Ground support structure, medical device and method of assembling a ground support structure

Abstract

The application belongs to the technical field of supporting equipment, and discloses a ground support structure, a medical device and a ground support structure assembling method. In the ground support structure, a supporting leg can slide relative to a rack, and includes a push tube and a supporting foot connected to the push tube. The supporting foot is used for supporting on the ground, and an electric device is installed in the inside of the supporting foot. A driving assembly includes a motor, a screw rod used for rotationally connecting with the rack, and a nut threadedly connected with the screw rod. The nut is fixedly connected with the push tube. The motor is used for driving the screw rod to rotate, so as to drive the nut and the push tube to extend or retract relative to the rack. A sleeve is arranged in the inside of the push tube. An inner cavity of the sleeve is used for containing one end of the screw rod close to the supporting leg. An outer wall of the sleeve and an inner wall of the push tube form a wire passing channel, so that the cable of the electric device can pass through the wire passing channel between the outer wall of the sleeve and the inner wall of the push tube. The screw rod is contained in the inner cavity of the sleeve, and the situation that the cable is broken due to the rotation of the screw rod does not occur.

Description

Technical Field

[0001] This invention relates to the field of support equipment technology, and more particularly to ground support structures, medical equipment, and methods for assembling ground support structures. Background Technology

[0002] Surgical robots in the medical industry are typically equipped with casters at the bottom to facilitate movement. However, during surgery, the outriggers are used to lift the device off the ground, preventing the robot from shifting and causing risks. However, the ground beneath the surgical robot may have height differences due to incline or steps, and adjusting the outriggers relies entirely on the operator's experience, making it difficult to precisely control the extension and retraction of each leg.

[0003] To address this, relevant technologies typically incorporate pressure sensors or ultrasonic sensors at the bottom of the outriggers. The signals from these sensors determine whether the outriggers have made stable contact with the ground, allowing for precise control of the outrigger extension. However, this approach still has drawbacks. To improve outrigger stability, height adjustment is usually achieved using a screw and nut. Since pressure or ultrasonic sensors need to be located at the bottom of the outriggers, if their cables pass through the inside of the outrigger, they can easily come into contact with the screw, which is also located inside the outrigger. When the screw rotates, the cable can easily break. Conversely, if the cables pass through the outside, it affects the overall appearance and neatness. Furthermore, exposed cables are easily damaged and may trip medical personnel, increasing surgical risks. Therefore, the above approach suffers from difficulties in routing the electrical equipment such as pressure or ultrasonic sensors. Summary of the Invention

[0004] According to one aspect of the present invention, a ground support structure is provided to solve the problem of difficult wiring of electrical equipment in the related art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: Ground support structure, including: frame; The outrigger is slidable relative to the frame and includes a push tube and a support foot connected to the push tube. The support foot is used to support the ground, and an electrical device is installed inside the support foot. The electrical device is connected to a cable. The drive assembly includes a motor, a lead screw for rotatably connecting to the frame, and a nut threadedly connected to the lead screw. The nut is fixedly connected to the push tube. The motor drives the lead screw to rotate, thereby causing the nut and the push tube to extend or retract relative to the frame. A sleeve is disposed inside the push tube. The inner cavity of the sleeve is used to accommodate one end of the lead screw near the support leg. A cable passage is formed between the outer wall of the sleeve and the inner wall of the push tube. The cable passes through the support leg and the cable passage in sequence.

[0006] As a preferred embodiment of the ground support structure, the nut is fixedly provided with a cable connecting piece and a sliding contact. The cable connecting piece is used for electrical connection with the cable. The ground support structure also includes a sliding contact strip for being disposed inside the frame. The sliding contact strip is electrically connected to the controller or power supply. The sliding contact head slides in contact with and is electrically connected to the sliding contact strip.

[0007] As a preferred embodiment of the ground support structure, the sliding contact is an arc-shaped elastic connecting piece.

[0008] As a preferred embodiment of the ground support structure, the outer wall of the sleeve is provided with several elastic protrusions, and the inner wall of the push tube can squeeze the elastic protrusions so that the position of the sleeve relative to the push tube remains fixed.

[0009] As a preferred embodiment of the ground support structure, the sleeve has an opening at one end and a closed end at the other.

[0010] As a preferred embodiment of the ground support structure, the diameter of the end of the sleeve with the opening gradually decreases along the direction close to the nut.

[0011] As a preferred embodiment of the ground support structure, the support foot includes a support foot body and a foot pad connected to the support foot body. The support foot body is connected to the push tube. The support foot body has a mounting groove for mounting the electrical equipment and a cable passage hole for the cable to pass through. The mounting groove is located on the side of the support foot body near the foot pad. The foot pad is used to support the ground. The support foot body has an external thread and is threadedly connected to the push tube. The center line of the cable passage hole coincides with the center line of the support foot body.

[0012] As a preferred embodiment of the ground support structure, the frame is provided with a guide bushing for slidingly fitted onto the outer wall of the push tube.

[0013] According to another aspect of the invention, a medical device is provided, comprising a plurality of the aforementioned ground support structures, and further comprising an actuator disposed on the frame.

[0014] According to another aspect of the present invention, a method for assembling a ground support structure is provided for assembling the aforementioned ground support structure, the method comprising: S100: Connect the push tube to the nut, and install the cable into the inside of the push tube; S200: Install the sleeve into the inside of the push tube so that the lead screw is located in the inner cavity of the sleeve, and the cable is located between the outer wall of the sleeve and the inner wall of the push tube; S300: Pass the cable through the support foot and install the support foot onto the push tube; S400: Connect the cable and the electrical equipment, and install the electrical equipment on the support foot.

[0015] The beneficial effects of this invention are: This invention provides a ground support structure, including a frame, outriggers, a drive assembly, and a sleeve. The outriggers are slidable relative to the frame and include a push tube and a support foot connected to the push tube. The support foot is used to support the ground, and an electrical device is installed inside the support foot, with a cable connected to the electrical device. The drive assembly includes a motor, a lead screw for rotatably connecting to the frame, and a nut threadedly connected to the lead screw. The nut is fixedly connected to the push tube. The motor drives the lead screw to rotate, thereby causing the nut and push tube to extend or retract relative to the frame, thus adjusting the extension amount of the outriggers relative to the frame to adapt to different ground heights. Furthermore, since the adjustment of the outrigger position is achieved by using a lead screw and nut in conjunction, compared to a cylinder-based solution, the stability of the outrigger support can be improved. The sleeve is located inside the push tube. The inner cavity of the sleeve is used to accommodate the end of the lead screw near the support leg. A cable passage is formed between the outer wall of the sleeve and the inner wall of the push tube. The cable passes through the support leg and the cable passage in sequence, so that the cable of the electrical equipment can pass through the cable passage between the outer wall of the sleeve and the inner wall of the push tube. The lead screw is accommodated in the inner cavity of the sleeve. The two will not interfere with each other, and there will be no situation where the cable is broken due to the rotation of the lead screw.

[0016] The present invention also provides a medical device, including several ground support structures and an actuator mounted on a frame. The ground support structure includes a sleeve disposed inside a push tube. The inner cavity of the sleeve is used to accommodate one end of a lead screw near the support leg. A cable passage is formed between the outer wall of the sleeve and the inner wall of the push tube. The cable passes sequentially through the support leg and the cable passage, allowing the cable of the electrical device to pass through the cable passage between the outer wall of the sleeve and the inner wall of the push tube. The lead screw is contained within the inner cavity of the sleeve, preventing interference between the two and preventing the cable from being broken due to the rotation of the lead screw.

[0017] This invention also provides a method for assembling a ground support structure. In this method, a push tube is connected to a nut, and a cable is installed inside the push tube. A sleeve is installed inside the push tube so that the lead screw is located within the inner cavity of the sleeve, and the cable is located between the outer wall of the sleeve and the inner wall of the push tube. This allows the cable of the electrical equipment to pass through the cable passage between the outer wall of the sleeve and the inner wall of the push tube, while the lead screw is contained within the inner cavity of the sleeve, preventing interference and avoiding cable breakage due to lead screw rotation. The cable is then passed through a support foot, and the support foot is installed on the push tube. Finally, the cable and the electrical equipment are connected, and the electrical equipment is installed on the support foot, completing the installation of the electrical equipment and the cable. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the ground support structure in Embodiment 1 of the present invention; Figure 2 This is a cross-sectional view of the ground support structure in Embodiment 1 of the present invention; Figure 3 This is a partial structural diagram of the ground support structure in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the second partial structure of the ground support structure in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the third partial structure of the ground support structure in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the nut structure in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the fourth partial structure of the ground support structure in Embodiment 1 of the present invention; Figure 8 This is a partial structural diagram of the fifth part of the ground support structure in Embodiment 1 of the present invention; Figure 9 This is a first exploded view of the support leg in Embodiment 1 of the present invention; Figure 10 This is a second exploded view of the support leg in Embodiment 1 of the present invention; Figure 11 This is a cross-sectional view of the support foot and the thin-film pressure sensor in Embodiment 1 of the present invention; Figure 12 This is a schematic diagram of the support leg structure in Embodiment 2 of the present invention; Figure 13 This is a cross-sectional view of the support foot and the micro-touch switch in Embodiment 2 of the present invention; Figure 14 This is a flowchart of the ground support structure assembly method in Embodiment 4 of the present invention.

[0019] In the picture: 1. Frame; 11. Frame body; 111. Cable guide groove; 12. Gearbox; 13. Guide bushing; 101. Slide groove; 102. Slide contact bar mounting groove; 103. Magnetic switch mounting groove; 2. Support leg; 21. Push tube; 22. Support foot; 221. Support foot body; 2211. Mounting groove; 2212. Cable hole; 2213. Positioning groove; 2214. Annular groove; 222. Foot pad; 2221. Dot-shaped protrusion; 2222. Annular protrusion; 223. Pressure-bearing protrusion; 3. Drive assembly; 31. Motor; 311. Reduction gear; 32. Lead screw; 321. Bearing; 33. Nut; 331. Through hole; 332. Protrusion; 41. Thin-film pressure sensor; 411. Thin film; 412. Pressure transmission block; 413. Elastic element; 414. First support pad; 415. Second support pad; 416. Third support pad; 42. Microswitch; 421. Pressure-bearing component; 422. Spring; 423. Moving contact; 424. Stationary contact; 425. Pin; 426. Adjusting spring; 5. Sleeve; 51. Elastic protrusion; 61. Cable connector; 62. Sliding contact; 63. Sliding contact strip; 7. Magnetic switch; 10. Cables. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0021] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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 based on the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0024] Example 1 The ground beneath a surgical robot may have varying heights due to inclines or steps, making leg adjustment entirely reliant on the operator's experience and hindering precise control of leg extension. To address this, relevant technologies typically incorporate pressure or ultrasonic sensors at the base of the legs. These sensors detect when the legs are in stable contact with the ground, allowing for precise control of leg extension. However, this approach suffers from several drawbacks. To enhance leg stability, current solutions often use a screw and nut mechanism for height adjustment. This requires the pressure or ultrasonic sensors to be located at the base of the legs. If the sensor cables pass through the leg's interior, they risk contact with the screw, which can easily break when the screw rotates. Conversely, external cables compromise the robot's appearance, are susceptible to damage, and may trip medical personnel, increasing surgical risks. Therefore, the aforementioned solution presents a challenge in managing the wiring for pressure or ultrasonic sensors.

[0025] In response, this embodiment provides a ground support structure to solve the problem of difficult wiring for electrical equipment in related technologies. It can be used in the field of equipment support technology, and can be specifically applied to medical equipment such as medical surgical robots.

[0026] Reference Figures 1-11The ground support structure includes a frame 1, outriggers 2, a drive assembly 3, and a sleeve 5. Outriggers 2 can slide relative to the frame 1 and include a push tube 21 and a support foot 22 connected to the push tube 21. The support foot 22 is used to support the ground, and an electrical device is installed inside the support foot 22. The electrical device is connected to a cable 10. The drive assembly 3 includes a motor 31, a lead screw 32 for rotatably connecting to the frame 1, and a nut 33 threadedly connected to the lead screw 32. The nut 33 is fixedly connected to the push tube 21. The motor 31 is used to drive the lead screw 32 to rotate, so as to drive the nut 33 and the push tube 21 to extend or retract relative to the frame 1, thereby adjusting the extension amount of the outriggers 2 relative to the frame 1 to adapt to different ground heights. In addition, since the position adjustment of the outriggers 2 is achieved by the cooperation of the lead screw 32 and the nut 33, its scheme relative to the cylinder can improve the stability of the outriggers 2 support. The sleeve 5 is located inside the push tube 21. The inner cavity of the sleeve 5 is used to accommodate the end of the lead screw 32 near the support leg 2. A wire passage is formed between the outer wall of the sleeve 5 and the inner wall of the push tube 21. The cable 10 passes through the support leg 22 and the wire passage in sequence, so that the cable 10 of the electrical equipment can pass through the wire passage between the outer wall of the sleeve 5 and the inner wall of the push tube 21. The lead screw 32 is accommodated in the inner cavity of the sleeve 5. The two will not interfere with each other, and the cable 10 will not be broken due to the rotation of the lead screw 32.

[0027] In this embodiment, the electrical equipment is specifically a pressure detection element, which is used to detect the pressure on the support foot 22. The output data of the pressure detection element can be used to determine whether the support foot 22 has touched the ground, so as to automatically control and adjust the position of the support foot 22 relative to the frame 1.

[0028] In this embodiment, the pressure detection element is a thin-film pressure sensor 41, which includes a thin film 411, a pressure transmission block 412, and an elastic element 413, wherein the elastic element 413 is specifically a wave spring. The pressure transmission block 412 is in contact with the thin film 411, and the elastic element 413 is disposed between the foot pad 222 and the pressure transmission block 412, and is used to provide an elastic force that moves the foot pad 222 and the pressure transmission block 412 away from each other. When the pressure-bearing protrusion 223 is compressed, the pressure is transmitted through the foot pad 222 to the elastic element 413, which drives the pressure transmission block 412 to move, thereby causing the thin film 411 to generate a certain amount of displacement, thus realizing pressure detection. Since the pressure is first transmitted to the elastic element 413, and the compression of the elastic element 413 has a non-linear relationship with the transmission force (the two satisfy Hooke's Law), the magnitude of the transmission force is controllable, and the actual force borne by the thin film 411 is smoothly transmitted, preventing damage to the thin film 411 due to sudden changes in pressure value.

[0029] Optionally, a first support pad 414 is provided at the end of the membrane 411 away from the pressure transmitting block 412 and the elastic member 413, a second support pad 415 is provided between the pressure transmitting block 412 and the elastic member 413, and a third support pad 416 is provided at the end of the elastic member 413 away from the membrane 411 and the pressure transmitting block 412. Thus, the membrane 411, the pressure transmitting block 412 and the elastic member 413 can be supported by the support pads. At the same time, the relative positions between the structures can be finely adjusted by using support pads of different thicknesses.

[0030] Continue to refer to Figures 1-11 In the drive assembly 3, the lead screw 32 is rotatably connected to the frame 1 via a bearing 321. A reduction gear pair is provided between the motor 31 and the lead screw 32, and the reduction gear pair includes several reduction gears 311. The frame 1 includes a frame body 11 for mounting the support legs 2 and a gearbox 12 connected to the frame body 11. The bearings 321 and the reduction gears 311 are both mounted in the gearbox 12. The frame body 11 and the gearbox 12 are threaded together and a sealing strip is provided to achieve a seal between the frame body 11 and the gearbox 12. In addition, the end of the gearbox 12 away from the frame body 11 is connected to other structures of the frame 1 via connecting bolts. Furthermore, one end of the lead screw 32 extends out of the gearbox 12 for manual intervention by the operator.

[0031] The frame body 11 has a sliding groove 101, and the outer wall of the nut 33 has a protrusion 332. The protrusion 332 slides with the sliding groove 101, thereby guiding and restricting the movement direction of the nut 33, so that it can only slide relative to the frame body 11.

[0032] Continue to refer to Figures 1-11 The nut 33 is fixedly provided with a cable connecting piece 61 and a sliding contact 62. The cable connecting piece 61 is used for electrical connection with the cable 10. The ground support structure also includes a sliding contact strip 63 for installation inside the frame 1. The sliding contact strip 63 is electrically connected to the controller or power supply. The sliding contact 62 slides and is electrically connected to the sliding contact strip 63, thereby connecting the electrical equipment to the controller or power supply through the sliding engagement between the sliding contact 62 and the sliding contact strip 63. At the same time, it eliminates the need for an additional cable 10 between the cable connecting piece 61 on the nut 33 and the controller or power supply, further avoiding the risk of the cable 10 being broken due to the rotation of the screw 32. In this embodiment, the cable connecting piece 61 and the sliding contact 62 are integrally formed and both are located on the outer wall of the nut 33 to facilitate their engagement with the sliding contact strip 63. The nut 33 is also provided with a through hole 331 for the cable 10 to pass through. In other embodiments, the cable connecting piece 61 can be located at the end closer to the electrical equipment, and the sliding contact 62 can be located on the outer wall of the nut 33. Optionally, both the sliding contact 62 and the sliding strip 63 are made of copper.

[0033] Continue to refer to Figures 1-11 The sliding contact 62 is an arc-shaped elastic connecting piece, and the arc-shaped segment contacts the sliding contact strip 63, so that the sliding contact 62 can adapt to the straightness fluctuation of the sliding contact strip 63 and can be stably connected to the sliding contact strip 63.

[0034] Optionally, the frame body 11 is provided with a sliding contact strip mounting groove 102, and the sliding contact strip 63 is embedded in the sliding contact strip mounting groove 102 to save space and at the same time provide a certain degree of protection for the sliding contact strip 63.

[0035] Continue to refer to Figures 1-11 The frame body 11 is equipped with a magnetic switch 7, and a magnet is embedded in the nut 32. The magnetic switch 7 can control the circuit on and off through a magnetic field signal. The specific structure and control principle of the magnetic switch 7 are relatively conventional solutions in the field and will not be described in detail here. Optionally, the frame body 11 has a magnetic switch mounting slot 103, in which the magnetic switch 7 is embedded to save space and provide a certain degree of protection for the magnetic switch 7.

[0036] Optionally, the main body of the rack 11 is also provided with a cable tray 111 for accommodating the cable 10, and the connecting cable 10 of the sliding contact strip 63 and the magnetic switch 7 is arranged in the corresponding cable tray 111.

[0037] Continue to refer to Figures 1-11 The outer wall of the sleeve 5 is provided with several elastic protrusions 51. The inner wall of the push tube 21 can squeeze the elastic protrusions 51 to fix the sleeve 5 relative to the push tube 21. Thus, after the sleeve 5 is installed in the push tube 21, the elastic protrusions 51 can keep the position of the sleeve 5 relative to the push tube 21 fixed, thereby improving the stability of the sleeve 5 installation. Since the cable 10 passes between the inner wall of the push tube 21 and the outer wall of the sleeve 5, the cable 10 can be fixed simultaneously.

[0038] Continue to refer to Figures 1-11 The sleeve 5 has an opening at one end and a closed end at the other end, making the sleeve 5 cup-shaped with one end open and the other end closed. The lead screw 32 can pass through the opening of the sleeve 5, and the sleeve 5 can contain the lubricating oil that falls from the lead screw 32, preventing it from contaminating the cable 10 or electrical equipment and other structures, so that the cable 10 and electrical equipment can always be in a relatively clean space.

[0039] Continue to refer to Figures 1-11Along the direction close to the nut 33, the diameter of the end of the sleeve 5 with the opening gradually decreases, making the end of the sleeve 5 with the opening a constricted structure. And along the direction close to the nut 33, the inner wall of the sleeve 5 gradually approaches the lead screw 32. On the one hand, this can further prevent the lubricating oil falling from the lead screw 32 from splashing out of the inside of the sleeve 5. On the other hand, it allows more space on the outer wall of the sleeve 5, which can reserve more space for the installation of the cable connector 61 and the connection between the cable 10 and the cable connector 61.

[0040] Continue to refer to Figures 1-11 The support foot 22 includes a support foot body 221 and a foot pad 222 connected to the support foot body 221. The support foot body 221 is connected to the push tube 21. The support foot body 221 has a mounting groove 2211 for installing electrical equipment and a cable hole 2212 for the cable 10 to pass through. The mounting groove 2211 is located on the side of the support foot body 221 close to the foot pad 222. The foot pad 222 is used to support the ground, so that the pressure detection element and other electrical equipment are placed at the end close to the ground, which is convenient for pressure detection. At the same time, the electrical equipment is separated from the ground by the foot pad 222 and will not directly contact the ground, so as to play a certain protection role.

[0041] Optionally, the foot pad 222 is provided with a plurality of dot-shaped protrusions 2221, and the support foot body 221 has a positioning groove 2213. The dot-shaped protrusions 2221 are inserted into the positioning groove 2213 to achieve positioning and prevent the foot pad 222 from twisting relative to the support foot body 221. Optionally, the foot pad 222 is also provided with annular protrusions 2222, and the support foot body 221 has an annular groove 2214. The annular protrusions 2222 are inserted into the annular groove 2214, which can also achieve positioning and prevent the foot pad 222 from shifting laterally relative to the support foot body 221.

[0042] Continue to refer to Figures 1-11 The support leg body 221 has external threads and is threadedly connected to the push tube 21. A potential problem is that when installing the support leg body 221 onto the push tube 21, it needs to be screwed on. The cable 10 rotates with the support leg body 221, potentially causing it to break. To address this, in this embodiment, the center line of the cable passage hole 2212 coincides with the center line of the support leg body 221. That is, by placing the cable passage hole 2212 at the center of the support leg body 221, the cable 10 is prevented from rotating during the rotation of the support leg body 221, thus avoiding breakage.

[0043] Continue to refer to Figures 1-11The foot pad 222 has a pressure-receiving protrusion 223, which is directly opposite the mounting groove 2211. So when the support foot 22 is lowered, the pressure-receiving protrusion 223 first contacts the ground and causes the foot pad 222 to undergo elastic deformation, so that the pressure can be quickly transmitted to the pressure detection element.

[0044] Continue to refer to Figures 1-11 The frame 1 is provided with a guide bushing 13 for slidingly fitted on the outer wall of the push tube 21, thereby providing guidance for the sliding of the push tube 21 relative to the frame 1.

[0045] Example 2 This embodiment provides another ground support structure, which is basically similar to the ground support structure in Embodiment 1, except that the specific structure of the pressure detection element is different.

[0046] Reference Figures 12-13 In this embodiment, the pressure detection element is a micro-touch switch 42. The micro-touch switch 42 can change its output signal when it is pressed. When the pressure transmitted from the pressure protrusion 223 to the micro-touch switch 42 through the foot pad 222 is greater than the pressure threshold, the micro-touch switch 42 changes its output signal to indicate that the support foot 22 has stably touched the ground, so as to facilitate the automatic control and adjustment of the position of the support foot 22 relative to the frame 1.

[0047] Optionally, the microswitch 42 includes a pressure-receiving element 421 in contact with the foot pad 222, a moving contact 423 in contact with the pressure-receiving element 421, and a stationary contact 424 fixedly connected to the support foot body 221. Furthermore, a spring contact 422 is connected between the moving contact 423 and the stationary contact 424. The spring contact 422 provides an elastic force to separate the moving contact 423 from the stationary contact 424. The stationary contact 424 is connected to a pin 425 for connecting the cable 10. When the pressure-receiving protrusion 223 touches the ground, the pressure is transmitted through the foot pad 222 to the moving contact 423. The moving contact 423 overcomes the elastic force of the spring contact 422 and moves towards the stationary contact 424. When the pressure exceeds a pressure threshold, the moving contact 423 contacts the stationary contact 424, at which point the circuit is connected, thus changing the output signal. Optionally, the microswitch 42 also includes an adjusting spring 426, which is disposed between the stationary contact 424 and the pressure receiving member 421 and provides an elastic force to move the pressure receiving member 421 away from the stationary contact 424. With this configuration, when pressure is transmitted to the pressure receiving member 421 via the foot pad 222, it is necessary to overcome the elastic forces of both the spring 422 and the adjusting spring 426. Thus, by replacing different adjusting springs 426, the force required to displace the moving contact 423 can be changed, thereby adjusting the magnitude of the pressure threshold.

[0048] Example 3 This embodiment provides a medical device, as shown in the following example. Figures 1-2The medical device includes several of the ground support structures described in Embodiment 1 or Embodiment 2 above, and also includes an actuator mounted on the frame 1. The ground support structure includes a sleeve 5, which is disposed inside the push tube 21. The inner cavity of the sleeve 5 is used to accommodate one end of the lead screw 32 near the support leg 2. A cable passage is formed between the outer wall of the sleeve 5 and the inner wall of the push tube 21. The cable 10 passes through the support leg 22 and the cable passage in sequence, allowing the cable 10 of the electrical device to pass through the cable passage between the outer wall of the sleeve 5 and the inner wall of the push tube 21. The lead screw 32 is contained within the inner cavity of the sleeve 5, preventing interference between the two and preventing the cable 10 from being broken due to the rotation of the lead screw 32. In addition, the medical device also includes caster support legs with casters installed at the bottom. When the medical device needs to be moved, the drive assembly 3 drives the support legs 2 to retract relative to the frame 1, and the casters roll and support the ground. When the medical device needs to be fixed, the drive assembly 3 drives the support legs 2 to extend relative to the frame 1, the casters are lifted and lifted off the ground, and the support feet 22 support the ground, so as to make the support of the medical device more stable.

[0049] In this embodiment, the medical device is specifically a medical surgical robot, while in other embodiments, it may be other types of medical devices.

[0050] Example 4 This embodiment provides a method for assembling a ground support structure, which is used to assemble the ground support structure in Embodiment 1 or Embodiment 2 above.

[0051] Reference Figure 14 The assembly method of the ground support structure includes the following steps.

[0052] S100: Connect the push tube 21 to the nut 33 and install the cable 10 into the inside of the push tube 21.

[0053] In this step, the push tube 21 is connected to the nut 33 by a threaded connection.

[0054] Optionally, before installing the nut 33, the cable 10 is passed through the through hole 331 and welded to the cable connector 61 provided on the nut 33, so that after installing the nut 33, the cable 10 will be automatically installed into the push tube 21.

[0055] S200: Install the sleeve 5 into the inside of the push tube 21 so that the lead screw 32 is located in the inner cavity of the sleeve 5 and the cable 10 is located between the outer wall of the sleeve 5 and the inner wall of the push tube 21.

[0056] This step allows the cable 10 of the electrical equipment to pass through the cable passage between the outer wall of the sleeve 5 and the inner wall of the push tube 21, while the lead screw 32 is accommodated in the inner cavity of the sleeve 5. The two will not interfere with each other, and the cable 10 will not be broken due to the rotation of the lead screw 32.

[0057] Among them, since the outer wall of the sleeve 5 is provided with several elastic protrusions 51, after the sleeve 5 is installed in the push tube 21, the sleeve 5 can be fixed relative to the push tube 21 through the elastic protrusions 51, thereby improving the stability of the sleeve 5 installation. In addition, since the cable 10 passes between the inner wall of the push tube 21 and the outer wall of the sleeve 5, the cable 10 can be fixed simultaneously.

[0058] S300: Pass the cable 10 through the support foot 22 and install the support foot 22 onto the push tube 21.

[0059] Specifically, the cable 10 is passed through the cable hole 2212. In addition, when the support foot 22 is installed on the push tube 21, since the support foot body 221 has external threads, and the support foot body 221 is screwed to make it threadedly connected to the push tube 21, the cable 10 may rotate as the support foot body 221 rotates, which may result in the cable 10 being twisted and broken.

[0060] To address this, the cable hole 2212 is positioned at the center of the support leg body 221, which prevents the cable 10 from rotating during the rotation of the support leg body 221, thereby preventing the cable 10 from being twisted and broken.

[0061] S400: Connect cable 10 to the electrical equipment and install the electrical equipment on support foot 22.

[0062] Specifically, the cable 10 is connected to the electrical equipment, and the electrical equipment is installed in the mounting slot 2211 to complete the installation of the electrical equipment and the cable 10.

[0063] Optionally, after completing the above steps, the foot pads 222 and other structures are installed, and the drive assembly 3, support legs 2, electrical equipment and sleeves 5 are installed together on the frame 1.

[0064] The ground support structure assembly method provided in this embodiment involves installing the drive assembly 3 on the frame 1, connecting the push tube 21 to the nut 33, and installing the cable 10 inside the push tube 21; installing the sleeve 5 inside the push tube 21 so that the lead screw 32 is located in the inner cavity of the sleeve 5, and the cable 10 is located between the outer wall of the sleeve 5 and the inner wall of the push tube 21, thereby allowing the cable 10 of the electrical equipment to pass through the cable passage between the outer wall of the sleeve and the inner wall of the push tube, while the lead screw is accommodated in the inner cavity of the sleeve, and the two will not interfere with each other, and there will be no situation where the cable 10 is broken due to the rotation of the lead screw; passing the cable 10 through the support foot 22 and installing the support foot 22 on the push tube 21; installing the electrical equipment on the support foot 22 and connecting the cable 10 and the electrical equipment to complete the installation of the electrical equipment and the cable 10.

[0065] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A ground support structure, characterized in that, include: Rack (1); The outrigger (2) is slidable relative to the frame (1) and includes a push tube (21) and a support foot (22) connected to the push tube (21), the support foot (22) being used to support on the ground, and an electrical device is installed inside the support foot (22), the electrical device being connected to a cable (10). The drive assembly (3) includes a motor (31), a lead screw (32) rotatably connected to the frame (1), and a nut (33) threadedly connected to the lead screw (32). The nut (33) is fixedly connected to the push tube (21). The motor (31) is used to drive the lead screw (32) to rotate, so as to cause the nut (33) and the push tube (21) to extend or retract relative to the frame (1). A sleeve (5) is disposed inside the push tube (21). The inner cavity of the sleeve (5) is used to accommodate the end of the lead screw (32) near the support leg (2). A wire passage is formed between the outer wall of the sleeve (5) and the inner wall of the push tube (21). The cable (10) passes through the support leg (22) and the wire passage in sequence.

2. The ground support structure according to claim 1, characterized in that, The nut (33) is fixedly provided with a cable connecting piece (61) and a sliding contact (62). The cable connecting piece (61) is used to electrically connect with the cable (10). The ground support structure also includes a sliding contact strip (63) for being set inside the frame (1). The sliding contact strip (63) is electrically connected to the controller or power supply. The sliding contact (62) slides and is electrically connected to the sliding contact strip (63).

3. The ground support structure according to claim 2, characterized in that, The sliding contact (62) is an arc-shaped elastic connecting piece.

4. The ground support structure according to claim 1, characterized in that, The outer wall of the sleeve (5) is provided with a plurality of elastic protrusions (51), and the inner wall of the push tube (21) can squeeze the elastic protrusions (51) so that the position of the sleeve (5) relative to the push tube (21) remains fixed.

5. The ground support structure according to claim 1, characterized in that, The sleeve (5) has an opening at one end and is closed at the other end.

6. The ground support structure according to claim 5, characterized in that, Along the direction close to the nut (33), the diameter of the end of the sleeve (5) with the opening gradually decreases.

7. The ground support structure according to any one of claims 1-6, characterized in that, The support foot (22) includes a support foot body (221) and a foot pad (222) connected to the support foot body (221). The support foot body (221) is connected to the push tube (21). The support foot body (221) has a mounting groove (2211) for mounting the electrical equipment and a cable passage hole (2212) for the cable (10) to pass through. The mounting groove (2211) is located on the side of the support foot body (221) close to the foot pad (222). The foot pad (222) is used to support the ground. The support foot body (221) has an external thread and is threadedly connected to the push tube (21). The center line of the cable passage hole (2212) coincides with the center line of the support foot body (221).

8. The ground support structure according to any one of claims 1-6, characterized in that, The frame (1) is provided with a guide bushing (13) for slidingly sleeved on the outer wall of the push tube (21).

9. A medical device, characterized in that, It includes several ground support structures as described in any one of claims 1-8, and also includes an actuator disposed on the frame (1).

10. A method for assembling a ground support structure, characterized in that, For assembling the ground support structure as described in any one of claims 1-8, the method for assembling the ground support structure includes: S100: Connect the push tube (21) to the nut (33) and install the cable (10) into the inside of the push tube (21); S200: Install the sleeve (5) into the inside of the push tube (21) so that the lead screw (32) is located in the inner cavity of the sleeve (5) and the cable (10) is located between the outer wall of the sleeve (5) and the inner wall of the push tube (21); S300: Pass the cable (10) through the support foot (22) and install the support foot (22) on the push tube (21); S400: Connect the cable (10) and the electrical equipment, and install the electrical equipment on the support foot (22).

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