Lifting device and surgical robot

Abstract

The embodiment of the utility model provides a lifting device and a surgical robot, and relates to the technical field of medical instruments. The lifting device comprises: a housing; the lifting main body is movably arranged in the shell; the driver is arranged in the shell, the driver is connected with the lifting main body, and the driver is used for driving the lifting main body to move relative to the shell; the drag chain assembly comprises a plurality of drag chains, and the drag chains are arranged at intervals in the moving direction perpendicular to the lifting body; one end of each drag chain is connected with the lifting body, and the other end of each drag chain is fixedly connected to the shell. The plurality of drag chains are respectively used for sleeving a plurality of wires; the wires are used for being electrically connected with the driver so that the driver can drive the lifting body to ascend or descend relative to the shell and drive the drag chain to ascend or descend synchronously. The lifting device can separate wires with different functions and parameters, reduces the coupling and mutual inductance phenomena of electromagnetic fields, and improves the stability and reliability of the surgical robot.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a lifting device and a surgical robot. Background Art

[0002] With the development of surgical robots, doctors can now control robotic arms through a master control device to perform related surgical operations, enabling precise manipulation and improving surgical safety and success rates. Existing surgical robots generally require adjustment of the robotic arm's surgical position before performing a surgical operation. In addition to adjusting individual robotic arms, such as movement, rotation, and elevation, the entire surgical robot also uses a lifting base to raise and lower the robotic arm.

[0003] The base is also equipped with various devices for controlling the precise manipulation of the robotic arm to complete the surgical operation. The base's elevation and the robotic arm's operation require power, signal input, and signal output, requiring wires of varying parameters. Typically, these wires are bundled together.

[0004] However, the above wiring method will generate electromagnetic interference, which will deteriorate the electromagnetic compatibility of the surgical robot and thus affect the stable operation and reliability of the surgical robot. Utility Model Content

[0005] The embodiments of the present application provide a lifting device and a surgical robot, which can reduce the difficulty of operation and reduce costs when the surgical robot adjusts the rotatable angle of the robotic arm.

[0006] In a first aspect, an embodiment of the present application provides a lifting device, comprising:

[0007] case;

[0008] A lifting body is movably disposed in the shell;

[0009] a driver, disposed in the housing, connected to the lifting body, and configured to drive the lifting body to move relative to the housing;

[0010] A drag chain assembly, comprising a plurality of drag chains, wherein the plurality of drag chains are arranged at intervals along a direction perpendicular to the movement direction of the lifting body; one end of the plurality of drag chains is connected to the lifting body, and the other end is fixedly connected to the shell;

[0011] The plurality of drag chains are respectively used to house a plurality of wires; each of the wires is used to electrically connect to the driver, so that the driver drives the lifting body to rise or fall relative to the shell, and drives the drag chains to rise or fall synchronously.

[0012] In one possible implementation, the wires include a first wire harness and a second wire harness, the voltage transmitted by the first wire harness being greater than the voltage transmitted by the second wire harness; the first wire harness and the second wire harness are respectively arranged in different plurality of the drag chains, and the first wire harness and the second wire harness are both used to electrically connect to the driver;

[0013] The lifting body is configured to be driven by the driver to drive the first wire harness and the second wire harness to move synchronously.

[0014] In a possible implementation manner, the first wiring harness and the second wiring harness each include a first segment and a second segment connected to each other;

[0015] The first section is arranged on the housing, and the second section is arranged in the corresponding drag chain, and the movement directions of the first section and the second section are opposite;

[0016] The first section is configured to be moved by the lifting body and to drive the second section to move in an opposite direction.

[0017] In one possible embodiment, the drag chain assembly includes a first mounting plate, which is mounted on the housing and located at the bottom of the lifting body; the first wiring harness and the second wiring harness each include a third section connecting the first section and the second section;

[0018] The third section of the first wire harness and the third section of the second wire harness are both located on the first mounting plate and are spaced apart.

[0019] In a possible embodiment, the drag chain assembly further includes a second mounting plate and a guide plate, wherein the second mounting plate is mounted on the bottom of the housing, and the guide plate connects the second mounting plate and the first mounting plate;

[0020] The drag chain assembly includes a first drag chain and a second drag chain, wherein the first drag chain and the second drag chain are respectively located on opposite sides of the guide plate.

[0021] In a possible embodiment, the first drag chain and the second drag chain each include a first end and a second end that are oppositely disposed, the first end is connected to the first mounting plate, and the second end is connected to the bottom of the lifting body;

[0022] During the movement of the lifting body, the extension directions of the first end and the second end remain the same.

[0023] In a possible embodiment, the housing further has a receiving cavity and two openings communicating with the receiving cavity, and the two openings are respectively used for the first drag chain and the second drag chain to pass through;

[0024] The accommodating cavity is used to accommodate the driver.

[0025] In a possible implementation, the drag chain assembly further includes a fixing member for fixing the first wiring harness and the second wiring harness, and the number of the fixing members is multiple;

[0026] A portion of the fixing members are arranged at intervals on the inner wall of the shell, and a portion of the fixing members are arranged at intervals on the first mounting plate.

[0027] In a possible implementation manner, the length of the drag chain is greater than the movable distance of the lifting body.

[0028] In a second aspect, an embodiment of the present application provides a surgical robot, comprising a rotating device, a robotic arm, and a lifting device as claimed in any one of claims 1 to 4;

[0029] The output end of the lifting device is connected to the fixed end of the rotating device, and the lifting device is used to drive the rotating device to move up and down;

[0030] The fixed end of the rotating device is connected to the mechanical arm, and the rotating device is used to drive the mechanical arm to rotate.

[0031] The lifting device and surgical robot provided in the embodiments of the present application are characterized by providing a plurality of drag chains arranged at intervals perpendicular to the direction of movement of the lifting body. Each drag chain is equipped with a plurality of wires, allowing the wires to move in an orderly manner during the lifting process, reducing friction and pulling between the wires, thereby extending the service life of the wires. At the same time, it can avoid direct contact between the wires, reduce friction and wear between the wires, and thus reduce the risk of leakage. Secondly, the drag chain assembly makes the layout of the wires more orderly and reasonable, facilitating daily inspection and maintenance, reducing the complexity and workload of maintenance, and ensuring the stability of power supply and signal transmission; at the same time, it can improve the working efficiency of the driver, thereby improving the performance of the lifting device. In addition, because wires with different functions and parameters are separated in different drag chains, the distance between the wires is increased, reducing electromagnetic field coupling and mutual induction, thereby reducing electromagnetic interference, helping to maintain signal integrity, and reducing signal distortion and bit error rate. Finally, by reducing electromagnetic interference, the electromagnetic compatibility of the system is improved. The radiated emission and conducted emission values ​​of the surgical robot are reduced, meeting standard requirements, thereby improving the stability and reliability of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the implementation methods in the embodiments of the present application or related technologies, the following is a brief introduction to the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0033] Figure 1 A schematic diagram of the structure of the surgical robot provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of the exploded structure of the lifting device of the surgical robot provided in an embodiment of the present application;

[0035] Figure 3 A schematic structural diagram of a lifting device of a surgical robot provided in an embodiment of the present application;

[0036] Figure 4 for Figure 3 Schematic diagram of the enlarged structure at Z in the middle;

[0037] Figure 5 A schematic structural diagram of a drag chain assembly of a lifting device of a surgical robot provided in an embodiment of the present application;

[0038] Figure 6 A schematic structural diagram of the lifting device of the surgical robot provided in an embodiment of the present application from another perspective.

[0039] Description of reference numerals:

[0040] 10-Surgical robots;

[0041] 100-lifting device; A-first wiring harness; a-first section; b-second section; c-third section;

[0042] 110 - housing; 111 - accommodating chamber; 112 - opening;

[0043] 120-lifting body;

[0044] 130 - drag chain assembly; 131 - first mounting plate; 132 - second mounting plate; 133 - guide plate; 134 - first drag chain; 135 - second drag chain; C - first end; D - second end;

[0045] 140-fixing parts;

[0046] 200-rotating device;

[0047] 300-Robotic Arm.

[0048] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0049] In the related art, as the frequency of use increases, the life of the wire material decreases, and leakage is more likely to occur. However, leakage may interfere with adjacent signal lines and other power lines.

[0050] Furthermore, the current and voltage on multiple wires can vary significantly due to their functions and the devices they connect to. When wires are placed close together, the current or voltage on one wire can easily affect the current or voltage on another through electromagnetic fields.

[0051] For example, when there is a potential difference between two conductors, capacitive coupling is generated through the electric field, causing the voltage change on one conductor to affect the voltage on the other conductor.

[0052] For example, when a conductor generates a change in current, a changing magnetic field will be generated around it. This magnetic field will induce an electromotive force on another nearby conductor, thereby affecting its current, which is mutual induction.

[0053] Due to coupling and mutual inductance, electromagnetic interference (EMI) is generated between wires. This interference can affect signal integrity, leading to signal distortion, increased bit error rates, and other issues. Furthermore, EMI can degrade the surgical robot's electromagnetic compatibility (EMC), causing its radiated and conducted emissions to exceed standard values, impacting operational stability and reliability.

[0054] To this end, the present application provides a lifting device and surgical robot. Multiple drag chains are arranged at intervals perpendicular to the direction of movement of the lifting body, with each drag chain housing multiple wires. This allows the wires to move in an orderly manner during the lifting process, reducing friction and pulling between the wires, thereby extending the wire life. Direct contact between the wires is also avoided, reducing friction and wear between the wires, and thus reducing the risk of leakage. Furthermore, the drag chain assembly allows for a more orderly and reasonable arrangement of the wires, facilitating routine inspection and maintenance, reducing maintenance complexity and workload, and ensuring the stability of power supply and signal transmission. It also improves the operating efficiency of the driver, thereby enhancing the performance of the lifting device. Furthermore, since wires with different functions and parameters are separated in different drag chains, the distance between the wires is increased, reducing electromagnetic field coupling and mutual inductance, thereby reducing electromagnetic interference, helping to maintain signal integrity, and reducing signal distortion and bit error rate. Finally, by reducing electromagnetic interference, the electromagnetic compatibility of the system is improved. The surgical robot's radiated and conducted emissions are reduced, meeting standard requirements, thereby improving the stability and reliability of the surgical robot.

[0055] In order to make the purpose, implementation mode and advantages of the present application clearer, the exemplary implementation mode of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0056] It should be noted that the brief descriptions of terms in this application are only for the purpose of facilitating the understanding of the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their ordinary and usual meanings.

[0057] In addition, the terms "comprises" and "comprising" and any variations thereof are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to those components expressly listed but may include other components not expressly listed or inherent to such product or device.

[0058] In the description of this application, it should be understood that the terms "center", "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 this application 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 this application.

[0059] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0060] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0061] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] Reference Figure 1 In a first aspect, an embodiment of the present application provides a surgical robot 10 , comprising a rotating device 200 , a robotic arm 300 , and a lifting device 100 .

[0063] The surgical robot 10 may be a robotic system used to perform surgical procedures. The lifting device 100 controls the vertical movement of the surgical robot 10. The robotic arm 300 is a mechanical structure used to perform surgical operations and is capable of multi-degree-of-freedom movement. The rotating device 200 controls the rotational movement of the robotic arm 300.

[0064] By integrating the lifting device 100, the robotic arm 300, and the rotating device 200, the surgical robot 10 can achieve multi-degree-of-freedom motion, meeting the requirements of complex surgical operations. The combination of these devices enables the surgical robot 10 to perform precise and flexible operations in multiple directions, improving the success rate and safety of the surgery.

[0065] The output end of the lifting device 100 is connected to the fixed end of the rotating device 200 , and the lifting device 100 is used to drive the rotating device 200 to move up and down.

[0066] By connecting the output end of the lifting device 100 to the fixed end of the rotating device 200 , the vertical lifting movement of the rotating device 200 can be achieved, thereby increasing the degree of freedom of movement of the surgical robot 10 .

[0067] The output end of the lifting device 100 is connected to the fixed end of the rotating device 200, and the lifting device 100 is used to drive the rotating device 200 to move up and down. The vertical lifting function enables the surgical robot 10 to operate in a larger range, meeting the needs of different surgical scenarios.

[0068] The fixed end of the rotating device 200 is connected to the robotic arm 300, and the rotating device 200 is used to drive the robotic arm 300 to rotate. By connecting the fixed end of the rotating device 200 to the robotic arm 300, the robotic arm 300 can be rotated, increasing the freedom of movement of the surgical robot 10. The rotation function enables the robotic arm 300 to perform precise operations in multiple directions, improving the flexibility and accuracy of the surgery.

[0069] By designing the above-mentioned surgical robot 10, which includes a lifting device 100, a robotic arm 300, and a rotating device 200, multi-degree-of-freedom motion can be achieved, thereby improving the success rate and safety of the surgery. The output end of the lifting device 100 is connected to the fixed end of the rotating device 200, enabling the vertical lifting motion of the rotating device 200, increasing the degrees of freedom of motion and the operating range of the surgical robot 10. The fixed end of the rotating device 200 is connected to the robotic arm 300, enabling the rotational motion of the robotic arm 300, and improving the flexibility and precision of the surgery. This design not only improves the stability and reliability of the system, but also simplifies the structure and maintenance process, meeting the needs of complex surgical operations.

[0070] Reference Figure 2 In a second aspect, an embodiment of the present application provides a lifting device 100 , including a shell 110 , a lifting body 120 , a drive and a drag chain assembly 130 .

[0071] Housing 110 is the outer structure of lifting device 100, providing a closed or semi-enclosed space. Specifically, housing 110 provides mechanical protection, preventing the external environment from interfering with internal components, while also protecting internal components from the external environment. Furthermore, housing 110 provides electromagnetic shielding to reduce electromagnetic interference (EMI).

[0072] The lifting body 120 is movably disposed within the housing 110. It will be appreciated that the lifting body 120 can raise and lower the robotic arm 300, enabling the surgical robot 10 to perform surgical operations at various heights. The movement of the lifting body 120 allows for precise control of the position of the robotic arm 300, improving surgical accuracy and safety.

[0073] The driver is disposed in the housing 110 and is connected to the lifting body 120 . The driver is used to drive the lifting body 120 to move relative to the housing 110 .

[0074] It can be connected that the driver is a power source for the lifting body 120 and can accurately control the moving speed and position of the lifting body 120. Through the control of the driver, the lifting body 120 can be moved smoothly to avoid surgical errors caused by vibration or instability.

[0075] It should be noted that in the embodiments of the present application, the driver can also be a combination of multiple structures. For example, the driver can also drive the operation of the robotic arm 300. The driver can also include a controller that can receive user instructions and send the instructions to the lifting body 120, the rotating device 200, or the robotic arm 300. The embodiments of the present application do not limit the specific functions of the driver, nor are they limited to the above examples. The specific functions can be determined according to the specific circumstances.

[0076] The drag chain assembly 130 includes a plurality of drag chains, which are arranged at intervals along a direction perpendicular to the movement direction of the lifting body 120 ; one end of each of the drag chains is connected to the lifting body 120 , and the other end is fixedly connected to the shell 110 .

[0077] It should be noted that the drag chain can be made of an insulating material. For example, the drag chain can be a plastic drag chain. Furthermore, the shape and size of the drag chain can be selected based on actual conditions. The embodiments of this application do not limit the specifics of the drag chain, nor are they limited to the above examples.

[0078] It is understood that the configuration of the drag chain assembly 130 can effectively manage and protect multiple wires, preventing them from becoming tangled, worn, or broken during the lifting process. The spacing of the drag chain can reduce electromagnetic interference (EMI) between the wires, improving signal integrity and the system's electromagnetic compatibility (EMC).

[0079] It should be noted that, in the embodiment of the present application, the wires can enter through the bottom of the housing 110 .

[0080] It can be understood that when one end of the drag chain is connected to the lifting body 120, as the lifting body 120 rises or falls, the end of the drag chain connected to the lifting body 120 will rise or fall synchronously, thereby driving the movement of the entire drag chain, thereby ensuring that the drag chain can maintain protection for the wires.

[0081] Wherein, a plurality of drag chains are used to respectively sheath a plurality of conductors, that is, each drag chain can be used to sheath one or more conductors.

[0082] It should be noted that, to ensure consistency, when a drag chain is equipped with multiple conductors, the parameters of the multiple conductors can be the same or similar, such as the same size, the same function, the same transmission signal, the same connection structure, etc. The embodiments of the present application are not limited to this, nor are they limited to the above examples.

[0083] By enclosing each conductor in a separate drag chain, electromagnetic coupling and mutual inductance between conductors can be further reduced, lowering electromagnetic interference (EMI). This design ensures that the current and voltage of each conductor are not affected by other conductors, improving system stability and reliability.

[0084] Each wire is used to electrically connect to a driver, so that the driver drives the lifting body 120 to rise or fall relative to the housing 110 and drives the drag chain to rise or fall synchronously.

[0085] It is understood that the electrical connection of the wires can ensure that the driver can operate normally and provide the required power and signal input and output to the lifting body 120. Through reasonable wire management, driver failure caused by wire failure can be avoided, thereby improving the reliability of the entire lifting device 100.

[0086] The lifting device 100 provided in the embodiment of the present application utilizes multiple drag chains arranged at intervals perpendicular to the direction of movement of the lifting body 120. Each drag chain houses multiple wires, allowing the wires to move in an orderly manner during the lifting process, reducing friction and pulling between the wires, thereby extending the wire lifespan. Direct contact between the wires is also avoided, reducing friction and wear between the wires, and thus reducing the risk of leakage. Furthermore, the drag chain assembly 130 allows for a more orderly and reasonable arrangement of the wires, facilitating routine inspection and maintenance, reducing maintenance complexity and workload, and ensuring the stability of power supply and signal transmission. This also improves the operating efficiency of the driver, thereby enhancing the performance of the lifting device 100. Furthermore, since wires with different functions and parameters are separated in different drag chains, the distance between the wires is increased, reducing electromagnetic field coupling and mutual induction, thereby reducing electromagnetic interference, helping to maintain signal integrity, and reducing signal distortion and bit error rate. Finally, by reducing electromagnetic interference, the electromagnetic compatibility of the system is improved. The radiated and conducted emissions of the surgical robot 10 are reduced, meeting standard requirements, thereby improving the stability and reliability of the surgical robot 10.

[0087] Reference Figure 3 and Figure 4 As an optional embodiment, the wires include a first wire harness A and a second wire harness (not shown in the figure). According to different voltage and current requirements, the wires are divided into different wire harnesses for classified management, which helps to improve the electrical performance and safety of the lifting device 100 and the surgical robot 10.

[0088] The voltage transmitted by the first wiring harness A is greater than the voltage transmitted by the second wiring harness.

[0089] It is understandable that separate management of wiring harnesses of different voltages can reduce the interference of high voltage on low voltage wiring harnesses, avoid electromagnetic interference (EMI) caused by high voltage affecting the transmission of low voltage signals, and ensure signal integrity and system stability.

[0090] The first wiring harness A and the second wiring harness are routed through separate drag chains. By routing wiring harnesses of different voltages through separate drag chains, electromagnetic coupling and mutual inductance can be further reduced, lowering electromagnetic interference (EMI). This design ensures that the current and voltage of each wiring harness are not affected by other harnesses, improving system stability and reliability.

[0091] The first wiring harness A and the second wiring harness are both used to electrically connect the driver to ensure normal operation of the driver and provide the required power and signal input and output to the lifting body 120. Through reasonable wiring harness management, driver failure caused by wiring harness failure can be avoided, thereby improving the reliability of the entire lifting device 100.

[0092] The lifting body 120 is driven by a driver, driving the first and second wiring harnesses to move synchronously. This ensures orderly movement of the wiring harnesses during the lifting process, reducing friction and pulling between the harnesses, thereby extending their service life. It also prevents direct contact between the harnesses, reducing friction and wear between the harnesses and lowering the risk of electrical leakage.

[0093] Reference Figure 3 and Figure 4 As an optional embodiment, both the first and second wiring harnesses A and B comprise interconnected first and second segments. By dividing the wiring harness into two segments, the harnesses can be more flexibly managed and arranged to accommodate varying mobility and stationary requirements. This also reduces bending and stress concentration in the harnesses, extending their service life.

[0094] The first section a is provided on the housing 110 . By fixing the first section a on the housing 110 , the movement range of the wiring harness can be reduced, thereby preventing the wiring harness from being excessively pulled and worn during the lifting process.

[0095] The second section b is arranged in the corresponding drag chain and can move with the movement of the drag chain to protect the wiring harness from the influence of the external environment.

[0096] The moving directions of the first section a and the second section b are opposite, so that the stress on the wiring harness can be balanced, and the pulling and wear of the wiring harness during movement can be reduced, thereby extending the service life of the wiring harness.

[0097] The first section a is configured to be moved by the lifting body 120, thereby driving the second section b in the opposite direction. This arrangement allows for more orderly and controllable movement of the wiring harness, reducing friction and pulling during movement, and further minimizing wear and tear and the risk of failure.

[0098] Reference Figure 4 and Figure 5 As an optional embodiment, the drag chain assembly 130 includes a first mounting plate 131, which provides fixation and support for installing and managing the wiring harness. By providing the first mounting plate 131, the wiring harness can be fixed in a specific position, reducing shaking and wear of the wiring harness during movement.

[0099] The first mounting plate 131 is mounted on the housing 110 and located at the bottom of the lift body 120. This allows for a more rational wiring harness layout, effectively managing its routing and preventing excessive strain and wear during the lifting process. Furthermore, the first mounting plate 131, located at the bottom of the lift body 120, effectively protects the wiring harness and reduces the impact of the external environment on it.

[0100] Both the first wiring harness A and the second wiring harness include a third section C connecting the first section a and the second section B. By adding the third section C, the wiring harness can be managed and arranged more flexibly to meet different movement and fixation requirements.

[0101] It should be noted that the third section c, as a connecting section, can buffer the stress between the first section a and the second section b, reduce the bending and stress concentration of the wiring harness, and extend the service life of the wiring harness.

[0102] The third section c of the first wire harness A and the third section c of the second wire harness are both located on the first mounting plate 131 and are spaced apart.

[0103] By fixing the third section c to the first mounting plate 131, the shaking and wear of the wiring harness can be further reduced. The spacing setting can reduce electromagnetic interference (EMI) between the wiring harnesses, improve signal integrity and electromagnetic compatibility (EMC) of the system.

[0104] It should be noted that, in order to enhance the connection stability between the first mounting plate 131 and the shell 110 , both side plates of the first mounting plate 131 may have bending sections, and the first mounting plate 131 is closely attached to the inner wall of the shell 110 through the bending sections.

[0105] It is understood that the first section a of the wiring harness is located on the inner wall of the housing 110, the third section c is located on the first mounting plate 131, and the second section b is located in the drag chain. During the wiring harness installation process, the bent section of the first mounting plate 131 can be routed around to enhance the installation stability of the wiring harness.

[0106] It should be noted that during the installation of the wire harness, in order to avoid damage to the wires caused by structures such as the shell 110, the first mounting plate 131 and the drag chain, the edges of the shell 110, the edges of the first mounting plate 131 and the edges of the drag chain can be chamfered.

[0107] Reference Figure 4 and Figure 5 As an optional embodiment, the drag chain assembly 130 further includes a second mounting plate 132 and a guide plate 133. The second mounting plate 132 and the guide plate 133 can provide additional fixing and support structures, which help to better manage and arrange the drag chain and wiring harness, thereby improving the stability and reliability of the system.

[0108] The second mounting plate 132 is mounted on the bottom of the housing 110, making the arrangement of the drag chain and the wiring harness more reasonable and stable, reducing the shaking and wear of the wiring harness during movement. The second mounting plate 132 is fixed to the bottom to better protect the wiring harness and reduce the impact of the external environment on the wiring harness.

[0109] The guide plate 133 connects the second mounting plate 132 and the first mounting plate 131. It can be understood that the guide plate 133 can provide a stable guide for the movement of the drag chain and the wire harness.

[0110] Through the connection of the guide plate 133, it is possible to ensure that the drag chain and the wiring harness remain on a predetermined track during movement, reducing bending and stress concentration of the wiring harness, thereby extending the service life of the wiring harness.

[0111] The drag chain assembly 130 includes a first drag chain 134 and a second drag chain 135. By setting up two drag chains, different wire harnesses can be managed separately, reducing mutual interference and friction between the wire harnesses, thereby improving the management efficiency of the wire harnesses and the stability of the system.

[0112] The first drag chain 134 and the second drag chain 135 are located on opposite sides of the guide plate 133. By placing the drag chains separately on either side of the guide plate 133, electromagnetic interference (EMI) between the wiring harnesses can be further reduced, improving signal integrity and the system's electromagnetic compatibility (EMC). Furthermore, this arrangement reduces wiring harness entanglement and wear, extending the harness's service life.

[0113] Reference Figure 3 and Figure 4 As an optional embodiment, the first drag chain 134 and the second drag chain 135 each include a first end C and a second end D that are relatively set. In this way, it can be ensured that the drag chain can effectively transmit and support between two fixed points to provide a stable structural foundation. Genori ensures that the drag chain maintains a stable path during movement, reducing swinging and unnecessary wear.

[0114] It can be understood that the first drag chain 134 and the second drag chain 135 may each include a plurality of substructures that are interconnected and rotatable with respect to each other, and the first end C and the second end D may be two substructures at the edge.

[0115] The first end C is connected to the first mounting plate 131. Fixing one end of the drag chain to the mounting plate can ensure that the drag chain has a stable starting point at the beginning of movement, avoid the drag chain from loosening or misalignment in the early stage of movement, and ensure that the drag chain remains stable during movement.

[0116] The second end D is connected to the bottom of the lifting body 120 to ensure that the drag chain can move with the body during the lifting process to achieve synchronous movement, provide a stable transmission path, and ensure the continuity and stability of the transmission process. For example, the second end D can be connected to the bottom of the lifting body 120 via a second wiring harness.

[0117] During the movement of the lifting body 120 , the extension directions of the first end C and the second end D remain the same.

[0118] It is understandable that by ensuring that both ends of the drag chain maintain the same extension direction during movement, the drag chain can be prevented from twisting or deforming during movement, thereby reducing wear and failure and improving the reliability and service life of the system.

[0119] Reference Figure 6 As an optional embodiment, the housing 110 further has a housing cavity 111. The housing cavity 111 can provide a closed or semi-closed space for accommodating the driver and other internal components, providing mechanical protection and electromagnetic shielding effects, while preventing interference from dust, moisture and other external factors.

[0120] The housing 110 further has two openings 112 communicating with the accommodating cavity 111 , so that the drag chain can smoothly enter and exit the accommodating cavity 111 , thereby ensuring orderly management of the wires and stability of signal transmission.

[0121] The two openings 112 are used for respectively passing the first drag chain 134 and the second drag chain 135 , thereby avoiding interference between the drag chains and ensuring that the drag chains can maintain independent operation during the lifting process without mutual interference.

[0122] The accommodating cavity 111 is used to accommodate the driver, and can provide a safe working environment for the driver, ensure the stable operation of the driver, and prevent the external environment from interfering with the driver.

[0123] Reference Figure 4 As an optional embodiment, the drag chain assembly 130 further includes a fixing member 140 for fixing the first wire harness A and the second wire harness.

[0124] By providing the fixing member 140, the first wire harness A and the second wire harness can be fixed at specific positions to prevent the wire harnesses from being displaced or loosened during the lifting process, thereby ensuring orderly management of the wires and stability of signal transmission.

[0125] There are multiple fixing members 140, which can fix the wiring harness at different positions, avoiding loosening or breaking of the wiring harness due to single-point fixing, and further improving the stability and safety of the wiring harness.

[0126] A certain number of fixing members 140 are arranged at intervals on the inner wall of the shell 110 , which can fix the wiring harness on the inner wall of the shell 110 to prevent the wiring harness from being entangled or tangled in the shell 110 and ensure orderly management of the wiring harness in the shell 110 .

[0127] A certain number of fixing members 140 are arranged at intervals on the first mounting plate 131 , which can fix the wiring harness on the first mounting plate 131 to prevent the wiring harness from getting entangled or tangled on the mounting plate, and ensure orderly management of the wiring harness on the first mounting plate 131 .

[0128] As an optional implementation, the length of the drag chain is greater than the movable distance of the lifting body 120 .

[0129] By setting the length of the drag chain to be greater than the movable distance of the lifting body 120, it can be ensured that the drag chain always remains loose during the entire movement of the lifting body 120, preventing the drag chain from being tightened or broken, thereby protecting the integrity and safety of the wires and ensuring the stability and reliability of the wires during the lifting process.

[0130] It can be understood that when the length of the drag chain is greater than the movable distance of the lifting body 120, it can ensure that the drag chain can adapt to its moving range when the lifting body 120 moves to any position, avoiding movement restriction or failure due to insufficient length of the drag chain, and improving the flexibility and reliability of the system.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

[0132] For ease of explanation, the above description has been made with reference to specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations are possible. The above embodiments are selected and described to better explain the principles and practical applications, so that those skilled in the art can better utilize the embodiments and various different variations of the embodiments suitable for specific use considerations.

Claims

1. A lifting device, characterized in that: include: case; A lifting body is movably disposed in the shell; a driver, disposed in the housing, connected to the lifting body, and configured to drive the lifting body to move relative to the housing; A drag chain assembly, comprising a plurality of drag chains, wherein the plurality of drag chains are arranged at intervals along a direction perpendicular to the movement direction of the lifting body; one end of the plurality of drag chains is connected to the lifting body, and the other end is fixedly connected to the shell; The plurality of drag chains are respectively used to house a plurality of wires; each of the wires is used to electrically connect to the driver, so that the driver drives the lifting body to rise or fall relative to the shell, and drives the drag chains to rise or fall synchronously.

2. The lifting device according to claim 1, characterized in that: The wires include a first wire harness and a second wire harness, the voltage transmitted by the first wire harness is greater than the voltage transmitted by the second wire harness; the first wire harness and the second wire harness are respectively arranged in different plurality of the drag chains, and the first wire harness and the second wire harness are both used to electrically connect to the driver; The lifting body is configured to be driven by the driver to drive the first wire harness and the second wire harness to move synchronously.

3. The lifting device according to claim 2, characterized in that: The first wiring harness and the second wiring harness each include a first segment and a second segment connected to each other; The first section is arranged on the housing, and the second section is arranged in the corresponding drag chain, and the movement directions of the first section and the second section are opposite; The first section is configured to be moved by the lifting body and to drive the second section to move in an opposite direction.

4. The lifting device according to claim 3, characterized in that: The drag chain assembly includes a first mounting plate, which is mounted on the housing and located at the bottom of the lifting body; the first wiring harness and the second wiring harness each include a third section connecting the first section and the second section; The third section of the first wire harness and the third section of the second wire harness are both located on the first mounting plate and are spaced apart.

5. The lifting device according to claim 4, characterized in that: The drag chain assembly further includes a second mounting plate and a guide plate, wherein the second mounting plate is mounted on the bottom of the housing, and the guide plate connects the second mounting plate and the first mounting plate; The drag chain assembly includes a first drag chain and a second drag chain, wherein the first drag chain and the second drag chain are respectively located on opposite sides of the guide plate.

6. The lifting device according to claim 5, characterized in that: The first drag chain and the second drag chain each include a first end and a second end that are oppositely disposed, the first end being connected to the first mounting plate, and the second end being connected to the bottom of the lifting body; During the movement of the lifting body, the extension directions of the first end and the second end remain the same.

7. The lifting device according to claim 5, characterized in that: The housing further comprises a receiving cavity and two openings communicating with the receiving cavity, wherein the two openings are respectively used for passing the first drag chain and the second drag chain; The accommodating cavity is used to accommodate the driver.

8. The lifting device according to claim 4, characterized in that: The drag chain assembly further includes a fixing member for fixing the first wiring harness and the second wiring harness, and the number of the fixing members is multiple; A portion of the fixing members are arranged at intervals on the inner wall of the shell, and a portion of the fixing members are arranged at intervals on the first mounting plate.

9. The lifting device according to any one of claims 1 to 4, characterized in that: The length of the drag chain is greater than the movable distance of the lifting body.

10. A surgical robot 10, characterized in that: comprising a rotating device, a mechanical arm, and a lifting device as claimed in any one of claims 1 to 9; The output end of the lifting device is connected to the fixed end of the rotating device, and the lifting device is used to drive the rotating device to move up and down; The fixed end of the rotating device is connected to the mechanical arm, and the rotating device is used to drive the mechanical arm to rotate.

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