WO2023168986A1 - 一种医生控制平台底座 - Google Patents

一种医生控制平台底座 Download PDF

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Publication number
WO2023168986A1
WO2023168986A1 PCT/CN2022/132768 CN2022132768W WO2023168986A1 WO 2023168986 A1 WO2023168986 A1 WO 2023168986A1 CN 2022132768 W CN2022132768 W CN 2022132768W WO 2023168986 A1 WO2023168986 A1 WO 2023168986A1
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WO
WIPO (PCT)
Prior art keywords
pedal
control
assembly
synchronous
brake
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/132768
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English (en)
French (fr)
Inventor
席学平
彭程
徐敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Agibot Medtech Suzhou Co Ltd
Original Assignee
Agibot Medtech Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agibot Medtech Suzhou Co Ltd filed Critical Agibot Medtech Suzhou Co Ltd
Priority to EP22930609.7A priority Critical patent/EP4437997A4/en
Priority to US18/725,966 priority patent/US20250072985A1/en
Publication of WO2023168986A1 publication Critical patent/WO2023168986A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05—Parts, details or accessories of beds
    • A61G7/0528—Steering or braking devices for castor wheels

Definitions

  • the invention relates to the field of medical equipment, in particular to a doctor control platform base.
  • minimally invasive surgery has become more and more widely used due to its advantages such as small surgical trauma, short recovery time, and less patient pain.
  • Laparoscopic surgical robots have also developed rapidly with the promotion of minimally invasive surgery. It is a new type of minimally invasive surgical equipment, consisting of a doctor's control platform, a patient's surgery platform, and an image platform.
  • the upper end of the doctor's control platform has a main control robotic arm that is easy to operate by hand, and the lower end is equipped with a pedal that is easy to operate by foot; the surgeon uses the hand to operate Operate the main control robotic arm on the doctor's control platform.
  • the doctor uses both hands to operate the main control robotic arm and uses his feet to operate the control pedal (or button, etc.) to remotely control the surgical robotic arm on the patient's surgical platform, allowing the surgical robotic arm to operate inside the patient's body. Many complex actions such as incision, separation, and suturing are performed to complete the operation.
  • the physician control platform can be deployed through manual push.
  • the doctor's control platform in order to ensure that the doctor's control platform can pass through certain terrain, there needs to be a certain height difference between the universal casters of the console and the lowest point of its chassis.
  • the swivel casters need to be locked to provide a more stable operating platform.
  • the pedal base equipped with various control foot switches needs to be dropped to the ground to allow the surgeon to use his or her feet. More comfortable during operation.
  • the existing locking mechanism of the doctor's control platform and the falling of the pedal base require two operating mechanisms to be controlled separately, which makes the entire equipment relatively cumbersome; or there is only a locking mechanism of the doctor's control platform and no pedal lifting mechanism, so the pedals continue to be at a high level. Position, when the surgeon controls the foot switch, his legs and feet are hanging off the ground, making the operation uncomfortable.
  • the existing patent CN207870961U proposes a doctor's console for a surgical robot that is simple in structure and can effectively improve the doctor's operating comfort and accuracy. It includes an operating platform. The bottom of the operating platform is provided with a lifting column. The lifting column is The top is fixed with the operating platform, and the bottom of the lifting column is fixed with the base frame.
  • a shell is provided outside the lifting column.
  • the shell rises and falls synchronously with the lifting of the operating platform.
  • the doctor's console through The console is connected to the lifting column so that the height of the operating platform can be adjusted upwards, allowing doctors to operate more flexibly and freely, improving the practicality of the equipment and effectively improving the doctor's operating accuracy and comfort.
  • this doctor's console does not involve the simplification of the bottom caster locking mechanism and the pedal lifting mechanism.
  • the present invention provides a doctor control platform base, which aims to simplify the base pedal lifting mechanism and improve the comfort of use.
  • a doctor control platform base including a U-shaped base, a synchronous foot pedal assembly, a control pedal assembly and a brake assembly; the bottoms on both sides of the U-shaped base are provided with the synchronous foot pedal through a first balance assembly and a first guide mechanism components;
  • the control pedal assembly is arranged in the opening of the U-shaped base, both sides of the control pedal assembly are connected to the lower surface of the U-shaped base through a second balance assembly and a second guide mechanism, and the control pedal Both sides of the component are connected to the synchronous pedal component;
  • a walking device is provided below the U-shaped base, one end of the brake assembly is hinged to the control pedal assembly, and the other end of the brake assembly is connected to the walking device;
  • the two synchronous pedal assemblies When at least one of the synchronous pedal assemblies is subjected to an external force, the two synchronous pedal assemblies will move up and down synchronously, and at the same time drive the control pedal assembly to move up and down in the same direction; when the control pedal assembly moves up and down, it can drive The brake assembly moves to lock or loosen the walking device.
  • control pedal assembly includes a control pedal bracket, a control pedal mounting base, a second balance assembly and the second guide mechanism.
  • the control pedal mounting base is provided on the control pedal bracket, and the second balance assembly One end of the assembly is connected to the control pedal bracket, and the other end is connected to the U-shaped base; the control pedal bracket is connected to the synchronous foot pedal assembly.
  • one of the control pedal bracket or the synchronized foot pedal assembly is provided with a convex snap-in feature
  • the other of the control pedal bracket or the synchronized foot pedal assembly is provided with a convex snap-in feature that can engage with the convex snap-in feature. Matching recessed snap feature.
  • the convex clamping feature is a synchronous foot pedal hanging post, and the concave snapping feature is a U-shaped groove.
  • the synchronous foot pedal hanging column includes a cylindrical support rod and a baffle provided at the upper end of the support rod.
  • the U-shaped groove is stuck on the support rod.
  • control pedal bracket is hinged or snap-connected to the synchronous foot pedal assembly; when hinged, a hinge rod is provided on the control pedal bracket, and the synchronous foot pedal assembly is hinged to the hinge rod.
  • the second guide mechanism includes two second guide shafts and two second guide sleeves.
  • the second guide shafts are provided on both sides of the second balance component.
  • the second guide sleeves are provided through on the second guide shaft, and one end of the second guide sleeve is fixedly connected to the U-shaped base; the second guide shaft slides in the second guide sleeve.
  • a side of the control pedal mounting seat close to the closed end of the U-shaped base is connected to the control pedal bracket through a telescopic device.
  • the telescopic device includes a screw fixing sleeve, a screw, a driven gear, a driving gear, and a driving mechanism.
  • the screw fixing sleeve is provided at the bottom of the control pedal mounting seat.
  • the screw fixing sleeve The screw is set inside, and the driven gear is set at the other end of the screw, and the driven gear meshes with the driving gear; both the driven gear and the driving gear are set on the control pedal.
  • the driving mechanism drives the driving gear to rotate; the driven gear and the screw are connected through threads; the control pedal bracket is provided with a through hole corresponding to the screw; the screw The lever moves telescopically in the through hole.
  • control pedal bracket includes a main bracket, a connecting rod receiving plate and a second mounting plate.
  • the main bracket is arranged below the closed end of the U-shaped base, and the connecting rod accepting plate is arranged on the main bracket.
  • the second mounting plate is provided on the outside of the connecting rod receiving plate; guide rails are provided on both sides of the control pedal mounting seat, and a slider is provided on one side of the connecting rod receiving plate.
  • the control pedal mounting seat The guide rail and the slide block are slidingly connected to the connecting rod bearing plate.
  • the synchronous pedal assembly includes two synchronous pedals, two first mounting plates, two first balance assemblies and two first guide mechanisms; the two first mounting plates are respectively located at On both sides of the U-shaped base, the synchronization foot pedal and the first balance component are arranged on the first mounting plate; the first balance component is fixed below the U-shaped base, and the synchronization foot pedal The pedal is connected with the control pedal assembly.
  • the first guide mechanism includes two first guide shafts and two first guide sleeves.
  • the first guide shafts are arranged on both sides of the first balance component, and the first guide sleeves pass through It is provided on the first guide shaft, and one end of the first guide sleeve is fixedly connected to the U-shaped base; the first guide shaft slides in the first guide sleeve.
  • the first balance component includes a movable mounting base, an elastic component, and a fixed mounting base.
  • the fixed mounting base is fixed below the U-shaped base, and the movable mounting base is provided on the first mounting plate. ;
  • One end of the elastic component is connected to the fixed mounting base, and the other end of the elastic component is connected to the movable mounting base.
  • the elastic component is an elastic component with a certain resilience, such as a spring, a bellows, or a diaphragm.
  • the synchronized pedal assembly also includes a synchronized shaft and two synchronized pedal links; the end of the synchronized shaft is fixedly connected to the synchronized pedal link, and the synchronized pedal link is connected to the synchronized pedal link.
  • the first mounting plate is hinged.
  • the synchronous foot pedal includes a foot pedal, a limiting structure is provided in the foot pedal, and a limiting shaft is installed on the U-shaped base; the limiting shaft is inserted into the limiting structure;
  • the limiting structure at least has an upper limit part and a lower limit part; when the synchronized pedal assembly rises or falls to a preset position, the limiting structure can cooperate with the corresponding upper limit part or lower limit part to achieve positioning.
  • the limiting structure includes a rotating shaft and a limiting groove sleeve.
  • the rotating shaft is provided with a limiting groove sleeve, and a limiting groove is provided on the outer wall of the limiting groove sleeve.
  • the limiting groove is The distance from the bottom surface of the foot pedal increases or decreases with the rotation of the limiting groove sleeve; the limiting shaft is inserted into the limiting groove.
  • the doctor control platform base also includes a sensing device for judging the position of the synchronous foot pedal; the sensing device includes a sensing piece and a proximity switch; the sensing piece or proximity switch is installed on the U-shaped on the base.
  • the walking device includes at least two casters with centrally controlled brakes;
  • the brake assembly includes at least two brake axle seats, a brake shaft, and a brake connecting rod;
  • the brake shaft seat is arranged below both sides of the open end of the U-shaped base and close to the caster with central control brake.
  • One end of the brake link is hinged with the control pedal assembly, and the brake link is hinged to the control pedal assembly. The other end is connected to the caster with central control brake through the brake shaft;
  • the brake shaft is provided with the brake shaft seat, and the brake shaft can rotate in the brake shaft seat to lock or unlock the driving wheel.
  • first guide mechanism and the second guide mechanism have the same structure.
  • a synchronous foot pedal assembly is provided below the U-shaped base.
  • the synchronous foot pedal assembly is fixed on the U-shaped base through a first balance assembly.
  • the first balance assembly provides upward pulling force for the synchronous foot pedal;
  • the control pedal assembly passes
  • the second balance component is fixed on the U-shaped base.
  • the second balance component provides upward pulling force for the control pedal mounting base.
  • the synchronization foot pedal is connected to the control pedal assembly through the synchronization foot pedal hanging column. Therefore, when the synchronization foot pedal is stepped on When the synchronous foot pedal is pressed down, the control pedal mounting seat is pressed down.
  • the control pedal mounting seat When the synchronous foot pedal is at the lowest point, the control pedal mounting seat is also at the lowest position, making it easier for doctors to use the pedals or buttons on the control pedal mounting seat, which improves the comfort of use;
  • the synchronous foot pedal drives the control pedal mounting seat to rise through the synchronous foot pedal hanging column.
  • the control pedal mounting seat When the synchronous foot pedal rises to the highest point, the control pedal mounting seat is also at the highest position, achieving synchronization of the foot pedal and the control pedal mounting seat. linkage.
  • the synchronous foot pedal assembly in the present invention includes two first mounting plates, which are arranged on both sides of the U-shaped base. Each first mounting plate is provided with a first balance component, and the two first mounting plates are synchronized through The synchronization shaft is connected to the first installation plate through the synchronization foot pedal linkage. When the synchronization pedal on one side is stepped on, the first installation plate on this side descends, and the synchronization foot pedal linkage drives the synchronization shaft to rotate.
  • Synchronization The rotation of the shaft drives the first mounting plate on the other side to descend, thereby enabling the synchronous pedals on both sides to be lowered simultaneously by simply stepping on one side of the synchronous pedal, so that the operation of both sides of the doctor control platform base is consistent, and the doctor control platform The base is more stable and easier to use.
  • the synchronous foot pedal in the present invention includes a foot pedal.
  • the foot pedal is a square hollow piece.
  • a rotating shaft is provided inside the foot pedal.
  • a limiting groove sleeve is penetrated on the rotating shaft.
  • a limiting groove sleeve is provided on the outer wall of the limiting groove sleeve.
  • the position groove is combined with the limit shaft fixed seat provided on the U-shaped base.
  • the limit shaft fixed seat is provided with a limit shaft.
  • the limit shaft is inserted into the limit groove.
  • the limit groove is designed to be the distance from the bottom surface of the pedal.
  • the limit groove sleeve As the rotation of the limit groove sleeve increases or decreases, when the foot pedal is stepped on, due to the limitation of the limit shaft, the limit groove sleeve rotates, and then the limit shaft moves in the limit groove, and the limit There are the highest stable point and the lowest stable point in the groove, which can stabilize the limit shaft at the highest stable point or the lowest stable point, and realize the pedal to stop stably at the highest or lowest position.
  • the two ends of the connecting rod receiving plate are hinged to the brake connecting rod.
  • the brake connecting rod close to the synchronizing shaft is fixed on the rear brake synchronizing shaft seat; the brake connecting rod far away from the synchronizing shaft is fixed on the front brake shaft seat. ;
  • the brake linkage is connected to the rear brake synchronization shaft seat or the front brake shaft seat through the brake shaft.
  • the rotation of the brake linkage drives the brake shaft to rotate.
  • the rotation of the brake shaft can lock or loosen the caster; then when the synchronization pedal is stepped on , the synchronous foot pedal drives the control pedal assembly down, and the descent of the control pedal assembly drives the brake shaft to rotate through the brake linkage to lock the caster.
  • the synchronous foot pedal is on the first balance component. It rises under the action of pulling force.
  • the pedal assembly is controlled to rise.
  • the brake link drives the brake shaft to rotate in the opposite direction to release the caster. That is, the caster can be locked or released by pressing the synchronous pedal, and the pedal assembly is controlled to be synchronized at the same time. Ascending or descending simplifies the driving mechanism and improves comfort.
  • Figure 1 is a schematic structural diagram of the present invention.
  • Figure 2 is a schematic structural diagram of the present invention after the U-shaped base is hidden.
  • Figure 3 is a schematic structural diagram of the present invention after it is turned over 180° and the synchronous foot pedal assembly and the control pedal assembly are hidden.
  • Figure 4 is a schematic structural diagram of the first balance component of the present invention.
  • FIG. 5 is a schematic structural diagram of the control pedal assembly of the present invention.
  • Figure 6 is a schematic structural diagram of the synchronous pedal assembly according to the present invention.
  • Figure 7 is a schematic structural diagram of the brake connecting rod and brake shaft.
  • Figure 8 is a schematic structural diagram of the synchronous pedal.
  • Figure 9 is a schematic diagram of the expansion of the limiting groove.
  • 3-First mounting plate 4-First balance component, 401-Mobile mounting base, 402-Elastic component, 403-Fixed mounting base, 5-First guide shaft, 6-Rear brake synchronizing shaft seat, 7-Synchronizing foot Step link, 8-synchronous shaft, 9-proximity switch,
  • 16-control pedal mounting base 17-second balance component, 18-lead screw fixing sleeve, 19-lead screw, 20-driven gear, 21-driving gear, 22-second guide shaft, 23-guide rail,
  • the present invention provides a doctor control platform base, which includes a U-shaped base 1, a synchronous foot assembly, a control pedal assembly and a brake assembly; the bottoms on both sides of the U-shaped base 1 pass through the first balance assembly 4 and the first guide mechanism are provided with the synchronized foot pedal assembly; the control pedal assembly is arranged in the opening of the U-shaped base 1, and both sides of the control pedal assembly pass through the second balance assembly 17 and the second guide mechanism It is connected to the lower surface of the U-shaped base 1, and both sides of the control pedal assembly are connected to the synchronous pedal assembly;
  • a walking device is provided below the U-shaped base 1, one end of the brake assembly is hinged to the control pedal assembly, and the other end of the brake assembly is connected to the walking device; when at least one of the synchronous pedal assemblies is subjected to external force, The two synchronous pedal assemblies make lifting movements synchronously, and at the same time drive the control pedal assembly to make lifting movements in the same direction; when the control pedal components make lifting movements, they can drive the brake assembly to move to achieve locking or loosening.
  • the walking device when at least one of the synchronous pedal assemblies is subjected to external force, The two synchronous pedal assemblies make lifting movements synchronously, and at the same time drive the control pedal assembly to make lifting movements in the same direction; when the control pedal components make lifting movements, they can drive the brake assembly to move to achieve locking or loosening.
  • the synchronous pedal assembly includes a synchronous pedal 2, a first mounting plate 3 and a first balance component 4.
  • the synchronous pedal 2 and the first balance component 4 are arranged on the first mounting plate 3;
  • the first balance assembly 4 is fixed below the U-shaped base 1;
  • the control pedal assembly includes a control pedal bracket 10, a control pedal mounting base 16, and a second balance assembly 17.
  • the control pedal mounting base 16 and the The second balance component 17 is disposed on the control pedal bracket 10 , and the second balance component 17 is fixed below the U-shaped base 1 .
  • the control pedal bracket 10 and the synchronous foot pedal assembly are connected in a snap-on or hinged manner.
  • the control pedal bracket 10 and the synchronous foot pedal assembly are in a snap-on connection.
  • the control pedal is connected in a snap-on manner.
  • One of the bracket 10 or the synchronized foot pedal assembly is provided with a convex snap-in feature
  • the other one of the control pedal bracket 10 or the synchronized pedal assembly is provided with a concave snap-in feature that can cooperate with the convex snap-in feature. feature.
  • the convex engaging feature is a synchronized foot pedal hanging post 11, and the concave engaging feature is a U-shaped slot;
  • the control pedal bracket 10 is provided with a synchronized foot pedal hanging post 11, and the synchronized foot pedal assembly is provided with a U-shaped card slot.
  • the synchronized foot pedal hanging post 11 includes a cylindrical support rod and a baffle provided at the upper end of the support rod.
  • the synchronous foot pedal 2 includes a foot pedal 201.
  • An extension plate is provided on one side of the foot pedal 201.
  • a U-shaped slot is provided on the extension plate. The U-shaped slot is stuck on the support.
  • the linkage control of the synchronous foot pedal 2 and the control pedal mounting base 16 is realized.
  • the synchronized foot pedal hanging post can also be provided on the synchronized foot pedal assembly, and accordingly, the U-shaped slot is provided on the control pedal assembly.
  • the convex snap-in feature can also be a hook
  • the concave snap-in feature can be a hanging ring.
  • the hook has a certain gap to facilitate hanging into the hanging ring.
  • the specific shape of the hook can be designed in a variety of shapes, such as square, round, Any U shape is acceptable, and there are no special restrictions here.
  • the hook can be arranged on one of the control pedal assembly and the synchronized foot pedal assembly, and correspondingly, the lifting eye is arranged on the other assembly.
  • control pedal bracket and the synchronous foot pedal assembly can also be hinged.
  • a hinge rod is provided on the control pedal bracket 10. One end of the hinge rod is fixed on the control pedal bracket 10, and a ring is provided on the other end of the hinge rod. ;
  • a column is provided on the synchronous foot pedal 2, and the column is sleeved in the ring of the hinge rod to realize hinge connection.
  • the upper end face of the column is provided with a limit flange, and the hinge rod can move up and down a certain distance on the column.
  • the U-shaped base 1 is U-shaped, the synchronous pedal assembly is arranged on the periphery of the U-shaped base 1, the control pedal assembly is arranged in the middle of the U-shaped base 1, and the control pedal mounting seat 16 It is arranged in the hollow area inside the U-shaped base 1 .
  • the U-shaped base 1 is the main frame of the doctor's control platform base, and the synchronous foot pedal assembly and the control pedal assembly are both installed on the U-shaped base 1 .
  • the first balance component is used to balance the weight of the synchronous foot component and provide power for the lifting movement of the synchronous foot component.
  • it provides power for the control pedal component through the synchronous foot hanging column 11;
  • the second balance component 17 provides power for the lifting movement of the control pedal assembly.
  • the synchronous foot pedal 2 Under the action of external force, when the synchronous foot pedal 2 performs lifting movement, the synchronous foot pedal 2 drives the control pedal bracket 10 to perform lifting movement through the synchronous foot pedal hanging column 11, and the control pedal bracket 10 drives the lifting movement.
  • the control pedal mounting base 16 also performs lifting and lowering movements, realizing the synchronous lifting and lowering of the synchronous foot pedal 2 and the control pedal.
  • Various control foot switches are provided on the control pedal mounting base 16 for controlling some actions of the surgical robot through the feet.
  • the synchronous pedal assembly also It includes two rear brake synchronization shaft seats 6 and a synchronization foot link 7.
  • the rear brake synchronization shaft seats 6 are installed on the U-shaped base 1.
  • the two rear brake synchronization shaft seats 6 are connected by a synchronization shaft 8; the synchronization The shaft 8 passes through the rear brake synchronization shaft seat 6 and extends outward.
  • the end of the synchronization shaft 8 is fixedly connected to the synchronization foot pedal link 7.
  • the synchronization foot pedal link 7 is connected by a tensioning sleeve.
  • the end of the synchronizing shaft 8 is locked; the synchronizing foot link 7 is hinged to the first mounting plate 3, and an upwardly protruding triangular plate is provided on one side of the first mounting plate 3.
  • the synchronizing foot link 7 is connected to the triangle
  • the plate is hinged through two small plates and pins.
  • Synchronous pedal assemblies are symmetrically arranged on both sides of the U-shaped base 1. A certain external force is applied to the synchronous pedal assembly on one side. The synchronous pedal on the side where the external force is applied moves downward. The first mounting plate 3 pulls the synchronous pedal assembly.
  • the rod 7 rotates around the synchronization shaft 8, and at the same time, the synchronization shaft 8 rotates, thereby driving the synchronous foot pedal link 7 on the other side to rotate, and the rotation of the synchronous foot pedal link 7 on the other side drives the first mounting plate 3 on the other side to descend. Then, the synchronous pedal 2 on the other side is lowered, and the status of the synchronous pedal components on both sides is consistent.
  • first guide mechanisms are provided on both sides of the first balance component 4.
  • the first guide mechanism includes moving parts and guide parts.
  • One of the moving parts and the guide parts is arranged on the U-shaped base.
  • the other one of the moving part and the guide part is arranged on the synchronized foot assembly, and the moving part cooperates with the guide part to provide a guiding effect for the movement of the synchronized foot assembly.
  • the moving component is the first guide shaft 5, and the guide component is the first guide sleeve 26.
  • the first guide shaft 5 is arranged on the first mounting plate 3, and the lower part of the U-shaped base 1 corresponds to the first guide.
  • the shaft 5 is provided with a first guide sleeve 26, and the first guide shaft 5 slides in the first guide sleeve 26 to achieve guidance.
  • the first guide shaft 5 can also be disposed below the U-shaped base 1, the first guide sleeve 26 is disposed on the first mounting plate 3, and the first guide shaft 5 is located on the first guide sleeve. 26 slides inside to achieve guidance.
  • the moving component may also be a slider, and the guide component may be a guide rail.
  • the slider is disposed on the first mounting plate 3 , and the guide rail is disposed below the U-shaped base 1 .
  • the guide rail cooperates with the slider to achieve guidance.
  • the slide block can also be disposed below the U-shaped base.
  • the guide rail is disposed on the first mounting plate 3 , and the guide rail cooperates with the slide block to achieve guidance.
  • a proximity switch 9 is provided on the first mounting plate 3, and the proximity switch 9 is provided close to the synchronization foot link 7; as shown in Figure 3, a synchronization switch is provided below the U-shaped base 1
  • the foot pedal sensor piece 30 and the proximity switch 9 follow the first mounting plate 3 to perform lifting movements.
  • the synchronous foot pedal sensor piece 30 senses the position of the proximity switch 9 and determines the position of the synchronous foot pedal 2, thereby enabling real-time understanding.
  • the position of the synchronized foot pedal 2 is synchronized, and the position of the synchronized pedal 2 can be displayed on the display screen of the doctor's control platform.
  • the positions of the proximity switch 9 and the synchronous foot pedal sensor piece 30 can be interchanged, that is, the proximity switch 9 is provided under the U-shaped base 1 and the synchronous foot pedal sensor piece 30 is provided on the first mounting plate 3. Specifically, How to choose can be set according to actual needs.
  • the proximity switch 9 can also be disposed on one side of the foot pedal 201 , and the synchronous foot pedal sensor piece 30 is disposed on the U-shaped base 1 .
  • the proximity switch 9 is arranged on the first mounting plate 3
  • the synchronous foot pedal sensor piece 30 is arranged on the fixed mounting base 403 .
  • the proximity switch 9 and the synchronous foot sensing piece 30 will The other one is set on a component that is completely consistent with the motion trajectory of the synchronous pedal 2, so that the position of the synchronous pedal 2 can be monitored.
  • the first balance component 4 includes a movable mounting base 401, an elastic component 402, and a fixed mounting base 403.
  • the fixed mounting base 403 is fixed below the U-shaped base 1.
  • the movable mounting base 401 Arranged on the first mounting plate 3; one end of the elastic member 402 is connected to the fixed mounting base 403, and the other end of the elastic member 402 is connected to the movable mounting base 401.
  • the structures of the second balance component 17 and the first balance component 4 are basically the same, and the elastic force of the second balance component 17 and the elastic force of the first balance component 4 may be the same or different.
  • the elastic component 402 may be a spring, a bellows, a diaphragm, or other elastic component with a certain resilience.
  • the elastic component is a spring.
  • the foot pedal 201 is a square hollow piece.
  • a rotating shaft 202 is provided inside the pedal 201.
  • a limiting groove sleeve 203 is passed through the rotating shaft 202.
  • the limiting groove sleeve 203 passes through a bearing. It is installed on the rotating shaft 202. Therefore, the limiting groove sleeve 203 can freely rotate around the rotating shaft 202.
  • a limiting groove is provided on the outer wall of the limiting groove sleeve 203. The limiting groove is at a distance from the bottom surface of the foot pedal 201.
  • a limiting shaft fixing seat 28 is provided outside the synchronized foot pedal 2, and the limiting shaft fixing seat 28 is provided on On the outer wall of the U-shaped base 1, a limiting shaft 29 is provided on the limiting shaft fixed seat 28, and the limiting shaft 29 extends toward the synchronized pedal 2; the limiting shaft 29 is inserted into the limiting shaft.
  • the limit shaft 29 is installed on the limit shaft fixed seat 28 through bearings. Therefore, the limit shaft 29 can rotate freely, thereby reducing the friction force when the limit shaft 29 moves in the limit groove.
  • Figure 9 is a schematic diagram of the expansion of the limit groove.
  • the limit shaft is inserted into the limit groove, so the limit shaft can only move along the limit groove. Therefore, when the synchronization pedal 2 in the synchronization pedal assembly is fixed on When the internal limiting groove sleeve 203 moves up and down under the action of external force, it is restricted by the limiting shaft 29.
  • the limiting groove sleeve 203 rotates around the rotating shaft 202 while moving up and down, so that the limiting shaft 29 always moves along the axis 202. Limit slot movement.
  • the combination of the up and down movement and the rotational movement of the limiting groove sleeve 203 can be considered to cause the limiting shaft 29 to move in both directions of up and down and left and right in the expanded view of Figure 9.
  • the limit groove sleeve 203 installed in the synchronized pedal 2 is also always subject to upward pulling force; when the limit shaft 29 moves in the limit groove, it will stop at four positions; when the limit shaft 29 is located in Figure 9 At the rightmost high stable stop point 31, without external force, the limit groove sleeve 203 is under the upward pulling force of the first balance component 4, and the lower side of the limit shaft 29 is in close contact with the limit groove. At this time , the synchronous pedal 2 is at the high stable stop point 31. When an external force steps on the synchronous pedal 2, the limit groove sleeve 203 descends.
  • the limit shaft 29 can only move to the left along the limit groove, reaching the second point on the right. position, that is, the high-low conversion non-stable stop point 32.
  • the synchronization pedal 2 is at the lowest position, but at this position, when the external force is removed, the synchronization pedal 2 will act under the combined force of the upward pulling force and the lower side of the limit groove.
  • the limit shaft 29 moves to the left along the limit groove, and finally reaches a stable state at the third point on the right, that is, the low stable stop point 33.
  • the synchronous pedal 2 is at the lowest position that can stop stably. .
  • the control pedal bracket 10 includes a main bracket 1001, a connecting rod receiving plate 1002 and a second mounting plate 1003.
  • the main bracket 1001 is located below the rear side of the U-shaped base 1; the connecting rod receiving plate 1002 is arranged vertically on both sides of the main bracket 1001, and the second mounting plate 1003 is arranged horizontally on the outside of the connecting rod receiving plate 1002; the synchronized foot pedal hanging column 11 is arranged on the second mounting plate 1003
  • the two ends of the connecting rod receiving plate 1002 are provided with lugs.
  • the lugs at both ends are hinged to the hinged connecting rod 14 through the hinged shaft 15.
  • the hinged connecting rod 14 is hinged to the brake connecting rod 12.
  • the brake lever close to the synchronizing shaft 8
  • the connecting rods 12 (the two brake connecting rods located on the rear side of the U-shaped base 1) are fixed on the rear brake synchronizing shaft seat 6; as shown in Figure 2, the U-shaped base 1 is located away from the synchronizing shaft 8.
  • Front brake axle seats 25 are provided on both sides, and the brake connecting rods 12 (the two brake connecting rods located on the front side of the U-shaped base 1) away from the synchronization shaft 8 are fixed on the front brake axle seat 25;
  • the U-shaped Casters 24 are provided below the base 1 near the rear brake synchronization shaft seat 6. Casters 24 are provided below the U-shaped base 1 near the front brake shaft seat 25.
  • a total of four casters 24 are provided below the U-shaped base 1.
  • the brake link 12 is connected to the rear brake synchronization shaft seat 6 or the front brake through the brake shaft 13.
  • the brake shaft seat 25 and the brake link 12 lock the brake shaft 13 through the expansion sleeve.
  • the rotation of the brake link 12 drives the brake shaft 13 to rotate.
  • the rotation of the brake shaft 13 can lock the caster 24 Die or let go.
  • the connecting rod receiving plate 1002 drives the brake connecting rod 12 to swing, thereby driving the brake shaft 13 to rotate.
  • the rotation of the brake shaft 13 can control the locking or loosening of the central control swivel caster. Open, so that the lifting and lowering of the pedal assembly and the locking or loosening of the central control swivel caster can be controlled at the same time through the action of a single external force.
  • the caster with a central control brake has an adjustment piece inside.
  • the adjustment piece is provided with an inner hexagonal hole.
  • the end of the brake shaft is an outer hexagon.
  • the end of the outer hexagonal brake shaft is inserted into the adjustment piece.
  • the rotation of the brake shaft drives the adjustment piece to rotate.
  • the rotation of the adjusting member realizes the locking or loosening of the caster.
  • the specific structure of the caster with centrally controlled brake is an existing technology. Please refer to the patent CN204845381U, which will not be described in detail here.
  • the four casters can also be two casters with central control brakes and two directional wheels.
  • the two casters with central control brakes are both below the open end of the U-shaped base or both are on the bottom of the U-shaped base.
  • Below the closed end two directional wheels are arranged below the other end of the U-shaped base.
  • the brake shaft seat, brake shaft, and brake connecting rod corresponding to the directional wheels can be removed.
  • the front brake axle seat and the corresponding brake can also be Remove the shaft and brake connecting rod, or remove the rear brake synchronization shaft seat and the corresponding brake shaft and brake connecting rod.
  • control pedal mounting base 16 is provided with guide rails 23 on both sides, and a slider is provided on one side of the connecting rod receiving plate 1002.
  • the control pedal mounting base 16 is connected to the control pedal mounting base 16 through the guide rails 23 and the slider.
  • the connecting rod receiving plate 1002 is slidingly connected; users can adjust the position of the control pedal mounting base 16 according to their own needs, adapting to the use of different people and improving the comfort of use.
  • a screw fixing sleeve 18 is provided at the bottom of the control pedal mounting base 16, and a screw 19 is disposed in the screw fixing sleeve 18.
  • the screw 19 is The other end is provided with a driven gear 20; the driven gear 20, the driving gear 21 and the driving mechanism are all fixed on the main bracket 1001.
  • the driving mechanism drives the driving gear 21 to rotate.
  • the driving gear 21 and the driven gear 20 mesh.
  • the driven gear 20 is connected to the lead screw 19 through threads, and the main bracket 1001 is provided with a through hole corresponding to the lead screw 19, and the lead screw 19 can perform telescopic movement in the through hole.
  • the driving mechanism drives the driving gear 21 to rotate, which in turn drives the driven gear 20 to rotate.
  • the rotation of the driven gear 20 drives the screw 19 to telescopically move, which in turn drives the screw fixed sleeve 18 to perform linear motion.
  • the screw fixed sleeve 18 drives the control pedal to be installed.
  • the base 16 moves linearly to achieve precise control of the position of the pedal mounting base 16 .
  • Second guide mechanisms are provided on both sides of the second balance assembly 17.
  • the second guide mechanism includes a moving part and a guide part.
  • One of the moving part and the guide part is arranged on the U-shaped base 1, and the other of the moving part and the guide part is arranged on the U-shaped base 1.
  • One is arranged on the control pedal assembly, and the moving component cooperates with the guide component to provide guidance for the movement of the control pedal component.
  • the moving component is the second guide shaft 22, and the guide component is the second guide sleeve 27.
  • the second guide shaft 22 is provided on the second mounting plate 1003, and the lower part of the U-shaped base 1 corresponds to the second guide.
  • the shaft 22 is provided with a second guide sleeve 27, and the second guide shaft 22 slides in the second guide sleeve 27 to achieve guidance.
  • the second guide shaft 22 can also be provided below the U-shaped base 1, and the second guide sleeve 27 is provided on the second mounting plate 1003.
  • the second guide shaft 22 is located on the second guide sleeve. 27 slides inside to achieve guidance.
  • the moving component can also be a slider
  • the guide component can be a guide rail.
  • the slider is provided on the second mounting plate 1003.
  • the guide rail is provided below the U-shaped base 1. The guide rail cooperates with the slider to achieve guidance.
  • the slide block can also be disposed below the U-shaped base 1.
  • the guide rail is disposed on the second mounting plate 1003, and the guide rail cooperates with the slide block to achieve guidance.

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Abstract

一种医生控制平台底座，包括底座（1）、同步脚踏组件、控制踏板组件及刹车组件；底座（1）的两侧底部设置同步脚踏组件；控制踏板组件两侧与底座（1）的下表面连接，控制踏板组件的两侧与同步脚踏组件连接；底座（1）下方设置行走装置，刹车组件一端与控制踏板组件铰接，另一端与行走装置连接；至少一个同步脚踏组件受外力时，两个同步脚踏组件同步升降，且同时驱动控制踏板组件同向升降；控制踏板组件做升降运动时能够带动刹车组件运动，实现锁紧或松开行走装置。本装置通过踩下同步脚踏（2）即可实现控制踏板组件同步上升或下降，简化了驱动机构，节省成本，提高了使用舒适度；能够将同步脚踏组件稳定在最高稳定点或最低稳定点。

Description

一种医生控制平台底座
本申请要求在2022年3月9日提交中国专利局、申请号为202210223678.0、发明名称为“一种医生控制平台底座”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗设备领域，尤其是一种医生控制平台底座。
背景技术
随着技术的发展，微创手术以其手术创伤小、康复时间短、患者痛苦少等优点得到了越来越广泛的应用。腹腔镜手术机器人也随着微创手术的推广而迅速发展。它是一种新型微创手术设备，由医生控制平台、患者手术平台、图像平台构成，医生控制平台的上端具有便于手操作的主控机械臂，下端设置便于脚操作的踏板；手术医生通过手操作医生控制平台上的主控机械臂，医生通过双手操作主控机械臂及采用脚操作控制踏板(或按钮等)，远程控制患者手术平台上的手术机械臂，让手术机械臂在患者体内进行切开、分离、缝合等诸多复杂的动作，从而完成手术。
医生控制平台可以通过人工推动来进行部署。在推动医生控制平台时，为保证医生控制平台具有对一定地形的通过性，控制台的万向脚轮和其底盘的最低点之间，需要有一定高度差。而在医生控制平台部署就位后，则需要锁死万向脚轮，以提供一个较为稳定的操作平台，同时，安装有各种控制脚踏开关的踏板底座需要落到地面，让手术医生使用脚操作时更为舒适。
现有的医生控制平台的锁死和踏板底座的落下需要两个操纵机构分别控制，导致整个设备比较繁琐；或是仅有医生控制平台锁死机构，而没有踏板升降机构，踏板持续处于较高位置，手术医生在操纵控制脚踏开关时，腿脚悬离地面，操作时不太舒适。如现有专利CN207870961U提出了一种结构简单、能够有效提高医生的操作舒适度和准确度的手术机器人的医生控制台，包括操作平台，所述操作平台底部设置有升降立柱，所述升降立柱的顶部与操作平台固定在一起，所述升降立柱的底部与底座机架固定在一起，所述升降立柱外设置有外壳，所述外壳随操作平台的升降同步上升和下降，该医生控制台，通过将控制台与升降立柱连接，使得操作平台的高度可升调节，使医生 操作手术更加灵活自如，提高了设备的实用性，有效地提高了医生的操作准确度和舒适度。但是该医生控制台并未涉及底部脚轮锁死机构和踏板升降机构的简化。
发明内容
为了解决上述问题，本发明提供一种医生控制平台底座，旨在简化底座踏板升降机构，提高使用舒适度。
为达到上述目的，本发明的技术方案如下：
一种医生控制平台底座，包括U型底座、同步脚踏组件、控制踏板组件及刹车组件；所述U型底座的两侧的底部通过第一平衡组件和第一导向机构设置所述同步脚踏组件；
所述控制踏板组件布置在所述U型底座的开口中，所述控制踏板组件的两侧通过第二平衡组件和第二导向机构与所述U型底座的下表面连接，且所述控制踏板组件的两侧与所述同步脚踏组件连接；
所述U型底座下方设置行走装置，所述刹车组件一端与所述控制踏板组件铰接，所述刹车组件的另一端与所述行走装置连接；
至少一个所述同步脚踏组件受外力时，两个所述同步脚踏组件同步做升降运动，且同时驱动所述控制踏板组件做同向升降运动；所述控制踏板组件做升降运动时能够带动所述刹车组件运动，实现锁紧或松开所述行走装置。
进一步地，所述控制踏板组件包括控制踏板支架、控制踏板安装座、第二平衡组件和所述第二导向机构，所述控制踏板安装座设置在所述控制踏板支架上，所述第二平衡组件一端与所述控制踏板支架连接，另一端与U型底座连接；所述控制踏板支架与所述同步脚踏组件连接。
更进一步地，所述控制踏板支架或同步脚踏组件中的一个上设置有凸卡接特征，且所述控制踏板支架或同步脚踏组件中的另一个设置有能与所述凸卡接特征相配合的凹卡接特征。
所述凸卡接特征为同步脚踏挂柱，所述凹卡接特征为U型槽，所述同步脚踏挂柱包括圆柱形的支杆和设置在所述支杆上端的挡板，所述U型槽卡在所述支杆上。
更进一步地，所述控制踏板支架与所述同步脚踏组件相铰接或卡接；铰接时，所述控制踏板支架上设置铰接杆，所述同步脚踏组件与所述铰接杆铰接。
更进一步地，所述第二导向机构包括两个第二导向轴和两个第二导向套，所述第 二导向轴设置在所述第二平衡组件两侧，所述第二导向套穿设在所述第二导向轴上，并且所述第二导向套的一端与所述U型底座固定连接；所述第二导向轴在所述第二导向套内滑动。
更进一步地，所述控制踏板安装座靠近所述U型底座的封闭端的一侧通过伸缩装置与所述控制踏板支架连接。
更进一步地，所述伸缩装置包括丝杠固定套、丝杠、从动齿轮、主动齿轮、驱动机构，所述丝杠固定套设置在所述控制踏板安装座的底部，所述丝杠固定套内设置所述丝杠，所述丝杠的另一端设置所述从动齿轮，所述从动齿轮与所述主动齿轮啮合；所述从动齿轮和所述主动齿轮均设置在所述控制踏板支架上，所述驱动机构驱动所述主动齿轮作旋转运动；所述从动齿轮与所述丝杠通过螺纹连接，所述控制踏板支架上设置与所述丝杠对应的通孔，所述丝杠在所述通孔内作伸缩运动。
更进一步地，所述控制踏板支架包括主支架、连杆承接板和第二安装板，所述主支架设置在所述U型底座的封闭端的下方，所述连杆承接板设置在所述主支架两侧，所述第二安装板设置在所述连杆承接板的外侧；所述控制踏板安装座两侧设置导轨，所述连杆承接板一侧设置滑块，所述控制踏板安装座通过所述导轨和所述滑块与所述连杆承接板滑动连接。
进一步地，所述同步脚踏组件包括两个同步脚踏、两个第一安装板、两个第一平衡组件和两个所述第一导向机构；两个所述第一安装板分设在所述U型底座的两侧，所述同步脚踏和所述第一平衡组件设置在所述第一安装板上；所述第一平衡组件固定在所述U型底座的下方，所述同步脚踏与所述控制踏板组件连接。
更进一步地，所述第一导向机构包括两个第一导向轴和两个第一导向套，所述第一导向轴设置在所述第一平衡组件的两侧，所述第一导向套穿设在所述第一导向轴上，并且所述第一导向套的一端与所述U型底座固定连接；所述第一导向轴在所述第一导向套内滑动。
更进一步地，所述第一平衡组件包括移动安装座、弹性部件、固定安装座，所述固定安装座固定在所述U型底座下方，所述移动安装座设置在所述第一安装板上；所述弹性部件一端连接所述固定安装座，所述弹性部件另一端连接所述移动安装座。
更进一步地，所述弹性部件为弹簧、波纹管或者膜片等具有一定回弹力的弹性部件。
更进一步地，所述同步脚踏组件还包括同步轴和两个同步脚踏连杆；所述同步轴的端部与所述同步脚踏连杆固定连接，所述同步脚踏连杆与所述第一安装板铰接。
更进一步地，所述同步脚踏包括脚踏板，所述脚踏板中开设有限位结构，所述U型底座上安装有限位轴；所述限位轴插在所述限位结构中；所述限位结构至少具有上限部和下限部；当同步脚踏组件上升或下降至预设位置时，所述限位结构能够与对应的上限部或下限部配合以实现定位。
更进一步地，所述限位结构包括转轴和限位槽套筒，所述转轴上穿设限位槽套筒，所述限位槽套筒的外壁上设置限位槽，所述限位槽距离所述脚踏板的底面的距离随所述限位槽套筒的旋转增大或减小；所述限位轴插入所述限位槽中。
更进一步地，所述医生控制平台底座还包括用于判断所述同步脚踏的位置的感应装置；所述感应装置包括感应片和接近开关；所述感应片或接近开关安装在所述U型底座上。
进一步地，所述行走装置包括至少2个具有中控刹车的脚轮；所述刹车组件包括至少两个刹车轴座以及刹车轴、刹车连杆；
所述刹车轴座设置在所述U型底座的开口端的两侧下方，且靠近所述具有中控刹车的脚轮，所述刹车连杆一端与所述控制踏板组件铰接，所述刹车连杆的另一端通过所述刹车轴与所述具有中控刹车的脚轮连接；
所述刹车轴上穿设所述刹车轴座，所述刹车轴能够在所述刹车轴座内转动，实现所述驱动轮锁死或松开。
进一步地，所述第一导向机构与所述第二导向机构结构相同。
与现有技术相比，本发明的有益效果为：
(1)本发明通过在U型底座下方设置同步脚踏组件，同步脚踏组件通过第一平衡组件固定在U型底座上，第一平衡组件为同步脚踏提供向上的拉力；控制踏板组件通过第二平衡组件固定在U型底座上，第二平衡组件为控制踏板安装座提供向上的拉力，同时同步脚踏通过同步脚踏挂柱与控制踏板组件连接，因此，当踩下同步脚踏时，同步脚踏下压带动控制踏板安装座下压，同步脚踏在最低点时，控制踏板安装座也处于最低位置，便于医生使用控制踏板安装座上的踏板或按钮，提高了使用舒适度；当同步脚踏上升时，同步脚踏通过同步脚踏挂柱带动控制踏板安装座上升，同步脚踏上升至最高点时，控制踏板安装座也处于最高位置，实现同步脚踏和控制踏板安装座的联 动。
(2)本发明中同步脚踏组件包括两个第一安装板，分设在U型底座两侧，每个第一安装板均设置一个第一平衡组件，两个第一安装板之间通过同步轴连接，同步轴通过同步脚踏连杆铰接在第一安装板上，踩下一侧的同步脚踏，这一侧的第一安装板下降，通过同步脚踏连杆带动同步轴转动，同步轴的转动带动另一侧的第一安装板下降，进而实现只需踩下一侧同步脚踏即可驱动两侧同步脚踏同时下降，使医生控制平台底座两侧的运行一致，医生控制平台底座更加稳定，并且便于使用。
(3)本发明中的同步脚踏包括脚踏板，脚踏板为方形中空件，脚踏板内设置转轴，转轴上穿设限位槽套筒，限位槽套筒的外壁上设置限位槽，结合U型底座上设置的限位轴固定座，限位轴固定座上设置限位轴，限位轴插入限位槽中，限位槽设计为与脚踏板底面之间的距离随限位槽套筒的旋转增大或减小，因此当踩下脚踏板后，由于限位轴的限制，限位槽套筒做旋转运动，进而限位轴在限位槽内移动，限位槽内具有最高稳定点和最低稳定点，能够将限位轴稳定在最高稳定点或最低稳定点，实现脚踏板稳定停止在最高位置或最低位置。
(4)本发明中连杆承接板的两端铰接刹车连杆，靠近同步轴的刹车连杆固定在后刹车同步轴座上；远离同步轴的刹车连杆固定在所述前刹车轴座上；刹车连杆通过刹车轴连接后刹车同步轴座或前刹车轴座，刹车连杆的转动驱动刹车轴转动，刹车轴的转动能够将脚轮锁死或松开；进而当踩下同步脚踏时，同步脚踏带动控制踏板组件下降，控制踏板组件的下降通过刹车连杆带动刹车轴转动，实现脚轮的锁死，同理，再次踩下同步脚踏后，同步脚踏在第一平衡组件的拉力作用下上升，同时，控制踏板组件上升，刹车连杆带动刹车轴反方向转动实现脚轮的松开；即通过踩下同步脚踏即可实现脚轮的锁死或松开，同时控制踏板组件同步上升或下降，简化了驱动机构，提高了使用舒适度。
附图说明
图1为本发明的结构示意图。
图2为本发明隐藏了所述U型底座后的结构示意图。
图3为本发明翻转180°后，并隐藏了所述同步脚踏组件和所述控制踏板组件后的结构示意图。
图4为本发明第一平衡组件的结构示意图。
图5为本发明所述控制踏板组件的结构示意图。
图6为本发明所述同步脚踏组件的结构示意图。
图7为刹车连杆与刹车轴的结构示意图。
图8为同步脚踏的结构示意图。
图9为限位槽的展开示意图。
附图标记说明：
1-U型底座，2-同步脚踏，201-脚踏板，202-转轴，203-限位槽套筒，
3-第一安装板，4-第一平衡组件，401-移动安装座，402-弹性部件，403-固定安装座，5-第一导向轴，6-后刹车同步轴座，7-同步脚踏连杆，8-同步轴，9-接近开关，
10-控制踏板支架，1001-主支架，1002-连杆承接板，1003-第二安装板，
11-同步脚踏挂柱，12-刹车连杆，13-刹车轴，14-铰接连杆，15-铰接轴，
16-控制踏板安装座，17-第二平衡组件，18-丝杠固定套，19-丝杠，20-从动齿轮，21-主动齿轮，22-第二导向轴，23-导轨，
24-脚轮，25-前刹车轴座，26-第一导向套，27-第二导向套，28-限位轴固定座，29-限位轴，30-同步脚踏感应片，
31-高位稳定停止点，32-高低转换非稳定停止点，33-低位稳定停止点，34-低高转换非稳定停止点。
具体实施方式
下面将结合附图说明对本发明的技术方案进行清楚的描述，显然，所描述的实施例并不是本发明的全部实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明的保护范围。需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，并不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
如图1所示，本发明提供一种医生控制平台底座，包括U型底座1、同步脚踏组件、控制踏板组件及刹车组件；所述U型底座1的两侧的底部通过第一平衡组件4和第一导向机构设置所述同步脚踏组件；所述控制踏板组件布置在所述U型底座1的开口中，所述控制踏板组件的两侧通过第二平衡组件17和第二导向机构与所述U型底座 1的下表面连接，且所述控制踏板组件的两侧与所述同步脚踏组件连接；
所述U型底座1下方设置行走装置，所述刹车组件一端与所述控制踏板组件铰接，所述刹车组件的另一端与所述行走装置连接；至少一个所述同步脚踏组件受外力时，两个所述同步脚踏组件同步做升降运动，且同时驱动所述控制踏板组件做同向升降运动；所述控制踏板组件做升降运动时能够带动所述刹车组件运动，实现锁紧或松开所述行走装置。
所述同步脚踏组件包括同步脚踏2、第一安装板3和第一平衡组件4，所述同步脚踏2和所述第一平衡组件4设置在所述第一安装板3上；所述第一平衡组件4固定在所述U型底座1的下方；所述控制踏板组件包括控制踏板支架10、控制踏板安装座16、第二平衡组件17，所述控制踏板安装座16和所述第二平衡组件17设置在所述控制踏板支架10上，所述第二平衡组件17固定在所述U型底座1的下方。
所述控制踏板支架10与所述同步脚踏组件采用卡接或者铰接的方式，本实施例中，所述控制踏板支架10与所述同步脚踏组件采用卡接的连接方式，所述控制踏板支架10或同步脚踏组件中的一个上设置有凸卡接特征，且所述控制踏板支架10或同步脚踏组件中的另一个设置有能与所述凸卡接特征相配合的凹卡接特征。
优选地，凸卡接特征为同步脚踏挂柱11，凹卡接特征为U型卡槽；所述控制踏板支架10上设置同步脚踏挂柱11，所述同步脚踏组件上设置U型卡槽。如图5所示，所述同步脚踏挂柱11包括圆柱形的支杆和设置在所述支杆上端的挡板。如图6所示，所述同步脚踏2包括脚踏板201，所述脚踏板201一侧设置延伸板，所述延伸板上开设U型卡槽，U型卡槽卡在所述支杆上，实现同步脚踏2和控制踏板安装座16的联动控制。
在其他实施例中，同步脚踏挂柱也可以设置在同步脚踏组件上，相应地，U型卡槽设置在控制踏板组件上。
在其他实施例中，凸卡接特征也可以为挂钩，凹卡接特征为吊环，挂钩具有一定的豁口，便于挂入吊环中，挂钩的具体形状可以设计为多种，如方形、圆形、U型均可，此处不做特别限定。挂钩可以设置在控制踏板组件和同步脚踏组件其中一个上，相应地，吊环设置在另一个组件上。
在其他实施例中，控制踏板支架与同步脚踏组件也可以采用铰接的方式，控制踏板支架10上设置铰接杆，铰接杆的一端固定在控制踏板支架10上，铰接杆的另一端 设置圆环；同步脚踏2上设置立柱，立柱套在铰接杆的圆环中实现铰接，立柱的上端面设置限位法兰，铰接杆能够在立柱上上下移动一定的距离。
所述U型底座1为U型，所述同步脚踏组件设置在所述U型底座1的外围，所述控制踏板组件设置在所述U型底座1的中部，所述控制踏板安装座16设置在所述U型底座1的内部的中空区域内。U型底座1是医生控制平台底座的主体机架，同步脚踏组件和控制踏板组件均安装在所述U型底座1上。第一平衡组件一方面用于平衡所述同步脚踏组件的重量，为同步脚踏组件的升降运动提供动力，另一方面通过同步脚踏挂柱11为控制踏板组件提供动力；第二平衡组件17为控制踏板组件的升降运动提供动力，在外力作用下，同步脚踏2做升降运动时，同步脚踏2通过同步脚踏挂柱11带动控制踏板支架10做升降运动，控制踏板支架10带动控制踏板安装座16也做升降运动，实现了同步脚踏2和控制踏板的同步升降。控制踏板安装座16上设置各种控制脚踏开关，用于通过脚部对手术机器人的一些动作进行控制。
如图2所示，所述第一安装板3的数量为2，所述第一安装板3分设在所述U型底座1的两侧；如图6所示，所述同步脚踏组件还包括两个后刹车同步轴座6和同步脚踏连杆7，后刹车同步轴座6安装在U型底座1上，两个后刹车同步轴座6之间通过同步轴8连接；所述同步轴8穿过所述后刹车同步轴座6并向外延伸，所述同步轴8的端部与所述同步脚踏连杆7固定连接，优选为同步脚踏连杆7通过胀紧套将同步轴8的端部抱死；所述同步脚踏连杆7与所述第一安装板3铰接，第一安装板3一侧设置向上凸起的三角形板，同步脚踏连杆7与三角形板通过两个小板和销轴实现铰接。在U型底座1两侧对称设置同步脚踏组件，向其中一侧的同步脚踏组件施加一定的外力，施加外力一侧的同步脚踏向下运动，第一安装板3拉动同步脚踏连杆7围绕同步轴8转动，同时同步轴8转动，进而带动另一侧的同步脚踏连杆7转动，另一侧同步脚踏连杆7转动带动另一侧的第一安装板3下降，进而实现另一侧的同步脚踏2下降，实现两侧同步脚踏组件的状态一致。
如图2和图3所示，所述第一平衡组件4两侧设置第一导向机构，第一导向机构包括运动部件和导向部件，运动部件和导向部件其中的一个设置在U型底座上，运动部件和导向部件其中的另一个设置在同步脚踏组件上，运动部件与导向部件配合为同步脚踏组件的运动提供导向作用。
本实施例中，运动部件为第一导向轴5，导向部件为第一导向套26，第一导向轴 5设置在第一安装板3上，所述U型底座1下方对应所述第一导向轴5设置第一导向套26，所述第一导向轴5在所述第一导向套26内滑动，实现导向。
在其他实施例中，第一导向轴5也可以设置在U型底座1的下方，第一导向套26设置在第一安装板3上，所述第一导向轴5在所述第一导向套26内滑动，实现导向。
在其他实施例中，运动部件还可以为滑块，导向部件为导轨，滑块设置在第一安装板3上，导轨设置在U型底座1的下方，导轨与滑块配合实现导向。
在其他实施例中，滑块也可以设置在U型底座的下方，相应地，导轨设置在第一安装板3上，导轨与滑块配合实现导向。
如图6所示，所述第一安装板3上设置接近开关9，所述接近开关9靠近所述同步脚踏连杆7设置；如图3所示，所述U型底座1下方设置同步脚踏感应片30，接近开关9跟随第一安装板3做升降运动，所述同步脚踏感应片30通过感应所述接近开关9的位置，判断所述同步脚踏2的位置，能够实时了解同步脚踏2的位置，并且可以将同步脚踏2的位置显示在医生控制平台的显示屏上。
在其他实施例中，接近开关9和同步脚踏感应片30的位置可以互换，即在U型底座1下方设置接近开关9，在第一安装板3上设置同步脚踏感应片30，具体如何选择可以根据实际需要进行设置。
在其他实施例中，接近开关9也可以设置在脚踏板201的一侧，同步脚踏感应片30设置在U型底座1上。或者接近开关9设置在第一安装板3上，同步脚踏感应片30设置在固定安装座403上。只要接近开关9和同步脚踏感应片30中的其中一个设置相对位置不变的U型底座1或者与U型底座1固定连接的非变形部件上，接近开关9和同步脚踏感应片30中的另一个设置在与同步脚踏2运动轨迹完全一致的部件上，即可实现同步脚踏2位置的监测。
如图4所示，所述第一平衡组件4包括移动安装座401、弹性部件402、固定安装座403，所述固定安装座403固定在所述U型底座1下方，所述移动安装座401设置在所述第一安装板3上；所述弹性部件402一端连接所述固定安装座403，所述弹性部件402另一端连接所述移动安装座401。第二平衡组件17与第一平衡组件4的结构基本一致，第二平衡组件17的弹力与第一平衡组件4的弹力可以相同也可以不同。
弹性部件402可以为弹簧、波纹管或者膜片等具有一定回弹力的弹性部件，本实施例中弹性部件为弹簧。
如图8所示，所述脚踏板201为方形中空件，所述脚踏板201内部设置转轴202，所述转轴202上穿设限位槽套筒203，限位槽套筒203通过轴承安装在转轴202上，因此，限位槽套筒203能够绕转轴202自由转动，所述限位槽套筒203的外壁上设置限位槽，所述限位槽距离所述脚踏板201底面的距离随所述限位槽套筒203的旋转增大或减小；如图3所示，所述同步脚踏2外侧设置限位轴固定座28，所述限位轴固定座28设置在所述U型底座1的外壁上，所述限位轴固定座28上设置限位轴29，所述限位轴29向所述同步脚踏2延伸；所述限位轴29插入所述限位槽中，限位轴29通过轴承安装在限位轴固定座28上，因此，限位轴29能够自由转动，从而减少了限位轴29在限位槽内运动时的摩擦力。如图9所示为限位槽的展开示意图，限位轴插入限位槽中因此限位轴只能沿着限位槽运动，因此，当同步脚踏组件中的同步脚踏2以及固定在其内部的限位槽套筒203在外力作用下做升降运动时，受限位轴29的限制，限位槽套筒203在上下运动的同时，绕转轴202转动，从而限位轴29始终沿限位槽运动。而限位槽套筒203的上下运动和旋转运动的复合，可以认为使得限位轴29在图9的展开图中做上下和左右两个方向的运动，此外，由于同步脚踏组件始终受到第一平衡组件4向上的拉力。安装在同步脚踏2内的限位槽套筒203也始终受到向上的拉力；限位轴29在限位槽内移动时，会停止在四个位置点；当限位轴29位于图9中最右侧的高位稳定停止点31时，在无外力作用下，限位槽套筒203在第一平衡组件4的向上拉力作用下，限位轴29下侧面与限位槽紧贴，此时，同步脚踏2处于高位稳定停止点31。当外力踩下同步脚踏2时，限位槽套筒203下降，限位轴29在限位槽上侧面的限制下，只能沿限位槽向左运动，达到右侧第二个点的位置，即高低转换非稳定停止点32，此时，同步脚踏2位于最低的位置，但在这个位置时，当外力撤销后，同步脚踏2将在向上拉力和限位槽下侧面的共同作用下，使得限位轴29沿限位槽向左运动，最终在右侧第三个点的位置，即低位稳定停止点33达到稳定状态，此时同步脚踏2位于可以稳定停止的最低位置。当外力再次踩下同步脚踏2时，限位轴29在限位槽上侧面的限制下，只能再次沿限位槽向左运动，达到右侧第四个点的位置，即低高转换非稳定停止点34，在这个位置上，当外力撤销后，同步脚踏2在向上拉力和限位槽下侧面的共同作用下，使得限位轴29再次沿限位槽向左运动，回到右侧第一个点的位置，即高位稳定停止点31，完成一个运动循环。因此，当同步脚踏2位于高位稳定停止点，踩下同步脚踏2，它将达到最低但不稳定的位置(高低转换非稳定停止点32)，松开 同步脚踏2后，它将在低位稳定停止点33稳定停止，同时控制踏板组件也下落到地面，提高使用舒适度。而后，再次踩下同步脚踏2，同步脚踏2将再次到达最低但不稳定的位置(低高转换非稳定停止点34)，此时松开同步脚踏2后，它将在高位稳定停止点31稳定停止，即回到了初始状态，同时控制踏板组件也悬停在一定高度，保证医生控制平台移动时的通过性。
如图5所示，所述控制踏板支架10包括主支架1001、连杆承接板1002和第二安装板1003，所述主支架1001位于U型底座1的后侧下方；所述连杆承接板1002竖直设置在所述主支架1001两侧，所述第二安装板1003水平设置在所述连杆承接板1002的外侧；所述同步脚踏挂柱11设置在所述第二安装板1003上，所述连杆承接板1002的两端设置凸耳，两端的凸耳通过铰接轴15铰接所述铰接连杆14，铰接连杆14铰接刹车连杆12，靠近所述同步轴8的刹车连杆12(位于U型底座1后侧的两个刹车连杆)固定在所述后刹车同步轴座6上；如图2所示，所述U型底座1在远离所述同步轴8的两侧设置前刹车轴座25，远离所述同步轴8的刹车连杆12(位于U型底座1前侧的两个刹车连杆)固定在所述前刹车轴座25上；所述U型底座1下方靠近所述后刹车同步轴座6设置脚轮24，所述U型底座1下方靠近所述前刹车轴座25设置脚轮24，U型底座1下方共设置四个脚轮24，四个脚轮24构成四边形支撑医生控制平台，四个脚轮24均为具有中控刹车的脚轮；如图7所示，所述刹车连杆12通过刹车轴13连接所述后刹车同步轴座6或所述前刹车轴座25，刹车连杆12通过胀紧套将刹车轴13抱死，所述刹车连杆12的转动驱动所述刹车轴13转动，所述刹车轴13的转动能够将所述脚轮24锁死或松开。当控制踏板组件跟随同步脚踏组件做升降运动时，连杆承接板1002带动刹车连杆12摆动，从而带动刹车轴13转动，刹车轴13的转动可以控制中控万向脚轮的锁死或松开，这样就可以通过单个外力作用，同时实现控制踏板组件的升降和中控万向脚轮的锁紧或松开。
具有中控刹车的脚轮内部具有调节件，调节件上设置内六角孔，刹车轴的末端为外六角形，外六角形的刹车轴的末端插入调节件内，刹车轴的转动驱动调节件转动，调节件的转动实现脚轮的锁紧或松开，具有中控刹车的脚轮的具体结构为现有技术，可参考专利CN204845381U，在此不作详细描述。
在其他实施例中，四个脚轮也可以为两个具有中控刹车的脚轮和两个定向轮，两个具有中控刹车的脚轮均在U型底座的开口端的下方或者均在U型底座的封闭端的下 方，两个定向轮设置在U型底座的另一端的下方，相应地，对应定向轮的刹车轴座、刹车轴、刹车连杆可以去除。
在其他实施例中，四个脚轮均为具有中控刹车的脚轮的情况下，如果其中两个刹车脚轮提供的刹车力足够使医生控制平台稳定停止，也可以将前刹车轴座以及对应的刹车轴、刹车连杆去除，或者将后刹车同步轴座以及对应的刹车轴、刹车连杆去除。
如图5所示，所述控制踏板安装座16两侧设置导轨23，所述连杆承接板1002一侧设置滑块，所述控制踏板安装座16通过所述导轨23和所述滑块与所述连杆承接板1002滑动连接；使用人员能够根据自身需要调节控制踏板安装座16的位置，适应不同人员使用，提高使用舒适度。
为了更好的控制所述控制踏板安装座16的位置，在所述控制踏板安装座16底部设置丝杠固定套18，所述丝杠固定套18内设置丝杠19，所述丝杠19的另一端设置从动齿轮20；从动齿轮20和主动齿轮21以及驱动机构均固定在所述主支架1001上，驱动机构驱动所述主动齿轮21旋转，所述主动齿轮21与所述从动齿轮20啮合。所述从动齿轮20与所述丝杠19通过螺纹连接，并且主支架1001上设置与所述丝杠19对应的通孔，丝杠19能够在通孔内作伸缩运动。驱动机构驱动主动齿轮21旋转，进而带动从动齿轮20旋转，从动齿轮20的旋转驱动丝杠19作伸缩运动，进而带动丝杠固定套18做直线运动，丝杠固定套18带动控制踏板安装座16做直线运动，实现控制踏板安装座16位置的精确控制。
所述第二平衡组件17两侧设置第二导向机构，第二导向机构包括运动部件和导向部件，运动部件和导向部件其中的一个设置在U型底座1上，运动部件和导向部件其中的另一个设置在控制踏板组件上，运动部件与导向部件配合为控制踏板组件的运动提供导向作用。
本实施例中，运动部件为第二导向轴22，导向部件为第二导向套27，第二导向轴22设置在第二安装板1003上，所述U型底座1下方对应所述第二导向轴22设置第二导向套27，所述第二导向轴22在所述第二导向套27内滑动，实现导向。
在其他实施例中，第二导向轴22也可以设置在U型底座1的下方，第二导向套27设置在第二安装板1003上，所述第二导向轴22在所述第二导向套27内滑动，实现导向。
在其他实施例中，运动部件还可以为滑块，导向部件为导轨，滑块设置在第二安 装板1003上，导轨设置在U型底座1的下方，导轨与滑块配合实现导向。
在其他实施例中，滑块也可以设置在U型底座1的下方，相应地，导轨设置在第二安装板1003上，导轨与滑块配合实现导向。
以上具体实施方式仅用以说明本发明的技术方案而非限制，尽管参照实例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的范围，其均应涵盖在本发明的权利要求范围当中。

Claims (13)

  1. 一种医生控制平台底座，其特征在于：包括U型底座、同步脚踏组件、控制踏板组件及刹车组件；所述U型底座的两侧的底部通过第一平衡组件和第一导向机构设置所述同步脚踏组件；
    所述控制踏板组件布置在所述U型底座的开口中，所述控制踏板组件的两侧通过第二平衡组件和第二导向机构与所述U型底座的下表面连接，且所述控制踏板组件的两侧与所述同步脚踏组件连接；
    所述U型底座下方设置行走装置，所述刹车组件一端与所述控制踏板组件铰接，所述刹车组件的另一端与所述行走装置连接；
    至少一个所述同步脚踏组件受外力时，两个所述同步脚踏组件同步做升降运动，且同时驱动所述控制踏板组件做同向升降运动；所述控制踏板组件做升降运动时能够带动所述刹车组件运动，实现锁紧或松开所述行走装置。
  2. 根据权利要求1所述的医生控制平台底座，其特征在于：所述控制踏板组件包括控制踏板支架、控制踏板安装座、第二平衡组件和所述第二导向机构，所述控制踏板安装座设置在所述控制踏板支架上，所述第二平衡组件一端与所述控制踏板支架连接，另一端与U型底座连接；所述控制踏板支架与所述同步脚踏组件连接。
  3. 根据权利要求2所述的医生控制平台底座，其特征在于：所述控制踏板支架或同步脚踏组件中的一个上设置有凸卡接特征，且所述控制踏板支架或同步脚踏组件中的另一个设置有能与所述凸卡接特征相配合的凹卡接特征。
  4. 根据权利要求2所述的医生控制平台底座，其特征在于：所述控制踏板支架与所述同步脚踏组件相铰接或卡接；铰接时，所述控制踏板支架上设置铰接杆，所述同步脚踏组件与所述铰接杆铰接。
  5. 根据权利要求2至4任一项所述的医生控制平台底座，其特征在于：所述控制踏板安装座靠近所述U型底座的封闭端的一侧通过伸缩装置与所述控制踏板支架连接。
  6. 根据权利要求5所述的医生控制平台底座，其特征在于：所述伸缩装置包括丝杠固定套、丝杠、从动齿轮、主动齿轮、驱动机构，所述丝杠固定套设置在所述控制踏板安装座的底部，所述丝杠固定套内设置所述丝杠，所述丝杠的另一端设置所述从动齿轮，所述从动齿轮与所述主动齿轮啮合；所述从动齿轮和所述主动齿轮均设置在所述控制踏板支架上，所述驱动机构驱动所述主动齿轮作旋转运动；所述从动齿轮与所述丝杠通过螺纹连接， 所述控制踏板支架上设置与所述丝杠对应的通孔，所述丝杠在所述通孔内作伸缩运动。
  7. 根据权利要求1所述的医生控制平台底座，其特征在于：所述同步脚踏组件包括两个同步脚踏、两个第一安装板、两个第一平衡组件和两个所述第一导向机构；两个所述第一安装板分设在所述U型底座的两侧，所述同步脚踏和所述第一平衡组件设置在所述第一安装板上；所述第一平衡组件固定在所述U型底座的下方，所述同步脚踏与所述控制踏板组件连接。
  8. 根据权利要求7所述的医生控制平台底座，其特征在于：所述第一平衡组件包括移动安装座、弹性部件、固定安装座，所述固定安装座固定在所述U型底座下方，所述移动安装座设置在所述第一安装板上；所述弹性部件一端连接所述固定安装座，所述弹性部件另一端连接所述移动安装座。
  9. 根据权利要求7或8所述的医生控制平台底座，其特征在于：所述同步脚踏包括脚踏板，所述脚踏板中开设有限位结构，所述U型底座上安装有限位轴；所述限位轴插在所述限位结构中；所述限位结构至少具有上限部和下限部；当同步脚踏组件上升或下降至预设位置时，所述限位结构能够与对应的上限部或下限部配合以实现定位。
  10. 根据权利要求9所述的医生控制平台底座，其特征在于：所述限位结构包括转轴和限位槽套筒，所述转轴上穿设限位槽套筒，所述限位槽套筒的外壁上设置限位槽，所述限位槽距离所述脚踏板的底面的距离随所述限位槽套筒的旋转增大或减小；所述限位轴插入所述限位槽中。
  11. 根据权利要求7所述的医生控制平台底座，其特征在于：所述医生控制平台底座还包括用于判断所述同步脚踏的位置的感应装置；所述感应装置包括感应片和接近开关；所述感应片或接近开关安装在所述U型底座上。
  12. 根据权利要求1所述的医生控制平台底座，其特征在于：所述行走装置包括至少2个具有中控刹车的脚轮；所述刹车组件包括至少两个刹车轴座以及刹车轴、刹车连杆；
    所述刹车轴座设置在所述U型底座的开口端的两侧下方，且靠近所述具有中控刹车的脚轮，所述刹车连杆一端与所述控制踏板组件铰接，所述刹车连杆的另一端通过所述刹车轴与所述具有中控刹车的脚轮连接；
    所述刹车轴上穿设所述刹车轴座，所述刹车轴能够在所述刹车轴座内转动，实现所述驱动轮锁死或松开。
  13. 根据权利要求1所述的医生控制平台底座，其特征在于：所述第一导向机构与所 述第二导向机构结构相同。
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