CN209418342U - A foot switch motion mechanism for sitting operation - Google Patents

Abstract

The utility model discloses a foot switch movement mechanism used for sitting posture operation, which belongs to the technical field of medical equipment and comprises a base, an upper cover mechanism, a pedal mechanism and a movement mechanism; the upper cover mechanism is arranged on the upper surface of the base, and the upper The cover mechanism and the base form an accommodating space, the pedal mechanism is arranged inside the accommodating space formed by the upper cover mechanism and the base, and the movement mechanism is arranged between the pedal mechanism and the base to control the movement of the pedal mechanism. The utility model can flexibly adjust the horizontal front and rear positions and inclination angles of the pedal mechanism to adapt to different operators, so that the operator can feel comfortable when the pedal mechanism is used for control operation, which conforms to ergonomics, so the operation is flexible and convenient , reduce fatigue and improve work efficiency.

Description

A foot switch motion mechanism for sitting operation

technical field

The utility model relates to the technical field of equipment, in particular to a foot switch movement mechanism for sitting operation.

Background technique

With the rapid development of science and technology, medical robots for various purposes are being used more and more widely in the medical field. Medical robots have been widely used in neurosurgery, heart repair, gallbladder removal surgery, artificial joint conversion, plastic surgery, urological surgery, etc. While improving the effect and accuracy of surgery, they are also expanding to other fields.

As an important part of the field of medical equipment, surgical robots have been widely used in many operating rooms around the world. These robots provide powerful assistance for surgery with the support of computer and microelectronics technology.

At present, when using the endoscopic surgical robot system for surgery, the doctor needs to sit in front of the console far away from the operating table, with the help of three-dimensional vision, control the main operator with both hands, and the hand movements are transmitted to the robotic arm and surgical instruments to complete the surgical operation. The lower part of the console can be provided with a foot pedal, which is equivalent to a control switch, which can control the display of the patient's head in the observer without directly moving the patient's head by controlling the camera, instrument and ESU.

But in the prior art, the foot pedal of the console cannot adjust the angle position at will, because the height and body shape of the operating doctors are different, so it is not flexible and convenient to use.

Utility model content

In order to solve the deficiencies of the above-mentioned technologies, the utility model provides a foot switch movement mechanism for sitting operation, including a base, an upper cover mechanism, a pedal mechanism and a movement mechanism; the upper cover mechanism is arranged on the base The upper surface of the upper cover mechanism and the base form an accommodation space, the pedal mechanism is arranged inside the accommodation space, the two ends of the movement mechanism are respectively connected with the pedal mechanism and the base, and the for controlling the movement of the pedal mechanism.

Preferably, the upper cover mechanism includes a base upper cover and a moving upper cover; the base upper cover is arranged on the upper surface of the base, and the moving upper cover is slidably connected with the base upper cover.

Preferably, the motion mechanism includes a linear motion device and a rotation device, the linear motion device is used to adjust the front and rear positions of the pedal mechanism, and the rotation device is used to adjust the inclination angle of the pedal mechanism.

Preferably, the linear motion device includes: a guide rail, a guide rail slider, a flat plate and a first motion unit; the guide rail is fixed on the base, the guide rail slider is arranged on the guide rail, and the guide rail The slider is slidably connected to the guide rail, the flat plate is fixedly arranged on the slider of the guide rail, and the first motion unit is arranged under the flat plate to control the flat plate to move linearly on the guide rail.

Preferably, the first movement unit includes: a gear, a rack, a motor and a motor seat; the rack is fixed on the lower surface of the flat plate, the motor seat is fixed on the base, and the motor It is fixedly arranged on the motor base, and the gear is connected with the rotating shaft of the motor.

Preferably, the rotating device includes: a hinge base, a second long axis and a second motion unit; the hinge base is fixed on the upper surface of the flat plate, and the hinge base and the pedal mechanism pass through the second long The shaft is hinged, and the second motion unit is respectively connected with the pedal mechanism and the flat plate.

Preferably, the second movement unit includes: a large connecting rod, a small connecting rod, a short shaft, a pressure wheel, a first long shaft, an electric push rod, and an electric push rod mount; the electric push rod mount is arranged on The lower surface of the plate, the electric push rod is hinged to the electric push rod mounting seat, the short shaft is connected to one end of the electric push rod, and the two ends of the small connecting rod are respectively connected to the short shaft and the electric push rod. The first long shaft is connected, the two ends of the large connecting rod are respectively connected with the first long shaft and the pedal mechanism, and the pressure wheel is installed at both ends of the first long shaft.

Preferably, the pedal mechanism includes a foot switch and a foot pedal, the foot switch is arranged on the upper surface of the pedal, and one end of the pedal is connected to the hinge through the second long axis. The seat is hinged, and the two ends of the large connecting rod are respectively connected with the first long axis and the lower surface of the pedal.

Preferably, the foot switch movement mechanism for sitting operation also includes a support and a seat, the lower surface of the support is connected to the upper cover mechanism, the upper surface of the support is connected to the The seat is fixedly connected.

Preferably, the seat includes a backrest, a rotary switch and a base; the base is slidably connected to the upper surface of the support, and the backrest and the base are rotationally connected through the rotary switch.

Compared with the prior art, the utility model has the beneficial effects of:

1. The foot switch movement mechanism can adjust the inclination angle and horizontal position of the pedal mechanism by adjusting the movement mechanism. After reaching a comfortable position, it is ready to start operating the equipment. Meet the needs of staff in different situations, and always ensure that staff are in a comfortable position to better complete their work.

2. The staff can adjust the horizontal position of the seat before work, and can adjust the angle between the backrest and the base, so that the staff can adjust to a suitable sitting position, and then open the upper cover mechanism.

3. The foot switch motion mechanism can not only be used for equipment operated in a sitting position, but also can be widely applied to linear motion and rotary motion of different equipment in other industries.

Description of drawings

Fig. 1 is a front view of a foot switch kinematic mechanism for sitting operation;

Fig. 2 is a left sectional view of a foot switch movement mechanism for operation in a sitting position;

Fig. 3 is a right sectional view of a foot switch movement mechanism for operation in a sitting position;

Fig. 4 is a rear view when the foot switch kinematic mechanism for sitting operation is in operation;

Fig. 5 is a right side view of a foot switch movement mechanism for sitting operation;

Fig. 6 is a front view of a foot switch motion mechanism with a seat for operation in a sitting position.

The numbers in the figure indicate:

1-base; 2-movement cover; 3-base cover; 4-rail; 5-rail slider; 6-plate; 7-gear; 8-rack; 9-motor; 10-motor seat; 11-hinge seat; 12-second long axis; 13-big connecting rod; 14-small connecting rod; 15-short shaft; 16-pressure wheel; 17-first long shaft; 18-electric push rod; 19-electric 20-pedal switch; 21-support; 22-seat; 23-backrest; 24-rotary switch; 25-base; 26-pedal.

Detailed ways

Example 1

Below in conjunction with accompanying drawings 1-5, the utility model provides a kind of foot switch kinematic mechanism that is used for sitting position operation, comprises: base 1, upper cover mechanism, pedal mechanism and kinematic mechanism; Said upper cover mechanism is arranged on the The upper surface of the base 1, the upper cover mechanism and the base 1 form an accommodation space, the pedal mechanism is arranged inside the accommodation space, and the two ends of the movement mechanism are respectively connected with the pedal mechanism and the The base 1 is connected to control the movement of the pedal mechanism.

The upper cover mechanism includes: a base upper cover 3 and a moving upper cover 2, the base upper cover 3 is fixedly connected with the base 1, and the moving upper cover 2 is slidably connected with the base upper cover 3 . The motion mechanism includes a linear motion device and a rotation device, the linear motion device is used to adjust the horizontal position of the pedal mechanism, and the rotation device is used to adjust the angle of the pedal mechanism.

The linear motion device includes: a guide rail 4, a guide rail slider 5, a flat plate 6 and a first motion unit; two of the guide rail 4 are respectively fixed inside the two sides of the base 1, and the guide rail slider 5 has two Each group has two, and each group of the guide rail sliders 5 is respectively arranged on the guide rails 4, and can slide on the corresponding guide rails 4, and the flat plate 6 is fixedly connected with the upper surface of the guide rail sliders 5. The guide rail slider 5 is arranged on the guide rail 4, the guide rail slider 5 is slidably connected with the guide rail 4, the flat plate 6 is fixedly arranged on the guide rail slider 5, and the first motion unit is set On the flat panel 6 , it is used to control the flat panel 6 to move linearly on the guide rail 4 . The first motion unit includes: a gear 7, a rack 8, a motor 9 and a motor base 10; the rack 8 is fixed on the lower surface of the flat plate 6, and the motor base 10 is fixed on the base 1 Above, the motor 9 is arranged on the motor base 10, the gear 7 is connected with the rotating shaft of the motor 9, the gear 7 cooperates with the rack 8, and the gear 7 is driven by the motor 9 It moves on the rack 8 to drive the flat plate 6 to move vertically on the base 1 .

The rotating device comprises: a hinge base 11, a second long axis 12 and a second motion unit; the hinge base 11 has two, which are respectively horizontally arranged on the surface of the flat plate 6, and the pedal 26 is connected to the The flat plate 6 is hinged through the second long axis 12, and the second motion unit includes: a large connecting rod 13, a small connecting rod 14, a short shaft 15, a pressure wheel 16, a first long shaft 17, and an electric push rod 18 and the electric push rod mount 19; the electric push rod mount 19 is arranged on the lower surface of the flat plate 6, the electric push rod 18 is hinged with the electric push rod mount 19, and the short shaft 15 is connected to the Electric push rod 18 is connected, and the two ends of described small connecting rod 14 are respectively connected with described short shaft 15 and described first long shaft 17, and the two ends of described big connecting rod 13 are connected with described first long shaft 17 respectively. Connected with the pedal mechanism, the pressure wheel 16 is installed at both ends of the first major axis 17 . The electric push rod 18 moves along the direction of the push rod 18, drives the small connecting rod 14 to move through the short shaft 15, and the small connecting rod 14 moves to drive the pressure on the first long shaft 17 The wheel 16 rolls on the flat plate 6, thereby driving the movement of the large connecting rod 13, and further driving the movement of the pedal 26, which plays a role in adjusting the angle.

The foot switch movement mechanism is used for standing operation equipment, and the equipment includes a console and a foot switch movement mechanism. The working principle is: the staff controls the upper cover mechanism through the upper cover button on the console, The moving upper cover 2 mechanism in the upper cover mechanism is opened, and the motor 9 is controlled by the button A on the console to work, thereby driving the gear 7 to move on the rack 8, and then driving the The pedal mechanism moves horizontally on the base 1; the electric push rod 18 is controlled by the button B on the console to work, and the electric push rod 18 moves in the direction of the push rod, and then drives the small chain The movement of the rod 14, the movement of the small connecting rod 14 drives the movement of the first long axis 17, and then drives the movement of the pressure wheel 16 on the plate 6, and then drives the movement of the large connecting rod 13, and finally drives the movement of the The movement of the pedal 26 in the vertical direction can adjust the angle of the pedal 26 in the vertical direction. Compared with the prior art, when the staff operates the equipment with their feet, they often operate according to their own habits. Repeating the same action for a long time is prone to fatigue. The prior art cannot arbitrarily change the position of the foot pedal 26, and the staff operates Uncomfortable and inconvenient, seriously affecting work efficiency. The utility model can adjust the horizontal position and inclination angle of the pedal 26, so that the staff can work at a comfortable angle according to their own habits, which greatly improves the work efficiency.

Example 2

As shown in Figures 1-6, this implementation provides a foot switch movement mechanism for sitting operation, including: base 1, support 21, seat 22, upper cover mechanism, pedal mechanism and movement mechanism; The upper cover mechanism is arranged on the upper surface of the base 1, the support 21 is connected with the upper cover mechanism, the upper surface of the support 21 is fixedly connected with the seat 22, and the upper The cover mechanism and the base 1 form an accommodating space, the pedal mechanism is arranged inside the accommodating space, and the two ends of the movement mechanism are respectively connected with the pedal mechanism and the base 1 for controlling the pedal Institutional movement.

The upper cover mechanism includes: a base upper cover 3 and a moving upper cover 2, the base upper cover 3 is fixedly connected with the base 1, and the moving upper cover 2 is slidably connected with the base upper cover 3 . The motion mechanism includes a linear motion device and a rotation device, the linear motion device is used to adjust the horizontal position of the pedal mechanism, and the rotation device is used to realize the angle adjustment of the pedal mechanism. The seat 22 includes a backrest 23, a rotary switch 24 and a base 25; the base 25 is fixedly connected to the upper surface of the support 21, and the lower surface of the support 21 is connected to the upper cover 3 of the base, so The backrest 23 and the base 25 are rotationally connected through the rotary switch 24 , and the rotary switch 24 can adjust the angle between the backrest 23 and the base 25 .

The linear motion device includes: a guide rail 4, a guide rail slider 5, a flat plate 6 and a first motion unit; two of the guide rail 4 are respectively fixed inside the two sides of the base 1, and the guide rail slider 5 has two Each group has two, and each group of the guide rail sliders 5 is respectively arranged on the guide rails 4, and can slide on the corresponding guide rails 4, and the flat plate 6 is fixedly connected with the upper surface of the guide rail sliders 5. The guide rail slider 5 is arranged on the guide rail 4, the guide rail slider 5 is slidably connected with the guide rail 4, the flat plate 6 is fixedly arranged on the guide rail slider 5, and the first motion unit is set On the flat panel 6 , it is used to control the flat panel 6 to move linearly on the guide rail 4 . The first movement unit includes: a gear 7, a rack 8, a motor 9 and a motor base 10; the rack 8 is fixed on the lower surface of the flat plate 6, and the motor base 10 is fixed on the base 1, the motor 9 is arranged on the motor base 10, the gear 7 is connected with the rotating shaft of the motor 9, the gear 7 cooperates with the rack 8, and the gear 7 is driven by the motor 9 The rack 8 moves, thereby driving the flat plate 6 to move vertically on the base 1 .

The rotating device comprises: a hinge base 11, a second long axis 12 and a second motion unit; the hinge base 11 has two, which are respectively horizontally arranged on the surface of the flat plate 6, and the pedal 26 is connected to the The flat plate 6 is hinged through the hinge seat 11 and the second long axis 12, and the second motion unit includes: a large connecting rod 13, a small connecting rod 14, a short shaft 15, a pressure wheel 16, a first long shaft 17. Electric push rod 18 and electric push rod mounting seat 19; the electric push rod mounting seat 19 is arranged under the flat plate 6, the electric push rod 18 is hinged with the electric push rod mounting seat 19, and the short The shaft 15 is connected with the electric push rod 18, the two ends of the small connecting rod 14 are respectively connected with the short shaft 15 and the first long shaft 17, and the two ends of the large connecting rod 13 are respectively connected with the The first long shaft 17 is connected to the pedal mechanism, the pressure wheels 16 are installed at both ends of the first long shaft 17 , and the pressure wheels 16 are in contact with the flat plate 6 . The electric push rod 18 moves along the direction of the electric push rod 18, drives the small connecting rod 14 to move through the short axis 15, and the movement of the small connecting rod 14 drives all the components on the first major axis 17 to move. The pressure wheel 16 rolls on the flat plate 6, thereby driving the large connecting rod 13 to move, and then driving the pedal 26 to rotate, which plays a role in adjusting the angle.

The foot switch motion mechanism is used in the surgical robot system. During the operation, the surgeon can sit in front of the console far away from the operating table. With the help of three-dimensional vision, both hands control the main operator, and the hand movements are transmitted to the robotic arm and surgical instruments. Complete the operation. The lower part of the console can be provided with a foot switch movement mechanism, which can control the display of the patient's head in the observer by controlling the camera, instrument and ESU without directly moving the patient's head.

Working principle: the staff can adjust the angle of the backrest 23 and the base 25 by adjusting the rotary switch 24, so that the staff can adjust to a suitable position for themselves; The upper cover mechanism makes the moving upper cover 2 in the upper cover mechanism open, and controls the operation of the motor 9 through the button A on the console, thereby driving the gear 7 to move on the rack 8, Then drive the pedal mechanism to move horizontally on the base 1; control the electric push rod 18 to move along the direction of the electric push rod 18 through the button B on the console, and then drive the small connecting rod 14 movement, the movement of the small connecting rod 14 drives the movement of the first long axis 17, and then drives the pressure wheel 16 to move on the plate 6, and then drives the movement of the large connecting rod 13, and finally drives the pedal The board 26 moves. The horizontal position and inclination angle of the foot board 26 can be adjusted. Compared with the prior art, when the staff operates the equipment with their feet, they tend to operate according to their own habits. Repeating the same action for a long time is prone to fatigue. The prior art cannot change the position of the foot pedal 26, and the staff can operate Uncomfortable and inconvenient, seriously affecting work efficiency. The utility model can adjust the horizontal position and inclination angle of the foot pedal 26, so that the staff can work at a comfortable angle according to their own habits, which greatly improves the work efficiency.

Example 3

Shown in conjunction with accompanying drawing 1-6, present embodiment further improves embodiment 2, increases handle on described seat 22, and described seat 22 comprises backrest 23, rotary switch 24, handle and base 25; 25 is slidingly connected with the upper surface of the support 21, and the handle is arranged on one side of the base 25 for controlling the sliding of the base 25 on the support 21. The lower surface of the support 21 Connected with the base upper cover 3 , the backrest 23 and the base 25 are rotationally connected through the rotary switch 24 , and the rotary switch 24 can adjust the angle between the backrest 23 and the base 25 .

This embodiment can not only adjust the positional relationship of the foot pedal 26 on the base 1, but also adjust the positional relationship between the seat 22 and the base 1, so that the whole body of the staff is in a very comfortable position. The environment can reduce fatigue and improve work efficiency.

Example 4

As shown in the accompanying drawings 1-6, this embodiment further improves embodiment 3, adding a lifting system on the support 21, the support 21 includes a support frame, a lifting support and a lifting switch; The support frame is arranged on the upper surface of the base 1, slide rails are provided on both sides of the lift support, slideways are provided on both sides of the inner wall of the support frame, and the lift switch is arranged outside the support frame , for controlling the movement of the elevating support on the fabrication frame. In this embodiment, the distance between the seat 22 and the base 1 can be changed according to the height of the staff, so that the foot switch movement mechanism is suitable for staff of various heights.

The above descriptions are only preferred embodiments of the present utility model, and are only illustrative, not restrictive, of the present utility model. Those skilled in the art understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the utility model, but all will fall within the protection scope of the utility model.

Claims (10)

1. a kind of floor push movement mechanism for sitting posture operation, which is characterized in that including pedestal (1), cap sheathing mechanism, pedal Mechanism and movement mechanism；The cap sheathing mechanism is set to the upper surface of the pedestal (1), the cap sheathing mechanism and the pedestal (1) accommodation space is formed, the pedal gear is arranged inside the accommodation space, and the movement mechanism both ends are stepped on described respectively Trigger structure and the pedestal (1) connection, for controlling the pedal gear movement.

2. a kind of floor push movement mechanism for sitting posture operation according to claim 1, which is characterized in that on described Lid mechanism includes pedestal upper cover (3) and movement upper cover (2)；The pedestal upper cover (3) is arranged in the pedestal (1) upper surface, institute Movement upper cover (2) is stated to be slidably connected with the pedestal upper cover (3).

3. a kind of floor push movement mechanism for sitting posture operation according to claim 1, which is characterized in that the fortune Motivation structure includes linear motion device and rotating device, and the linear motion device is used to adjust the anteroposterior position of the pedal gear It sets, the rotating device is used to adjust the tilt angle of the pedal gear.

4. a kind of floor push movement mechanism for sitting posture operation according to claim 3, which is characterized in that described straight Line telecontrol equipment includes guide rail (4), guide rail slide block (5), plate (6) and the first moving cell；The guide rail (4) is fixed on described On pedestal (1), the guide rail slide block (5) is arranged on the guide rail (4), and the guide rail slide block (5) and the guide rail (4) are slided Connection, the plate (6) are fixed on the guide rail slide block (5), and first moving cell is arranged in the plate (6) Lower section moves in a straight line on the guide rail (4) for controlling the plate (6).

5. a kind of floor push movement mechanism for sitting posture operation according to claim 4, which is characterized in that described the One moving cell includes gear (7), rack gear (8), motor (9) and motor cabinet (10)；The rack gear (8) is fixed on the plate (6) lower surface, the motor cabinet (10) are fixed on the pedestal (1), and the motor (9) is fixed at the motor cabinet (10) on, the gear (7) connect with the shaft of the motor (9).

6. a kind of floor push movement mechanism for sitting posture operation according to claim 4, which is characterized in that the rotation Rotary device includes free bearing (11), the second long axis (12) and the second moving cell；The free bearing (11) is fixed on the plate (6) Surface, the free bearing (11) and the pedal gear carry out hinged, second moving cell by second long axis (12) It is connect respectively with the pedal gear and the plate (6).

7. a kind of floor push movement mechanism for sitting posture operation according to claim 6, which is characterized in that described the Two moving cells include big connecting rod (13), small rod (14), short axle (15), pressure wheel (16), the first long axis (17), electric pushrod (18) and electric pushrod mounting base (19)；The electric pushrod mounting base (19) is set to the plate (6) lower surface, the electricity Hingedly, one end of the short axle (15) and the electric pushrod (18) connects for dynamic push rod (18) and the electric pushrod mounting base (19) It connects, the both ends of the small rod (14) are connect with the short axle (15) and first long axis (17) respectively, the big connecting rod (13) both ends are connect with first long axis (17) and the pedal gear respectively, the pressure wheel (16) and first length Axis (17) connection.

8. a kind of floor push movement mechanism for sitting posture operation according to claim 7, which is characterized in that described to step on Trigger structure includes floor push (20) and foot pedal (26), and the floor push (20) is set to table on the foot pedal (26) Face, the foot pedal (26) pass through second long axis (12) and the free bearing (11) hingedly, the both ends of the big connecting rod (13) It is connect respectively with the lower surface of first long axis (17) and the foot pedal (26).

9. a kind of floor push movement mechanism for sitting posture operation according to claim 1, which is characterized in that further include Support (21) and seat (22), support (21) lower surface are connect with the cap sheathing mechanism, the upper surface of the support (21) It is fixedly connected with the seat (22).

10. a kind of floor push movement mechanism for sitting posture operation according to claim 9, which is characterized in that described Seat (22) includes backrest (23), rotating switch (24) and pedestal (25)；The pedestal (25) and the support (21) upper surface It is slidably connected, the backrest (23) and the pedestal (25) are rotatablely connected by the rotating switch (24).