CN209932984U - Driving mechanism for operation trolley base and operation trolley base - Google Patents
Driving mechanism for operation trolley base and operation trolley base Download PDFInfo
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- CN209932984U CN209932984U CN201920373101.1U CN201920373101U CN209932984U CN 209932984 U CN209932984 U CN 209932984U CN 201920373101 U CN201920373101 U CN 201920373101U CN 209932984 U CN209932984 U CN 209932984U
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Abstract
The utility model discloses a driving mechanism for a base of a surgical trolley and the base of the surgical trolley, which comprises a roller and a height adjusting component, wherein the height adjusting component is fixedly arranged beside the roller and connected with the roller; the surgical trolley base is used for a driving mechanism of the surgical trolley base; the utility model discloses a drive mechanism for operation platform truck base by motor control mecanum wheel, the omnidirectional movement of gyro wheel has been realized, the mechanism of filling and leveling is deuterogamied simultaneously, can make the gyro wheel under the condition of road surface unevenness, still can steady motion, use foretell drive mechanism for operation platform truck base to operation platform truck base, can be through the driving condition of four gyro wheel motors around the adjustment, realize the omnidirectional movement of operation platform truck base, still be equipped with on the operation platform truck base simultaneously and end the mechanism of stopping, guarantee that operation platform truck base has good stability under the state that stops.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to an actuating mechanism that is used for operating table car base and is used for operating table car base's actuating mechanism's operating table car base.
Background
With the continuous development of medical technology and modern technology, the surgical process implemented by the surgical robot is widely adopted by many hospitals. The operation requires the robot to have high precision, positioning flexibility and operation stability. Therefore, the operation trolley needs to have higher stability to ensure the smooth operation. As an important mechanism of a surgical robot, stability of the surgical trolley is crucial. The base of the operation trolley plays a role in supporting, moving and stabilizing the operation trolley. Therefore, the mobility of the base of the surgical trolley directly determines the overall stability of the surgical trolley and the precision of the surgical robot.
At present, the movement of the base of the operation trolley adopts a double-wheel differential driving mode, and the functions of back and forth movement and steering of the base are realized by controlling the direction and the speed of a driving wheel. However, the steering radius ratio is large, the movement is not flexible, and the omnidirectional movement of the base cannot be realized. Meanwhile, the existing stopping mode is usually to stop by locking a driving wheel or to stop by friction of foot-operated lifting supporting legs. However, these stopping methods involve a great risk of instability and are therefore very dangerous for operations requiring a very high level of precision.
CN201710643877.6 discloses a surgical trolley base, comprising: the brake device comprises a base body and a plurality of rollers, wherein the rollers are arranged on one side of the base body, at least two of the rollers are driving wheels, and motors are arranged corresponding to the driving wheels and used for rotating the driving wheels and have reverse braking functions; the operating table car among the comparison document is at the improvement stability of braking in-process certain degree, but the foot-operated supporting legs friction stop mode and the double round differential drive control direction technique that the comparison document still adopted do not effectively contact above-mentioned technical problem, still have unstable risk.
Those skilled in the art have therefore endeavored to develop a drive mechanism for a surgical trolley base and a surgical trolley base that can improve the stability of the surgical trolley base.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned defects in the prior art, the technical problem to be solved in the utility model is to provide a drive mechanism and operation platform truck base for operation platform truck base, its removal flexibility and stability that can effectively ensure operation platform truck base.
In order to achieve the above object, the present invention provides a driving mechanism for a base of a surgical trolley, which comprises a roller and a height adjusting assembly, wherein the height adjusting assembly is fixedly arranged at a power input part of the roller.
In order to enable the roller wheels to be simultaneously contacted with the ground, the height adjusting assembly comprises a first fixing frame and a connecting plate, the first fixing frame is composed of a vertical plate and a fixing plate, the side surface of the connecting plate is connected to the outer side surface of the vertical plate in a sliding mode, and the top surface of the connecting plate is connected with the fixing plate through a spring;
the vertical plate is erected outside the power input part of the roller, and the connecting plate is sleeved outside the power input part of the roller.
Preferably, a slide rail is arranged on the outer side surface of the vertical plate, a slide block is arranged on the slide rail, the side surface of the slide block is fixedly connected with the connecting plate, a limiting block is arranged on the slide block, and the limiting block is fixedly arranged on the side surface of the vertical plate;
the fixing plate is provided with a mounting groove, the spring is fixed in the mounting groove through an adjusting screw, and the end part of the adjusting screw is provided with a shaft end check ring.
In order to ensure that the roller can still flexibly and stably move when the road surface is uneven, the roller is connected with the power output end of the first gearbox, and the power input end of the first gearbox is connected with the first motor;
the vertical plate of the first fixing frame is erected on the shell of the first gearbox, and the connecting plate penetrates through the shell of the first gearbox.
In order to ensure that the roller can move in all directions, the roller is a Mecanum wheel.
A base of a surgical trolley comprises a base, wherein the base is arranged on a rack, four driving mechanisms for the base of the surgical trolley are arranged at the bottom of the rack, the driving mechanisms for the base of the surgical trolley are connected with the rack through a height adjusting assembly, and the four driving mechanisms are arranged at the bottom of the rack in a rectangular shape;
the height adjusting assembly comprises a first fixing frame, a fixing plate is arranged on the first fixing frame and connected with the rack, and four driving mechanisms used for the base of the operation trolley are arranged in a rectangular mode and arranged at the bottom of the rack.
In order to improve the stability of the base of the operation trolley, the bottom of the frame is also provided with a stop mechanism.
In order to ensure that the stopping mechanism can stably realize stopping, the stopping mechanism comprises supporting legs, the supporting legs are connected with a piston rod of an electric cylinder, the electric cylinder is connected with a second motor, and a second fixing frame is sleeved outside the electric cylinder;
the fixed frame of second includes the bottom plate, and the bottom plate both sides are provided with vertical extension board respectively, and the tip of vertical extension board is equipped with the area ear, and the fixed frame of second passes through the area ear with the frame to be connected.
In order to improve the application range of the stop mechanism, a second gearbox is further arranged between the electric cylinder and the second motor, the power output end of the second motor is connected with the second gearbox, and the power output end of the second gearbox is connected with the electric cylinder through a synchronous box.
In order to further improve the stopping effect of the stopping mechanisms on the base of the operating trolley, the number of the stopping mechanisms is four, and the stopping mechanisms are respectively arranged in the middle positions of four edges of the bottom of the rack.
The utility model discloses a drive mechanism for operation platform truck base passes through first motor control mecanum wheel, has realized the omnidirectional movement of gyro wheel, and the mechanism of filling and leveling again simultaneously can make the gyro wheel under the circumstances of road surface unevenness, still can steady motion, use foretell drive mechanism for operation platform truck base to operation platform truck base, can realize the omnidirectional movement of operation platform truck base through the drive condition of four gyro wheel motors of adjustment front and back left and right sides, can also adjust from top to bottom along the slide rail through the connecting plate simultaneously, thereby make four gyro wheels can contact with ground, make operation platform truck base nimble steady in the removal process; in addition, a stopping mechanism is arranged on the operation trolley base, supporting legs of the stopping mechanism are controlled by the second motor and the linear electric cylinder in a matched mode, supporting force of the supporting legs and the ground can be fed back through current conditions of the second motor, the stopping mechanism can be guaranteed to be in complete contact with the ground, and good stability of the operation trolley base in a stopping state is guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention;
FIG. 2 is a schematic front view of the structure of FIG. 1;
FIG. 3 is a schematic left side view of the structure of FIG. 1;
FIG. 4 is a schematic bottom view of the structure of FIG. 1;
FIG. 5 is a schematic structural diagram of a second embodiment of the present invention;
FIG. 6 is a schematic structural view of a second pause mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic front view of the structure of FIG. 6;
in the figure: 1-a base;
2-a drive mechanism; 21-a first motor; 22-a first gearbox; 23-a slide rail; 24-a connecting plate; 25-a roller; 26-a spring; 27-adjusting screws; 271-shaft end retainer ring; 28-a first fixed frame; 281-vertical plate; 282-a fixed plate; 283-mounting grooves; 29-a limiting block;
3-a stop mechanism; 31-a second motor; 32-a second gearbox; 33-a synchronization box; 34-an electric cylinder; 35-a second fixed frame; 351-a bottom plate; 352-vertical struts; 353, carrying an ear; 36-supporting feet;
4-a frame.
Detailed Description
Example one
As shown in fig. 1-2, a actuating mechanism for operation platform truck base, includes gyro wheel 25, still includes height adjusting assembly, and height adjusting assembly is fixed to be set up in the power input part of gyro wheel 25, the utility model discloses can adjust the position on the relative ground of gyro wheel through height adjusting assembly for the gyro wheel can stabilize the roll on uneven road surface.
The height adjusting assembly comprises a first fixing frame 28 and a connecting plate 24, wherein the first fixing frame 28 is composed of a vertical plate 281 and a fixing plate 282, the side surface of the connecting plate 24 is slidably connected with the outer side surface of the vertical plate 281, and the top surface of the connecting plate 24 is connected with the fixing plate 282 through a spring 26; the vertical plate 281 is erected outside the power input part of the roller 25, and the connecting plate 24 is sleeved outside the power input part of the roller 25; through the spring adjustment connecting plate, make the slide rail on the connecting plate relative first fixed frame slide, and then drive the gyro wheel downstream, fill pit department on the ground, keep the gyro wheel all the time and can contact with ground, improve the stability that the gyro wheel removed. Specifically, a slide rail 23 is arranged on the outer side surface of the vertical plate 281, a slide block is arranged on the slide rail 23, the side surface of the slide block is fixedly connected with the connecting plate 24, a limit block 29 is arranged on the slide block, and the limit block 29 is fixedly arranged on the side surface of the vertical plate 281; the fixing plate 282 is provided with a mounting groove 283, the spring 26 is fixed in the mounting groove 283 through an adjusting screw 27, and the end of the adjusting screw 27 is provided with a shaft end retainer ring 271.
The roller 25 is connected with the power output end of the first gearbox 22, and the power input end of the first gearbox 22 is connected with the first motor 21; the transmission ratio between the first motor and the roller is adjusted through the first gearbox, so that the speed of the roller can be changed, and the roller can have different movement speeds to adapt to different road surfaces.
The vertical plate 281 of the first fixing frame 28 is erected on the shell of the first gearbox 22, and the connecting plate 24 is arranged on the shell of the first gearbox 22 in a penetrating way; the connecting plate can drive the roller and the gear box to move in a small range in the vertical direction together, so that the power transmission between the gear box and the roller is not influenced.
The roller 25 is a Mecanum wheel, and the Mecanum wheel can move forwards, transversely, obliquely, rotationally and in combination, so that the roller can move in all directions, and the movement flexibility of the roller is further improved.
Example two
As shown in fig. 3 to 7, the base of the surgical trolley with the driving mechanism comprises a base 1, wherein the base 1 is arranged on a frame 4, four driving mechanisms 2 for the base of the surgical trolley are arranged on the bottom of the frame 4, the driving mechanisms 2 for the base of the surgical trolley are connected with the frame 4 through a fixing plate 282 on a first fixing frame 28, and the four driving mechanisms 2 for the base of the surgical trolley are arranged on four top corners of the bottom of the frame 4 in a rectangular shape.
A driving mechanism which is composed of a motor and Mecanum wheels and used for the base of the operation trolley is installed on the base of the operation trolley, and the movement of the rollers is controlled through the motor, so that the all-directional movement of the base of the operation trolley is realized. Specific combinations of movement prevention are as follows:
| serial number | Left front wheel | Right rear wheel | Right front wheel | Left rear wheel | Direction of motion of the trolley |
| 1 | ↑ | ↑ | ↑ | ↑ | The trolley moves forward |
| 2 | ↓ | ↓ | ↓ | ↓ | The trolley moves to the right and the |
| 3 | ↑ | ↑ | ╳ | ╳ | The trolley moves to the right |
| 4 | ↓ | ↓ | ╳ | ╳ | The trolley moves to the left and downwards |
| 5 | ╳ | ╳ | ↑ | ↑ | The trolley moves leftwards and upwards |
| 6 | ╳ | ╳ | ↓ | ↓ | The trolley moves to the lower right |
| 7 | ↑ | ↑ | ↓ | ↓ | The trolley moves towards the right |
| 8 | ↓ | ↓ | ↑ | ↑ | The trolley moves leftwards |
| 9 | ↑ | ↓ | ↓ | ↑ | The trolley turns around from the right to the back |
| 10 | ↓ | ↑ | ↑ | ↓ | The trolley turns around from left to back |
| 11 | ↑ | ↑ | ╳ | ↑ | Right turn of the trolley |
| 12 | ╳ | ↑ | ↑ | ↑ | Left turn of trolley |
In the figure: ↓ denotes the roller moving forward, and X denotes the roller not moving backward.
In order to ensure that the base of the operation trolley can be stably parked, four stopping mechanisms are further arranged on the bottom of the rack 4 and are respectively arranged in the middle of four edges of the bottom of the rack 4.
The stopping mechanism 3 comprises supporting legs 36, the supporting legs 36 are connected with piston rods of electric cylinders 34, the electric cylinders 34 are linear electric cylinders, the electric cylinders 34 are connected with a second motor 31, second fixing frames 35 are sleeved outside the electric cylinders 34, the supporting legs are controlled to be in contact with the ground through the second motor, supporting force of the supporting legs is fed back to the ground through current of the second motor, and therefore the four stopping mechanisms can be firmly contacted with the ground, and stability of the operation trolley is guaranteed.
The fixed frame 35 of second includes the bottom plate, and bottom plate 351 both sides are provided with vertical extension board 352 respectively, and the tip of vertical extension board 352 is equipped with takes the ear 353, and the fixed frame 35 of second is connected through taking the ear with frame 4, through taking the ear more firm will stop the mechanism and fix in the frame, further guarantees the stability that the operation platform truck base stopped. Preferably, the frame 4 is provided with a connecting part matched with the belt lug, and the connecting part is connected with the belt lug, so that the stability of the connection of the stop mechanism and the frame is further improved.
A second gearbox 32 is further arranged between the electric cylinder 34 and the second motor 31, the power output end of the second motor 31 is connected with the second gearbox 32, the power output end of the second gearbox 32 is connected with the electric cylinder 34 through a synchronizing box 33, the power transmitted to the supporting legs by the second motor can be adjusted through the second gearbox, and the supporting leg supporting device has the function of adjusting the supporting force.
When the operating trolley is installed on the utility model, when the operating trolley is moved, the first motor 21 in the driving mechanism for the base of the operating trolley drives the Mecanum wheel 25 to rotate, thereby controlling the rotating direction and speed of the Mecanum wheels 25 in the driving mechanism for the base of the operating trolley and enabling the operating trolley to move in all directions; if the operation trolley passes through uneven road surfaces, the adjusting spring 26 deforms to drive the connecting plate 24 to be adjusted in a small range up and down along the sliding rail, so that the four Mecanum wheels 25 can be in contact with the ground, and the operation trolley is further guaranteed to be flexible and stable in the moving process. After the operation trolley moves to a designated position, a second motor 31 in the stopping mechanism is started, the second motor 31 drives a linear electric cylinder 34 through a synchronous box 33, so that the supporting legs 36 are unfolded relative to the base 1, and the supporting legs are firmly contacted with the ground. When the movable support leg needs to be moved, the second motor is started to withdraw the support leg.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A drive mechanism for a surgical trolley base, comprising rollers (25), characterized in that: the height adjusting device further comprises a height adjusting assembly, and the height adjusting assembly is fixedly arranged at the power input part of the roller (25).
2. The drive mechanism for a surgical trolley base of claim 1, further comprising: the height adjustment assembly comprises a first fixed frame (28) and a connecting plate (24); the first fixed frame (28) is composed of a vertical plate (281) and a fixed plate (282); the side surface of the connecting plate (24) is connected with the outer side surface of the vertical plate (281) in a sliding way; the top surface of the connecting plate (24) is connected with the fixing plate (282) through a spring (26);
the vertical plate (281) is erected outside the power input part of the roller (25); the connecting plate (24) is sleeved outside the power input part of the roller (25).
3. The drive mechanism for a surgical trolley base of claim 2, further comprising: a slide rail (23) is arranged on the outer side surface of the vertical plate (281); a sliding block is arranged on the sliding rail (23); the side surface of the sliding block is fixedly connected with the connecting plate (24); the sliding block is provided with a limiting block (29); the limiting block (29) is fixedly arranged on the side surface of the vertical plate (281);
the fixing plate (282) is provided with a mounting groove (283); the spring (26) is fixed in the mounting groove (283) through an adjusting screw (27); and a shaft end retainer ring (271) is arranged at the end part of the adjusting screw (27).
4. A drive mechanism for a surgical trolley base as claimed in any one of claims 2 to 3, wherein: the roller (25) is connected with the power output end of the first gearbox (22); the power input end of the first gearbox (22) is connected with a first motor (21);
the vertical plate (281) of the first fixing frame (28) is erected on the shell of the first gearbox (22); the connecting plate (24) penetrates through the shell of the first gearbox (22).
5. A drive mechanism for a surgical trolley base as claimed in any one of claims 1 to 3, wherein: the roller (25) is a Mecanum wheel.
6. The utility model provides an operation platform truck base, includes base (1), characterized by: the base (1) is arranged on the rack (4); the bottom of the frame (4) is provided with four driving mechanisms (2) used for the base of the operation trolley as claimed in any one of claims 1 to 5; the driving mechanism (2) for the base of the operation trolley is connected with the rack (4) through the height adjusting assembly; the four driving mechanisms (2) are arranged at the bottom of the rack (4) in a rectangular shape;
the height adjustment assembly comprises a first fixed frame (28); a fixing plate (282) included in the first fixing frame (28); the fixing plate (282) is connected with the frame (4); the four driving mechanisms (2) for the base of the operation trolley are arranged at the bottom of the rack (4) in a rectangular shape.
7. The surgical trolley base of claim 6 further comprising: and a stopping mechanism (3) is also arranged at the bottom of the frame (4).
8. The surgical trolley base of claim 7 further comprising: the stopping mechanism (3) comprises supporting legs (36); the supporting feet (36) are connected with a piston rod of the electric cylinder (34); the electric cylinder (34) is connected with a second motor (31); a second fixed frame (35) is sleeved outside the electric cylinder (34);
the second fixed frame (35) comprises a bottom plate; vertical support plates (352) are respectively arranged on two sides of the bottom plate (351); the end part of the vertical support plate (352) is provided with a strap ear (353); the second fixing frame (35) is connected with the frame (4) through the lug (353).
9. The surgical trolley base of claim 8 further comprising: a second gearbox (32) is also arranged between the electric cylinder (34) and the second motor (31); the power output end of the second motor (31) is connected with a second gearbox (32); the power output end of the second gearbox (32) is connected with the electric cylinder (34) through a synchronous box (33).
10. The surgical trolley base of any one of claims 7 to 9 further comprising: the number of the stop mechanisms is four, and the stop mechanisms are respectively arranged in the middle of four edges of the bottom of the rack (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920373101.1U CN209932984U (en) | 2019-03-22 | 2019-03-22 | Driving mechanism for operation trolley base and operation trolley base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920373101.1U CN209932984U (en) | 2019-03-22 | 2019-03-22 | Driving mechanism for operation trolley base and operation trolley base |
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| CN209932984U true CN209932984U (en) | 2020-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920373101.1U Active CN209932984U (en) | 2019-03-22 | 2019-03-22 | Driving mechanism for operation trolley base and operation trolley base |
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| CN (1) | CN209932984U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820599A (en) * | 2019-03-22 | 2019-05-31 | 重庆金山医疗机器人有限公司 | A kind of driving mechanism and operating table underbody seat for operating table underbody seat |
-
2019
- 2019-03-22 CN CN201920373101.1U patent/CN209932984U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820599A (en) * | 2019-03-22 | 2019-05-31 | 重庆金山医疗机器人有限公司 | A kind of driving mechanism and operating table underbody seat for operating table underbody seat |
| CN109820599B (en) * | 2019-03-22 | 2024-01-23 | 重庆金山医疗机器人有限公司 | Driving mechanism for operation trolley base and operation trolley base |
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