CN220477651U

CN220477651U - Counterweight device, base and surgical robot

Info

Publication number: CN220477651U
Application number: CN202320986115.7U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Hangzhou Weijing Medical Robot Co ltd
Current assignee: Hangzhou Weijing Medical Robot Co ltd
Priority date: 2023-04-25
Filing date: 2023-04-25
Publication date: 2024-02-13
Anticipated expiration: 2033-04-25

Abstract

The application discloses counter weight device, base and surgical robot, wherein, a counter weight device, including the bearing main part, be equipped with at least one load groove that is used for installing the balancing weight in the bearing main part, in this application embodiment, adopt foretell counter weight device, base and surgical robot, through the load inslot installation balancing weight in different positions, put the balancing weight of different quantity in the load groove, can adjust counter weight device's balancing weight and focus, thereby guarantee the balancing force accuracy under the different counter weight demands, improve balanced reliability, the bottom at the base is hidden to the counter weight device simultaneously, be convenient for the installation and the weight regulation of counter weight device when not influencing pleasing to the eye, moreover, the steam generator is simple in structure, the suitability is strong, because the focus of having reduced surgical robot, thereby stability is stronger when making surgical robot remove.

Description

Counterweight device, base and surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a counterweight device, a base and a surgical robot.

Background

Minimally invasive surgery refers to a surgery mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related equipment, and has the advantages of small wound, light pain, quick recovery and the like compared with the traditional surgery mode. However, in the minimally invasive surgery, as the minimally invasive instrument is limited by the size of the incision, the operation difficulty is greatly increased, and actions of fatigue, tremble and the like of doctors in the long-time surgery process are amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology, and along with the development of the robot technology, a new technology in the minimally invasive medical field, namely the minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, is generated.

A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and passes the input to a patient surgical platform connected to a teleoperated surgical instrument. The patient operation platform comprises a base and a cantilever, a mechanical arm, a surgical instrument and the like which are sequentially arranged on the base, and the balance weight is needed to be carried out on the machine body in order to keep the balance of the patient operation platform due to the fact that the surgical instrument is arranged on one side of the base.

The Chinese patent application CN105147393B discloses a minimally invasive robot mirror-holding mechanical arm, wherein a base assembly comprises a balancing weight and at least one optical axis assembly, the balancing weight is positioned in a box body and arranged on an optical axis, and the gravity balance of the mechanical arm is realized through the balancing weight.

In the above-mentioned scheme, the balancing weight setting is inside the box, inconvenient regulation, and balancing weight direct distribution is in optical axis (central point put), is equivalent to the direct selection and carries out the counter weight to the mode that the base aggravated, and the balancing weight quality that needs is heavy, and makes the base focus too high, is unfavorable for the promotion translation of robot.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides the counterweight device, the base and the surgical robot which have simple structure, are convenient to adjust and have good balance effect.

In order to achieve the above object, the present utility model is achieved by the following technical scheme.

Firstly, the application provides a counterweight device, which comprises a bearing main body, wherein the bearing main body is provided with at least one load slot for installing a counterweight block, and the counterweight block can be embedded in the load slot and is detachably connected with the bearing main body;

wherein, at least one balancing weight can be arranged in the loading groove;

the balance weight device has the beneficial effects that the plurality of load grooves are formed in the load bearing main body, and the balance weight can be adjusted by placing the balancing weights with different numbers in the load grooves, so that the accuracy of balance force under different balance weight requirements is ensured, and the balance reliability is improved.

Further limited, the counterweight device is characterized in that the load carrying groove is arranged on the bearing main body in a plurality of linear arrays;

the device has the beneficial effects that the plurality of load grooves are arranged on the bearing main body in an array manner, and the balancing weights and the gravity centers of the balancing weight devices can be adjusted by respectively installing the balancing weights in the load grooves at different positions, so that more accurate and reliable balancing effects are realized.

Further limited, the counterweight device is characterized in that at least one group of symmetrical positions on the bearing main body are fixedly provided with two mounting parts, and the mounting parts are used for fixedly connecting the counterweight device with the machine body;

the counterweight device has the beneficial effects that the mounting parts are symmetrically arranged on the bearing main body, so that the acting force applied to the machine body by the counterweight device is more uniform when the bearing main body is mounted on the machine body, namely, the accuracy of the acting point of the counterweight device is ensured.

Further limited, the counterweight device is characterized in that a reinforcing rib is arranged between two adjacent counterweight blocks on the bearing main body.

Further defined, the counterweight device is characterized in that the counterweight is in clearance fit with the load slot;

the counterweight block has the beneficial effects that the counterweight block can be limited to shake in the load groove when being arranged in the load groove.

Next, the present application provides a base comprising a base plate on which at least one counterweight device according to any one of the above is mounted;

wherein the counterweight device is arranged along the bottom edge of the bottom plate.

Finally, the application provides a surgical robot, including above-mentioned base, the base is kept away from and is connected on the terminal surface of ground one side and is equipped with the davit subassembly, be equipped with the apparatus subassembly that is located one of them side of base on the davit subassembly.

Further defined, the surgical robot is characterized in that the counterweight device is arranged on the end face of the base close to the ground;

the counterweight device is symmetrically distributed by taking the extending direction of the boom assembly at the initial position as a symmetrical axis;

the weight balancing device is hidden at the bottom of the base, the installation and weight adjustment of the weight balancing device are convenient while the appearance is not affected, the structure is simple, the applicability is strong, and the stability is stronger when the surgical robot moves due to the fact that the gravity center of the surgical robot is lowered;

on the other hand, the counterweight device is symmetrical about the suspension arm assembly at the initial position, so that the gravity applied to the base by the counterweight device is more uniform, and the overall stability of the surgical robot is ensured.

Further defined, the surgical robot is characterized in that the counterweight device is arranged at three other bottom edge positions of the base, which are not close to one side of the instrument assembly;

the gravity balance device has the beneficial effects that through the arrangement mode that the counterweight device is arranged on the base, the balance force applied by the counterweight device to the base and the gravity of the instrument assembly are respectively positioned on the opposite sides of the gravity center of the surgical robot, so that the overall stability of the surgical robot is further enhanced.

Further limited, the surgical robot further comprises a wheel part arranged on the base, and the bearing main body is provided with an avoidance cutting part for avoiding the wheel part;

the counter weight device has the beneficial effects that the whole occupied area of the counter weight device is reduced through the avoiding cutting part, and the counter weight device is arranged on the base to realize the abdication of the wheel part.

Drawings

FIG. 1 is a schematic view of a counterweight device according to an embodiment of the disclosure;

FIG. 2 is a schematic exploded view of a counterweight according to an embodiment of the disclosure;

fig. 3 is a schematic structural view of a "load bearing body 210" of the counterweight according to an embodiment of the disclosure;

fig. 4 is an enlarged schematic view of the structure of the "step portion 241" portion of the counterweight device according to the embodiment of the application;

FIG. 5 is a schematic view of a counterweight device according to an embodiment of the disclosure;

FIG. 6 is a schematic structural view of a surgical robot according to an embodiment of the present application;

fig. 7 is a diagram illustrating the installation pattern of a "counterweight 200" on a base according to an embodiment of the disclosure.

Reference numerals

The device comprises a base 100, a counterweight device 200, a bearing main body 210, an avoidance cutting part 211, a reinforcing rib 212, a counterweight 220, a mounting part 230, a mounting hole 240, a step part 241, a loading slot 250, a universal wheel 300, a stand column 400, a suspension arm component 500 and an instrument component 600.

Detailed Description

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The counterweight device, the base and the surgical robot provided in the embodiments of the application are described in detail below with reference to the accompanying drawings by specific embodiments and application scenarios thereof.

The embodiment of the present application provides a counterweight device, as shown in fig. 1 to 5, including a bearing main body 210, at least one load slot 250 for installing a counterweight 220 is provided on the bearing main body 210, and at least one set of symmetrical positions on the bearing main body 210 are fixedly provided with two installation parts 230 for connecting a machine body.

Wherein, the balancing weights 220 are embedded in the load-carrying grooves 250 and detachably connected with the load-carrying body 210, and at least one balancing weight 220 can be installed in each load-carrying groove 250.

It will be appreciated that the specific number of weights 220 that can be installed in the load slot 250 depends on the specifications of the weights 220, and that when the weights are adjusted, adjustment of the balancing weights can be achieved by installing different numbers of weights 220 in the load slot 250, and the smaller the weight of a single weight 220, the higher the gravity adjustment accuracy of the weight device.

In this embodiment of the application, adopt foretell counter weight device, set up a plurality of load grooves 250 in the bearing main body 210, adjust counter weight quality through placing the balancing weight 220 of different quantity in load groove 250 to guarantee the balancing force accuracy nature under the different counter weight demands, improve balanced reliability.

In a preferred embodiment, as shown in fig. 1-4, the load-carrying slots 250 are provided in a linear array on the loadbearing body 210.

Wherein, be equipped with strengthening rib 212 between two adjacent load grooves 250, strengthening rib 212 is used for keeping apart balancing weight 220 and can be with the overall structure of strong bearing main part 210.

In a preferred embodiment, as shown in FIG. 5, three load cells 250 are provided in a linear array on the loadbearing body 210.

It will be appreciated that the reinforcing rib 212 can also be considered to be disposed on the wall of one load slot 250, so as to isolate one load slot 250 into installation spaces of a plurality of weights 220, and at this time, the reinforcing rib 212 can be disposed to completely isolate the installation spaces of the plurality of weights 220, or can be disposed to partially isolate the installation spaces of the plurality of weights 220, so long as positioning of the plurality of weights 220 in the load slot 250 can be achieved.

It is to be understood that the number of the linear arrays of the load-carrying grooves 250 on the load-carrying body 210 is not limited to the two types, and the greater the number of the load-carrying grooves 250, the stronger the weight adjustability of the weight device, and likewise, the arrangement of the load-carrying grooves 250 and the load-carrying body 210 is not limited to one type of linear array, and the arrangement of the load-carrying grooves 250 can also be rectangular under the condition of satisfying the overall symmetry of the weight device, which is not described herein.

In this embodiment, adopt foretell counter weight device, array setting a plurality of load grooves 250 on the bearing body 210, through installing balancing weight 220 in the load groove 250 of different positions respectively, can adjust counter weight device's balancing weight and focus to realize more accurate, reliable balanced effect.

In a preferred embodiment, as shown in fig. 1 to 5, two mounting portions 230 are symmetrically and fixedly disposed on the loadbearing body 210, and the two mounting portions 230 are located in the direction of the linear array of the plurality of load-carrying grooves 250 and are flush with the end surface of the loadbearing body 210 near the opening side of the load-carrying grooves 250.

The mounting part 230 is provided with at least one mounting hole 240 in a penetrating manner, and the mounting part 230 is fixedly connected with the machine body through the mounting hole 240.

In this embodiment of the application, adopt foretell counter weight device, installation department 230 symmetry set up on bearing main part 210 and with organism bolted connection, not only install simply, when bearing main part 210 installs on the organism moreover, make counter weight device to the application effort of organism more even, guarantee the precision of balanced force action point promptly.

It can be understood that the fixing manner of the mounting portion 230 and the machine body is not limited to the above-mentioned one, for example, a fastening structure can be disposed on the mounting portion 230, and the fastening of the counterweight device on the machine body can be realized through the fastening structure, so long as the detachable and fixed connection of the counterweight device and the machine body can be realized, which is not described herein.

In a preferred embodiment, as shown in fig. 4, a step portion 241 is disposed on the inner wall of the mounting hole 240, where the step portion 241 is used for hiding the bolt head when the mounting portion 230 is connected to the machine body by the bolt of the mounting hole 240, so as to improve the structural integrity of the counterweight device after being mounted.

In a preferred embodiment, weight 220 is clearance fit with load slot 250, thereby limiting wobble of weight 220 within load slot 250 when it is installed within load slot 250.

It can be understood that when the counterweight device is mounted on the machine body, the opening of the load slot 250 is upward, the counterweight 220 is embedded in the load slot 250 under the action of self gravity, and no fixing structure is needed between the counterweight 220 and the load slot 250, if the counterweight 220 cannot be stably mounted in the load slot 250 by self gravity when the counterweight device is mounted on the machine body, a fixing structure can be arranged between the counterweight 220 and the load slot 250, for example, the counterweight 220 and the inner wall of the load slot 250 are connected or clamped by bolts, so long as the mounting stability of the counterweight 220 in the load slot 250 can be ensured, and details are not repeated herein.

In a preferred embodiment, as shown in fig. 1 to 5, a relief cut 211 is provided on an end surface of the load-bearing body 210 on a side far from the weight 220.

Wherein, dodge cutting portion 211 is used for reducing the whole area of counter weight device, realizes the stepping down to other parts when counter weight device installs on the organism.

In a preferred embodiment, the material of weight 220 is preferably lead and the material of loadbearing body 210 is preferably stainless steel or aluminum.

In a preferred embodiment, the weight of the weight device is set to 100-200 kg, and it is understood that the movement difficulty of the machine body is increased when the weight of the weight device is large, so that the weight of the weight device needs to be controlled within a predetermined range.

The embodiment of the application provides a base, which comprises a bottom plate, wherein at least one counterweight device is fixedly arranged on the end face of one side of the bottom plate, which is close to the ground.

Wherein, the counterweight device is arranged along the bottom edge of the bottom plate, and the mounting part 230 is abutted with the end face of one side of the bottom plate close to the ground and is connected with the bottom plate through the mounting hole 240 by bolts.

As shown in fig. 6, the embodiment of the present application provides a surgical robot, which comprises a base 100, wherein a stand column 400 is installed on an end surface of the base 100 far away from the ground, a rotatable boom assembly 500 is installed on an end surface of the stand column 400 far away from the base 100, an instrument assembly 600 is installed on the boom assembly 500, and a universal wheel 300 and at least one counterweight device 200 are fixedly installed on an end surface of the base 100 near the ground.

In this embodiment of the application, adopt foretell surgical robot, counterweight device 200 hides the bottom that sets up at base 100, is convenient for counterweight device 200's installation and weight adjustment when not influencing pleasing to the eye, simple structure, and the suitability is strong, owing to reduced surgical robot's focus to stability is stronger when making surgical robot remove.

In a preferred embodiment, as shown in fig. 7, three weight devices 200 are fixedly mounted on the bottom of the base 100, and three weight devices 200 are disposed on the other three sides of the base 100 not near the instrument assembly 600.

It will be appreciated that since the counterweight device 200 is configured to overcome the weight of the instrument assembly 600 to some extent, the counterweight device 200 applies a counter-force to the base 100, the weight of the instrument assembly 600 being located on opposite sides of the surgical robot's center of gravity, respectively.

Therefore, the arrangement of the counterweight device 200 at the bottom of the base 100 is not limited to the above-mentioned one, and when two counterweight devices 200 are fixedly installed at the bottom of the base 100, the two counterweight devices 200 are disposed on the base 100 and symmetrically distributed with the extending direction of the boom assembly 500 at the initial position as the symmetry axis; when the weight device 200 is fixedly mounted at the bottom of the base 100, the weight device 200 is disposed at a middle position of a side of the base 100 away from the instrument assembly 600, so long as the balance force applied to the base 100 by the weight device 200 can be ensured to be stable, and details thereof will not be repeated herein.

In this embodiment of the present application, the above-mentioned surgical robot is adopted, and through the arrangement form of the counterweight device 200 at the bottom of the base 100, the counterweight force applied by the counterweight device 200 to the base 100 and the gravity of the instrument assembly 600 are respectively located at opposite sides of the center of gravity of the surgical robot, so as to further enhance the overall stability of the surgical robot.

In a preferred embodiment, as shown in fig. 6, the avoidance cut 211 is located at a position of the weight device 200 near the universal wheel 300, so as to avoid the weight device 200 from interfering with the universal wheel 300, thereby preventing the weight device 200 from interfering with the universal wheel 300.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims

1. The counterweight device is characterized by comprising a bearing main body, wherein the bearing main body is provided with at least one load slot for installing a counterweight block, and the counterweight block can be embedded in the load slot and is detachably connected with the bearing main body;

wherein, at least one balancing weight can be installed in the load slot.

2. The counterweight device according to claim 1, wherein the load carrying tank is provided with a plurality of load carrying tanks in a linear array on the load carrying body.

3. The counterweight device as recited in claim 1, wherein at least one set of symmetrical positions on the loadbearing body is fixedly provided with two mounting portions for fixedly connecting the counterweight device to the body.

4. The weight device according to claim 1, wherein the load-bearing body is provided with a reinforcing rib between two adjacent weights.

5. A counterweight according to claim 1 wherein said counterweight is in clearance fit with said load carrying slot.

6. A base comprising a floor having mounted thereon at least one counterweight device according to any one of claims 1 to 5;

7. A surgical robot comprising a base according to claim 6, wherein the end surface of the base on the side far from the ground is provided with a boom assembly in a connecting manner, and the boom assembly is provided with an instrument assembly positioned on one side of the base.

8. A surgical robot as claimed in claim 7, wherein the weight means is provided on an end face of the base on a side close to the ground;

the counterweight device is symmetrically distributed by taking the extending direction of the boom assembly at the initial position as a symmetrical axis.

9. A surgical robot as claimed in claim 7 or claim 8, wherein the counterweight means is provided at three other base positions of the base not adjacent one side of the instrument assembly.

10. The surgical robot of claim 7, further comprising a wheel disposed on the base, wherein the loadbearing body is provided with a bypass cut for bypassing the wheel.