Supporting device, lifting platform, surgical trolley and control method of surgical trolley

Abstract

The invention discloses a supporting device, a lifting platform, a surgical trolley and a control method of the surgical trolley. A telescoping mechanism; the driving mechanism is used for controlling the telescopic mechanism to stretch out and draw back, the driving mechanism is fixedly connected with the base, the driving mechanism comprises a driving rotating shaft, and the driving rotating shaft and the lead screw shaft are arranged in parallel; at least two stages of reduction gear sets; the sensing unit is configured to be used for acquiring expansion amount information of extension or retraction of the telescopic part relative to the body; the driving mechanism and the telescopic mechanism are installed on the same side of the base. The axial volume of the supporting device is obviously reduced; compared with a single-stage reduction gear, the multi-stage reduction gear set is arranged to cope with the same load, so that the power of the driving mechanism is obviously reduced; through the absolute value encoder arranged on the driving rotating shaft, the extension amount information of extension or retraction of the extension part relative to the body can be accurately obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a support device, a lifting platform, an operating trolley and a control method thereof. Background Art

[0002] As a carrier of a surgical robot, an operating trolley is usually supported by a support device to make contact with the ground and obtain stable support from the ground. The internal space of the operating trolley is limited, and it is required that the support device occupies less internal space. Most of the existing support devices use a motor as a power source, and the motor drives a lead screw to achieve telescopic movement through a speed reduction mechanism. The speed reduction mechanism mostly uses a reduction gearbox. In terms of structural layout, the motor, the reduction gearbox and the lead screw are on the same straight line. The disadvantage of this structure is that the axial volume is large, occupying too much internal space of the trolley, and the application of this structure form is limited.

[0003] The existing support device also has the problem of redundant sensor settings. Most of the sensors set at the same time are fixed-point position limit switches, and the telescopic amount information of the support device cannot be accurately obtained, making it difficult for the operating trolley to achieve efficient and accurate lifting operations. Summary of the Invention

[0004] To solve the problems of the operating trolley in the above background art, the present invention provides a support device, a lifting platform, an operating trolley and a control method thereof.

[0005] In a first aspect of the present invention, a support device is provided, and the support device includes:

[0006] A base;

[0007] A telescopic mechanism, the telescopic mechanism is fixedly connected to the base, the telescopic mechanism includes a lead screw shaft, a body and a telescopic part, and the lead screw shaft and the telescopic part are in transmission cooperation through a lead screw nut so that the telescopic part can extend or retract relative to the body;

[0008] A driving mechanism for controlling the telescopic movement of the telescopic mechanism, the driving mechanism is fixedly connected to the base, the driving mechanism includes a driving rotating shaft, and the driving rotating shaft is arranged parallel to the lead screw shaft;

[0009] At least two-stage reduction gear sets configured for reduction transmission between the driving mechanism and the telescopic mechanism;

[0010] A sensing unit configured to obtain the telescopic amount information of the telescopic part extending or retracting relative to the body;

[0011] The driving mechanism and the telescopic mechanism are installed on the same side of the base.

[0012] Preferably, the sensing unit is disposed on the driving rotating shaft, and the sensing unit is an absolute encoder.

[0013] Preferably, the at least two-stage reduction gear set is a three-stage reduction gear set, and the three-stage reduction gear set includes a driving end gear, a first gear set, a second gear set, and a lead screw end gear;

[0014] The driving end gear is sleeved and fixedly connected to the driving rotating shaft, and the lead screw end gear is sleeved and fixedly connected to the lead screw shaft;

[0015] Driven by the driving rotating shaft, the driving end gear sequentially transmits power to the first gear set, the second gear set, and the lead screw end gear, and the lead screw end gear drives the lead screw shaft to rotate accordingly;

[0016] The first gear set is provided with a first rotating shaft, the second gear set is provided with a second rotating shaft, both the first rotating shaft and the second rotating shaft are fixedly connected to the base, and both the first rotating shaft and the second rotating shaft are arranged parallel to the lead screw shaft.

[0017] Preferably, the body is sleeved on the outer circumference of the telescopic part, a magnetic ring is provided on the telescopic part, at least one magnetic induction limit switch is provided on the body, and when the magnetic ring moves along the telescopic direction of the telescopic part to the induction trigger position of the magnetic induction limit switch, the magnetic induction limit switch sends a trigger signal to the driving mechanism, and the trigger signal is used to trigger safety braking.

[0018] Preferably, a ball hinge head and a footrest base are provided at the end of the telescopic part, the footrest base is provided with a groove matching with the ball hinge head, the groove is used to carry the ball hinge head, and the ball hinge head is restricted in the groove and can rotate freely in the groove. The beneficial effect is that the feet of most existing support devices are rigidly connected to the telescopic cylinder. The disadvantage of this structure is that the feet cannot be adjusted correspondingly relative to different ground surfaces. In the case of uneven ground, the contact area between the bottom surface of the feet and the ground becomes smaller, resulting in uneven force on the feet. When multiple support devices are lifted and lowered simultaneously, the telescopic cylinder of the feet is also subjected to radial force, resulting in platform shaking and instability; at the same time, the service life of the support device will also be reduced. Compared with the rigid connection between the feet and the telescopic cylinder of most support devices, the technical solution of the present invention can enable the footrest base to adapt to different ground surfaces and significantly reduce the adverse effects brought by the rigid connection.

[0019] In a second aspect of the present invention, a lifting platform is provided, and the lifting platform includes:

[0020] A mounting substrate having at least three support positions;

[0021] Including at least three support devices of any technical solution of the first aspect of the present invention, the at least three support devices are arranged on the mounting substrate in parallel with each other, and the at least three support devices are respectively located at at least three support positions.

[0022] Preferably, the lifting platform further includes a host computer and / or a lifting control button, and the host computer and / or the lifting control button are used to send down and up instructions to the driving mechanism, and after receiving the instructions, the driving mechanism drives the telescopic part to extend or retract relative to the body.

[0023] In the third aspect of the present invention, there is provided an operating trolley, including the support device of any technical solution of the first aspect of the present invention; or,

[0024] Such as the lifting platform of any technical solution of the second aspect of the present invention.

[0025] In the first technical solution of the fourth aspect of the present invention, there is provided a control method for an operating trolley, including the operating trolley of the third aspect of the present invention. Among them, the driving mechanism includes a driver and a motor, the output end of the motor is connected to the driving rotating shaft, the lifting platform further includes a host computer and / or a lifting control button, and the host computer and / or the lifting control button are used to send down and up instructions to the driver. After receiving the instructions, the driver drives the motor to make the telescopic part extend or retract relative to the body. The control method includes a lifting control method and a lowering control method;

[0026] The lifting control method includes:

[0027] S1. The host computer or the lifting control button sends up an instruction;

[0028] S2. The driver receives the instruction and drives the motor at the default speed, and the telescopic part extends relative to the body;

[0029] S3. When the telescopic part touches the ground, the driving current of the motor suddenly increases. When the driving current of the motor is greater than the set threshold, the driver stops driving the motor;

[0030] S4. After the telescopic parts of all the telescopic mechanisms have touched the ground, the driver drives the motors to run respectively according to the default parameters, so that the operating trolley rises by a preset height, and the lifting operation of the operating trolley is completed;

[0031] The lowering control method includes:

[0032] S10. The host computer or the lifting control button sends down a instruction;

[0033] S20. The driver receives the instruction and drives the motor at the default speed, and each of the telescopic parts starts to retract;

[0034] S30. When the telescopic part retracts to the set threshold, the driver stops driving the motor. When all the telescopic parts have completed the retraction operation, the landing operation of the operating table is completed.

[0035] Preferably, in the second technical solution of the fourth aspect of the present invention, on the basis of the first technical solution of the fourth aspect of the present invention, the body is sleeved on the outer ring of the telescopic part, a magnetic ring is provided on the telescopic part, and two magnetic induction limit switches are provided on the body, corresponding to the upper limit position and the lower limit position of the telescopic part respectively. When the magnetic ring moves along the telescopic direction of the telescopic part to the induction trigger position of the magnetic induction limit switch, the magnetic induction limit switch sends a trigger signal to the driver, and the trigger signal is used to trigger the driver to stop driving the motor.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows: By arranging the lead screw shaft and the driving rotating shaft parallel to each other on the same side of the base, and setting up the multi-stage reduction gear set, the axial volume of the supporting device is significantly reduced; Compared with the single-stage reduction gear, for the same load, the setting of the multi-stage reduction gear set significantly reduces the power of the driving mechanism; By setting the absolute value encoder on the driving rotating shaft, the telescopic amount information of the telescopic part extending or retracting relative to the body can be accurately obtained, which is convenient for realizing the lifting control and landing control of the operating table; The cooperation between the magnetic ring provided on the telescopic part and the magnetic induction limit switch provided on the body simplifies the structure while realizing the safety control. Description of the Drawings

[0037] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0038] Figure 1 It is a schematic cross-sectional view of the supporting device in an embodiment of the present invention.

[0039] Figure 2 It is a schematic structural view of the reduction gear set of the supporting device in an embodiment of the present invention.

[0040] Figure 3 It is a schematic structural view of the supporting device with the gearbox cover on in an embodiment of the present invention.

[0041] Figure 4 It is a schematic structural view of the lifting platform in an embodiment of the present invention.

[0042] Figure 5 It is a schematic structural view of the operating table in an embodiment of the present invention.

[0043] Figure 6 This is a schematic diagram of the electrical connection of the operating table in an embodiment of the present invention. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] As Figure 1 and Figure 2 shown, in the first aspect of the present invention, a support device is provided. The support device includes:

[0046] A base 100;

[0047] A telescopic mechanism 7, the telescopic mechanism 7 is fixedly connected to the base 100. The telescopic mechanism 7 includes a lead screw shaft 13, a body 22 and a telescopic part 21. The lead screw shaft 13 and the telescopic part 21 are in transmission cooperation through a lead screw nut so that the telescopic part 21 can extend or retract relative to the body 22;

[0048] A driving mechanism 8 for controlling the telescoping of the telescopic mechanism 7. The driving mechanism 8 is fixedly connected to the base 100. The driving mechanism 8 includes a driving rotating shaft, and the driving rotating shaft is arranged parallel to the lead screw shaft 13;

[0049] At least two-stage reduction gear sets, which are configured for reduction transmission between the driving mechanism 8 and the telescopic mechanism 7; the structural setting of the at least two-stage reduction gear sets makes the reduction ratio of the gear sets large, which can optimize the lead screw support load and drive power design. That is, under the condition of the same driving power, the support device can output a greater support load, and under the condition of the same support load, the driving power is smaller and the driving structure is more compact;

[0050] A sensing unit, which is configured to obtain the telescopic amount information of the telescopic part 21 extending or retracting relative to the body 22; wherein, the telescopic amount information obtained by the sensing unit can be directly or converted into a telescopic position by an indirect calculation method.

[0051] As Figure 1 , Figure 2 and Figure 3 shown, the driving mechanism 8 and the telescopic mechanism 7 are installed on the same side of the base 100, so that the axial volume of the support device is significantly reduced; in a specific embodiment, the base 100 is the bottom plate of the reduction gear set.

[0052] In some embodiments, the sensing unit is disposed on the driving rotating shaft, and the sensing unit is an absolute encoder.

[0053] In some embodiments, as Figure 1 and Figure 2 shown, at least two-stage reduction gear sets are three-stage reduction gear sets. The three-stage reduction gear set includes a driving end gear 9, a first gear set 10, a second gear set 12, and a lead screw end gear 14. The reduction ratio of the three-stage reduction gear set can be adjusted according to the actual load and the input of the driving power, and is specifically designed. The lifting speed of the telescopic part 21 is controlled by the driving mechanism. There is a fixed reduction ratio relationship between the lifting speed of the telescopic part 21 and the rotational speed of the driving rotating shaft of the driving mechanism. The lifting speed of the telescopic part 21 is controlled by controlling the rotational speed of the driving rotating shaft of the driving mechanism. The driving rotating shaft is integrated with an absolute encoder, and the telescopic position of the support leg can be calculated in real time through the feedback value of the encoder.

[0054] The driving end gear 9 is sleeved and fixedly connected to the driving rotating shaft, and the lead screw end gear 14 is sleeved and fixedly connected to the lead screw shaft 13.

[0055] Driven by the driving rotating shaft, the driving end gear 9 is sequentially transmitted to the first gear set 10, the second gear set 12, and the lead screw end gear 14, and the lead screw end gear 14 correspondingly drives the lead screw shaft 13 to rotate.

[0056] The first gear set 10 is provided with a first rotating shaft, and the second gear set 12 is provided with a second rotating shaft. Both the first rotating shaft and the second rotating shaft are fixedly connected to the base 100, and both the first rotating shaft and the second rotating shaft are arranged parallel to the lead screw shaft 13.

[0057] Specifically, as Figure 1 , Figure 2 and Figure 3 shown, the three-stage reduction gear set is installed in the gearbox 16, and the bottom plate of the gearbox 16 is the base 100. The gearbox cover 11, the lead screw end gear 1414, the lock nut 15, the spherical roller bearing 17, the bearing end cover 18, and the lead screw nut 19 are fixedly connected to the lead screw shaft 13 in sequence from top to bottom. The lead screw nut 19 is fixedly connected to the telescopic part 21. The lead screw shaft 13 and the telescopic part 21 are in transmission cooperation through the lead screw nut 19, so that the telescopic part 21 can extend or retract relative to the body 22.

[0058] In some embodiments, the body 22 is sleeved on the outer ring of the telescopic part 21. A magnetic ring 20 is provided on the telescopic part 21, and at least one magnetic induction limit switch is provided on the body 22. When the magnetic ring 20 moves along the telescopic direction of the telescopic part 21 to the induction trigger position of the magnetic induction limit switch, the magnetic induction limit switch sends a trigger signal to the driving mechanism 8, and the trigger signal is used to trigger the safety brake.

[0059] In some embodiments, as Figure 1As shown, a ball hinge head 27 and a footrest base 28 are provided at the end of the telescopic part 21. The footrest base 28 is provided with a groove that cooperates with the ball hinge head 27. The groove is used to carry the ball hinge head 27, and the ball hinge head 27 is restricted within the groove and can rotate freely within the groove. In most existing support devices, the support feet are rigidly connected to the telescopic cylinder. The disadvantage of this structure is that the support feet cannot be adjusted correspondingly relative to different ground surfaces. In the case of uneven ground, the contact area between the bottom surface of the support feet and the ground becomes smaller, resulting in uneven force on the support feet. When multiple support devices are lifted and lowered simultaneously, the telescopic cylinder of the support feet is also subjected to radial forces, causing the platform to shake and be unstable; at the same time, the service life of the support device will also be reduced. Compared with the rigid connection between the support feet and the telescopic cylinder in most support devices, the technical solution of the present invention enables the footrest base to adapt to different ground surfaces, significantly reducing the adverse effects brought by the rigid connection.

[0060] Specifically, the left semi-circular cover plate 26 and the right semi-circular cover plate 29 fix the footrest base 28 on the ball hinge head 27; the end of the lead screw shaft 13 is sealed with a lead screw end cover 23 and then fixed with a cover locking nut 30, and then fixedly connected to the body 22 and the telescopic part 21 through a support foot guiding nut 24, a support foot nut 25.

[0061] As Figure 4 shown, in the second aspect of the present invention, a lifting platform is provided, and the lifting platform includes:

[0062] An installation substrate 5 having at least three support positions;

[0063] At least three support devices of any technical solution of the first aspect of the present invention are included. The at least three support devices are arranged parallel to each other on the installation substrate 5, and the at least three support devices are respectively located at at least three support positions.

[0064] In a specific embodiment, as Figure 4 shown, four support devices are arranged parallel to each other on the installation substrate 5, which are respectively a first support device 1, a second support device 2, a third support device 3, and a fourth support device 4.

[0065] In some embodiments, the lifting platform further includes a host computer and / or a lifting control button. The host computer and / or the lifting control button are used to send down and up instructions to the driving mechanism. After receiving the instructions, the driving mechanism drives the telescopic part to extend or retract relative to the body.

[0066] In the third aspect of the present invention, as Figure 5 shown, a surgical trolley is provided, including the support device 101 of any technical solution of the first aspect of the present invention; or,

[0067] Such as the lifting platform of any technical solution of the second aspect of the present invention.

[0068] The first technical solution of the fourth aspect of the present invention provides a control method for an operating table vehicle, including the operating table vehicle of the third aspect of the present invention, wherein: Figure 1 and Figure 2 As shown, the driving mechanism 8 includes a driver and a motor, the output end of the motor is connected to the driving shaft, and the lifting platform also includes a host computer and / or a lifting control button, the host computer and / or the lifting control button are used to send descending and ascending instructions to the driver, and the driver drives the motor after receiving the instruction to make the telescopic part 21 extend or retract relative to the body 22, and the control method includes a propping control method and a descending control method;

[0069] Take the operating table with four supporting devices as an example. Figure 1 and Figure 6 As shown, in this embodiment, the first supporting device is provided with a first driver, the second supporting device is provided with a second driver, and so on, the supporting control method includes:

[0070] S1. The host computer or lifting control button issues an ascending command;

[0071] S2, each driver receives the instruction and drives the motor of each supporting device at a default speed, and the telescopic parts 21 of the four supporting devices are extended relative to the body 22 respectively;

[0072] S3, when the telescopic part 21 touches the ground, the driving current of the motor suddenly increases, and when the driving current of the motor is greater than the set threshold, the driver stops driving the motor;

[0073] S4, when the telescopic parts 21 of all telescopic mechanisms 7 have touched the ground, that is, when the drivers of the first supporting device, the second supporting device, the third supporting device and the fourth supporting device have touched the ground, the motors are driven to operate according to the default parameters respectively, so that the operating trolley rises to a preset height, and the operation of propping up the operating trolley is completed;

[0074] like Figure 6 As shown, the landing control method includes:

[0075] S10, the upper computer or the lifting control button issues a descending command;

[0076] S20, each driver receives the instruction and drives the motor of each supporting device at a default speed, and each telescopic part 21 begins to retract;

[0077] S30, when the telescopic part 21 retracts to the set threshold, the driver stops driving the motor. When all the telescopic parts 21 complete the retraction operation, that is, the first supporting device, the second supporting device, the third supporting device and the fourth supporting device complete the retraction operation, the operating table trolley landing operation is completed.

[0078] In some embodiments, the second technical solution of the fourth aspect of the present invention is as followsFigure 1 As shown, based on the first technical solution of the fourth aspect of the present invention, the main body 22 is sleeved on the outer circle of the telescopic part 21. A magnetic ring 20 is provided on the telescopic part 21, and two magnetic induction limit switches are provided on the main body 22, corresponding to the upper extreme limit and the lower extreme limit of the telescopic part 21 respectively. When the magnetic ring 20 moves along the telescopic direction of the telescopic part 21 to the induction trigger position of the magnetic induction limit switch, the magnetic induction limit switch sends a trigger signal to the driver, and the trigger signal is used to trigger the driver to stop driving the motor.

[0079] By arranging the lead screw shaft 13 and the driving rotating shaft parallel to each other on the same side of the base 100 and setting the multi-stage reduction gear set, the axial volume of the support device is significantly reduced; by means of the absolute value encoder provided on the driving rotating shaft, the telescopic amount information of the telescopic part 21 extending or retracting relative to the main body 22 can be accurately obtained, which is convenient for realizing the lifting control and the landing control of the operating trolley; the cooperation between the magnetic ring 20 provided on the telescopic part 21 and the magnetic induction limit switch provided on the main body 22 simplifies the structure while realizing the safety control.

[0080] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A support device, characterized in that, the support device comprises: a base; a telescopic mechanism, the telescopic mechanism is fixedly connected to the base, the telescopic mechanism comprises a lead screw shaft, a body and a telescopic part, and the lead screw shaft and the telescopic part are in transmission cooperation through a lead screw nut so that the telescopic part can extend or retract relative to the body; a driving mechanism for controlling the telescopic movement of the telescopic mechanism, the driving mechanism is fixedly connected to the base, and the driving mechanism comprises a driving rotating shaft which is arranged parallel to the lead screw shaft; at least two-stage reduction gear set, the at least two-stage reduction gear set is configured for reduction transmission between the driving mechanism and the telescopic mechanism; a sensing unit, the sensing unit is configured to obtain the telescopic amount information of the telescopic part extending or retracting relative to the body; the driving mechanism and the telescopic mechanism are installed on the same side of the base.

2. The support device according to claim 1, characterized in that, the sensing unit is arranged on the driving rotating shaft, and the sensing unit is an absolute encoder.

3. The support device according to claim 2, characterized in that, the at least two-stage reduction gear set is a three-stage reduction gear set, and the three-stage reduction gear set comprises a driving end gear, a first gear set, a second gear set and a lead screw end gear; the driving end gear is sleeved and fixedly connected to the driving rotating shaft, and the lead screw end gear is sleeved and fixedly connected to the lead screw shaft; driven by the driving rotating shaft, the driving end gear drives the first gear set, the second gear set and the lead screw end gear in sequence, and the lead screw end gear drives the lead screw shaft to rotate accordingly; the first gear set is provided with a first rotating shaft, the second gear set is provided with a second rotating shaft, both the first rotating shaft and the second rotating shaft are fixedly connected to the base, and both the first rotating shaft and the second rotating shaft are arranged parallel to the lead screw shaft.

4. The support device according to claim 1, characterized in that, the body is sleeved on the outer ring of the telescopic part, a magnetic ring is arranged on the telescopic part, at least one magnetic induction limit switch is arranged on the body, and when the magnetic ring moves along the telescopic direction of the telescopic part to the induction trigger position of the magnetic induction limit switch, the magnetic induction limit switch sends a trigger signal to the driving mechanism, and the trigger signal is used to trigger safety braking.

5. The support device according to any one of claims 1-4, characterized in that, a ball hinge head and a footrest base are arranged at the end of the telescopic part, the footrest base is provided with a groove for cooperating with the ball hinge head, the groove is used for carrying the ball hinge head, and the ball hinge head is restricted in the groove and can rotate freely in the groove.

6. A lifting platform, characterized in that, the lifting platform comprises: a mounting substrate having at least three support positions; at least three support devices according to any one of claims 1-5, at least three of the support devices are arranged on the mounting substrate in parallel, and at least three of the support devices are respectively located at at least three of the support positions.

7. The lifting platform according to claim 6, It is characterized in that the lifting platform further includes a host computer and / or a lifting control button, and the host computer and / or the lifting control button are used to send down and up instructions to the driving mechanism, and after receiving the instructions, the driving mechanism drives the telescopic part to extend or retract relative to the body.

8. An operating trolley It is characterized in that it includes the supporting device according to any one of claims 1-5; or the lifting platform according to claim 6 or 7.

9. A control method for an operating trolley It is characterized in that it includes the operating trolley according to claim 8, wherein the driving mechanism includes a driver and a motor, the output end of the motor is connected to the driving rotating shaft, the lifting platform further includes a host computer and / or a lifting control button, and the host computer and / or the lifting control button are used to send down and up instructions to the driver, and after receiving the instructions, the driver drives the motor to make the telescopic part extend or retract relative to the body, and the control method includes a lifting control method and a lowering control method; The lifting control method includes: S1. The host computer or the lifting control button sends up an instruction; S2. The driver receives the instruction and drives the motor at a default speed, and the telescopic part extends relative to the body; S3. When the telescopic part touches the ground, the driving current of the motor suddenly increases, and when the driving current of the motor is greater than a set threshold, the driver stops driving the motor; S4. After the telescopic parts of all the telescopic mechanisms have completed touching the ground, the driver drives the motors to run respectively according to default parameters, so that the operating trolley rises by a preset height, and the lifting operation of the operating trolley is completed; The lowering control method includes: S10. The host computer or the lifting control button sends down an instruction; S20. The driver receives the instruction and drives the motor at a default speed, and each telescopic part starts to retract; S30. When the telescopic part retracts to the set threshold, the driver stops driving the motor, and when all the telescopic parts have completed the retraction operation, the lowering operation of the operating trolley is completed.

10. According to the control method described in claim 9 It is characterized in that the body is sleeved on the outer ring of the telescopic part, a magnetic ring is arranged on the telescopic part, two magnetic induction limit switches are arranged on the body, corresponding to the upper and lower extreme positions of the telescopic part respectively, and when the magnetic ring moves along the telescopic direction of the telescopic part to the induction trigger position of the magnetic induction limit switch, the magnetic induction limit switch sends a trigger signal to the driver, and the trigger signal is used to trigger the driver to stop driving the motor.

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