Main control cabinet and surgical robot

Abstract

The invention is suitable for the technical field of medical instruments, and provides a main control cabinet and a surgical robot. The main control cabinet comprises a main shell and an air duct structure, the main shell is provided with an inner cavity used for containing electrical components, and a first ventilation opening is formed in the bottom of the main shell; the air duct structure is arranged on the inner wall of the main shell, the air duct structure communicates with the first ventilation opening, a first communicating opening is formed in the air duct structure, and the air duct structure communicates with the inner cavity of the main shell through the first communicating opening. And external low-temperature air or high-temperature air in the inner cavity is guided by the air duct structure and enters or is discharged out of the inner cavity of the main shell through the first ventilation port, so that the purpose of cooling the electrical components in the inner cavity of the main shell is achieved. Gas exchange is carried out through the first air exchange port located at the bottom of the main shell, the influence of the sterile cover on the heat dissipation effect of the electrical components in the inner cavity of the main shell is reduced, and the main control cabinet can still keep a good heat dissipation effect when the sterile cover is arranged outside the main control cabinet in a covering mode.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a main control cabinet and a surgical robot. Background Technology

[0002] Most existing surgical robots are currently in the form of integrated mobile carts that combine a robotic arm and a main control cabinet. To ensure a sterile surgical environment, sterile covers are typically installed over the robotic arm and the main control cabinet during operation. However, these sterile covers significantly reduce heat transfer between the main control cabinet and the surrounding air, resulting in poor heat dissipation for most of the main control cabinets. Summary of the Invention

[0003] The purpose of this invention is to provide a main control cabinet and a surgical robot, which aims to solve the technical problem of poor heat dissipation in the main control cabinet of the surgical robot in the prior art.

[0004] The present invention is implemented as follows: Firstly, a main control cabinet is provided, including a main housing and an air duct structure. The main housing has an inner cavity for accommodating electrical components, and a first ventilation port is provided at the bottom of the main housing. The air duct structure is disposed on the inner wall of the main housing and communicates with the first ventilation port. The air duct structure is provided with a first connecting port, which connects the air duct structure to the inner cavity of the main housing.

[0005] In one optional embodiment, the interior of the main housing has multiple mounting areas, and multiple first communication ports are provided, with the multiple first communication ports corresponding to and communicating with the multiple mounting areas, the mounting areas being used to mount the electrical components.

[0006] In an optional embodiment, each of the first connecting ports is provided with a temperature control mechanism, and the temperature control mechanism is used to adjust the opening size of the corresponding first connecting port according to the temperature of the installation area of ​​the corresponding first connecting port.

[0007] In an optional embodiment, the temperature control adjustment mechanism includes a sliding cover and a temperature control elastic element. The sliding cover is disposed at the first communication port and is slidably connected to the air duct structure. The sliding cover is movable between a first position that exposes the first communication port and a second position that covers the first communication port. The temperature control elastic element is disposed between the air duct structure and the sliding cover. The temperature control elastic element is used to change its own length when the ambient temperature changes, so as to drive the sliding cover to slide.

[0008] In an optional embodiment, the first communication port includes a plurality of vent holes, and the sliding cover plate is provided with a plurality of air exchange holes. The plurality of air exchange holes are spaced apart to form a blocking part. The plurality of air exchange holes are correspondingly arranged with the plurality of vent holes. When the sliding cover plate is in the first position, the vent holes are exposed through the air exchange holes. When the sliding cover plate is in the second position, the vent holes are blocked by the blocking part.

[0009] In one optional embodiment, the vent is rectangular, triangular, or circular, and the air exchange hole is rectangular, triangular, or circular.

[0010] In one optional embodiment, there are two air duct structures, which are disposed opposite to each other on the inner walls of the main housing. There are two first air exchange ports, which are respectively connected to the two air duct structures.

[0011] In an optional embodiment, the air duct structure includes a bottom cover and a cylinder. The bottom cover is sealed to the inner wall of the main housing and communicates with the first air exchange port. The cylinder is located above the bottom cover and is arranged along the height direction of the main housing. The bottom end of the cylinder communicates with the top of the bottom cover. The first communication port is provided on the cylinder.

[0012] In an optional embodiment, the duct structure further includes a top ventilation hood, the top end of the cylinder being connected to the bottom of the top ventilation hood, and the top ventilation hood also having a second connecting port that connects the top ventilation hood and the inner cavity.

[0013] In an alternative embodiment, the bottom of the main housing has a second vent, which is located between the two air duct structures.

[0014] In an optional embodiment, a blocking part is provided between the first ventilation port and the second ventilation port. The blocking part is located between the first ventilation port and the second ventilation port to prevent gas discharged from the first ventilation port from flowing back to the second ventilation port or gas discharged from the second ventilation port from flowing back to the first ventilation port.

[0015] In an optional embodiment, a first ventilation unit is provided at the first ventilation port, the first ventilation unit being used to drive the gas flow inside the air duct structure, and a second ventilation unit is provided at the second ventilation port, the second ventilation unit being used to drive the gas flow inside the main housing.

[0016] In an optional embodiment, the main control cabinet further includes a control unit and a detection unit. The control unit is electrically connected to the detection unit, the first ventilation unit, and the second ventilation unit. The detection unit is used to detect the total power of all electrical components in the main housing and send the detection result to the control unit. The control unit is used to adjust the discharge capacity of the first ventilation unit and / or the second ventilation unit according to the detection result of the detection unit.

[0017] In a second aspect, a surgical robot is provided, including a robotic arm and a main control cabinet as described in any of the preceding claims, wherein the robotic arm is disposed outside the main control cabinet.

[0018] The technical advantages of this invention compared to existing technologies are as follows: A first ventilation port is provided at the bottom of the main housing, and an air duct structure communicating with the first ventilation port is provided on the inner wall of the main housing. Simultaneously, a first connecting port is provided on the air duct structure, connecting the channel on the air duct structure to the inner cavity of the main housing. During operation, either low-temperature external air or high-temperature air from within the inner cavity can be guided by the air duct structure and enter or exit the inner cavity of the main housing through the first ventilation port located at the bottom of the main housing, thereby achieving the purpose of heat dissipation for the electrical components within the inner cavity of the main housing. Compared to existing main control cabinets, where sterile covers are mostly located on the top and perimeter of the main housing, this main control cabinet uses the first ventilation port located at the bottom of the main housing for gas exchange, reducing the impact of the sterile cover on the heat dissipation of the electrical components within the inner cavity of the main housing. This allows the main control cabinet to maintain good heat dissipation even when an external sterile cover is provided.

[0019] It is understandable that the beneficial effects of the second aspect mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the surgical robot provided in the embodiment of the present invention in use.

[0022] Figure 2 This is a schematic diagram of the structure of the surgical robot provided in an embodiment of the present invention;

[0023] Figure 3This is a side view structural diagram of the surgical robot provided in an embodiment of the present invention;

[0024] Figure 4 yes Figure 3 Schematic diagram of the cross-sectional structure along line AA;

[0025] Figure 5 yes Figure 4 Enlarged structural diagram at point B;

[0026] Figure 6 This is a schematic diagram of the main housing structure used in an embodiment of the present invention;

[0027] Figure 7 This is a cross-sectional view of the main housing structure used in an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the chassis and main support structure used in the embodiments of the present invention;

[0029] Figure 9 This is a schematic diagram of the chassis structure used in the embodiments of the present invention;

[0030] Figure 10 This is a schematic diagram of the air duct structure used in the embodiments of the present invention;

[0031] Figure 11 This is a schematic diagram of the temperature control mechanism used in the embodiments of the present invention;

[0032] Figure 12 This is a schematic diagram of the air duct structure in which the first connecting port is in a closed state in some embodiments of the present invention;

[0033] Figure 13 yes Figure 12 Enlarged structural diagram at point C;

[0034] Figure 14 This is a schematic diagram of the air duct structure in which the first connecting port is in an intermediate state, as used in some embodiments of the present invention.

[0035] Figure 15 yes Figure 14 Enlarged structural diagram at point D;

[0036] Figure 16 This is a schematic diagram of the air duct structure in which the first connecting port is in a fully open state, as used in some embodiments of the present invention.

[0037] Figure 17 yes Figure 16 Enlarged structural diagram at point E;

[0038] Figure 18This is a schematic diagram of the first connecting port of the air duct structure in a closed state in some other embodiments of the present invention;

[0039] Figure 19 yes Figure 18 Enlarged structural diagram at point F;

[0040] Figure 20 This is a schematic diagram of the first connecting port in the middle state of the air duct structure used in some other embodiments of the present invention;

[0041] Figure 21 yes Figure 20 Enlarged structural diagram at point G;

[0042] Figure 22 This is a schematic diagram of the air duct structure in which the first connecting port is in a fully open state, as used in some other embodiments of the present invention.

[0043] Figure 23 yes Figure 22 Enlarged structural diagram at point H;

[0044] Figure 24 This is a schematic diagram of the control flow of the main control cabinet provided in an embodiment of the present invention.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100. Surgical robot; 200. Operating table; 300. Sterile cover;

[0047] 10. Main control cabinet; 20. Robotic arm;

[0048] 11. Main housing; 111. First air vent; 112. Second air vent; 113. Installation area; 12. Air duct structure; 121. Cylinder; 122. Bottom cover; 123. Top ventilation cover; 124. First connecting port; 1241. Ventilation hole; 125. Second connecting port; 13. Temperature control adjustment mechanism; 131. Sliding cover; 1311. Air vent; 132. Temperature control elastic element; 133. Stabilizing elastic element; 14. First air exchange unit; 15. Second air exchange unit; 16. Blocking part; 17. Control unit; 18. Detection unit; 19. Electrical components; 20. Chassis; 21. Main support; 22. Rollers. Detailed Implementation

[0049] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0050] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0054] Please refer to Figures 1 to 4 As shown, in an embodiment of the present invention, in a first aspect, a main control cabinet 10 is provided. The main control cabinet 10 includes a main housing 11 and an air duct structure 12. The main housing 11 has an inner cavity for accommodating electrical components 19, and a first ventilation port 111 is provided at the bottom of the main housing 11. The air duct structure 12 is disposed on the inner wall of the main housing 11 and is connected to the first ventilation port 111. A first connecting port 124 is provided on the air duct structure 12, which connects the air duct structure 12 to the inner cavity of the main housing 11.

[0055] Specifically, the main housing 11 refers to a component with an internal cavity for accommodating the electrical components 19. The main housing 11 can be a one-piece structure or a split structure. For example, the main housing 11 may include a chassis 20 and a shell-like component covering the chassis 20, forming an internal cavity with the chassis 20. During operation, the chassis 20 supports the electrical components 19, and the shell-like component protects them. The electrical components 19 refer to the electrical parts of the main control cabinet 10, which may include control units, storage units, and connecting lines. The first ventilation port 111 refers to an opening structure on the main housing 11, which connects the internal cavity to the outside. The air duct structure 12 refers to a component with a certain length and an internal channel. The air duct structure 12 can restrict the direction of airflow so that the airflow can flow along the channel within the air duct structure 12. The air duct structure 12 can be open at one end and closed at the other, and the open end of the air duct structure 12 can be connected to the first ventilation port 111. The air duct structure 12 can be connected to the inner wall of the main housing 11 by means of fasteners, snap-fit, or welding. The first communication port 124 refers to the opening structure provided on the air duct structure 12, through which the channel in the air duct structure 12 can be connected to the inner cavity of the main housing 11.

[0056] The number of first ventilation ports 111 can be one or multiple. When there are multiple first ventilation ports 111, their distribution can be spaced out according to the distribution of electrical components 19 in the inner cavity. Similarly, the number of air duct structures 12 can also be multiple. These air duct structures 12 can be arranged in a one-to-one correspondence with the first ventilation ports 111, or multiple air duct structures 12 can share a single first ventilation port 111, meaning multiple air duct structures 12 are all connected to the same first ventilation port 111. The number of first connecting ports 124 on the same air duct structure 12 can also be multiple, and these multiple first connecting ports 124 can be arranged sequentially at intervals along the length of the air duct structure 12.

[0057] The main control cabinet 10 provided in this embodiment of the invention has a first ventilation port 111 at the bottom of the main housing 11, and an air duct structure 12 communicating with the first ventilation port 111 is provided on the inner wall of the main housing 11. A first connecting port 124 is provided on the air duct structure 12, connecting the channel on the air duct structure 12 to the inner cavity of the main housing 11. During operation, either low-temperature external air or high-temperature air from the inner cavity can be guided by the air duct structure 12 and discharged from the inner cavity of the main housing 11 through the first ventilation port 111 at the bottom of the main housing 11, or enter the air duct structure 12 through the first ventilation port 111 and, after being guided by the air duct structure 12, enter the inner cavity through the first connecting port 124, thereby achieving the purpose of heat dissipation for the electrical components 19 in the inner cavity of the main housing 11. Compared with the main control cabinet 10 in the prior art, since the sterile cover is mostly installed on the top and around the main housing 11, the main control cabinet 10 exchanges gas through the first air exchange port 111 located at the bottom of the main housing 11. This reduces the impact of the sterile cover on the heat dissipation of the electrical components 19 in the inner cavity of the main housing 11, so that the main control cabinet 10 can still maintain a good heat dissipation effect when the sterile cover is installed on the outside.

[0058] It should be noted that you should refer to [link / reference]. Figure 8 and Figure 9 During the operation of the main control cabinet 10, the bottom surface of the main housing 11 needs to be a certain distance away from the components supporting the main housing 11 or the ground to ensure unobstructed airflow at the first ventilation port 111. For example, a support component can be provided on the bottom of the main housing 11, and the support component can be a roller, which can support the bottom of the main housing 11 and make the transportation of the main housing 11 more convenient and faster.

[0059] In one embodiment, see Figure 4 The main housing 11 has multiple mounting areas 113 inside, and multiple first connecting ports 124 are provided. These first connecting ports 124 are connected to the multiple mounting areas 113, which are used to mount electrical components 19. Specifically, each mounting area 113 refers to a virtual area within the main housing 11. Multiple mounting areas 113 can be arranged along the height of the main housing 11, and the electrical components 19 can be divided into multiple parts and installed in different mounting areas 113. There are multiple first connecting ports 124, and each first connecting port 124 is connected to the multiple mounting areas 113. During operation, the air duct structure 12 can be connected to each mounting area 113 through the multiple first connecting ports 124. This avoids the electrical components 19 from piling up and affecting heat dissipation, and allows for simultaneous heat dissipation of multiple mounting areas 113, thereby improving the heat dissipation efficiency of the electrical components 19 inside the main housing 11.

[0060] It should be noted that you should refer to [link / reference]. Figure 8 A main support frame can also be installed on the chassis 20. The main support frame is located inside the cavity of the main housing 11, and all electrical components 19 are mounted on the main support frame. Specifically, the main support frame refers to a support component with a certain height, and the main support frame can be assembled from profiles or rods. The main support frame can support the electrical components 19, so that the electrical components 19 can be installed separately and placed in multiple installation areas 113. The setting of the main support frame can make the placement of the electrical components 19 in the cavity more reasonable and make the installation of the electrical components 19 more stable.

[0061] In one embodiment, see Figure 4 , Figure 5 as well as Figures 10 to 23 Each first connection port 124 is equipped with a temperature control mechanism 13, which adjusts the opening size of the corresponding first connection port 124 according to the temperature of the installation area 113. Specifically, the temperature control mechanism 13 is a component or assembly that can adjust the position of other objects by temperature. By setting the temperature control mechanism 13, the opening size of the corresponding first connection port 124 can be adjusted according to the temperature value of the installation area 113, thereby changing the amount of air entering or exiting the installation area 113, thus adjusting the heat dissipation efficiency of the corresponding installation area 113, and thus changing the temperature of the installation area 113, to achieve a closed-loop control of the entire temperature regulation.

[0062] In addition, by providing a temperature control mechanism 13 at each of the first connection ports 124, the temperature of each installation area 113 can be adjusted individually. When the power of the electrical components 19 in a certain installation area 113 increases and the temperature rises, the heat dissipation efficiency of that installation area 113 can be improved individually, without having to improve the heat dissipation efficiency of all installation areas 113. This makes the heat dissipation inside the main housing 11 more energy-efficient.

[0063] In one embodiment, see Figure 5 , Figure 10 and Figure 11 The temperature control mechanism 13 includes a sliding cover plate 131 and a temperature control elastic element 132. The sliding cover plate 131 is installed over the first connecting port 124 and is slidably connected to the air duct structure 12. The sliding cover plate 131 can move between a first position that exposes the first connecting port 124 and a second position that covers the first connecting port 124. The temperature control elastic element 132 is disposed between the air duct structure 12 and the sliding cover plate 131. The temperature control elastic element 132 is used to change its own length when the ambient temperature changes, so as to drive the sliding cover plate 131 to slide.

[0064] Specifically, the temperature-controlled elastic element 132, also known as a temperature memory alloy elastic element, refers to a component made of temperature memory alloy material and possessing a certain degree of elasticity. The material of the temperature-controlled elastic element 132 can be nickel-titanium alloy, etc. The temperature-controlled elastic element 132 can be a temperature-controlled spring or a temperature-controlled sheet, etc. Temperature memory alloy, or shape memory alloy (SMA), is an alloy material with a special shape memory effect. After undergoing plastic deformation, it can recover to its original shape matching that temperature range within a corresponding temperature range. It can have multiple original shapes corresponding to different temperature ranges. By making elastic elements such as springs from temperature memory alloys, when its shape changes due to changes in the surrounding temperature, the elasticity provided by the temperature-controlled elastic element 132 at the same length also changes. For example, the temperature-controlled elastic element 132 can use a two-way memory alloy, which can shorten its original length when the temperature rises. Thus, when stretched to the same length, the temperature-controlled elastic element 132 can provide greater elastic force compared to when the temperature is lower. The temperature-controlled elastic element 132 can extend its original length when the temperature rises, thus ensuring that when the temperature-controlled elastic element 132 is stretched to the same length, the elastic force provided by the temperature-controlled elastic element 132 is smaller than the elastic force provided at higher temperatures.

[0065] The sliding cover 131 refers to a plate-shaped component with a certain area. The sliding cover 131 can be rectangular, circular, or triangular, etc. The sliding cover 131 covers the first connecting opening 124 and is slidably connected to the air duct structure 12. A sliding structure can be provided between the air duct structure 12 and the sliding cover 131; the sliding structure can be a slide rail slider structure, etc. Alternatively, two sliding grooves can be provided on the surface of the air duct structure 12 to accommodate the edges of the sliding cover 131, and the two sliding grooves are opposite to each other and spaced apart. The sliding connection between the sliding cover 131 and the air duct structure 12 is achieved by inserting both edges of the sliding cover 131 into the sliding grooves, thus covering the first connecting opening 124.

[0066] The sliding cover 131 can slide between a first position exposing the first connecting port 124 and a second position covering the first connecting port 124. A temperature-controlled elastic element 132 is disposed between the air duct structure 12 and the sliding cover 131. During operation, the temperature-controlled elastic element 132 can change its length as the ambient temperature changes, thereby causing the sliding cover 131 to slide. For example, when the temperature in a certain installation area 113 gradually increases, the length of the temperature-controlled elastic element 132 in the temperature control mechanism 13 corresponding to the installation area 113 can extend, thereby pushing the sliding cover 131 to gradually move towards the first position, gradually exposing the first connecting port 124. This allows more gas to pass through the first connecting port 124, increasing the gas flow in the installation area 113, removing more heat per unit time, and lowering the temperature in the installation area 113. Conversely, as the temperature in the installation area 113 gradually decreases, the length of the temperature-controlling elastic element 132 in the temperature control mechanism 13 corresponding to the installation area 113 shortens, thereby pushing the sliding cover 131 to gradually move towards the second position. This causes the sliding cover 131 to gradually block the first connecting port 124, thereby reducing the amount of gas that can pass through the first connecting port 124 and thus reducing the amount of gas flow in the installation area 113. This reduces the amount of heat carried away per unit time, keeping the temperature in the installation area 113 stable or gradually increasing. Of course, the temperature-controlling elastic element 132 can also use other methods to drive the sliding cover 131 to slide between the first and second positions according to the actual situation, which will not be elaborated here. By sensing the temperature with the temperature-controlled elastic element 132, the position of the sliding cover 131 is adjusted, thereby adjusting the heat dissipation rate at the corresponding installation area 113. A closed loop of temperature regulation control is achieved through physical means. Compared with the electronic control method that uses a temperature sensing unit and a controller, the temperature control process is more stable and reliable. At the same time, the structure of the temperature control mechanism 13 is simpler, saving the manufacturing cost of the temperature control mechanism 13.

[0067] In one embodiment, see Figures 12 to 17The sliding cover 131 can slide vertically or nearly vertically. One end of the temperature-controlled elastic element 132 can be connected to the sliding cover 131, and the other end of the temperature-controlled elastic element 132 is connected to the area above the sliding cover 131 on the air duct structure 12. Specifically, by connecting one end of the temperature-controlled elastic element 132 to the sliding cover 131 and the other end of the temperature-controlled elastic element 132 to the area above the sliding cover 131 on the air duct structure 12, the temperature-controlled elastic element 132 needs to overcome the gravity of the sliding cover 131 when driving the sliding cover 131 to move. When the temperature in the installation area 113 decreases, the temperature-controlling elastic element 132 shortens. At this time, the elastic element 132 overcomes the weight of the sliding cover 131, pulling the sliding cover 131 upwards, causing it to gradually slide closer to the second position. This gradually blocks the first connection port 124, reducing the amount of gas that can pass through the first connection port 124, thus reducing the gas flow in the installation area 113. This reduces the heat carried away per unit time, keeping the temperature in the installation area 113 stable or gradually increasing. When the temperature in the installation area 113 increases, the elastic element 132 lengthens. At this time, the sliding cover 131 moves downwards under its own weight, sliding closer to the first position. This gradually exposes the first connection port 124, allowing more gas to pass through, increasing the gas flow in the installation area 113. This removes more heat per unit time, lowering the temperature in the installation area 113.

[0068] Based on the aforementioned characteristic temperature-controlled elastic element 132, please refer to Figures 12 to 17 A stabilizing elastic element 133 can also be provided between the air duct structure 12 and the sliding cover plate 131. One end of the stabilizing elastic element 133 is connected to the sliding cover plate 131, and the other end is connected to the area of ​​the air duct structure 12 located below the sliding cover plate 131. The stabilizing elastic element 133 can apply a force to the sliding cover plate 131 opposite to that of the temperature control elastic element 132. Specifically, the stabilizing elastic element 133 refers to an elastic component with a certain length. By applying a force opposite to that of the temperature control elastic element 132 to the sliding cover plate 131 through the stabilizing elastic element 133, vibration of the sliding cover plate 131 during sliding can be avoided, making the movement of the sliding cover plate 131 more stable.

[0069] In one embodiment, see Figure 11A sliding structure can be provided on the outer or inner wall of the air duct structure 12, and the sliding cover 131 is slidably connected to the outer wall of the air duct structure 12 through the sliding structure. The sliding structure may include two spaced-apart slide rail components. Each slide rail component includes a clamping part spaced apart from the outer wall of the air duct structure 12 and a connecting part for connecting the clamping part to the air duct structure 12. The clamping part, the connecting part, and the outer wall of the air duct structure 12 form a groove for accommodating the sliding cover 131. When the sliding cover 131 is installed, the edge of the sliding cover 131 can be inserted into the groove, which makes the sliding of the sliding cover 131 more convenient and more stable.

[0070] It should be noted that you should refer to [link / reference]. Figure 11 A first limiting member and a second limiting member are respectively provided at both ends of the slide rail component, and both the first limiting member and the second limiting member protrude from the outer wall of the air duct structure 12. Specifically, when the sliding cover plate 131 slides to contact the first limiting member, the sliding cover plate 131 can be located in the first position. When the sliding cover plate 131 slides to contact the second limiting member, the sliding cover plate 131 can be located in the second position. By limiting the sliding range of the sliding cover plate 131 by the first limiting member and the second limiting member, the risk of the sliding cover plate 131 falling out of the slide rail component can be avoided, making the sliding of the sliding cover plate 131 safer and the sliding position of the sliding cover plate 131 more precise.

[0071] In one embodiment, see Figure 5 and Figure 11The first connecting port 124 includes multiple vent holes 1241, and the sliding cover plate 131 is provided with multiple air exchange holes 1311. The multiple air exchange holes 1311 are spaced apart to form a blocking part 16. The multiple air exchange holes 1311 are correspondingly arranged with the multiple vent holes 1241. When the sliding cover plate 131 is in the first position, the vent holes 1241 are exposed through the air exchange holes 1311. When the sliding cover plate 131 is in the second position, the vent holes 1241 are blocked by the blocking part 16. Specifically, the vent holes 1241 refer to the hole structure provided on the side wall of the air duct structure 12. The multiple vent holes 1241 are spaced apart to form a ventilation area that allows air to pass through. The multiple vent holes 1241 can be arranged in an array or in other ways. Ventilation holes 1311 refer to the hole structures provided on the sliding cover plate 131. Similarly, multiple ventilation holes 1311 can be arranged in an array on the sliding cover plate 131, or they can be arranged in other ways. The positions on the sliding cover plate 131 where no ventilation holes 1311 are provided are the blocking parts 16. Furthermore, multiple ventilation holes 1311 are correspondingly provided with multiple vent holes 1241. During use, the facing area of ​​the ventilation holes 1311 and vent holes 1241 can be adjusted by the relative sliding of the sliding cover plate 131 and the air duct structure 12. When the sliding cover 131 is in the first position, the vent 1241 and the air exchange hole 1311 are directly opposite each other, and the vent 1241 is completely exposed through the air exchange hole 1311. Furthermore, the closer the sliding cover 131 is to the first position and the further away it is from the second position, the larger the area between the vent 1241 and the air exchange hole 1311, allowing more air to pass through the first connecting opening 124. When the sliding cover 131 is in the second position, the vent 1241 is blocked by the blocking part 16. At this time, the vent 1241 and the air exchange hole 1311 are completely offset. Furthermore, the closer the sliding cover 131 is to the second position and the further away it is from the first position, the smaller the area between the vent 1241 and the air exchange hole 1311, allowing less air to pass through the first connecting opening 124. By forming the first connecting port 124 with vent holes 1241, the first connecting port 124 can allow gas to pass through while maintaining good strength of the sidewall of the air duct structure 12. The first connecting port 124 is divided into multiple vent holes 1241, and ventilation holes 1311 corresponding to the vent holes 1241 are provided on the sliding cover plate 131. The sliding cover plate 131 can be moved from the first position to the second position by simply moving a distance matching the size of the vent holes 1241, making the adjustment of the sliding cover plate 131 more convenient and quick.

[0072] In one embodiment, see Figure 5 and Figure 11The vent 1241 can be rectangular, triangular, or circular, and the ventilation vent 1311 can also be rectangular, triangular, or circular. Specifically, the shape of the vent 1241 can be any one of rectangular, triangular, or circular, and the shape of the ventilation vent 1311 can also be any one of rectangular, triangular, or circular. The shape of the vent 1241 can be consistent with the shape of the ventilation vent 1311; for example, when the vent 1241 is rectangular, its shape is also rectangular. When the vent 1241 is triangular, its shape is also triangular. The shape of the vent 1241 can also be different from the shape of the ventilation vent 1311; for example, when the vent 1241 is rectangular, the shape of the ventilation vent 1311 can be either triangular or circular. In this embodiment, by setting the shape of the vent 1241 to a regular shape such as rectangular, triangular, or circular, the processing of the vent 1241 becomes more convenient. Meanwhile, by setting the shape of the ventilation hole 1311 to a regular shape such as a rectangle, triangle or circle, the processing of the sliding cover 131 can be made more convenient.

[0073] In one specific embodiment, please refer to Figures 12 to 17 ,in Figure 12 and Figure 13 This indicates that the sliding cover 131 is in the closed state. Figure 14 and Figure 15 This indicates that the sliding cover 131 is in the middle state. Figure 16 and Figure 17 This indicates that the sliding cover 131 is in the open state. The vent 1241 is rectangular in shape, and the ventilation hole 1311 is also rectangular in shape. By setting the shapes of both the vent 1241 and the ventilation hole 1311 to rectangles, the change in the area of ​​the vent 1241 and the ventilation hole 1311 when the sliding cover 131 moves is linearly related to the moving distance of the sliding cover 131.

[0074] In another specific embodiment, please refer to Figures 18 to 23 ,in Figure 18 and Figure 19 This indicates that the sliding cover 131 is in the closed state. Figure 20 and Figure 21 This indicates that the sliding cover 131 is in the middle state. Figure 22 and Figure 23This indicates that the sliding cover 131 is in the open state, the vent 1241 is triangular in shape, and the ventilation hole 1311 is also triangular in shape. Furthermore, the vent 1241 and ventilation hole 1311 face the same direction; for example, their apexes are both set towards the second position. This allows the vent 1241 and ventilation hole 131 to change their facing areas more significantly as the temperature in the installation area 113 gradually increases and the sliding cover 131 moves towards the first position under the action of the temperature-controlled elastic element 132. This results in a rapid increase in the amount of gas passing through the first connection port 124, achieving rapid heat dissipation.

[0075] In one embodiment, see Figure 5 The number of air duct structures 12 can be multiple, and the number of air duct structures 12 can be even. Two of the multiple air duct structures 12 can be arranged opposite each other. During use, one of the two oppositely arranged air duct structures 12 can be used for air intake while the other is used for exhaust. Through the cooperation of the two air duct structures 12, airflow circulation can be formed inside the main housing 11, thereby improving the heat dissipation effect of each mounting area 113 inside the main housing 11.

[0076] In one specific embodiment, please refer to Figure 5 Two air duct structures 12 are provided, which are arranged opposite each other on the inner walls of the main housing 11. Two first air exchange ports 111 are provided, which are connected to the two air duct structures 12 respectively. During use, one air duct structure 12 can take in air through its connected first air exchange port 111, and the other air duct structure 12 can exhaust air through its connected first air exchange port 111. Through the cooperation of the two air duct structures 12, airflow circulation can be formed inside the main housing 11, thereby improving the heat dissipation effect.

[0077] In one embodiment, see Figure 10The air duct structure 12 includes a bottom cover 122 and a cylindrical body 121. The bottom cover 122 is sealed to the inner wall of the main housing 11 and communicates with the first ventilation port 111. The cylindrical body 121 is located above the bottom cover 122 and is arranged along the height direction of the main housing 11. The bottom end of the cylindrical body 121 communicates with the top end of the bottom cover 122. First communication ports 124 are all provided on the cylindrical body 121. Specifically, the bottom cover 122 refers to a shell-shaped component with a certain accommodating space. An opening is provided at the bottom of the bottom cover 122, and communication with the first ventilation port 111 is achieved by covering the bottom cover 122 with the first ventilation port 111. The cylindrical body 121 refers to a cylindrical component with a certain length. The cylindrical body 121 is located above the bottom cover 122 and is arranged along the height direction of the main housing 11. The cylindrical body 121 communicates with the top end of the bottom cover 122, and the first communication ports 124 are all provided on the cylindrical body 121. During air intake, air enters the bottom cover 122 through the first air exchange port 111, then enters the cylinder 121, and finally enters the corresponding installation area 113 through the first connecting port 124 for heat dissipation. By setting the air duct structure 12 into two parts, the bottom cover 122 and the cylinder 121, and by allowing the cross-sectional area of ​​the bottom cover 122 to be larger than that of the cylinder 121, the air duct structure 12 can have a larger ventilation volume, and at the same time, the connection between the air duct structure 12 and the first air exchange port 111 can be made more convenient and efficient.

[0078] In an optional embodiment, please refer to Figure 10 The bottom cover 122 and the cylinder 121 can be an integral structure, for example, they can be integrally formed by stamping. Alternatively, the bottom cover 122 and the cylinder 121 can be separate structures, which can be connected by welding, snap-fitting or fasteners after the bottom cover 122 and the cylinder 121 are manufactured separately, making the fabrication of the air duct structure 12 more convenient.

[0079] Based on the aforementioned characteristic air duct structure 12, please refer to Figure 10The air duct structure 12 also includes a top ventilation hood 123. The top end of the cylinder 121 is connected to the bottom of the top ventilation hood 123, and the top ventilation hood 123 is also provided with a second connecting port 125, which connects the top ventilation hood 123 and the inner cavity. Specifically, the top ventilation hood 123 is also a shell-shaped component with a certain accommodating space, and the top ventilation hood 123 is connected to the top end of the cylinder 121. The top ventilation hood 123 and the second connecting port 125 can be located near the top surface of the main housing 11. Through the arrangement of the top ventilation hood 123 and the second connecting port 125, heat dissipation can be achieved for the operation panel on the top surface of the main housing 11, which can prevent the temperature of the operation panel on the main housing from becoming too high and affecting the user experience.

[0080] In one embodiment, see Figure 5 , Figure 8 and Figure 9 The bottom of the main housing 11 has a second ventilation port 112, which is located between the two air duct structures 12. Specifically, the second ventilation port 112 is also an opening structure provided on the main housing 11. By providing a second ventilation port 112 at the bottom of the main housing 11, both first ventilation ports 111 can be used as air inlets, and the second ventilation port 112 can be used as an exhaust port. Moreover, the second ventilation port 112 is located between the two first ventilation ports 111. Compared with the method of providing only two first ventilation ports 111 for air intake and exhaust respectively, when the second ventilation port 112 is provided, after the air enters the main housing 11 from the first ventilation port 111, it only needs to flow half the distance before being discharged from the main housing 11 through the second ventilation port 112, thereby improving the heat dissipation efficiency of each installation area 113 inside the entire main housing 11. Meanwhile, the second air vent 112 can be located below the installation area 113. When the air flows and is discharged from the second air vent 112, it can pass through multiple installation areas 113 in sequence, and can further carry away more heat during the flow, thereby improving the heat dissipation effect inside the main housing 11.

[0081] In one embodiment, see Figure 2A blocking part 16 is provided between the first ventilation port 111 and the second ventilation port 112. The blocking part 16 is located between the first ventilation port 111 and the second ventilation port 112 to prevent gas discharged from the first ventilation port 111 from flowing back to the second ventilation port 112 or gas discharged from the second ventilation port 112 from flowing back to the first ventilation port 111. Specifically, the blocking part 16 refers to a component with a certain height. By setting the blocking part 16 on the bottom surface of the main housing 11 and between the first ventilation port 111 and the second ventilation port 112, when the first ventilation port 111 is an air inlet and the second ventilation port 112 is an exhaust port, the risk of gas discharged from the second ventilation port 112 flowing back to the first ventilation port 111 can be reduced.

[0082] In an optional embodiment, please refer to Figure 2 The blocking part 16 may include an annular part, which is disposed around the circumference of the second air exchange port 112, and the second air exchange port 112 is disposed outside the annular part. By making the blocking part 16 annular and distributing it around the circumference of the second air exchange port 112, the blocking effect of the blocking part 16 is improved.

[0083] In one embodiment, see Figure 9 A first ventilation unit 14 is provided at the first ventilation port 111, which drives the airflow inside the air duct structure 12. A second ventilation unit 15 is provided at the second ventilation port 112, which drives the airflow inside the main housing 11. Specifically, both the first ventilation unit 14 and the second ventilation unit 15 refer to components or assemblies that can drive the movement of gas. Both the first ventilation unit 14 and the second ventilation unit 15 can be fans or exhaust fans, etc. By providing the first ventilation unit 14 at the first ventilation port 111 and the second ventilation unit 15 at the second ventilation port 112, power can be provided for the airflow inside the entire main housing 11 and the air duct structure 12, and the heat dissipation effect of the electrical components 19 inside the main housing 11 can also be improved.

[0084] In one embodiment, see Figure 24The main control cabinet 10 also includes a control unit 17 and a detection unit 18. The control unit 17 is electrically connected to the detection unit 18, the first ventilation unit 14, and the second ventilation unit 15. The detection unit 18 is used to detect the total power of all electrical components 19 within the main housing 11 and sends the detection result to the control unit 17. The control unit 17 is used to adjust the airflow of the first ventilation unit 14 and / or the second ventilation unit 15 based on the detection result of the detection unit 18. Specifically, the detection unit 18 refers to a component or assembly that detects the operating power of the electrical components 19. The detection unit 18 can determine whether the power of the electrical components 19 has increased or decreased by detecting the current or voltage values ​​of the corresponding electrical components 19. The total power of the electrical components 19 can be detected by the detection unit 18, and the detection result can be sent to the control unit 17. The control unit 17 is used to adjust the airflow of the first ventilation unit 14 and / or the second ventilation unit 15 based on the detection result of the detection unit 18. At the same time, the temperature of the installation area 113 is detected by the temperature control mechanism 13, making the entire adjustment and control more intelligent. For example, when the power of electrical components 19 in one or more installation areas 113 increases, the temperature of installation area 113 also increases. At this time, detection unit 18 detects the increase in the total power of electrical components 19 and sends the detection result to control unit 17. Control unit 17 increases the exhaust volume of first ventilation unit 14 and / or second ventilation unit 15 according to the detection result of detection unit 18. At the same time, the temperature control mechanism 13 corresponding to installation area 113 will increase the opening of first connection port 124 according to the temperature increase. This allows the excess gas generated in the air duct structure 12 due to the increased power of first ventilation unit 14 and / or second ventilation unit 15 to be input into the temperature-increased installation area 113 through the enlarged first connection port 124. This achieves regional adjustment of the heat dissipation efficiency of electrical components 19 inside the main housing 11, which can make the heat dissipation of the entire main control cabinet 10 more energy-efficient and improve the heat dissipation efficiency.

[0085] Secondly, please refer to Figure 1 A surgical robot is provided, including a robotic arm 20 and a main control cabinet 10 as described in any of the preceding claims, wherein the robotic arm 20 is disposed outside the main control cabinet 10. It is understood that the beneficial effects of the second aspect described above can be found in the relevant descriptions of the first aspect above, and will not be repeated here.

[0086] The above description is merely a preferred embodiment of the present invention and only specifically describes the technical principles of the present invention. These descriptions are only for explaining the principles of the present invention and should not be construed as limiting the scope of protection of the present invention in any way. Based on this explanation, any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention, as well as other specific embodiments of the present invention that can be conceived by those skilled in the art without creative effort, should be included within the scope of protection of the present invention.

Claims

1. A main control cabinet (10), characterized in that, The device includes a main housing (11) and a duct structure (12). The main housing (11) has an inner cavity for accommodating electrical components. A first ventilation port (111) is provided at the bottom of the main housing (11). The duct structure (12) is disposed on the inner wall of the main housing (11) and communicates with the first ventilation port (111). A first connecting port (124) is provided on the duct structure (12) so that the duct structure (12) communicates with the inner cavity of the main housing (11).

2. The main control cabinet (10) as described in claim 1, characterized in that, The interior of the main housing (11) has multiple mounting areas (113), and multiple first communication ports (124) are provided. The multiple first communication ports (124) are connected to the multiple mounting areas (113) respectively. The mounting areas are used to install the electrical components.

3. The main control cabinet (10) as described in claim 2, characterized in that, Each of the first connecting ports (124) is provided with a temperature control adjustment mechanism (13), and the temperature control adjustment mechanism (13) is used to adjust the opening size of the corresponding first connecting port (124) according to the temperature of the installation area (113) of the corresponding first connecting port (124).

4. The main control cabinet (10) as described in claim 3, characterized in that, The temperature control adjustment mechanism (13) includes a sliding cover plate (131) and a temperature control elastic element (132). The sliding cover plate (131) is placed over the first connecting port (124) and is slidably connected to the air duct structure (12). The sliding cover plate (131) can move between a first position that exposes the first connecting port (124) and a second position that blocks the first connecting port (124). The temperature control elastic element (132) is disposed between the air duct structure (12) and the sliding cover plate (131). The temperature control elastic element (132) is used to change its own length when the ambient temperature changes, so as to drive the sliding cover plate (131) to slide.

5. The main control cabinet (10) as described in claim 4, characterized in that, The first connecting port (124) includes a plurality of vent holes (1241), and the sliding cover plate (131) is provided with a plurality of ventilation holes (1311). The plurality of ventilation holes (1311) are spaced apart to form a blocking part. The plurality of ventilation holes (1311) are correspondingly arranged with the plurality of vent holes (1241). When the sliding cover plate (131) is in the first position, the ventilation holes (1241) are exposed through the ventilation holes (1311). When the sliding cover plate (131) is in the second position, the ventilation holes (1241) are blocked by the blocking part.

6. The main control cabinet (10) as described in claim 5, characterized in that, The vent (1241) is rectangular, triangular or circular, and the air exchange vent (1311) is rectangular, triangular or circular.

7. The main control cabinet (10) as described in any one of claims 1 to 6, characterized in that, Two air duct structures (12) are provided, and the two air duct structures (12) are arranged opposite to each other on the inner walls of the two sides of the main housing (11). Two first air exchange ports (111) are provided, and the two first air exchange ports (111) are respectively connected to the two air duct structures (12).

8. The main control cabinet (10) as described in claim 7, characterized in that, The air duct structure (12) includes a bottom cover (122) and a cylinder (121). The bottom cover (122) is sealed to the inner wall of the main housing (11) and communicates with the first air exchange port (111). The cylinder (121) is located above the bottom cover (122) and is arranged along the height direction of the main housing (11). The bottom end of the cylinder (121) communicates with the top of the bottom cover (122). The first communication port (124) is provided on the cylinder (121).

9. The main control cabinet (10) as described in claim 8, characterized in that, The air duct structure (12) also includes a top ventilation hood (123), the top end of the cylinder (121) is connected to the bottom of the top ventilation hood (123), and the top ventilation hood (123) is also provided with a second connecting port (125), which connects the top ventilation hood (123) and the inner cavity.

10. The main control cabinet (10) as described in claim 7, characterized in that, The bottom of the main housing (11) has a second air vent (112), which is located between the two air duct structures (12).

11. The main control cabinet (10) as described in claim 10, characterized in that, A blocking part (16) is provided between the first ventilation port (111) and the second ventilation port (112). The blocking part (16) is located between the first ventilation port (111) and the second ventilation port (112) to prevent the gas discharged from the first ventilation port (111) from flowing back to the second ventilation port (112) or the gas discharged from the second ventilation port (112) from flowing back to the first ventilation port (111).

12. The main control cabinet (10) as described in claim 10, characterized in that, A first ventilation unit (14) is provided at the first ventilation port (111), and the first ventilation unit (14) is used to drive the gas flow inside the air duct structure (12). A second ventilation unit (15) is provided at the second ventilation port (112), and the second ventilation unit (15) is used to drive the gas flow inside the main housing (11).

13. The main control cabinet (10) as described in claim 12, characterized in that, The main control cabinet (10) also includes a control unit (17) and a detection unit (18). The control unit (17) is electrically connected to the detection unit (18), the first ventilation unit (14), and the second ventilation unit (15). The detection unit (18) is used to detect the total power of all electrical components in the main housing (11) and send the detection result to the control unit (17). The control unit (17) is used to adjust the discharge capacity of the first ventilation unit (14) and / or the second ventilation unit (15) according to the detection result of the detection unit (18).

14. A surgical robot (100), characterized in that, It includes a robotic arm (20) and a main control cabinet (10) as described in any one of claims 1 to 13, wherein the robotic arm (20) is disposed outside the main control cabinet (10).

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