Support system and surgical robot

Abstract

The utility model provides a supporting system and a surgical robot, the surgical robot comprises a trolley, a mechanical arm and the supporting system, the mechanical arm is arranged on the trolley, and the supporting system is arranged at the bottom of the trolley. The supporting system comprises a mounting frame; the at least two supporting units are respectively connected with the mounting frame; the at least one first pedal is in transmission connection with the supporting unit; when the first pedal rotates from the first position to the second position in the first direction, the first pedal can drive the supporting unit to be switched to the load state. When the first pedal rotates from the second position to the first position in the second direction, the supporting unit can be driven to be switched to the no-load state, and the second direction is opposite to the first direction; at least one supporting unit is firstly switched to a load state relative to the other supporting units. According to the trolley lifting device, one part of the trolley can be lifted firstly, the other part of the trolley is lifted later, the lifting weight of each time is reduced, and therefore the treading force can be reduced, and labor is saved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medical devices, and more particularly to a support system and a surgical robot. BACKGROUND

[0002] Part of the mechanical arm of the surgical robot needs to be installed on a trolley to facilitate the transfer of the mechanical arm. Such a surgical robot needs to effectively fix the trolley during the operation to ensure the position reliability of the mechanical arm during the operation. Such a surgical robot generally sets a pedal and a support unit, uses the pedal to switch the support unit between a load state and an empty load state, and then effectively fixes the trolley. However, due to the large weight of the mechanical arm and the trolley, a large stepping force is required to realize the state switching of the support unit, which is laborious and inconvenient to operate. CONTENT OF THE UTILITY MODEL

[0003] The purpose of the embodiment of the application is to provide a support system and a surgical robot to solve the technical problem that a large stepping force is required to realize the state switching of the support unit in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the application is to provide a support system, comprising:

[0005] a mounting frame;

[0006] at least two support units, respectively connected with the mounting frame;

[0007] at least one first pedal, the first pedal is in transmission connection with the support unit; when the first pedal rotates from a first position to a second position along a first direction, it can drive the support unit to switch to a load state; when the first pedal rotates from the second position to the first position along a second direction, it can drive the support unit to switch to an empty load state, the second direction is opposite to the first direction; at least one of the support units is switched to the load state first relative to the rest of the support units.

[0008] In some embodiments, the at least two support units include at least one front support unit and at least one rear support unit;

[0009] The front support unit is switched to the load state first relative to the rear support unit;

[0010] Alternatively, the rear support unit is switched to the load state first relative to the front support unit.

[0011] In some embodiments, the at least two support units include two front support units and one rear support unit, the front support units and the rear support unit are arranged in a front-rear direction, the two front support units are arranged in a third direction, a projection of the rear support unit in the front-rear direction is located between the two front support units, the third direction is perpendicular to the front-rear direction, and the rear support unit is switched to the load state before the front support units.

[0012] In some embodiments, the support system includes a central shaft and one first pedal, the central shaft is rotatably arranged on the mounting frame, the first pedal is connected to the central shaft and rotates synchronously, and the central shaft is drivingly connected to each support unit.

[0013] In some embodiments, the at least two support units include at least one front support unit and at least one rear support unit, the support system further includes a first linkage mechanism and a second linkage mechanism, the first linkage mechanism is drivingly connected between the central shaft and the front support unit, and the second linkage mechanism is drivingly connected between the central shaft and the rear support unit.

[0014] In some embodiments, the first linkage mechanism includes a first linkage and a second linkage, a first end of the first linkage is fixedly connected to the central shaft and has a first hinge point with the mounting frame, a second end of the first linkage is hingedly connected to the second linkage and has a second hinge point, and an end of the second linkage away from the first linkage is hingedly connected to the front support unit and has a third hinge point.

[0015] The second linkage mechanism includes a third linkage and a fourth linkage, a third end of the third linkage is fixedly connected to the central shaft and has a fourth hinge point with the mounting frame, a fourth end of the third linkage is hingedly connected to the fourth linkage and has a fifth hinge point, and an end of the fourth linkage away from the third linkage is hingedly connected to the rear support unit and has a sixth hinge point.

[0016] The first hinge point O1 and the third hinge point O3 have a first distance d1, the fourth hinge point O4 and the sixth hinge point O6 have a second distance d2, the change amount of the second distance d2 is greater than the change amount of the first distance d1 before the rear support unit (200b) starts to support the ground, the change amount of the second distance d2 is less than the change amount of the first distance d1 from the rear support unit (200b) starting to support the ground to the load state, and the total change amount of the first distance d1 is equal to the total change amount of the second distance d2 from the empty load state to the load state.

[0017] In some embodiments, the structural parameters of at least one support unit are different from those of the remaining support units.

[0018] In some embodiments, the support unit comprises a connecting frame, a support leg, a first support rod and a second support rod; the connecting frame is fixedly connected with the mounting frame, the support leg is slidingly arranged on the connecting frame in the vertical direction, the first support rod and the second support rod are hingedly connected with each other, one end of the first support rod away from the second support rod is hingedly connected with the connecting frame, one end of the second support rod away from the first support rod is hingedly connected with the support leg, and the first pedal is drivingly connected with the first support rod; one side of the second support rod away from the first pedal is provided with a limiting protrusion, the limiting protrusion abuts against the inner wall of the connecting frame to limit the second support rod in the vertical state from continuing to tilt away from the first pedal.

[0019] In some embodiments, the support system further comprises a reset assembly connected with the first pedal;

[0020] When the first pedal rotates from the first position to the second position in the first direction, the support unit can be driven to switch from the unloaded state to the loaded state, and the reset assembly accumulates elastic potential energy and is locked;

[0021] After the reset assembly is unlocked, the first pedal can be reset to the first position.

[0022] In some embodiments, when the first pedal rotates from the second position to the third position in the first direction, the reset assembly continues to accumulate elastic potential energy and is unlocked to reset the first pedal to the first position in the second direction.

[0023] In some embodiments, the reset assembly comprises a fixed member fixedly connected with the mounting frame, a sliding member slidingly connected with the fixed member, a reset member abutting between the fixed member and the sliding member, and a limiting member movably arranged on the sliding member;

[0024] When the first pedal rotates from the first position to the second position in the first direction, the sliding member can be pushed to move from the fourth position to the fifth position, the limiting member forms a limit with the fixed member to limit the reset of the sliding member, and the reset member accumulates elastic potential energy;

[0025] When the first pedal moves from the second position to the third position in the first direction, the sliding member can be pushed to move from the fifth position to the sixth position, the limiting member avoids the fixed member, the reset member drives the reset of the sliding member, and the sliding member drives the reset of the first pedal.

[0026] In some embodiments, the fixed member has a central hole, the sliding member is arranged through the central hole, the limiting member is rotationally arranged on the sliding member, and a compressed first elastic member is further arranged in the sliding member;

[0027] When the sliding member moves from the fourth position to a fifth position, the limiting member is driven by the sliding member to the upper end surface of the central hole, and the first elastic member pushes the limiting member to rotate to be clamped with the fixed member;

[0028] When the sliding member moves from the fifth position to a sixth position, the limiting member is continuously pushed to rotate by the first elastic member so that the limiting member is disengaged from the fixed member.

[0029] In some embodiments, the support system further comprises:

[0030] A locking assembly is mounted on the mounting frame, and the locking assembly is connected with the first pedal. The locking assembly has a locking state and a release state. In the locking state, the locking assembly can limit the rotation of the first pedal in the second direction. In the release state, the first pedal can rotate in the second direction.

[0031] A second pedal is rotationally connected with the first pedal. When the second pedal rotates from a seventh position to an eighth position in the first direction, the second pedal can switch the locking assembly to the release state. When the second pedal rotates from the eighth position to the seventh position in the second direction, the second pedal can switch the locking assembly to the locking state.

[0032] In some embodiments, the support system further comprises a central shaft, and the first pedal rotates synchronously with the central shaft.

[0033] The locking assembly comprises a ratchet wheel and a pawl. The ratchet wheel is fixedly sleeved on the central shaft, and the second pedal is sleeved outside the ratchet wheel. A through hole is formed in the position where the second pedal is sleeved on the ratchet wheel. One end of the pawl is rotationally arranged on the mounting frame. When the other end of the pawl penetrates through the through hole and abuts against the ratchet wheel, the locking assembly is in the locking state. When the other end of the pawl is located outside the through hole, the locking assembly is in the release state.

[0034] In some embodiments, the locking assembly further comprises an elastic limiting structure connected with the mounting frame. The elastic limiting structure elastically abuts against the outer periphery of the second pedal, so as to keep the second pedal in the locking state or the release state.

[0035] In some embodiments, the support system further comprises a transmission shaft and a linkage mechanism, the linkage mechanism comprising at least two linkages successively hinged to the first pedal, a first connecting end of the transmission shaft being slidingly hinged with the linkages, and a second connecting end of the transmission shaft being hinged with the support unit, and a third elastic member being in abutment between the transmission shaft and the linkages.

[0036] In another aspect, the application further provides a surgical robot comprising a trolley, a mechanical arm and the above support system, the mechanical arm being arranged on the trolley, and the support system being arranged at the bottom of the trolley.

[0037] The support system and the surgical robot provided by the application have the beneficial effects that by switching at least one support unit to the load state first relative to the other support units, i.e. by making the at least one support unit support the ground first to lift the trolley, each support unit can support the ground in at least two steps, each support unit can lift the trolley in at least two steps, i.e. by making a part of the trolley be lifted first and another part of the trolley be lifted later, the weight lifted each time is reduced, so that the stepping force can be reduced, labor is saved and the user can operate conveniently. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0039] Figure 1 The structural schematic diagram of the support system and the trolley in the surgical robot provided by the application is shown in the following figure:

[0040] Figure 2 The structural schematic diagram of the support system and the trolley in the surgical robot provided by the application is shown in the following figure: Figure 2

[0041] Figure 3 The structural schematic diagram of the support system provided by the application is shown in the following figure:

[0042] Figure 4 The structural schematic diagram of the first linkage mechanism and the front support unit in the support system provided by the application when the first pedal is in the first position is shown in the following figure:

[0043] Figure 5 The structural schematic diagram of the first linkage mechanism and the front support unit in the support system provided by the application when the first pedal is in the second position is shown in the following figure:

[0044] Figure 6 The structural schematic diagram of the first linkage mechanism and the front support unit in the support system provided by the application when the first pedal is in the second position is shown in the following figure: Figure 5 ​Enlarged view of the first pedal and the first linkage mechanism;

[0045] Figure 7 Cross-sectional view of the second linkage mechanism and the rear support unit in the support system provided by the embodiment of the present application when the first pedal is in the first position;

[0046] Figure 8 Cross-sectional view of the second linkage mechanism and the rear support unit in the support system provided by the embodiment of the present application when the first pedal is in the second position;

[0047] Figure 9 Cross-sectional view of the second linkage mechanism and the rear support unit in the support system provided by the embodiment of the present application when the first pedal is deeply stepped;

[0048] Figure 10 Schematic view of the first linkage mechanism and the front support unit in the idle state;

[0049] Figure 11 Schematic view of the first linkage mechanism and the front support unit in the loaded state;

[0050] Figure 12 Schematic view of the second linkage mechanism and the rear support unit in the idle state;

[0051] Figure 13 Schematic view of the second linkage mechanism and the rear support unit in the loaded state;

[0052] Figure 14 Schematic view of the front support unit in the support system provided by the embodiment of the present application in the loaded state and the transmission shaft;

[0053] Figure 15 Schematic view of the front support unit in the support system provided by the embodiment of the present application in the idle state; Figure 12 Enlarged view of the front support unit;

[0054] Figure 16 Schematic view of the front support unit in the support system provided by the embodiment of the present application in the idle state;

[0055] Figure 17 Schematic view of the descending displacement and time relationship of the front support unit, the rear support unit and the first pedal in the embodiment of the present application;

[0056] Figure 18 Schematic view of the first pedal and the reset assembly in the embodiment of the present application;

[0057] Figure 19 Schematic view of the first pedal, the pusher, the reset assembly and the support unit in the embodiment of the present application;

[0058] Figure 20A sectional view of a reset assembly in an embodiment of the present application;

[0059] Figure 21 A structure diagram of the reset assembly in an embodiment of the present application in different states along with the movement of the first pedal;

[0060] Figure 22 A reset displacement-time relationship diagram of the front support unit, the rear support unit and the first pedal in an embodiment of the present application;

[0061] Figure 23 A structure diagram of the second pedal and the locking assembly in a locked state in an embodiment of the present application;

[0062] Figure 24 A structure diagram of the second pedal and the locking assembly in a released state in an embodiment of the present application;

[0063] Figure 25 A structure diagram of the first pedal and the second pedal in an embodiment of the present application.

[0064] In the drawings, various reference numerals refer to:

[0065] 1, support system; 100, mounting frame; 110, mounting shaft; 200, support unit; 200a, front support unit; 200b, rear support unit; 210, connecting frame; 220, support leg; 230, first support rod; 240, second support rod; 241, limiting protrusion; 242, avoiding slot; 250, fourth elastic member; 300, first pedal; 310, first plate body; 311, extension plate; 312, main pedal; 313, accommodation gap; 320, linkage member; 321, linkage block; 322, linkage rubber pad; 400, center shaft; 500, first linkage mechanism; 510, first link; 520, second link; 600, second linkage mechanism; 610, third link; 620, fourth link; 700, reset assembly; 710, fixing member; 711, center hole; 720, sliding member; 730, reset member; 740, limiting member; 741, first clamping groove; 742, first limiting surface; 743, second clamping groove; 744, second limiting surface; 750, first elastic member; 760, steel ball; 800, second pedal; 810, second plate body; 820, connecting sleeve; 821, through hole; 900, locking assembly; 910, ratchet wheel; 911, tooth groove; 920, pawl; 930, second elastic member; 940, limiting structure; 1000, pushing member; 1100, transmission shaft; 1110, long hole; 1200, pin; 1300, third elastic member; 2, trolley; 21, roller; 22, support plate; X1, first direction; X2, second direction. DETAILED DESCRIPTION

[0066] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, further detailed description will be made to the present application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0067] 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.

[0068] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0069] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0070] Part of the mechanical arm of the surgical robot needs to be installed on the trolley to facilitate the transfer of the mechanical arm. Such surgical robots need to effectively fix the trolley during the operation to ensure the position reliability of the mechanical arm during the operation. Specifically, a plurality of support units are arranged below the trolley, and the support units have a load state and an empty load state. When the support units are in the load state, the support units abut against the ground. When the support units are in the empty load state, the rollers of the trolley are supported on the ground. At present, there are two ways to switch the support units on the market: first, an electric control mode is used to switch the state of the support units. However, this switching mode has high requirements for the stability of the control, the control algorithm and the structural stability; second, a pedal connected with the support unit is arranged, and the pedal is used to switch the support units between the load state and the empty load state, so that the trolley is effectively fixed. However, due to the large weight of the mechanical arm and the trolley, a large pedaling force is required to switch the state of the support units, which is laborious and inconvenient to operate. In addition, in order to avoid excessive pedaling force, the foot pedal is usually designed to be longer to increase the leverage to reduce the pedaling force.

[0071] To solve the above problems, the embodiment of the present application provides a support system 1 and a surgical robot. At least one support unit 200 is switched to a load state relative to the remaining support units 200 in each support unit 200 arranged below the trolley 2. In this way, each support unit 200 can be supported on the ground in at least two steps, that is, the trolley 2 is lifted in at least two steps, so that part of the trolley 2 is lifted first and the other part is lifted later, so that the weight of each lifting is reduced, thereby reducing the stepping force, saving labor and facilitating user operation.

[0072] Please refer to Figures 1 to 3 The support system 1 provided by the embodiment of the present application will be described in detail.

[0073] The support system 1 comprises a mounting frame 100, at least two support units 200 and at least one first pedal 300. The at least two support units 200 are respectively connected with the mounting frame 100; the first pedal 300 is in transmission connection with the support unit 200; when the first pedal 300 rotates from a first position to a second position along a first direction X1, the support unit 200 can be driven to switch to a load state; when the first pedal 300 rotates from the second position to the first position along a second direction X2 opposite to the first direction X1, the support unit 200 can be driven to switch to an unloaded state; and at least one support unit 200 is switched to the load state relative to the remaining support units 200.

[0074] The mounting frame 100 is used to realize the connection between the support system 1 and the trolley 2, and the mounting frame 100 is also used to connect the support units 200 and the first pedal 300 into a stable whole, that is, to form the support system 1.

[0075] The number of support units 200 is at least two, for example, two, three, four or more. The support units 200 are arranged at intervals to be respectively supported at different positions of the mounting frame 100, for example, the support units 200 can be distributed at intervals in the front-rear direction and / or the left-right direction (for the sake of description, the forward and backward directions of the trolley 2 are referred to as the front-rear direction, the height direction of the trolley 2 is referred to as the vertical direction, and the direction perpendicular to the front-rear direction and the vertical direction is referred to as the left-right direction) to form uniform and stable support for the mounting frame 100, the trolley 2 and the mechanical arm.

[0076] The first pedal 300 is in transmission connection with the support unit 200, including the following multiple cases: 1, the support system 1 includes a first pedal 300, the first pedal 300 is in transmission connection with each support unit 200 respectively, and the first pedal 300 drives each support unit 200 simultaneously; 2, the support system 1 includes multiple first pedals 300, each first pedal 300 is in transmission connection with at least one support unit 200, and drives the support unit 200 in transmission connection therewith to switch states.

[0077] The at least one support unit 200 is switched to the load state relative to the remaining support units 200, which means that part of the support units 200 can reach the load state first, and then the remaining support units 200 are driven to reach the load state, for example, one or two support units 200 can be driven to reach the load state first, and then the remaining support units 200 are driven to reach the load state.

[0078] It should be noted that the load state here is the jacking state after the support unit is fully extended.

[0079] The support system 1 provided by the embodiment of the present application can make at least one support unit 200 switch to the load state relative to the remaining support units 200, that is, at least one support unit 200 supports the ground to lift the trolley 2, so that each support unit 200 can support the ground in at least two steps, each support unit 200 can lift the trolley 2 in at least two steps, that is, part of the trolley 2 is lifted first, and the other part is lifted later, which reduces the weight of each lifting, thereby reducing the stepping force, saving labor and facilitating user operation.

[0080] In some embodiments, please refer to Figure 2 and Figure 3 The at least two support units 200 include at least one front support unit 200a and at least one rear support unit 200b; the front support unit 200a is switched to the load state relative to the rear support unit 200b; or, the rear support unit 200b is switched to the load state relative to the front support unit 200a. That is, each support unit 200 supports the front and rear parts of the trolley 2 respectively, and then the front and rear parts of the trolley 2 are lifted in two steps, and the weight of the trolley 2 is lifted in two parts, so that the stepping force of the first pedal 300 can be halved.

[0081] As an example, please refer to Figure 2 and Figure 3At least two support units 200 include two front support units 200a and one rear support unit 200b, the front support units 200a and the rear support unit 200b are arranged in the front-rear direction, the two front support units 200a are arranged in the third direction (i.e. the left-right direction), the front projection of the rear support unit 200b in the front-rear direction is located between the two front support units 200a, the third direction is perpendicular to the front-rear direction, and the rear support unit 200b is switched to the load state first relative to the front support unit 200a. The above arrangement makes the two front support units 200a and one rear support unit 200b combined, three support points can determine a plane, so that the three support units 200 will not appear the condition of virtual leg, and the number of support units 200 can be reduced. It can be understood that in other embodiments of the present application, the number of front support units 200a can also be one, three or more than three, and the number of rear support units 200b can also be two, three or more than three; in addition, each support unit 200 can also be arranged in the left-right direction, which is not limited here.

[0082] In some embodiments, referring to Figure 2 and Figure 3 , the front support unit 200a refers to the support unit 200 relatively far away from the first pedal 300, and the rear support unit 200b refers to the support unit 200 relatively close to the first pedal 300.

[0083] In some embodiments, referring to Figure 3 , the support system 1 further includes a central shaft 400 and a first pedal 300, the central shaft 400 is rotatably arranged on the mounting frame 100, the first pedal 300 is connected with the central shaft 400 and rotates synchronously, and the central shaft 400 is in driving connection with each support unit 200.

[0084] Among them, the first pedal 300 and the central shaft 400 rotate synchronously, when the first pedal 300 rotates in the first direction X1, the central shaft 400 can drive each support unit 200 to switch to the load state; when the first pedal 300 rotates in the second direction X2, the central shaft 400 can drive each support unit 200 to switch to the idle state.

[0085] In addition, the first pedal 300 and the central shaft 400 rotate synchronously, which can be formed by the concave-convex matching of the circumferential limiting of the first pedal 300 and the central shaft 400, or the first pedal 300 and the central shaft 400 can be directly fixedly connected to make the first pedal 300 and the central shaft 400 rotate synchronously.

[0086] In this embodiment, the transmission connection between the first pedal 300 and each support unit 200 is formed by the central shaft 400, and only one step of the first pedal 300 is needed to switch the state of each support unit 200, and the state switching of at least one support unit 200 to the load state relative to the remaining support units 200 can be realized. It can be understood that in other embodiments of the present application, the support system 1 can also include two first pedals 300 and two central shafts 400, the two central shafts 400 are respectively synchronous with the two first pedals 300, and the state switching of part of the support units 200 to the load state and part of the support units 200 to the load state can be realized by stepping on the two first pedals 300 in sequence, which is not limited herein.

[0087] In some embodiments, referring to Figure 3 , at least two support units 200 include at least one front support unit 200a and at least one rear support unit 200b; the support system 1 further includes a first linkage mechanism 500 and a second linkage mechanism 600, the first linkage mechanism 500 is in transmission connection between the central shaft 400 and the front support unit 200a, and the second linkage mechanism 600 is in transmission connection between the central shaft 400 and the rear support unit 200b. Among them, through the setting of the first linkage mechanism 500 and the second linkage mechanism 600, the rotation of the first pedal 300 can be transmitted to the support unit 200 to realize the state switching of the support unit 200, and the first linkage mechanism 500 and the second linkage mechanism 600 are simple in structure and can realize remote driving, so that the same first pedal 300 can be used to drive the front support unit 200a and the rear support unit 200b, making the driving labor-saving and convenient. It can be understood that in other embodiments of the present application, other structures can also be used to realize the transmission between the support unit 200 and the first pedal 300, such as cam mechanism, gear and rack mechanism or ball screw mechanism, etc.

[0088] In the present application, to realize that the front supporting unit 200 switches to the load state first and the rear supporting unit 200 switches to the load state later, the following methods can be used: the first method is to drive each supporting unit 200 by different first pedals 300, in which case, the first and second pedals 300 are driven in sequence to realize the state switching of the supporting units 200; the second method is to set the same structure for each supporting unit 200, and to set the parameters of the first and second connecting rod mechanisms 500 and 600 differently, so that when the first pedal 300 is stepped on, the movement amplitude of the first connecting rod mechanism 500 is different from that of the second connecting rod mechanism 600, thereby making the rear supporting unit 200b switch to the state first; the third method is to set the same structure for the first and second connecting rod mechanisms 500 and 600, and then to design the structural parameters of the front and rear supporting units 200a and 200b differently, so as to realize that the rear supporting unit 200b switches to the state first. The latter two cases will be described below.

[0089] For the second case, the specific structure of the front and rear supporting units 200a and 200b will be described first. The front and rear supporting units 200a and 200b have the same structure, and the front supporting unit 200a will be described in detail. Please refer to Figures 14 to 16 , the front supporting unit 200a includes a connecting frame 210, a supporting leg 220, a first supporting rod 230 and a second supporting rod 240. The connecting frame 210 is fixedly connected to the mounting frame 100, the supporting leg 220 is slidably arranged in the connecting frame 210 along the vertical direction, the first and second supporting rods 230 and 240 are hingedly connected to each other, the first supporting rod 230 is hingedly connected to the connecting frame 210 at one end thereof away from the second supporting rod 240 and has a seventh hinge point O7, the second supporting rod 240 is hingedly connected to the supporting leg 220 at one end thereof away from the first supporting rod 230, the first connecting rod mechanism 500 is hingedly connected to the first supporting rod 230, and the first and second supporting rods 230 and 240 and the supporting leg 220 form a crank slider mechanism. When the first pedal 300 pushes the first supporting rod 230 through the first connecting rod mechanism 500, the first supporting rod 230 is rotated, thereby driving the supporting leg 220 to rise and fall in the connecting frame 210.

[0090] Please refer to Figures 4 to 9 , the first connecting rod mechanism 500 includes a first connecting rod 510 and a second connecting rod 520. The first connecting rod 510 has oppositely arranged first and second ends. The first end of the first connecting rod 510 is fixedly connected to the central shaft 400 and has a first hinge point O1 with the mounting frame 100. The second end of the first connecting rod 510 is hingedly connected to the second connecting rod 520 and has a second hinge point O2. The second end of the second connecting rod 520 away from the first connecting rod 510 is hingedly connected to the front supporting unit 200a and has a third hinge point O3.

[0091] The second linkage mechanism 600 comprises a third linkage 610 and a fourth linkage 620. The third linkage 610 has oppositely arranged third and fourth ends. The third end of the third linkage 610 is fixedly connected to the central shaft 400 and has a fourth hinge joint O4 with the mounting frame 100. The fourth end of the third linkage 610 is hingedly connected to the fourth linkage 620 and has a fifth hinge joint O5. The end of the fourth linkage 620 away from the third linkage 610 is hingedly connected to the rear support unit 200b and has a sixth hinge joint O6.

[0092] Please refer to Figures 10 to 13 It can be seen that the first distance d1 between the first hinge joint O1 and the third hinge joint O3 is greater than the second distance d2 between the fourth hinge joint O4 and the sixth hinge joint O6. Before the rear support unit 200b starts to support the ground, the change amount of the second distance d2 is greater than that of the first distance d1. From the start of supporting the ground to the load state, the change amount of the second distance d2 is less than that of the first distance d1. From the empty load state to the load state, the total change amount of the first distance d1 is equal to that of the second distance d2.

[0093] In this embodiment, by setting the total change amount of the first distance d1 equal to that of the second distance d2 from the empty load state to the load state, the initial state and the terminal state of the front support unit 200a and the rear support unit 200b are the same in the case of the same structure, which ensures the stable support of the support system 1. At the same time, by designing the change amount of the second distance d2 greater than that of the first distance d1 before the rear support unit 200b starts to support the ground, the rear support unit 200b starts to change relatively larger, which can enter the load state first, thereby realizing the front support unit 200a and the rear support unit 200b entering the load state in sequence.

[0094] In some embodiments, please refer to Figure 12 and Figure 13 The third linkage 610 and the fourth linkage 620 have a second included angle A2. In the load state, the second included angle A2 is close to 180 degrees. The above setting can give the front support unit 200a more sufficient support time, and more easily realize the front support unit 200a and the rear support unit 200b entering the load state in sequence.

[0095] In some embodiments, please refer to Figure 15 and Figure 16The second support rod 240 has a limiting protrusion 241 on the side away from the first pedal 300, the limiting protrusion 241 abuts against the inner wall of the connecting frame 210 to limit the second support rod 240 in the vertical state from continuing to tilt away from the first pedal 300. Specifically, when the first pedal 300 rotates the first support rod 230 and the second support rod 240 which are at an included angle to rotate to the collinear state, at this time the support leg 220 abuts against the ground, the limiting protrusion 241 is arranged to avoid that the first support rod 230 and the second support rod 240 continue to tilt when the first pedal 300 is deeply stepped, thereby avoiding the situation that the support leg 220 cannot stably support the ground due to the second support rod 240 continuing to tilt and causing the support leg 220 to rise, and further ensuring that the support leg 220 can stably support the ground. In addition, the side of the second support rod 240 towards the first pedal 300 is formed with an avoiding groove 242 for avoiding the side wall of the connecting frame 210, so that the second support rod 240 can be inserted into the connecting frame 210.

[0096] In addition, in the present application, in order to ensure the support reliability of the support unit 200, the included angle of the first support rod 230 and the second support rod 240 in the loaded state is designed to be an included angle of 1°-2°, that is, the first support rod 230 is slightly tilted away from the first pedal 300 relative to the vertical direction, and the second support rod 240 is slightly tilted away from the first pedal 300 relative to the vertical direction. When the support unit 200 is in the loaded state, the support unit 200 and the ground have a force of action, the ground has an upward thrust force on the support leg 220 of the support unit 200, at this time, the thrust force only causes the second support rod 240 to continue to tilt away from the first pedal 300, and the limiting protrusion 241 can just prevent the second support rod 240 from continuing to tilt, so that the support unit 200 can be reliably self-locked.

[0097] In addition, please refer to Figure 16 The support unit 200 further comprises a fourth elastic member 250, one end of the fourth elastic member 250 is fixed to the connecting frame 210, and the other end of the fourth elastic member 250 is fixed to the support leg 220, the fourth elastic member 250 is used to drive the support leg 220 to reset when the first pedal 300 moves to drive the first support rod 230 to reset.

[0098] In the present application, please refer to Figure 17FIG. 6 is a diagram showing the displacement-time relationship of the support feet 220 of the front support unit 200a and the rear support unit 200b during the rotation of the first pedal 300 from the first position to the second position in the first direction X1, wherein L1 is the displacement-time line of the first pedal 300, L2 is the displacement-time line of the rear support unit 200b, and L3 is the displacement-time line of the front support unit 200a. As can be seen from the diagram, the displacement of the first pedal 300 changes linearly with time, specifically by controlling the user's pedaling speed to make the first pedal 300 rotate at a constant speed. When the first pedal 300 is pedaled to rotate from the first position S1 to the first preset position S01 in the first direction X1, the rear support unit 200b descends to the position of point N1 and starts to touch the ground; as the first pedal 300 continues to rotate from the first preset position S01 to the second preset position S02, the rear support unit 200b descends to the position of point N2 to complete the lifting, i.e., to be in the load state, at this time, the front support unit 200a descends to the position of point M1 to start to touch the ground; as the first pedal 300 continues to be pedaled to rotate from the second preset position S02 to the second position S2, the rear support unit 200b remains in the load state along the segment N3 due to the arrangement of the limiting protrusion 241, at this time, the front support unit 200a descends to the position of point M2 to complete the lifting, i.e., to be in the load state. Overall, when the first pedal 300 rotates from the first position S1 to the first preset position S01, the support feet 220 of the rear support unit 200b start to contact the ground, and the support feet 220 of the front support unit 200a have not reached the ground; when the first pedal 300 rotates from the first preset position S01 to the second preset position S02, the support feet 220 of the rear support unit 200b complete the lifting and are completely in the load state, and the support feet 220 of the front support unit 200a also start to touch the ground; when the first pedal 300 rotates from the second preset position S02 to the second position S2, the front support unit 200a completes the lifting and is in the load state. In this embodiment, since the shapes and sizes of the crank slider mechanisms of the front support unit 200a and the rear support unit 200b are the same, it is only necessary to distinguish the fast and slow driving of the first support rod 230, specifically, when the first pedal 300 rotates by the same angle, the movement amplitude of the second connecting rod mechanism 600 is different from that of the first connecting rod mechanism 500, so that the swing amplitudes of the first support rods 230 of the rear support unit 200b and the front support unit 200a are different, and then the descending amplitudes of the support feet 220 are different, i.e., the state switching sequence of the rear support unit 200b and the front support unit 200a can be realized.

[0099] In the third case, the application can also change the structural parameters of the front support unit 200a and the rear support unit 200b to achieve the rear support unit 200b switching state first. Specifically, it includes two implementation manners, the first is to distinguish the angle parameters of the first support rod 230 and the second support rod 240; the second is to distinguish the length parameters of the first support rod 230 and the second support rod 240.

[0100] Specifically, for the first implementation manner, it is assumed that in the no-load state, the first support rod 230 and the second support rod 240 have an initial angle, and in the load state, the first support rod 230 and the second support rod 240 are arranged in line. The initial angle of at least one support unit 200 is different from the initial angle of the remaining support units 200, so that the time when each support unit 200 reaches the load state is different. For example, the initial angle of the front support unit 200a is greater than the initial angle of the rear support unit 200b, so that the front support unit 200a is switched to the load state after the rear support unit 200b.

[0101] Specifically, for the second implementation manner, the total length of the first support rod 230 and the second support rod 240 in each support unit 200 is distinguished, and the distance from the lower end surface of the connecting frame 210 of each support unit 200 to the ground is also distinguished, so that each support unit 200 can reach the load state in turn, and the height finally supported on the ground is equal.

[0102] In addition, in other embodiments, the length of the first support rod 230 and the second support rod 240 of the front and rear support units 200b can also be distinguished, so that the front support unit 200a is switched to the load state after the rear support unit 200b.

[0103] In some embodiments, please refer to Figures 18 to 20The support system 1 further comprises a reset assembly 700 connected with the first pedal 300; the first pedal 300 is moved from the first position to the second position along the first direction X1, capable of driving the support unit 200 to switch from the unloaded state to the loaded state, and the reset assembly 700 accumulates elastic potential energy and is locked; the reset assembly 700 is unlocked to drive the first pedal 300 to reset to the first position. Through the setting of the reset assembly 700, the elastic reset of the first pedal 300 can be realized, that is, the elastic reset of the support unit 200 is realized, and in the reset process, the user only needs to place the foot above the first pedal 300, and control the rising speed of the first pedal 300 by the force of the foot, that is, the reset speed of the support unit 200 can be slowed down, so as to ensure that the support unit 200 does not cause large vibration to the trolley 2 and the mechanical arm during the retraction process. Of course, in other embodiments of the present application, the reset assembly 700 can not be provided, but the reset of the support unit 200 can be realized by the user hooking the first pedal 300 upward, which is not limited here.

[0104] In some embodiments, referring to Figures 18 to 20 When the first pedal 300 is moved from the second position to the third position along the first direction X1, the reset assembly 700 continues to accumulate elastic potential energy and is unlocked to reset the first pedal 300 to the first position along the second direction X2. That is, the first pedal 300 can be continuously stepped along the first direction X1 to unlock the reset assembly 700, so that the reset assembly 700 can reset the first pedal 300 from the third position to the first position.

[0105] In specific operation, when it is needed to switch the support unit 200 from the unloaded state to the loaded state, the first pedal 300 is stepped to move the first pedal 300 from the first position to the second position along the first direction X1, at this time the reset assembly 700 continues to accumulate elastic potential energy and is locked, so that the support unit 200 remains in the loaded state. When it is needed to switch the support unit 200 from the loaded state to the unloaded state, the first pedal 300 is continuously stepped along the first direction X1 to the third position, at this time the reset assembly 700 is unlocked, the reset assembly 700 drives the first pedal 300 to reset from the third position to the second position, and then from the second position to the first position, and the first pedal 300 resets from the second position to the first position, which can drive the support unit 200 to switch from the loaded state to the unloaded state.

[0106] In some specific embodiments, referring to Figures 18 to 20The reset assembly 700 comprises a fixing member 710 fixed to the mounting frame 100, a sliding member 720 in sliding connection with the fixing member 710, a reset member 730 abutting between the fixing member 710 and the sliding member 720, and a limiting member 740 movably arranged on the sliding member 720; when the first pedal 300 moves from the first position to the second position along the first direction X1, the sliding member 720 is pushed to move from the fourth position to the fifth position, the limiting member 740 is limited by the fixing member 710 to prevent the reset of the sliding member 720, and the reset member 730 accumulates elastic potential energy; when the first pedal 300 moves from the second position to the third position along the first direction X1, the sliding member 720 is pushed to move from the fifth position to the sixth position, the limiting member 740 avoids the fixing member 710, the reset member 730 drives the reset of the sliding member 720, and the sliding member 720 drives the reset of the first pedal 300.

[0107] In this embodiment, when the first pedal 300 moves from the first position to the second position along the first direction X1, the sliding member 720 is pushed to move from the fourth position to the fifth position, the relative position of the sliding member 720 and the fixing member 710 is changed, the limiting member 740 on the sliding member 720 is limited by the fixing member 710 to prevent the reset of the sliding member 720 (i.e. to prevent the reset of the sliding member 720 from the fifth position to the fourth position), so that the elastic force of the reset member 730 cannot be released temporarily, the first pedal 300 cannot be reset from the second position to the first position, and the support unit 200 is kept in the load state.

[0108] When it is needed to switch the support unit 200 from the load state to the idle state, the first pedal 300 is continuously depressed along the first direction X1, so that the first pedal 300 moves from the second position to the third position and pushes the sliding member 720 to move from the fifth position to the sixth position, the relative position of the sliding member 720 and the fixing member 710 is changed, the limiting member 740 on the sliding member 720 avoids the fixing member 710 to unlock the limiting, at this time, the reset member 730 can release the accumulated elastic potential energy to drive the reset of the sliding member 720 from the sixth position to the fourth position, the sliding member 720 drives the reset of the first pedal 300 from the third position to the first position, and the first pedal 300 drives the reset of the support unit 200 to the idle state.

[0109] In summary, the embodiment changes the position of the sliding member 720 and the fixing member 710 to achieve the sliding limiting and unlocking of the sliding member 720, that is, only deep pressing the first pedal 300 can achieve the reset unlocking of the sliding member 720 and the first pedal 300, which is simple and convenient to operate and has a simple structure. In other embodiments, the reset member 730 can also be unlocked by other ways, for example, hooking the first pedal 300 upward to achieve the unlocking of the reset member 730, or locking the sliding member 720 by other ways, for example, locking the sliding member 720 by setting a locking part on the mounting frame 100, which is not limited here.

[0110] In some embodiments, referring to Figure 20 , the fixing member 710 has a center hole 711, the sliding member 720 is arranged through the center hole 711, the limiting member 740 is rotationally arranged on the sliding member 720, and the sliding member 720 is further provided with a compressed first elastic member 750; when the sliding member 720 moves from the fourth position to the fifth position, the limiting member 740 is driven by the sliding member 720 to the upper end surface of the center hole 711, the first elastic member 750 pushes the limiting member 740 to rotate to be clamped with the fixing member 710; when the sliding member 720 moves from the fifth position to the sixth position, the limiting member 740 is continuously pushed to rotate by the first elastic member 750 to make the limiting member 740 disengage from the fixing member 710. In this embodiment, the first elastic member 750 pushes the limiting member 740 to rotate in the sliding member 720, so as to switch the limiting member 740 between the clamped state and the disengaged state with the fixing member 710.

[0111] Specifically, referring to Figure 20 , the first elastic member 750 is connected with a steel ball 760, the limiting member 740 is circumferentially provided with two clamping grooves and two limiting surfaces, the clamping grooves and the limiting surfaces are alternately arranged circumferentially, and are respectively a first clamping groove 741, a first limiting surface 742, a second clamping groove 743 and a second limiting surface 744. Referring to Figure 21When the sliding member 720 is in the fourth position, the reset assembly 700 is in the E state, the first limiting surface 742 is in abutment with the inner circumferential surface of the fixed member 710, and the steel ball 760 is in abutment in the first clamping groove 741; when the sliding member 720 moves to the fifth position, the reset assembly 700 is switched from the E state, through the F state and the G state, to the A state, the first limiting surface 742 is disengaged from the inner circumferential surface of the fixed member 710, the limiting member 740 is rotated counterclockwise under the action of the first elastic member 750, until the first clamping groove 741 is clamped at the clamping angle between the inner wall surface and the upper end surface of the fixed member 710, so that the sliding member 720 cannot be reset, and at this time the steel ball 760 is in abutment with the second limiting surface 744; when the sliding member 720 slides to the sixth position, the reset assembly 700 is switched from the A state, through the B state, to the C state, the first clamping groove 741 is disengaged from the clamping angle of the fixed member 710, the limiting member 740 continues to rotate counterclockwise under the pushing of the first elastic member 750, until the second limiting surface 744 is in abutment with the upper end surface of the fixed member 710, at this time the limiting member 740 is released from the limiting, and the sliding member 720 can be reset from the sixth position to the fourth position, the limiting member 740 also rotates counterclockwise by 180 degrees under the pushing of the upper end surface of the fixed member 710, the reset assembly 700 is switched from the C state to the E state through the D state, and is reset to the initial state. It can be understood that in other embodiments of the present application, the limiting member 740 can also be slidably arranged on the sliding member 720, and the limiting member 740 can also be clamped with other positions of the fixed member 710, which is not limited herein.

[0112] In some embodiments, the sliding member 720 slides in the vertical direction, the first pedal 300 is in abutment below the sliding member 720, and the first pedal 300 pushes the sliding member 720 upward when it rotates, and pushes the first pedal 300 to reset when it descends.

[0113] Specifically, please refer to Figure 20 , the first pedal 300 is fixed on the central shaft 400, the central shaft 400 is fixed with a pushing member 1000, one end of the pushing member 1000 is fixed with the central shaft 400, and the other end of the pushing member 1000 is arranged below the sliding member 720, and the first pedal 300 rotates in the first direction X1 to push the sliding member 720 upward.

[0114] In the above embodiments, please refer to Figure 22FIG. 6 is a diagram showing the displacement-time relationship of the support feet 220 of the front support unit 200a and the rear support unit 200b during the rotation of the first pedal 300 from the second position S2 to the third position S3 along the first direction X1 and the resetting of the first pedal 300 from the third position S3 to the first position S1, wherein L4 is the displacement-time line of the first pedal 300, L5 is the displacement-time line of the rear support unit 200b, and L6 is the displacement-time line of the front support unit 200a. As shown in the diagram, the first pedal 300 is first depressed along the first direction X1 to rotate from the second position S2 to the third position S3, and then the first pedal 300 is reset by the resetting assembly 700. When the resetting assembly 700 resets the first pedal 300 to rotate the first pedal 300 along the second direction X2, the foot is placed on the first pedal 300 to slowly reset the first pedal 300 from the third position S3 to the first position S1. When the first pedal 300 rotates from the third position S3 to the second preset position S02 via the second position S2, the rear support unit 200b starts to rise. When the first pedal 300 rotates from the second preset position S02 to the first preset position S01 along the second direction X2, the front support unit 200a starts to rise. When the first pedal 300 rotates from the second preset position S01 to the first position S1, the rear support unit 200b and the front support unit 200a both reach the idle state.

[0115] In some embodiments, referring to Figure 23 and Figure 24The support system 1 further comprises a locking assembly 900 and a second pedal 800. The locking assembly 900 is mounted on the mounting frame 100 and connected with the first pedal 300. The locking assembly 900 has a locking state and a release state. In the locking state, the locking assembly 900 can limit the rotation of the first pedal 300 in the second direction X2. In the release state, the first pedal 300 can rotate in the second direction X2. The second pedal 800 is rotationally connected with the first pedal 300. When the second pedal 800 rotates from the seventh position to the eighth position in the first direction X1, the second pedal 800 can switch the locking assembly 900 to the release state. When the second pedal 800 rotates from the eighth position to the seventh position in the second direction X2, the second pedal 800 can switch the locking assembly 900 to the locking state. In this embodiment, the state of the locking assembly 900 is controlled by the second pedal 800, and then the rotation of the first pedal 300 is controlled. In the premise that the first pedal 300 can rotate, the state adjustment of the support unit 200 is realized by the rotation of the first pedal 300. This design makes two-step operation required for the first pedal 300 to drive the support unit 200 to switch to the empty load state, thereby reducing the risk of misoperation of the support unit 200 into the empty load state, improving the control reliability of the support system 1 and the working reliability of the support unit 200, thereby ensuring that the trolley 2 can reliably be in a stable working state. On the other hand, first, the first pedal 300 needs to be switched to the bidirectional rotation state, i.e., the locking assembly 900 needs to be switched to the release state, which requires the second pedal 800 to rotate in the first direction X1. Second, the support unit 200 needs to be switched to the empty load state, which requires the first pedal 300 to rotate in the second direction X2. This design of reverse rotation of the two pedals for unlocking can further reduce the risk of user misoperation, thereby better ensuring that the trolley 2 can reliably be in a stable working state. Further, the support system 1 is mechanically controlled. In the case of abnormal power failure, the support system 1 can still effectively control the state of the support unit 200 to effectively control the working stability of the trolley 2.

[0116] In some embodiments, referring to Figure 23 and Figure 24 , the support system 1 further comprises a center shaft 400, and the first pedal 300 rotates synchronously with the center shaft 400. The locking assembly 900 comprises a ratchet wheel 910 and a pawl 920. The ratchet wheel 910 is fixedly sleeved on the center shaft 400, and the second pedal 800 is sleeved outside the ratchet wheel 910. A through hole 821 is formed at the position where the second pedal 800 is sleeved on the ratchet wheel 910. One end of the pawl 920 is rotationally arranged on the mounting frame 100. When the other end of the pawl 920 penetrates through the through hole 821 and abuts against the ratchet wheel 910, the locking assembly 900 is in the locking state. When the other end of the pawl 920 is located outside the through hole 821, the locking assembly 900 is in the release state.

[0117] In the embodiment, the rotation state of the central shaft 400 is controlled by the cooperation of the ratchet wheel 910, the pawl 920 and the through hole 821, and the structure is simple and reliable, the switching operation between the locked state and the released state of the locking assembly 900 is convenient, and the use efficiency is high.

[0118] In the specific implementation process, the periphery of the ratchet wheel 910 is provided with a plurality of tooth grooves 911 arranged at equal intervals, or the periphery of the ratchet wheel 910 is provided with one tooth groove 911.

[0119] In some embodiments, as shown in Figure 24 The locking assembly 900 further includes a second elastic member 930, one end of the second elastic member 930 is connected with the mounting frame 100, the other end of the second elastic member 930 is connected with the pawl 920, and the second elastic member 930 is used to drive the pawl 920 to penetrate the locking through hole 821.

[0120] In the embodiment, the second elastic member 930 is arranged, which can improve the reliability of the pawl 920 penetrating the through hole 821 and abutting against the ratchet wheel 910, and further improve the control reliability of the rotation state of the central shaft 400.

[0121] In some embodiments, the second elastic member 930 is located above the pawl 920, and the second elastic member 930 can extrude the pawl 920 downward, so that the pawl 920 is tightly attached to the second pedal 800 or inserted into the through hole 821. Further, the second elastic member 930 is a torsion spring, the mounting frame 100 is provided with a mounting shaft 110, the torsion spring is rotationally arranged on the mounting shaft 110, one end of the torsion spring abuts against the mounting frame 100, and the other end of the torsion spring abuts against the pawl 920. Of course, in other embodiments, the second elastic member 930 can also be other types of elastic structures.

[0122] In some embodiments, please refer to Figure 23 and Figure 24 The locking assembly 900 further includes an elastic limiting structure 940, the elastic limiting structure 940 is connected with the mounting frame 100, and the elastic limiting structure 940 elastically abuts against the outer periphery of the second pedal 800, so that the second pedal 800 is kept in the locked state or the unlocked state.

[0123] Specifically, Figure 23 the second pedal 800 is kept in the locked state, Figure 24The second pedal 800 is kept in the unlocking state. When the second pedal 800 rotates to the length extension direction of the elastic limiting structure 940 passing through the rotation center line of the second pedal 800, the elastic limiting structure 940 abuts against the second pedal 800 so that the second pedal 800 cannot rotate, which is called the clamping state. When the external force drives the second pedal 800 to rotate in the first direction X1, the elastic limiting structure 940 can only push the second pedal 800 to continue rotating in the first direction X1 until the unlocking state by deviating from the clamping state. When the external force drives the second pedal 800 to rotate in the second direction X2, the elastic limiting structure 940 can only push the second pedal 800 to continue rotating in the second direction X2 until the locking state by deviating from the clamping state. In addition, a limiting structure can be arranged between the second pedal 800 and the mounting frame 100 to limit the movement stroke of the second pedal 800.

[0124] In some embodiments, the elastic limiting structure 940 is a spring plunger. Of course, in other embodiments, the elastic limiting structure 940 can also be other elastic structural members.

[0125] In some embodiments, the second pedal 800 includes a second plate body 810 and a connecting sleeve 820, the connecting sleeve 820 is sleeved outside the ratchet wheel 910, a through hole 821 is formed in the connecting sleeve 820, and the second plate body 810 extends outward from the connecting sleeve 820.

[0126] In some embodiments, the mounting frame 100 is provided with a sensor, and the second pedal 800 is provided with a trigger, which can trigger the sensor during the rotation of the second pedal 800. By arranging the trigger and the sensor, the position of the second pedal 800 can be identified and an electronic signal can be formed, so as to timely send a warning signal when the locking assembly 900 is in the released state, thereby reminding the user that the trolley 2 is in an unstable state at this time.

[0127] In the specific implementation process, the sensor is a microswitch, and the trigger is a ring-shaped trigger structure arranged on the side surface of the connecting sleeve 820.

[0128] In some embodiments, as shown in Figure 25 The first pedal 300 includes a first plate body 310 and a linkage 320, the first plate body 310 is fixedly connected with the center shaft 400, the linkage 320 is arranged on one side of the first plate body 310, and the linkage 320 can abut against the second pedal 800 and drive the second pedal 800 to rotate in the second direction X2.

[0129] By setting the linkage 320, the first pedal 300 can drive the second pedal 800 to rotate along the second direction X2 synchronously in the process of rotating along the second direction X2 to drive the support unit 200 to switch to the unloaded state, and then the locking assembly 900 is automatically switched to the locked state. On the one hand, this design can save the user's action and improve the user's use convenience, and on the other hand, it ensures that the locking assembly 900 can remain in the locked state when the support unit 200 is in the unloaded state, and then no matter when the user switches the support unit to the loaded state through the first pedal 300, the locking assembly 900 can effectively lock the central shaft 400 without the user performing additional operations, thereby avoiding the central shaft 400 from rotating along the second direction X2, and more reliably ensuring the stability of the support unit 200 in the loaded state.

[0130] Specifically, the first position of the first pedal 300 corresponds to the seventh position of the second pedal 800, and the second position of the first pedal 300 corresponds to the eighth position of the second pedal 800. In the initial state, the first pedal 300 is in the first position, and the second pedal 800 is in the seventh position, that is, both are in the highest position state. When the first pedal 300 rotates along the first direction X1 from the first position to the second position, each support unit 200 is switched to the loaded state. At this time, since the second pedal 800 is still in the seventh position, the locking assembly 900 is in the locked state, and the rotation of the first pedal 300 along the second direction X2 is locked, so that the first pedal 300 can only rotate along the first direction X1. When it is needed to switch the support unit 200 to the unloaded state, the second pedal 800 is first stepped on to rotate the second pedal 800 from the seventh position to the eighth position, so that the locking assembly 900 is switched to the released state, that is, the first pedal 300 can rotate along the second direction X2, and then the first pedal 300 is stepped deeper to rotate along the first direction X1 from the second position to the third position. At this time, the reset assembly 700 is unlocked, and the first pedal 300 is reset along the second direction X2 from the third position to the first position under the action of the reset assembly 700, and when the first pedal 300 is reset to the second position, it can drive the second pedal 800 to reset from the eighth position to the seventh position, thereby realizing the locking of the first pedal 300 along the second direction X2.

[0131] In some embodiments, as shown in Figure 25 The linkage 320 includes a linkage block 321 and a linkage rubber pad 322 arranged on the top of the linkage block 321. The linkage block 321 is connected to the bottom of the first plate body 310, and the linkage rubber pad 322 can form a buffer to avoid hard collision between the linkage block 321 and the second pedal 800.

[0132] In some embodiments, as shown in Figure 25As shown, the first plate body 310 comprises an extension plate 311 and a main pedal 312, one end of the extension plate 311 is connected with the central shaft 400, the other end of the extension plate 311 is connected with the main pedal 312, at least one side of the extension plate 311 is provided with a let-in notch 313, the linkage 320 extends below the let-in notch 313, and the second pedal 800 can be embedded in the let-in notch 313.

[0133] By arranging the main pedal 312 on the side of the extension plate 311 away from the central shaft 400, and arranging the let-in notch 313 on the side of the extension plate 311, and the second pedal 800 can be embedded in the let-in notch 313, the second pedal 800 is hidden on the side of the main pedal 312 close to the central shaft 400, thereby reducing the probability of the user stepping on the second pedal 800 by mistake, and reducing the risk of the locking assembly 900 switching to the released state due to the mistaken operation, and effectively improving the reliability of the support system 1.

[0134] In some embodiments, the size of the main pedal 312 along the axial direction of the central shaft 400 is greater than the size of the extension plate 311 along the axial direction of the central shaft 400, the extension plate 311 and the main pedal 312 integrally form a T-shaped structure, and the area on one side of the extension plate 311 and surrounded by the main pedal 312 forms the let-in notch 313.

[0135] In the specific implementation process, the size of the extension plate 311 along the axial direction of the central shaft 400 is greater than the size of the second pedal 800 along the axial direction of the central shaft 400, and further, the size of the extension plate 311 along the axial direction of the central shaft 400 is more than three times the size of the second pedal 800 along the axial direction of the central shaft 400. This design makes the overall size of the second pedal 800 smaller, further reducing the probability of the second pedal 800 being stepped on by mistake.

[0136] In this application, in the embodiment in which the deep stepping of the first pedal 300 is used to achieve the unlocking of the reset assembly 700, since the first pedal 300 rotates from the second position to the third position, in order to avoid the influence of the rotating action on the load state of each support unit 200, please refer to Figure 6 , the support system 1 further comprises a transmission shaft 1100 and a linkage mechanism (here, the linkage mechanism can be the first linkage mechanism 500 and the second linkage mechanism 600), the linkage mechanism comprises at least two linkages sequentially hinged to the first pedal 300, the first connecting end of the transmission shaft 1100 is slidingly hinged with the linkages, the second connecting end of the transmission shaft 1100 is hinged with the support unit 200, and the third elastic member 1300 is in abutment between the transmission shaft 1100 and the linkages. Among them, by arranging the third elastic member 1300 between the transmission shaft 1100 and the linkages, when the support unit has switched to the loaded state and the first pedal 300 is continuously deep stepped, the elastic potential energy can be accumulated by the compression of the third elastic member 1300, without affecting the support state of the support unit.

[0137] Specifically, in the present application, please refer to Figure 11 and Figure 13 , under the load state, the first included angle A1 between the first connecting rod 510 and the second connecting rod 520 is less than 180, the second included angle A2 between the third connecting rod 610 and the fourth connecting rod 620 is close to 180 degrees, that is, the fourth hinge point O4, the fifth hinge point O5 and the sixth hinge point O6 are close to collinear, at this time, when the first pedal 300 is continuously stepped on, the movement component of the first connecting rod 510 along the vertical direction will be much larger than the vertical component of the third connecting rod 610, therefore, the transmission shaft 1100 and the third elastic member 1300 can be arranged between the second connecting rod 520 and the front support unit 200a in the present application, and it is not necessary to arrange the third elastic member 1300 between the fourth connecting rod 620 and the rear support unit 200b. Of course, in other embodiments of the present application, the third elastic member 1300 can also be arranged between the fourth connecting rod 620 and the rear support unit 200b, which is not limited here.

[0138] Specifically, the second connecting rod 520 is fixedly connected with a pin 1200, the first connecting end of the transmission shaft 1100 has a long hole 1110, the pin 1200 is rotatably arranged in the long hole 1110, and the pin 1200 can slide along the long hole 1110, so as to realize the sliding connection between the second connecting rod 520 and the transmission shaft 1100.

[0139] On the other hand, please refer to Figures 1 to 2 , the present application also provides a surgical robot, which comprises a trolley 2, a mechanical arm and the above-mentioned support system 1, the mechanical arm is arranged on the trolley 2, and the support system 1 is arranged at the bottom of the trolley 2. By supporting the trolley 2 through the support system 1, the stability of the trolley 2 can be improved, and then the operation reliability and precision of the mechanical arm are improved. The trolley 2 comprises a support plate 22 and a roller 21 supported below the support plate 22.

[0140] The support system 1 provided by the embodiments of the present application, please refer to Figure 17 , when it is necessary to support the trolley 2 through the support system 1, the first pedal 300 is stepped on along the first direction X1 first, so that the first pedal 300 rotates from the first position S1 to the second position S2, so that the rear support unit 200b and the two front support units 200a are switched from the empty load state to the load state in turn, thereby supporting the trolley 2. At this time, the second pedal 800 is still in the seventh position, at this time, because the second pedal 800 is still in the seventh position, the locking assembly 900 is in the locking state, the rotation of the first pedal 300 along the second direction X2 is locked, so that the first pedal 300 can only rotate along the first direction X1, and the load insurance is realized.

[0141] When the transfer trolley 2 needs to be transferred, the second pedal 800 is first stepped on to rotate the second pedal 800 from the seventh position to the eighth position along the first direction X1 to unlock the locking assembly 900, so that the first pedal 300 can be bidirectional rotated; then the first pedal 300 is deeply stepped on along the first direction X1 to rotate the first pedal 300 from the second position S2 to the third position S3 along the first direction X1 to unlock the reset assembly 700, so that the reset assembly 700 can reset the first pedal 300 from the third position S3 to the first position S1 along the second direction X1, and in the process of resetting the first pedal 300 by the reset assembly 700, the user needs to put his foot on the first pedal 300 to slowly reset the first pedal 300 from the third position S3 to the first position S1, so as to switch the rear support unit 200b and the two front support units 200a to the empty load state in turn. At the same time, the first pedal 300 resets the second pedal 800 from the eighth position to the seventh position to lock the bidirectional rotation of the first pedal 300.

[0142] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A support system (1), characterized in that, include: Mounting bracket (100); At least two support units (200) are respectively connected to the mounting bracket (100); At least one first pedal (300) is tractively connected to the support unit (200); when the first pedal (300) rotates from a first position to a second position along a first direction (X1), it can drive the support unit (200) to switch to a load state; when the first pedal (300) rotates from a second position to a first position along a second direction (X2), it can drive the support unit (200) to switch to an unloaded state, the second direction (X2) being opposite to the first direction (X1); at least one of the support units (200) switches to the load state before the other support units (200).

2. The support system (1) as described in claim 1, characterized in that, At least two of the support units (200) include at least one front support unit (200a) and at least one rear support unit (200b); The front support unit (200a) switches to the load state before the rear support unit (200b); Alternatively, the rear support unit (200b) may switch to the load state before the front support unit (200a).

3. The support system (1) as described in claim 1, characterized in that, The support system (1) includes a central shaft (400) and a first pedal (300). The central shaft (400) is rotatably mounted on the mounting frame (100). The first pedal (300) is connected to the central shaft (400) and rotates synchronously. The central shaft (400) is connected to each of the support units (200) in a transmission connection.

4. The support system (1) as described in claim 3, characterized in that, At least two of the support units (200) include at least one front support unit (200a) and at least one rear support unit (200b); the support system (1) further includes a first linkage mechanism (500) and a second linkage mechanism (600), the first linkage mechanism (500) being driven between the central shaft (400) and the front support unit (200a), and the second linkage mechanism (600) being driven between the central shaft (400) and the rear support unit (200b).

5. The support system (1) as described in claim 4, characterized in that, The first linkage mechanism (500) includes a first link (510) and a second link (520). The first end of the first link (510) is fixed to the central shaft (400) and has a first hinge point (O1) with the mounting bracket (100). The second end of the first link (510) is hinged to the second link (520) and has a second hinge point (O2). The end of the second link (520) away from the first link (510) is hinged to the front support unit (200a) and has a third hinge point (O3). The second linkage mechanism (600) includes a third link (610) and a fourth link (620). The third end of the third link (610) is fixed to the central shaft (400) and has a fourth hinge point (O4) with the mounting bracket (100). The fourth end of the third link (610) is hinged to the fourth link (620) and has a fifth hinge point (O5). The end of the fourth link (620) away from the third link (610) is hinged to the rear support unit (200b) and has a sixth hinge point (O6). Wherein, the first hinge point (O1) and the third hinge point (O3) have a first distance (d1), and the fourth hinge point (O4) and the sixth hinge point (O6) have a second distance (d2). Before the rear support unit (200b) begins to support the ground, the change in the second distance (d2) is greater than the change in the first distance (d1). When the rear support unit (200b) goes from supporting the ground to the loaded state, the change in the second distance (d2) is less than the change in the first distance (d1), and from the unloaded state to the loaded state, the total change in the first distance (d1) is equal to the total change in the second distance (d2).

6. The support system (1) as described in claim 1, characterized in that, The structural parameters of at least one of the support units (200) are different from those of the other support units (200).

7. The support system (1) as described in claim 1, characterized in that, The support unit (200) includes a connecting frame (210), a support leg (220), a first support rod (230), and a second support rod (240); the connecting frame (210) is fixedly connected to the mounting frame (100), the support leg (220) is slidably disposed on the connecting frame (210) in the vertical direction, the first support rod (230) and the second support rod (240) are hinged to each other, and the end of the first support rod (230) away from the second support rod (240) is hinged to the connecting frame (210). The second support rod (240) is hinged to the support foot (220) at one end away from the first support rod (230), and the first pedal (300) is connected to the first support rod (230) in a transmission manner; the second support rod (240) has a limiting protrusion (241) on the side away from the first pedal (300), and the limiting protrusion (241) abuts against the inner wall of the connecting frame (210) to limit the second support rod (240) in the vertical state from continuing to tilt away from the first pedal (300).

8. The support system (1) as described in any one of claims 1 to 7, characterized in that, The support system (1) further includes a reset assembly (700) connected to the first pedal (300); The first pedal (300) rotates from a first position to a second position along the first direction (X1), which can drive the support unit (200) to switch from an unloaded state to a loaded state, and the reset component (700) accumulates elastic potential energy and locks. After the reset component (700) is unlocked, it can drive the first pedal (300) to reset to the first position.

9. The support system (1) as described in claim 8, characterized in that, When the first pedal (300) rotates from the second position to the third position along the first direction (X1), the reset assembly (700) continues to accumulate elastic potential energy and unlocks, so as to reset the first pedal (300) to the first position along the second direction (X2).

10. The support system (1) as described in claim 9, characterized in that, The reset assembly (700) includes a fixing member (710) fixed to the mounting bracket (100), a sliding member (720) slidably connected to the fixing member (710), a reset member (730) abutting between the fixing member (710) and the sliding member (720), and a limiting member (740) movably disposed on the sliding member (720); When the first pedal (300) rotates from the first position to the second position along the first direction (X1), it can push the sliding member (720) from the fourth position to the fifth position. The limiting member (740) and the fixing member (710) form a limiting to restrict the sliding member (720) from resetting. The resetting member (730) accumulates elastic potential energy. When the first pedal (300) moves from the second position to the third position along the first direction (X1), it can push the sliding member (720) from the fifth position to the sixth position. The limiting member (740) avoids the fixing member (710), the reset member (730) drives the sliding member (720) to reset, and the sliding member (720) drives the first pedal (300) to reset.

11. The support system (1) as described in any one of claims 1 to 7, characterized in that, The support system (1) also includes: A locking assembly (900) is mounted on the mounting bracket (100) and connected to the first pedal (300). The locking assembly (900) has a locked state and a released state. In the locked state, the locking assembly (900) can restrict the first pedal (300) from rotating in the second direction (X2). In the released state, the first pedal (300) can rotate in the second direction (X2). The second pedal (800) is rotatably connected to the first pedal (300). When the second pedal (800) rotates from the seventh position to the eighth position along the first direction (X1), the second pedal (800) can switch the locking component (900) to the released state. When the second pedal (800) rotates from the eighth position to the seventh position along the second direction (X2), the second pedal (800) can switch the locking component (900) to the locked state.

12. The support system (1) as described in claim 1, characterized in that, The support system (1) further includes a drive shaft (1100) and a linkage mechanism. The linkage mechanism includes at least two links that are sequentially hinged to the first pedal (300). The first connecting end of the drive shaft (1100) is slidably hinged to the link, and the second connecting end of the drive shaft (1100) is hinged to the support unit (200). A third elastic element (1300) abuts between the drive shaft (1100) and the link.

13. A surgical robot, characterized in that, It includes a trolley (2), a robotic arm, and a support system (1) as described in any one of claims 1 to 12, wherein the robotic arm is mounted on the trolley (2) and the support system (1) is mounted on the bottom of the trolley (2).

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