Medical robot lifting device

Abstract

The utility model provides a medical robot lifting device which comprises a fixed base, a driving assembly arranged on the fixed base and a lifting table driven by the driving assembly, and at least part of the fixed base and at least part of the lifting table are made of composite materials. And the density of the composite material is smaller than that of the alloy material. According to the medical robot lifting device, at least parts of the fixed base and the lifting table are made of the composite materials, the composite materials are light in weight, high in specific strength and specific stiffness, resistant to corrosion and wide in application environment, the self weight of the lifting device can be effectively reduced, and therefore the lifting device has the advantages of being fast in lifting response, convenient and fast to move, low in energy consumption and the like; and meanwhile, the method also has obvious benefits of reducing motion inertia and increasing motion accuracy.

Description

Technical Field

[0001] The utility model belongs to the technical field of lifting devices, and more specifically, relates to a lifting device for a medical robot. Background Art

[0002] With the development of technology, the application fields of robots are becoming more and more extensive. The large-scale use of medical robots will be a trend in the future medical field. The functional requirements such as lifting and moving of medical robots in specific use scenarios are increasing. The existing robot lifting devices are mainly made of alloy materials, with high processing difficulty and long cycle; they are heavy in self-weight and have many components, resulting in difficulties in installation and transportation, and high energy consumption and low efficiency in lifting during use, and difficult to move. Summary of the Utility Model

[0003] The purpose of the embodiment of the utility model is to provide a lifting device for a medical robot, so as to solve the technical problems such as heavy self-weight, many components, and high lifting energy consumption existing in the existing robot lifting devices.

[0004] To achieve the above purpose, the technical solution adopted by the utility model is: to provide a lifting device for a medical robot, including a fixed base, a driving component arranged on the fixed base, and a lifting platform driven by the driving component, at least part of the fixed base and at least part of the lifting platform are made of composite materials.

[0005] In the above solution, the lifting device for a medical robot includes a fixed base, a driving component and a lifting platform. The driving component is arranged on the fixed base, and the lifting platform is driven by the driving component to lift. At least part of the fixed base and the lifting platform are made of composite materials. The composite materials are light in weight, high in specific strength and specific stiffness, and corrosion-resistant, suitable for a wide range of environments, can effectively reduce the self-weight of the lifting device, so that the lifting device has the advantages of fast lifting response, convenient movement, and low energy consumption. At the same time, it also has obvious benefits for reducing the movement inertia and increasing the action accuracy.

[0006] Optionally, the lifting platform includes a bracket and a connecting piece. At least part of the bracket and at least part of the connecting piece are both made of the composite material. The first end of the connecting piece is connected to the bracket, the second end of the connecting piece is used to support or fix the piece to be lifted, and the bracket is fixedly connected to the movement output end of the driving component.

[0007] In the above solution, by setting the lifting platform as a bracket and a connecting piece connected to each other, the processing of the lifting platform is made simpler, the distance between the supporting surface (the second end of the connecting piece) of the lifting platform and the movement output end of the driving component can be flexibly set, and the structural layout is simpler.

[0008] Optionally, one of the first end of the connecting member and the bracket has a first connection hole, and the other has a first metal nut, and the first metal nut has an internal threaded hole that cooperates with the first connection hole for connection.

[0009] In the above solution, by providing a first metal nut on one of the connecting member and the bracket and a first connection hole on the other, when the threaded member connects the bracket and the connecting member, it can be in threaded connection with the nut made of metal, with higher connection strength, and can be repeatedly installed and disassembled, avoiding breakage of the connecting member and the bracket at the connection part between the two.

[0010] Optionally, the bracket has a first connection hole, and the first end of the connecting member has the first metal nut; the second end of the connecting member has a second metal nut for connecting the member to be lifted.

[0011] In the above solution, the first end of the connecting member has a first metal nut, and the second end of the connecting member has a second metal nut. When the connecting member is connected to the bracket and the member to be lifted through threaded members respectively, the connection strength can be enhanced, and there is no need to provide metal structures on the bracket and the member to be lifted.

[0012] Optionally, the bracket has a first connection hole, and the first end of the connecting member has the first metal nut; the bracket also has a second connection hole, and the movement output end of the driving assembly has an internal threaded hole that cooperates with the second connection hole for connection.

[0013] In the above solution, the bracket and the connecting member can be connected by a threaded member cooperating with the first metal nut and the first connection hole on the bracket, and the connection strength between the bracket and the connecting member can be ensured. The movement output end of the driving assembly is provided with an internal threaded hole, and the movement output end of the driving assembly and the bracket can be connected by a threaded member cooperating with the internal threaded hole and the second connection hole on the bracket, and the connection strength between the bracket and the movement output end can also be ensured.

[0014] Optionally, the bracket and the connecting member are integrally formed by the composite material.

[0015] In the above solution, the bracket and the connecting member are integrally formed by methods such as hand lay-up lamination method, spray molding method, and laminating molding method. The processing efficiency of the bracket and the connecting member is relatively high, and they are formed at one time, and their structural strength is also relatively high.

[0016] Optionally, the fixed base includes an outer skin and a core provided inside the outer skin. The outer skin is made of a composite material, and the core is made of a glass microsphere material or a foam material.

[0017] In the above solution, by setting the fixed base as an outer skin and a core, the mass of the fixed base can be further reduced, making the lifting device more lightweight.

[0018] Optionally, the composite material comprises a fiber reinforcement material and a resin.

[0019] In the above scheme, when the composite material includes fiber-reinforced material and resin, firstly, the density of the composite material can be made relatively small, so that the lifting device can be as lightweight as possible; secondly, the structural strength of the parts made of the composite material can be ensured, and the structural stability of the lifting device can be ensured.

[0020] Optionally, the composite material comprises at least two different fiber layup angles.

[0021] In the above scheme, the fiber ply has directionality, and the fiber ply can withstand greater forces along the direction in which the fibers extend. By setting at least two different fiber ply angles, the external forces that the fiber ply can withstand in all directions can be balanced, thereby increasing the structural strength of the fixed base and the lifting platform made of composite materials.

[0022] Optionally, the driving assembly includes a driver capable of outputting linear motion, a guide rail fixed on the fixed base, and a slider slidably connected to the guide rail, the driver drives the slider to move on the guide rail, and the slider is fixedly connected to the lifting platform.

[0023] In the above scheme, by setting the guide rail and the slider, the movement of the slider and the object to be lifted can be made more stable, and the shaking of the object to be lifted can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A three-dimensional structural diagram of a medical robot lifting device provided in an embodiment of the utility model;

[0026] Figure 2 A cross-sectional view of a connector provided in an embodiment of the utility model;

[0027] Figure 3 A three-dimensional structural diagram of a bracket provided in an embodiment of the utility model;

[0028] Figure 4 A three-dimensional structural diagram of a drive assembly and a fixed base provided in an embodiment of the utility model;

[0029] Figure 5This is a cross-sectional view of the fixed base provided by the embodiment of the present utility model.

[0030] Among them, each reference numeral in the figure:

[0031] 1 - Fixed base; 11 - Metal block; 2 - Driving assembly; 21 - Driver; 211 - Motor; 212 - Lead screw; 213 - Brake; 22 - Guide rail; 23 - Slide block; 24 - Limit block; 3 - Lifting platform; 31 - Connecting piece; 311 - First metal nut; 312 - Second metal nut; 32 - Bracket; 321 - Horizontal plate; 322 - Vertical plate; 323 - Reinforcing rib; 324 - First connection hole; 325 - Second connection hole. Detailed implementation manners

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model 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 utility model and are not used to limit the present utility model.

[0033] 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.

[0034] 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 utility model 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 therefore cannot be understood as a limitation to the present utility model.

[0035] 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 quantity 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 utility model, "a plurality of" means two or more, unless otherwise specifically defined.

[0036] With the development of technology, the application fields of robots are becoming more and more extensive. The large-scale use of medical robots will be a trend in the future medical field, and there are more and more functional requirements for the lifting and movement of medical robots in specific usage scenarios. The existing robot lifting devices are mainly made of alloy materials, with high processing difficulty and long production cycles; they have a large self-weight and many components, resulting in difficulties in installation and transportation, and high energy consumption and low efficiency during use, as well as difficulties in movement.

[0037] To alleviate the above technical problems, the present utility model proposes a medical robot lifting device, which includes a fixed base 1, a driving component 2, and a lifting platform 3. The driving component 2 is arranged on the fixed base 1, and the lifting platform 3 is driven by the driving component 2 to lift. At least part of the fixed base 1 and the lifting platform 3 are made of composite materials. Compared with the situation where both the fixed base 1 and the lifting platform 3 are made of alloy materials, the fixed base 1 and the lifting platform 3 are lighter in weight, have high production efficiency, are convenient for installation and maintenance, and can achieve large-scale manufacturing of products. At the same time, they have the advantages of fast lifting response, convenient movement, and low energy consumption.

[0038] Now, the medical robot lifting device provided by the embodiments of the present utility model will be described.

[0039] Please refer to Figure 1 , the medical robot lifting device includes a fixed base 1, a driving component 2 arranged on the fixed base 1, and a lifting platform 3 driven by the driving component 2. At least part of the fixed base 1 and at least part of the lifting platform 3 are made of composite materials, and the density of the composite materials is less than that of alloy materials.

[0040] The fixed base 1 is the support structure of the medical robot lifting device. At least part of the fixed base 1 is made of composite materials, which can be understood as: part of the fixed base 1 is made of composite materials, and part is made of alloy materials, metal materials, etc.; or, all parts of the fixed base 1 are made of composite materials. The mass of the fixed base 1 is relatively light, so the overall mass of the medical robot lifting device can be reduced, making the movement of the lifting device more convenient.

[0041] The driving component 2 is the power component of the medical robot lifting device, which can provide power for the lifting platform 3 and control the lifting movement of the lifting platform 3. It should be noted that when the medical robot lifting device is vertically arranged, the movement direction of the lifting platform 3 is also the vertical direction. Therefore, the movement of the lifting platform 3 can be understood as the lifting movement; when the medical robot lifting device is horizontally arranged, the movement direction of the lifting platform 3 is also the horizontal direction. Therefore, the movement of the lifting platform 3 can be understood as the horizontal movement. The driving component 2 can output linear motion to drive the lifting platform 3 to move. The driving component 2 is arranged on the fixed base 1 and is supported by the fixed base 1.

[0042] The lifting platform 3 is driven by the driving component 2 to move. At least part of the lifting platform 3 is made of composite materials, which can be understood as: part of the lifting platform 3 is made of composite materials, and part is made of alloy materials, metal materials, etc.; or, all parts of the lifting platform 3 are made of composite materials. The mass of the lifting platform 3 is relatively light, so the overall mass of the lifting device of the medical robot can be reduced, the movement of the lifting device can be made more convenient, and the lifting response of the lifting device can be made faster, the energy consumption can be lower, and the movement inertia can be smaller.

[0043] Composite materials are composed of two or more materials with different chemical and physical properties. It can also be understood that composite materials are generally formed by adding matching materials to the matrix material. The matrix material of the composite material can be metal or non-metal. Alloy materials refer to solid products with metallic properties obtained after a metal is mixed and melted with another or several other metals or non-metals and then cooled and solidified. The specific material composition of the alloy material is not limited here and can be aluminum alloy, steel alloy, copper alloy, magnesium alloy, etc. The density of aluminum alloy is about 2.7 to 3.3 g / cm 3 , the density of steel alloy is about 7.8 to 8 g / cm 3 , the density of copper alloy is about 8.8 to 9.2 g / cm 3 , the density of magnesium alloy is about 1.7 to 1.9 g / cm 3 . Generally speaking, the density of alloy materials is generally greater than 1.7 g / cm 3 , and the density of composite materials is less than that of alloy materials. Therefore, the composite materials in this utility model are generally composite materials with non-metal matrices, with relatively low density and relatively light mass.

[0044] The lifting device of the medical robot in the above embodiment includes a fixed base 1, a driving component 2 and a lifting platform 3. The driving component 2 is arranged on the fixed base 1, the lifting platform 3 is driven by the driving component 2 to lift, and at least part of the fixed base 1 and the lifting platform 3 is made of composite materials. The composite materials have the advantages of light weight, high specific strength and specific stiffness, corrosion resistance, wide applicable environment, can effectively reduce the self-weight of the lifting device, make the lifting device have the advantages of fast lifting response, convenient movement, low energy consumption, etc., and at the same time have obvious benefits for reducing movement inertia and increasing action accuracy.

[0045] In some embodiments of the present utility model, please refer to Figures 1 to 3 , the lifting platform 3 includes a bracket 32 and a connecting piece 31. At least part of the bracket 32 and at least part of the connecting piece 31 are made of composite materials. The first end of the connecting piece 31 is connected to the bracket 32, the second end of the connecting piece 31 is used to support or fix the piece to be lifted, and the bracket 32 is fixedly connected to the movement output end of the driving component 2.

[0046] The bracket 32 and the connecting member 31 are connected to each other. The bracket 32 and the connecting member 31 can be integrally formed, or they can be separately formed and then assembled and connected to each other. At least part of the bracket 32 is made of a composite material. The bracket 32 is fixed to the motion output end of the driving assembly 2 and can move along with the motion output end. The bracket 32 and the connecting member 31 are fixedly adjacent to each other, so that the entire lifting platform 3 can move up and down. The first end of the connecting member 31 is connected to the bracket 32, and the second end of the connecting member 31 is used to support or fix the member to be lifted. When the lifting platform 3 moves vertically up and down, the member to be lifted can be fixed to the second end of the connecting member 31 and driven by the lifting platform 3, or the member to be lifted can also be placed on the second end of the connecting member 31 and driven by the lifting platform 3.

[0047] By setting the lifting platform 3 as the bracket 32 and the connecting member 31 that are connected to each other, the processing of the lifting platform 3 is made simpler, the distance between the support surface (the second end of the connecting member 31) of the lifting platform 3 and the motion output end of the driving assembly 2 can be flexibly set, and the structural layout is simpler.

[0048] In some embodiments, the bracket 32 includes a first main body part and a first connecting part. The first connecting part is used to connect components such as the connecting member 31 and the motion output end of the driving assembly 2. Among them, the first main body part is made of a composite material, and the first connecting part can be made of a composite material or an alloy material. When the first connecting part is made of a composite material, the overall mass of the bracket 32 is lighter and the processing steps are relatively simple, but the connection strength between the bracket 32 and other components is not high, and it is difficult to disassemble after installation. When the first connecting part is made of an alloy material, the connection strength between the first connecting part and other components is higher, and it can be disassembled after installation, which is convenient for disassembly, assembly and maintenance.

[0049] In some embodiments, the connecting member 31 includes a second main body part and a second connecting part. The second connecting part is used to connect components such as the bracket 32 and the member to be lifted. Among them, the second main body part is made of a composite material, and the second connecting part can be made of a composite material or an alloy material. When the second connecting part is made of a composite material, the overall mass of the connecting member 31 is lighter and the processing steps are relatively simple, but the connection strength between the connecting member 31 and other components is not high, and it is difficult to disassemble after installation. When the second connecting part is made of an alloy material, the connection strength between the second connecting part and other components is higher, and it can be disassembled after installation, which is convenient for disassembly, assembly and maintenance.

[0050] In some embodiments of the present utility model, please refer to Figure 2 and Figure 3 , one of the first end of the connecting member 31 and the bracket 32 has a first connection hole 324, and the other has a first metal nut 311. The first metal nut 311 has an internal thread hole that cooperates with the first connection hole 324 for connection.

[0051] The connecting member 31 and the bracket 32 are connected to each other, including the following two cases: First, the first end of the connecting member 31 has a first metal nut 311, the bracket 32 has a first connecting hole 324, the first metal nut 311 has an internal threaded hole, and a threaded member passes through the first connecting hole 324 and is connected to the internal threaded hole, so that the first end of the connecting member 31 can be connected to the bracket 32. In this embodiment, the first connecting portion of the bracket 32 is the first connecting hole 324. The first main body portion and the first connecting portion of the bracket 32 can both be made of composite materials. The second connecting portion of the connecting member 31 is the first metal nut 311, the second main body portion of the connecting member 31 is made of composite materials, and the second connecting portion of the connecting member 31 is made of metal materials, alloy materials, etc. Second, the first end of the connecting member 31 has a first connecting hole, the bracket 32 has a first metal nut, the first metal nut has an internal threaded hole, and a threaded member passes through the first connecting hole and is connected to the internal threaded hole, so that the first end of the connecting member 31 can be connected to the bracket 32. In this embodiment, the first connecting portion of the bracket 32 is the first metal nut, the first main body portion of the bracket 32 is made of composite materials, the first connecting portion of the bracket 32 is made of metal materials, alloy materials, etc., the second connecting portion of the connecting member 31 is the first connecting hole, and the second main body portion and the second connecting portion of the connecting member 31 are both made of composite materials.

[0052] Specifically, when processing the connecting member 31 and the bracket 32, a metal structure can be embedded in the connecting member 31 or the bracket 32, and then the metal structure is processed to form a first metal nut 311 with an internal threaded hole. Or the first metal nut 311 can be directly embedded in the connecting member 31 or the bracket 32.

[0053] By setting a first metal nut 311 in one of the connecting member 31 and the bracket 32 and a first connecting hole 324 in the other, when the threaded member connects the bracket 32 and the connecting member 31, it can be in threaded connection with the nut made of metal, with higher connection strength, and can be repeatedly installed and disassembled, avoiding the breakage of the connecting member 31 and the bracket 32 at the connection part between the two.

[0054] In some embodiments, the number of the first metal nuts 311 and the first connecting holes 324 is multiple, and the first metal nuts 311 and the first connecting holes 324 are arranged in one-to-one correspondence.

[0055] Optionally, multiple first metal nuts 311 are arranged circumferentially, and multiple first connecting holes 324 are also arranged circumferentially. Multiple circumferentially arranged first metal nuts 311 can be integrally formed into a metal ring, and multiple internal threaded holes are provided on the metal ring; or each first metal nut 311 is integrally formed separately.

[0056] In other embodiments, one of the first end of the connecting member 31 and the bracket 32 has a first connecting hole 324, and the other has a non-metallic nut. All of the connecting member 31 and the bracket 32 can be made of composite materials.

[0057] In some embodiments of the present utility model, please refer to Figure 2 and Figure 3 , the bracket 32 has a first connecting hole 324, and the first end of the connecting member 31 has a first metal nut 311; the second end of the connecting member 31 has a second metal nut 312 for connecting the member to be lifted. Specifically, the first end of the connecting member 31 has a first metal nut 311, and the second end of the connecting member 31 has a second metal nut 312. When the connecting member 31 is connected to the bracket 32 and the member to be lifted through threaded members respectively, the connection strength can be enhanced, and there is no need to provide metal structures on the bracket 32 and the member to be lifted.

[0058] Optionally, a plurality of second metal nuts 312 are arranged circumferentially. The plurality of circumferentially arranged second metal nuts 312 can be integrally formed into a metal ring, and a plurality of internal threaded holes are provided on the metal ring; alternatively, each second metal nut 312 is integrally formed separately.

[0059] Optionally, the first metal nut 311 and the second metal nut 312 can be made of a light alloy, such as aluminum alloy.

[0060] In some embodiments of the present utility model, please refer to Figure 3 and Figure 4 , the bracket 32 has a first connecting hole 324, and the first end of the connecting member 31 has a first metal nut 311; the bracket 32 also has a second connecting hole 325, and the movement output end of the driving assembly 2 has an internal threaded hole that cooperates with the second connecting hole 325. The connecting member 31 is connected to the movement output end of the driving assembly 2 through the bracket 32. The first end of the connecting member 31 is provided with a first metal nut 311. The bracket 32 and the connecting member 31 can be connected by cooperating a threaded member with the first metal nut 311 and the first connecting hole 324 on the bracket 32, and the connection strength between the bracket 32 and the connecting member 31 can be ensured. The movement output end of the driving assembly 2 is provided with an internal threaded hole. The movement output end of the driving assembly 2 and the bracket 32 can be connected by cooperating a threaded member with the internal threaded hole and the second connecting hole 325 on the bracket 32, and the connection strength between the bracket 32 and the movement output end can be ensured.

[0061] In this embodiment, while ensuring the connection strength between the bracket 32 and the connecting member 31 and between the bracket 32 and the movement output end of the driving assembly 2, there is no need to provide a metal structure on the bracket 32. The bracket 32 can be completely made of composite materials, which is relatively light in weight and relatively simple in processing steps.

[0062] Optionally, the plurality of second connection holes 325 are distributed in a quadrangular shape, a ring shape, or the like.

[0063] In some embodiments of the present invention, please refer to Figure 2 The connecting piece 31 is tubular, and metal rings are pre-buried at both ends of the connecting piece 31. The metal rings at the first end and the second end of the connecting piece 31 are provided with a plurality of internal threaded holes, and a plurality of first metal nuts 311 and a plurality of second metal nuts 312 are formed at both ends of the connecting piece 31 respectively.

[0064] Optionally, the thickness of both ends of the connecting member 31 is greater than the thickness of the middle portion of the connecting member 31 , so as to reserve a sufficiently large installation space for the metal ring.

[0065] In some embodiments of the present invention, please refer to Figure 3 The bracket 32 ​​includes a horizontal plate 321, a vertical plate 322 and a reinforcing rib 323. The horizontal plate 321 and the vertical plate 322 are connected to each other. One end of the reinforcing rib 323 is connected to the horizontal plate 321, and the other end is connected to the vertical plate 322, so that the horizontal plate 321, the vertical plate 322 and the reinforcing rib 323 form a triangle shape to enhance the overall strength of the bracket 32.

[0066] Optionally, the horizontal plate 321 is provided with a plurality of first connection holes 324 for being connected with the connecting member 31 . The vertical plate 322 is provided with a plurality of second connection holes 325 for being connected with the motion output end of the driving assembly 2 .

[0067] In some embodiments of the present invention, please refer to Figure 2 and Figure 3 The bracket 32 ​​and the connecting member 31 are respectively made of composite materials in one piece. In this way, the processing efficiency of the bracket 32 ​​and the connecting member 31 is high, and the bracket 32 ​​and the connecting member 31 are formed in one piece, and the structural strength is relatively high.

[0068] Optionally, the bracket 32 ​​and the connector 31 are integrally formed by hand lay-up lamination, spray molding, lamination molding and the like. The hand lay-up lamination method is specifically as follows: a release agent and a gel coat are applied on the working surface of the mold, the cut fiber prepreg cloth is laid on the working surface of the mold, and the resin glue is brushed or sprayed. After reaching a certain thickness, the mold is fixed and demolded. The spray molding method is specifically as follows: short fibers and resin are mixed with a spray gun, and compressed air is sprayed on the mold. After reaching a predetermined thickness, it is manually pressed with a rubber roller and then fixed. The lamination molding method is specifically as follows: the prepregs stacked layer by layer are placed between the upper and lower flat molds and pressurized and heated for curing.

[0069] In some embodiments of the present invention, please refer to Figure 4 and Figure 5, the fixed base 1 includes an outer skin and a core disposed inside the outer skin. The outer skin is made of a composite material, and the core is made of a glass microsphere material or a foam material. The outer skin of the fixed base 1 wraps around the outside of its core, and the outer skin forms a receiving space for accommodating the core. Since the core is made of a glass microsphere material or a foam material, the density of the core is smaller. Thus, by setting the fixed base 1 as an outer skin and a core, the mass of the fixed base 1 can be further reduced, making the lifting device more lightweight.

[0070] In other embodiments of the present utility model, the fixed base 1 is integrally formed of a composite material. In this embodiment, the processing steps of the fixed base 1 are relatively simple, and the processing cost is relatively low.

[0071] In some embodiments of the present utility model, please refer to Figure 4 and Figure 5 , the fixed base 1 has a mounting surface, and structures such as the drive assembly 2 are mounted on the mounting surface.

[0072] In some embodiments, the longitudinal section of the fixed base 1 is in a shape such as a T-shape.

[0073] In some embodiments of the present utility model, the composite material includes a fiber reinforcing material and a resin. The fiber reinforcing material is a substance that enhances the structural strength in the composite material matrix. The fiber reinforcing material generally has directionality and can withstand a stronger tensile force in the fiber extension direction. The resin is generally the main material of the matrix, and the fiber reinforcing material can be dispersed in the resin. In the composite material, the ratio of the fiber reinforcing material to the resin is a conventional ratio. For example, the content of the fiber reinforcing material is 10% to 80%, and the content of the resin is 20% to 50%.

[0074] When the composite material includes a fiber reinforcing material and a resin, firstly, the density of the composite material can be relatively small, enabling the lifting device to be as lightweight as possible. Secondly, the structural strength of the component made of the composite material can be ensured, guaranteeing the structural stability of the lifting device.

[0075] Optionally, the fiber reinforcing material can be a carbon fiber reinforcing material or an epoxy system reinforcing material, etc.

[0076] In some embodiments of the present utility model, the composite material includes at least two different fiber laying angles. The composite material is formed by laminating multiple fiber layers. The fiber layer has directionality, and the force that the fiber layer can withstand along its fiber extension direction is greater. By setting at least two different fiber laying angles, the external forces that the fiber layer can withstand in each direction can be balanced, thereby increasing the structural strength of the fixed base 1 and the lifting platform 3 made of the composite material.

[0077] Optionally, the composite material includes 0-degree plies and ±45-degree plies, which are alternately laid in a predetermined ratio. The predetermined ratio may be a conventional ratio, for example, the ratio of 0-degree plies to ±45-degree plies is 0.2 to 5.

[0078] Optionally, the composite material includes 0-degree plies and ±90-degree plies, which are orthogonally alternately laid in a predetermined ratio.

[0079] In some embodiments of the present invention, please refer to Figure 4 The driving assembly 2 includes a driver 21 capable of outputting linear motion, a guide rail 22 fixed on the fixed base 1, and a slider 23 slidably connected to the guide rail 22. The driver 21 drives the slider 23 to move on the guide rail 22, and the slider 23 is fixedly connected to the lifting platform 3.

[0080] The driver 21 is a power component, which is used to provide power to the slider 23. The slider 23 moves linearly on the guide rail 22. The movement direction of the slider 23 is the same as the length direction of the guide rail 22. The slider 23 is fixedly connected to the lifting platform 3. The movement of the slider 23 can make the lifting platform 3 move up and down, thereby realizing the lifting movement of the object to be lifted. Among them, the motion output end of the driving component 2 is the slider 23.

[0081] By setting the guide rail 22 and the slider 23, the movement of the slider 23 and the object to be lifted can be made more stable, and the shaking of the object to be lifted can be reduced.

[0082] In some embodiments, the guide rail 22, the driver 21, etc. are fixed to the fixed base 1 by screws.

[0083] Optionally, a metal nut is embedded in the guide rail 22, a connection hole is provided in the fixed base 1, and the threaded member passes through the connection hole and is connected to the metal nut. When the guide rail 22 is a metal member, an internal threaded hole can be directly provided in the guide rail 22 to form a metal nut. By providing the metal nut on the guide rail 22 and only providing the connection hole in the fixed base 1, the fixed base 1 can be made entirely of composite materials, which reduces its processing difficulty and reduces its deadweight.

[0084] Optionally, a connecting hole is provided on the guide rail 22, a metal nut is embedded in the fixed base 1, and the threaded member passes through the connecting hole and is connected to the metal nut. In this way, the structure of the guide rail 22 can be relatively simple.

[0085] Optionally, a metal nut is embedded in the driver 21, a connection hole is provided on the fixed base 1, and the threaded member passes through the connection hole and is connected to the metal nut. When part of the structure of the driver 21 is a metal part, an internal threaded hole can be directly provided on the guide rail 22 to form a metal nut. By providing the metal nut on the driver 21 and only providing the connection hole on the fixed base 1, the fixed base 1 can be made entirely of composite materials, which reduces its processing difficulty and reduces its deadweight.

[0086] Optionally, a connection hole is provided on the driver 21, a metal nut is embedded on the fixed base 1, and the threaded member passes through the connection hole and is connected to the metal nut. In this way, the connection structure of the driver 21 can be relatively simple.

[0087] The various metal structures embedded in the fixed base 1 can be integrally formed, such as a metal block 11 , on which a plurality of internal threaded holes are formed to form metal nuts.

[0088] In some embodiments, see Figure 4 There are two guide rails 22 , which are spaced apart along the width direction thereof. A slider 23 is correspondingly provided on each guide rail 22 , and each slider 23 is fixed on a bracket 32 ​​.

[0089] In some embodiments, see Figure 4 Limit blocks 24 are respectively provided at both ends of the guide rail 22 , and the limit blocks 24 are used to limit the travel of the slider 23 to prevent the slider 23 from sliding out from both ends of the guide rail 22 .

[0090] In some embodiments, see Figure 4 The driver 21 includes a motor 211, a screw rod 212, a nut block and a brake 213. The motor 211 outputs a rotational motion to drive the screw rod 212 to rotate. The nut block is threadedly connected to the screw rod 212, and the nut block is fixedly connected to the slider 23 and the bracket 32. The rotation of the screw rod 212 drives the nut block to move linearly, thereby causing the slider 23 and the bracket 32 ​​to move linearly.

[0091] Optionally, the brake 213 is a holding brake, which can be set at one end of the screw rod 212. When the brake 213 brakes, it holds the screw rod 212 tightly to stop the screw rod 212 from moving, thereby achieving braking of the drive component 2.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A medical robot lifting device, characterized in that: The invention comprises a fixed base (1), a driving component (2) arranged on the fixed base (1), and a lifting platform (3) driven by the driving component (2), wherein at least a portion of the fixed base (1) and at least a portion of the lifting platform (3) are made of a composite material; the lifting platform (3) comprises a bracket (32) and a connecting member (31), wherein at least a portion of the bracket (32) and at least a portion of the connecting member (31) are both made of the composite material, a first end of the connecting member (31) is connected to the bracket (32), a second end of the connecting member (31) is used to support or fix a to-be-lifted object, and the bracket (32) is fixedly connected to a motion output end of the driving component (2).

2. The medical robot lifting device according to claim 1, characterized in that: The first end of the connecting member (31) and one of the brackets (32) have a first connecting hole (324), and the other has a first metal nut (311), wherein the first metal nut (311) has an internal threaded hole that cooperates with the first connecting hole (324).

3. The medical robot lifting device according to claim 2, characterized in that: The bracket (32) has a first connection hole (324); the first end of the connecting piece (31) has the first metal nut (311); the second end of the connecting piece (31) has a second metal nut (312) for connecting the piece to be lifted.

4. The medical robot lifting device according to claim 3, characterized in that: The connecting piece (31) is tubular, and metal rings are pre-buried at both ends of the connecting piece (31). The metal rings have internal threaded holes, so that a plurality of the first metal nuts (311) and a plurality of the second metal nuts (312) are respectively formed at the two ends of the connecting piece (31).

5. The medical robot lifting device according to claim 2, characterized in that: The bracket (32) has a first connecting hole (324), and the first end of the connecting member (31) has the first metal nut (311); the bracket (32) also has a second connecting hole (325), and the motion output end of the drive assembly (2) has an internal threaded hole that cooperates with the second connecting hole (325).

6. The medical robot lifting device according to claim 1, characterized in that: The bracket (32) and the connecting piece (31) are respectively integrally manufactured from the composite material.

7. The medical robot lifting device according to any one of claims 1 to 6, characterized in that: The fixed base (1) comprises an outer skin and an inner core arranged inside the outer skin, the outer skin is made of a composite material, and the inner core is made of a glass microbead material or a foam material.

8. The medical robot lifting device according to any one of claims 1 to 6, characterized in that: The composite material includes a fiber reinforcement material and a resin.

9. The medical robot lifting device according to claim 8, characterized in that: The composite material includes at least two different fiber layup angles.

10. The medical robot lifting device according to any one of claims 1 to 6, characterized in that: The driving assembly (2) comprises a driver (21) capable of outputting linear motion, a guide rail (22) fixed on the fixed base (1), and a slider (23) slidably connected to the guide rail (22); the driver (21) drives the slider (23) to move on the guide rail (22); and the slider (23) is fixedly connected to the lifting platform (3).

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