Lifting device, assembling method and surgical robot

Abstract

The embodiment of the invention provides a lifting device, an assembling method and a surgical robot, and relates to the technical field of medical instruments. The lifting device comprises: a housing; the sliding assembly is arranged in the shell and extends in the first direction, the sliding assembly comprises a guide rail and a first sliding part, and the first sliding part is in sliding connection with the guide rail; the lifting assembly is arranged in the shell; the lifting assembly comprises a lifting piece, the lifting piece is connected with the first sliding piece, and the lifting piece movably stretches out and draws back relative to the shell through the sliding assembly. According to the lifting device, the lifting piece and the mounting piece are designed into an integrated assembly, and alignment errors and assembly errors in traditional multi-component assembly can be eliminated.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a lifting device and an assembly method, and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. With the development of robotic technology, minimally invasive surgical robots have emerged. The slave hand component of the surgical robot is the implementation component of the surgical robot to perform surgical operations. Before the surgical operation, preoperative adjustments are required to determine the surgical action position. Preoperative adjustments include the lifting and lowering of the slave hand, which is generally achieved through a lifting device.

[0003] In the related art, the lifting device is provided with a slider to complete the ascent and descent. The slider is generally mounted on a guide plate by a plurality of screws, and then the guide plate is connected to the guide rail.

[0004] However, in the above-mentioned lifting device, there are a large number of screws, the installation is cumbersome and complicated, the assembly efficiency is low, and during the lifting process, the screws are easy to loosen and fall off, requiring regular maintenance, and the maintenance cost is high. Once the screws are loose, it is easy to accumulate large errors during lifting, thereby affecting the lifting accuracy of the lifting device. Summary of the invention

[0005] The embodiments of the present application provide a lifting device and an assembly method, and a surgical robot. By designing the lifting component and the mounting component as an integrated component, alignment errors and assembly errors in traditional multi-component assembly can be eliminated.

[0006] In a first aspect, an embodiment of the present application provides a lifting device, comprising:

[0007] case;

[0008] A sliding assembly is disposed in the housing and extends along a first direction, wherein the sliding assembly comprises a guide rail and a first sliding member, wherein the first sliding member is slidably connected to the guide rail;

[0009] A lifting assembly is disposed in the housing;

[0010] The lifting assembly includes a lifting member, the lifting member is connected to the first sliding member, and the lifting member is movable and retractable relative to the shell through the sliding assembly.

[0011] The lifting device provided in the embodiment of the present application can reduce the errors introduced by the relative movement between multiple components and the connectors (such as screws) by using the sliding assembly and the lifting assembly, thereby eliminating the alignment errors and assembly errors in the traditional multi-component assembly. In this way, not only can the installation process of the lifting device be simplified, but also the complexity and frequency of maintenance can be reduced.

[0012] Then, through the sliding connection between the first sliding member and the guide rail, the lifting member can perform a smooth linear motion on the guide rail. The guide rail is used to provide a motion path to achieve accurate positioning of the lifting member, further improving the accuracy of the operation.

[0013] Through reasonable internal layout, the lifting device can realize complex lifting functions in a limited space and improve space utilization efficiency. The integrated and modular design makes the assembly and maintenance of the device simpler, which can reduce maintenance time and cost.

[0014] In a possible implementation manner, the lifting assembly further includes a mounting member;

[0015] The mounting member is located outside the lifting member and is connected to the lifting member;

[0016] The first sliding member is connected to the mounting member and is slidably connected to the guide rail; wherein,

[0017] The mounting member and the lifting member are an integrated member.

[0018] With the above settings,

[0019] In a possible implementation, the lifting member includes four plates, the four plates are connected end to end in sequence, and the surfaces of any two adjacent plates extend in a perpendicular direction;

[0020] The mounting member comprises a mounting groove, and a surface extension direction of the mounting groove intersects with a surface extension direction of the corresponding plate body;

[0021] The mounting groove and the lifting member are an integral part.

[0022] Through the above arrangement, the frame structure formed by the four plates provides good rigidity and strength. The vertically connected plates can increase the torsion and bending resistance of the structure and improve the overall stability. The design in which the mounting groove intersects with the extension direction of the plate surface can provide additional support and positioning functions to ensure that the lifting part maintains the correct posture during movement. Through the integrated design, the mounting groove and the lifting part form a whole, which can eliminate the alignment error in the assembly of multiple parts and improve the accuracy and reliability of the overall structure. In addition, since the mounting groove and the lifting part are integrated, the assembly steps and complexity are reduced, and the production and maintenance costs are reduced.

[0023] In a possible implementation manner, the mounting groove has mounting surfaces, a first surface, and a second surface that are perpendicular to each other in pairs, and the mounting surfaces abut against the first sliding member;

[0024] Through the above arrangement, the two perpendicular mounting surfaces provide multi-directional support, thereby enhancing the stability of the structure and reducing possible deviation and shaking during operation.

[0025] And / or, there are multiple mounting grooves, and the flatness between the multiple mounting surfaces is less than or equal to 0.02 mm.

[0026] Through the above settings, multiple mounting grooves can disperse the load, provide multi-point support, improve the stability of the overall structure, reduce the stress concentration of a single component, and improve the reliability of the device; by limiting the flatness between multiple mounting surfaces, the flatness and consistency of the mounting surface can be ensured, and the error caused by unevenness can be reduced. Strict control of flatness reduces the accumulation of errors during the assembly process and improves the accuracy and consistency of the overall assembly.

[0027] In a possible implementation manner, the lifting device further includes:

[0028] A driver, disposed in the housing;

[0029] A lead screw is located in the lifting member and extends along the first direction, and the lead screw is connected to the driver;

[0030] The second sliding member is located inside the lifting member, the second sliding member is rotationally connected to the lead screw and is fixedly connected to one of the plates, and the second sliding member is configured to slide synchronously and drive the lifting member to move relative to the shell when the driver drives the lead screw to rotate.

[0031] Through the above settings, the combination of the lead screw and the driver can provide precise motion control and achieve subtle lifting and lowering adjustments; the lead screw converts rotational motion into linear motion, provides an efficient force transmission mechanism, and can withstand large loads. By integrating the driver, lead screw, and sliding member into the lifting member and the housing, the structure of the system is simplified, the complexity of external connections and wiring is reduced, and the difficulty and cost of maintenance are reduced; setting the driver and lead screw in the housing and the lifting member not only provides protection, but also improves space utilization efficiency, making the device more compact.

[0032] In a possible implementation manner, the plate body connected to the second sliding member is a first plate body,

[0033] The parallelism between the surface of the first plate body facing the second sliding member and the mounting surface is less than or equal to 0.025 mm.

[0034] Through the above arrangement, strict parallelism control between the first plate and the mounting surface ensures that the movement of the slide can be transmitted to the lifter with high precision. Strict control of parallelism reduces friction and unnecessary contact between the slide and the plate, thereby reducing wear and increasing the service life of the device. Precise parallelism ensures structural stability and consistency of movement, reducing possible deviation and jitter during operation. Strict parallelism tolerance reduces error accumulation during assembly and improves the quality and consistency of the overall assembly.

[0035] In a possible implementation, the plate on the side of the first plate away from the second sliding member is the second plate, the first plate and the second plate are spaced apart, and the first plate, the second plate and the remaining plates together form a threading hole.

[0036] Through the above arrangement, the interval arrangement design effectively utilizes the space inside the lifting member, ensuring multifunctional integration in a limited space; through the combination of the first plate, the second plate and other plates, a through channel is formed, which helps to protect the cables and reduce the risk of external damage. By reserving the threading hole, the process of cable arrangement and maintenance is simplified, reducing assembly complexity and maintenance time.

[0037] In a possible implementation manner, a side of the second plate body facing the first plate body further has an avoidance groove;

[0038] The lifting device also includes a mounting base for mounting the lead screw, wherein the mounting base is located in the avoidance groove and is spaced apart from the second plate body.

[0039] Through the above arrangement, direct contact between the mounting base and other structures is avoided, possible interference and wear are reduced, and the service life of the component is extended; in addition, the interval setting can provide flexible installation options, allowing adjustment and maintenance without affecting other components.

[0040] In a possible implementation manner, the number of the guide rails is two, and the two guide rails are respectively arranged on opposite sides of the housing; the number of the mounting members is multiple, and the multiple mounting members are respectively arranged on the outside of the lifting member.

[0041] The lifting member and the plurality of mounting members are integrally formed;

[0042] Through the above-mentioned settings, the two symmetrically arranged guide rails can provide a smooth movement path, reduce the displacement and tilt of the lifting member during movement, and ensure the stability of the movement; multiple mounting parts are respectively arranged on the outside of the lifting member, which can provide multi-point support and connection, disperse the load on the lifting member, reduce single-point stress concentration, and improve the strength of the overall structure to enhance the stability and rigidity of the lifting member; through the one-piece molding process, the lifting member and multiple mounting parts form a whole, eliminating alignment errors and assembly errors in the connection of multiple components, and improving the accuracy and strength of the overall structure.

[0043] and / or,

[0044] The mounting member further comprises a reinforcing rib connected between the mounting groove and the plate body, and the reinforcing rib, the mounting groove and the plate body are integrally formed.

[0045] Through the above-mentioned settings, the reinforcing ribs can enhance the structural strength and rigidity of the mounting parts, and can increase the bearing capacity of the mounting parts; the reinforcing ribs can enhance the structural integrity between the mounting grooves and the plate body, and can reduce the deformation and displacement between the mounting grooves and the plate body, thereby improving the stability and durability of the structure and extending the service life of the device; through the one-piece molding process, the reinforcing ribs, the mounting grooves and the plate body are designed as a whole, which can eliminate the alignment errors and assembly errors in the connection of multiple components and improve the accuracy and strength of the overall structure.

[0046] In a second aspect, an embodiment of the present application further provides an assembly method of a lifting device, which is used for the lifting device, and the assembly method includes:

[0047] Providing a first sliding member, a guide rail, and a lifting member with a mounting member;

[0048] Connecting the first sliding member to the lifting member through the mounting member;

[0049] The first sliding member is connected to the guide rail.

[0050] Through the above-mentioned arrangement, the mounting member provides a firm connection, ensuring the stability between the first sliding member and the lifting member; by connecting the first sliding member to the guide rail, the lifting member is ensured to maintain a precise path and position during movement, thereby improving the overall accuracy of the device; the stable connection and precise guide rail path reduce errors and unnecessary friction during movement, thereby extending the service life of the device.

[0051] In a third aspect, an embodiment of the present application further provides a surgical robot, comprising a surgical platform, a robotic arm and the lifting device, wherein both ends of the robotic arm are respectively connected to the lifting device and the surgical platform, and the robotic arm is used to transmit the movement of the lifting device to the surgical platform.

[0052] The surgical robot provided in the embodiment of the present application can achieve high-precision surgical operations through precise control of the robotic arm and the lifting device, meet the needs of complex and minimally invasive surgeries, and significantly improve the success rate of the surgery. Among them, the surgical platform provides a stable foundation, and the design of the robotic arm and the lifting device ensures the stability and reliability of the system, reducing errors and jitters that may occur during the operation. Secondly, the robotic arm enables the lifting device to reach various positions for surgical operations, meet the needs of different surgeries, and provide a wider operating range. In addition, the two ends of the robotic arm are respectively connected to the lifting device and the surgical platform to form a complete transmission chain, which can improve the efficiency and safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the implementation methods in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technology descriptions. Obviously, the drawings described below are some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0054] Figure 1 A schematic diagram of a first explosion structure of a lifting device provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of a second explosion structure of the lifting device provided in an embodiment of the present application;

[0056] Figure 3 A schematic diagram of the structure of a lifting assembly of a lifting device provided in an embodiment of the present application;

[0057] Figure 4 A schematic flow chart of an assembly method of a lifting device provided in an embodiment of the present application.

[0058] Description of reference numerals:

[0059] 10. Lifting device;

[0060] 100. Shell;

[0061] 200, sliding assembly;

[0062] 210, guide rail; 220, first sliding member;

[0063] 300, lifting assembly;

[0064] 310, lifting member; 311, plate body; 312, first plate body; 313, second plate body; 314, threading hole; 315, avoidance groove;

[0065] 320, mounting parts;

[0066] 321, mounting groove; 3211, mounting surface; 3212, first surface; 3213, second surface;

[0067] 322, reinforcement;

[0068] 400, screw;

[0069] 500, second sliding member;

[0070] 600. Install the base.

[0071] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0072] In order to make the purpose, implementation mode and advantages of the present application clearer, the exemplary implementation mode of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0073] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0074] In addition, the terms "include" and "have" and any variations thereof are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to those components expressly listed but may include other components not expressly listed or inherent to such products or devices.

[0075] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0076] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0077] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0078] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0079] An embodiment of the present application provides a surgical robot, including a surgical platform, a robotic arm, and a lifting device.

[0080] Specifically, the surgical platform is the basic part of the surgical robot, used to support and fix the entire surgical robot system, and is also the main place for surgical operations.

[0081] As the basic part, the surgical platform can support the robotic arm and lifting device, allowing them to maintain the correct position and angle during the operation, reducing surgical risks caused by vibration or movement, and ensuring that the surgical robot system can operate stably during the operation.

[0082] The robotic arm is a structure that connects the surgical platform and the lifting device, and is used to transmit the movement of the lifting device to the surgical platform. The two ends of the robotic arm are connected to the lifting device and the surgical platform respectively. The robotic arm can accurately transmit the movement of the lifting device to ensure the accuracy and consistency of the surgical operation.

[0083] The lifting device is the end effector of the surgical robot, which realizes the surgical operation through the drive component, the opening and closing component and the circuit component. The movement of the lifting device is transmitted to the surgical platform through the robotic arm.

[0084] Through the above settings, the surgical robot can achieve high-precision surgical operations through precise control of the robotic arm and the lifting device, meet the needs of complex and minimally invasive surgeries, and significantly improve the success rate of the surgery. Among them, the surgical platform provides a stable foundation, and the design of the robotic arm and the lifting device ensures the stability and reliability of the system, reducing errors and jitters that may occur during the operation. Secondly, the robotic arm enables the lifting device to reach various positions of the surgical operation, meet the needs of different surgeries, and provide a wider range of operations. In addition, the two ends of the robotic arm are respectively connected to the lifting device and the surgical platform to form a complete transmission chain, which can improve the efficiency and safety of the operation.

[0085] Reference Figure 1 In a second aspect, an embodiment of the present application provides a lifting device 10. The lifting device 10 includes a housing 100, a sliding assembly 200 and a lifting assembly 300.

[0086] Specifically, the housing 100 has a receiving cavity. The sliding assembly 200 and the lifting assembly 300 are both disposed in the housing 100, that is, both are located in the receiving cavity. The receiving cavity can provide a protected working environment for the sliding assembly 200 and the lifting assembly 300.

[0087] It should be noted that the housing 100 may be made of high-strength materials such as aluminum alloy or stainless steel to provide sufficient structural strength and corrosion resistance.

[0088] Through the above configuration, the lifting device 10 can effectively prevent the intrusion of external pollutants (such as dust and moisture), thereby improving the reliability and durability of the lifting device 10 and the surgical robot. At the same time, the accommodating cavity also helps to reduce the impact of noise and vibration on the outside world, and improve the overall performance of the lifting device 10.

[0089] The sliding assembly 200 is extended along a first direction. It can be understood that the first direction is the direction A shown in the figure.

[0090] The sliding assembly 200 includes a guide rail 210 and a first sliding member 220. The first sliding member 220 is slidably connected to the guide rail 210. The first sliding member 220 realizes the smooth movement of the lifting member 310 by slidingly connecting to the guide rail 210, thereby reducing the stuck and shaking phenomenon of the lifting member 310.

[0091] The lifting assembly 300 includes a lifting member 310 . The lifting member 310 is connected to the first sliding member 220 .

[0092] It is understandable that when the first sliding member 220 slides along the first direction on the guide rail 210, the lifting member 310 can slide along the first direction synchronously. Therefore, the lifting member 310 can slide relative to the housing 100 through the sliding assembly 200 to achieve movable extension.

[0093] The lifting device 10 provided in the embodiment of the present application can reduce the errors introduced by the relative movement between multiple components and the connectors (such as screws) by using the sliding assembly 200 and the lifting assembly 300, thereby eliminating the alignment errors and assembly errors in the traditional multi-component assembly. In this way, not only can the installation process of the lifting device 10 be simplified, but also the complexity and frequency of maintenance can be reduced.

[0094] Then, through the sliding connection between the first sliding member 220 and the guide rail 210, the lifting member 310 can perform smooth linear motion on the guide rail 210. The guide rail 210 is used to provide a motion path to achieve accurate positioning of the lifting member 310, further improving the accuracy of the operation. Through a reasonable internal layout, the device realizes complex lifting functions in a limited space and improves space utilization efficiency. The integrated and modular design makes the assembly and maintenance of the device relatively simple, which can reduce maintenance time and cost.

[0095] As an optional implementation, the lifting component 300 further includes a mounting member 320 ; the mounting member 320 is located outside the lifting member 310 and connected to the lifting member 310 .

[0096] Specifically, the mounting member 320 is located outside the lifting member 310, that is, the lifting member 310 is spaced apart from the housing 100. In this way, the lifting member 310 does not directly contact the housing 100, which can reduce direct friction and wear and improve the stability of movement.

[0097] Through the above arrangement, the mounting member 220 can provide additional support for the lifting member 310 and improve stability, so as to ensure that the lifting member 310 is accurately lifted and lowered during the movement.

[0098] The first sliding member 230 is connected to the mounting member 320 and is slidably connected to the guide rail 210. The first sliding member 230 realizes the smooth movement of the lifting member 310 through the slidable connection with the guide rail 210, thereby reducing the stagnation and shaking of the lifting member 310.

[0099] The mounting member 220 and the lifting member 310 are integrated.

[0100] By designing the mounting member 220 and the lifting member 310 as an integral part, alignment errors and assembly errors in the connection of multiple parts can be eliminated, thereby improving the overall structural rigidity and precision.

[0101] It is understandable that the mounting member 220 and the lifting member 310 can be formed into an integral part in a variety of ways. For example, the mounting member 220 and the lifting member 310 can be formed into an integral part by injection molding, die casting, 3D printing (additive manufacturing), stamping, etc. The embodiment of the present application does not limit the specific way in which the mounting member 220 and the lifting member 310 are formed into an integral part, nor is it limited to the above example.

[0102] As an optional implementation, the lifting member 310 includes four plates 311. The frame structure formed by the four plates 311 provides good rigidity and strength.

[0103] The four plates 311 are connected end to end in sequence. The surfaces of any two adjacent plates 311 extend perpendicularly, usually forming a housing 100 with a rectangular or square cross section. The vertically connected plates 311 can increase the torsion and bending resistance of the structure and improve the overall stability.

[0104] Reference Figure 2 The mounting member 320 includes a mounting groove 321, and the first sliding member 230 is correspondingly located in the mounting groove 321. In this way, the mounting groove 321 can provide support and positioning functions for the first sliding member 230, ensuring that the lifting member 310 maintains a correct posture during the movement.

[0105] It should be noted that the groove wall extension direction of the mounting groove 321 may intersect with the extension direction of the plate body 311. The angle of intersection may be arbitrary. Exemplarily, the angle between the surface extension direction of the mounting groove 321 and the surface extension direction of the corresponding plate body 311 is 30°, 45°, 60°, 75°, 90°, 105°, 120°, 135°, 150°, etc. The embodiments of the present application do not limit the specific angle of intersection, nor are they limited to the above examples.

[0106] The following description is made by taking the angle between the surface extension direction of the mounting groove 321 and the surface extension direction of the corresponding plate body 311 as 90°, that is, the surface extension direction of the mounting groove 321 is perpendicular to the surface extension direction of the corresponding plate body 311 .

[0107] The mounting groove 321 and the lifting member 310 are integrated. Through the integrated design, the mounting groove 321 and the lifting member 310 form a whole, which can eliminate the alignment error in the assembly of multiple parts and improve the accuracy and reliability of the overall structure. In addition, since the mounting groove 321 and the lifting member 310 are integrated, the assembly steps and complexity are reduced, and the production and maintenance costs are reduced.

[0108] Reference Figure 2 As an optional embodiment, the mounting groove 321 has two vertical mounting surfaces 3211, a first surface 3212 and a second surface 3213. The mounting surface 3211 abuts against the first sliding member 220 to ensure the stability and precise positioning of the sliding member, reduce friction and wear, and increase the service life of the device.

[0109] Through the above arrangement, the two perpendicular mounting surfaces 3211 provide multi-directional support, enhance the stability of the structure, and reduce possible deviation and shaking during operation.

[0110] Reference Figure 2 As an optional implementation, there are multiple mounting grooves 321. Multiple mounting grooves 321 can disperse the load, provide multi-point support, improve the stability of the overall structure, reduce stress concentration of a single component, and improve the reliability of the device.

[0111] The flatness between the plurality of mounting surfaces 3211 is less than or equal to 0.02 mm. Flatness refers to the flatness of a surface over its entire range. Flatness can be measured by using a flatness meter, an optical plane or a three-dimensional coordinate measuring machine to ensure that the surface remains flat within a specified tolerance range.

[0112] By limiting the flatness between the plurality of mounting surfaces 3211 , the flatness and consistency of the mounting surfaces 3211 can be ensured, and errors caused by unevenness can be reduced.

[0113] Strict control of flatness reduces error accumulation during assembly and improves overall assembly accuracy and consistency.

[0114] It is understandable that the flatness can be any value between 0 and 0.02 mm. For example, the flatness can be less than or equal to 0.01 mm, or less than or equal to 0.02 mm. The embodiment of the present application does not limit the specific flatness between the multiple mounting surfaces 3211, nor is it limited to the above examples.

[0115] Reference Figure 1 As an optional implementation, the lifting device 10 further includes a driver, a lead screw 400 and a second sliding member 500 .

[0116] The driver is disposed in the housing 100 .

[0117] It can be connected that the driver is the power source for the lifting body, and can accurately control the moving speed and position of the lifting body. Through the control of the driver, the smooth movement of the lifting body can be achieved, avoiding surgical errors caused by vibration or instability.

[0118] It should be noted that in the embodiments of the present application, the driver may also be a collection of multiple structures. Exemplarily, the driver may also drive the operation of the robotic arm, and the driver may also include a controller, which may obtain the user's instructions and send the instructions to the lifting body or the rotating device or the robotic arm. The embodiments of the present application do not limit the specific functions of the driver, nor are they limited to the above examples, and may depend on the specific circumstances.

[0119] The lead screw 400 is located in the lifting member 310 and extends along the first direction. The lead screw 400 is connected to the driver.

[0120] It should be noted that the lead screw 400 is a transmission component of the lifting device 10 , and the precise positioning and stable operation of the lead screw 400 are the basis for achieving precise movement of the lifting assembly 300 , which is more important for surgical robots that require high-precision operations.

[0121] It is understood that the lead screw 400 can be made of high-strength steel or alloy, with precision-machined threads to ensure high-precision linear motion. The diameter and pitch of the lead screw 400 can be designed according to load requirements and precision requirements, and are not limited here.

[0122] The second sliding member 500 is located in the lifting member 310, the second sliding member 500 is rotationally connected to the lead screw 400, and is fixedly connected to one of the plates 311. The second sliding member 500 is configured to slide synchronously and drive the lifting member 310 to move relative to the shell 100 when the driver drives the lead screw 400 to rotate.

[0123] The second sliding member 500 converts the rotational motion of the lead screw 400 into sliding motion by being rotationally connected to the lead screw 400. The second sliding member 500 is fixedly connected to a plate 311 of the lifting member 310 to ensure that the lifting member 310 can move synchronously with the sliding member, thereby ensuring the precise positioning and stable movement of the lifting member 310, and realizing a high-precision lifting operation.

[0124] Through the above-mentioned settings, the combination of the lead screw 400 and the driver can provide precise motion control and can achieve subtle lifting and lowering adjustments; the lead screw 400 converts rotational motion into linear motion, provides an efficient force transmission mechanism, and can withstand large loads. By integrating the driver, lead screw 400 and the sliding member in the lifting member 310 and the housing 100, the structure of the system is simplified, the complexity of external connections and wiring is reduced, and the difficulty and cost of maintenance are reduced; the driver and lead screw 400 are arranged in the housing 100 and the lifting member 310, which not only provides protection, but also improves the efficiency of space utilization, making the device more compact.

[0125] Reference Figure 2 As an optional implementation, the plate body 311 to which the second sliding member 500 is connected is the first plate body 312 , ensuring that the movement of the sliding member can be accurately transmitted to the lifting member 310 .

[0126] The parallelism between the surface of the first plate 312 facing the second sliding member 500 and the mounting surface 3211 is less than or equal to 0.025 mm. Parallelism refers to the degree of parallelism of a surface, axis or plane relative to a reference plane or reference line. Parallelism is usually measured by using a measuring tool such as a micrometer, a parallelism meter or a three-dimensional coordinate measuring machine to ensure that it is within the specified tolerance range.

[0127] Strict parallelism control between the first plate 312 and the mounting surface 3211 ensures that the movement of the slider can be transmitted to the lifting member 310 with high precision. Strict control of parallelism reduces friction and unnecessary contact between the slider and the plate 311, thereby reducing wear and increasing the service life of the device. Accurate parallelism ensures structural stability and consistency of movement, reducing possible deviation and jitter during operation. Strict parallelism tolerance reduces error accumulation during assembly and improves the quality and consistency of the overall assembly.

[0128] It is understandable that the parallelism can be any value between 0 and 0.025 mm. For example, the parallelism can be less than or equal to 0.01 mm, less than or equal to 0.02 mm, or less than or equal to 0.025 mm. The embodiment of the present application does not limit the specific parallelism between the surface of the first plate 312 facing the second sliding member 500 and the mounting surface 3211, nor is it limited to the above examples.

[0129] Reference Figure 2 As an optional implementation, the plate 311 on the side of the first plate 312 away from the second sliding member 500 is the second plate 313. The design of the interval arrangement effectively utilizes the space inside the lifting member 310 to ensure multi-functional integration in a limited space.

[0130] Reference Figure 3 The first plate 312 and the second plate 313 are spaced apart, and the first plate 312, the second plate 313 and the remaining plates 311 together form a threading hole 314. A through channel is formed by the combination of the first plate 312, the second plate 313 and the remaining plates 311.

[0131] The threading hole 314 formed provides a dedicated channel for cables, pipelines or other components that need to pass through the lifting member 310. This helps protect the cables and reduce the risk of external damage.

[0132] By reserving the threading hole 314, the cable arrangement and maintenance process is simplified, and the assembly complexity and maintenance time are reduced.

[0133] Reference Figure 2 and Figure 3 As an optional embodiment, the second plate 313 has a side facing the first plate 312 with an avoidance groove 315. The avoidance groove 315 provides a dedicated space for the mounting base 600, making the overall structure more compact and efficient. This space optimization helps to achieve multi-functional integration in a limited space.

[0134] The lifting device 10 further includes a mounting base 600 for mounting the lead screw 400. The mounting base 600 is a structure for fixing and supporting the lead screw 400 to ensure that the lead screw 400 remains stable and correctly positioned during operation.

[0135] The mounting base 600 is located in the avoidance groove 315 and is spaced apart from the second plate 313 to ensure that the lead screw 400 remains stable during operation and to reduce vibration and deviation.

[0136] By designing an avoidance groove 315 on the second plate 313, direct contact between the mounting base 600 and other structures is avoided, possible interference and wear are reduced, and the service life of the component is extended; in addition, the interval setting can provide flexible installation options, allowing adjustment and maintenance without affecting other components.

[0137] Reference Figure 1 As an optional embodiment, there are two guide rails 210, and the two guide rails 210 are respectively arranged on opposite sides of the housing 100. The two guide rails 210 are respectively located on opposite sides of the housing 100 to provide double support. Through the above arrangement, the two symmetrically arranged guide rails 210 can provide a smooth movement path, reduce the deviation and tilt of the lifting member 310 during the movement, and ensure the stability of the movement.

[0138] There are multiple mounting parts 320, which are respectively arranged on the outside of the lifting member 310, and can provide multi-point support and connection, disperse the load on the lifting member 310, reduce single-point stress concentration, and improve the strength of the overall structure to enhance the stability and rigidity of the lifting member 310.

[0139] The lifting member 310 and the plurality of mounting members 320 are integrally formed. Through the integral forming process, the lifting member 310 and the plurality of mounting members 320 are integrally formed, thereby eliminating alignment errors and assembly errors in the connection of multiple components and improving the accuracy and strength of the overall structure.

[0140] Since the lifting member 310 and the mounting member 320 are formed in one piece, the assembly steps and complexity are reduced, the production and maintenance costs are reduced, and the reliability of the assembly is improved.

[0141] Reference Figure 3 As an optional implementation, the mounting member 320 further includes a reinforcing rib 322 , which can enhance the structural strength and rigidity of the mounting member 320 and increase the bearing capacity of the mounting member 320 .

[0142] The reinforcing rib 322 is connected between the mounting groove 321 and the plate body 311 to provide additional support and connection, thereby enhancing the structural integrity between the mounting groove 321 and the plate body 311, reducing deformation and displacement between the mounting groove 321 and the plate body 311, improving the stability and durability of the structure, and extending the service life of the device.

[0143] The reinforcing rib 322, the mounting groove 321 and the plate body 311 are integrally formed. By the integral forming process, the reinforcing rib 322, the mounting groove 321 and the plate body 311 are designed as a whole, which can eliminate the alignment error and assembly error in the connection of multiple parts and improve the accuracy and strength of the overall structure.

[0144] Since the reinforcing rib 322, the mounting groove 321 and the plate body 311 are integrally formed, the assembly steps and complexity are reduced, the production and maintenance costs are reduced, and the reliability of the assembly is improved.

[0145] Reference Figure 4 In a third aspect, the embodiment of the present application further provides an assembly method of a lifting device 10, which is used for the lifting device 10, and the assembly method includes:

[0146] S100, connecting the first sliding member to the lifting member through the mounting member.

[0147] S300, connecting the first sliding member to the lifting member through the mounting member;

[0148] The first sliding member 220 is fixed to the lifting member 310 via the mounting member 320. The mounting member 320 provides a stable connection point to ensure that the sliding member can effectively transmit movement.

[0149] S300, connecting the first sliding member to the guide rail.

[0150] The first sliding member 220 is mounted on the guide rail 210 to ensure that the sliding member can move smoothly along the guide rail 210. The guide rail 210 provides a precise movement path to ensure stable lifting of the lifting member 310.

[0151] Through the above steps, compared with the assembly method in the related art, the assembly process can be simplified, the assembly time and complexity can be reduced, and the production efficiency can be improved.

[0152] In addition, the mounting member 320 provides a secure connection to ensure stability between the first slider 220 and the lifting member 310. By connecting the first slider 220 to the guide rail 210, the lifting member 310 is ensured to maintain an accurate path and position during movement, thereby improving the overall accuracy of the device. The stable connection and accurate path of the guide rail 210 reduce errors and unnecessary friction during movement, thereby extending the service life of the device.

[0153] As an optional implementation, in order to ensure that the installation groove 321 can accurately install and position the first sliding member 220, a first surface 3212 and a second surface 3213 with a higher verticality requirement may be preset.

[0154] In some embodiments, the verticality between the first surface 3212 and the second surface 3213 is less than or equal to 0.05 mm. Wherein, verticality refers to the verticality of a surface, axis or plane relative to a reference plane or reference line. The verticality can be measured by using a measuring tool such as a micrometer, a level or a three-dimensional coordinate measuring machine to ensure that it is within the specified tolerance range.

[0155] By limiting the verticality between the various surfaces of the mounting groove 321 , the geometric accuracy of the overall structure is ensured, and assembly errors and cumulative errors are reduced.

[0156] It is understood that the verticality can be any value in the range of 0-0.012 mm. For example, the verticality can be any one of 0.001 mm, 0.002 mm, 0.003 mm, 0.004 mm, 0.005 mm, 0.006 mm, 0.007 mm, 0.008 mm, 0.009 mm, 0.01 mm, 0.011 mm and 0.012 mm. The embodiment of the present application does not limit the specific verticality between the first surface 3212 and the second surface 3213, nor is it limited to the above examples.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0158] For the convenience of explanation, the above description has been made in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations can be obtained. The selection and description of the above embodiments are to better explain the principles and practical applications, so that those skilled in the art can better use the embodiments and various different variations of the embodiments suitable for specific use considerations.

Claims

1. A lifting device (10), characterized in that: include: Housing (100); A sliding assembly (200) is arranged in the housing (100) and extends along a first direction, the sliding assembly (200) comprises a guide rail (210) and a first sliding member (220), and the first sliding member (220) is slidably connected to the guide rail (210); A lifting assembly (300) is disposed in the housing (100); The lifting component (300) comprises a lifting member (310), the lifting member (310) being connected to the first sliding member (220), and the lifting member (310) being able to move and retract relative to the housing (100) through the sliding component (200).

2. The lifting device (10) according to claim 1, characterized in that: The lifting assembly (300) further includes a mounting member (320); The mounting member (320) is located outside the lifting member (310) and is connected to the lifting member (310); The first sliding member (220) is connected to the mounting member (320) and is slidably connected to the guide rail (210); wherein: The mounting member (320) and the lifting member (310) are an integral member.

3. The lifting device (10) according to claim 2, characterized in that: The lifting member (310) comprises four plates (311), the four plates (311) are connected end to end in sequence, and the surfaces of any two adjacent plates (311) extend in a perpendicular direction; The mounting member (320) has a mounting groove (321), and the first sliding member (220) is correspondingly located in the mounting groove (321); The installation groove (321) and the lifting member (310) are an integral part.

4. The lifting device (10) according to claim 3, characterized in that: The mounting groove (321) comprises mounting surfaces (3211) perpendicular to each other in pairs, a first surface (3212) and a second surface (3213), and the mounting surfaces (3211) are in contact with the first sliding member (220); And / or, the number of the mounting grooves (321) is multiple, and the flatness between the multiple mounting surfaces (3211) is less than or equal to 0.02 mm.

5. The lifting device (10) according to claim 4, characterized in that: Also includes: A driver, disposed in the housing (100); A lead screw (400) is located in the lifting member (310) and is extended along the first direction, and the lead screw (400) is connected to the driver; The second sliding member (500) is located inside the lifting member (310). The second sliding member (500) is rotationally connected to the lead screw (400) and is fixedly connected to one of the plates (311). The second sliding member (500) is configured to synchronously slide and drive the lifting member (310) to move relative to the housing (100) when the driver drives the lead screw (400) to rotate.

6. The lifting device (10) according to claim 5, characterized in that: The plate body (311) to which the second sliding member (500) is connected is a first plate body (312), The degree of parallelism between the surface of the first plate (312) facing the second sliding member (500) and the mounting surface (3211) is less than or equal to 0.025 mm.

7. The lifting device (10) according to claim 6, characterized in that: The plate body (311) on the side of the first plate body (312) facing away from the second sliding member (500) is the second plate body (313), the first plate body (312) and the second plate body (313) are arranged at an interval, and the first plate body (312), the second plate body (313) and the remaining plate bodies (311) together form a threading hole (314).

8. The lifting device (10) according to claim 7, characterized in that: The second plate body (313) further has an avoidance groove (315) on a side facing the first plate body (312); The lifting device (10) further comprises a mounting base (600) for mounting the lead screw (400); the mounting base (600) is located in the avoidance groove (315) and is spaced apart from the second plate body (313).

9. A method for assembling a lifting device (10), characterized in that: For a lifting device (10) according to any one of claims 1 to 8, the assembly method comprises: Providing a first sliding member (220), a guide rail (210), and a lifting member (310) having a mounting member (320); Connecting the first sliding member (220) to the lifting member (310) via the mounting member (320); The first sliding member (220) is connected to the guide rail (210).

10. A surgical robot, characterized in that: It comprises a surgical platform, a robotic arm and a lifting device (10) as described in any one of claims 1 to 9, wherein two ends of the robotic arm are respectively connected to the lifting device and the surgical platform, and the robotic arm is used to transmit the movement of the lifting device (10) to the surgical platform.

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