Leveling device, leveling method and surgical robot trolley

Abstract

The present invention discloses a leveling device, a leveling method, and a surgical robot trolley, comprising: a monitoring mechanism installed on the equipment, the monitoring mechanism being used to obtain the planar attitude information and vertical position information of the working surface of the equipment, the planar attitude information being the deviation information between the working surface and the horizontal plane, and the vertical position information being the position information of the working surface in the vertical direction; at least one lifting support mechanism installed at the bottom of the equipment, the lifting support mechanism being able to extend downward and move to a fixed surface to support the equipment; in the leveling state, the working surface is leveled by driving the portion to be leveled of the working surface in the vertical direction according to the planar attitude information. The present invention can first stably support the surgical robot trolley on a fixed surface through the lifting support mechanism, and then level the working surface according to the planar attitude information and the vertical position information, thereby ensuring that the surgical robot can stably perform surgical operations on the horizontal working surface without vibration or shaking.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile devices, and in particular, to a leveling device, a leveling method and a surgical robot trolley. Background Art

[0002] To ensure the portability of a surgical robot, the robot is placed on a surgical robot cart and moved to the target location within the surgical area using pulleys at the bottom of the cart. Considering that surgical tools are typically mounted on these carts, maintaining the stability of these tools requires locking the cart in the target location during surgery. In the prior art, the cart is raised using a lifting mechanism at its base. Once the pulleys are suspended, the lifting mechanism locks with the ground, securing the cart and supporting it.

[0003] However, due to the uneven floor of the operating room or the insufficient transmission accuracy of the lifting mechanism itself, the existing trolley may easily become uneven on the working surface for installing surgical tools after being lifted. For the surgical robot, the uneven working surface may further lead to abnormal control of subsequent surgical tools and even overturn due to the movement of surgical tools during the operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a leveling device, a leveling method and a surgical robot trolley to solve the current technical problem that the surgical robot is prone to vibration, shaking and instability during surgery due to the uneven floor of the operating room and the trolley being able to be pushed.

[0005] The above-mentioned purpose of the present invention can be achieved by adopting the following technical solutions:

[0006] The present invention provides a leveling device, comprising: a monitoring mechanism installed on a device, the monitoring mechanism being used to obtain planar attitude information and vertical position information of a working surface of the device, the planar attitude information being information on deviation between the working surface and a horizontal plane, and the vertical position information being information on the position of the working surface in the vertical direction; at least one lifting support mechanism installed at the bottom of the device, the lifting support mechanism being able to extend from the bottom of the device and move to a fixed surface to support the device; wherein the lifting support mechanism can drive the portion of the working surface to be leveled to move in the vertical direction according to the planar attitude information and the vertical position information to level the working surface.

[0007] In an embodiment of the present invention, there are multiple lifting support mechanisms, and when the working surface is leveled, multiple lifting support mechanisms are in contact with the fixed surface to form a first support structure to support the equipment; or the bottom of the equipment has multiple support members, and when the working surface is leveled, at least one support member and at least one lifting support mechanism are in contact with the fixed surface to form a second support structure to support the equipment.

[0008] In an embodiment of the present invention, the first supporting structure and the second supporting structure include at least one triangular supporting structure.

[0009] In an embodiment of the present invention, the plurality of support members are a plurality of moving wheels arranged at the bottom of the device.

[0010] In an embodiment of the present invention, the leveling device further includes a locking mechanism, and the lifting support mechanism can drive the locking mechanism to move to the fixing surface and be locked and fixed to the fixing surface by the locking mechanism.

[0011] In an embodiment of the present invention, the locking mechanism includes a pneumatic drive structure and a power foot cup, the power foot cup is installed at the bottom end of the lifting support mechanism, the pneumatic drive structure is installed at the bottom of the device and is connected to the power foot cup, and the pneumatic drive structure is used to drive the power foot cup to be adsorbed and connected to the fixed surface; or

[0012] The locking mechanism includes a magnetic drive structure and a magnetic foot cup. The magnetic foot cup is installed at the bottom end of the lifting support mechanism. The magnetic drive structure is installed at the bottom of the device and is electrically connected to the magnetic foot cup. The magnetic drive structure is used to drive the magnetic foot cup to be adsorbed and connected to the fixed surface.

[0013] In an embodiment of the present invention, the monitoring mechanism is installed on the working surface, and the monitoring mechanism includes a gyroscope, a tilt sensor and / or a laser sensor.

[0014] In an embodiment of the present invention, the lifting support mechanism includes a lifting support rod, a transmission structure and a lifting drive structure. The lifting drive structure is installed at the bottom of the device, and the lifting support rod is connected to the lifting drive structure through the transmission structure.

[0015] In an embodiment of the present invention, the transmission structure includes a meshing turbine and a worm, the worm is arranged in a horizontal direction, the lifting support rod is threadedly connected to the turbine, and the lifting drive structure drives the worm to rotate and drives the turbine to rotate, so that the lifting support rod moves in a vertical direction.

[0016] In an embodiment of the present invention, a limiting mechanism is further provided at the bottom of the device, and the limiting mechanism is used to limit the range of movement of the lifting support mechanism in the vertical direction.

[0017] The present invention also provides a leveling method, which adopts the above-mentioned leveling device, and the leveling method includes the following steps: the lifting support mechanism extends downward from the bottom of the equipment to the fixed surface to support the equipment; the monitoring mechanism obtains the planar posture information and the vertical position information of the equipment after being supported by the lifting support mechanism; based on the planar posture information, it is judged whether the working surface needs to be leveled; if so, the lifting support mechanism drives the part of the working surface to be leveled to move in the vertical direction according to the planar posture information and the vertical position information to level the working surface; wherein, after the working surface is leveled, multiple lifting support mechanisms contact the fixed surface to form a first support structure to support the equipment; or after the working surface is leveled, at least one lifting support mechanism and at least one support member at the bottom of the equipment jointly contact the fixed surface to form a second support structure to support the equipment.

[0018] In an embodiment of the present invention, the method further comprises: after the working surface is leveled, controlling any lifting support mechanism that contacts the fixed surface to lock with the fixed surface.

[0019] In an embodiment of the present invention, the lifting support mechanism moves downward from the bottom of the device and extends to the fixed surface to support the device, which specifically includes the following steps: the monitoring mechanism obtains the vertical position information of the device before being supported by the lifting support mechanism; the lifting support mechanism extends downward from the bottom of the device and moves to the fixed surface to support the device according to the vertical position information.

[0020] The present invention also provides a surgical robot trolley, comprising the above-mentioned leveling device.

[0021] The characteristics and advantages of the present invention are:

[0022] The leveling device, leveling method and surgical robot trolley of the present invention extend downward to a fixed surface through the lifting support mechanism, so that the lifting support mechanism can first stably support the surgical robot trolley on a fixed surface, and then accurately judge whether the working surface of the surgical robot trolley needs to be leveled based on the plane posture information obtained by the monitoring mechanism. When leveling is required, the part to be leveled on the working surface can be analyzed based on the plane posture information and vertical position information, and then the part to be leveled is driven to move in the vertical direction through the lifting support mechanism. At the same time, it is adjusted and judged whether the working surface is leveled based on the plane posture information and vertical position information fed back by the monitoring mechanism until the working surface of the surgical robot trolley is leveled, thereby ensuring that the surgical robot can stably perform surgical operations on the horizontal working surface without vibration or shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a side view schematic diagram of the leveling device of the present invention.

[0025] Figure 2 FIG. 1 is a bottom view of a leveling device according to a first embodiment of the present invention.

[0026] Figure 3 2 is a bottom view schematic diagram of the leveling device according to the first embodiment of the present invention.

[0027] Figure 4 FIG. 1 is a bottom view of a leveling device according to a second embodiment of the present invention.

[0028] Figure 5 FIG. 1 is a bottom view of a leveling device according to a third embodiment of the present invention.

[0029] Figure 6 It is a structural schematic diagram of the power foot cup of the present invention.

[0030] Figure 7 Schematic diagram of the structure of the pneumatic drive structure of the present invention.

[0031] Figure 8 It is a structural schematic diagram of the magnetic foot cup of the present invention.

[0032] Figure 9 It is a schematic diagram of the external structure of the transmission structure of the present invention.

[0033] Figure 10Schematic diagram of the internal structure of the transmission structure of the present invention.

[0034] Figure 11 It is a structural schematic diagram of the limiting mechanism of the present invention.

[0035] Figure 12 It is a working flow chart of the leveling device of the present invention. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] Implementation Method 1

[0038] like Figure 1 and Figure 12 As shown, the present invention provides a leveling device, comprising: a monitoring mechanism 1, mounted on the equipment, the monitoring mechanism 1 being used to obtain the planar attitude information and vertical position information of the working surface 511 of the equipment, the planar attitude information being the deviation information between the working surface 511 and the horizontal plane, and the vertical position information being the position information of the working surface 511 in the vertical direction; at least one lifting support mechanism 2, mounted on the bottom 512 of the equipment, the lifting support mechanism 2 being able to extend from the bottom of the equipment and move to a fixed surface 7 to support the equipment; wherein, in the leveling state, the lifting support mechanism 2 can drive the part of the working surface 511 to be leveled to move in the vertical direction according to the planar attitude information and the vertical position information to level the working surface 511.

[0039] The leveling device of the present invention extends downward to a fixed surface 7 through the lifting support mechanism 2, so that the lifting support mechanism 2 can first stably support the equipment on a fixed surface 7, and then accurately judge whether the working surface 511 needs to be leveled based on the plane posture information. When leveling is required, the part of the working surface 511 to be leveled can be analyzed based on the plane posture information and the vertical position information, and then the part to be leveled is driven to move in the vertical direction through the lifting support mechanism 2, and the platform posture information and vertical position information fed back in real time by the monitoring mechanism 1 are adjusted and judged whether the working surface 511 is leveled until the working surface 511 is leveled, thereby ensuring that the working surface 511 of the equipment is level without vibration or shaking.

[0040] Specifically, the fixed surface 7 is the ground. The equipment is a surgical robot trolley 5, which is used to drive the surgical robot 6 to move. The surgical robot 6 is placed on the working surface 511 of the surgical robot trolley 5 to perform surgical operations. After the surgical robot trolley 5 reaches the working position (or target position), the leveling device is activated to stably support the surgical robot trolley 5 on the floor of the operating room and level the working surface 511. More specifically, the vertical position information refers to the height information of the position corresponding to the lifting support mechanism 2 on the working surface 511. The plane posture information refers to the inclination direction information and the inclination angle information of the working surface 511. Optionally, the fixed surface is a fixed table top on other devices.

[0041] In the embodiment of the present invention, Figure 3 As shown, there are multiple lifting support mechanisms 2. When the working surface is leveled, multiple lifting support mechanisms 2 contact the fixed surface 7 to form a first support structure to support the equipment. Figure 4 and Figure 5 As shown, the bottom of the device has multiple support members. When the working surface 511 is leveled, at least one support member and at least one lifting support mechanism 2 are in contact with the fixed surface 7 to form a second support structure to support the device.

[0042] In the embodiment of the present invention, the number of support points in contact with the fixed surface 7 in both the first and second support structures is three, thereby forming a triangular support structure. Of course, the number of support points in contact with the fixed surface 7 in the first and second support structures is not limited to three, and may also be four, five, or more, or two, provided that support stability is ensured.

[0043] like Figure 1 and Figure 2 As shown, in the embodiment of the present invention, the device is movable. The bottom 512 of the device has multiple support members, which are multiple mobile wheels 52. In other words, the support members described in the present invention refer to structures located at the bottom of the device that support the device before the lifting support mechanism 2 contacts the ground. The multiple mobile wheels 52 support the device on the fixed surface 7 and can move the device to its working position. The number of mobile wheels 52 is not specifically limited; it is sufficient to ensure that multiple mobile wheels 52 can support the device stably.

[0044] Combine Figure 2 and Figure 3As shown, in the first embodiment, the number of lifting support mechanisms 2 is, for example, three. Preferably, the three lifting support mechanisms 2 are arranged in a triangular pattern, thereby forming a support structure to support the equipment in the leveled state. After the equipment reaches its working position, the three lifting support mechanisms 2 extend downward from the bottom of the equipment until all the moving wheels 52 are clear of the ground, and the support surface S1 formed by the three lifting support mechanisms 2 stably supports the equipment on the fixed surface 7. The monitoring mechanism 1 then obtains the planar attitude and vertical position information of the working surface 511. Based on this planar attitude information, it is determined whether the working surface 511 requires leveling. If leveling is required, the position to be leveled is analyzed based on the platform attitude and vertical position information. The height of the position to be leveled is then adjusted by the lifting support mechanisms 2 at the corresponding positions. Simultaneously, the working surface 511 is leveled based on the feedback from the monitoring mechanism 1. Specifically, the number of moving wheels 52 is four. The shape of the working surface 511 is similar to that of the support surface formed by the four moving wheels 52, both being generally rectangular.

[0045] Combine Figure 4 As shown, in the second embodiment, the number of the lifting support mechanisms 2 is, for example, two. Preferably, the two lifting support mechanisms 2 and one of the moving wheels 52 are distributed in a triangle, so that a support structure can be formed to support the equipment in the leveling state. After the equipment reaches the working position, the two lifting support mechanisms 2 extend downward from the bottom of the equipment until the two lifting support mechanisms 2 cooperate with one of the moving wheels 52' to form a stable support surface S2 to support the equipment on the fixed surface 7, while the other moving wheels 52 are separated from the fixed surface 7. Then, the monitoring mechanism 1 obtains the plane posture information and vertical position information of the working surface 511, and determines whether the working surface 511 needs to be leveled based on the plane posture information. If leveling is required, the part to be leveled is analyzed based on the plane posture information and vertical position information, and then the height of the part to be leveled is adjusted by the lifting support mechanism 2 at the corresponding position, thereby leveling the working surface 511.

[0046] Specifically, there are three moving wheels 52. Optionally, the shapes of the working surface 511, the supporting surface formed by the three moving wheels 52, and the supporting surface formed by the two lifting support mechanisms 2 and one of the moving wheels 52 are similar, and are all roughly triangular.

[0047] Combine Figure 5As shown, in the third embodiment, the number of lifting support mechanisms 2 is, for example, one. Preferably, the lifting support mechanism 2 and two of the movable wheels 52 are arranged in a triangular pattern, thereby forming a support structure to support the equipment in the leveled state. After the equipment reaches its working position, one lifting support mechanism 2 extends downward from the bottom of the equipment until the lifting support mechanism 2 cooperates with the two movable wheels 52' to form a stable support surface S3, supporting the equipment on the fixed surface 7, while the other movable wheels 52 are separated from the fixed surface 7. The monitoring mechanism 1 then obtains planar posture information of the working surface 511 and determines whether the working surface 511 requires leveling based on the planar posture information. If leveling is required, the area to be leveled is analyzed based on the planar posture information and vertical position information. The height of the area to be leveled is then adjusted by the lifting support mechanism 2, thereby leveling the working surface 511. Specifically, the number of movable wheels 52 is three. The shapes of the working surface 511, the support surface formed by the three movable wheels 52, and the support surface formed by the lifting support mechanism 2 and two of the movable wheels 52 are similar.

[0048] It should be noted that the number of lifting support mechanisms and their arrangement positions at the bottom of the equipment can be adjusted and selected according to actual needs.

[0049] like Figure 2 、 Figure 4 as well as Figure 5 As shown, in an embodiment of the present invention, the device has a horizontally arranged central axis Z, and the triangle is symmetrically arranged relative to the central axis Z. Therefore, the support surface S1 formed by the three lifting support mechanisms 2, the support surface S2 formed by the two lifting support mechanisms 2 and a moving wheel 52', and the support surface S3 formed by the one lifting support mechanism 2 and two moving wheels 52' are all symmetrically arranged relative to the central axis Z of the device, thereby providing more stable support for the device.

[0050] In addition, when the equipment is a fixed support type equipment, the multiple support members at the bottom of the equipment are multiple fixed legs or other fixed support parts, that is, the equipment is supported by multiple fixed legs or other fixed support parts at the bottom before the lifting support mechanism supports it. By replacing the above-mentioned moving wheels 52 with fixed support parts, it can also be leveled by the leveling device of the present invention.

[0051] like Figure 1As shown, in the embodiment of the present invention, the leveling device further includes a locking mechanism 3, and the lifting support mechanism 2 drives the locking mechanism 3 to move downward to the fixed surface 7, and is locked and fixed to the fixed surface 7 by the locking mechanism 3. After the working surface 511 is leveled, the equipment is supported by the lifting support mechanism 2 and the fixed surface 7, which can ensure that the equipment will not move and prevent the part of the working surface 511 (mainly the edge of the working surface 511) from being overly pressurized, causing the equipment to shake or fall, thereby further improving the stability of the equipment. Specifically, combined with Figure 2 、 Figure 4 as well as Figure 5 As shown, the locking mechanism 3 includes a locking drive structure 32 and at least one locking structure 31. The locking structure 31 is mounted on the bottom end of the lifting support mechanism 2, and the locking drive structure 32 is mounted on the bottom 512 of the device. After the locking drive structure 32 determines that the working surface 511 is horizontal based on the planar posture information obtained by the monitoring mechanism 1, it drives the locking structure 31 to lock and secure it to the fixed surface 7.

[0052] like Figure 6 As shown, the locking structure 31 includes a power foot cup 311, and the locking drive structure 32 includes a pneumatic drive structure 321. The power foot cup 311 is installed at the bottom end of a lifting support mechanism 2, and the pneumatic drive structure 321 is installed at the bottom 512 of the equipment and is connected to the power foot cup 311. The pneumatic drive structure 321 drives the power foot cup 311 to be adsorbed and connected to the fixed surface 7. The lifting support mechanism 2 first drives the power foot cup 311 down to contact the ground, and then vacuums the gas in the power foot cup 311 through the pneumatic drive structure 321, so that the power foot cup 311 is tightly attracted to the fixed surface 7. The outer contour of the power foot cup 311 is made of a material with a certain rigidity. After being tightly attracted to the fixed surface 7, it stably supports the trolley equipment.

[0053] Specifically, the bottom 512 of the power foot cup 311 has a cavity 3111, and a seal 3113 is installed around the cavity 3111. The power foot cup 311 is provided with a joint 3112 connected to the cavity 3111. The pneumatic drive structure 321 is connected to the joint 3112 through the first pipe 3213. The cavity is vacuumed by the pneumatic drive structure 321, so that the seal 3113 is tightly fitted with the fixed surface 7. Figure 7As shown, the pneumatic drive structure 321 is mounted on the bottom 512 of the device via a first housing 3211. It includes a vacuum generator 3212, a high-efficiency filter 3214, a muffler 3215, and a pneumatic control module 3216. The air inlet of the vacuum generator 3212 is connected to the connector 3112 via a first pipe 3213. The air outlet of the vacuum generator 3212 is connected to the air inlet of the high-efficiency filter 3214 via a second pipe 3217. The air outlet of the high-efficiency filter 3214 is connected to the muffler 3215 via a third pipe 3218. The pneumatic control module 3216 is electrically connected to the monitoring mechanism 1 and the vacuum generator 3212, respectively. The pneumatic control module 3216 controls the vacuum generator 3212 based on the plane attitude information, locking and unlocking the power foot cup 311 and the fixed surface 7. The inner wall of the first housing 3211 is covered with muffler cotton 3219.

[0054] like Figure 8 As shown, the locking structure 31 includes a magnetic foot cup 312, and the locking drive structure 32 includes a magnetic drive structure 322. The magnetic foot cup 312 is mounted at the bottom end of a lifting support mechanism 2. The magnetic drive structure 322 is mounted on the bottom 512 of the device and is electrically connected to the magnetic foot cup 312. The magnetic drive structure 322 drives the magnetic foot cup 312 to attach to the fixed surface 7. The lifting support mechanism 2 first drives the magnetic foot cup 312 down until it contacts the fixed surface 7. The magnetic drive structure 322 then conducts magnetism to the magnetic foot cup 312, thereby firmly attaching the magnetic foot cup 312 to the fixed surface 7.

[0055] Specifically, the fixing surface 7 itself is a tabletop made of iron, silicon steel, nickel-iron alloy and / or other magnetic materials that can be attracted by magnets, or a ground surface embedded with iron plates, iron blocks and / or other magnetic structures.

[0056] Combine Figure 2 and Figure 4 As shown, in the first and second embodiments, the multiple locking structures 31 installed at the bottom ends of the multiple lifting support mechanisms 2 can all be power foot cups 311, can all be magnetic foot cups 312, or can be a combination of power foot cups 311 and magnetic foot cups 312.

[0057] like Figure 1 As shown, monitoring mechanism 1 is installed on working surface 511. Monitoring mechanism 1 includes a gyroscope, an inclination sensor, and / or a laser sensor. The monitoring mechanism 1 obtains vertical position information and planar attitude information of working surface 511 in the same manner as in the prior art and will not be further described here. Optionally, monitoring mechanism 1 may also utilize other sensors in the prior art capable of obtaining vertical position information and planar attitude information of working surface 511.

[0058] Combine Figure 3 、 Figure 9 as well as Figure 10 As shown, the lifting support mechanism 2 includes a lifting support rod 21, a transmission structure 22 and a lifting drive structure 23. The lifting drive structure 23 is installed at the bottom 512 of the device, and the lifting support rod 21 is connected to the lifting drive structure 23 through the transmission structure 22.

[0059] Specifically, the lift drive structure 23 includes a servo motor electrically connected to the lift control module. The control system outputs multiple control signals to the lift drive structures 23 through the multiple lift control modules. The lift drive structures 23 each drive the lift support rods 21 to move upwards and downwards. After the monitoring mechanism 1 provides feedback indicating that the work surface 511 is leveled, the control system controls the locking drive structure 32 to lock the locking structure 31 to the ground. Optionally, multiple lift drive structures can be simultaneously driven upwards and downwards under the control of a single lift control module until they are leveled.

[0060] The transmission structure 22 includes a meshing turbine 221 and a worm 222. The transmission structure 22 is mounted on the bottom 512 of the device via a second housing 224. The worm 222 is arranged horizontally and rotatably mounted within the second housing 224 via a bearing 223. The lifting support rod 21 is threadedly connected to the turbine 221. The servo motor is connected to the worm 222 via a coupling 225. The lifting control module is electrically connected to the monitoring mechanism 1. The lifting control module controls the servo motor to rotate the worm 222 and the turbine 221 based on vertical position information and planar posture information, thereby moving the lifting support rod 21 in the vertical direction. The lifting control module includes a start button, which is mounted on the device. Once the device is moved into position, the lifting control module is activated by operating the start button.

[0061] like Figure 11 As shown, at least one limiting mechanism 4 is further provided at the bottom 512 of the device for limiting the range of movement of the lifting support mechanism 2 in the vertical direction to prevent the lifting support mechanism 2 from moving excessively and interfering with other structures of the device.

[0062] Specifically, the limit mechanism 4 is installed on the bottom 512 of the device through the limit mounting plate 43. The limit mechanism 4 includes an upper limit structure 41 and a lower limit structure 42. The upper limit structure 41 includes an upper limit sensor installed at the upper limit position. When the upper limit sensor detects that the top end of the lifting support rod 21 moves upward and reaches the upper limit position, the detection signal is transmitted to the lifting control module, and the lifting control module controls the lifting drive structure 23 to stop moving upward; the lower limit structure 42 includes a lower limit sensor installed at the lower limit position. When the lower limit sensor detects that the top end of the lifting support rod 21 moves downward to the lower limit position, the detection signal is transmitted to the lifting control module, and the lifting control module controls the lifting drive structure 23 to stop moving downward.

[0063] Optionally, the upper limit structure includes an upper limit block installed at the upper limit position, and the lower limit structure includes a lower limit block installed at the lower limit position. When the lifting support rod moves upward and abuts against the upper limit block, it cannot continue to move upward; when the lifting support rod moves downward and abuts against the lower limit block, it cannot continue to move downward.

[0064] Combine Figure 12 As shown, the working process of the leveling device of the present invention is as follows: after the equipment is transferred to its position, the start button is pressed, and the lifting control module controls the lifting support mechanism 2 to extend downward and move to the ground; the lifting control module determines whether the working surface 511 needs to be leveled based on the plane posture information obtained by the monitoring mechanism 1; if leveling is not required, the pneumatic drive structure 321 and / or the magnetic drive structure 322 directly drives the power foot cup 311 and / or the magnetic foot cup 312 to be tightly attracted to the fixed surface 7, thereby locking and fixing the equipment on the fixed surface 7; if leveling is required, the lifting control module determines the part to be leveled based on the vertical position information and the plane posture information and controls the corresponding lifting drive structure 23 to adjust the height of the part to be leveled, and at the same time adjusts and determines whether the working surface is leveled based on the plane posture information and vertical position information fed back in real time by the monitoring mechanism 1; after leveling, the pneumatic drive structure 321 and / or the magnetic drive structure 322 drives the power foot cup 311 and / or the magnetic foot cup 312 to be tightly attracted to the fixed surface 7, thereby locking and fixing the equipment on the fixed surface 7.

[0065] To determine whether the lifting support mechanism 2 has moved into position, when at least one lifting support mechanism 2 contacts the fixed surface 7 and stably supports the device on the fixed surface 7, it is considered to be in position and leveling can be performed. In this embodiment, the lifting support mechanism 2 extends downward from the bottom of the device and moves a predetermined fixed distance to support the device. This fixed distance is greater than the distance between the bottom end of the lifting support mechanism 2 and the moving wheel 52 or other supporting member in the initial state.

[0066] Implementation Method 2

[0067] like Figure 1 and Figure 12As shown, the present invention also provides a leveling method using a leveling device. The leveling method includes the following steps: a lifting support mechanism 2 extends downward from the bottom of the device and moves to a fixed surface 7 to support the device; a monitoring mechanism 1 obtains planar posture information and vertical position information of the device after being supported by the lifting support mechanism 2; based on the planar posture information, a determination is made as to whether the working surface 511 needs to be leveled; if so, the lifting support mechanism 2 drives the portion of the working surface 511 to be leveled to move vertically based on the planar posture information and vertical position information to level the working surface 511. The specific structure, operating principle, and beneficial effects of the leveling device in this embodiment are the same as those of the leveling device in Embodiment 1, and will not be repeated here.

[0068] Among them, after the working surface 511 is leveled, multiple lifting support mechanisms 2 contact the fixed surface 7 to form a first support structure to support the equipment; or after the working surface 511 is leveled, at least one lifting support mechanism 2 and at least one support member at the bottom of the equipment jointly contact the fixed surface 7 to form a second support structure to support the equipment.

[0069] After the working surface is leveled, any lifting support mechanism 2 that contacts the fixed surface 7 is controlled to be locked with the fixed surface 7 .

[0070] The implementation of the leveling method of this embodiment is similar to the implementation of the leveling device in the first embodiment, and will not be described again here.

[0071] In another embodiment of the leveling method, the lifting support mechanism 2 extends downward from the bottom of the device and moves to the fixed surface 7 to support the device, which specifically includes the following steps: the monitoring mechanism 1 obtains the vertical position information of the device before being supported by the lifting support mechanism 2; the lifting support mechanism 2 extends downward from the bottom of the device and moves to the fixed surface 7 to support the device according to the vertical position information.

[0072] Among them, when the equipment is located on a partially uneven fixed surface 7, it is very likely that the working surface 511 will remain in a horizontal state due to local support, especially when the number of support points that can originally be supported on the ground is four or more, so that at least one support point is in a suspended state, and the other support points are supported on the fixed surface 7. At this time, the working surface 511 is still in a horizontal state, that is, there is a deviation between the fixed surface 7 and the horizontal plane, but there is almost no deviation between the working surface 511 and the horizontal plane. That is to say, at this time, if the plane posture information of the working surface 511 is obtained by the monitoring mechanism 1, it is impossible to accurately determine that leveling is required based on the plane posture information, and it is even more impossible to determine the part to be leveled based on the plane posture information. Therefore, the vertical position information of the equipment before being supported by the lifting support mechanism 2 is first obtained through the monitoring mechanism 1, and then the lifting support mechanism 2 moves downward to the fixed surface 7 according to the vertical position information to support the equipment, which can raise the originally supported part of the equipment to a first height, while the suspended part is supported and raised to a second height, and the second height is less than the first height, so that the working surface 511 forms an inclined state, and then the plane posture information and vertical position information of the working surface 511 after being raised are obtained through the monitoring mechanism 1, and the part to be leveled can be analyzed according to the vertical position information of the plane posture information, and then the height of the part to be leveled can be adjusted by the lifting support mechanism 2 to level the working surface 511.

[0073] Among them, when the equipment is located on a flat fixed surface 7, the working surface 511 of the equipment is in a horizontal state. The equipment is lifted as a whole by the lifting support mechanism 2, and the working surface 511 of the equipment is still in a horizontal state. The plane posture information of the working surface 511 is obtained by the monitoring mechanism 1, and it can be judged that leveling is not required based on the plane posture information.

[0074] Implementation Method 3

[0075] like Figure 1 As shown, the present invention further provides a surgical robot trolley 5, comprising a leveling device and a trolley body 51. The specific structure, operating principle, and beneficial effects of the leveling device in this embodiment are the same as those of the leveling device in Embodiment 1, and will not be repeated here. Specifically, the top surface of the trolley body 51 constitutes its working surface 511, and the monitoring mechanism 1 is mounted on this working surface 511. The lifting support mechanism 2 is mounted on the bottom 512 of the trolley body 51.

[0076] The above descriptions are only several embodiments of the present invention. Those skilled in the art may make various changes or modifications to the embodiments of the present invention based on the contents disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. A leveling device, characterized in that: include: a monitoring mechanism installed on the equipment, the monitoring mechanism being used to obtain planar attitude information and vertical position information of a working surface of the equipment, the planar attitude information being information on a deviation between the working surface and a horizontal plane, and the vertical position information being information on a position of the working surface in a vertical direction; At least one lifting support mechanism installed at the bottom of the device, the lifting support mechanism can extend from the bottom of the device and move to a fixed surface to support the device; Wherein, the lifting support mechanism can drive the portion of the working surface to be leveled to move in the vertical direction according to the planar posture information and the vertical position information to level the working surface; The bottom of the device has a plurality of support members, and the plurality of support members are a plurality of movable wheels provided at the bottom of the device. When the working surface is leveled, at least one of the support members and at least one of the lifting support mechanisms are in contact with the fixed surface to form a second support structure to support the device. The second supporting structure includes at least one triangular supporting structure; The leveling device further includes a locking mechanism, and the lifting support mechanism can drive the locking mechanism to move to the fixing surface and be locked and fixed to the fixing surface through the locking mechanism.

2. The leveling device according to claim 1, characterized in that: There are two lifting support mechanisms, and the two lifting support mechanisms and one of the plurality of moving wheels are distributed in a triangle to support the device in a leveling state; Alternatively, the number of the lifting support mechanism is one, and the lifting support mechanism and two of the plurality of moving wheels are distributed in a triangle to support the device in a leveling state.

3. The leveling device according to claim 2, characterized in that: The device has a central axis arranged along the horizontal direction, and the triangles are arranged symmetrically with respect to the central axis.

4. The leveling device according to claim 1, characterized in that: The locking mechanism includes a locking drive structure and at least one locking structure. The locking structure is installed at the bottom end of the lifting support mechanism, and the locking drive structure is installed at the bottom of the equipment. After the locking drive structure determines that the working surface is in a horizontal state based on the planar posture information obtained by the monitoring mechanism, it drives the locking structure to lock and fix it on the fixed surface.

5. The leveling device according to claim 1, characterized in that: The locking mechanism includes a pneumatic drive structure and a power foot cup, wherein the power foot cup is installed at the bottom end of the lifting support mechanism, the pneumatic drive structure is installed at the bottom of the device and is connected to the power foot cup, and the pneumatic drive structure is used to drive the power foot cup to be adsorbed and connected to the fixed surface; or The locking mechanism includes a magnetic drive structure and a magnetic foot cup. The magnetic foot cup is installed at the bottom end of the lifting support mechanism. The magnetic drive structure is installed at the bottom of the device and is electrically connected to the magnetic foot cup. The magnetic drive structure is used to drive the magnetic foot cup to be adsorbed and connected to the fixed surface.

6. The leveling device according to claim 4, characterized in that: The multiple locking structures installed at the bottom ends of the multiple lifting support mechanisms are all powered foot cups, or are all magnetic foot cups, or are a combination of powered foot cups and magnetic foot cups.

7. The leveling device according to claim 1, characterized in that: The monitoring mechanism is installed on the working surface and includes a gyroscope, a tilt sensor and / or a laser sensor.

8. The leveling device according to claim 1, characterized in that: The lifting support mechanism includes a lifting support rod, a transmission structure and a lifting drive structure. The lifting drive structure is installed at the bottom of the device, and the lifting support rod is connected to the lifting drive structure through the transmission structure.

9. The leveling device according to claim 8, characterized in that: The transmission structure includes a meshing turbine and a worm, the worm is arranged in the horizontal direction, the lifting support rod is threadedly connected to the turbine, and the lifting drive structure drives the worm to rotate and drives the turbine to rotate, so that the lifting support rod moves in the vertical direction.

10. The leveling device according to claim 1, characterized in that: A limiting mechanism is also provided at the bottom of the device, and the limiting mechanism is used to limit the range of movement of the lifting support mechanism in the vertical direction.

11. A leveling method, characterized in that: Using the leveling device according to any one of claims 1 to 10, the leveling method comprises the following steps: The lifting support mechanism extends downward from the bottom of the device and moves to the fixed surface to support the device; The monitoring mechanism obtains the planar posture information and the vertical position information of the device after being supported by the lifting support mechanism; Determining whether the working surface needs to be leveled according to the plane posture information; If yes, the lifting support mechanism drives the portion of the working surface to be leveled to move in the vertical direction according to the planar posture information and the vertical position information to level the working surface; After the working surface is leveled, at least one of the lifting support mechanisms and at least one support member at the bottom of the device are in contact with the fixed surface to form a second support structure to support the device.

12. The leveling method according to claim 11, characterized in that: Also includes: After the working surface is leveled, any lifting support mechanism that contacts the fixed surface is controlled to be locked with the fixed surface.

13. The leveling method according to claim 11, characterized in that: The lifting support mechanism extends downward from the bottom of the device and moves to the fixed surface to support the device, specifically comprising the following steps: The monitoring mechanism obtains the vertical position information of the device before being supported by the lifting support mechanism; The lifting support mechanism extends downward from the bottom of the device and moves to the fixed surface according to the vertical position information to support the device.

14. A surgical robot trolley, characterized in that: The invention comprises the leveling device according to any one of claims 1 to 10.

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