Parking mechanism and surgical cart

Abstract

The utility model relates to the technical field of medical instruments, and particularly discloses a parking mechanism and a surgical cart, and the parking mechanism comprises a rack, a driving assembly, a lifting piece, a supporting assembly and an elastic piece. Wherein the driving assembly comprises a driving piece arranged on the rack; the lifting piece can reciprocate in the vertical direction relative to the rack and is in transmission connection with the driving piece. The supporting assembly is arranged on the lifting piece and can synchronously move along with the lifting piece so that a supporting part of the supporting assembly can move between a retraction position away from the supporting face and a supporting position making contact with the supporting face. The elastic piece is arranged between the rack and the lifting piece and used for applying elastic force to the lifting piece so that the lifting piece can move and drive the supporting part to move to the retraction position. Under the action of the elastic piece, the lifting piece moves upwards to drive the supporting part to move to the retraction position, so that the operation steps during retraction of the supporting assembly are greatly simplified, the adjusting time is shortened, manual operation is not needed, and manpower is saved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a parking mechanism and an operating table cart. Background Technology

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as smaller surgical trauma, shorter recovery time, and less patient suffering. A minimally invasive surgical robot includes a main control console (master end), an imaging platform (image end), and a patient platform (slave end). The main control console collects the surgeon's operation signals, which are processed by the control system to generate control signals for the slave manipulators on the patient platform. These slave manipulators then execute the surgical procedures. The minimally invasive surgical robot has matching surgical instruments, which are mounted on the power unit of the slave manipulators and used by the surgeon to perform surgical operations.

[0003] During surgery, surgical robots (especially patient trolleys) are required to have a stable and reliable parking mechanism. Patent CN114987594B discloses a liftable support assembly installed under the chassis frame. A motor drives a screw to rotate, causing the screw to rise and fall, thus achieving parking and resetting. After a power outage, a mode switching component can be used to switch to manual mode, allowing manual operation to raise the parking mechanism. However, the process of raising the foot cup by swinging the joystick left and right and rotating the nut via a synchronous belt is overly complex, resulting in significant time and manpower waste.

[0004] Therefore, there is an urgent need to research a parking mechanism and an operating table cart to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a parking mechanism and an operating table to solve the problem that the lifting process of the foot cup in manual mode is complicated, wasting time and manpower in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] Parking facilities include:

[0008] frame;

[0009] The drive assembly includes a drive component disposed on the frame;

[0010] The lifting component can reciprocate relative to the frame in the vertical direction and is connected to the driving component in a transmission manner;

[0011] A support component is provided on the lifting member and can move synchronously with the lifting member so that its own support part can move between a retracted position away from the support surface and a support position in contact with the support surface.

[0012] An elastic element is disposed between the frame and the lifting element, and is used to apply an elastic force to the lifting element so that the lifting element moves and drives the support part to move to the retracted position.

[0013] As an optional technical solution for a parking mechanism, the parking mechanism further includes a mounting rod connected to the lifting component and capable of moving synchronously with the lifting component. The mounting rod is slidably disposed on the frame in a vertical direction. The top end of the mounting rod has a stop portion. The elastic element is a spring, which is sleeved on the mounting rod and its two ends respectively abut against the stop portion and the frame.

[0014] As an optional technical solution for a parking mechanism, the driving component is a rotary drive, the lifting component is a ball screw, and the driving assembly further includes a nut that cooperates with the ball screw, a driven wheel that is coaxially fixed to the nut, and an adapter cylinder that is connected to the driven wheel and rotates with the frame. The driving assembly also includes a driving wheel located at the output end of the rotary drive and drivenly connected to the driven wheel.

[0015] As an optional technical solution for parking mechanisms, the pitch of the ball screw is greater than 20mm.

[0016] As an optional technical solution for a parking mechanism, the driving wheel has a first tooth in its circumferential direction, and the driven wheel has a second tooth in its circumferential direction that meshes with the first tooth.

[0017] As an optional technical solution for the parking mechanism, the parking mechanism further includes a limiting member, which is fixedly connected to the ball screw and moves synchronously with the ball screw; the limiting member includes a connecting part fixedly connected to the ball screw and at least two limiting parts connected to the connecting part, the at least two limiting parts are arranged around and evenly distributed on the outer periphery of the ball screw, and when the support part moves to the retracted position, the at least two limiting parts simultaneously abut against the frame.

[0018] As an optional technical solution for the parking mechanism, the parking mechanism further includes a slide rail and a slider that slides with the slide rail, wherein one of the slide rail and the slider is fixedly connected to the frame, and the other is connected to the limiting member.

[0019] As an optional technical solution for parking mechanisms, the limiting member is provided with a limiting groove, and the two side walls at the opening of the limiting groove protrude relative to each other to form two limiting platforms;

[0020] The ball screw includes a rod body, a neck located at the lower end of the rod body, and a limiting plate located at the lower end of the neck. The outer diameters of the rod body and the limiting plate are both greater than the width of the gap between the two limiting platforms. The outer diameter of the neck is smaller than the width of the gap between the two limiting platforms. The limiting plate is located in the limiting groove, and the neck is located between the two limiting platforms.

[0021] As an optional technical solution for a parking mechanism, the support component includes:

[0022] The transfer component is screwed to the limiting component;

[0023] The support member and the transfer member are provided with a ball and a groove, respectively, with the ball rotatably disposed in the groove; the end face of the support member away from the transfer member forms the support portion.

[0024] As an optional technical solution for the parking mechanism, the parking mechanism further includes a locking assembly, which includes an electromagnetic clutch and a locking wheel. The locking wheel is drivenly connected to the output end of the electromagnetic clutch and to the driven wheel. When the electromagnetic clutch is locked, it can restrict the rotation of the locking wheel, thereby restricting the rotation of the driven wheel.

[0025] As an optional technical solution for parking mechanisms, the driven wheel has a second tooth on its outer periphery, and the locking wheel has a third tooth on its outer periphery that meshes with the second tooth.

[0026] The operating table cart includes a cart body and a parking mechanism as described in any of the above technical solutions, with the frame mounted on the cart body, which is used to support the surgical arm.

[0027] This utility model has at least the following beneficial effects:

[0028] This utility model provides a parking mechanism and an operating table. The parking mechanism includes a drive assembly mounted on the frame and a lifting assembly that is hygienically connected to the drive component in the drive assembly. The lifting assembly is connected to a support assembly. Under the driving action of the drive component, the support assembly moves synchronously with the lifting assembly, so that its support portion moves between a retracted position away from the support surface and a support position in contact with the support surface. The parking mechanism also includes an elastic element disposed between the frame and the lifting assembly. The elastic element applies elasticity to the lifting assembly, causing the lifting assembly to move and drive the support portion to the retracted position. This greatly simplifies the operation steps when the support assembly retracts, shortens the adjustment time, and eliminates the need for manual operation, saving manpower. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0030] Figure 1 This is a first axonometric schematic diagram of the parking mechanism in an embodiment of this utility model;

[0031] Figure 2 This is a schematic diagram of the bottom structure of the parking mechanism in an embodiment of this utility model;

[0032] Figure 3 This is a partial structural diagram of the second axonometric projection of the parking mechanism in an embodiment of this utility model;

[0033] Figure 4 This is a top view of the parking mechanism in an embodiment of the present utility model;

[0034] Figure 5 for Figure 4 Cross-sectional view along the middle AA;

[0035] Figure 6 for Figure 5 Enlarged view of point C in the middle;

[0036] Figure 7 for Figure 4 Cross-sectional view along the middle BB;

[0037] In the picture:

[0038] 100. Rack;

[0039] 200. Drive assembly; 210. Drive component; 211. Drive wheel; 212. Reducer; 220. Nut; 221. Driven wheel; 222. Adapter cylinder; 223. Bearing;

[0040] 300. Lifting component; 310. Rod body; 311. Neck retraction component; 320. Limiting plate;

[0041] 400. Support component; 410. Transfer component; 420. Supporting part; 421. Support section;

[0042] 500. Elastic element; 510. Mounting rod; 511. Stop part;

[0043] 600, limiting component; 610, connecting part; 611, limiting groove; 612, limiting platform; 620, limiting part;

[0044] 710. Slide rail; 720. Slider;

[0045] 800, Locking assembly; 810, Electromagnetic clutch; 820, Locking wheel; 830, Locking shaft. Detailed Implementation

[0046] The technical solutions of various embodiments of this application will now be described with reference to the accompanying drawings.

[0047] This specification contains numerous specific technical details to enable those skilled in the art to understand the complete technical solution. However, it should be understood that embodiments of this application can be implemented without these specific technical details. Such detailed descriptions of technical details should not be considered as limitations on this application, and the scope of protection of this application is defined only by the claims. Elsewhere, well-known structures, connections / positional relationships, circuits, and / or other details may not be shown in detail to avoid misleading the public about the inventive points of this application.

[0048] This specification includes accompanying drawings illustrating several embodiments of the present application. However, the drawings are merely illustrative, and it should be understood that variations in mechanical structure, connection / positional relationships, physical composition, electrical aspects, and procedures can be made without departing from the spirit and scope of the present application. Such variations may involve substitution or combination of elements from the embodiments of the present application, or substitution or combination of known content.

[0049] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. Spatial relative terms, such as “below,” “lower,” “above,” “upper,” “middle,” “center,” “inner,” “outer,” “central,” “edge,” etc., are used for ease of description to describe the relationship between one component or feature shown in the figures and another component or feature. It should be understood that spatial relative terms are used only under the orientation of the device in use or operation (other than the orientation specifically defined in the figures) and are not necessarily unique or constant. For example, if the device in the figures is rotated 180° up and down along the plane of the paper, then an element described as “below” other components or features will become “above” other components or features. Therefore, the exemplary term “below” can encompass both above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (e.g., rotated 90° or positioned in other directions), and the spatial relative descriptive terms used herein will be interpreted accordingly.

[0050] As used herein, “several,” “one,” and “the” are intended to include the plural form as well, unless the context otherwise indicates. It should be further understood that the terms “comprising” and / or “including” specify the presence of the said feature, step, operation, element, and / or component, without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0051] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "part," "module," "assembly," and "element" are used interchangeably.

[0052] The terms “instrument,” “surgical instrument,” and “surgical device” are used herein to describe medical devices configured for insertion into a patient and for performing surgical or diagnostic procedures, generally including end effectors. End effectors can be surgical tools associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clamp applicators, anastomosis devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of this application further provide articulated supports (sometimes referred to as “wrist joints” or “articular seats”) for the surgical tool, allowing the position and / or orientation of the end effector to be flexibly manipulated relative to the instrument axis with one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. Instruments may also contain permanent or updatable stored information (e.g., on a PCBA board within the instrument). Accordingly, the system can provide one-way or two-way communication between the instrument and one or more system components.

[0053] The term "mate" (sometimes referred to as "connection," "linkage," "installation," or "assembly") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in combination with each other. It should be noted that a mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather that many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. Furthermore, the terms "detachably connected" or "detachably mated" can be interpreted as implying a non-permanent connection or mating situation between two or more objects. This means that detachably connected objects can be unconnected and separated, allowing them to operate without being joined.

[0054] Finally, the terms “or” and “and / or” as used herein should be interpreted inclusively, meaning either one or any combination thereof. Therefore, “A, B, or C” or “A, B, and / or C” means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or actions is inherently mutually exclusive in some way.

[0055] Laparoscopic surgical robots typically consist of a surgeon control platform, a patient operating platform, and an imaging platform. The surgeon sits on the surgeon control platform, viewing two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope (sometimes called an "endoscope") placed inside the patient's body. The surgeon also controls the movement of the robotic arm on the patient operating platform, as well as the surgical instruments or endoscopes attached to that arm. The robotic arm essentially simulates a human arm, and the surgical instruments simulate a human hand. Both provide the surgeon with a series of movements that mimic the human wrist, while also filtering out hand tremors. Therefore, they are increasingly widely used in surgery, particularly in abdominal, thoracic, and general surgery.

[0056] A patient surgical platform typically includes a chassis, a column, multiple robotic arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. Surgical instruments and / or endoscopes are detachably coupled to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or endoscopes operating at the surgical site within the patient's body. Various forms of control are possible that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located where the surgical instrument enters the body wall and is generally referred to as the "discent point" or "fixed point."

[0057] An imaging platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for showing surgical instruments in the captured images. In some laparoscopic surgical robots, optics are included to transmit images from inside the patient's body to the distal end of the endoscope via one or more imaging sensors (e.g., CCD or CMOS sensors). The video images are then transmitted to the main unit of the imaging platform through photoelectric conversion and other steps. Subsequently, image processing is performed, and the processed images are displayed on the video displays for observation by other doctors or assistants.

[0058] A surgeon's control platform typically includes a chassis, foot pedal assembly, stereoscopic monitor, main control arm, and manual controllers connected to the end of the main control arm. The surgeon controls the manual controllers and foot pedal assembly to achieve specific movements and / or energy activation of surgical instruments. The surgeon's control platform can be located at a single position within a surgical system composed of laparoscopic surgical robots, or it can be distributed across two or more positions within the system. Remote master / slave operation can be performed according to a preset level of control; for example, one position acts as the master controller for the main surgical operation, and another position acts as the auxiliary controller for an assistant operation. The master controller performs the main surgical operations, while the auxiliary controller performs auxiliary operations such as laparoscopic movement or tissue traction. In some embodiments, the manual controller can be an input device capable of performing one or more manual operations, such as a joystick, exoskeleton glove, power and gravity-compensated manipulator, etc. These input devices acquire the surgeon's operation signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulators. These signals control the remote-controlled motors on the surgical instrument manipulators, which in turn control the final movement of the surgical instruments.

[0059] Generally, the force generated by the remote-controlled motor is transmitted via a drive system to the end effector of the surgical instrument. In some remote surgical embodiments, the input device for controlling the manipulator can be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with remote manipulation, remote control, and telepresence surgery will understand such a system and its components, which will not be elaborated upon here.

[0060] Example 1

[0061] During surgery, surgical robots (especially surgical trolleys) are required to have a stable and reliable parking mechanism to ensure that the end effectors of surgical instruments can accurately act on the patient's surgical site, improving surgical precision. Existing parking mechanisms have a height-adjustable support assembly mounted under the chassis frame. A motor drives a screw to rotate, causing the screw to rise and fall, thus achieving parking and resetting. In the event of a power outage, a mode switch can be used to switch to manual mode, allowing manual operation to raise the parking mechanism. However, the process of raising the screw by swinging the joystick left and right and rotating the nut via a timing belt is overly complex, resulting in significant time and manpower waste. To address these issues, such as... Figures 1 to 7As shown, this embodiment provides a parking mechanism, which includes a frame 100, a drive assembly 200, a lifting member 300, a support assembly 400, and an elastic member 500. The drive assembly 200 includes a drive member 210 disposed on the frame 100; the lifting member 300 is capable of reciprocating vertically relative to the frame 100 and is drively connected to the drive member 210; the support assembly 400 is disposed on the lifting member 300 and can move synchronously with the lifting member 300, so that its support portion 421 moves between a retracted position away from the support surface and a support position in contact with the support surface; the elastic member 500 is disposed between the frame 100 and the lifting member 300, and is used to apply an elastic force to the lifting member 300, so that the lifting member 300 moves and drives the support portion 421 to the retracted position.

[0062] With the above-mentioned structure, when the drive component 200 is de-energized, the lifting component 300 can still move upward under the action of the elastic element 500 to drive the support part 421 to the retracted position. This greatly simplifies the operation steps when the support component 400 retracts, shortens the adjustment time, and eliminates the need for manual operation, saving manpower.

[0063] To facilitate the installation of the elastic element 500, in some embodiments, the parking mechanism further includes a mounting rod 510 connected to the lifting member 300 and capable of moving synchronously with the lifting member 300. The mounting rod 510 is slidably mounted on the frame 100 in a vertical direction. The top end of the mounting rod 510 has a stop portion 511. The elastic element 500 is a spring, which is sleeved on the mounting rod 510, with its two ends abutting against the stop portion 511 and the frame 100, respectively. The spring is a standard part, easy to procure and select; in addition, the way the spring is sleeved on the mounting rod 510 makes it safer during use, preventing it from flying off.

[0064] The drive component 210 is a rotary actuator, the lifting component 300 is a ball screw, and the drive assembly 200 also includes a nut 220 that mates with the ball screw, a driven wheel 221 that is coaxially fixed to the nut 220, and an adapter cylinder 222 that is connected to the driven wheel 221 and rotatably engaged with the frame 100 via a bearing 223. The drive assembly 200 also includes a drive wheel 211 located at the output end of the rotary actuator and drivenly connected to the driven wheel 221. The threaded engagement between the ball screw and the nut 220 reduces friction, and when power is off, the spring drives the ball screw to rise to avoid self-locking, which also reduces wear and increases service life.

[0065] Furthermore, two bearings 223 are provided between the adapter cylinder 222 and the frame 100, which are spaced apart along the axial direction of the adapter cylinder 222, thereby ensuring the concentricity of the adapter cylinder 222 and bearing a certain bending moment.

[0066] In some embodiments, the pitch of the ball screw is greater than 20mm, so that the distance the ball screw can rise by more than 20mm with one rotation of the nut 220, which greatly improves the driving efficiency of the ball screw.

[0067] To ensure transmission accuracy, in some embodiments, the driving wheel 211 has a first tooth in its circumferential direction, and the driven wheel 221 has a second tooth in its circumferential direction that meshes with the first tooth. Furthermore, a reducer 212 is mounted on the frame 100, the output end of the drive member 210 is connected to the input end of the reducer 212, and the driving wheel 211 is connected to the output end of the reducer 212, thereby increasing the force / torque that the drive member 210 can provide to the driving wheel 211.

[0068] When the ball screw descends to move the support portion 421 of the support assembly 400 to the support position, it needs to remain in that position to ensure parking stability. Therefore, in some embodiments, in conjunction with... Figure 7 As shown, the parking mechanism also includes a locking assembly 800, which includes an electromagnetic clutch 810 and a locking wheel 820. The locking wheel 820 is throttle-connected to the output end of the electromagnetic clutch 810 and to the driven wheel 221. When the electromagnetic clutch 810 is locked, it restricts the rotation of the locking wheel 820, thereby restricting the rotation of the driven wheel 221 and preventing the nut 220 from rotating in the opposite direction. This prevents the ball screw from rising, thus keeping the support part 421 in the supported position. The locking shaft 830 is rotatably mounted on the frame 100 and connected between the output end of the electromagnetic clutch 810 and the locking wheel 820.

[0069] Regarding the timing of the electromagnetic clutch 810 locking, it should be noted that after the support part 421 abuts against the support surface, the servo motor, which is the driving component 210, continues to rotate, thereby giving the ball screw an axial force. At this time, the servo motor stalls, and the controller detects that the encoder count on the driving component 210 no longer changes, and controls the electromagnetic clutch 810 to lock.

[0070] In some embodiments, the driven wheel 221 has a second tooth on its outer periphery, and the locking wheel 820 has a third tooth on its outer periphery that meshes with the second tooth. The locking reliability of the driven wheel 221 is high through this meshing mechanism. Specifically, as the driving wheel 211 drives the driven wheel 221 to rotate, the locking wheel 820 rotates along with the driven wheel 221.

[0071] When the support 421 needs to be moved to the retracted position, it needs to be limited, and it needs to be prevented from getting stuck at the upper limit. Therefore, in some embodiments, such as Figure 1 and Figure 2As shown, the parking mechanism also includes a limiting member 600, which is fixedly connected to the ball screw and moves synchronously with the ball screw. The limiting member 600 includes a connecting part 610 fixedly connected to the ball screw and at least two limiting parts 620 connected to the connecting part 610. The at least two limiting parts 620 are arranged around and evenly distributed on the outer periphery of the ball screw. When the support part 421 moves to the retracted position, the at least two limiting parts 620 simultaneously abut against the frame 100. This arrangement ensures that the ball screw is subjected to balanced force, avoids bending problems, facilitates smooth lifting and lowering, prevents jamming, and also improves service life.

[0072] Furthermore, the parking mechanism also includes a slide rail 710 and a slider 720 that slides with the slide rail 710. One of the slide rail 710 and the slider 720 is fixedly connected to the frame 100, and the other is connected to the limiting member 600. With the assistance of the slide rail 710 and the slider 720, the smoothness of the ball screw lifting can be further improved. In addition, when there is a tendency for the frame 100 to wobble relative to the support surface, the slider 720 and the slide rail 710 can bear the corresponding lateral force, preventing the ball screw from being deformed by bending moment. For example, there are two slide rails 710 and two sliders 720, which are matched one-to-one, and the two slide rails 710 are symmetrically arranged on both sides of the axis of the ball screw.

[0073] Regarding the connection between the ball screw and the limiting member 600, in some embodiments, such as Figure 6 As shown, the limiting member 600 is provided with a limiting groove 611, and two sidewalls at the opening of the limiting groove 611 protrude relative to each other to form two limiting platforms 612; the ball screw includes a rod body 310, a neck 311 located at the lower end of the rod body 310, and a limiting plate 320 located at the lower end of the neck 311. The outer diameters of the rod body 310 and the limiting plate 320 are both larger than the width of the gap between the two limiting platforms 612, and the outer diameter of the neck 311 is smaller than the width of the gap between the two limiting platforms 612. The limiting plate 320 is located in the limiting groove 611, and the neck 311 is located between the two limiting platforms 612. The above arrangement enables the ball screw to drive the limiting member 600 to rise and fall; at the same time, when torsion occurs between the frame 100 and the support surface, it will not drive the ball screw to rotate, thus improving the stability of the connection between the ball screw and the limiting member 600.

[0074] In use, at least two parking mechanisms are required to support the surgical trolley. To adapt to support surfaces with poor flatness, in some embodiments, the support assembly 400 includes a transfer member 410 and a support member 420. The transfer member 410 is screwed to the limiting member 600; one of the support member 420 and the transfer member 410 has a sphere, and the other has a spherical groove, with the sphere rotatably positioned within the groove; the end face of the support member 420 away from the transfer member 410 forms a support portion 421. In this embodiment, the support portion 421 has a planar structure. When the flatness of the support surface is poor, the rotation of the support member 420 relative to the transfer member 410 ensures that each support portion 421 is parallel to the support surface below it, improving support stability. In addition, after the support member 420 rotates, the supporting force provided by the support surface to the support member 420 will be set at an angle with the axis of the ball screw, which will generate a bending moment. The cooperation of the slide rail 710 and the slider 720 can bear this bending moment, effectively avoiding the ball screw from bearing bending moment or even deforming.

[0075] In other applications with lower loads, the support 421 can be configured as a spherical surface convex to the support surface to adapt to support surfaces with poor flatness.

[0076] Example 2

[0077] This embodiment also provides a surgical cart, which includes a cart body and the parking mechanism described above. The frame 100 is mounted on the cart body, and the cart body is used to support the surgical arm. This embodiment also has the technical effects described in Embodiment 1, and will not be repeated here.

[0078] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A parking mechanism, characterized in that, include: Rack (100); The drive assembly (200) includes a drive element (210) disposed on the frame (100); The lifting component (300) can reciprocate relative to the frame (100) in the vertical direction and is connected to the driving component (210) in a transmission manner; A support assembly (400) is provided on the lifting member (300) and can move synchronously with the lifting member (300) so that its own support part (421) can move between a retracted position away from the support surface and a support position in contact with the support surface. An elastic element (500) is disposed between the frame (100) and the lifting element (300) for applying an elastic force to the lifting element (300) to move the lifting element (300) and drive the support part (421) to the retracted position.

2. The parking mechanism according to claim 1, characterized in that, The parking mechanism also includes a mounting rod (510) connected to the lifting member (300) and capable of moving synchronously with the lifting member (300). The mounting rod (510) is slidably disposed on the frame (100) in the vertical direction. The top end of the mounting rod (510) has a stop (511). The elastic member (500) is a spring. The spring is sleeved on the mounting rod (510), and its two ends abut against the stop (511) and the frame (100) respectively.

3. The parking mechanism according to claim 1, characterized in that, The driving component (210) is a rotary drive, the lifting component (300) is a ball screw, and the driving assembly (200) further includes a nut (220) that cooperates with the ball screw, a driven wheel (221) that is coaxially fixed to the nut (220), and an adapter cylinder (222) that is connected to the driven wheel (221) and rotatably cooperates with the frame (100). The driving assembly (200) also includes a driving wheel (211) that is located at the output end of the rotary drive and is throttle connected to the driven wheel (221).

4. The parking mechanism according to claim 3, characterized in that, The pitch of the ball screw is greater than 20mm.

5. The parking mechanism according to claim 3, characterized in that, The driving wheel (211) has a first tooth in the circumferential direction, and the driven wheel (221) has a second tooth in the circumferential direction that meshes with the first tooth.

6. The parking mechanism according to claim 3, characterized in that, The parking mechanism further includes a limiting member (600), which is fixedly connected to the ball screw and moves synchronously with the ball screw. The limiting member (600) includes a connecting part (610) fixedly connected to the ball screw and at least two limiting parts (620) connected to the connecting part (610). The at least two limiting parts (620) are arranged around and evenly distributed on the outer periphery of the ball screw. When the support part (421) moves to the retracted position, the at least two limiting parts (620) simultaneously abut against the frame (100).

7. The parking mechanism according to claim 6, characterized in that, The parking mechanism further includes a slide rail (710) and a slider (720) that slides with the slide rail (710). One of the slide rail (710) and the slider (720) is fixedly connected to the frame (100), and the other is connected to the limiting member (600).

8. The parking mechanism according to claim 6, characterized in that, The limiting member (600) is provided with a limiting groove (611), and two side walls at the opening of the limiting groove (611) protrude relative to each other to form two limiting platforms (612). The ball screw includes a rod body (310), a neck (311) located at the lower end of the rod body (310), and a limiting plate (320) located at the lower end of the neck (311). The outer diameters of the rod body (310) and the limiting plate (320) are both greater than the width of the gap between the two limiting platforms (612). The outer diameter of the neck (311) is smaller than the width of the gap between the two limiting platforms (612). The limiting plate (320) is located in the limiting groove (611), and the neck (311) is located between the two limiting platforms (612).

9. The parking mechanism according to claim 6, characterized in that, The support component (400) includes: A transfer component (410) is screwed to the limiting component (600); The support member (420) and the transfer member (410) are provided with a ball and a ball groove, respectively, and the ball is rotatably disposed in the ball groove; the end face of the support member (420) away from the transfer member (410) forms the support part (421).

10. The parking mechanism according to any one of claims 3-8, characterized in that, The parking mechanism also includes a locking assembly (800), which includes an electromagnetic clutch (810) and a locking wheel (820). The locking wheel (820) is driven to the output end of the electromagnetic clutch (810) and is also driven to the driven wheel (221). When the electromagnetic clutch (810) is locked, it can restrict the rotation of the locking wheel (820) to restrict the rotation of the driven wheel (221).

11. The parking mechanism according to claim 10, characterized in that, The driven wheel (221) has a second tooth on its outer periphery, and the locking wheel (820) has a third tooth on its outer periphery that meshes with the second tooth.

12. An operating table cart, characterized in that, Includes a vehicle body and a parking mechanism as described in any one of claims 1-11, with a frame (100) disposed on the vehicle body, the vehicle body being used to carry the surgical arm.

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