Parking device and surgical robot console

Abstract

The application relates to a parking device and a surgical robot console, the parking device comprising a stepping mechanism and two brake mechanisms; the brake mechanism comprising a lifting assembly and a brake base; the brake base being connected with the lifting assembly; the stepping mechanism comprising a stepping assembly and a transmission assembly; the stepping assembly being connected with the two lifting assemblies through the transmission assembly; the stepping assembly being configured to move between a first position and a second position in a second direction to switch the parking device between an unlocked state and a parking state; when the parking device is switched from the unlocked state to the parking state, the stepping assembly moves from the first position to the second position, the stepping assembly drives the two lifting assemblies to move towards the ground through the transmission assembly, and the two brake bases are in contact with the ground; when the parking device is switched from the parking state to the unlocked state, the two lifting assemblies drive the two brake bases to move away from the ground and drive the stepping assembly to move from the second position to the first position.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to a parking device and a surgical robot control console. Background Technology

[0002] Currently, the domestic medical surgical robot market is rapidly expanding due to its trend towards high-end and intelligent technologies. Considering the several-hour surgery duration, this poses a significant challenge to both the surgeon and the surgical robot.

[0003] Given the generally long operation time, the braking and parking system in the control panel must be stable enough when parked to prevent significant shaking in order to ensure the smooth progress of the operation.

[0004] Therefore, there is an urgent need to provide a parking device for the control console of a surgical robot to solve the above problems. Utility Model Content

[0005] Based on this, this application provides a parking device and a surgical robot control console, which can facilitate switching between the parking device and the unlocking device, improve the parking stability of the parking device, thereby ensuring the stability of the surgical robot control console during use and improving surgical safety.

[0006] In a first aspect, embodiments of this application provide a parking device for a surgical robot control console, comprising:

[0007] Two braking mechanisms are located on both sides of the pedal mechanism along a first direction; each braking mechanism includes a lifting assembly and a brake base; the brake base is connected to one side of the lifting assembly along a second direction; the second direction is perpendicular to the first direction.

[0008] The pedal mechanism includes a pedal assembly and a transmission assembly; the pedal assembly is connected to the two lifting assemblies via the transmission assembly; the pedal assembly is configured to move along the second direction between a first position and a second position to switch the parking device between an unlocked state and a parking state.

[0009] When the parking device switches from the unlocked state to the parking state, the pedal component moves from the first position to the second position. The pedal component drives the two lifting components to move toward the ground through the transmission component until both brake bases are in contact with the ground.

[0010] When the parking device switches from the parking state to the unlocked state, the two lifting components move the two brake bases away from the ground and move the pedal component from the second position to the first position.

[0011] In one embodiment, when the parking device switches from the unlocked state to the parking state, the pedal assembly moves from the first position to the second position under the drive of an external force along the second direction. The pedal assembly drives the two lifting assemblies to move toward the ground through the transmission assembly until both brake bases are in contact with the ground. When the external force on the pedal assembly disappears, the pedal assembly is locked in the second position.

[0012] When the parking device switches from the parking state to the unlocked state, the pedal assembly disengages from the second position under the drive of an external force in the second direction; when the external force on the pedal assembly disappears, the two lifting assemblies drive the two brake bases away from the ground and move the pedal assembly to the first position.

[0013] In one embodiment, the lifting assembly includes:

[0014] Mounting base;

[0015] A lifting component is movably mounted on the mounting base along the second direction; the lifting component is connected to the transmission assembly; the brake base is connected to one end of the lifting component;

[0016] A pressure plate is connected to the end of the lifting component away from the brake base;

[0017] A first elastic element is located on the side of the mounting base away from the brake base, and the first elastic element connects the pressure plate and the mounting base; the first elastic element is configured to cause the pressure plate to tend to move away from the mounting base.

[0018] In one embodiment, the lifting member includes:

[0019] A bushing, which is movably inserted into the mounting base along the second direction, is connected to the transmission assembly; a first annular boss is provided inside the bushing; the bushing is connected to the pressure plate;

[0020] A lifting shaft is inserted into the bushing; one end of the lifting shaft near the pressure plate is connected to the bushing; the other end of the lifting shaft away from the pressure plate is connected to the brake base; a second annular boss is provided on the outside of the lifting shaft; the second annular boss and the first annular boss are spaced apart along the second direction;

[0021] The second elastic element is sleeved on the outside of the lifting shaft, and the second elastic element is located between the first annular boss and the second annular boss.

[0022] In one embodiment, the brake base is connected to the lifting member via a spherical joint.

[0023] In one embodiment, the lifting assembly further includes a limiting member disposed on the mounting base.

[0024] The lifting component is provided with a limiting groove, the limiting groove extends along the second direction, and one end of the limiting component is located in the limiting groove; the limiting component and the limiting groove are configured to restrict the lifting component from rotating about the second direction relative to the mounting base.

[0025] In one embodiment, the pedal component includes:

[0026] Fixed base,

[0027] A foot pedal is connected to the fixed base; and the foot pedal is capable of moving relative to the fixed base along the second direction between the first position and the second position.

[0028] A guide plate is disposed on the fixed base; the guide plate is located on one side of the foot pedal along a third direction; the third direction is perpendicular to both the second direction and the first direction; the guide plate is provided with a guide groove, the guide groove including a first guide groove and a heart-shaped guide groove arranged along the second direction and communicating with each other; the sharp corner of the heart-shaped guide groove is located on the side of the heart-shaped guide groove away from the first guide groove;

[0029] A swing arm component includes a swing arm and a locking member. The swing arm is disposed on the foot pedal and is rotatable relative to the foot pedal about a third direction. The locking member is connected to one end of the swing arm near the guide plate and is rotatable relative to the swing arm about the first direction. The end of the locking member away from the swing arm is slidably disposed in the guide groove.

[0030] When the foot pedal is in the first position, the end of the locking member away from the swing arm is locked in the first guide groove.

[0031] When the foot pedal is in the second position, the end of the locking member away from the swing arm is locked at the sharp corner of the heart-shaped guide groove;

[0032] When the pedal moves between the first position and the second position along the second direction, the locking member can slide into the heart-shaped guide groove along the first guide groove at the end away from the swing arm; and after sliding unidirectionally along the heart-shaped guide groove, it returns to the first guide groove.

[0033] In one embodiment, the pedal assembly further includes a connecting shaft, a third elastic element, a fourth elastic element, and a fifth elastic element;

[0034] The swing arm passes through the pedal component in the third direction; the third elastic member connects the end of the swing arm away from the guide plate to the pedal component; the third elastic member is configured to provide a torsional force to the swing arm so that the end of the locking member away from the swing arm abuts against the side wall of the guide groove.

[0035] The connecting shaft passes through one end of the swing arm near the guide plate along the first direction; the connecting shaft is rotatable relative to the swing arm about the first direction; the locking member is connected to the connecting shaft;

[0036] The fourth and fifth elastic elements are both sleeved on the connecting shaft. The fourth elastic element connects the locking element and the swing arm, and the fifth elastic element connects the locking element and the swing arm. The fourth and fifth elastic elements are configured to provide opposite torques to the locking element so that the end of the locking element away from the swing arm abuts against the bottom surface of the guide groove.

[0037] In one embodiment, the transmission assembly includes two transmission units, and the pedal assembly is connected to the two lifting assemblies via the two transmission units; the transmission unit includes:

[0038] A drive shaft is provided to extend along the first direction;

[0039] The first gear transmission unit includes a first rack and a first gear that mesh with each other. The first rack is connected to the pedal assembly and extends along the second direction. The first gear is connected to the transmission shaft.

[0040] The second gear transmission unit includes a second rack and a second gear that mesh with each other. The second rack is connected to the lifting assembly and extends along the second direction. The second gear is connected to the transmission shaft.

[0041] Secondly, this application provides a surgical robot console, including the parking device described in any of the above embodiments.

[0042] The aforementioned parking device and surgical robot control console include a pedal mechanism and two braking mechanisms located on both sides of the pedal mechanism along a first direction. The braking mechanisms include lifting components and brake bases. The pedal component of the pedal mechanism is connected to the two lifting components of the two braking mechanisms through a transmission component. The pedal component is configured to move between a first position and a second position along a second direction to switch the parking device between an unlocked state and a parking state. When the parking device switches from the unlocked state to the parking state, the pedal component moves from the first position to the second position. The pedal component drives the two lifting components toward the ground through the transmission component until both brake bases are in contact with the ground. When the parking device switches from the parking state to the unlocked state, the two lifting components drive the two brake bases away from the ground and drive the pedal component to move from the second position to the first position. In other words, this application, through the cooperation of the pedal component and the lifting component, enables the two brake bases of the two braking mechanisms to simultaneously contact or move away from the ground, realizing the switching between the unlocked and parked states of the parking device. This makes the operation simple and convenient for medical staff. In addition, when the parking device is in the parked state, both brake bases are in contact with the ground, which increases the contact area between the braking device and the ground, increases the friction between the braking device and the ground, and improves the parking stability of the parking device. This ensures the stability of the surgical robot control console during use and improves surgical safety. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of a parking device provided in an embodiment of this application.

[0044] Figure 2 This is a partial structural schematic diagram of a parking device provided in one embodiment of this application.

[0045] Figure 3 for Figure 2 The parking device shown is a cross-sectional view along line AA.

[0046] Figure 4 This is a first-view structural schematic diagram of the pedal assembly of a parking device provided in an embodiment of this application.

[0047] Figure 5 This is a second-view structural schematic diagram of the pedal assembly of a parking device provided in an embodiment of this application.

[0048] Figure 6 This is a schematic diagram of the parking device pedal assembly provided in an embodiment of this application, with the guide plate and pedal removed.

[0049] Figure 7 This is another structural schematic diagram of the parking device pedal assembly provided in an embodiment of this application, with the guide plate and pedal hidden.

[0050] Figure 8This is a schematic diagram of the swing arm component in the pedal assembly of a parking device provided in an embodiment of this application.

[0051] Figure 9 Another structural schematic diagram of the swing arm component in the pedal assembly of the parking device provided in an embodiment of this application.

[0052] Figure 10 This is a schematic diagram of the structure of the pedal assembly of the parking device provided in an embodiment of this application, showing the cooperation between the swing arm component and the guide groove.

[0053] Figure 11 This is a schematic diagram of the structure of a surgical robot console provided in one embodiment of this application.

[0054] Explanation of reference numerals in the attached figures:

[0055] 10. Parking device; 11. Braking mechanism; 111. Lifting assembly; 1111. Mounting base; 1112. Lifting component; 1112a. Bushing; 1112b. First annular boss; 1112c. Lifting shaft; 1112d. Second annular boss; 1112e. Second elastic element; 1112f. Limiting groove; 1113. Pressure plate; 1114. First elastic element; 1115. Limiting element; 1116. First guide rod ; 112, Brake base; 112a, Groove; 112b, Pressure cap; 112c, Anti-slip layer; 12, Pedal mechanism; 121, Pedal assembly; 1211, Fixing base; 1211a, Fixing plate; 1211a1, Opening; 1211b, Second guide rod; 1212, Pedal component; 1212a, Pedal base plate; 1212b, Pedal; 1213, Guide plate; 1213a, Guide groove; 12131, First 1. Guide groove; 12132. Heart-shaped guide groove; 121321. First groove segment; 121322. Second groove segment; 121323. Third groove segment; 121324. Fourth groove segment; B. Sharp corner; 1214. Swing arm component; 1214a. Swing arm; 1214b. Locking element; 1215. Connecting shaft; 1216. Third elastic element; 1217. Fourth elastic element; 1218. Fifth elastic element; 1219. Straight line 122. Bearing; 122a. Transmission assembly; 122a. Transmission unit; 1221. Transmission shaft; 1222. First gear transmission unit; 1222a. First rack; 1222b. First gear; 1223. Second gear transmission unit; 1223a. Second rack; 1223b. Second gear; 13. Spherical pair; 131. Spherical bearing; 132. Connecting member; X, First direction; Y, Second direction; Z, Third direction;

[0056] 20. Surgical robot control console; 21. Base; 22. Control console; 23. Walking wheels. Detailed Implementation

[0057] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0058] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0059] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0061] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0062] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0063] Firstly, see Figure 1 and Figure 2 This application provides a parking device 10 for a surgical robot control console 20, including a pedal mechanism 12 and two braking mechanisms 11. The two braking mechanisms 11 are located on both sides of the pedal mechanism 12 along a first direction X. Each braking mechanism 11 includes a lifting assembly 111 and a brake base 112. The brake base 112 is connected to one side of the lifting assembly 111 along a second direction Y. The second direction Y is perpendicular to the first direction X. The pedal mechanism 12 includes a pedal assembly 121 and a transmission assembly 122. The pedal assembly 121 is connected to the two lifting assemblies 111 through the transmission assembly 122. The pedal assembly 121 is configured... To move along the second direction Y between the first and second positions, so that the parking device 10 switches between the unlocked state and the parking state; when the parking device 10 switches from the unlocked state to the parking state, the pedal assembly 121 moves from the first position to the second position, and the pedal assembly 121 drives the two lifting assemblies 111 to move toward the ground through the transmission assembly 122 until both brake bases 112 are in contact with the ground; when the parking device 10 switches from the parking state to the unlocked state, the two lifting assemblies 111 drive the two brake bases 112 away from the ground, and drive the pedal assembly 121 to move from the second position to the first position.

[0064] The parking device 10 provided in this application embodiment includes a pedal mechanism 12 and two braking mechanisms 11 located on both sides of the pedal mechanism 12 along a first direction X. The braking mechanism 11 includes a lifting component 111 and a brake base 112. The pedal component 121 of the pedal mechanism 12 is connected to the two lifting components 111 of the two braking mechanisms 11 through a transmission component 122. The pedal component 121 is configured to move between a first position and a second position along a second direction Y, so that the parking device 10 switches between an unlocked state and a parking state. When the parking device 10 switches from the unlocked state to the parking state, the pedal component 121 moves from the first position to the second position. The pedal component 121 drives the two lifting components 111 to move toward the ground through the transmission component 122 until both brake bases 112 are in contact with the ground. When the parking device 10 switches from the parking state to the unlocked state, the two lifting components 111 drive the two brake bases 112 away from the ground and drive the pedal component 121 to move from the second position to the first position. In other words, this application, through the cooperation of the foot pedal component 121 and the lifting component 111, enables the two brake bases 112 of the two braking mechanisms 11 to simultaneously contact or move away from the ground, thereby switching the parking device 10 between the unlocked and parked states. This makes the operation simple and convenient for medical personnel. In addition, when the parking device 10 is in the parked state, both brake bases 112 are in contact with the ground, which increases the contact area between the braking device and the ground, increases the friction between the braking device and the ground, and improves the parking stability of the parking device 10. This ensures the stability of the surgical robot control console 20 during use and improves surgical safety.

[0065] It should be noted that the first direction X is roughly parallel to the ground, and the second direction Y is roughly perpendicular to the ground. The first and second positions are arranged sequentially from top to bottom.

[0066] In one embodiment, when the parking device 10 switches from the unlocked state to the parking state, the pedal assembly 121 moves from the first position to the second position under the drive of an external force along the second direction Y. The pedal assembly 121 drives the two lifting assemblies 111 to move toward the ground through the transmission assembly 122 until both brake bases 112 are in contact with the ground. When the external force on the pedal assembly 121 disappears, the pedal assembly 121 is locked in the second position. When the parking device 10 switches from the parking state to the unlocked state, the pedal assembly 121 disengages from the second position under the drive of an external force along the second direction Y. When the external force on the pedal assembly 121 disappears, the two lifting assemblies 111 drive the two brake bases 112 away from the ground and drive the pedal assembly 121 to move to the first position.

[0067] Thus, when it is necessary to switch the parking device 10 from the unlocked state to the parking state, medical staff can apply an external force along the second direction Y toward the ground to the pedal component 121 by stepping on it, so that the pedal component 121 moves from the first position to the second position. The pedal component 121 drives the two lifting components 111 to move toward the ground through the transmission component 122 until both brake bases 112 are in contact with the ground. The medical staff then release the pedal component 121, and the pedal component 121 is locked in the second position, thereby switching the parking device 10 from the unlocked state to the parking state. When it is necessary to switch the parking device 10 from the parking state to the unlocked state, medical personnel can apply an external force along the second direction Y toward the ground to the pedal component 121 by stepping on it. This causes the pedal component 121 to disengage from the second position. When the medical personnel release the pedal component 121, the two lifting components 111 drive the two brake bases 112 to move along the second direction Y, so that both brake bases 112 are away from the ground, and drive the pedal component 121 to the first position, thereby switching the parking device 10 from the parking state to the unlocked state. In summary, medical personnel can switch the parking device 10 between the unlocked and parking states by stepping on or releasing the pedal component 121. The operation is convenient and quick, requires no power output component, and can avoid parking failure due to power failure or short circuit in the power output component, ensuring the parking stability and reliability of the parking device 10.

[0068] In one embodiment, see [reference] Figure 1 and Figure 2 The lifting assembly 111 includes a mounting base 1111, a lifting member 1112, a pressure plate 1113, and a first elastic member 1114. The lifting member 1112 is movably disposed on the mounting base 1111 along a second direction Y. The lifting member 1112 is connected to the transmission assembly 122. The brake base 112 is connected to one end of the lifting member 1112. The pressure plate 1113 is connected to the end of the lifting member 1112 away from the brake base 112. The first elastic member 1114 is located on the side of the mounting base 1111 away from the brake base 112. The first elastic member 1114 connects the pressure plate 1113 and the mounting base 1111. The first elastic member 1114 is configured to cause the pressure plate 1113 to tend to move away from the mounting base 1111.

[0069] Therefore, when the parking device 10 is switched from the unlocked state to the parking state, the medical staff moves the pedal assembly 121 from the first position to the second position by stepping on it. The pedal assembly 121 drives the two lifting members 1112 to move towards the ground in the second direction Y through the transmission assembly 122. At the same time, the pressure plate 1113 moves with the lifting members 1112 and compresses the first elastic member 1114 until the brake base 112 contacts the ground. The medical staff then releases the pedal assembly 121, and the pedal assembly 121 is locked in the second position, thereby parking the device. The vehicle device 10 is switched to the parking state; when the parking device 10 is switched from the parking state to the unlocked state, the medical staff will step on the pedal component 121 to disengage from the second position. Then, the medical staff will release the pedal component 121, and the lifting component 1112 will move away from the ground along the second direction Y under the rebound force of the first elastic component 1114. The lifting component 1112 will drive the brake base 112 away from the ground, and drive the pedal component 121 to move to the first position through the transmission component 122, thereby switching the parking device 10 to the unlocked state.

[0070] Further, see Figure 2 The lifting assembly 111 includes multiple first elastic elements 1114, and multiple first guide rods 1116 are spaced apart on the mounting base 1111. The pressure plate 1113 is slidably connected to the multiple first guide rods 1116, and the multiple first elastic elements 1114 are correspondingly sleeved on the multiple first guide rods 1116. Specifically, the lifting assembly 111 includes two first elastic elements 1114, and two first guide rods 1116 are provided on the mounting base 1111. The two first guide rods 1116 are symmetrically arranged about the central axis of the mounting base 1111; the two first elastic elements 1114 are correspondingly sleeved on the two first guide rods 1116.

[0071] Therefore, by providing multiple first guide rods 1116 at intervals on the mounting base 1111, and slidingly connecting the pressure plate 1113 to the multiple first guide rods 1116, and by correspondingly sleeved multiple first elastic elements 1114 on the multiple first guide rods 1116, the stability of the lifting member 1112 moving along the second direction Y can be improved, facilitating the switching of the parking device 10 between the unlocked state and the parking state, and improving the stability and reliability of the parking device 10 in the parking state.

[0072] In one embodiment, see [reference] Figure 3The lifting component 1112 includes a bushing 1112a, a lifting shaft 1112c, and a second elastic element 1112e. The bushing 1112a is movably mounted on the mounting base 1111 along the second direction Y and is connected to the transmission assembly 122. A first annular boss 1112b is provided inside the bushing 1112a. The bushing 1112a is connected to the pressure plate 1113. The lifting shaft 1112c passes through the bushing 1112a. The end of the lifting shaft 1112c near the pressure plate 1113 is... The lifting shaft 1112c is connected to the bushing 1112a; the end of the lifting shaft 1112c away from the pressure plate 1113 is connected to the brake base 112; a second annular boss 1112d is provided on the outside of the lifting shaft 1112c; the second annular boss 1112d and the first annular boss 1112b are spaced apart along the second direction Y; a second elastic member 1112e is sleeved on the outside of the lifting shaft 1112c, and the second elastic member 1112e is located between the first annular boss 1112b and the second annular boss 1112d.

[0073] Therefore, when the parking device 10 is switched from the unlocked state to the parked state, medical personnel move the pedal assembly 121 from the first position to the second position by stepping on it. The pedal assembly 121 drives the two bushings 1112a to move towards the ground in the second direction Y through the transmission assembly 122. The pressure plate 1113 moves with the bushings 1112a and compresses the first elastic member 1114. The first annular boss 1112b inside the bushing 1112a presses against the second elastic member. The second elastic member presses against the second annular boss 1112d outside the lifting shaft 1112c, causing the lifting shaft 1112c and the brake base 112 to move towards the ground. When the brake base 112 contacts the ground, the bushing 1112a still moves towards the ground in the second direction Y. The first annular boss 1112b inside the bushing 1112a compresses the second elastic member 1112e. The second elastic member 1112e moves towards the ground through the second annular boss 1112d. 12d applies pressure toward the ground to the lifting shaft 1112c and the brake base 112, thereby increasing the interaction force between the brake base 112 and the ground, and thus increasing the static friction between the brake base 112 and the ground, thereby improving the stability and reliability of the parking device 10 in the parking state; then the medical staff releases the pedal assembly 121, which locks in the second position, thereby switching the parking device 10 to the parking state; when switching the parking device 10 from the parking state to the unlocked state, the medical staff disengages the pedal assembly 121 from the second position by stepping on it, and then releases the pedal assembly 121. Under the rebound force of the first elastic element 1114 and the second elastic element, the bushing 1112a moves away from the ground along the second direction Y, causing the brake base 112 to move away from the ground, and causing the pedal assembly 121 to move to the first position, thereby switching the parking device 10 to the unlocked state.

[0074] In one embodiment, see [reference] Figure 3 The brake base 112 is connected to the lifting component 1112 via a spherical joint 13. Specifically, the brake base 112 is connected to the lifting shaft 1112c via the spherical joint 13.

[0075] This allows the brake base 112 to rotate relative to the lifting component 1112, enabling the brake base 112 to adapt to uneven ground, ensuring stable contact between the brake base 112 and the ground, and improving the parking stability and reliability of the braking device.

[0076] Further, see Figure 3 The spherical pair 13 includes a spherical bearing 131, which is connected to the lifting member 1112 via a connector 132. The spherical bearing 131 is disposed inside the brake base 112, and the brake base 112 can rotate around the center of the spherical bearing 131.

[0077] In this way, the brake base 112 can rotate relative to the lifting component 1112, allowing the brake base 112 to adapt to uneven ground, ensuring stable contact between the brake base 112 and the ground, and improving the parking stability and reliability of the braking device.

[0078] It should be noted that, for reference Figure 3 Connector 132 can be a stepped screw.

[0079] Furthermore, see Figure 3 The brake base 112 has a groove 112a, and the ball bearing 131 is disposed in the groove 112a. The opening of the groove 112a is provided with a pressure cap 112b to fix the ball bearing 131 in the brake base 112.

[0080] In one embodiment, see [reference] Figure 3 The lifting assembly 111 also includes a limiting member 1115, which is disposed on the mounting base 1111. The lifting assembly 1112 is provided with a limiting groove 1112f, which extends along the second direction Y. One end of the limiting member 1115 is located in the limiting groove 1112f. The limiting member 1115 and the limiting groove 1112f are configured to restrict the lifting assembly 1112 from rotating about the second direction Y relative to the mounting base 1111.

[0081] This ensures that the lifting component 1112 moves smoothly along the second direction Y, and that the parking device 10 switches smoothly between the unlocked state and the parking state, thereby improving the parking stability and reliability of the parking device 10.

[0082] Further, see Figure 3 The limiting groove 1112f is provided on the bushing 1112a. The limiting element 1115 can be a limiting pin.

[0083] In one embodiment, see [reference] Figures 4 to 7 , Figure 10 The pedal assembly 121 includes a fixed base 1211, a pedal component 1212, a guide plate 1213, and a swing arm component 1214. The pedal component 1212 is connected to the fixed base 1211 and can move relative to the fixed base 1211 along a second direction Y at a first position and a second position. The guide plate 1213 is disposed on the fixed base 1211 and is located on one side of the pedal component 1212 along a third direction Z. The third direction Z is parallel to both the second direction Y and the first direction X. Vertical; a guide groove 1213a is provided on the guide plate 1213, the guide groove 1213a includes a first guide groove 12131 and a heart-shaped guide groove 12132 arranged along the second direction Y and interconnected; the sharp corner B of the heart-shaped guide groove 12132 is located on the side of the heart-shaped guide groove 12132 away from the first guide groove 12131; the swing arm component 1214 includes a swing arm 1214a and a locking member 1214b, the swing arm 1214a is disposed on the foot pedal component 1212, and the swing arm 1214a The foot pedal 1212 is rotatable about a third direction Z relative to the foot pedal 1212; the locking member 1214b is connected to one end of the swing arm 1214a near the guide plate 1213, and the locking member 1214b is rotatable about a first direction X relative to the swing arm 1214a; the end of the locking member 1214b away from the swing arm 1214a is slidably disposed in the guide groove 1213a; when the foot pedal 1212 is in the first position, the end of the locking member 1214b away from the swing arm 1214a is locked in the first guide groove 1213a. 1. When the pedal 1212 is in the second position, the end of the locking member 1214b away from the swing arm 1214a is locked at the tip B of the heart-shaped guide groove 12132. When the pedal 1212 moves between the first position and the second position along the second direction Y, the locking member 1214b can slide into the heart-shaped guide groove 12132 along the end away from the swing arm 1214a along the first guide groove 12131. After sliding unidirectionally along the heart-shaped guide groove 12132, it returns to the first guide groove 12131.

[0084] Therefore, when the parking device 10 is switched from the unlocked state to the parked state, medical staff drive the pedal component 1212 to move relative to the fixed seat 1211 in the second direction Y by stepping on it. The locking component 1214b moves along the first guide groove 12131 and slides into the heart-shaped guide groove 12132, and slides unidirectionally along the heart-shaped guide groove 12132. The pedal component 1212 drives the two bushings 1112a to move towards the ground in the second direction Y through the transmission assembly 122. The pressure plate 1113 moves with the bushings 1112a and compresses the first elastic member 1114. The first elastic member 1114 inside the bushing 1112a... An annular boss 1112b presses against a second elastic member, which in turn presses against a second annular boss 1112d outside the lifting shaft 1112c, causing the lifting shaft 1112c and the brake base 112 to move toward the ground. When the brake base 112 contacts the ground, the bushing 1112a continues to move toward the ground along the second direction Y. The first annular boss 1112b inside the bushing 1112a compresses the second elastic member, and the second elastic member applies pressure toward the ground to the lifting shaft 1112c and the brake base 112 through the second annular boss 1112d, thereby increasing the pressure on the brake base. The interaction force between brake base 112 and the ground increases the static friction between brake base 112 and the ground, thereby improving the stability and reliability of parking device 10 in the parking state; then, the medical staff releases the pedal 1212, and the locking member 1214b slides along the heart-shaped guide groove 12132 to the tip B of the heart-shaped guide groove 12132, and the locking member 1214b is locked at the tip B of the heart-shaped guide groove 12132, that is, the pedal 1212 is locked in the second position, thereby switching the parking device 10 to the parking state; when the parking device 10 is switched from the parking state to the unlocked state... When changing the parking device 10, medical staff step on the pedal to move the pedal 1212 relative to the fixed seat 1211 along the second direction Y, causing the locking part 1214b to slide out of the tip B of the heart-shaped guide groove 12132. Then, the medical staff release the pedal 1212, and the bushing 1112a moves away from the ground along the second direction Y under the rebound force of the first elastic element 1114 and the second elastic element, causing the brake base 112 to move away from the ground, and causing the pedal 1212 to slide along the heart-shaped guide groove 12132 and return to the first guide groove 12131, thereby switching the parking device 10 to the unlocked state.

[0085] It should be noted that the third direction Z is roughly parallel to the ground, and the third direction Z is perpendicular to the second direction Y.

[0086] Understandably, see Figure 10The first guide groove 12131 extends along the second direction Y; the heart-shaped guide groove 12132 includes a first groove segment 121321, a second groove segment 121322, a third groove segment 121323, and a fourth groove segment 121324 connected end to end in sequence; the first groove segment 121321 is connected to the first guide groove 12131; the first groove segment 121321 and the fourth groove segment 121324 are set at an angle, and the second groove segment 121322 and the third groove segment 121323 are set at an angle and form the sharp corner B of the heart-shaped guide groove 12132; the groove depth of the first groove segment 121321, the second groove segment 121322, the third groove segment 121323, and the fourth groove segment 121324 gradually increases.

[0087] Thus, when the parking device 10 is switched from the unlocked state to the parked state, medical personnel drive the pedal component 1212 to move along the second direction Y by stepping on it. The locking component 1214b slides along the first guide groove 12131 and slides into the first groove segment 121321 of the heart-shaped guide groove 12132, and slides along the first groove segment 121321 to the second groove segment 121322. During this process, the two bushings 1112a move towards the ground along the second direction Y. The pressure plate 1113 moves with the bushings 1112a and compresses the first elastic member 1114. The first annular boss 1112b inside the bushing 1112a presses against the second elastic member, and the second elastic member presses against the second annular boss 1112d outside the lifting shaft 1112c, causing the lifting shaft 1112c and the brake base 112 to move towards the ground. When the brake base 112 contacts the ground, the bushings... 1112a continues to move towards the ground along the second direction Y. The first annular boss 1112b inside the bushing 1112a compresses the second elastic member. The second elastic member then applies pressure towards the ground to the lifting shaft 1112c and the brake base 112 through the second annular boss 1112d. This increases the interaction force between the brake base 112 and the ground, thereby increasing the static friction between the brake base 112 and the ground. This improves the stability and reliability of the parking device 10 in the parking state. Then, the medical staff releases the pedal 1212. The locking member 1214b slides along the second groove 121322 and locks at the angle between the second groove 121322 and the third groove 121323, that is, at the tip B of the heart-shaped guide groove 12132. Thus, the pedal 1212 is locked in the second position, thereby switching the parking device 10 to the parking state. When the parking device 10 switches from the parking state to the unlocked state, medical staff drive the pedal 1212 to move along the second direction Y by stepping on it. The locking part 1214b moves away from the angle between the second groove segment 121322 and the third groove segment 121323, and slides into the fourth groove segment 121324 along the third groove segment 121323. At this time, the medical staff releases the pedal 1212. Under the rebound force of the first elastic element 1114 and the second elastic element, the bushing 1112a moves away from the ground along the second direction Y. The bushing 1112a drives the brake base 112 away from the ground, and drives the pedal 1212 to slide along the fourth groove segment 121324 of the heart-shaped guide groove 12132 and return to the first guide groove 12131, thereby switching the parking device 10 to the unlocked state.

[0088] In one embodiment, see [reference] Figures 8 to 10The pedal assembly 121 also includes a connecting shaft 1215, a third elastic element 1216, a fourth elastic element 1217, and a fifth elastic element 1218; a swing arm 1214a passes through the pedal assembly 1212 along a third direction Z; the third elastic element 1216 connects the end of the swing arm 1214a away from the guide plate 1213 to the pedal assembly 1212; the third elastic element 1216 is configured to provide a torsional force to the swing arm 1214a so that the end of the locking member 1214b away from the swing arm 1214a abuts against the side wall of the guide groove 1213a; the connecting shaft 1215 passes through the end of the swing arm 1214a near the guide plate 1213 along a first direction X; The connecting shaft 1215 is rotatable relative to the swing arm 1214a about a first direction X; the locking member 1214b is connected to the connecting shaft 1215; the fourth elastic member 1217 and the fifth elastic member 1218 are both sleeved on the connecting shaft 1215, the fourth elastic member 1217 connects the locking member 1214b and the swing arm 1214a, and the fifth elastic member 1218 connects the locking member 1214b and the swing arm 1214a; the fourth elastic member 1217 and the fifth elastic member 1218 are configured to provide opposite torques to the locking member 1214b respectively, so that the end of the locking member 1214b away from the swing arm 1214a abuts against the bottom surface of the guide groove 1213a.

[0089] In this way, the end of the locking member 1214b away from the swing arm 1214a can slide stably along the guide groove 1213a, thereby facilitating the stable switching of the parking device 10 between the parking state and the unlocked state and improving the reliability of the parking device 10.

[0090] It should be noted that the third elastic element 1216 can be a tension spring; the fourth elastic element 1217 and the fifth elastic element 1218 are both torsion springs.

[0091] In one embodiment, see [reference] Figures 4 to 7 The fixed base 1211 includes two fixed plates 1211a spaced apart along the second direction Y, and four second guide rods 1211b connected between the two fixed plates 1211a and spaced apart; the foot pedal 1212 is slidably connected to the four second guide rods 1211b; the fixed plate 1211a is provided with an opening 1211a1 for avoiding the foot pedal 1212; the guide plate 1213 is fixed between the two fixed plates 1211a.

[0092] Therefore, when the pedal 1212 moves along the second direction Y, the four second guide rods 1211b play a guiding role, thereby improving the stability of the pedal 1212 moving along the second direction Y, thus facilitating the stable switching of the parking device 10 between the parking state and the unlocked state, and improving the reliability of the parking device 10.

[0093] In one embodiment, see [reference] Figures 4 to 7The foot pedal 1212 includes a foot pedal base plate 1212a and a pedal 1212b. The foot pedal base plate 1212a and the guide plate 1213 are spaced apart along the third direction Z. The foot pedal base plate 1212a is slidably connected to four second guide rods 1211b through four linear bearings 1219. The pedal 1212b is fixedly connected to the foot pedal base plate 1212a. The swing arm 1214a passes through the foot pedal base plate 1212a along the third direction Z. The locking member 1214b is located between the foot pedal base plate 1212a and the guide plate 1213.

[0094] In this way, medical staff can drive the foot pedal base plate 1212a to move along the four second guide rods 1211b by stepping on the pedal 1212b, which in turn drives the swing arm 1214a and the locking member 1214b to move along the guide groove 1213a. This allows the parking device 10 to switch stably between the parking state and the unlocked state, thereby improving the reliability of the parking device 10.

[0095] In one embodiment, see [reference] Figure 1 and Figure 2 The transmission assembly 122 includes two transmission units 122a. The pedal assembly 121 is connected to the two lifting assemblies 111 via the two transmission units 122a. The transmission unit 122a includes a transmission shaft 1221, a first gear transmission unit 1222, and a second gear transmission unit 1223. The transmission shaft 1221 extends along a first direction X. The first gear transmission unit 1222 includes a first rack 1222a and a first gear 1222b that mesh with each other. The first rack 1222a is connected to the pedal assembly 121 and extends along a second direction Y. The first gear 1222b is connected to the transmission shaft 1221. The second gear transmission unit 1223 includes a second rack 1223a and a second gear 1223b that mesh with each other. The second rack 1223a is connected to the lifting assembly 111 and extends along a second direction Y. The second gear 1223b is connected to the transmission shaft 1221.

[0096] Thus, when the pedal assembly 121 moves along the second direction Y, the lifting assembly 111 can be driven to move synchronously along the second direction Y through the transmission action of the first gear transmission unit 1222, the transmission shaft 1221 and the second gear transmission unit 1223, thereby facilitating the switching of the parking device 10 between the parking state and the unlocked state.

[0097] Understandably, see Figure 2 and Figure 5 The first rack 1222a is disposed on the step plate 1212a along the second direction Y, and the second rack 1223a is disposed on the bushing 1112a along the second direction Y.

[0098] In one embodiment, see [reference] Figure 2 and Figure 3 The brake base 112 has an anti-slip layer 112c on the side away from the lifting assembly 111. Specifically, the anti-slip layer 112c can be a rubber sheet.

[0099] This increases the friction between the brake base 112 and the ground, thereby improving the parking stability and reliability of the parking device 10.

[0100] Secondly, see Figure 11 This application provides a surgical robot console 20, including the parking device 10 in any of the above embodiments. Specifically, the surgical robot console 20 includes a base 21 and a console 22 disposed on the base 21, and the four corners of the base 21 are provided with wheels 23; two parking devices 10 can be disposed on opposite sides of the base 21.

[0101] Thus, during surgical procedures, medical personnel move the pedal assembly 121 from the first position to the second position along the second direction Y by stepping on it. Then, they release the pedal assembly 121, switching the parking device 10 to the parking state. Both brake bases 112 of the two brake mechanisms 11 of the parking device 10 are in contact with the ground. The friction between the brake bases 112 and the ground stabilizes the surgical robot control console 20 on the ground, ensuring the smooth progress of the surgery. When the surgical robot control console 20 needs to be moved after the surgery, the medical personnel again drive the pedal assembly 121 along the second direction Y by stepping on it, causing the pedal assembly 121 to disengage from the second position. Then, they release the pedal assembly 121, and the two lifting components 111 of the parking device 10 move away from the ground along the second direction Y, moving the two brake bases 112 away from the ground and moving the pedal assembly 121 back to the first position, thus switching the parking device 10 to the unlocked state. At this time, the four wheels 23 on the base 21 facilitate the movement of the surgical robot control console 20. In addition, since both brake bases 112 of the parking device 10 are in contact with the ground when the parking device 10 is in the parking state, the contact area between the brake device and the ground is large, and the friction between the brake device and the ground is large. Thus, when the surgical robot console 20 is in a corner or can only be operated on one side for parking, switching the parking device 10 located on one side of the base 21 to the parking state can meet the parking braking requirements of the surgical robot console 20 and stably fix the surgical robot console 20 to the ground.

[0102] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A parking device for a surgical robot control console, characterized in that, include: Two braking mechanisms are located on both sides of the pedal mechanism along a first direction; each braking mechanism includes a lifting assembly and a brake base; the brake base is connected to one side of the lifting assembly along a second direction; the second direction is perpendicular to the first direction. The pedal mechanism includes a pedal assembly and a transmission assembly; the pedal assembly is connected to the two lifting assemblies via the transmission assembly; the pedal assembly is configured to move along the second direction between a first position and a second position to switch the parking device between an unlocked state and a parking state. When the parking device switches from the unlocked state to the parking state, the pedal component moves from the first position to the second position. The pedal component drives the two lifting components to move toward the ground through the transmission component until both brake bases are in contact with the ground. When the parking device switches from the parking state to the unlocked state, the two lifting components move the two brake bases away from the ground and move the pedal component from the second position to the first position.

2. The parking device according to claim 1, characterized in that, When the parking device switches from the unlocked state to the parking state, the pedal assembly moves from the first position to the second position under the drive of an external force along the second direction. The pedal assembly drives the two lifting assemblies to move toward the ground through the transmission assembly until both brake bases are in contact with the ground. When the external force on the pedal assembly disappears, the pedal assembly is locked in the second position. When the parking device switches from the parking state to the unlocked state, the pedal assembly disengages from the second position under the drive of an external force in the second direction; when the external force on the pedal assembly disappears, the two lifting assemblies drive the two brake bases away from the ground and move the pedal assembly to the first position.

3. The parking device according to claim 1 or 2, characterized in that, The lifting assembly includes: Mounting base; A lifting component is movably mounted on the mounting base along the second direction; the lifting component is connected to the transmission assembly; the brake base is connected to one end of the lifting component; A pressure plate is connected to the end of the lifting component away from the brake base; A first elastic element is located on the side of the mounting base away from the brake base, and the first elastic element connects the pressure plate and the mounting base; the first elastic element is configured to cause the pressure plate to tend to move away from the mounting base.

4. The parking device according to claim 3, characterized in that, The lifting component includes: A bushing, which is movably inserted into the mounting base along the second direction, is connected to the transmission assembly; a first annular boss is provided inside the bushing; the bushing is connected to the pressure plate; A lifting shaft is inserted into the bushing; one end of the lifting shaft near the pressure plate is connected to the bushing; the other end of the lifting shaft away from the pressure plate is connected to the brake base; a second annular boss is provided on the outside of the lifting shaft; the second annular boss and the first annular boss are spaced apart along the second direction; The second elastic element is sleeved on the outside of the lifting shaft, and the second elastic element is located between the first annular boss and the second annular boss.

5. The parking device according to claim 3, characterized in that, The brake base is connected to the lifting component via a spherical joint.

6. The parking device according to claim 3, characterized in that, The lifting assembly also includes a limiting member, which is disposed on the mounting base. The lifting component is provided with a limiting groove, the limiting groove extends along the second direction, and one end of the limiting component is located in the limiting groove; the limiting component and the limiting groove are configured to restrict the lifting component from rotating about the second direction relative to the mounting base.

7. The parking device according to claim 1 or 2, characterized in that, The pedal assembly includes: Fixed base, A foot pedal is connected to the fixed base; and the foot pedal is capable of moving relative to the fixed base along the second direction between the first position and the second position. A guide plate is disposed on the fixed base; the guide plate is located on one side of the foot pedal along a third direction; the third direction is perpendicular to both the second direction and the first direction; the guide plate is provided with a guide groove, the guide groove including a first guide groove and a heart-shaped guide groove arranged along the second direction and communicating with each other; the sharp corner of the heart-shaped guide groove is located on the side of the heart-shaped guide groove away from the first guide groove; A swing arm component includes a swing arm and a locking member. The swing arm is disposed on the foot pedal and is rotatable relative to the foot pedal about a third direction. The locking member is connected to one end of the swing arm near the guide plate and is rotatable relative to the swing arm about the first direction. The end of the locking member away from the swing arm is slidably disposed in the guide groove. When the foot pedal is in the first position, the end of the locking member away from the swing arm is locked in the first guide groove. When the foot pedal is in the second position, the end of the locking member away from the swing arm is locked at the sharp corner of the heart-shaped guide groove; When the pedal moves between the first position and the second position along the second direction, the locking member can slide into the heart-shaped guide groove along the first guide groove at the end away from the swing arm; and after sliding unidirectionally along the heart-shaped guide groove, it returns to the first guide groove.

8. The parking device according to claim 7, characterized in that, The pedal assembly also includes a connecting shaft, a third elastic element, a fourth elastic element, and a fifth elastic element; The swing arm passes through the pedal component in the third direction; the third elastic member connects the end of the swing arm away from the guide plate to the pedal component; the third elastic member is configured to provide a torsional force to the swing arm so that the end of the locking member away from the swing arm abuts against the side wall of the guide groove. The connecting shaft passes through one end of the swing arm near the guide plate along the first direction; the connecting shaft is rotatable relative to the swing arm about the first direction; the locking member is connected to the connecting shaft; The fourth and fifth elastic elements are both sleeved on the connecting shaft. The fourth elastic element connects the locking element and the swing arm, and the fifth elastic element connects the locking element and the swing arm. The fourth and fifth elastic elements are configured to provide opposite torques to the locking element so that the end of the locking element away from the swing arm abuts against the bottom surface of the guide groove.

9. The parking device according to claim 1 or 2, characterized in that, The transmission assembly includes two transmission units, and the pedal assembly is connected to the two lifting assemblies via the two transmission units; the transmission unit includes: A drive shaft is provided to extend along the first direction; The first gear transmission unit includes a first rack and a first gear that mesh with each other. The first rack is connected to the pedal assembly and extends along the second direction. The first gear is connected to the transmission shaft. The second gear transmission unit includes a second rack and a second gear that mesh with each other. The second rack is connected to the lifting assembly, and the first rack extends along the second direction. The second gear is connected to the transmission shaft.

10. A surgical robot control console, characterized in that, Includes the parking device according to any one of claims 1 to 9.

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