CN211534787U

CN211534787U - Main operating platform and pedal mechanism and connecting mechanism thereof

Info

Publication number: CN211534787U
Application number: CN202020156953.8U
Authority: CN
Inventors: 高元倩; 黄山; 孙强; 李琳娜
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-02-09
Filing date: 2020-02-09
Publication date: 2020-09-22
Anticipated expiration: 2030-02-09

Abstract

The utility model discloses a connecting mechanism, which comprises a fixing piece, a first locking part and a second locking part, wherein the fixing piece is relatively fixed; the connecting piece is arranged opposite to the fixing piece, and a second locking part matched with the first locking part is fixedly arranged on the connecting piece; the resetting piece is arranged between the fixing piece and the connecting piece to provide resetting force for the connecting piece; when the connecting piece moves from the initial position to the target position in a direction opposite to or opposite to the fixing piece, the second locking part is detachably connected with the first locking part so as to lock the connecting piece at the current position; and when the second locking part is separated from the first locking part and unlocked, the connecting piece is reset to the initial position from the target position. The utility model also discloses a pedal mechanism and main operation platform. The utility model discloses can conveniently adjust the height of running-board in order easily to remove the main operation platform.

Description

Main operating platform and pedal mechanism and connecting mechanism thereof

Technical Field

The utility model relates to the field of medical equipment, especially relate to a main operation platform and foot pedal mechanism, coupling mechanism thereof.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table comprises a handle, a doctor sends a control command to the slave operation device through the operation handle, the slave operation device comprises a plurality of operation arms, the operation arms are provided with tail end instruments, and the tail end instruments move along with the handle in a working state so as to realize remote operation.

The main operating table is difficult to move due to the large size and weight of the main operating table. In order to move the main console, casters are usually installed at the bottom of the main console, and the pedals are fixed and kept at a fixed height from the ground.

However, when the main operating platform moves, the foot board of the main operating platform is still easily bumped or jammed by the bumps or the obstacles on the uneven ground, and particularly, when the ground clearance fixed between the bottom of the foot board and the ground is lower than the height of the bumps or the obstacles, the main operating platform still has the problem of difficult movement.

SUMMERY OF THE UTILITY MODEL

Accordingly, there is a need for a main console, a footrest mechanism and a connecting mechanism thereof, which can easily adjust the height of the footrest to facilitate movement of the main console.

In order to solve the above technical problem, the utility model provides a connecting mechanism, include: the fixing piece is relatively fixedly provided with a first locking part; the connecting piece is arranged opposite to the fixing piece, and a second locking part matched with the first locking part is fixedly arranged on the connecting piece; the resetting piece is arranged between the fixing piece and the connecting piece to provide resetting force for the connecting piece; when the connecting piece is moved from the initial position to the target position in the opposite direction or opposite to the fixed piece under the action of external force and overcoming the resetting force of the resetting piece, the second locking part is detachably connected with the first locking part so as to lock the connecting piece at the current position; and when the second locking part is separated from the first locking part and unlocked, the connecting piece is reset to the initial position from the target position.

Wherein the resetting force is a repulsive force in the same direction.

The reset piece is a compression spring, and two ends of the compression spring are respectively connected with the connecting piece and the fixing piece.

The connecting piece is provided with a guide rod, and the fixing piece is provided with a guide hole for the guide rod to extend into and slide.

Wherein, one of the first locking part and the second locking part is a clamping groove, and the other one is an elastic abutting part.

The elastic abutting part comprises an abutting part and a compression spring, a first support and a second support are oppositely arranged on the connecting part, one end of another guide rod is fixedly connected with the first support, the other end of the another guide rod is slidably connected with the second support, the compression spring is sleeved on the another guide rod, the abutting part is arranged on one side, close to the clamping groove, of the first support, and one end, far away from the abutting part, of the first support penetrates through the connecting part and is rotatably connected with the connecting part to serve as a wrench.

The clamping groove is formed in the fixing piece, the elastic abutting piece comprises an abutting portion and a compression spring, a first support and a second support are oppositely arranged on the connecting piece, one end of another guide rod is fixedly connected with the first support, the other end of the another guide rod is slidably connected with the second support, the compression spring is sleeved on the another guide rod, the abutting portion is arranged on one side, close to the clamping groove, of the first support, and one end, far away from the abutting portion, of the first support penetrates through the connecting piece and is rotatably connected with the connecting piece to serve as a wrench.

Wherein the abutting portion is a wedge rotatably connected to the first bracket; or the abutting part is a roller which is rotatably connected to the first bracket; alternatively, the abutting portion may be a ball spring fixedly attached to the first bracket, and the engaging groove may be formed in plural numbers, and the plural engaging grooves may be arranged at intervals in a direction opposite to the returning direction of the returning member.

The connecting piece and the fixing piece are provided with two resetting pieces and two locking pieces which are arranged between the resetting pieces and are arranged back to back, each locking piece is composed of a first locking portion and a second locking portion, each second locking portion is an elastic abutting connection piece, and one end, far away from the abutting connection portion, of the first support in each elastic abutting connection piece penetrates through the connecting piece to be in crossed arrangement and is rotatably connected with the connecting piece to form a structure of a scissor handle.

Wherein one of the first locking part and the second locking part is a magnet, and the other is a metal piece or another magnet which can be attracted by the magnet.

Wherein, the reset force is equidirectional attraction force.

The reset piece is an extension spring, and two ends of the extension spring are respectively connected with the connecting piece and the fixing piece.

In order to solve the above technical problem, the utility model also provides a pedal mechanism, include: a plurality of casters for moving are mounted on the ground side of the supporting frame;

the pedal is supported on the supporting frame in a lifting way through the connecting mechanism in any one embodiment, and a plurality of pedal buttons for generating input commands through pedaling are arranged on the pedal and away from the ground; the fixing piece of the connecting mechanism is fixedly connected with the supporting frame, and the connecting piece of the connecting mechanism is fixedly connected with the pedal.

When the pedal plate is lifted relative to the supporting frame, the pedal plate can be lowered to be attached to the ground.

In order to solve the above technical problem, the present invention further provides a main console, which includes the pedal mechanism according to any one of the above embodiments.

The utility model discloses a main operation platform and pedal mechanism, coupling mechanism thereof has following beneficial effect:

by arranging the reset member, the first locking portion and the second locking portion between the connecting member and the fixing member, when the adjusting connecting member is moved from the initial position to the target position compared with the fixing member, the second locking portion and the first locking portion can be detachably locked to maintain the current position of the connecting member, and when the second locking portion is separated from the first locking portion, the connecting member can be automatically reset under the reset force of the reset member, thereby facilitating convenient adjustment of the height of the pedal plate to easily move the main operating board.

Drawings

Fig. 1 is a schematic structural view of an embodiment of the surgical robot of the present invention;

FIG. 2 is a partial schematic view of the surgical robot of FIG. 1;

FIG. 3 is a schematic view of the structure of the pedal mechanism in the main operating table of the surgical robot shown in FIG. 1;

FIG. 4 is a partial schematic view of the footrest mechanism shown in FIG. 3;

FIG. 5 is a schematic structural view of a connecting mechanism of the footrest mechanism shown in FIG. 4;

FIG. 6 is a schematic diagram of an embodiment of a coupling mechanism;

FIG. 7 is a schematic diagram of an embodiment of a coupling mechanism;

fig. 8 to 9 are schematic views illustrating the operation of the connecting mechanism in which the restoring member is a compression spring;

fig. 10 to 11 are schematic views illustrating the operation of the connecting mechanism in which the restoring member is an extension spring;

fig. 12-15 are schematic diagrams of different embodiments of the coupling mechanism in which the reset elements are magnetic reset elements of the same magnetic polarity;

fig. 16-20 are schematic diagrams of different embodiments of the coupling mechanism in which the reset elements are magnetic reset elements having different magnetic poles.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 to 2 are schematic structural views and partial schematic views of an embodiment of the surgical robot of the present invention.

The surgical robot includes a master operation table 1 and a slave operation device 2. The main console 1 has a handle 11 and a display 12, and a doctor sends a control command to the slave operating device 2 through the operating handle 11 to make the slave operating device 2 execute a corresponding operation according to the control command of the doctor operating the handle 11, and observes an operating area through the display 12, wherein the handle 11 can freely move and rotate to make the doctor have a large operating space, for example, the handle 11 is connected with the main console 1 through a wire. The slave manipulator 2 has a manipulator arm 31 (i.e. a surgical instrument), the manipulator arm 31 comprises a connecting rod 32, a connecting mechanism 33 and a terminal instrument 34 which are connected in sequence, wherein the connecting mechanism 33 has a plurality of joint components, and the manipulator arm 31 adjusts the position of the terminal instrument 34 through adjusting the joint components; end instrument 34 has an image end instrument 34A and a manipulation end instrument 34B. In other embodiments, the handle 11 may be connected to the main console 1 through a rotating link.

As shown in fig. 3, the main operating board 1 also has a foot pedal mechanism 21. The pedal mechanism 21 includes a support frame 22, a plurality of casters 23 for moving the entire main operating table 1 are mounted on the ground side of the support frame 22, and the support frame 22 is mounted on the ground side and supports the handle 11 and the display 12 for the doctor to operate and observe. The pedal mechanism 21 further comprises a pedal plate 24, the pedal plate 24 is arranged and supported on the ground-off side of the supporting frame 22 in a liftable manner, a plurality of pedal buttons 25 are arranged on the pedal plate 24 and away from the ground, and the pedal buttons 25 are used for generating input instructions through pedaling by a doctor so as to liberate the two hands of the doctor, so that the doctor can continuously operate the handle to realize uninterrupted control on the operating arm 31, and further, the continuity of the operation is ensured. These input commands may be configured for, for example, switching of the manipulator arm 31, clutching of the manipulator arm 31, energy control of a monopolar or bipolar tip instrument, RCM mode switching, switching of operating authority, emergency braking, etc.

Referring to fig. 3 and 4, the footrest 24 is connected to the support frame 22 by one or more connecting mechanisms 26, and is lifted up and down relative to the support frame 22 by the connecting mechanism 26, so as to adjust the height of the footrest 24 from the ground, thereby facilitating the transportation and movement of the main operating board 1.

In one embodiment, as shown in fig. 5, the connecting mechanism 26 includes a fixing member 261, a connecting member 262, a restoring member 263 and a locking member 264, wherein the locking member 264 has a first locking portion 265 and a second locking portion 266. The number of the reset element 263 and the locking element 264 can be more than one.

The fixing member 261 is fixedly disposed with respect to the ground, and is specifically configured to be fixedly connected to the support frame 22 by means of, for example, screwing. The first locking portion 265 and the fixing member 261 are fixed to each other. For example, the first locking portion 265 may be provided on the fixing member 261, or may be provided on another member having a relatively fixed positional relationship with the fixing member 261.

The connecting member 262 is disposed opposite to the fixing member 261, and is specifically configured to be fixedly connected to the pedal 24 by, for example, screwing. The second locking portion 266 is fixedly disposed with the connecting member 262.

The restoring element 263 is disposed between the fixing element 261 and the connecting element 262, and is mainly used for providing restoring force for the connecting element 262. The restoring element 263 and/or the locking element 264 individually and/or together provide a supporting force for the connecting element 261.

The connecting element 262 can move toward or away from the fixing element 261 under an external force, and can move away from or toward the fixing element 261 under a restoring force of the restoring element 263. If the reset force of the reset element 263 is a repulsive force in the same direction, the connecting element 262 is moved by an external force against the reset force toward the fixed element 261 and can be moved away from the fixed element 261 by the reset force; if the restoring force of the restoring element 263 is the same-direction attractive force, the connecting element 262 is moved away from the fixing element 261 by an external force against the restoring force, and can be moved toward the fixing element 261 by the restoring force. The term "repulsive force" herein refers to a force that moves the link 262 away from the fixed member 261, and the term "attractive force" herein refers to a force that moves the link 262 toward the fixed member 261.

In a direction opposite to the reset direction of the reset member 263, the initial position of the connecting member 262 relative to the fixed member 261 has a target distance from the locking position (target position) of the connecting member 262 relative to the fixed member 261, and accordingly, the second locking portion 266 and the first locking portion 265 should have the same target distance. When the external force is applied to adjust the connecting member 262 from the initial position to the target position compared to the fixing member 261, the second locking portion 266 follows the moving of the connecting member 262 by the target distance to be detachably connected with the first locking portion 265, and in the connected state, the two are in a locking state to keep the connecting member 262 and the fixing member 261 in the current position state. When the second locking portion 266 is unlocked from the first locking portion 265, the connecting member 262 can be reset from the target position to the initial position by the reset force provided by the reset member 263. The initial position mentioned above generally refers to the equilibrium position of the reset element.

In one embodiment, the second locking portion 266 and the first locking portion 265 are snap-fit. In other embodiments, the second locking portion 266 and the first locking portion 265 are magnetically engaged.

In one embodiment, with continued reference to fig. 5, one of the first locking portion 265 and the second locking portion 266 is a slot and the other is an elastic abutment. For example, the first locking portion 265 is a locking groove, the second locking portion 266 is an elastic abutting member, and when the connecting member 262 is adjusted to move a target distance compared to the fixing member 261, the elastic abutting member 266 abuts against the locking groove 265 to achieve tight locking. Wherein, the depth direction of the locking groove 265 (the locking groove 265 is opened to the bottom of the locking groove 265) can be parallel or perpendicular to the reset direction of the reset piece 263, it can also have an included angle, the reset direction of the elastic abutting piece 266 and the depth direction of the locking groove 265 are adapted to be capable of abutting against the locking groove 265. For example, as shown in fig. 5, the depth direction of the locking groove 265 is perpendicular to the reset direction of the reset element 263, and the reset direction of the elastic abutting element 266 is matched with the locking groove 265 so as to be capable of abutting against the locking groove 265.

Specifically, with continued reference to fig. 5, the resilient abutment 266 includes an abutment 2661 and a compression spring 2662 connected to the abutment 2661. To mount the elastic abutting part 266, a first bracket 267 and a second bracket 268 may be disposed on the connecting part 262 as opposite to each other as a bottom, the first bracket 267 is closer to the engaging groove 265 than the second bracket 268, the abutting part 2661 is disposed on a side of the first bracket 267 away from the second bracket 268, and the compression spring 2662 is disposed between the first bracket 267 and the second bracket 268.

Preferably, a guiding rod 2663 is disposed between the first frame 267 and the second frame 268, one end of the guiding rod 2663 is fixedly connected to the first frame 267, and the other end is slidably connected to (the shaft hole 2681 of) the second frame 268, and the guiding rod 2663 is configured to better guide the deformation of the compression spring 2662.

Preferably, the first support 267 extends through the connecting member 262 and is rotatably connected to the connecting member 262. An end of the first support 267 remote from the abutment 2661 can be used as a wrench to rotate the wrench by applying a force in a direction opposite to the return direction of the compression spring 2662 (toward the slot 265) to compress the compression spring 2662, thereby separating the abutment 2661 from the slot 265. Then, the connecting member 262 will be restored to the equilibrium position by the restoring force of the restoring member 263.

In one embodiment, the abutment 2661 may be a wedge. In one embodiment, as shown in fig. 5, the abutting portion 2661 can also be a roller rotatably connected to the first frame 267, and the roller 2661 can roll on the moving path of the connecting member 262 to reduce the contact friction, which can help reduce noise and save labor. For example, the locking slot 265 is opened on the sidewall 2611 of the fixing member 261, and the roller 2661 can roll on the sidewall 2611.

In one embodiment, the target distance between the connecting member 262 and the fixing member 261 may be two or more. Accordingly, the number of the locking grooves 265 may be two or more, and the plurality of locking grooves 265 are spaced apart in a direction opposite to the reset direction of the reset member 263 to achieve selective height adjustment.

As shown in fig. 6, the plurality of locking grooves 265 may be arranged in a straight line along the sidewall 2611 of the fixing member 261, and they may have uniform or non-uniform intervals; of course, the plurality of locking grooves 265 may not be formed in the fixing member 261, but may be formed by, for example, a tooth space of a rack (not shown) fixedly disposed opposite to the fixing member 261. Wherein the plurality of catching grooves 265 are arranged at intervals in a direction opposite to the reset direction of the reset piece 263. A plurality of target distances are formed between the abutting portion 2661 and the plurality of catching grooves 265 in a direction opposite to the reset direction of the reset piece 263 so as to be height-adjustable.

With continued reference to fig. 6, to facilitate the selective adjustment of the height, the abutment 2661 may be implemented as a wave ball spring. Specifically, the side wall 2611 of the wave-ball spring 2661 is provided with a screw thread, a side of the first bracket 267 adjacent to the clamping groove is provided with a screw thread hole, the wave-ball spring 2661 is screwed in the screw thread hole, and further, the inner wall of the clamping groove 261 is a spherical surface matched with the spherical surface at the top of the wave-ball spring 2661. With proper external force, multiple height adjustments can be achieved with the multiple slots 265 in cooperation with the wave ball spring 2661.

In one embodiment, referring to fig. 7, two or more reset elements 263 and one or more locking elements 264 are disposed between the connecting element 262 and the fixing element 261. As shown in fig. 7, the connecting member 262 has two restoring members 263 and two locking members 264. The two locking elements 264 are disposed between the two reset elements 263, and the two locking elements 264 may be disposed opposite to each other. Such a structural arrangement helps to simplify installation and facilitates the lifting and lowering of the drive link 262. In this embodiment, the fixing member 261 may be two as shown in fig. 7, or may be one (e.g., two as shown in fig. 7 are integrally connected).

Preferably, with continued reference to fig. 7, the first frame 267 of the two locking elements 264 is designed as a scissors handle, and specifically, the two first frames 267 extending out of the connecting element 262 for use as a wrench are disposed crosswise and can be rotatably connected to the connecting element 262 by, for example, the same rotating shaft, i.e., the bottom and top of the two first frames 267 are disposed adjacent to different returning elements 263 respectively. Such a design is advantageous in that the two locking elements 264 can be unlocked at one time by a scissor-like clamping action.

In one embodiment, one of the first locking portion 265 and the second locking portion 266 is a magnet, and the other is a metal piece or a magnet that can be attracted by the magnet. For example, the first locking portion 265 is a magnet, and the second locking portion 266 is iron or a magnet having a different magnetic pole from the first locking portion 265. When the link 262 is adjusted to move a target distance compared to the fixing member 261, the link 262 may be maintained in the current position state by the magnetic coupling of the first and

second locking portions

265 and 266. If an external force greater than the sum of the magnetic force and the gravity is applied, the first locking portion 265 and the second locking portion 266 may be separated, and then the connecting member 262 may be reset by the reset force provided by the reset member 263. For example, it is possible to replace the card slot shown in fig. 5 with a magnet as the first locking portion 265 and replace the abutting portion or the entire elastic abutting piece with a metal piece or another magnet as the second locking portion 266.

In one embodiment, as shown in fig. 5, the reset element 263 is an elastic reset element. The elastic restoring member 263 may be a compression spring. A guide rod 2631 for receiving and guiding the compression spring 263 may be provided on the connection member 262. Further, a guide hole 2612 may be formed on the fixing member 261, and the guide rod 2631 may extend into the guide hole 2612 to provide a large adjustable range for the connecting member 262. In this illustration, the position of the elastic abutting portion 266, and more particularly the position of the abutting portion 2661, is generally higher than the position of the latching groove 266 when the reset element 263 is in the equilibrium state, so as to lock the connecting element 262 at the target position when the reset element 263 is in the proper downward compression state. The elastic restoring member 263 is a compression spring, and the working principle can be as shown in fig. 8 and fig. 9, and downward pressure can lower the height of the connecting member 262 to drive the pedal 24 to descend.

Alternatively, the elastic restoring element 263 can also be an extension spring. Wherein the same design of the guide rod and the guide hole may be easier to use. At this time, the position of the abutting part 266 is generally lower than that of the catching groove 265 in the reset part 263 in the balanced state, so as to lock the connecting member 262 at the target position in the reset part 263 in the proper upward stretching state. The elastic restoring member 263 is an extension spring, and the working principle can be as shown in fig. 10 and fig. 11, and the height of the connecting member 262 can be increased by applying a pulling force upwards, so as to drive the pedal plate 24 to rise.

In an embodiment, as shown in fig. 12 to 20, the reset element 263 may also be a magnetic reset element. The magnetic reset element 263 includes more than one pair of magnets, where "one pair" can be defined as a "one-to-one", "two-to-one" and/or "many-to-one" relationship. That is, in the same pair of magnets, one of the connecting member 262 and the fixing member 261 is provided with one magnet, and the other is provided with one, two or more adaptive magnets, and the magnetic field of the one magnet on one side of one pair of two or more magnets can effectively cover the magnetic field of the other two or more magnets. Meanwhile, the magnets are generally fixed to the sides of the connecting member 262 and the fixing member 261 adjacent to each other. The fixing modes of the magnet and the connecting piece 262 and the fixing piece 261 are various, for example, the magnet can be bonded by strong glue, clamped and clamped, and embedded and fixed, for example, a through hole is formed in the magnet, and threaded holes are formed in the connecting piece 262 and the fixing piece 261 to enable the magnet to be installed and locked from one side of the magnet through screws, and the like.

In one embodiment, as shown in fig. 12 to 15, in the same pair of magnets, the magnetic poles of the magnet fixed to the connecting member 262 are the same as the magnetic poles of the magnet fixed to the fixing member 261, so as to generate a repulsive force in the same direction between the connecting member 262 and the fixing member 261, similar to a compression spring. Specifically, these magnets may be bar magnets, U-shaped magnets, ring magnets, etc., and the difference in the type and material does not affect the appeal of the repulsive force, and they may be used in combination.

Fig. 12 shows that there is only one pair of two magnets between the connecting member 262 and the fixing member 261, and the opposite sides of the pair of magnets have the same magnetic poles, and are both N-poles, but may be both S-poles in other embodiments.

Fig. 13 shows that there is only one pair of three magnets between the connecting member 262 and the fixing member 261, and the opposite sides of the pair of magnets have the same magnetic poles, for example, two magnets are fixed on the connecting member 262 and the other magnet is fixed on the fixing member 261, and these magnets are both N poles, but may be both S poles in other embodiments.

Fig. 14 and 15 illustrate a plurality of pairs of two magnets, fig. 14 illustrates that the magnets on opposite sides of the connecting member 262 and the fixing member 261 may be both N-poles and may be both S-poles in other embodiments, and fig. 15 illustrates that the magnets on opposite sides of the connecting member 262 and the fixing member 261 may include both N-poles and S-poles, which may be arranged in an alternating manner or in any other arrangement.

These means shown in fig. 12 to 15 may be combined with each other as long as a repulsive force can be generated between the connecting member 262 and the fixing member 261 to facilitate the restoration.

In another embodiment, as shown in fig. 16 to 20, in the same pair of magnets, the magnetic poles of the magnet fixed to the connecting member 262 are different from the magnetic poles of the magnet fixed to the fixing member 261, so as to generate a same-direction attractive force between the connecting member 262 and the fixing member 261 similar to that of a tension spring. Specifically, these magnets may be bar magnets, U-shaped magnets, ring magnets, etc., and the difference in the type and the difference in the material thereof do not affect the appeal for the attractive force, and they may be used in combination.

Fig. 16 illustrates that there is only one pair of two magnets between the connecting member 262 and the fixing member 261, and the opposite sides of the pair of magnets have different magnetic poles, one N-pole and one S-pole.

Fig. 17 shows that there is only one pair of magnets consisting of three magnets between the connecting member 262 and the fixing member 261, and the magnetic poles of the opposite sides of the pair of magnets are different, for example, two magnets are fixed on the connecting member 262, the other magnet is fixed on the fixing member 261, both the two magnets fixed on the connecting member 262 are N-pole, and one magnet fixed on the fixing member 261 is S-pole.

Fig. 18 and 19 illustrate a plurality of pairs of two magnets, fig. 18 illustrates that the magnets on opposite sides of the connecting member 262 and the fixing member 261 have N-poles on one side and S-poles on the other side, and fig. 19 illustrates that the magnets on opposite sides of the connecting member 262 and the fixing member 261 have N-poles and S-poles, which may be arranged in an alternating manner or in any other arrangement.

The means shown in fig. 16 to 19 may be used in combination with each other as long as an attractive force can be generated between the connecting member 262 and the fixing member 261 to facilitate reduction.

As shown in fig. 20, in any of the above embodiments, when the magnetic poles of the magnets in a pair of magnets are different, a buffer member 269 may be disposed on a surface of any one of the magnets (e.g., a surface of the magnet fixed to the fixing member 262) to buffer the collision when the magnets attract each other oppositely. The buffer 269 may be a non-magnetic resilient plate made of silicon rubber or rubber. The buffer 269 may preferably be a magnetic spring plate to provide buffering without loss of magnetic force.

In the above two embodiments, the description is made by taking an example in which the pair of magnets includes two magnets, and the two magnets are ring magnets. The ring magnet is fastened to the fixing member 261 or the connecting member 262 through the intermediate member 270 holding the through hole thereof and by means of the screw 271. A guide rod 2631 may be further disposed on the connecting element 262, the two magnets are both sleeved on the guide rod 2631, and the guide rod 2631 can slide relative to the magnets on the fixing element 261, so as to provide a guiding function. Further, a guide hole 2612 may be formed on the fixing member 261, and the guide rod 2631 may extend into the guide hole 2612 to provide a large adjustable range for the connecting member 262.

Further, when the number or type of the composition of the pair of magnets is changed, it is also possible to provide a form of the guide rod 2631 and the guide hole 2612 different from the above-described structure in order to provide a corresponding guide function. For example, more than one guide rod 2631 is provided, one end of the guide rod 2631 is fixedly connected to the connecting member 262, and the other end is slidably connected to a guide hole 2612 formed in the fixing member 261, and the structure can be adapted to various combinations of a pair of magnets.

In the above embodiments, each magnet is a permanent magnet.

In the above embodiment, the height adjustment of the connecting mechanism 26 allows the foot rest 24 to be lowered to a minimum level to engage the ground, which provides stability during use and also acts as a brake.

In the above embodiment, the lifting function can be realized by pressing, e.g., stepping, the foot pedal 24 in correspondence to the returning member 263 to provide the repulsive force in the same direction; the same direction of attraction is provided corresponding to the reset member 263 and the lifting function can be also realized by pulling the foot board 24.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A coupling mechanism, comprising:

the fixing piece is relatively fixedly provided with a first locking part;

the connecting piece is arranged opposite to the fixing piece, and a second locking part matched with the first locking part is fixedly arranged on the connecting piece;

the resetting piece is arranged between the fixing piece and the connecting piece to provide resetting force for the connecting piece;

when the connecting piece moves from the initial position to the target position in a direction opposite to or opposite to the fixing piece, the second locking part is detachably connected with the first locking part so as to lock the connecting piece at the current position; and when the second locking part is separated from the first locking part and unlocked, the connecting piece is reset to the initial position from the target position.

2. The coupling mechanism of claim 1, wherein:

the reset force is a repulsive force in the same direction.

3. The coupling mechanism of claim 2, wherein:

4. The coupling mechanism of claim 1, wherein:

5. The coupling mechanism of claim 1, wherein:

one of the first locking part and the second locking part is a clamping groove, and the other one of the first locking part and the second locking part is an elastic abutting part.

6. The coupling mechanism of claim 5, wherein:

7. The coupling mechanism of claim 6, wherein:

the abutting part is a wedge block which is rotatably connected to the first bracket;

or the abutting part is a roller which is rotatably connected to the first bracket;

alternatively, the abutting portion may be a ball spring fixedly attached to the first bracket, and the engaging groove may be formed in plural numbers, and the plural engaging grooves may be arranged at intervals in a direction opposite to the returning direction of the returning member.

8. The coupling mechanism of claim 6, wherein:

the connecting piece with be provided with two between the mounting reset the piece and set up in reset between the piece and two closure spare that set up dorsad, each closure spare by first closure portion with second closure portion constitutes, each second closure portion is elasticity butt piece, each in the elasticity butt piece first support is kept away from it the one end of butt portion passes the connecting piece is alternately arranged and rotate connect in the connecting piece forms the structure that is the scissors handle.

9. The coupling mechanism of claim 1, wherein:

one of the first locking part and the second locking part is a magnet, and the other one of the first locking part and the second locking part is a metal piece or another magnet which can be attracted by the magnet.

10. The coupling mechanism of claim 1, wherein:

the reset force is a same-direction attraction force.

11. The coupling mechanism of claim 10, wherein:

12. A footrest mechanism, comprising:

a plurality of casters for moving are mounted on the ground side of the supporting frame;

a pedal plate which is supported on the supporting frame in a lifting manner through the connecting mechanism according to any one of claims 1 to 11, wherein a plurality of pedal buttons for generating input commands by pedaling are arranged on the pedal plate away from the ground;

the fixing piece of the connecting mechanism is fixedly connected with the supporting frame, and the connecting piece of the connecting mechanism is fixedly connected with the pedal.

13. The footrest mechanism of claim 12 wherein:

14. A main operating table, characterized in that it comprises a pedal mechanism according to claim 12 or 13.