Sliding door device and surgical robot

Abstract

The utility model is suitable for the technical field of medical instruments, and provides a sliding door device and a surgical robot. The sliding door device comprises a base body, a sliding door and a rotary damper. The surgical robot comprises the sliding door device. Compared with a sliding door device on a surgical robot in the prior art, when relative sliding occurs between the sliding door and the base body, the rotating part on the rotating damper can be driven to generate damping rotation relative to the body part, and certain sliding resistance is generated by sliding between the sliding door and the base body through the rotating damper; and the hand feeling of the sliding door and the base body during relative sliding is improved. In addition, due to the existence of sliding resistance, the speed of the sliding door in the sliding process can be reduced, the sliding door is kept at a low speed, the problem that the sliding door and the base body slide too smoothly, and consequently the control performance of the sliding door is poor is solved, and good experience is provided for use of customers.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and in particular relates to a sliding door device and a surgical robot. Background Art

[0002] When the working arm of a surgical robot is not in operation, it is usually stored inside the shell of the surgical robot to avoid damage to the working arm due to unintentional collisions, falls, etc. When the working arm is in operation, it needs to be quickly taken out of the robot shell for surgery, so the shell of the surgical robot usually needs to be designed with an opening for the working arm to pass through, and a sliding door device that can close the opening is provided at the opening. In order to ensure the stable operation of the sliding door device and avoid the situation where the door cannot be opened and closed normally in the event of an external power outage or structural damage, which affects the normal operation, the sliding door device generally adopts a manual sliding door device. However, most of the existing manual sliding door devices have the problems of poor sliding feel and poor controllability when in use, which seriously affects the customer's experience. Utility Model Content

[0003] The utility model aims to provide a sliding door device and a surgical robot, aiming to solve the technical problems of poor sliding feel and poor controllability of the sliding door device in the prior art when in use.

[0004] The utility model is implemented as follows: in a first aspect, a sliding door device is provided, comprising a base, a sliding door and a rotation damper, wherein the sliding door is slidably connected to the base, and the rotation damper has a main body and a rotating part that can damp rotation relative to the main body, the main body is connected to one of the base and the sliding door, and the rotating part is transmission-connected to the other of the base and the sliding door, so that when the sliding door and the base slide relative to each other, the rotating part can damp rotation relative to the main body.

[0005] In an optional embodiment, the rotating part includes a transmission gear, and a transmission rack is provided at a portion of the base or the sliding door that is transmission-connected to the rotating part, the transmission rack is meshed with the transmission gear, and the length direction of the transmission rack is parallel to the sliding direction of the sliding door.

[0006] In an optional embodiment, the main body is connected to the side of the base close to the sliding door, and the transmission rack is connected to the sliding door, and the transmission gear is transmission-connected to the sliding door via the transmission rack.

[0007] In an optional embodiment, the base has an open door position and a closed door position, the sliding door is slidably set between the open door position and the closed door position, and a door locking unit and a door opening locking unit are set on the base. The closed door locking unit is used to lock the position of the sliding door after the sliding door slides to the closed door position, and the open door locking unit is used to lock the position of the sliding door after the sliding door slides to the open door position.

[0008] In an optional embodiment, an elastic member is provided between the base and the sliding door, the elastic member is used to apply a force to the sliding door in the direction of the door closing position, and the force applied by the elastic member to the sliding door is greater than the resistance provided by the rotation damper.

[0009] In an optional embodiment, the elastic member includes a constant force spring, one end of which is connected to the base, and the other end of which is connected to the sliding door.

[0010] In an optional embodiment, a sliding assembly is further provided between the base and the sliding door, and the sliding door is slidably connected to the base via the sliding assembly.

[0011] In an optional embodiment, the sliding assembly includes a sliding rail and a rotating wheel group, the sliding rail is connected to one of the base and the sliding door, the rotating wheel group is rotatably arranged on the other of the base and the sliding door, a sliding groove structure is arranged on the sliding rail, and the rotating wheel group is rollingly arranged in the sliding groove structure.

[0012] In an optional embodiment, the rotating wheel group includes a first rotating wheel and a second rotating wheel, the first rotating wheel and the second rotating wheel are spaced apart from each other, and the rotation axis of the first rotating wheel and the rotation axis of the second rotating wheel are set at an angle, and two slide groove structures are set on the slide rail, and the two slide groove structures respectively cooperate with the first rotating wheel and the second rotating wheel.

[0013] On the other hand, a surgical robot is provided, comprising the sliding door device described in any one of the above items.

[0014] The technical effect of the utility model relative to the prior art is that by slidingly connecting the sliding door to the base, the opening on the base can be opened and closed by sliding the sliding door. A rotation damper is also arranged between the sliding door and the base, and the rotation damper has a main body and a rotating part that can damp the rotation relative to the main body, the main body is connected to one of the base and the sliding door, and the rotating part is transmission-connected to the other of the base and the sliding door. Compared with the sliding door device on the surgical robot in the prior art, when relative sliding occurs between the sliding door and the base, the rotating part on the rotation damper can be driven to damp the rotation relative to the main body, and the sliding between the sliding door and the base generates a certain sliding resistance through the rotation damper, thereby improving the feel of the sliding door and the base when sliding relative to each other. In addition, the existence of the sliding resistance can also reduce the speed of the sliding door during the sliding process to keep it slow, avoid the problem of poor controllability of the sliding door caused by the excessively smooth sliding between the sliding door and the base, and provide a good experience for customers.

[0015] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments of the utility model or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of a sliding door device provided by an embodiment of the utility model;

[0018] Figure 2 It is a partial structural schematic diagram of the sliding door device provided by an embodiment of the utility model;

[0019] Figure 3 It is a partial cross-sectional structural schematic diagram of the sliding door device provided by an embodiment of the utility model;

[0020] Figure 4 yes Figure 3 A schematic diagram of the enlarged structure at A in the middle;

[0021] Figure 5 yes Figure 3 Schematic diagram of the enlarged structure at point B in the middle.

[0022] Explanation of the accompanying drawings: 1. base; 2. sliding door; 21. slide rail adapter; 3. rotation damper; 31. rotating part; 311. transmission gear; 32. main body; 4. elastic member; 5. transmission rack; 6. sliding assembly; 61. slide rail; 62. rotating wheel group; 621. first rotating wheel; 622. second rotating wheel; 7. door closing locking unit; 8. door opening locking unit. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0024] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] Please refer to Figure 1 and Figure 2As shown, in an embodiment of the utility model, in the first aspect, a sliding door device is provided, including a base 1, a sliding door 2 and a rotation damper 3, the sliding door 2 is slidably connected to the base 1, the rotation damper 3 has a main body 32 and a rotating part 31 that can damp the rotation relative to the main body 32, the main body 32 is connected to one of the base 1 and the sliding door 2, and the rotating part 31 is transmission-connected to the other of the base 1 and the sliding door 2, so that when the sliding door 2 and the base 1 slide relative to each other, the rotating part 31 can damp the rotation relative to the main body 32.

[0029] Specifically, the base 1 refers to a component on the surgical robot, which may be the outer shell of the surgical robot or other components of the surgical robot. An opening for the working arm to pass through is provided on the base 1. The sliding door 2 is slidably connected to the base 1, which means that the sliding door 2 can slide relative to the base 1, and its function is to close or open the opening on the base 1. The sliding door 2 can slide along a linear track; it can also slide along a non-linear track, such as sliding along an arc track. The rotation damper 3 refers to a component that can provide damping. The rotation damper 3 has a main body 32 and a rotating part 31. The rotating part 31 can perform damped rotation relative to the main body 32. The main body 32 is connected to one of the base 1 and the sliding door 2, which means that the main body 32 can be connected to the base 1 or the sliding door 2, and the main body 32 can be fixed by welding, pasting or fasteners; the rotating part 31 is transmission-connected to the other of the base 1 and the sliding door 2, which means that when the main body 32 is connected to the base 1, the rotating part 31 is transmission-connected to the sliding door 2; when the main body 32 is connected to the sliding door 2, the rotating part 31 is transmission-connected to the base 1. Transmission connection means that when the base 1 and the sliding door 2 move relative to each other, the rotating part 31 is driven to rotate, wherein the rotating part 31 can directly abut against the base 1 or the sliding door 2, and the rotating part 31 is driven to move by friction, or a transmission structure can be set between the rotating part 31 and the base 1 or the sliding door 2 to achieve transmission connection.

[0030] The sliding door device provided by the embodiment of the utility model can realize the opening and closing of the opening on the base 1 by sliding the sliding door 2 on the base 1. A rotation damper 3 is also arranged between the sliding door 2 and the base 1. The rotation damper 3 has a body part 32 and a rotating part 31 that can damp the rotation relative to the body part 32. The body part 32 is connected to one of the base 1 and the sliding door 2, and the rotating part 31 is transmission-connected to the other of the base 1 and the sliding door 2. Compared with the sliding door device on the surgical robot in the prior art, when the sliding door 2 and the base 1 slide relative to each other, the rotating part 31 on the rotation damper 3 can be driven to rotate relative to the body part 32, and the sliding between the sliding door 2 and the base 1 generates a certain sliding resistance through the rotation damper 3. When the user pushes the sliding door 2, a certain thrust is required to overcome the sliding resistance to move the sliding door 2, thereby improving the hand feel of the sliding door 2 and the base 1 when sliding relative to each other. In addition, the existence of sliding resistance can also reduce the speed of the sliding door 2 during the sliding process to keep it slow, avoiding the problem of poor controllability of the sliding door 2 caused by the sliding between the sliding door 2 and the base 1 being too smooth, thereby providing a good experience for customers.

[0031] In addition, a rotation damper 3 is used in the present embodiment. Since the damping direction provided by the rotation damper 3 is rotation damping, compared with a linear damper, when the sliding direction of the base 1 and the sliding door 2 is non-linear, such as an arc, a curve composed of multiple arc segments, or a curve of other shapes, the rotation damper 3 can still maintain the damping sliding between the base 1 and the sliding door 2, which can make the design of the base 1 and the sliding door 2 more beautiful and flexible, and also save more space occupied by the sliding door device.

[0032] It should be noted that the magnitude of the output torque can also be changed by replacing different types of rotation dampers 3, thereby achieving the purpose of adjusting the magnitude of the sliding resistance when the sliding door 2 and the base 1 slide relative to each other.

[0033] In one embodiment, Figure 2As shown, the rotating part 31 includes a transmission gear 311, and a transmission rack 5 is provided at a portion of the base 1 or the sliding door 2 that is transmission-connected with the rotating part 31. The transmission rack 5 and the transmission gear 311 are meshed with each other, and the length direction of the transmission rack 5 is parallel to the sliding direction of the sliding door 2. Specifically, the transmission gear 311 refers to a disc-shaped or columnar component with transmission teeth around the circumference. The transmission gear 311 can be damped relative to the main body 32. For example, a connecting portion can be provided on the end surface along the axis direction of the transmission gear 311. The connecting portion can be columnar, block-shaped, etc. The transmission gear 311 is damped and connected to the main body 32 through the connecting portion; or one end of the transmission gear 311 can be directly connected to the main body 32 for rotational damping. The transmission rack 5 refers to a component with a certain length, wherein the transmission rack 5 can be arranged in a linear direction; the transmission rack 5 can also be arranged in a non-linear direction, such as an arc. The length direction of the transmission rack 5 is generally parallel to the sliding direction of the sliding door 2. The transmission rack 5 is connected to the part of the base 1 or the sliding door 2 that is transmission-connected with the rotating part 31, which means that when the body 32 is arranged on the base 1, the transmission rack 5 is connected to the part of the sliding door 2 that is transmission-connected with the rotating part 31; when the body 32 is arranged on the sliding door 2, the transmission rack 5 is connected to the part of the base 1 that is transmission-connected with the rotating part 31. The transmission rack 5 is also provided with transmission teeth arranged along the length direction of the transmission rack 5, and the transmission gear 311 abuts against the transmission rack 5 and meshes with the transmission rack 5. The transmission gear 311 and the transmission rack 5 are respectively arranged on two components. When the sliding door 2 slides relative to the base 1, under the action of the transmission gear 311 and the transmission rack 5, the rotating part 31 is damped and rotated relative to the body 32, so that the sliding between the sliding door 2 and the base 1 generates a certain sliding resistance. The transmission connection between the rotating part 31 and the base 1 or the sliding door 2 is achieved by meshing the transmission gear 311 with the transmission rack 5, which can avoid relative sliding between the two and make the entire transmission process more accurate and stable.

[0034] In a specific embodiment, Figure 2 As shown, the main body 32 is connected to the side of the base 1 close to the sliding door 2, and the transmission rack 5 is connected to the sliding door 2, and the transmission gear 311 is connected to the sliding door 2 through the transmission rack 5. Specifically, during the use of the sliding door 2, the sliding door 2 is generally used as a moving part, and the base 1 is generally fixed. By arranging the entire rotation damper 3 on the base 1, it is avoided that the main body 32 always moves and has the risk of falling off, and the installation of the rotation damper 3 can be made more stable. At the same time, the transmission rack 5 is connected to the sliding door 2. For example, when the shape of the sliding door 2 is an arc plate, the transmission rack 5 can be more closely matched with the shape of the sliding door 2, so that the transmission rack 5 can always keep in close contact with the transmission size during the sliding process of the sliding door 2, and the transmission connection between the sliding door 2 and the rotating end is more stable.

[0035] The transmission rack 5 can be connected to the sliding door 2 by means of gluing, welding or clamping, and the transmission rack 5 can also be fixed to the sliding door 2 by fasteners, so that the installation of the transmission rack 5 is more convenient and firm.

[0036] In one embodiment, Figure 1 As shown, the base 1 has an open position and a closed position, and the sliding door 2 is slidably arranged between the open position and the closed position. A door locking unit 7 and an open door locking unit 8 are arranged on the base 1. The closed door locking unit 7 is used to lock the position of the sliding door 2 after the sliding door 2 slides to the closed position, and the open door locking unit 8 is used to lock the position of the sliding door 2 after the sliding door 2 slides to the open position. Specifically, the open position refers to the position when the sliding door 2 slides to the opening on the base 1 and is completely in an open state, and the closed position refers to the position when the sliding door 2 slides to the opening on the base 1 and is completely in a closed state; by arranging the door locking unit 7 and the open door locking unit 8 on the base 1, when the sliding door 2 slides to the open position, the sliding door 2 can be fixed by the open door locking unit 8, so that the opening on the base 1 can be always in an open state, which is convenient for the working arm of the surgical robot to extend for work. When the sliding door 2 slides to the closed position, the sliding door 2 can be fixed by the closed door locking unit 7, so that the opening on the base 1 can be always in a closed state, making the storage of the working arm safer and more reliable. When the sliding door 2 needs to be moved, the closed door locking unit 7 or the open door locking unit 8 can be unlocked to allow the sliding door 2 to slide, making the use of the sliding door 2 more convenient.

[0037] In an optional embodiment, if Figure 1 As shown, both the door closing locking unit 7 and the door opening locking unit 8 can adopt magnetic devices, and by providing the magnetic devices, the sliding door 2 can be automatically locked by the magnetic devices when it is in the door opening position and the door closing position, without the need for external devices such as keys to unlock the door. Both the door closing locking unit 7 and the door opening locking unit 8 adopt magnetic devices, which can make it more convenient and quick to lock the sliding door 2 in the door opening position and the door closing position, and also make it more convenient to open the sliding door 2 from the locked state when it needs to slide.

[0038] Among them, the suction force provided by the magnetic suction device should be slightly greater than the resistance provided by the rotation damper 3 but not too much, so that when the sliding door 2 switches from the locked state to the sliding state, the movement transition of the sliding door 2 will be smoother without too much frustration, thereby further improving the use feel of the sliding door 2.

[0039] In an optional embodiment, the magnetic device can use magnetic parts on the sliding door 2 and the base 1 respectively. When the sliding door 2 slides to the door opening position or the door closing position, the magnetic part on the sliding door 2 and the magnetic part on the base 1 are close to generate suction force to fix the position of the sliding door 2, so that the structure of the magnetic device is simpler. In addition, the magnetic device can also use the magnetic lock mechanism in the prior art. The magnetic lock body can be set on the base 1, and a magnetic part that cooperates with the magnetic lock is installed on the sliding door 2. Of course, the position of the magnetic lock body and the magnetic part can also be interchanged. The magnetic lock body is usually provided with a rebounder for exciting or eliminating magnetism. When the magnetic lock is used for locking, when the sliding door 2 slides to the door opening position or the door closing position, after the sliding door 2 or the magnetic part on the sliding door 2 touches the rebounder on the magnetic lock body, the magnetic lock body generates magnetic force to adsorb the magnetic part to achieve the locking of the sliding door 2. When the sliding door 2 needs to be slid and adjusted, the sliding door 2 can be first pulled in the reverse direction to trigger the rebounder on the magnetic lock body, so that the magnetism on the magnetic lock body is eliminated, and then the sliding door 2 can be pulled normally in the forward direction to drive the movement of the sliding door 2.

[0040] In one embodiment, Figure 1 As shown, an elastic member 4 is provided between the base 1 and the sliding door 2, and the elastic member 4 is used to apply a force toward the door closing position to the sliding door 2, and the force applied by the elastic member 4 to the sliding door 2 is greater than the resistance provided by the rotary damper 3. Specifically, the elastic member 4 refers to a component that can provide elastic force, and the elastic member 4 can be an elastic tension spring or a rubber strip or other component. By providing an elastic member 4 between the base 1 and the sliding door 2, and the elastic member 4 is used to apply a force toward the door closing position to the sliding door 2 that is greater than the resistance provided by the rotary damper 3, the sliding door 2 can automatically slide to the door closing position under the action of the elastic member 4 when it is in a state other than being fixed in the door opening position, and trigger the magnetic attraction device to lock and fix it in the door closing position, thereby realizing the automatic closing and locking of the sliding door 2, thereby making the use of the entire sliding door device simpler and more convenient.

[0041] In one embodiment, Figure 1 As shown, the elastic member 4 includes a constant force spring, one end of which is connected to the base 1, and the other end is connected to the sliding door 2. Specifically, the constant force spring is also called a constant force spring, and the force output by the constant force spring is constant and does not change with the change of length. The elastic member 4 is a constant force spring, which can keep the tension on the sliding door 2 constant at all times, so that the sliding door 2 can be closed more smoothly.

[0042] In addition, the constant force spring is usually made of a deformable strip-shaped component wound into a coil. The main part of the constant force spring can be connected to the base 1, and the movable end of the constant force spring can be connected to the sliding door 2. At the same time, when the sliding door 2 and the sliding direction of the sliding door 2 are both arc-shaped, the constant force spring can still fit the shape of the sliding door 2.

[0043] In one embodiment, Figure 3 As shown, a sliding assembly 6 is further provided between the base 1 and the sliding door 2, and the sliding assembly 6 is used to slidably connect the two. Specifically, the sliding assembly 6 refers to a component that can connect two components and slide in a certain direction. The number of sliding assemblies 6 can be two, and the two sliding assemblies 6 are respectively provided at the two ends of the sliding door 2, and the two ends of the sliding door 2 are slidably connected to the base 1, so that the installation of the sliding door 2 can be more firmly, and the sliding of the sliding door 2 can also be made more stable.

[0044] In one embodiment, Figure 4 or Figure 5 As shown, the sliding assembly 6 includes a slide rail 61 and a rotating wheel group 62. The slide rail 61 is connected to one of the base 1 and the sliding door 2. The rotating wheel group 62 is rotatably arranged on the other of the base 1 and the sliding door 2. A slide groove structure is arranged on the slide rail 61. The rotating wheel group 62 is rollingly arranged in the slide groove structure. The rotating wheel group 62 is used to roll along the length direction of the slide groove structure so that the sliding door 2 can slide relative to the base 1. Specifically, the slide rail 61 refers to a component with a certain length, and the rotating wheel group 62 refers to a roller structure that can be rotatably arranged on the base 1 or the sliding door 2. The rotating wheel group 62 can be a roller or a combination of multiple rollers. When the rotating wheel group 62 is arranged on the sliding door 2, the slide rail 61 can be arranged on the base 1, and when the rotating wheel group 62 is arranged on the base 1, the slide rail 61 can be arranged on the sliding door 2. The sliding connection between the sliding door 2 and the base 1 can be achieved by the cooperation between the rotating wheel set 62 and the sliding rail 61, so that the structure of the sliding assembly 6 is simpler and the installation of the sliding door 2 and the base 1 is more convenient.

[0045] The roller structure in the rotating wheel group 62 can be formed by providing a mounting shaft perpendicular to the sliding direction of the sliding door 2 on the base 1 or the sliding door 2, and sleeved with a rotating bearing on the mounting shaft. By using the method of sleeved with a rotating bearing on the mounting shaft to form the roller structure, the rotation of the roller structure can be made smoother, so that the relative sliding between the sliding door 2 and the base 1 can be made smoother.

[0046] In an optional embodiment, if Figure 4 or Figure 5 As shown, the slide rail 61 is arranged on the base 1, and a slide rail adapter 21 may be arranged at the end of the sliding door 2, and the rotating wheel group 62 is rotatably connected to the slide rail adapter 21. The slide rail adapter 21 may be detachably connected to the sliding door 2, and the arrangement of the slide rail adapter 21 may make the installation of the sliding door 2 more convenient and quick, and also make the disassembly and maintenance of the sliding door 2 more convenient.

[0047] In one embodiment, Figure 4 As shown, the rotating wheel group 62 includes a first rotating wheel 621 and a second rotating wheel 622, the first rotating wheel 621 and the second rotating wheel 622 are spaced apart from each other, and the rotation axis of the first rotating wheel 621 and the rotation axis of the second rotating wheel 622 are arranged at an angle, and two slide groove structures are arranged on the slide rail 61, and the two slide groove structures are respectively matched with the first rotating wheel 621 and the second rotating wheel 622. Specifically, the first rotating wheel 621 and the second rotating wheel 622 are spaced apart from each other, which means that the first rotating wheel 621 and the second rotating wheel 622 are spaced apart from each other in a vertical direction or a direction close to the vertical direction. In order to make the sliding door 2 slide more conveniently, the rotation axis of the first rotating wheel 621 and the rotation axis of the second rotating wheel 622 are perpendicular to the sliding direction of the sliding door 2. The angle between the rotation axis of the first rotating wheel 621 and the rotation axis of the second rotating wheel 622 is generally a right angle, and two slide groove structures that are parallel to each other and respectively cooperate with the first rotating wheel 621 and the second rotating wheel 622 can also be provided on the slide rail 61, and the opening directions of the two slide groove structures are also provided at an angle. Based on this, when the base 1 and the sliding door 2 are slidably connected through the sliding assembly 6, the sliding door 2 can be limited from two directions, which can prevent the sliding door 2 from being separated from the base 1 during the sliding process, and can make the sliding of the sliding door 2 more stable, and also make the sliding door device safer to use.

[0048] In a specific embodiment, Figures 3 to 5 As shown, the sliding door 2 can slide in the horizontal direction, and the number of sliding components 6 is two, and the two sliding components 6 are respectively arranged at the upper and lower ends of the sliding door 2. The rotating wheel group 62 in the sliding component 6 located at the bottom end of the sliding door 2 includes a first rotating wheel 621 and a second rotating wheel 622, the rotating axis of the first rotating wheel 621 is arranged in the vertical direction, and the rotating axis of the second rotating wheel 622 is arranged in the horizontal direction, and the rotating axis of the first rotating wheel 621 and the rotating axis of the second rotating wheel 622 are both perpendicular to the sliding direction of the sliding door 2. Two sliding groove structures are respectively arranged on the slide rail 61, and the opening directions of the two sliding groove structures are respectively arranged upward and toward the side. The first rotating wheel 621 and the second rotating wheel 622 are respectively arranged in the two sliding groove structures, and can roll along the length direction of the sliding groove structure. Therefore, the sliding door 2 can be limited in the vertical direction and the horizontal direction, and the sliding door 2 can be supported in the vertical direction, so that the sliding of the sliding door 2 is more stable.

[0049] The rotating wheel set 62 in the sliding assembly 6 located at the top of the sliding door 2 can use only one rotating wheel, and the rotating axis of this rotating wheel can be set in the vertical direction. Only one sliding groove structure with an opening facing upward is set on the sliding rail 61, which saves the number of rotating wheels and simplifies the structure of the sliding rail 61, thereby reducing the manufacturing cost.

[0050] The body 32 of the rotation damper 3 can be arranged on the slide rail 61, and the slide rail 61 is installed on the base 1. At this time, the body 32 can be connected to the base 1 through the slide rail 61, making the installation of the rotation damper 3 more convenient and reliable. At the same time, the transmission rack 5 is arranged on the slide rail adapter 21, and the transmission rack 5 is connected to the sliding door 2 through the slide rail adapter 21.

[0051] A constant force spring is also arranged between the base 1 and the sliding door 2, and the constant force spring can apply a pulling force to the sliding door 2 in the direction of the door closing position, and the pulling force applied by the constant force spring is constant. The base 1 has an open door position and a closed door position, and the sliding door 2 is slidably arranged between the open door position and the closed door position. A door locking unit 7 and an open door locking unit 8 are arranged on the base 1, and both the closed door locking unit 7 and the open door locking unit 8 are magnetic lock mechanisms. The magnetic lock body is arranged on the base 1, and a magnetic attraction member that cooperates with the magnetic lock is installed on the sliding door 2, wherein the magnetic lock body is usually provided with a rebounder for exciting or eliminating magnetism, and the magnetism of the magnetic lock body can be excited or eliminated when the sliding door 2 or the magnetic attraction member squeezes the rebounder.

[0052] The use process of the sliding door device provided in this embodiment is as follows:

[0053] In the normal closed state, the magnetic device attracts the sliding door 2, and the sliding door 2 is locked. When the sliding door 2 needs to be opened, the hand-clip structure on the sliding door 2 is manually pushed and pulled, and the hand push-pull force is greater than the sum of the reaction force generated by the rotating damper 3 and the force of the constant force spring. Under the guidance of the sliding assembly 6, the sliding door 2 plate moves along the length direction of the slide rail 61. After reaching the closed door position, the rebounder on the magnetic device at the door opening position is triggered, so that the magnetic device generates a magnetic force to attract the sliding door 2, and the sliding door 2 is locked; when closing the door, first press the sliding door 2 in the opposite direction to trigger the rebounder on the magnetic device at the door opening position to eliminate the magnetic force of the magnetic device. Under the traction of the constant force spring, the resistance generated by the damper is overcome, and the sliding door 2 automatically moves along the slide rail 61, triggering the rebounder on the magnetic device at the door opening position, so that the magnetic device generates a magnetic force to attract the sliding door 2, and the sliding door 2 is locked again.

[0054] The sliding door device provided in this embodiment has the following advantages: 1. Automatic locking, no key or other external instrument is required to unlock the door; 2. During the door opening process, the force is controllable and the force changes smoothly, which can provide the user with a good door opening feel and experience; 3. During the door closing process, you only need to manually press to unlock, and the door assembly can automatically close the door and automatically lock after it is in place; 4. The door opening and closing movement can be realized on a curved surface (such as an arc), which is more beautiful and saves space; 5. The entire solution has no external driving device and is manually driven by the operator. It does not require external power supply, which is safer and more reliable, and more in line with the use scenarios of surgical robot products.

[0055] On the other hand, a surgical robot is provided, comprising the sliding door device described in any one of the above items.

[0056] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0057] The above description is only a preferred embodiment of the utility model, and only specifically describes the technical principle of the utility model. These descriptions are only for explaining the principle of the utility model and cannot be interpreted as limiting the protection scope of the utility model in any way. Based on the explanation here, any modification, equivalent replacement and improvement made within the spirit and principle of the utility model, and other specific implementation methods of the utility model that can be associated with the technicians in this field without creative labor, should be included in the protection scope of the utility model.

Claims

1. A sliding door device, characterized in that: The invention comprises a base (1), a sliding door (2) and a rotation damper (3), wherein the sliding door (2) is slidably connected to the base (1), and the rotation damper (3) comprises a main body (32) and a rotation part (31) capable of damping rotation relative to the main body (32), wherein the main body (32) is connected to one of the base (1) and the sliding door (2), and the rotation part (31) is transmission-connected to the other of the base (1) and the sliding door (2), so that when the sliding door (2) and the base (1) slide relative to each other, the rotation part (31) performs damped rotation relative to the main body (32).

2. The sliding door device according to claim 1, characterized in that: The rotating part (31) comprises a transmission gear (311), and a transmission rack (5) is provided at a location on the base (1) or the sliding door (2) that is transmission-connected to the rotating part (31), the transmission rack (5) and the transmission gear (311) are meshed with each other, and the length direction of the transmission rack (5) is parallel to the sliding direction of the sliding door (2).

3. The sliding door device according to claim 2, characterized in that: The main body (32) is connected to the side of the base (1) close to the sliding door (2), and the transmission rack (5) is connected to the sliding door (2), and the transmission gear (311) is connected to the sliding door (2) through the transmission rack (5).

4. The sliding door device according to claim 1, characterized in that: The base (1) has an open door position and a closed door position, the sliding door (2) is slidably arranged between the open door position and the closed door position, and a door locking unit (8) and a door opening locking unit (9) are arranged on the base (1), the door closing locking unit (8) is used to lock the position of the sliding door (2) after the sliding door (2) slides to the closed door position, and the door opening locking unit (9) is used to lock the position of the sliding door (2) after the sliding door (2) slides to the open door position.

5. The sliding door device according to claim 4, characterized in that: An elastic member (7) is provided between the base (1) and the sliding door (2), and the elastic member (7) is used to apply a force to the sliding door (2) in the direction of the door closing position, and the force applied by the elastic member (7) to the sliding door (2) is greater than the resistance provided by the rotation damper (3).

6. The sliding door device according to claim 5, characterized in that: The elastic member (7) comprises a constant force spring, one end of which is connected to the base (1) and the other end of which is connected to the sliding door (2).

7. The sliding door device according to any one of claims 1 to 6, characterized in that: A sliding assembly (6) is also provided between the base (1) and the sliding door (2), and the sliding door (2) is slidably connected to the base (1) via the sliding assembly (6).

8. The sliding door device according to claim 7, characterized in that: The sliding assembly (6) comprises a sliding rail (61) and a rotating wheel group (62), wherein the sliding rail (61) is connected to one of the base body (1) and the sliding door (2), and the rotating wheel group (62) is rotatably arranged on the other of the base body (1) and the sliding door (2). A sliding groove structure is arranged on the sliding rail (61), and the rotating wheel group (62) is rollingly arranged in the sliding groove structure.

9. The sliding door device according to claim 8, characterized in that: The rotating wheel group (62) includes a first rotating wheel (621) and a second rotating wheel (622), the first rotating wheel (621) and the second rotating wheel (622) are spaced from each other, and the rotation axis of the first rotating wheel (621) and the rotation axis of the second rotating wheel (622) are arranged at an angle, and two slide groove structures are arranged on the slide rail (61), and the two slide groove structures are respectively matched with the first rotating wheel (621) and the second rotating wheel (622).

10. A surgical robot, characterized in that: The invention comprises a sliding door device as claimed in any one of claims 1 to 9.

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