Anti-falling mechanism of telescopic foot margin and medical surgical robot

Abstract

The anti-falling mechanism of the telescopic foot margin comprises a driving assembly, a supporting foot margin and a non-return assembly, the driving assembly comprises a fixed part and a movable part, the supporting foot margin is installed on the movable part, a positioning hole is formed in the movable part, and the non-return assembly is arranged in the positioning hole. The driving assembly is used for driving the movable part to ascend and descend and driving the supporting foot margin to ascend and descend to a first position or a second position, the non-return assembly comprises a base, an elastic piece and a positioning piece, the first end of the elastic piece abuts against the base, and the second end of the elastic piece abuts against the positioning piece; when the supporting foot margin is located at the second position, the positioning hole moves to the position corresponding to the positioning piece, and the positioning piece is inserted into the positioning hole through the elastic force of the elastic piece to limit the movable part. According to the anti-falling mechanism of the telescopic foot margin, through cooperation of the driving assembly, the supporting foot margin and the non-return assembly, the phenomenon that the medical robot falls is avoided, and potential safety hazards to an operator and a patient are eliminated.

Description

Technical Field

[0001] This utility model belongs to the field of medical equipment technology, and in particular relates to a fall prevention mechanism with telescopic feet and a medical surgical robot. Background Technology

[0002] In today's increasingly modern world, medical robots are being used more and more widely. Some medical robots that are flexible in their positioning often need to be moved before and after use. In order to maintain the stability of their position during use, more and more medical robots are equipped with movable support devices on their bottoms to meet their adjustment needs.

[0003] Conventional mobile support devices mostly use hydraulic cylinders to drive the feet to lift the base of the medical robot. In practice, the hydraulic cylinders need to drive the feet to a preset height to lift the casters of the medical robot off the ground. However, conventional mobile support devices do not have protective measures for the hydraulic cylinders. When the hydraulic oil leaks, the medical robot will inevitably fall, posing a great safety hazard to the operator and the patient. Utility Model Content

[0004] The purpose of this invention is to provide a fall prevention mechanism with telescopic feet and a medical surgical robot, so as to solve the problem that conventional medical surgical robots in the prior art pose safety hazards to operators and patients due to the lack of protective measures.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] In a first aspect, a fall protection mechanism with a telescopic foot is provided, comprising a base, a drive assembly, a supporting foot, and a backstop assembly, wherein:

[0007] The drive assembly includes a fixed part and a movable part. The fixed part is mounted on the base, and the movable part is vertically mounted on the fixed part. The supporting foot is mounted on the movable part. The movable part has a positioning hole. The drive assembly is configured to drive the movable part to rise and fall, thereby causing the supporting foot to rise and fall to a first position or a second position. When the supporting foot is in the second position, it supports the base. When the supporting foot is in the first position, it releases the support to the base.

[0008] The anti-return assembly is mounted on the base and located on one side of the movable part. The anti-return assembly includes a base, an elastic element, and a positioning element. The positioning element is mounted on the base near or away from the movable part. The elastic element is fitted outside the positioning element. The first end of the elastic element abuts against the base, and the second end of the elastic element abuts against the positioning element.

[0009] When the supporting foot is in the first position, the positioning hole is located above the positioning member, and the positioning member abuts against the movable part by the elastic force of the elastic member;

[0010] When the supporting foot is in the second position, the positioning hole moves to the position corresponding to the positioning member, and the positioning member is inserted into the positioning hole by the elastic force of the elastic member to limit the moving part.

[0011] Furthermore, a solenoid valve is provided on the base, and the first end of the elastic element abuts against the end face of the solenoid valve.

[0012] The solenoid valve is configured to drive the positioning member to overcome the elastic force of the elastic member and move away from the movable part, so that the end of the positioning member near the movable part extends out of the positioning hole, thereby releasing the limitation on the movable part.

[0013] Furthermore, the base is provided with a guide assembly, which includes a guide member and a guide mounting bracket formed on the outer edge of the positioning member. The guide mounting bracket is provided with a fixing hole for fixing the first end of the guide member, and a guide channel is provided on the base corresponding to the second end of the guide member. The guide member is movably disposed in the guide channel.

[0014] When the positioning member moves, the second end of the guide member moves within the guide channel to guide the movement of the positioning member via the guide mounting bracket.

[0015] Furthermore, the anti-fall mechanism of the telescopic foot also includes a detection component, which is installed on the base and located on the movement path of the guide mounting frame. The detection component is configured to detect the movement stroke of the guide mounting frame, and then determine whether the supporting foot is in a first position or a second position by detecting the position information of the positioning element.

[0016] Furthermore, the detection component includes a detection element and an indicator light mounted on the base. The detection element is electrically connected to the indicator light. The detection end of the detection element is flush with the guide mounting bracket. The detection element is configured to detect the distance between the guide mounting bracket and the detection end, thereby detecting whether the positioning element is located within the positioning hole and transmitting the detection information to the indicator light. The indicator light is configured to illuminate according to the received detection information.

[0017] Furthermore, the elastic element is a return spring, and the outer edge of the positioning element has a protrusion facing outward. The protrusion is located between the end face of the working end of the solenoid valve and the guide mounting bracket, and the second end of the return spring abuts against the protrusion.

[0018] Furthermore, the base is provided with a manual adjustment assembly, which includes an operating part disposed on the outside of the base and a cylindrical body extending toward the inside of the base. One end of the positioning member opposite to the movable part passes through the inner side of the cylindrical body and is disposed on the outside of the base by a limiting member. The positioning member has a gap with the inner surface of the cylindrical body. An external thread section is formed on the outer surface of the cylindrical body, and an internal thread hole is formed at a corresponding position on the base corresponding to the external thread section. The cylindrical body is adjustablely disposed on the base by means of a threaded structure.

[0019] By operating the operating part, the positioning member overcomes the elastic force of the elastic member and moves away from the movable part, so that the end of the positioning member close to the movable part extends out of the positioning hole, thereby releasing the limitation on the movable part.

[0020] Furthermore, the limiting component includes a limiting ring sleeve, and the outer edge of the positioning component is provided with a fixing groove that adapts to the inner diameter of the limiting ring sleeve. The limiting ring sleeve is fixed on the positioning component through the fixing groove, and the outer diameter of the limiting ring sleeve is larger than the inner diameter of the internal threaded hole.

[0021] Furthermore, two protrusions are spaced apart on the outer periphery of the operating part, and the two protrusions extend toward the side opposite to the base.

[0022] Secondly, a medical surgical robot is provided, the medical surgical robot including the aforementioned anti-fall mechanism with telescopic feet.

[0023] Compared with existing technologies, the advantages of the retractable foot anti-fall mechanism and the medical surgical robot are as follows:

[0024] 1) Through the cooperation of the drive component, the support foot and the check component, the drive component drives the moving part to rise and fall, and drives the support foot to rise and fall to the first position or the second position. When the support foot is in the second position, the positioning component is inserted into the positioning hole by the elastic force of the elastic element to limit the moving part. When the drive component fails due to leakage, the support foot in the second position supports the base, which avoids the medical robot from falling and eliminates the safety hazards to the operator and the patient.

[0025] 2) By driving the positioning component away from the positioning hole through the solenoid valve, the limit on the moving part is released, providing an anti-fall mechanism that can automatically release the limit;

[0026] 3) By setting up a guide component, the guide component moves within the guide channel and, in conjunction with the guide mounting bracket, guides the movement of the positioning component, thereby improving the stability of the positioning component's movement.

[0027] 4) By moving the positioning part away from the moving part through the operating part, the limit on the moving part is released, providing a fall prevention mechanism that can be manually released from the limit. Attached Figure Description

[0028] To more clearly illustrate and understand the technical solutions in the embodiments of this utility model, the accompanying drawings used in the background technology and embodiment description of this utility model will be briefly introduced below. Obviously, the accompanying 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.

[0029] Figure 1 This is a cross-sectional structural schematic diagram of the anti-fall mechanism of the telescopic foot provided in this embodiment of the utility model;

[0030] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0031] Figure 3 This is a partial structural schematic diagram of the anti-fall mechanism for the telescopic feet and the medical surgical robot provided in this embodiment of the utility model. Detailed Implementation

[0032] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0033] To facilitate understanding of this utility model, a more complete description of it will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model. It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of this utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] Please see Figures 1 to 3 As shown, in this embodiment, a fall prevention mechanism for a telescopic foot includes a base 10, a drive assembly 20, a support foot 30, and a check valve assembly 40. The drive assembly 20 includes a fixed part 21 and a movable part 22. The fixed part 21 is mounted on the base 10, and the movable part 22 is vertically and flexibly mounted on the fixed part 21. The support foot 30 is mounted on the movable part 22, which has a positioning hole 220. The drive assembly 20 is configured to drive the movable part 22 to rise and fall, thereby raising and lowering the support foot 30 to a first position or a second position. When the support foot 30 is in the second position, it supports the base 10; when the support foot 30 is in the first position, it releases the support from the base 10. The check valve assembly 40 is mounted on the base 10 and positioned... On one side of the movable part 22, the anti-return assembly 40 includes a base 41, an elastic member 42, and a positioning member 43. The positioning member 43 can be mounted on the base 41 close to or away from the movable part 22. The elastic member 42 is fitted outside the positioning member 43. The first end of the elastic member 42 abuts against the base 41, and the second end of the elastic member 42 abuts against the positioning member 43. When the support foot 30 is in the first position, the positioning hole 220 is located above the positioning member 43, and the positioning member 43 abuts against the movable part 22 by the elastic force of the elastic member 42. When the support foot 30 is in the second position, the positioning hole 220 moves to the position corresponding to the positioning member 43, and the positioning member 43 is inserted into the positioning hole 220 by the elastic force of the elastic member 42 to limit the movable part 22.

[0035] Specifically, the fixed part 21 is a hydraulic cylinder, the movable part 22 is a cylinder inner sleeve, the supporting foot 30 is installed at the bottom of the cylinder inner sleeve, the top of the hydraulic cylinder is installed on the base 10 through the cylinder mounting part 50, and the bottom of the hydraulic cylinder is connected to the cylinder inner sleeve.

[0036] As can be seen, through the cooperation of the drive component 20, the support foot 30 and the check component 40, the drive component 20 drives the movable part 22 to rise and fall, which in turn drives the support foot 30 to rise and fall to the first position or the second position. When the support foot 30 is in the second position, the positioning member 43 is inserted into the positioning hole 220 by the elastic force of the elastic member 42 to limit the movable part 22. When the drive component 20 fails due to leakage, the support foot 30 in the second position supports the base 10, which prevents the medical robot from falling and eliminates the safety hazards to the operator and the patient.

[0037] In one embodiment, a solenoid valve 60 is provided on the base 41, and the first end of the elastic member 42 abuts against the end face of the working end of the solenoid valve 60. The solenoid valve 60 is configured to drive the positioning member 43 to overcome the elastic force of the elastic member 42 and move away from the movable part 22, so that the end of the positioning member 43 close to the movable part 22 extends out of the positioning hole 220, thereby releasing the limitation on the movable part 22.

[0038] As can be seen, by driving the positioning element 43 away from the positioning hole 220 through the solenoid valve 60, the limit on the moving part 22 is released, thus providing an anti-fall mechanism that can automatically release the limit.

[0039] Specifically, the positioning element 43 is a solenoid valve pin, which passes through the working end of the solenoid valve 60.

[0040] In one embodiment, a guide assembly 70 is provided on the base 41. The guide assembly 70 includes a guide member 71 and a guide mounting bracket 72 formed on the outer edge of the positioning member 43. The guide mounting bracket 72 has a fixing hole for fixing the first end of the guide member 71. A guide channel 410 is formed on the base 41 corresponding to the second end of the guide member 71. The guide member 71 is movably disposed in the guide channel 410. When the positioning member 43 moves, the second end of the guide member 71 moves in the guide channel 410 so as to guide the movement of the positioning member 43 through the guide mounting bracket 72.

[0041] As can be seen, by setting the guide component 70, the guide component 71 moves within the guide channel 410, and cooperates with the guide mounting bracket 72 to guide the movement of the positioning component 43, thereby improving the movement stability of the positioning component 43.

[0042] As one implementation, a fall arrest mechanism for a telescopic foot also includes a detection component mounted on a base 41 and located on the movement path of a guide mounting frame 72. The detection component is configured to detect the movement stroke of the guide mounting frame 72 and then determine whether the support foot 30 is in a first position or a second position by detecting the position information of the positioning member 43.

[0043] In one implementation, the detection assembly includes a detection element 80 and an indicator light 81 mounted on the base 41. The detection element 80 is electrically connected to the indicator light 81. The detection end of the detection element 80 is flush with the guide mounting bracket 72. The detection element 80 is configured to detect the distance between the guide mounting bracket 72 and the detection end, thereby detecting whether the positioning element 43 is located within the positioning hole 220 and transmitting the detection information to the indicator light 81. The indicator light 81 is configured to illuminate according to the received detection information.

[0044] Specifically, the detection component 80 is a micro switch, which is installed above the solenoid valve 60.

[0045] In one embodiment, the elastic element 42 is a return spring, and the outer edge of the positioning element 43 is provided with a protrusion 430 facing outward. The protrusion 430 is located between the end face of the working end of the solenoid valve 60 and the guide mounting bracket 72, and the second end of the return spring abuts against the protrusion 430.

[0046] In one embodiment, a manual adjustment assembly 90 is provided on the base 41. The manual adjustment assembly 90 includes an operating part 91 located on the outside of the base 41 and a cylindrical body 92 extending toward the inside of the base 41. One end of the positioning member 43, away from the movable part 22, passes through the inner side of the cylindrical body 92 and is located on the outside of the base 41 by a limiting member. There is a gap between the positioning member 43 and the inner surface of the cylindrical body 92. An external thread section is formed on the outer surface of the cylindrical body 92, and an internal thread hole is formed at the corresponding position of the external thread section on the base 41. The cylindrical body 92 is adjustablely mounted on the base 41 by the threaded structure. By operating the operating part 91, the positioning member 43 is driven to overcome the elastic force of the elastic member 42 and move away from the movable part 22, so that the end of the positioning member 43 close to the movable part 22 extends out of the positioning hole 220, thereby releasing the limiting of the movable part 22.

[0047] As can be seen, by moving the positioning component 43 away from the movable part 22 through the operating part 91, the limit on the movable part 22 is released, thus providing a fall prevention mechanism that can be manually released from the limit.

[0048] In one embodiment, the limiting member includes a limiting ring 93. The outer edge of the positioning member 43 is provided with a fixing groove 431 that is adapted to the inner diameter of the limiting ring 93. The limiting ring 93 is fixed on the positioning member 43 through the fixing groove 431. The outer diameter of the limiting ring 93 is larger than the inner diameter of the internal thread hole.

[0049] In one embodiment, two protrusions 910 are provided at intervals on the outer periphery of the operating part 91, and the two protrusions 910 extend toward the side opposite to the base 41.

[0050] Based on the aforementioned anti-fall mechanism with telescopic feet, a medical surgical robot is provided, including the aforementioned anti-fall mechanism with telescopic feet.

[0051] In one implementation, a plurality of casters 11 are provided on the bottom surface of the base 10. The casters 11 are configured to push the medical surgical robot to move when it needs to move.

[0052] It should be noted that when the support foot 30 needs to be raised, the hydraulic cylinder starts to work. Under the push of the hydraulic cylinder, the movable part 22 moves downward. When it moves to the predetermined stroke, the positioning part 43 is exactly aligned with the positioning hole 220 of the movable part 22. Under the thrust of the elastic part 42, the positioning part 43 is inserted into the positioning hole 220. At this time, the caster 11 is away from the ground by a preset distance, and the medical surgical robot completes the lifting. The guide pin mounting part and the detection part 80 are at a certain distance. The detection part 80 reports the current status of the solenoid valve 60 and the support foot 30 to the host. When the support foot 30 extends out of the supporting ground and the guide pin mounting part does not contact the micro switch, the indicator light 81 lights up.

[0053] Since the positioning element 43 is inserted into the positioning hole 220, it is a purely mechanical safety measure. Even if hydraulic oil leaks, the hydraulic cylinder cannot retract, ensuring that the medical surgical robot will not suddenly descend due to hydraulic oil leakage. When it is necessary to retract the feet, a switch on the control panel needs to be pressed. Under the force of the solenoid valve 60, the positioning element 43 retracts, the positioning hole 220 is pulled out, and only then can the hydraulic cylinder retract.

[0054] Abnormal situation: If there is a sudden power outage during the operation, it is necessary to retract the support foot 30. However, the solenoid valve 60 cannot work due to the lack of power and cannot remove the positioning element 43 from the positioning hole 220. At this time, the positioning element 43 can be manually removed from the positioning hole 220 by turning the operating part 91 by hand, and then the pressure can be manually released to retract the support foot 30.

Claims

1. A fall arrest mechanism for a retractable footing, the fall arrest mechanism comprising: The fall protection mechanism of the telescopic foot includes a base, a drive assembly, a supporting foot, and a backstop assembly, wherein: The drive assembly includes a fixed part and a movable part. The fixed part is mounted on the base, and the movable part is vertically mounted on the fixed part. The supporting foot is mounted on the movable part. The movable part has a positioning hole. The drive assembly is configured to drive the movable part to rise and fall, thereby causing the supporting foot to rise and fall to a first position or a second position. When the supporting foot is in the second position, it supports the base. When the supporting foot is in the first position, it releases the support to the base. The anti-return assembly is mounted on the base and located on one side of the movable part. The anti-return assembly includes a base, an elastic element, and a positioning element. The positioning element is mounted on the base near or away from the movable part. The elastic element is fitted outside the positioning element. The first end of the elastic element abuts against the base, and the second end of the elastic element abuts against the positioning element. When the supporting foot is in the first position, the positioning hole is located above the positioning member, and the positioning member abuts against the movable part by the elastic force of the elastic member; When the supporting foot is in the second position, the positioning hole moves to the position corresponding to the positioning member, and the positioning member is inserted into the positioning hole by the elastic force of the elastic member to limit the moving part.

2. The fall arrest mechanism of a telescopic footing according to claim 1, characterized in that, A solenoid valve is provided on the base, and the first end of the elastic element abuts against the end face of the solenoid valve. The solenoid valve is configured to drive the positioning member to overcome the elastic force of the elastic member and move away from the movable part, so that the end of the positioning member near the movable part extends out of the positioning hole, thereby releasing the movable part from its limit.

3. The fall arrest mechanism of a telescopic footing according to claim 2, characterized in that, A guide assembly is provided on the base. The guide assembly includes a guide member and a guide mounting bracket formed on the outer edge of the positioning member. The guide mounting bracket has a fixing hole for fixing the first end of the guide member. A guide channel is formed on the base corresponding to the second end of the guide member. The guide member is movably disposed in the guide channel. When the positioning member moves, the second end of the guide member moves within the guide channel to guide the movement of the positioning member via the guide mounting bracket.

4. The fall arrest mechanism of a telescopic footing according to claim 3, characterized in that, The anti-fall mechanism of the telescopic foot also includes a detection component, which is mounted on the base and located on the movement path of the guide mounting frame. The detection component is configured to detect the movement stroke of the guide mounting frame and then determine whether the supporting foot is in a first position or a second position by detecting the position information of the positioning element.

5. The fall arrest mechanism of a telescopic footing according to claim 4, characterized in that, The detection component includes a detection element and an indicator light mounted on the base. The detection element is electrically connected to the indicator light. The detection end of the detection element is flush with the guide mounting bracket. The detection element is configured to detect the distance between the guide mounting bracket and the detection end, thereby detecting whether the positioning element is located within the positioning hole and transmitting the detection information to the indicator light. The indicator light is configured to illuminate according to the received detection information.

6. The fall arrest mechanism of a telescopic footing according to claim 3, characterized in that, The elastic element is a return spring, and the outer edge of the positioning element has a protrusion facing outward. The protrusion is located between the end face of the working end of the solenoid valve and the guide mounting bracket, and the second end of the return spring abuts against the protrusion.

7. The fall arrest mechanism of a telescopic footing according to claim 1, characterized in that, The base is provided with a manual adjustment assembly, which includes an operating part disposed on the outside of the base and a cylindrical body extending toward the inside of the base. One end of the positioning member opposite to the movable part passes through the inner side of the cylindrical body and is disposed on the outside of the base by a limiting member. The positioning member has a gap with the inner surface of the cylindrical body. An external thread section is formed on the outer surface of the cylindrical body, and an internal thread hole is formed at a corresponding position on the base corresponding to the external thread section. The cylindrical body is adjustablely disposed on the base by means of a threaded structure. By operating the operating part, the positioning member overcomes the elastic force of the elastic member and moves away from the movable part, so that the end of the positioning member close to the movable part extends out of the positioning hole, thereby releasing the limitation on the movable part.

8. The fall arrest mechanism of a telescopic footing according to claim 7, characterized in that, The limiting component includes a limiting ring sleeve. The outer edge of the positioning component has a fixing groove that matches the inner diameter of the limiting ring sleeve. The limiting ring sleeve is fixed to the positioning component through the fixing groove. The outer diameter of the limiting ring sleeve is larger than the inner diameter of the internal threaded hole.

9. The anti-fall mechanism of the telescopic foot according to claim 7, characterized in that, Two protrusions are spaced apart on the outer periphery of the operating part, and the two protrusions extend toward the side away from the base.

10. A medical surgery robot characterized by comprising: The medical surgical robot includes a fall prevention mechanism with retractable feet as described in any one of claims 1 to 9.

Images