An efficient renal cancer detection device

Abstract

The present invention relates to the technical field of medical devices, and particularly to an efficient renal cancer detection device. The present invention provides an efficient renal cancer detection device with a body position adjustment function. An efficient renal cancer detection device includes a base, an upper support plate, a cushion plate, etc. An upper support plate, a cushion plate, and a lower support plate are sequentially arranged above the base. The upper support plate, the cushion plate, and the lower support plate are on the same axis and provide support for the upper body, waist, and lower body of the human body respectively. It further includes a detection component, a flipping component, and a retracting component. Above the cushion plate, there is a detection component for performing imaging examinations and a retracting component for rotating and retracting the detection component. By installing movable side plates on both sides of the cushion plate in the present invention, it is possible to push the patient to turn around with a larger contact area, making the turning motion more natural and comfortable. Moreover, the side plates can be driven by an inflation component, effectively achieving the purpose of saving time and effort in flipping and improving the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an efficient renal cancer detection device. Background Art

[0002] Renal cancer is a malignant tumor originating from the urinary tubule epithelial system of the renal parenchyma. The full academic name is renal cell carcinoma, also known as renal adenocarcinoma, simply referred to as renal cancer. The cause of renal cancer is still unclear so far, and the manifestations of renal cancer can be diverse. The typical "triad" of renal cancer is hematuria, low back pain, and a mass. Most patients only have 1 - 2 of these symptoms, or are asymptomatic, and those with all three symptoms are rare. Therefore, it is difficult to make a judgment only through symptoms. And for most cancers, it is more effective to take treatment measures in the early stage of cancer. So timely examination is crucial for renal cancer patients.

[0003] Patent publication number CN113545803A disclosed an efficient renal cancer detection device and its usage method in October 2021, including a support bottom plate. Side guide rails are arranged on both sides of the support bottom plate. A translation slider seat is movably arranged on the outer side of the side guide rails. A support column is arranged on the surface of the translation slider seat. An elevating adjustment bracket is movably arranged above the support column. The two ends of the elevating adjustment bracket are respectively movably inserted into the two support columns. A detection component adjustment slider seat is movably arranged on the outer side of the elevating adjustment bracket. A detection component is installed on the bottom surface of the detection component adjustment slider seat. A mattress is arranged below the detection component. An inclined lying support mechanism is installed on the surface of the mattress.

[0004] It fits the waist area of the patient after lying flat through a soft steel plate and a waist elastic support pad, or by adjusting the angle of the adjustment backrest to make the adjustment backrest fit the back of the side - lying patient to provide support for the patient, thereby reducing the waist force and discomfort of the patient during the detection. However, when the above - mentioned device is performing detection, it still requires the patient himself or medical staff to assist in adjusting the body position between the supine position and the lateral position. And for some patients, it is more difficult to adjust the body position. As a result, the turning action consumes too much time and effort, affecting the detection efficiency. Therefore, it is necessary to design an efficient renal cancer detection device with a body position adjustment function. Summary of the Invention

[0005] In order to overcome the defect that when the existing efficient renal cancer detection device is performing detection, it still requires the patient himself or medical staff to assist in adjusting the body position, and for some patients, the adjustment is more difficult, resulting in excessive time and effort consumption and affecting the detection efficiency, the present invention provides an efficient renal cancer detection device with a body position adjustment function.

[0006] The technical solution of the present invention is: an efficient renal cancer detection device, which includes a base, an upper support plate, a lower support plate and a cushion plate. The upper support plate, the cushion plate and the lower support plate are sequentially arranged above the base. The upper support plate, the cushion plate and the lower support plate are on the same axis and provide support for the upper body, waist and lower body of the human body respectively. It also includes a detection component, a flipping component and a retracting component. Above the cushion plate, there is a detection component for performing imaging examinations and a retracting component for rotating and retracting the detection component. On both sides of the cushion plate, there are flipping components for assisting the human body to flip and change body positions.

[0007] Further, the detection component includes a turntable, a cross bar, a steering joint and a detection probe. The turntable is rotatably installed on the side of the upper support plate away from the cushion plate. The top of the turntable is fixedly connected with a cross bar, the cross bar extends horizontally towards the cushion plate side, a steering joint is sleeved on the cross bar, and the detection probe is movably connected to the steering joint.

[0008] Further, a first elastic member is connected between the detection probe and the steering joint, and the detection probe can be kept in contact with the human body surface under the action of the first elastic member.

[0009] Further, the flipping component includes a guide seat, a support column, a movable rod and a side plate. Inclined guide seats are symmetrically installed on both sides of the middle of the base, the support column is fixedly installed on the guide seat. The support column adopts a cylinder structure, a movable rod is movably connected inside the support column, and the top of the movable rod is fixedly connected with a side plate.

[0010] Further, the retracting component includes a supporting plate, a limiting block and a second elastic member. The cross bar consists of a fixed part and a movable part close to the turntable. The movable part can rotate relative to the fixed part. A supporting plate extending horizontally towards the movable part is arranged on the lower side of the fixed part. A slidable limiting block is arranged at the connection between the fixed part and the movable part. A second elastic member is connected between the limiting block and the fixed part, and the limiting block presses the movable part under the action of the second elastic member to limit its rotation.

[0011] Further, it also includes an electric push rod. The lower support plate can slide relative to the base. An electric push rod is installed on the base, and the movable part of the electric push rod is fixedly connected with the lower support plate.

[0012] Further, it also includes a driving component. The driving component includes a first motor, a screw rod and a sleeve. A first motor is fixedly installed on the cross bar, the screw rod is rotatably installed above the cross bar and is parallel to the cross bar. The output shaft of the first motor is coaxially connected with the screw rod. The sleeve is slidably installed on the screw rod. Threads matching the screw rod are provided on the inner wall of the sleeve, and the sleeve is fixedly connected with the steering joint.

[0013] Further, it further includes an inflation assembly, and the inflation assembly includes a pressing plate, a cylinder, a piston rod and a trachea. Two pressing plates are vertically installed inside the turntable, and the pressing plates are symmetrical. Two cylinders are symmetrically installed on the base, and the cylinders are located below the pressing plates. A piston rod is slidably connected inside the cylinder, and the cylinder is connected to the support column of the cylinder structure through a trachea. The pressing plate rotates and presses down with the turntable, so that the gas in the cylinder is transferred into the support column to raise the side plate.

[0014] Further, it further includes a rotating assembly, and the rotating assembly includes a second motor, a driving gear and a driven gear. A second motor is fixedly installed on one side of the base, a driving gear is coaxially connected to the output shaft of the second motor, a driven gear meshing with the driving gear is sleeved outside the turntable, and the driven gear is fixedly connected to the cross bar.

[0015] The beneficial effects of the present invention are as follows: 1. By installing movable side plates on both sides of the backing plate, the present invention can push the patient to turn around with a larger contact area, making the turning movement more natural and comfortable. Moreover, the side plates can be driven by the inflation assembly, effectively achieving the purpose of saving time and effort in flipping, thereby improving the detection efficiency.

[0016] 2. The detection probe of the present invention can automatically maintain contact with the patient's body surface under the action of the first elastic member, without the need for medical staff to manually apply force to keep the probe close, avoiding problems that may be caused by improper force during manual operation, and facilitating other operations such as medical staff watching the detection imaging.

[0017] 3. Through the cooperation of the motor and the screw rod, the present invention can realize the electric adjustment of the position of the detection probe, which can not only improve the accuracy during the movement process, but also reduce manual operation, further improving the automation degree of the device.

[0018] 4. The detection assembly of the present invention can be rotated and retracted when not in use, effectively avoiding the obstruction caused by the detection device when some taller patients lie in, and enabling medical staff to perform nursing or other operations more conveniently. The design that the assembly can be rotated and retracted can also effectively reduce the space occupation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0020] Figure 2 It is a three-dimensional structural schematic diagram of the upper support plate, the lower support plate and the backing plate of the present invention.

[0021] Figure 3 It is a three-dimensional structural schematic diagram of the detection assembly of the present invention.

[0022] Figure 4 It is a three-dimensional structural schematic diagram of the flipping assembly of the present invention.

[0023] Figure 5 This is an enlarged view of location A of the present invention.

[0024] Figure 6 This is a three-dimensional structural schematic diagram of the electric push rod of the present invention.

[0025] Figure 7 This is a three-dimensional structural schematic diagram of the drive assembly of the present invention.

[0026] Figure 8 This is a three-dimensional structural schematic diagram of the inflation assembly of the present invention.

[0027] Figure 9 This is a three-dimensional structural schematic diagram of the rotation assembly of the present invention.

[0028] In the reference numerals of the drawings: 1 - base, 2 - upper support plate, 3 - lower support plate, 4 - cushion plate, 5 - detection assembly, 51 - turntable, 52 - cross bar, 521 - fixed part, 522 - movable part, 53 - steering joint, 54 - detection probe, 55 - first elastic member, 6 - flipping assembly, 61 - guide seat, 62 - support column, 63 - movable rod, 64 - side plate, 7 - electric push rod, 8 - drive assembly, 81 - first motor, 82 - screw rod, 83 - sleeve, 9 - inflation assembly, 91 - pressing plate, 92 - cylinder, 93 - piston rod, 94 - air pipe, 10 - rotation assembly, 101 - second motor, 102 - driving gear, 103 - driven gear, 11 - retracting assembly, 111 - supporting plate, 112 - limiting block, 113 - second elastic member. Detailed Embodiments

[0029] The following describes the embodiments of the present invention with reference to the accompanying drawings. Embodiment 1

[0030] An efficient renal cancer detection device, as Figures 1 - 5 shown, includes a base 1, an upper support plate 2, a lower support plate 3 and a cushion plate 4. An upper support plate 2, a cushion plate 4 and a lower support plate 3 are successively arranged above the base 1. The upper support plate 2, the cushion plate 4 and the lower support plate 3 are on the same axis and respectively provide support for the upper body, waist and lower body of a human body. The upper support plate 2 is fixedly installed on the top of the right side of the base 1 through bolts. The middle part of the base 1 is of a trapezoidal structure. The cushion plate 4 and the base 1 are integrally formed and fixed on the upper side of the middle part of the base 1. A soft pad made of a flexible material, rubber, is laid on the surface of the cushion plate 4. The lower support plate 3 is slidably installed on the base 1. Both the upper support plate 2 and the lower support plate 3 are in a cabin shape with a trapezoidal cross-section on the side. It further includes a detection assembly 5, a flipping assembly 6 and a retracting assembly 11. Above the cushion plate 4, there is a detection assembly 5 for performing imaging examinations and a retracting assembly 11 for rotating and retracting the detection assembly 5. On both sides of the cushion plate 4, there are flipping assemblies 6 for assisting the human body to flip and change body positions.

[0031] When using the device to detect renal cancer in a patient, the patient is moved next to the base 1 and then lies flat so that the upper body, waist and lower body of the patient are respectively at the upper support plate 2, the cushion plate 4 and the lower support plate 3. The patient remains in the supine position, and the detection component 5 is used to scan and image the abdominal cavity of the patient. Taking ultrasonic diagnosis as an example, the ultrasonic image can show the scope of renal cancer, whether the cancer tumor has invaded adjacent organs, whether there is metastasis in the liver or spleen, and whether the renal pedicle and retroperitoneal lymph nodes are enlarged. After the detection in the supine position is completed, the turning component 6 is used to assist in pushing the patient's body to rotate a certain angle, so that the patient is converted from the supine position to the left lateral position or the right lateral position to facilitate the detection and imaging in the lateral position.

[0032] As Figure 3 shown, the detection component 5 includes a turntable 51, a cross bar 52, a swivel joint 53 and a detection probe 54. The turntable 51 is rotatably mounted on the side of the upper support plate 2 away from the cushion plate 4 through a horizontal connecting rod. The turntable 51 can rotate relative to the upper support plate 2. A vertical cross bar 52 is welded to the top of the turntable 51. The cross bar 52 extends horizontally towards the cushion plate 4 and is parallel to the axes of the upper support plate 2, the cushion plate 4 and the lower support plate 3. A cross-shaped swivel joint 53 is sleeved on the cross bar 52. The detection probe 54 is movably connected to the swivel joint 53. The detection probe 54 can adopt a B-type ultrasonic probe. A first elastic member 55 is connected between the detection probe 54 and the swivel joint 53. The first elastic member 55 adopts a stainless steel compression spring. The detection probe 54 can be kept in contact with the human body surface under the action of the first elastic member 55.

[0033] During the process of detecting renal cancer in a patient, the turntable 51 on the side of the upper support plate 2 can be rotated to drive the cross bar 52 to rotate, so that the swivel joint 53 and the detection probe 54 sleeved on the cross bar 52 rotate together to adjust the detection angle between the surface of the detection probe 54 and the patient's body surface. At the same time, under the reset action of the first elastic member 55, the detection probe 54 automatically fits tightly on the body surfaces of patients with different body types without manually applying pressure to fit the detection probe 54, and the elastic pressurization can effectively avoid the situation of excessive force caused by manual pressing and fitting, which may lead to discomfort of the patient. Embodiment 2

[0034] On the basis of Embodiment 1, as Figure 4As shown, the flipping assembly 6 includes a guiding seat 61, a support column 62, a movable rod 63 and a side plate 64. On both sides of the middle of the base 1, inclined guiding seats 61 are symmetrically installed by bolts. The guiding seat 61 is a square frame body. The support column 62 is welded on the guiding seat 61. The support column 62 adopts a cylinder structure. A movable rod 63 is movably connected in the chamber inside the support column 62. The movable rod 63 can slide along the square of the support column 62. The top of the movable rod 63 is fixedly connected with the side plate 64 by bolts. The included angle between the side plate 64 and the backing plate 4 is about 135 degrees.

[0035] When the patient needs to adjust the body position to the lateral position after completing the detection in the supine position, control the movable rod 63 on one side of the base 1 to tilt and move along the direction of the support column 62, so that the movable rod 63 moves upward and inward relative to the support column 62. The width and length of the side plate 64 can cover the upper part of the patient's buttocks, the waist and the lower part of the back. The side plate 64 moves with the movable rod 63 to push the patient's body to turn to the lateral position. The area of the side plate 64 is much larger than that of the human hand, so that the contact area can be effectively increased, the pressure at the contact position during the pushing process can be reduced, and the body position conversion can be completed more comfortably and conveniently.

[0036] As Figure 5 As shown, the retracting assembly 11 includes a supporting plate 111, a limiting block 112 and a second elastic member 113. The cross bar 52 is composed of a fixed part 521 and a movable part 522 close to the turntable 51. The movable part 522 is connected to the fixed part 521 in a hinged manner. The movable part 522 can rotate relative to the fixed part 521 in the vertical direction. A supporting plate 111 extending horizontally towards the movable part 522 is provided under the fixed part 521. The supporting plate 111 is a downwardly convex semi-circular arc shape, and its inner surface is attached to the bottom side of the movable part 522. A horizontally slidable limiting block 112 is provided at the connection between the fixed part 521 and the movable part 522. A second elastic member 113 is connected between the limiting block 112 and the fixed part 521. The second elastic member 113 adopts a stainless steel compression spring. The limiting block 112 presses the movable part 522 under the action of the second elastic member 113 to limit its rotation.

[0037] Before the patient lies down for detection, the movable part 522 of the cross bar 52 can be rotated to turn it upward and retract. The limiting block 112 is forced to squeeze the second elastic member 113 to make it contract. After the patient completes the lying-down action, release the grasping of the movable part 522. The movable part 522 rotates downward relative to the fixed part 521 under its own gravity. When the movable part 522 rotates to the horizontal state and is flush with the fixed part 521, the supporting plate 111 at the bottom of the fixed part 521 contacts the bottom of the movable part 522, restricting the movable part 522 from continuing to rotate downward. At the same time, the limiting block 112 moves towards the movable part 522 under the reset action of the second elastic member 113, pressing and fixing the movable part 522 to prevent it from accidentally rotating upward during the detection process and affecting the detection result.

[0038] As Figure 6 shown, it further includes an electric push rod 7. The lower support plate 3 can slide relative to the base 1. The electric push rod 7 is installed on the base 1 by bolts. The electric push rod 7 can perform reciprocating linear motion in the horizontal direction. The movable part of the electric push rod 7 is fixedly connected to the lower support plate 3 by means of fixing glue. The electric push rod 7 can push the lower support plate 3 to move horizontally.

[0039] When there are differences in the height and body length of patients, the electric push rod 7 can be driven to drive the lower support plate 3 to move horizontally away from or close to the cushion plate 4, so that the distance between the upper support plate 2 and the lower support plate 3 can better adapt to the human body, facilitating the detection of patients of different heights. Embodiment 3

[0040] On the basis of Embodiment 2, as Figure 7 shown, it further includes a driving component 8 for controlling the movement of the detection probe 54. The driving component 8 includes a first motor 81, a screw rod 82 and a sleeve 83. The first motor 81 is fixedly installed on the cross bar 52 by bolts. The first motor 81 is a decelerating rotating motor. The screw rod 82 is rotatably installed above the cross bar 52 through a bearing seat and is parallel to the cross bar 52. The output shaft of the first motor 81 is coaxially connected to the screw rod 82. The sleeve 83 is slidably installed on the screw rod 82. The inner wall of the sleeve 83 is provided with a thread matching the screw rod 82. When the screw rod 82 rotates, the sleeve 83 moves horizontally along the screw rod 82. The sleeve 83 is fixedly connected to the steering joint 53 by welding.

[0041] When it is necessary to move the detection probe 54 left and right to adjust the imaging position, the first motor 81 can be controlled to work, so that the threaded rod makes a rotational motion. The sleeve 83 threadedly engaged with the threaded rod moves horizontally as it rotates. The steering joint 53 fixedly connected to the sleeve 83 slides horizontally along the cross bar 52 accordingly, driving the detection probe 54 to adjust the left and right positions. After adjusting to a suitable position, the first motor 81 can be controlled to turn off.

[0042] As Figure 8As shown, it also includes an inflation component 9 for driving the side plate 64 to move, the inflation component 9 includes a pressure plate 91, a cylinder 92, a piston rod 93 and an air pipe 94, two pressure plates 91 are vertically installed on the inner side of the turntable 51 by welding, the pressure plates 91 are symmetrical front and back, two cylindrical cylinders 92 are symmetrically installed on the right side of the base 1 by bolts, the cylinder 92 is located below the pressure plate 91, a vertical piston rod 93 is slidably connected in the cylinder 92, an elastic sphere is provided on the top of the piston rod 93 to reduce wear during collision, when the pressure plate 91 rotates, the piston rod 93 is squeezed to move downward, gas is filled between the piston rod 93 and the cylinder 92, the cylinder 92 and the support column 62 of the cylinder structure are connected by the air pipe 94, the pressure plate 91 is pressed down with the rotation of the turntable 51, so that the gas in the cylinder 92 is transferred to the support column 62 to lift the side plate 64.

[0043] like Figure 9 As shown, it also includes a rotating assembly 10 for driving the turntable 51 to rotate, and the rotating assembly 10 includes a second motor 101, a driving gear 102 and a driven gear 103. The second motor 101 is fixedly installed on the right side of the base 1 by bolts. The second motor 101 is a rotating motor. The driving gear 102 is coaxially connected to the output shaft of the second motor 101. The outer side of the turntable 51 is sleeved with a driven gear 103 meshing with the driving gear 102. The turntable 51 rotates synchronously with the driven gear 103. The tooth diameter of the driven gear 103 is about four times that of the driving gear 102. The mutually meshing driving gear 102 and the driven gear 103 are used for transmission and slowing down the rotation speed. The driven gear 103 is fixedly connected to the cross bar 52.

[0044] When the device is used for auxiliary turning, the second motor 101 is controlled to work, and its output shaft rotates to drive the driving gear 102 to rotate, and the driven gear 103 meshing with the driving gear 102 is forced to rotate slowly, and the turntable 51 rotates together with the driving gear 102, and the pressure plate 91 on one side is rotated and pressed down to press the piston rod 93 into the cylinder 92, so that the gas in the cylinder 92 enters the support column 62 on the same side along the trachea 94, and then pushes the movable rod 63 to lift, so that the side plate 64 pushes the patient to turn over. During the patient's turning over, the cross bar 52 rotates with the driven gear 103, so that the detection probe 54 and the patient rotate in opposite directions, shortening the distance between the detection probe 54 and the patient's side when the patient is lying on his side.

[0045] The technical principles of the embodiments of the present invention are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the embodiments of the present invention and cannot be interpreted in any way as limiting the protection scope of the embodiments of the present invention. Based on the explanations herein, those skilled in the art can think of other specific implementation methods of the embodiments of the present invention without creative work, and these methods will fall within the protection scope of the embodiments of the present invention.

Claims

1. An efficient renal cancer detection device, comprising a base (1), an upper support plate (2), a lower support plate (3) and a cushion plate (4). The upper support plate (2), the cushion plate (4) and the lower support plate (3) are sequentially arranged above the base (1). The upper support plate (2), the cushion plate (4) and the lower support plate (3) are on the same axis and provide support for the upper body, waist and lower body of the human body respectively; It is characterized in that: It further comprises a detection component (5), a flipping component (6) and a retracting component (11). Above the cushion plate (4), there is a detection component (5) for performing imaging examinations and a retracting component (11) for rotating and retracting the detection component (5). On both sides of the cushion plate (4), there are flipping components (6) for assisting the human body to flip and change body positions; The detection component (5) comprises a turntable (51), a cross bar (52), a swivel joint (53) and a detection probe (54). The turntable (51) is rotatably installed on the side of the upper support plate (2) away from the cushion plate (4). The top of the turntable (51) is fixedly connected with a cross bar (52). The cross bar (52) extends horizontally towards the cushion plate (4). A swivel joint (53) is sleeved on the cross bar (52), and the detection probe (54) is movably connected to the swivel joint (53); The flipping component (6) comprises a guide seat (61), a support column (62), a movable rod (63) and a side plate (64). On both sides of the middle part of the base (1), inclined guide seats (61) are symmetrically installed. The support column (62) is fixedly installed on the guide seat (61). The support column (62) adopts a cylinder structure. A movable rod (63) is movably connected inside the support column (62), and the top of the movable rod (63) is fixedly connected with a side plate (64); It further comprises an inflation component (9). The inflation component (9) comprises a pressing plate (91), a cylinder (92), a piston rod (93) and an air pipe (94). Two pressing plates (91) are vertically installed inside the turntable (51). The pressing plates (91) are symmetrical. Two cylinders (92) are symmetrically installed on the base (1). The cylinders (92) are located below the pressing plates (91). A piston rod (93) is slidably connected inside the cylinders (92). The cylinders (92) and the cylinder-structured support columns (62) are connected through an air pipe (94). When the pressing plate (91) rotates and presses down with the turntable (51), the gas in the cylinders (92) is transferred into the support columns (62) to raise the side plates (64); It further comprises a rotating component (10). The rotating component (10) comprises a second motor (101), a driving gear (102) and a driven gear (103). A second motor (101) is fixedly installed on one side of the base (1). The output shaft of the second motor (101) is coaxially connected with a driving gear (102). A driven gear (103) meshing with the driving gear (102) is sleeved outside the turntable (51), and the driven gear (103) is fixedly connected with the cross bar (52).

2. An efficient renal cancer detection device according to claim 1, characterized in that: A first elastic member (55) is connected between the detection probe (54) and the swivel joint (53). The detection probe (54) can be kept in contact with the human body surface under the action of the first elastic member (55).

3. An efficient renal cancer detection device according to claim 1, characterized in that: The retracting component (11) includes a supporting plate (111), a limiting block (112) and a second elastic member (113). The cross bar (52) is composed of a fixed portion (521) and a movable portion (522) close to the turntable (51). The movable portion (522) can rotate relative to the fixed portion (521). A supporting plate (111) horizontally extending towards the movable portion (522) is provided on the lower side of the fixed portion (521). A slidable limiting block (112) is provided at the connection between the fixed portion (521) and the movable portion (522). A second elastic member (113) is connected between the limiting block (112) and the fixed portion (521). The limiting block (112) presses the movable portion (522) under the action of the second elastic member (113) to limit its rotation.

4. An efficient renal cancer detection device according to claim 1, characterized in that: It further includes an electric push rod (7). The lower support plate (3) can slide relative to the base (1). An electric push rod (7) is installed on the base (1). The movable portion of the electric push rod (7) is fixedly connected to the lower support plate (3).

5. An efficient renal cancer detection device according to claim 1, characterized in that: It further includes a driving component (8). The driving component (8) includes a first motor (81), a screw rod (82) and a sleeve (83). A first motor (81) is fixedly installed on the cross bar (52). The screw rod (82) is rotatably installed above the cross bar (52) and is parallel to the cross bar (52). The output shaft of the first motor (81) is coaxially connected to the screw rod (82). The sleeve (83) is slidably installed on the screw rod (82). Threads matching the screw rod (82) are provided on the inner wall of the sleeve (83). The sleeve (83) is fixedly connected to the steering joint (53).

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