Control device, support system and surgical robot

Abstract

The utility model belongs to the technical field of medical instruments, and particularly provides a control device, a supporting system and a surgical robotic.The control device comprises a mounting frame, a center shaft, a first pedal, a locking assembly and a second pedal, the center shaft is rotationally arranged on the mounting frame, the first pedal is arranged on the center shaft, and when the first pedal rotates in the first direction, the second pedal is locked through the locking assembly; when the first pedal rotates in the first direction, the supporting device is switched to the load state, when the first pedal rotates in the second direction, the supporting device is switched to the no-load state, and the second direction is opposite to the first direction; the locking assembly has a locking state and a releasing state, in the locking state, the locking assembly can limit the center shaft to rotate in the second direction, and in the releasing state, the center shaft can rotate in the second direction; when the second pedal rotates in the first direction, the second pedal can enable the locking assembly to be switched to the release state, and when the second pedal rotates in the second direction, the second pedal can enable the locking assembly to be switched to the locking state. The working reliability of the supporting device can be improved.

Description

Technical Field

[0001] This application belongs to the technical field of medical devices. More specifically, it relates to a control device, a support system, and a surgical robot. Background Art

[0002] The robotic arms of some surgical robots are installed on a trolley for convenient transfer of the robotic arms. Such surgical robots need to effectively fix the trolley during the operation to ensure the position reliability of the robotic arms during the operation. Generally, such surgical robots are provided with a support device and a control device, and the control device is used to adjust the state of the support device, so that the trolley can be effectively fixed. However, the current control device has a high risk of being misoperated, and thus the state reliability of the support device is lacking. Summary of the Utility Model

[0003] The purpose of this application is to provide a control device, a support system, and a surgical robot, so as to solve the technical problem in the prior art that the control device is prone to be misoperated, resulting in insufficient working reliability of the support device.

[0004] To achieve the above purpose, the technical solution adopted in this application is as follows:

[0005] On the one hand, a control device is provided, and the control device includes:

[0006] A mounting bracket;

[0007] A central axis, the central axis is rotatably arranged on the mounting bracket, and the central axis is used for driving connection with the support device;

[0008] A first pedal, the first pedal is arranged on the central axis, and the first pedal rotates synchronously with the central axis. When the first pedal rotates in a first direction, the central axis can drive the support device to switch to a load state. When the first pedal rotates in the second direction, the central axis can drive the support device to switch to an unloaded state, and the second direction is opposite to the first direction;

[0009] A locking assembly, one end of the locking assembly is connected to the mounting bracket, and the other end of the locking assembly is connected to the central axis. The locking assembly has a locked state and a released state. In the locked state, the locking assembly can limit the central axis from rotating in the second direction. In the released state, the central axis can rotate in the second direction;

[0010] The second pedal is rotatably connected to the central axis. When the second pedal rotates in the first direction, the second pedal can switch the locking assembly to the release state. When the second pedal rotates in the second direction, the second pedal can switch the locking assembly to the locking state.

[0011] During use, the support device is used to support the trolley, making the traveling wheels of the trolley suspended, thereby achieving the locking of the trolley. When the support device is in the loaded state, the support device suspends the traveling wheels, and the trolley is in a stable working state. When the support device is in the released state, the traveling wheels are in contact with the ground, and the trolley is in an unstable working state. On the one hand, by providing the first pedal fixedly connected to the central axis, the second pedal rotatably connected to the central axis, and the locking assembly capable of locking the central axis, first, the state of the locking assembly is controlled by the second pedal, thereby controlling whether the central axis can rotate. Second, on the premise that the central axis is rotatable, the first pedal is used to drive the central axis to rotate, thereby realizing the state adjustment of the support device. This design enables the central axis to drive the support device to switch to the no-load state in two steps, thereby reducing the risk that the control device is misoperated and causes the support device to accidentally enter the no-load state, improving the control reliability of the control device and the working reliability of the support device, and thus ensuring that the trolley can be reliably in a stable working state. On the other hand, first, to switch the central axis to the bidirectional rotation state, that is, the locking assembly needs to be switched to the release state, the second pedal needs to be rotated in the first direction. Second, to switch the support device to the no-load state, the first pedal needs to be rotated in the second direction. This design of unlocking by rotating the two pedals in opposite directions can further reduce the risk of user misoperation, and thus better ensure that the trolley can be reliably in a stable working state.

[0012] As an implementation manner, the second pedal includes a fixedly connected second plate body and a connecting sleeve. The connecting sleeve is sleeved on the central axis, and the connecting sleeve is provided with a locking through hole.

[0013] The locking assembly includes a ratchet wheel and a pawl. The ratchet wheel is fixedly sleeved on the central axis and is located between the central axis and the connecting sleeve. One end of the pawl is rotatably arranged on the mounting bracket. When the other end of the pawl penetrates through the locking through hole and abuts against the ratchet wheel, the locking assembly is in the locking state. When the other end of the pawl is outside the locking through hole, the locking assembly is in the release state.

[0014] The rotation state control of the central shaft is realized by the cooperation of the ratchet wheel and the pawl with the locking through hole, which has a simple structure and high reliability. Moreover, the switching operation of the locking component between the locked state and the released state is convenient, and the use efficiency is high.

[0015] As an implementation manner, the locking component further includes a first elastic member. One end of the first elastic member is connected to the mounting bracket, and the other end of the first elastic member is connected to the pawl. The first elastic member is used to drive the pawl to penetrate through the locking through hole.

[0016] By setting the first elastic member, the reliability of the pawl penetrating through the locking through hole and abutting against the ratchet wheel can be improved, and further the control reliability of the rotation state of the central shaft can be improved.

[0017] As an implementation manner, a positioning slope is provided at one end of the connecting sleeve away from the second plate body. The control device further includes an elastic positioning member. One end of the elastic positioning member is arranged on the mounting bracket, and the other end of the elastic positioning member abuts against the positioning slope and can switch positions on both sides of the positioning slope.

[0018] By setting the mutually cooperating positioning slope and the elastic positioning member, the position of the second pedal can be limited. On the one hand, the second pedal can be kept at a preset position, especially when the second pedal can be kept at the position corresponding to the locked state of the locking component, so that the locking component can be more reliably in the locked state; on the other hand, it can provide operation feedback to the user, enabling the user to more clearly judge whether the second pedal rotates in place. Further, when the elastic positioning member abuts against the upper side of the positioning slope, the second pedal is positioned at a relatively upward position, and at this time the locking component is in the locked state; when the elastic positioning member abuts against the lower side of the positioning slope, the second pedal is positioned at a relatively downward position, and at this time the locking component is in the released state.

[0019] As an implementation manner, an axial limiting block is provided on the mounting bracket, and an axial limiting groove is provided on the second pedal. The axial limiting block is inserted into the axial limiting groove, and the axial limiting block is slidably connected to the axial limiting groove. The axial limiting block is used to limit the axial movement of the second pedal along the central shaft.

[0020] By setting the mutually cooperating axial limiting block and axial limiting groove, on the premise of ensuring that the second pedal can rotate, the axial limit of the second pedal can be carried out, so that the second pedal and the locking component can be effectively aligned, which helps the second pedal to effectively control the locking component.

[0021] As an implementation manner, a sensor is provided on the mounting bracket, and a triggering member is provided on the second pedal. During the rotation of the second pedal, the triggering member can trigger the sensor.

[0022] By providing the triggering member and the sensor, the position of the second pedal can be identified and an electronic signal can be formed, so as to timely send out a warning signal when the locking assembly is in the released state, thereby reminding the user that the trolley is in an unstable state at this time.

[0023] As an implementation manner, the first pedal includes a first plate body and a linkage member. The first plate body is fixedly connected to the central axis. The linkage member is disposed on one side of the first plate body. The linkage member can abut against the second pedal and drive the second pedal to rotate along the second direction.

[0024] By providing the linkage member, when the first pedal rotates along the second direction to drive the support device to switch to the no-load state, the first pedal can synchronously drive the second pedal to rotate along the second direction, thereby automatically switching the locking assembly to the locked state. This design can save the user's actions and improve the user's convenience on the one hand, and on the other hand, it ensures that the locking assembly can remain in the locked state when the support device is in the no-load state. Therefore, no matter when the user switches the support device to the load state through the first pedal, the locking assembly can effectively lock the central axis without the user performing additional operations, avoiding the central axis from rotating along the second direction, and thus can more reliably ensure the stability of the support device in the load state.

[0025] As an implementation manner, the first plate body includes an extension plate and a main pedal. One end of the extension plate is connected to the central axis, and the other end of the extension plate is connected to the main pedal. At least one side of the extension plate is provided with a relief notch. The linkage member extends below the relief notch, and the second pedal can be embedded in the relief notch.

[0026] By arranging the main pedal on the side of the extension plate away from the central axis, providing the relief notch on the side surface of the extension plate, and enabling the second pedal to be embedded in the relief notch, the second pedal is hidden on the side of the main pedal close to the central axis, thereby reducing the probability of the user accidentally stepping on the second pedal, and thus reducing the risk of the locking assembly being switched to the released state due to misoperation, effectively improving the reliability of the control device.

[0027] On the other hand, a support system is provided, which includes a support device and any one of the control devices mentioned above, wherein the support device is used to support the trolley, the control device is transmission-connected to the support device, and the control device is used to drive the support device to switch between a loaded state and an unloaded state.

[0028] By controlling the state of the supporting device through the control device, the stability of the supporting device in the load state can be improved, thereby enabling the supporting device to better ensure the working stability of the trolley.

[0029] On the other hand, a surgical robot is provided, which includes a trolley, a robotic arm and the above-mentioned support system, wherein the robotic arm is arranged on the trolley and the support system is arranged at the bottom of the trolley.

[0030] By supporting the trolley through the support system, the stability of the trolley can be improved, thereby improving the operating reliability and accuracy of the robotic arm.

[0031] The beneficial effects of the control device, support system and surgical robot provided by the present application are:

[0032] On the one hand, by providing the first pedal fixedly connected to the central shaft, the second pedal rotatably connected to the central shaft, and the locking assembly capable of locking the central shaft, first, the state of the locking assembly is controlled by the second pedal, thereby controlling whether the central shaft can rotate; second, under the premise that the central shaft can rotate, the first pedal is used to drive the central shaft to rotate, thereby realizing the state adjustment of the support device. This design requires two steps for the central shaft to drive the support device to switch to the no-load state, thereby reducing the risk of the support device being misoperated and causing the support device to enter the no-load state by mistake, improving the control reliability of the control device and the working reliability of the support device, thereby ensuring that the trolley can be reliably in a stable working state; on the other hand, first, to switch the central shaft to a bidirectionally rotatable state, that is, the locking assembly needs to be switched to the released state, then the second pedal needs to be rotated in the first direction; second, to switch the support device to the no-load state, the first pedal needs to be rotated in the second direction. This design of unlocking by rotating the double pedals in opposite directions can further reduce the risk of user misoperation, thereby better ensuring that the trolley can be reliably in a stable working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 Schematic diagram of the support system when the control device provided in the embodiment of the present application is in the first state;

[0035] Figure 2 Schematic diagram of the support system when the control device provided in the embodiment of the present application is in the second state;

[0036] Figure 3 Schematic diagram of the support system when the control device provided in the embodiment of the present application is in the third state;

[0037] Figure 4 Bottom view of the support system provided in the embodiment of the present application;

[0038] Figure 5 For Figure 4 Cross-sectional view taken along the A - A direction shown;

[0039] Figure 6 Schematic diagram of a partial structure of the control device provided in the embodiment of the present application Figure 1 ;

[0040] Figure 7 Schematic diagram of the second pedal provided in the embodiment of the present application;

[0041] Figure 8 Schematic diagram of a partial structure of the control device provided in the embodiment of the present application Figure 2 。

[0042] Among them, the reference numerals in the figure:

[0043] 100, control device; 200, support device;

[0044] 1, mounting bracket; 11, mounting shaft; 12, mounting baffle; 13, axial limiting block;

[0045] 2, central shaft;

[0046] 3, first pedal; 31, first plate body; 311, extension plate; 312, main pedal; 313, relief notch; 32, linkage member; 321, linkage block; 322, linkage rubber pad;

[0047] 4, locking assembly; 41, ratchet wheel; 411, tooth groove; 42, pawl; 43, first elastic member;

[0048] 5. Second pedal; 51. Second plate body; 52. Connecting sleeve; 53. Locking through hole; 54. Positioning slope body; 55. Axial limiting groove; 56. Limiting boss

[0049] 6. End swinging member

[0050] 7. Elastic positioning member

[0051] 8. Sensor

[0052] 9. Triggering member Specific implementation manners

[0053] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0055] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application.

[0056] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0057] The embodiment of the present application provides a control device 100, such as Figures 1 to 6As shown, the control device 100 includes a mounting bracket 1, a central shaft 2, a first pedal 3, a locking assembly 4, and a second pedal 5. The central shaft 2 is rotatably arranged on the mounting bracket 1 and is used for driving connection with the support device 200. The first pedal 3 is arranged on the central shaft 2 and rotates synchronously with the central shaft 2. When the first pedal 3 rotates in the first direction, the central shaft 2 can drive the support device 200 to switch to the load state. When the first pedal 3 rotates in the second direction, the central shaft 2 can drive the support device 200 to switch to the no-load state, and the second direction is opposite to the first direction. One end of the locking assembly 4 is connected to the mounting bracket 1, and the other end of the locking assembly 4 is connected to the central shaft 2. The locking assembly 4 has a locked state and a released state. In the locked state, the locking assembly 4 can restrict the central shaft 2 from rotating in the second direction. In the released state, the central shaft 2 can rotate in the second direction. The second pedal 5 is rotatably connected to the central shaft 2. When the second pedal 5 rotates in the first direction, the second pedal 5 can make the locking assembly 4 switch to the released state. When the second pedal 5 rotates in the second direction, the second pedal 5 can make the locking assembly 4 switch to the locked state.

[0058] During use, the support device 200 is used to support the trolley so that the running wheels of the trolley are suspended in the air, thereby achieving locking of the trolley. When the support device 200 is in a loaded state, the support device 200 makes the running wheels suspended in the air, and the trolley is in a stable working state. When the support device 200 is in a released state, the running wheels are in contact with the ground, and the trolley is in an unstable working state. On the one hand, by providing a first pedal 3 fixedly connected to the central axis 2, a second pedal 5 rotatably connected to the central axis 2, and a locking assembly 4 capable of locking the central axis 2, firstly, the state of the locking assembly 4 is controlled by the second pedal 5, thereby controlling whether the central axis 2 can rotate. Secondly, under the premise that the central axis 2 can rotate, the first pedal 3 is used to drive the central axis 2 to rotate, thereby achieving state adjustment of the support device 200. This design requires two steps for the central axis 2 to drive the support device 200 to switch to a no-load state, thereby reducing the possibility that the control device 100 is misoperated and causes the support device 200 to enter the no-load state by mistake. The risk of the state is improved, and the control reliability of the control device 100 and the working reliability of the support device 200 are improved, so as to ensure that the trolley can be reliably in a stable working state; on the other hand, first, to switch the central axis 2 to a bidirectional rotation state, that is, the locking component 4 needs to be switched to a released state, then the second pedal 5 needs to be rotated in the first direction, and second, to switch the support device 200 to an unloaded state, the first pedal 3 needs to be rotated in the second direction. This design of unlocking by rotating the double pedals in opposite directions can further reduce the risk of user misoperation, thereby better ensuring that the trolley can be reliably in a stable working state. Furthermore, the control device 100 is mechanically controlled. In the event of an abnormal power outage, the control device 100 can still effectively control the state of the support device 200 to effectively control the working stability of the trolley.

[0059] In one embodiment, if Figures 1 to 3 As shown, the control device 100 further includes an end swing member 6, which is disposed on the central shaft 2 and rotates along with the central shaft 2. The central shaft 2 is transmission-connected to the supporting device 200 via the end swing member 6. Further, the end swing member 6 is a rocker or cam structure.

[0060] In the specific implementation process, the central axis 2 is horizontally arranged on the mounting frame 1. The rotation of the first pedal 3 and the second pedal 5 in the first direction is actually the first pedal 3 and the second pedal 5 swinging downward; the rotation of the first pedal 3 and the second pedal 5 in the second direction is actually the first pedal 3 and the second pedal 5 swinging upward. The user can drive the first pedal 3 and the second pedal 5 to swing up and down by stepping down and hooking the foot upward. The first pedal 3 and the second pedal 5 have three different state combinations. The first state combination is as follows: Figure 1As shown, both the first pedal 3 and the second pedal 5 are in the upper position. In this state, the locking assembly 4 is in the locked state and the support device 200 is in the no-load state. At this time, when the first pedal 3 is depressed downward, the support device 200 can be switched to the load state, and the locking assembly 4 can remain in the locked state. The second state combination is as Figure 2 shown. The first pedal 3 is in the lower position and the second pedal 5 is in the upper position. In this state, the locking assembly 4 is in the locked state, the support device 200 is in the load state, and the load state of the support device 200 is relatively stable. At this time, the stability of the trolley is relatively high. The third state combination is as Figure 3 shown. Both the first pedal 3 and the second pedal 5 are in the lower position. In this state, the locking assembly 4 is in the released state, the support device 200 is in the load state, but there is a risk of accidental touch in the load state of the support device 200 and it is not very stable. At this time, the stability of the trolley is relatively low.

[0061] In the specific implementation process, the central shaft 2 is a hexagonal shaft, and the first pedal 3 is provided with a hexagonal through hole, and the hexagonal through hole is sleeved on the periphery of the hexagonal shaft.

[0062] In one embodiment, as Figure 6 and Figure 7 shown, the second pedal 5 includes a second plate body 51 and a connecting sleeve 52 fixedly connected. The connecting sleeve 52 is sleeved on the central shaft 2, and the connecting sleeve 52 is provided with a locking through hole 53; the locking assembly 4 includes a ratchet wheel 41 and a pawl 42. The ratchet wheel 41 is fixedly sleeved on the central shaft 2 and is located between the central shaft 2 and the connecting sleeve 52. One end of the pawl 42 is rotatably arranged on the mounting bracket 1. When the other end of the pawl 42 penetrates through the locking through hole 53 and abuts against the ratchet wheel 41, the locking assembly 4 is in the locked state. When the other end of the pawl 42 is outside the locking through hole 53, the locking assembly 4 is in the released state.

[0063] The rotation state control of the central shaft 2 is realized through the cooperation of the ratchet wheel 41, the pawl 42 and the locking through hole 53, achieving a simple structure and high reliability. Moreover, the switching operation between the locked state and the released state of the locking assembly 4 is convenient and the use efficiency is high.

[0064] In the specific implementation process, a plurality of equally spaced tooth grooves 411 are arranged on the periphery of the ratchet wheel 41, or there is one tooth groove 411 on the periphery of the ratchet wheel 41.

[0065] In one embodiment, as Figure 6 and Figure 7 shown, the locking assembly 4 further includes a first elastic member 43. One end of the first elastic member 43 is connected to the mounting bracket 1, and the other end of the first elastic member 43 is connected to the pawl 42. The first elastic member 43 is used to drive the pawl 42 to penetrate through the locking through hole 53.

[0066] By providing the first elastic member 43, the reliability of the pawl 42 passing through the locking through-hole 53 and abutting against the ratchet wheel 41 can be improved, thereby enhancing the reliability of controlling the rotational state of the central shaft 2.

[0067] In one embodiment, the first elastic member 43 is located above the pawl 42. The first elastic member 43 can press the pawl 42 downward, causing the pawl 42 to closely adhere to the connecting sleeve 52 or insert into the locking through-hole 53. Further, the first elastic member 43 is a torsion spring. The mounting bracket 1 is provided with a mounting shaft 11 and a mounting baffle 12. The torsion spring is rotatably arranged on the mounting shaft 11. One end of the torsion spring abuts against the mounting baffle 12, and the other end of the torsion spring abuts against the pawl 42. Of course, in other embodiments, the first elastic member 43 can also be other types of elastic structures.

[0068] In one embodiment, as Figure 6 and Figure 7 shown, the end of the connecting sleeve 52 away from the second plate body 51 is provided with a positioning slope 54. The control device 100 further includes an elastic positioning member 7. One end of the elastic positioning member 7 is arranged on the mounting bracket 1, and the other end of the elastic positioning member 7 abuts against the positioning slope 54 and can switch positions on both sides of the positioning slope 54.

[0069] By providing the mutually cooperating positioning slope 54 and the elastic positioning member 7, the position of the second pedal 5 can be limited. On the one hand, the second pedal 5 can be maintained at a preset position, especially when the second pedal 5 can be maintained at the position corresponding to the locking component 4 being in the locked state, thereby enabling the locking component 4 to be more reliably in the locked state. On the other hand, it can provide operation feedback to the user, enabling the user to more clearly determine whether the second pedal 5 has rotated in place. Further, when the elastic positioning member 7 abuts against the upper side of the positioning slope 54, the second pedal 5 is positioned at a relatively upward position, and at this time, the locking component 4 is in the locked state. When the elastic positioning member 7 abuts against the lower side of the positioning slope 54, the second pedal 5 is positioned at a relatively downward position, and at this time, the locking component 4 is in the released state.

[0070] In one embodiment, the positioning slope 54 is a V-shaped slope structure. Further, two positioning grooves are formed on the connecting sleeve 52, and the two positioning grooves are respectively located on both sides of the positioning slope 54 to improve the position reliability of the elastic positioning member 7 on both sides of the positioning slope 54.

[0071] In one embodiment, the elastic positioning member 7 is a spring plunger. Of course, in other embodiments, the elastic positioning member 7 can also be other elastic structural members.

[0072] In one embodiment, as Figures 6 to 8As shown in the figure, an axial limiting block 13 is provided on the mounting bracket 1, and an axial limiting groove 55 is provided on the second pedal 5. The axial limiting block 13 is inserted into the axial limiting groove 55, and the axial limiting block 13 is slidably connected to the axial limiting groove 55. The axial limiting block 13 is used to limit the axial movement of the second pedal 5 along the central axis 2.

[0073] By providing the mutually cooperating axial limiting block 13 and axial limiting groove 55, axial limiting of the second pedal 5 can be achieved on the premise of ensuring that the second pedal 5 can rotate, thereby enabling the second pedal 5 and the locking assembly 4 to be effectively aligned, which helps the second pedal 5 to effectively control the locking assembly 4.

[0074] In one embodiment, as Figure 7 shown, two limiting bosses 56 are provided on the outer side of the second pedal 5, and an axial limiting groove 55 is formed between the two limiting bosses 56. Further, the two limiting bosses 56 are provided on the outer periphery of the connecting sleeve 52. The axial limiting groove 55 is located below the positioning slope 54.

[0075] In one embodiment, as Figure 8 shown, a sensor 8 is provided on the mounting bracket 1, and a trigger 9 is provided on the second pedal 5. The trigger 9 can trigger the sensor 8 during the rotation of the second pedal 5.

[0076] By providing the trigger 9 and the sensor 8, the position of the second pedal 5 can be identified and an electronic signal can be formed, so as to timely issue a warning signal when the locking assembly 4 is in a released state, thereby reminding the user that the trolley is in an unstable state at this time.

[0077] In the specific implementation process, the sensor 8 is a microswitch, and the trigger 9 is an annular trigger structure provided on the side of the connecting sleeve 52.

[0078] In one embodiment, as Figures 1 to 5 shown, the first pedal 3 includes a first plate body 31 and a linkage member 32. The first plate body 31 is fixedly connected to the central axis 2, and the linkage member 32 is provided on one side of the first plate body 31. The linkage member 32 can abut against the second pedal 5 and drive the second pedal 5 to rotate in the second direction.

[0079] By setting the linkage member 32, when the first pedal 3 rotates in the second direction to drive the support device 200 to switch to the no-load state, the first pedal 3 can synchronously drive the second pedal 5 to rotate in the second direction, so that the locking assembly 4 automatically switches to the locked state. This design can save the user's actions and improve the user's convenience on the one hand, and on the other hand, it ensures that the locking assembly 4 can remain in the locked state when the support device 200 is in the no-load state. Therefore, no matter when the user switches the support device 200 to the load state through the first pedal 3, without the need for the user to perform additional operations, the locking assembly 4 can effectively lock the central shaft 2 to prevent the central shaft 2 from rotating in the second direction, thereby more reliably ensuring the stability of the support device 200 in the load state.

[0080] In one embodiment, as Figure 2 shown, the linkage member 32 includes a linkage block 321 and a linkage rubber pad 322 provided on the top of the linkage block 321. The linkage block 321 is connected to the bottom of the first plate body 31, and the linkage rubber pad 322 can form a buffer to avoid hard collision between the linkage block 321 and the second pedal 5.

[0081] In one embodiment, as Figure 3 shown, the first plate body 31 includes an extension plate 311 and a main pedal 312. One end of the extension plate 311 is connected to the central shaft 2, the other end of the extension plate 311 is connected to the main pedal 312, at least one side of the extension plate 311 is provided with a relief notch 313, the linkage member 32 extends below the relief notch 313, and the second pedal 5 can be embedded in the relief notch 313.

[0082] By arranging the main pedal 312 on the side of the extension plate 311 away from the central shaft 2, providing the relief notch 313 on the side surface of the extension plate 311, and enabling the second pedal 5 to be embedded in the relief notch 313, the second pedal 5 is hidden on the side of the main pedal 312 close to the central shaft 2, thereby reducing the probability of the user accidentally stepping on the second pedal 5, and thus reducing the risk of the locking assembly 4 switching to the released state due to misoperation, effectively improving the reliability of the control device 100.

[0083] In one embodiment, the dimension of the main pedal 312 along the axial direction of the central shaft 2 is greater than the dimension of the extension plate 311 along the axial direction of the central shaft 2. The extension plate 311 and the main pedal 312 form a T-shaped structure as a whole, and the area on one side of the extension plate 311 surrounded by the main pedal 312 forms the relief notch 313.

[0084] In a specific implementation, the dimension of the extension plate 311 along the axial direction of the central axis 2 is larger than the dimension of the second pedal 5 along the axial direction of the central axis 2. Furthermore, the dimension of the extension plate 311 along the axial direction of the central axis 2 is more than three times the dimension of the second pedal 5 along the axial direction of the central axis 2. This design makes the overall dimension of the second pedal 5 smaller, further reducing the probability of the second pedal 5 being stepped on by mistake.

[0085] The present application also provides a support system. Figures 1 to 3 As shown, the support system includes a support device 200 and any of the above-mentioned control devices 100, the support device 200 is used to support the trolley, the control device 100 is transmission-connected to the support device 200, and the control device 100 is used to drive the support device 200 to switch between a loaded state and an unloaded state.

[0086] By controlling the state of the supporting device 200 through the control device 100 , the stability of the supporting device 200 in the load state can be improved, thereby enabling the supporting device 200 to better ensure the working stability of the trolley.

[0087] In a specific implementation process, the support device 200 includes at least four support components, and the four support components are respectively used to be arranged at four corners of the trolley, so as to improve the support reliability of the support device 200 on the trolley.

[0088] In one embodiment, the support system also includes two identification switches, which are respectively arranged on the support components on both sides. The identification switches are used to directly determine the state of the support component, and then determine the effectiveness of the support device 200 in a loaded state or an unloaded state.

[0089] The present application also provides a surgical robot, which includes a trolley, a mechanical arm and the above-mentioned support system, wherein the mechanical arm is arranged on the trolley and the support system is arranged at the bottom of the trolley. The support system supports the trolley, which can improve the stability of the trolley, thereby improving the reliability and accuracy of the operation of the mechanical arm.

[0090] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A control device (100), characterized in that: include: Mounting frame (1); A central shaft (2), the central shaft (2) being rotatably arranged on the mounting frame (1), the central shaft (2) being used for transmission connection with the supporting device (200); a first pedal (3), the first pedal (3) being arranged on the central shaft (2), the first pedal (3) rotating synchronously with the central shaft (2), when the first pedal (3) rotates in a first direction, the central shaft (2) can drive the support device (200) to switch to a loaded state, and when the first pedal (3) rotates in a second direction, the central shaft (2) can drive the support device (200) to switch to a no-load state, the second direction being opposite to the first direction; a locking assembly (4), one end of the locking assembly (4) being connected to the mounting frame (1), and the other end of the locking assembly (4) being connected to the central shaft (2), the locking assembly (4) having a locking state and a releasing state, wherein in the locking state, the locking assembly (4) can limit the central shaft (2) from rotating along the second direction, and in the releasing state, the central shaft (2) can rotate along the second direction; A second pedal (5), the second pedal (5) is rotatably connected to the central shaft (2), when the second pedal (5) rotates along the first direction, the second pedal (5) can switch the locking assembly (4) to the released state, when the second pedal (5) rotates along the second direction, the second pedal (5) can switch the locking assembly (4) to the locked state.

2. The control device (100) according to claim 1, characterized in that: The second pedal (5) comprises a second plate body (51) and a connecting sleeve (52) which are fixedly connected, the connecting sleeve (52) is sleeved on the central axis (2), and the connecting sleeve (52) is provided with a locking through hole (53); The locking assembly (4) comprises a ratchet (41) and a pawl (42); the ratchet (41) is fixedly sleeved on the central shaft (2) and located between the central shaft (2) and the connecting sleeve (52); one end of the pawl (42) is rotatably arranged on the mounting frame (1); when the other end of the pawl (42) passes through the locking through hole (53) and abuts against the ratchet (41), the locking assembly (4) is in the locking state; when the other end of the pawl (42) is located outside the locking through hole (53), the locking assembly (4) is in the releasing state.

3. The control device (100) according to claim 2, characterized in that: The locking assembly (4) further comprises a first elastic member (43), one end of the first elastic member (43) being connected to the mounting frame (1), and the other end of the first elastic member (43) being connected to the pawl (42), and the first elastic member (43) being used to drive the pawl (42) to penetrate the locking through hole (53).

4. The control device (100) according to claim 2, characterized in that: A positioning slope (54) is provided at one end of the connecting sleeve (52) away from the second plate (51), and the control device (100) further comprises an elastic positioning member (7), one end of the elastic positioning member (7) is provided on the mounting frame (1), and the other end of the elastic positioning member (7) abuts against the positioning slope (54) and is capable of switching positions on both sides of the positioning slope (54).

5. The control device (100) according to claim 1, characterized in that: An axial limit block (13) is provided on the mounting frame (1), and an axial limit groove (55) is provided on the second pedal (5), the axial limit block (13) is inserted into the axial limit groove (55), and the axial limit block (13) is slidably connected to the axial limit groove (55), and the axial limit block (13) is used to limit the axial movement of the second pedal (5) along the central axis (2).

6. The control device (100) according to claim 1, characterized in that: A sensor (8) is arranged on the mounting frame (1), and a trigger member (9) is arranged on the second pedal (5); the trigger member (9) can trigger the sensor (8) during the rotation of the second pedal (5).

7. The control device (100) according to any one of claims 1 to 6, characterized in that: The first pedal (3) comprises a first plate body (31) and a linkage member (32); the first plate body (31) is fixedly connected to the central axis (2); the linkage member (32) is arranged on one side of the first plate body (31); the linkage member (32) is capable of abutting against the second pedal (5) and driving the second pedal (5) to rotate along the second direction.

8. The control device (100) according to claim 7, characterized in that: The first plate body (31) comprises an extension plate (311) and a main pedal (312), one end of the extension plate (311) is connected to the central axis (2), and the other end of the extension plate (311) is connected to the main pedal (312), at least one side of the extension plate (311) is provided with a clearance notch (313), the linkage member (32) extends to the bottom of the clearance notch (313), and the second pedal (5) can be embedded in the clearance notch (313).

9. A support system, characterized in that: The invention comprises a supporting device (200) and a control device (100) according to any one of claims 1 to 8, wherein the supporting device (200) is used to support a trolley, the control device (100) is transmission-connected to the supporting device (200), and the control device (100) is used to drive the supporting device (200) to switch between a loaded state and an unloaded state.

10. A surgical robot, characterized in that: It comprises a trolley, a mechanical arm and the support system according to claim 9, wherein the mechanical arm is arranged on the trolley and the support system is arranged at the bottom of the trolley.

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