drive the second driving part to move along the height direction of the support frame, and the moving part is fixed on the second driving part.

19. The column component of claim 18, wherein the transmission assembly comprises a screw and a nut in transmission fit with the screw, the screw is arranged in the same direction as the height direction of the support frame, the nut is provided with the second driving part, the driver is used for driving the screw to rotate, and the moving part is fixedly connected with the second driving part so as to reciprocate along the height direction of the screw along with the screw;

or the transmission assembly comprises a screw rod and a nut in threaded transmission connection with the screw rod, the screw rod is provided with the second driving part, the nut is rotatably arranged on the support frame, the driver is used for driving the nut to rotate, and the moving part is fixedly connected with the second driving part so as to reciprocate along the height direction of the support frame along with the screw rod;

or the transmission assembly comprises a transmission rack and a transmission gear meshed with the transmission rack, the transmission rack is provided with the second driving part, the transmission gear is rotatably arranged on the support frame, the driver is used for driving the transmission gear to rotate, and the moving part is fixedly connected with the second driving part so as to reciprocate along the height direction of the support frame along with the transmission rack;

Or the transmission assembly comprises a flexible transmission part, a driving wheel and a driven wheel, wherein the flexible transmission part is in transmission fit with the driving wheel and the driven wheel, the flexible transmission part is provided with a second driving part, the driving wheel and the driven wheel are rotatably arranged at the two ends of the support frame and are arranged at intervals, the moving part is fixedly connected with the second driving part, and the driver is used for driving the driving wheel to rotate so that the flexible transmission part drives the moving part to reciprocate along the height direction of the support frame;

or, the transmission assembly comprises a transmission rope, the driver comprises a winder arranged on the support frame, the transmission rope is wound on the winder, and the transmission rope is provided with the second driving part.

20. A surgical robot comprising a column part according to any one of claims 1 to 19.