Omnidirectional moving base for medical instrument
By using omnidirectional electric drive wheel modules and suspension structures, the stability and flexibility issues of mobile medical devices on uneven ground are solved, enabling the equipment to operate efficiently and accurately in complex environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI DROIDSURG MEDICAL CO LTD
- Filing Date
- 2025-06-30
- Publication Date
- 2026-05-12
AI Technical Summary
Existing mobile medical devices are difficult to move in uneven or narrow environments. Manual operation is laborious, electric drive is not flexible, and Mecanum wheel technology is not stable or drivable on uneven surfaces.
It adopts an omnidirectional electric drive wheel module and suspension structure, which includes a linkage assembly and an elastic connection assembly, to achieve omnidirectional movement and adapt to different terrains, providing elastic shock absorption.
It improves the stability and flexibility of medical devices in complex terrain, reduces equipment shaking and wear, and ensures efficient and precise operation of the equipment under various working conditions.
Smart Images
Figure CN224229683U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of medical device technology, and in particular relates to an omnidirectional movable base for medical devices. Background Technology
[0002] In the medical field, mobile medical devices are increasingly widely used, and their mobility directly affects their ease of use, efficiency, and applicability in various medical scenarios. Currently, there are two main types of mobile medical devices on the market in terms of their mobility.
[0003] One method is manual movement. While this method adheres to the medical device standards' restrictions on starting force (push-pull force) to some extent, the diversity and uncertainty of the usage environment, such as uneven ground, narrow space, or environments with obstacles, often require a great deal of physical strength. The movement process is extremely strenuous, which greatly reduces the efficiency of medical device use and increases the workload of operators.
[0004] Another method is electric-driven mobility. However, existing electric-driven mobile medical devices have relatively limited mobility functions, generally only capable of basic operations such as moving forward, backward, and turning by controlling the direction of the rollers. This turning method has a significant drawback: the turning radius is relatively large, resulting in poor mobility. In environments with limited space, such as hospital wards and operating rooms, mobility is severely restricted, making it difficult to meet practical usage needs.
[0005] In terms of achieving omnidirectional mobility, Mecanum wheel technology is widely used in the industrial market. By adjusting the drive of four roller motors, Mecanum wheels can achieve omnidirectional movement of instruments. This characteristic gives them a significant advantage in scenarios requiring flexible movement, and therefore, Mecanum wheel technology is also used in some mobile medical devices. For example, patent publication number CN209712937U discloses an omnidirectionally movable base for a G-arm, which includes an upper movable fixing plate, bearing fixing seat, wheel end cover, reducer, motor, and Mecanum wheels.
[0006] However, this existing technical solution has significant drawbacks. Because the Mecanum wheels and the fixed plate are rigidly connected, this rigid connection cannot effectively cushion the impact and unevenness of the ground when the mobile base is running on uneven surfaces. On the one hand, this can cause the entire instrument to shake, affecting the stability and accuracy of the medical device. For some medical devices with extremely high stability requirements, such as imaging diagnostic equipment, shaking may affect the accuracy of diagnostic results. On the other hand, one or more drive wheels may become suspended in the air. Once a drive wheel is suspended, effective drive cannot be achieved, causing the mobile base to lose its normal movement ability, seriously affecting the normal use of the medical device. Utility Model Content
[0007] To address the aforementioned problems, the purpose of this invention is to provide an omnidirectional movable base for medical devices, which is omnidirectional and adaptable to uneven ground.
[0008] To achieve the above objectives, the technical solution of this utility model is as follows:
[0009] An omnidirectional mobile base for a medical device includes a base body and at least two wheel sets disposed below the base body, wherein the at least two wheel sets are parallel and sequentially disposed below the base body.
[0010] The wheel assembly includes two omnidirectional electric drive wheel modules and a suspension. The suspension is located between the two omnidirectional electric drive wheel modules and its two ends are respectively connected to the two omnidirectional electric drive wheel modules.
[0011] The suspension includes a fixed seat, two linkage assemblies and two elastic connection assemblies. The fixed seat is fixedly connected to the lower end face of the base. The two linkage assemblies are respectively located on both sides of the fixed seat, and the two ends of the linkage assemblies are respectively hinged to the omnidirectional electric drive wheel module and the fixed seat.
[0012] Two elastic connection components are respectively disposed between the two omnidirectional drive wheel modules and the base, and the two ends of the elastic connection components are respectively connected to the omnidirectional drive wheel modules and the base.
[0013] According to one embodiment of the present invention, the suspension includes two connecting seats, which are respectively disposed on the two omnidirectional electric drive wheel modules, and the two ends of the linkage assembly are respectively hinged to the connecting seats and the fixed seats.
[0014] According to one embodiment of the present invention, the linkage assembly includes two parallel linkages.
[0015] According to one embodiment of the present invention, the omnidirectional electric drive wheel module includes an omnidirectional drive wheel and a driver, the driver being drivenly connected to the omnidirectional drive wheel, and the connecting seat being connected to the driver.
[0016] According to one embodiment of the present invention, the omnidirectional drive wheel is a Mecanum wheel.
[0017] According to one embodiment of the present invention, the driver includes a reducer and a drive motor. The reducer is drivenly connected to the omnidirectional drive wheel, the drive motor is drivenly connected to the reducer, and the connecting seat is connected to the reducer.
[0018] According to one embodiment of the present invention, the elastic connection assembly includes a guide shaft and a spring. The lower end of the guide shaft is fixedly connected to the connecting seat, and the upper end passes through and is slidably connected to the base body. The spring is sleeved on the guide shaft and located between the connecting seat and the base body.
[0019] According to one embodiment of the present invention, the fixing seat is fixedly connected to the lower end face of the base by screws.
[0020] According to one embodiment of the present invention, the connecting seat is fixedly connected to the reducer by screws.
[0021] Because of the adoption of the above technical solution, this utility model has the following advantages and positive effects compared with the prior art:
[0022] The unique structural design of the wheel assembly in this invention gives the equipment excellent terrain adaptability. By setting up two omnidirectional electric drive wheel modules and a suspension system between them, with the suspension's linkage assembly hinged at both ends to the omnidirectional electric drive wheel modules and the fixed base respectively, the linkage assembly can operate flexibly when the equipment travels on different terrains, allowing the omnidirectional electric drive wheel modules to automatically adjust their height according to the terrain's undulations. Whether on uneven construction site roads or complex terrain with a certain slope, the omnidirectional electric drive wheel modules can maintain close contact with the ground, ensuring stable operation and greatly expanding the equipment's application scenarios and operating range.
[0023] The flexible connecting components in the suspension are connected at both ends to the omnidirectional electric drive wheel module and the base, respectively. This design provides the equipment with efficient elastic damping. During operation, when encountering bumps or impacts, the flexible connecting components can absorb and buffer the vibration energy from the ground, effectively reducing the impact of vibration on the overall equipment. Compared to traditional equipment without this type of elastic damping design, this invention can significantly reduce the risk of wear and damage to internal components caused by vibration, extend the service life of the equipment, reduce vibration-induced noise, and improve the smoothness and comfort of equipment operation.
[0024] The flexible connection components not only dampen vibrations but also ensure that the omnidirectional electric drive wheel module maintains effective contact with the ground at all times. This feature is crucial for stable equipment operation, preventing power transmission interruptions or loss of directional control due to the omnidirectional electric drive wheel module being suspended in the air. Simultaneously, by maintaining good contact between the omnidirectional electric drive wheel module and the ground, the swaying of the equipment on the base body is effectively reduced, enabling various devices mounted on the base to operate stably. This ensures the operational accuracy and reliability of the equipment under various working conditions, improving work efficiency and quality.
[0025] The omnidirectional electric drive wheel module, combined with the suspension structure, achieves a perfect balance between flexibility and stability. On one hand, the omnidirectional electric drive wheel module itself has the ability to move in all directions, flexibly changing its direction of travel to meet the flexible operation needs of the equipment in narrow spaces or complex working environments. On the other hand, through the synergistic effect of the suspension's linkage components and elastic connection components, the omnidirectional electric drive wheel module can flexibly adjust to the terrain while maintaining stable contact with the ground during movement, ensuring the stability and safety of the equipment during omnidirectional movement and providing strong support for the efficient and precise operation of the equipment. Attached Figure Description
[0026] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, wherein:
[0027] Figure 1 This is an isometric view of the entire utility model;
[0028] Figure 2 This is an isometric view of the omnidirectional electric drive wheel module of this utility model;
[0029] Figure 3 This is a front view of the omnidirectional electric drive wheel module of this utility model;
[0030] Figure 4 This is a rear view of the omnidirectional electric drive wheel module of this utility model.
[0031] Explanation of reference numerals in the attached figures:
[0032] 1. Base body; 2. Mecanum wheel; 3. Reducer; 4. Connecting rod; 5. Spring; 6. Guide shaft; 7. Rotating shaft; 8. Fixed seat; 9. Drive motor; 10. Connecting seat. Detailed Implementation
[0033] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.
[0034] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.
[0035] See Figures 1 to 4 The core of this utility model is to provide an omnidirectional mobile base for medical devices, including a base body 1 and at least two wheel sets disposed below the base body 1, wherein the at least two wheel sets are parallel and sequentially disposed below the base body 1.
[0036] The wheelset includes two omnidirectional electric drive wheel modules and a suspension. The suspension is located between the two omnidirectional electric drive wheel modules, and its two ends are respectively connected to the two omnidirectional electric drive wheel modules. The suspension includes a fixed base 8, two link assemblies, and two elastic connection assemblies. The fixed base 8 is fixed to the lower end face of the base by screws. The two link assemblies are respectively located on both sides of the fixed base 8, and the two ends of the link assemblies are respectively hinged to the omnidirectional electric drive wheel module and the fixed base 8.
[0037] Two flexible connection components are respectively located between the two omnidirectional drive wheel modules and the base, with the two ends of the flexible connection components connected to the omnidirectional drive wheel modules and the base respectively.
[0038] Furthermore, the suspension includes two connecting seats 10, which are respectively mounted on two omnidirectional electric drive wheel modules. The two ends of the linkage assembly are hinged to the connecting seats 10 and the fixed seat 8, respectively. In this embodiment, the linkage assembly includes two parallel connecting rods 4, which are hinged to the connecting seats 10 and the fixed seat 8 via a pivot 7. The omnidirectional electric drive wheel module includes an omnidirectional drive wheel and a driver. The driver is driven by the omnidirectional drive wheel, and the connecting seat 10 is connected to the driver.
[0039] In this embodiment, the omnidirectional drive wheel is a Mecanum wheel 2. The driver includes a reducer 3 and a drive motor 9. The reducer 3 is driven by the omnidirectional drive wheel, and the drive motor 9 is driven by the reducer 3. The connecting seat 10 is connected to the reducer 3 by screws.
[0040] The elastic connection assembly includes a guide shaft 6 and a spring 5. The lower end of the guide shaft 6 is fixedly connected to the connecting seat 10, and the upper end is inserted through and slidably connected to the base body 1. The spring 5 is sleeved on the guide shaft 6 and located between the connecting seat 10 and the base body 1.
[0041] The unique structural design of the wheel assembly in this invention gives the equipment excellent terrain adaptability. By setting up two omnidirectional electric drive wheel modules and a suspension system between them, with the suspension's linkage assembly hinged at both ends to the omnidirectional electric drive wheel modules and the fixed base 8, the linkage assembly can operate flexibly when the equipment travels on different terrains, allowing the omnidirectional electric drive wheel modules to automatically adjust their height according to the terrain's undulations. Whether on uneven construction site roads or complex terrain with a certain slope, the omnidirectional electric drive wheel modules can maintain close contact with the ground, ensuring stable operation and greatly expanding the equipment's application scenarios and operating range.
[0042] The flexible connecting components in the suspension are connected at both ends to the omnidirectional electric drive wheel module and the base, respectively. This design provides the equipment with efficient elastic damping. During operation, when encountering bumps or impacts, the flexible connecting components can absorb and buffer the vibration energy from the ground, effectively reducing the impact of vibration on the overall equipment. Compared to traditional equipment without this type of elastic damping design, this invention can significantly reduce the risk of wear and damage to internal components caused by vibration, extend the service life of the equipment, reduce vibration-induced noise, and improve the smoothness and comfort of equipment operation.
[0043] The flexible connection components not only provide shock absorption but also ensure that the omnidirectional electric drive wheel module maintains effective contact with the ground at all times. This feature is crucial for stable equipment operation, preventing problems such as power transmission interruption or loss of directional control due to the omnidirectional electric drive wheel module being suspended in the air. Simultaneously, by maintaining good contact between the omnidirectional electric drive wheel module and the ground, the swaying of the equipment on the base body 1 is effectively reduced, enabling various devices mounted on the base to operate stably, ensuring the operational accuracy and reliability of the equipment under various working conditions, and improving work efficiency and quality.
[0044] The omnidirectional electric drive wheel module, combined with the suspension structure, achieves a perfect balance between flexibility and stability. On one hand, the omnidirectional electric drive wheel module itself has the ability to move in all directions, flexibly changing its direction of travel to meet the flexible operation needs of the equipment in narrow spaces or complex working environments. On the other hand, through the synergistic effect of the suspension's linkage components and elastic connection components, the omnidirectional electric drive wheel module can flexibly adjust to the terrain while maintaining stable contact with the ground during movement, ensuring the stability and safety of the equipment during omnidirectional movement and providing strong support for the efficient and precise operation of the equipment.
[0045] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.
[0046] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.
Claims
1. An omnidirectional movable base for medical devices, characterized in that, It includes a base body and at least two wheel sets disposed below the base body, wherein the at least two wheel sets are parallel and sequentially disposed below the base body; The wheel assembly includes two omnidirectional electric drive wheel modules and a suspension. The suspension is located between the two omnidirectional electric drive wheel modules and its two ends are respectively connected to the two omnidirectional electric drive wheel modules. The suspension includes a fixed seat, two linkage assemblies and two elastic connection assemblies. The fixed seat is fixedly connected to the lower end face of the base. The two linkage assemblies are respectively located on both sides of the fixed seat, and the two ends of the linkage assemblies are respectively hinged to the omnidirectional electric drive wheel module and the fixed seat. The two elastic connection components are respectively disposed between the two omnidirectional electric drive wheel modules and the base, and the two ends of the elastic connection components are respectively connected to the omnidirectional electric drive wheel modules and the base.
2. The omnidirectional movable base for medical devices according to claim 1, characterized in that, The suspension includes two connecting seats, which are respectively disposed on the two omnidirectional electric drive wheel modules. The two ends of the linkage assembly are respectively hinged to the connecting seats and the fixed seats.
3. The omnidirectional movable base for medical devices according to claim 1, characterized in that, The linkage assembly includes two parallel linkages.
4. The omnidirectional movable base for medical devices according to claim 2, characterized in that, The omnidirectional electric drive wheel module includes an omnidirectional drive wheel and a driver, the driver being drivenly connected to the omnidirectional drive wheel, and the connecting seat being connected to the driver.
5. The omnidirectional movable base for medical devices according to claim 4, characterized in that, The omnidirectional drive wheel is a Mecanum wheel.
6. The omnidirectional movable base for medical devices according to claim 4, characterized in that, The driver includes a reducer and a drive motor. The reducer is driven by the omnidirectional drive wheel, the drive motor is driven by the reducer, and the connecting seat is connected to the reducer.
7. The omnidirectional movable base for medical devices according to claim 2, characterized in that, The elastic connection assembly includes a guide shaft and a spring. The lower end of the guide shaft is fixedly connected to the connecting seat, and the upper end passes through and is slidably connected to the base body. The spring is sleeved on the guide shaft and located between the connecting seat and the base body.
8. The omnidirectional movable base for medical devices according to claim 1, characterized in that, The mounting bracket is fixed to the lower end face of the base by screws.
9. The omnidirectional movable base for medical devices according to claim 6, characterized in that, The connecting seat is fixed to the reducer by screws.