Trolley and surgical robot

Abstract

The invention belongs to the technical field of surgical robots, and discloses a trolley and a surgical robot. The problems that an existing trolley trundle mechanism and an existing kickstand mechanism are disordered in layout and poor in safety are solved. The trolley comprises a chassis frame, a trundle mechanism and a foot supporting mechanism, an electrical cabinet is arranged at the upper end of the chassis frame, and a hollowed-out mounting groove is formed in the lower end of the chassis frame; the caster and the caster motor module are adjacently arranged in the hollow mounting groove, and the caster driving module is arranged in the electrical box; the input end of the trundle motor module is connected with the trundle driving module, and the output end of the trundle motor module is connected with the trundle; the input end of the foot support motor module is connected with the foot support driving module in an inserted mode, and the output end of the foot support motor module is connected with the foot support. The trundle driving module is arranged in the electrical box, so that the trundle mechanism can be conveniently overhauled, and the occupied area of the chassis frame is reduced; the kickstand motor module and the kickstand driving module are directly connected in an inserted mode, wiring is reduced, the space is reasonably utilized, and the overall reliability and safety of the trolley are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a trolley and a surgical robot. Background Art

[0002] The surgical robot is a complex system that integrates multiple modern high-tech technologies. With the extensive clinical application of surgical robots, many medical problems have been solved.

[0003] The master-slave surgical robot system includes a doctor control platform and a patient surgical platform. The doctor control platform is used to send control commands to the patient surgical platform according to the doctor's operation to control the patient surgical platform. The doctor control platform and the patient surgical platform usually include a trolley. Since the trolley of the patient surgical platform is installed with a slave robotic arm and a controller, etc., and the trolley of the doctor control platform is installed with a master robotic arm and a controller, etc., the overall weight installed on the trolley is relatively large. When adjusting the position of the surgical robot, the trolley mostly needs to use casters and foot supports to achieve its stability during and after movement.

[0004] The above-mentioned trolley requires casters and foot supports for auxiliary movement and maintenance, and also requires more driving and control components to provide kinetic energy. Therefore, the trolley has many related components such as casters and foot supports, and there are problems such as more wiring during the actual installation process, resulting in poor safety. Summary of the Invention

[0005] The object of the present invention is to provide a trolley and a surgical robot to solve the problem that the caster mechanism and the foot support mechanism of the trolley of the existing surgical robot are arranged in a relatively messy manner and have poor safety.

[0006] To achieve this object, the present invention adopts the following technical solution: a trolley, comprising a chassis frame, a caster mechanism and a foot support mechanism;

[0007] The upper end of the chassis frame is provided with an electrical box, and the lower end of the chassis frame is provided with a hollow mounting slot;

[0008] The caster mechanism comprises a caster, a caster drive module and a caster motor module;

[0009] The caster and the caster motor module are adjacently arranged in the hollow installation slot, and the caster drive module is arranged in the electrical box;

[0010] The input end of the caster motor module is connected to the caster drive module, and the output end of the caster motor module is connected to the caster;

[0011] The above-mentioned foot support mechanism includes a foot support, a foot support motor module and a foot support driving module which are sequentially arranged in the above-mentioned hollow installation slot;

[0012] The input end of the above-mentioned foot support motor module is plugged into the above-mentioned foot support driving module, and the output end of the above-mentioned foot support motor module is connected to the above-mentioned foot support.

[0013] Preferably, the number of the casters is multiple;

[0014] The caster drive module includes a caster motherboard and a plurality of caster drivers;

[0015] The plurality of caster drivers are plugged into the caster motherboard, and the caster motherboard is fixed in the electrical box;

[0016] The plurality of caster drivers are used to drive the plurality of casters respectively.

[0017] Preferably, the caster drive module is vertically fixed in the electrical box via a support frame.

[0018] Preferably, the caster drive module is equipped with a heat dissipation device.

[0019] Preferably, the above-mentioned foot support driving module includes a box body, a foot support motherboard and a plurality of foot support drivers;

[0020] The box body is installed at the center of the hollow installation slot;

[0021] The plurality of foot support drivers are plugged into the foot support motherboard, and the foot support motherboard is fixed in the box body.

[0022] Preferably, the number of the above-mentioned foot supports and the above-mentioned foot support motor modules are both multiple, and the multiple foot support motor modules are respectively connected to the multiple foot supports;

[0023] The above-mentioned foot support motherboard is equipped with a plug-in port;

[0024] The leg support motor module is at least arranged close to the plug-in port, and a plurality of the leg support motor modules are plugged into the plug-in port.

[0025] Preferably, the side wall of the chassis frame is provided with a window;

[0026] The foot support is provided with an adjustment portion, and the adjustment portion is arranged at least toward the window.

[0027] Preferably, the caster motor module and / or the kick support motor module includes a motor and a motor encoder.

[0028] Preferably, a protective baffle is provided in the hollow installation groove;

[0029] The protective baffle symmetrically forms a plurality of installation chambers, so that the caster mechanism and the foot support mechanism are symmetrically installed in the installation chambers.

[0030] A surgical robot comprises the above-mentioned trolley.

[0031] Beneficial effects of the present invention:

[0032] The trolley and surgical robot provided by the present invention include a chassis frame, a caster mechanism and a foot support mechanism; an electrical box is arranged at the upper end of the chassis frame, and a hollow installation slot is arranged at the lower end of the chassis frame; the caster and the caster motor module are adjacently arranged in the above hollow installation slot, and the above caster drive module is arranged in the above electrical box; the input end of the caster motor module is connected to the above caster drive module, and the output end of the caster motor module is connected to the caster; the input end of the foot support motor module is plugged into the foot support drive module, and the output end of the foot support motor module is connected to the above foot support; by arranging the caster drive module in the electrical box at the upper end of the chassis frame, it is beneficial to When a fault occurs, the drive module is repaired to reduce the space occupied at the lower end of the chassis frame; and the caster and the caster motor module are adjacently arranged in the hollow installation groove at the lower end of the chassis frame, reducing the connection distance of the wiring between the caster and the caster motor module; the foot support, the foot support motor module and the foot support drive module are all adjacently arranged in the hollow installation groove, reducing the wiring distance between each other; and the foot support motor module and the foot support drive module are directly plugged in to avoid their connection wiring; the layout of the above-mentioned caster mechanism and the foot support mechanism rationally utilizes the space of each part of the chassis frame, reduces the wiring distance between each other, and improves the overall neatness and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a bottom view of a trolley provided by an embodiment of the present invention;

[0034] Figure 2 is a side view of a trolley provided by an embodiment of the present invention;

[0035] Figure 3 is a structural diagram of a caster motor module provided by an embodiment of the present invention;

[0036] Figure 4 is a structural diagram of a caster drive module provided by an embodiment of the present invention;

[0037] Figure 5 is a structural diagram of a kickstand driving module provided by an embodiment of the present invention;

[0038] Figure 6 It is a structural schematic diagram of a chassis frame provided by an embodiment of the present invention.

[0039] In the figure: 10, chassis frame; 11, electrical box; 12, hollow installation slot; 13, window; 14, protective baffle;

[0040] 20. Caster mechanism; 21. Caster; 22. Caster drive module; 221. Caster motherboard; 222. Caster driver; 223. Main input port; 224. Main output port; 225. Support frame; 226. Heat sink; 227. Fan; 23. Caster motor module; 231. Caster motor; 232. Transmission assembly;

[0041] 30. Foot support mechanism; 31. Foot support; 311. Adjustment unit; 32. Foot support drive module; 321. Box body; 322. Foot support motherboard; 323. Foot support driver; 324. Plug port; 33. Foot support motor module. DETAILED DESCRIPTION

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0043] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0044] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0045] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0046] like Figures 1 to 2 As shown, the trolley provided in this embodiment includes a chassis frame 10, a caster mechanism 20 and a foot support mechanism 30; an electrical box 11 is provided at the upper end of the chassis frame 10, and a hollow mounting groove 12 is provided at the lower end of the above-mentioned chassis frame 10; the caster mechanism 20 includes a caster 21, a caster drive module 22 and a caster motor module 23; the caster 21 and the caster motor module 23 are adjacently arranged in the hollow mounting groove 12, and the caster drive module 22 is arranged in the electrical box 11; the input end of the caster motor module 23 is connected to the caster drive module 22, and the output end of the caster motor module 23 is connected to the above-mentioned caster; the foot support mechanism 30 includes a foot support 31, a foot support motor module 33 and a foot support drive module 32 which are sequentially arranged in the hollow mounting groove 12; the input end of the foot support motor module 33 is plugged into the foot support drive module 32, and the output end of the foot support motor module 33 is connected to the above-mentioned foot support 31.

[0047] Specifically, by configuring the caster drive module 22 in the electrical box 11 at the upper end of the chassis frame 10, it is convenient to repair the drive module of the caster mechanism 20 when a fault occurs, thereby reducing the space occupied at the lower end of the chassis frame 10; and the caster 21 and the caster motor module 23 are adjacently configured in the hollow mounting groove 12 at the lower end of the chassis frame 10, thereby reducing the connection distance of the wiring between the caster 21 and the caster motor module 23; the foot support 31, the foot support motor module 33 and the foot support drive module 32 are all adjacently configured in the hollow mounting groove, thereby reducing the wiring distance connected to each other; and the foot support motor module 33 and the foot support drive module 32 are directly plugged in to avoid their connection wiring; the layout of the above-mentioned caster mechanism 20 and the foot support mechanism 30 rationally utilizes the space of each part of the chassis frame 10, reduces the wiring distance between each other, and improves the neatness and safety of the overall layout.

[0048] Among them, the chassis frame 10 is equipped with an electrical box 11 at the upper end and a hollow installation groove 12 at the lower end, so that the electrical box 11 can accommodate most of the control components for overall protection, and the lower end can be installed with components such as casters 21 and foot supports 31; the caster 21 of the caster mechanism 20 can be accurately and quickly adjusted in posture under the control and drive of the caster motor module 23 and the caster drive module 22; the foot support 31 of the foot support mechanism 30 can be accurately and quickly fixed in posture under the control and drive of the foot support motor module 33 and the foot support drive module 32, thereby ensuring the stability of the overall trolley operation.

[0049] The caster 21 and the caster motor module 23 are adjacently disposed in the hollow mounting slot 12, meaning that the caster motor module 23 can directly drive the caster 21 at close range, reducing the wiring distance required during the connection process. It is worth mentioning that the caster 21 and the caster motor module 23 are connected during the connection process via a transmission assembly 232, which converts the linear motion of the caster motor module 23 into the rotational motion required by the caster 21. The transmission assembly 232 includes components such as gears, bearings, and a worm gear. The caster 21 is preferably a Mecanum wheel, which has the characteristics of a compact structure and flexible movement. It is an omnidirectional wheel capable of achieving omnidirectional mobility.

[0050] Among them, the caster drive module 22 is configured in the electrical box 11 so that when the caster 21 is inspected, the electrical box 11 can be opened specifically to inspect the caster drive module 22, thereby improving the convenience of inspection; the caster drive module 22 is configured on the chassis frame 10 to occupy a larger space of the chassis frame 10. Although it can reduce the connection distance between them, since the caster 21 is a component of the trolley with a higher inspection frequency, it is more reasonable and convenient to install it in the electrical box 11.

[0051] like Figure 3 As shown, the input end of the caster motor module 23 is connected to the caster drive module 22, and the output end of the caster motor module 23 is connected to the caster 21 through the transmission component 232, so as to realize precise control and drive of the caster; the input end of the foot support motor module 33 is connected to the foot support drive module 32, and the output end of the foot support motor module 33 is connected to the foot support 31, so as to realize precise control and drive of the foot support 31.

[0052] like Figure 1 As shown, the foot support 31, the foot support motor module 33 and the foot support drive module 32 of the foot support mechanism 30 are all arranged in the hollow installation groove 12 in sequence, so that the components of the foot support mechanism 30 are arranged in close proximity, the connection wiring distance is reduced, and the space of the chassis frame 10 is reasonably utilized; since the foot support mechanism 30 is relatively simple and not prone to failure, arranging its components at the lower end of the chassis frame 10 can reduce the space it occupies in the electrical box 11, which has the advantage of reasonable layout.

[0053] like Figure 1 and Figure 4 As shown, exemplarily, the number of the above-mentioned casters 21 is multiple; the caster drive module 22 includes a caster motherboard 221 and multiple caster drivers 222; the multiple caster drivers 222 are plugged into the above-mentioned caster motherboard 221, and the above-mentioned caster motherboard 221 is fixed in the above-mentioned electrical box 11; the multiple caster drivers 222 are used to drive the multiple casters 21 respectively.

[0054] Specifically, by plugging multiple caster drivers 222 of multiple caster drive modules 22 into the caster motherboard 221, the multiple caster drivers 222 are integrated, and the caster motherboard 221 is fixed in the electrical box 11, so that the multiple caster drivers 222 can drive multiple casters 21 respectively, and occupy a smaller space. In addition, only one main input port 223 and one main output port 224 are required during the transmission of the drive signal, which reduces wiring and improves safety.

[0055] In this embodiment, four casters 21 are used as an example for explanation. Four foot supports 31 are provided corresponding to the four casters 21 , that is, the casters 21 are provided close to the foot supports 31 to ensure a more balanced and stable fixed trolley.

[0056] Four caster drivers 222 are provided for each of the four casters 21. These four caster drivers 222 are plugged into a single caster motherboard 221, aggregating data from the four caster drivers 222 onto the circuit board of the caster motherboard 221. The information from the corresponding caster drivers 222 can be categorized by the ID address of the transmitted drive signal, reducing wiring while enabling fast and accurate information pairing. The design principles of the four leg supports 31, the four leg support drivers 323, and the leg support motherboard 322 are similar and will not be further elaborated below.

[0057] It is worth mentioning that by integrating the four caster drivers 222 included in the caster mechanism 20 onto a motherboard, the four caster drivers 222 are integrated and unified, and the main control module only needs to send four control signals to the corresponding four caster drivers 222 from the bus input configured on the motherboard, and then send the control information to the corresponding caster motor module 23 from the bus output, thereby reducing the space occupied by the four caster drivers 222 and reducing the number of wiring in the control signal transmission process, thereby improving the reliability and safety of the overall control system; the four caster drivers are integrated and connected to the motherboard, and the caster driver 222 is preferably a pin-type drive unit, and the motherboard's jack is designed to correspond to the pin-type drive unit main body connection, and the corresponding circuit is designed on the motherboard to achieve a single pin-type drive unit with the function while occupying a smaller space; in this embodiment, the four pin-type drive unit main bodies can be respectively plugged into the four groups of jacks on the motherboard to achieve a direct collective fixed connection between the caster driver 222 and the motherboard. The design principles of the four foot supports 31, the four foot support drivers 323 and the foot support motherboard 322 are similar to this and will not be repeated below.

[0058] like Figure 4 As shown, illustratively, the caster drive module 22 is vertically fixed in the electrical box 11 via a support frame 225 .

[0059] Specifically, the caster drive module 22 is vertically fixed in the electrical box 11 by the support frame 225, which is conducive to rationally utilizing the space occupied by the caster drive module 22 in the electrical box 11 and reducing its occupied space.

[0060] It is worth mentioning that the support frame 225 can be an L-shaped frame, and one end face of the caster motherboard is directly fixed on the vertical end face of the L-shape, and the horizontal end face of the L-shaped frame can be fixed to the electrical box 11 body to achieve a stable fixing effect; wherein, the L-shaped frame and the electrical box 11 can be directly fixed simply and quickly by passing bolts through the screw holes set at the corresponding positions, ensuring convenient installation operation.

[0061] like Figure 4 As shown, exemplarily, the caster drive module 22 is configured with a heat dissipation device.

[0062] Specifically, by configuring a heat dissipation device on the caster drive module 22, the heat dissipation device can quickly dissipate the heat generated by the caster drive module 22 in the working state, thereby ensuring the service life of the caster drive module 22 and not increasing the heat accumulation in the electrical box. The heat dissipation device can also quickly dissipate the generated heat, avoiding the large amount of heat generated from damaging the electrical components in the electrical box.

[0063] Among them, the heat dissipation device includes a heat sink 226 and a fan 227; the heat sink 226 can be connected closely to the caster driver 222, and the fan 227 is connected to the outside of the heat sink 226; the heat sink 226 first conducts the heat generated by the caster driver 222, and finally transmits the heat outward through the fan 227 according to the preset air duct direction to ensure the efficiency of heat transfer.

[0064] Among them, the heat dissipation device can be configured according to the number of caster drivers 222, that is, each caster drive module 22 is configured with a heat dissipation device. In this embodiment, four caster drivers 222 are configured with four heat dissipation devices to ensure targeted heat dissipation of each caster driver 222 and ensure the heat dissipation effect.

[0065] like Figure 5 As shown, exemplarily, the above-mentioned foot support driving module 32 includes a box body 321, a foot support motherboard 322 and multiple foot support drivers 323; the above-mentioned box body 321 is installed at the center position of the above-mentioned hollow installation slot 12; the multiple above-mentioned foot support drivers 323 are plugged into the above-mentioned foot support motherboard 322, and the above-mentioned foot support motherboard 322 is fixed in the above-mentioned box body 321.

[0066] Specifically, by plugging the foot support driver 323 into the foot support motherboard 322 and fixing the foot support motherboard 322 in the box body 321, the box body 321 is used to protect the foot support driver 323 and the foot support motherboard 322; and the four foot support drivers 323 are all plugged and fixed on one foot support motherboard 322, so that the four foot support drivers 323 are integrated. The effect of the setting here is similar to the principle and effect of plugging four caster drivers 222 into the caster motherboard 221, so it will not be repeated.

[0067] Among them, the box body 321 is installed at the center position of the above-mentioned hollow installation groove 12, that is, the foot support motors distributed at the four positions of the hollow installation groove 12 can be at a closer distance from the foot support driving module 32, so that the connection line of the four foot support motor modules 33 is shorter when they are connected to it.

[0068] The foot support driving module 32 may be located at the center of the box body 321 , which facilitates the convenience of wiring when the external foot support motor module 33 is connected thereto.

[0069] Exemplarily, the number of the above-mentioned foot supports 31 and foot support motor modules 33 is multiple, and the multiple foot support motor modules 33 are respectively connected to the above-mentioned multiple foot supports 31; the above-mentioned foot support motherboard 322 is configured with a plug-in port 324; the foot support motor module 33 is at least arranged close to the above-mentioned plug-in port 324, and the multiple foot support motor modules 33 are all plugged into the above-mentioned plug-in port 324.

[0070] Specifically, in this embodiment, there are four foot supports 31 and four foot support motor modules 33 to balance the stability of the trolley; and the four foot supports 31 are located in the middle of adjacent casters 21 to ensure a better balancing effect on the casters 21; the four motors are connected to the four foot supports 31 respectively, so that each foot support motor module 33 can drive the corresponding foot support 31 separately, thereby achieving targeted and stable driving of the foot support 31; the foot support motherboard 322 is provided with a plug interface, and the foot support motor module 33 is at least arranged close to the plug interface to reduce the wiring distance when the foot support motor module 33 is connected to the plug interface;

[0071] Among them, the foot support motor module 33 can be directly plugged into the foot support driving module 32, so that the foot support motor module 33 and the foot support driving module 32 can be connected without wiring, thereby improving the reliability and safety of the foot support mechanism 30.

[0072] Exemplarily, a window 13 is configured on the side wall of the chassis frame 10 ; the foot support 31 is configured with an adjusting portion 311 , and the adjusting portion 311 is at least disposed toward the window 13 .

[0073] like Figure 2As shown, specifically, by configuring a window 13 on the side wall of the chassis frame 10, the adjustment portion 311 of the leg support 31 is set toward the window 13, so that the leg support 31 can be directly inspected and maintained from the window 13; because during the operation of the leg support 31, the current controlling its movement when the leg support 31 is normally lifted and lowered has a preset range, when the leg support 31 moves to the top, its movement current exceeds the normal preset range, and the leg support 31 cannot control its movement according to the normal control program. In this way, an adjustment bolt needs to be configured at the top of the leg support 31. When the leg support 31 cannot move, the bolt head is manually turned through the window 13 to achieve inspection and maintenance of the leg support 31, thereby improving operability and convenience.

[0074] Among them, windows 13 are provided on the corresponding side walls of the chassis frame 10 according to the number of leg supports 31, so that each leg support 31 can be inspected and maintained through the corresponding window 13; in this embodiment, there are four leg supports 31, so windows 13 are provided at four corresponding positions of the chassis frame 10.

[0075] Exemplarily, the caster motor module 23 and / or the kick support motor module 33 include a motor and a motor encoder.

[0076] In one embodiment, the caster motor module 23 is configured with a motor and a motor encoder. Since adding a motor encoder is beneficial for improving the control accuracy of the caster 21, a corresponding encoder for the caster 21 is added to achieve more stable movement control of the trolley. It is worth mentioning that since adding a motor encoder requires additional wiring, and since the caster drive module 22 is located in the electrical box 11, considering the safety of the wiring, a motor with sufficient accuracy can be selected, and thus without a motor encoder, as long as accurate control of the caster 21 can be achieved.

[0077] In another embodiment, the foot support motor module 33 is configured with a motor and a motor encoder. Since adding a motor encoder helps improve the control accuracy of the foot support 31, adding a foot support encoder can further stabilize the trolley. It is worth noting that since the foot support drive module 32 is located to one side of the foot support motor module 33, adding a motor encoder does not increase the wiring of the foot support mechanism 30. Therefore, adding a foot support motor encoder is preferred.

[0078] In the third embodiment, the caster motor module 23 is configured with a motor and a motor encoder, and the foot support motor module 33 is also configured with a motor and a motor encoder, which can achieve more stable movement control of the trolley and more stable parking effect of the trolley.

[0079] like Figure 6As shown, a protective baffle 14 is disposed in the hollow installation groove 12 ; the protective baffle 14 symmetrically forms a plurality of installation chambers, so that the caster mechanism 20 and the foot support mechanism 30 are symmetrically installed in the installation chambers.

[0080] Specifically, by configuring a protective baffle 14 in the hollow installation groove, the protective baffle 14 can form multiple symmetrical installation chambers to install the caster mechanism 20 and the foot support mechanism 30 accordingly, and can also ensure that adjacent mechanisms are independent of each other and do not interfere with each other, thereby improving overall safety and cleanliness.

[0081] The height of the protective baffle 14 is changed according to the characteristics of the device it protects, so as to ensure better protection for the device it protects.

[0082] The chassis frame 10 is provided with a hollow portion at a corresponding position, so that parts such as the caster mechanism 20 and the foot support mechanism 30 are exposed to the outside, and the weight of the chassis frame 10 can be reduced, thereby improving economic benefits.

[0083] A surgical robot comprises the above-mentioned trolley.

[0084] The surgical robot provided in this embodiment includes a doctor control platform and a patient surgical platform, and the doctor control platform and the patient surgical platform include the above-mentioned trolley; the above-mentioned trolley can configure the caster drive module 22 in the electrical box 11 at the upper end of the chassis frame 10, which is conducive to repairing its drive module when the caster mechanism 20 fails, reducing the space occupied by the lower end of the chassis frame 10; and the caster 21 and the caster motor module 23 are adjacently configured in the hollow mounting groove 12 at the lower end of the chassis frame 10, reducing the connection distance of the wiring between the caster 21 and the caster motor module 23; the foot support 31, the foot support motor module 33 and the foot support drive module 32 are all adjacently configured in the hollow mounting groove, reducing the wiring distance between each other; and the foot support motor module 33 and the foot support drive module 32 are directly plugged in to avoid their connection wiring; the layout of the caster mechanism 20 and the foot support mechanism 30 of the above-mentioned trolley reasonably utilizes the space of each part of the chassis frame 10, reduces the wiring distance between each other, improves the overall neatness and safety of the trolley, and ensures that the surgical robot can perform surgery safely.

[0085] Among them, the above-mentioned trolley especially refers to the trolley of the patient surgical platform; since the patient surgical platform requires more frequent position adjustments and higher adjustment requirements during actual use, it is correspondingly configured with a drive module and a motor module for power drive adjustment to meet usage requirements; in actual use, when economic costs and other issues are not considered, the above-mentioned trolley can also be configured on each platform of the surgical robot.

[0086] In summary, the trolley and surgical robot provided by the present invention, the trolley of the above-mentioned surgical robot includes a chassis frame 10, a caster mechanism 20 and a foot support mechanism 30; by arranging the caster drive module 22 in the electrical box 11 at the upper end of the chassis frame 10, it is convenient to repair its drive module when the caster mechanism 20 fails, thereby reducing the space occupied by the lower end of the chassis frame 10; and the caster 21 and the caster motor module 23 are adjacently arranged in the hollow mounting groove 12 at the lower end of the chassis frame 10, thereby reducing the connection distance of the wiring between the caster 21 and the caster motor module 23; the foot support 31, the foot support motor module 33 and the foot support drive module 32 are all adjacently arranged in the hollow mounting groove, thereby reducing the wiring distance connected to each other; and the foot support motor module 33 and the foot support drive module 32 are directly plugged in to avoid their connection wiring; the layout of the above-mentioned caster mechanism 20 and the foot support mechanism 30 rationally utilizes the space of each part of the chassis frame 10, reduces the wiring distance between each other, and improves the overall neatness and safety of the surgical robot.

[0087] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A trolley, characterized in that: include: A chassis frame (10), wherein an electrical box (11) is disposed at the upper end of the chassis frame (10), and a hollow mounting groove (12) is disposed at the lower end of the chassis frame (10); A caster mechanism (20), the caster mechanism (20) comprising a caster (21), a caster drive module (22) and a caster motor module (23); The caster (21) and the caster motor module (23) are adjacently arranged in the hollow installation groove (12), and the caster drive module (22) is arranged in the electrical box (11); The input end of the caster motor module (23) is connected to the caster drive module (22), and the output end of the caster motor module (23) is connected to the caster (21); A foot support mechanism (30), the foot support mechanism (30) comprising a foot support (31), a foot support motor module (33) and a foot support driving module (32) sequentially arranged in the hollow installation slot (12); The input end of the foot support motor module (33) is plugged into the foot support driving module (32), and the output end of the foot support motor module (33) is connected to the foot support (31).

2. The trolley according to claim 1, characterized in that: The number of the casters (21) is multiple; The caster drive module (22) comprises a caster motherboard (221) and a plurality of caster drivers (222); A plurality of caster drivers (222) are plugged into the caster motherboard (221), and the caster motherboard (221) is fixed in the electrical box (11); The multiple caster drivers (222) are used to drive the multiple casters (21) respectively.

3. The trolley according to any one of claims 1 or 2, characterized in that: The caster drive module (22) is vertically fixed in the electrical box (11) via a support frame (225).

4. The trolley according to any one of claims 1 or 2, characterized in that: The caster drive module (22) is provided with a heat dissipation device.

5. The trolley according to claim 1, characterized in that: The foot support driving module (32) comprises a box body (321), a foot support motherboard (322) and a plurality of foot support drivers (323); The box body (321) is installed at the center position of the hollow installation groove (12); The plurality of foot support drivers (323) are plugged into the foot support motherboard (322), and the foot support motherboard (322) is fixed in the box body (321).

6. The trolley according to claim 5, characterized in that: The number of the foot supports (31) and the foot support motor modules (33) are both multiple, and the multiple foot support motor modules (33) are respectively connected to the multiple foot supports (31); The foot support motherboard (322) is provided with a plug-in port (324); The foot support motor module (33) is at least arranged close to the plug-in port (324), and a plurality of the foot support motor modules (33) are all plugged into the plug-in port (324).

7. The trolley according to claim 1, characterized in that: The side wall of the chassis frame (10) is provided with a window (13); The foot support (31) is provided with an adjustment portion (311), and the adjustment portion (311) is arranged at least toward the window (13).

8. The trolley according to claim 1, characterized in that: The caster motor module (23) and / or the foot support motor module (33) comprises a motor and a motor encoder.

9. The trolley according to claim 1, characterized in that: A protective baffle (14) is disposed in the hollow installation groove (12); The protective baffle (14) symmetrically forms a plurality of installation chambers, so that the caster mechanism (20) and the foot support mechanism (30) are symmetrically installed in the installation chambers.

10. A surgical robot, characterized in that: Comprising a trolley as described in any one of claims 1-9.

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