A parking assembly, base structure and surgical robot for a mobile device

Abstract

The application discloses a parking assembly of a mobile device, a base structure and a surgical robot, and specifically comprises a first mounting part, a screw rod installed through the first mounting part, a parking foot arranged at the end of the screw rod, a nut arranged on the screw rod and connected through a thread groove arranged on the surface of the screw rod, the parking foot at the end of the screw rod being driven to move when the nut rotates, and a first power output part installed on the first mounting part and used for driving the nut to rotate.In the scheme provided by the embodiment of the application, the parking assembly is automatically parked through the mechanical control of the first servo motor driving the screw rod to extend or retract, accurate and timely and reliable parking control is realized, and the base structure adopts the parking assembly, so that the parking reliability of the base structure is improved.

Description

Technical Field

[0001] This invention relates to the field of mobile device parking technology, and particularly to a parking component and base structure for a mobile device, as well as a surgical robot using the aforementioned base structure. Background Technology

[0002] The base structure of a mobile device plays a role in supporting, moving, and stabilizing the device; therefore, the stability of the base determines the overall stability of the mobile device.

[0003] When a mobile device stops moving, it is usually stopped by locking the drive wheel or by using a foot-operated lifting support foot for friction. However, locking the drive wheel requires precise control of the drive wheel, and if the control of the drive wheel fails, it will affect the stopping effect. The foot-operated lifting support foot method achieves stopping by manually stepping on the foot pedal, which is not as accurate or timely as the mechanical control method. Summary of the Invention

[0004] In view of the above problems, the present invention provides a parking component, base structure, and surgical robot for a mobile device that overcomes or at least partially solves the above problems, the technical solution of which is as follows:

[0005] A parking component for a mobile device, comprising:

[0006] First installation component;

[0007] A lead screw is installed via the first mounting component, and a stop foot is provided at the end of the lead screw; a nut is fitted onto the lead screw and connected through a threaded groove provided on the surface of the lead screw, and when the nut rotates, it drives the stop foot at the end of the lead screw to move;

[0008] A first power output component is mounted on the first mounting component and is used to drive the nut to rotate.

[0009] Optionally, in the aforementioned parking assembly, the first power output component includes a first synchronous belt, and the output shaft of the first power output component is connected to the nut via the first synchronous belt.

[0010] Optionally, the first power output component further includes a first servo motor, a first reducer, and a second synchronous belt. The first servo motor and the first reducer are mounted on the first mounting component. The output shaft of the first servo motor is connected to the input shaft of the first reducer via the second synchronous belt. The output shaft of the first reducer serves as the output shaft of the first power output component.

[0011] Optionally, in the aforementioned parking assembly, a position sensor is provided on the lead screw, and a position sensor is installed on the first mounting component. When the first power output component drives the nut to rotate and causes the lead screw to move, the position sensor moves away from or towards the position sensor.

[0012] A docking structure for a mobile device includes a docking body and at least one set of parking components, the parking components comprising:

[0013] The first mounting component connects to the base body;

[0014] The lead screw is installed through the first mounting component and is set perpendicularly to the base body. The end of the lead screw is provided with a stop foot. A nut is sleeved on the lead screw and connected through a threaded groove provided on the surface of the lead screw. When the nut rotates, it drives the stop foot at the end of the lead screw to move in a direction perpendicular to the base body.

[0015] A first power output component is mounted on the first mounting component and is used to drive the nut to rotate.

[0016] Optionally, in the above structure, a first connector is provided at one end of the output shaft of the first power output component;

[0017] The base structure of the mobile device also includes at least one set of manual parking control components, with one set of manual parking control components corresponding to one set of parking components. The manual parking control components include:

[0018] The second mounting component connects to the base body;

[0019] The rotating rod is installed via the second mounting component. One end of the rotating rod is provided with a second connecting component, which is used to connect to the first connecting component, so that when the rotating rod is manually rotated, it drives the output shaft of the first power output component to rotate together.

[0020] Optionally, in the above structure, the first connector and the second connector are always kept connected.

[0021] Optionally, in the above-described structure, the second mounting component includes:

[0022] A cylindrical shell is installed perpendicular to the base body, the rotating rod passes through the cylindrical shell, the rotating rod is provided with a protrusion, and the second connecting member is provided on the side where the rotating rod passes through the bottom surface of the cylindrical shell;

[0023] A bearing, disposed within the cylindrical housing, is used to mount the rotating rod;

[0024] A first spring is disposed inside the cylindrical housing, with one end connected to the bottom surface of the cylindrical housing and the other end connected to the protrusion of the rotating rod;

[0025] Applying pressure to the side of the rotating rod without the second connecting member compresses the first spring, causing the second connecting member to move closer to the first connecting member until it connects with the first connecting member; after the pressure is removed, the first spring deforms and moves the second connecting member away from the first connecting member.

[0026] Optionally, the base structure of the mobile device further includes at least one set of driving components, the driving components including:

[0027] The third mounting component connects to the base body;

[0028] The wheel is mounted on the third mounting component;

[0029] The second power output component is mounted on the third mounting component and is used to drive the wheel to rotate.

[0030] Optionally, in the above structure, the third mounting component includes a fixed mounting component, a movable mounting component, and a second spring. The fixed mounting component is used to mount the second power output component, and the movable mounting component is used to mount the wheel.

[0031] The fixed mounting component is fixedly connected to the base body. The fixed mounting component is provided with a linear guide rail that is perpendicular to the base body. The movable mounting component is disposed on the linear guide rail. One end of the second spring is connected to the movable mounting component, and the other end is connected to the fixed mounting component.

[0032] Optionally, in the above structure, the second power output component includes a second servo motor, a second reducer, and a clutch. The output signal of the second servo motor drives the wheel to rotate after passing through the second reducer and the clutch in sequence.

[0033] Optionally, the wheel in the above structure is a Mecanum wheel.

[0034] A surgical robot includes a base structure and an operating body mounted on the base structure, wherein the base structure adopts the base structure described above.

[0035] Compared with the prior art, the present invention has the following advantages: In the solution provided by the embodiments of the present invention, the parking component achieves automatic parking by mechanical control through the extension and retraction of the lead screw driven by the first servo motor, realizing accurate, timely and reliable parking control; the base structure adopts the above-mentioned parking component, which can improve the parking reliability of the base structure; the base structure in the embodiment is designed with a manual parking control component, which provides a way to manually control the parking state locking and unlocking in special circumstances; in addition, a wheel height adaptive structure is also set for the drive component, so that the base structure provided by the embodiments of the present invention can adapt to different ground conditions.

[0036] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0037] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0038] Figure 1 This is a schematic diagram of a base structure for a mobile device provided in an embodiment of the present invention;

[0039] Figure 2 This is another structural schematic diagram of a base structure for a mobile device provided in an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of a parking component of a mobile device provided in an embodiment of the present invention;

[0041] Figure 4 This is another structural schematic diagram of a parking component for a mobile device provided in an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of a manual parking control component in the base structure of a mobile device provided in an embodiment of the present invention;

[0043] Figure 6 This is another structural schematic diagram of a manual parking control component in the base structure of a mobile device provided in an embodiment of the present invention;

[0044] Figure 7 This is another structural schematic diagram of a manual parking control component in the base structure of a mobile device provided in an embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the driving component in the base structure of a mobile device according to an embodiment of the present invention;

[0046] Figure 9 This is another schematic diagram of the driving component in the base structure of a mobile device provided in an embodiment of the present invention. Detailed Implementation

[0047] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0048] refer to Figure 1 The diagram shows a three-dimensional structural schematic block diagram of a base structure for a mobile device provided in an embodiment of the present invention. (Refer to...) Figure 2 It shows Figure 1 A plan view of the structure. Figures 1-2 The structure shown is a feasible implementation of the base structure provided in this embodiment of the invention. The base structure of the mobile device specifically includes a base body 1 and at least one set of parking components 3, which realizes mechanized parking control. To stabilize the base body 1, the location and number of parking components 3 can be optionally set according to the shape of the base body 1; for example, when the shape of the base body 1 is rectangular, a set of parking components 3 can be set at each of the four corners of the rectangular base body 1 to achieve parking stability.

[0049] refer to Figure 3 and Figure 4 The diagrams show a three-dimensional and a planar structural schematic of a parking assembly for a mobile device according to an embodiment of the present invention. The parking assembly includes a first mounting member 31; a lead screw 382 mounted via the first mounting member 31, with a parking foot 381 at its end; a nut fitted onto the lead screw 382 and connected via a threaded groove on its surface, the nut rotating causing the parking foot 381 at the end of the lead screw 382 to move; and a first power output member mounted on the first mounting member 31 to drive the nut to rotate. When the first power output member drives the nut to rotate, the lead screw 382, ​​threadedly engaged with the nut, moves along the nut's rotation axis, thereby causing the parking foot 381 at the end of the lead screw 382 to move.

[0050] This invention provides a base structure for a mobile device, in which the aforementioned parking component 3 is installed. Optionally, the parking component 3 includes: a first mounting member 31 connected to the base body 1; a lead screw 382 installed via the first mounting member 31 and perpendicularly positioned relative to the base body 1; a nut fitted onto the lead screw 382 and connected via a threaded groove on the surface of the lead screw 382; and a parking foot 381 at the end of the lead screw 382; and a first power output member installed on the first mounting member 31 for driving the nut to rotate.

[0051] In the structure provided by this embodiment of the invention, the nut on the lead screw 382 is rotated by the first power output component. The rotation of the nut causes the lead screw 382 to move up and down. When parking is required, the nut is rotated in the corresponding direction, causing the lead screw 382 to move downward, so that the parking foot 381 at least partially contacts the ground, supporting at least part of the weight of the base structure. When parking is not required, the nut is rotated in the opposite direction, causing the lead screw 382 to move upward, so that the parking foot 381 is lifted off the ground. Compared with parking methods that use locked wheels or foot-operated lifting support feet, this invention improves the accuracy and timeliness of parking control through mechanical control.

[0052] Optionally, the first power output component includes a first synchronous belt 35, and the output shaft 341 of the first power output component is connected to the nut via the first synchronous belt 35. Rotation of the output shaft 341 of the first power output component causes the first synchronous belt 35 to move, thereby driving the nut to rotate and controlling the screw 382 to move up and down. The first mounting component 31 may include a sleeve 36, in which the screw 382 and the nut are mounted. Optionally, the first synchronous belt 35 may be directly connected to the nut or indirectly connected to it; a connecting disc 37 may be provided on the sleeve 36. The first synchronous belt 35 drives the nut to rotate, thereby driving the screw 382 to rotate and move up and down simultaneously. The connecting disc 37 may be connected to the screw 382 and rotate with the screw 382.

[0053] Optionally, the first power output component further includes a first servo motor 32, a first reducer 34, and a second synchronous belt 33. The first servo motor 32 and the first reducer 34 are mounted on the first mounting component 31. The output shaft of the first servo motor 32 is connected to the input shaft of the first reducer 34 via the second synchronous belt 33. The output shaft of the first reducer 34 serves as the output shaft 341 of the first power output component. The first servo motor 32 outputs torque, which drives the nut to rotate through the first reducer 34 and the synchronous belt, thereby driving the lead screw 382 to move up and down, so that the parking foot 381 is supported on the ground to achieve a braking effect. By generating a control signal for the first servo motor 32, accurate and timely mechanical control of parking is achieved. The first servo motor 32, the first reducer 34, the first synchronous belt 35, and the second synchronous belt 33 together constitute a three-stage reduction mechanism. Adjusting the reduction ratio can adapt to different usage requirements.

[0054] Optionally, to ensure that the lead screw 382 moves upward to the designated position and to prevent the lead screw 382 from not moving to the designated position or moving excessively upward, the structure provided in this embodiment of the invention also includes a position sensing device in the parking assembly. See [link to relevant documentation]. Figure 3 A position sensor 391 is provided on the lead screw 382, ​​and a position sensor 392 is installed on the first mounting member 31. When the first power output member drives the nut to rotate, causing the lead screw 382 to move downward, the position sensor 391 moves away from the position sensor 392; when the first power output member drives the nut to rotate, causing the lead screw 382 to move upward, the position sensor 392 moves towards the position sensor 392 until the position sensor 391 contacts the position sensor 392. When the position sensor 391 contacts the position sensor 392, the position sensor 392 can issue a prompt signal, controlling the first servo motor 32 to stop outputting torque.

[0055] The structure provided in this embodiment of the invention can control the parking and de-parking of the parking component 3 through the first servo motor 32. Optionally, at least one set of manual parking control components is also provided for manually unlocking the parking component 3. Each parking component 3 can be equipped with a corresponding set of manual parking control components. One end of the output shaft 341 of the first power output component in the parking component 3 is provided with a first connector 342. The manual parking control components realize the parking and de-parking control of the parking component 3 by connecting to the first connector 342.

[0056] See Figure 5The diagram shows a schematic of a manual parking control component in the base structure of a mobile device according to an embodiment of the present invention. The manual parking control component includes: a second mounting member 51 connected to the base body 1; a rotating rod 521 mounted via the second mounting member 51, one end of the rotating rod 521 being provided with a second connecting member 53, the second connecting member 53 being used to connect to the first connecting member 342, so that when the rotating rod 521 is manually rotated, it drives the output shaft 31 of the first power output member to rotate together.

[0057] The structure provided in this embodiment of the invention connects the first connecting member 342 and the second connecting member 53 to assemble the manual stop control component onto the output shaft 31 of the first power output component. The second connecting member 53 is mounted on the rotating rod 521 and rotates with the rotating rod 521. After the first connecting member 342 and the second connecting member 53 are connected, the output shaft 31 of the first power output component also rotates with the rotating rod 521. The output shaft 31 of the first power output component then drives the nut to rotate through the first synchronous belt 35, thereby realizing manual control of the lead screw 382 to move up or down. In special circumstances, such as when the first servo motor 32 fails, manual control of the lead screw 382 to move up or down can be achieved.

[0058] Optionally, the first connector 342 can be configured as a polygonal connecting post, and the second connector 53 can be configured as a connecting groove of a corresponding shape. The second connector 53 is fitted into the first connector 342 to achieve a locking mechanism, thereby fixing the rotating rod 521 to the output shaft 31 of the first power output component. Furthermore, the side of the rotating rod 521 without the second connector 53 is configured as an external port 522. The external port 522 can also be configured as a polygonal column structure, allowing a wrench or similar device to be inserted to control the rotation of the rotating rod 521 during manual control.

[0059] For ease of operation, the rotating rod 521 can extend beyond the base body 1. However, other components are usually installed on the base body 1. If the rotating rod 521 extends beyond the base body 1, it may affect the installation of other components. Therefore, it is possible to choose not to extend the rotating rod 521 beyond the base body 1 or to extend it only a very short length. (Refer to...) Figure 5 In this structure, the first connector 342 and the second connector 53 can always be connected. For example, the second connector 53 can always be fitted onto the first connector 342. When the output shaft 31 of the first power output component is driven to rotate by the first servo motor 32, the rotating rod 521 will also rotate accordingly.

[0060] If the structure on the base body 1 allows the rotating rod 521 to extend a relatively long portion above the base body 1, the second connector 53 can be controllably connected to the first connector 342. When manual control is required, the second connector 53 is connected to the first connector 342; when manual control is not required, the connection between the second connector 53 and the first connector 342 is released. (See also...) Figure 6 The diagram shows a schematic of the manual stop control component in the base structure of a mobile device provided in an embodiment of the present invention, when the second connector 53 is controllably connected to the first connector 342. Figure 7 for Figure 6 Cross-sectional view of the structure.

[0061] See Figure 6 and Figure 7 At this time, in the manual parking control assembly, the second mounting component includes: a cylindrical housing 51, which is installed perpendicular to the base body 1; a rotating rod 521 that passes through the cylindrical housing 51; a protrusion 41 on the rotating rod 521; a second connecting member 53 located on the side where the rotating rod 521 passes through the bottom surface of the cylindrical housing 51; a bearing 43 located inside the cylindrical housing 51 for mounting the rotating rod 521; and a first spring 42 located inside the cylindrical housing 51, with one end connected to the bottom surface of the cylindrical housing 51 and the other end connected to the protrusion 41 of the rotating rod.

[0062] In the device provided in this embodiment of the invention, a cylindrical shell 51 is provided in a direction perpendicular to the base body 1. A rotating rod 521 is installed on the cylindrical shell 51 and passes through it. A second connecting member 53 is provided at the end of the rotating rod 521 on the lower side of the base body 1 for controllable connection with a first connecting member 342. The end of the rotating rod 521 on the upper side of the base body 1 can optionally be provided as an external port 522 for providing a control port when manual control is required, which can be used to connect devices such as wrenches. Applying pressure to the external port 522 causes the entire rotating rod 521 to move downward. The second connecting member 53, which is originally located above the first connecting member 342 and not in contact with it, moves downward when the rotating rod 521 moves downward, causing the second connecting member 53 to move downward until it connects with the first connecting member 342. Due to the protrusion 41 of the rotating rod 521, the first spring 42 is compressed when the rotating rod 521 moves down. When the pressing force at the external port 522 is removed, the first spring 42 returns to its original shape, causing the rotating rod 521 to move up. This causes the second connecting piece 53 located below the rotating rod 521 to also move up and disengage from the first connecting piece 342.

[0063] Optionally, a connecting plate 54 may be provided on the cylindrical housing 51, and the connecting plate 54 may be installed on the base body 1 by means of the first connecting screw 55; the bearing 43 may also be installed on the cylindrical housing 51 by means of the second connecting screw 44.

[0064] The base structure provided in this embodiment of the invention is disposed on a mobile device. The mobile device includes the base structure and a device mounted on the base structure. If the device is mounted on the rear end of the base structure, it can be disposed at the rear end of the base structure. Figure 5 The rear manual stop control assembly 5 of the structure shown has a short or non-existent portion of the rotating rod 521 extending beyond the base body 1 to avoid affecting equipment installation. If no equipment is installed at the front end of the base structure, it can be configured... Figure 6 The front manual parking control component 4 shown in the diagram has a longer extension of the rotating rod 521 that extends out of the base body 1 for easier operation.

[0065] The base structure provided in this embodiment of the invention can be moved by wheels. Optionally, the base structure of the mobile device further includes at least one set of drive components 2, see reference. Figure 8 The diagram shows a three-dimensional schematic block diagram of the driving component 2 in the base structure of a mobile device according to an embodiment of the present invention. Figure 9 for Figure 8 A plan view of the structure. The drive assembly 2 includes: a third mounting member connected to the base body 1; a wheel 23 mounted on the third mounting member; and a second power output member mounted on the third mounting member for driving the wheel 23 to rotate.

[0066] Optionally, the wheel 23 can be implemented using a Mecanum wheel, which can achieve omnidirectional rotation and is suitable for movement control in small spaces. The wheel 23 and the second power output component are mounted on the base body 1 via a third mounting component. Optionally, the third mounting component includes a fixed mounting component 24, a movable mounting component 26, and a second spring 27. The fixed mounting component 24 is used to mount the second power output component and is fixedly connected to the base body 1 to ensure stable installation of the second power output component.

[0067] The movable mounting member 26 is used to mount the wheel 23. The fixed mounting member 24 is provided with a linear guide rail 25 perpendicular to the base body 1. The movable mounting member 26 is mounted on the linear guide rail 25 and can slide along the linear guide rail 25. One end of the second spring 27 is connected to the movable mounting member 26, and the other end is connected to the fixed mounting member 24. Under the action of the second spring 27, the movable mounting member 26 can slide relative to the fixed mounting member 24 on the linear guide rail 25, so that the wheel 23 mounted on the movable mounting member 26 can move up and down to adapt to different ground environments. For example, when placing the base structure on uneven ground, to ensure that all wheels 23 are in contact with the ground, there may be situations where different wheels 23 are at different distances from the base body 1. Through the cooperation of the second spring 27, the fixed mounting member 24, and the movable mounting member 26, the height of the wheel 23 can be adaptively adjusted to ensure that each wheel 23 can contact the ground.

[0068] Optionally, the second power output component includes a second servo motor 21, a second reducer 22, and a clutch. The clutch can be built into the fixed mounting component 24 (not shown in the figure). The output signal of the second servo motor 21 drives the wheel 23 to rotate after passing through the second reducer 22 and the clutch in sequence, so that the second servo motor 21 outputs torque, which drives the wheel 23 to rotate through the second reducer 22 and the clutch. Optionally, according to the motion law of the wheels, the rotation direction of the four wheels can be adjusted by the control program to realize omnidirectional movement of the base structure, including forward and backward movement, rotation in place, lateral movement, and diagonal movement.

[0069] In the structure provided by this embodiment of the invention, the location and number of the drive components 2 can be set according to the shape of the base body 1 and the motion control requirements of the mobile device. See [link to relevant documentation]. Figure 1In this embodiment, a set of drive components 2 is provided at each of the four corners of the base body 1. A set of parking components 3 can be provided next to each set of drive components 2, and each set of parking components 3 can also be configured with a set of manual parking control components. The drive components 2 are used to support and drive the movement of the base structure. After the base structure stops moving, it can be braked by the parking components 3 to ensure the stability of the entire mobile device. The manual parking control components enable locking and unlocking of the parking state of the parking components 3 in special circumstances. The base structure is the supporting component of the entire mobile device. It must ensure sufficient rigidity and stability, as well as flexibility in moving within a limited space. The base structure provided in this embodiment can optionally use Mecanum wheels to achieve omnidirectional movement, allowing the mobile device to be moved arbitrarily within a small space. To ensure the stability of the mobile device after it stops moving, the parking components provided in the base structure ensure that the mobile device will not move. To facilitate the release of the parking state in an emergency, a manual parking control component is installed next to each set of parking components, so that the parking can be manually unlocked and the mobile device can be pushed in special circumstances.

[0070] This invention also proposes a surgical robot, including a base structure and an operating body mounted on the base structure, wherein the base structure adopts the base structure described above. The operating body may include various operating components of the surgical robot for performing surgical operations.

[0071] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A parking component for a mobile device, characterized in that, The mobile device includes a manual parking control component; The parking component includes: The first mounting component connects to the mobile device; A lead screw is installed via the first mounting component, and a stop foot is provided at the end of the lead screw; a nut is fitted onto the lead screw and connected through a threaded groove provided on the surface of the lead screw, and when the nut rotates, it drives the stop foot at the end of the lead screw to move; A first power output component is mounted on the first mounting component. The output shaft of the first power output component is used to drive the nut to rotate. A first connecting component is provided at one end of the output shaft. The manual parking control component is connected to the first connector to enable parking control and release of parking control of the parking component; The manual parking control component includes: The second mounting component connects to the mobile device; The rotating rod is installed via the second mounting component. One end of the rotating rod is provided with a second connecting component, which is used to connect to the first connecting component, so that when the rotating rod is manually rotated, it drives the output shaft of the first power output component to rotate together.

2. The parking component of the mobile device according to claim 1, characterized in that, The first power output component includes a first timing belt, and the output shaft of the first power output component is connected to the nut via the first timing belt.

3. The parking component of the mobile device according to claim 2, characterized in that, The first power output component further includes a first servo motor, a first reducer, and a second synchronous belt. The first servo motor and the first reducer are mounted on the first mounting component. The output shaft of the first servo motor is connected to the input shaft of the first reducer via the second synchronous belt. The output shaft of the first reducer serves as the output shaft of the first power output component.

4. The parking component of the mobile device according to claim 1, characterized in that, The lead screw is equipped with a position sensor, and the first mounting component is equipped with a position sensor. When the first power output component drives the nut to rotate and causes the lead screw to move, the position sensor moves away from or towards the position sensor.

5. A base structure for a mobile device, characterized in that, The system includes a base body and at least one set of parking components as described in any one of claims 1-4, wherein the parking components include: The first mounting component connects to the base body; The lead screw is installed through the first mounting component and is set perpendicularly to the base body. The end of the lead screw is provided with a stop foot. A nut is sleeved on the lead screw and connected through a threaded groove provided on the surface of the lead screw. When the nut rotates, it drives the stop foot at the end of the lead screw to move in a direction perpendicular to the base body.

6. The base structure of the mobile device according to claim 5, characterized in that, The base structure of the mobile device includes at least one set of manual parking control components, with one set of manual parking control components corresponding to one set of parking components, and the second mounting component is connected to the base body.

7. The base structure of the mobile device according to claim 6, characterized in that, The first connector and the second connector remain connected at all times.

8. The base structure of the mobile device according to claim 6, characterized in that, The second mounting component includes: A cylindrical shell is installed perpendicular to the base body, the rotating rod passes through the cylindrical shell, the rotating rod is provided with a protrusion, and the second connecting member is provided on the side where the rotating rod passes through the bottom surface of the cylindrical shell; A bearing, disposed within the cylindrical housing, is used to mount the rotating rod; A first spring is disposed inside the cylindrical housing, with one end connected to the bottom surface of the cylindrical housing and the other end connected to the protrusion of the rotating rod; Applying pressure to the side of the rotating rod without the second connecting member compresses the first spring, causing the second connecting member to move closer to the first connecting member until it connects with the first connecting member; after the pressure is removed, the first spring deforms and moves the second connecting member away from the first connecting member.

9. The base structure of the mobile device according to claim 5, characterized in that, The base structure of the mobile device also includes at least one set of driving components, the driving components including: The third mounting component connects to the base body; The wheel is mounted on the third mounting component; The second power output component is mounted on the third mounting component and is used to drive the wheel to rotate.

10. The base structure of the mobile device according to claim 9, characterized in that, The third mounting component includes a fixed mounting component, a movable mounting component, and a second spring. The fixed mounting component is used to mount the second power output component, and the movable mounting component is used to mount the wheel. The fixed mounting component is fixedly connected to the base body. The fixed mounting component is provided with a linear guide rail that is perpendicular to the base body. The movable mounting component is disposed on the linear guide rail. One end of the second spring is connected to the movable mounting component, and the other end is connected to the fixed mounting component.

11. The base structure of the mobile device according to claim 9, characterized in that, The second power output component includes a second servo motor, a second reducer, and a clutch. The output signal of the second servo motor drives the wheel to rotate after passing through the second reducer and the clutch in sequence.

12. The base structure of the mobile device according to claim 9, characterized in that, The wheels are Mecanum wheels.

13. A surgical robot, characterized in that, It includes a base structure and an operating body mounted on the base structure, wherein the base structure adopts the base structure as described in any one of claims 5-12.

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