Disclosure of Invention
To the problem among the above-mentioned prior art, this application has proposed a flange safety mechanism for operation table car, and this flange safety mechanism sets up at least one cantilever beam respectively through the left and right sides limit at the flange main part for under the complete pine of screw taking off the condition, the flange still can hang on the guide rail slider steadily, thereby has guaranteed the stability and the reliability of arm.
In one aspect, the present application provides a flange safety mechanism for a surgical trolley, the mechanism comprising: a guide rail fixed to a column of the operation table car in a vertical direction; the sliding block is arranged on the guide rail and can slide on the guide rail along the vertical direction, and any side part of the sliding block comprises a shoulder and an inclined surface arranged towards the upright post; the flange comprises a main body connected with the sliding block, at least one cantilever beam which is equal to the shoulder is arranged on any side edge of the main body, and the cantilever Liang Chaozhao extends from the sliding block and is reversely pressed against the inclined surface through the shoulder. According to the guide rail sliding block, the flange can still be stably hung on the guide rail sliding block under the condition that the screw between the flange and the sliding block is completely loosened, so that the stability and the reliability of the mechanical arm are ensured.
According to one possible implementation of this aspect, the cantilever beam is "L" -shaped. Through this realization mode, can make the cantilever beam more firmly press and lean on the inclined plane, guarantee stability.
According to one possible implementation of this aspect, the cantilever beam is arranged perpendicular to the body of the flange. By this implementation, the cantilever beam can be pressed against the inclined surface better.
According to one possible implementation of the present aspect, a cantilever beam is provided on top of the body of the flange. By the implementation mode, the load of the cantilever beam can be reduced, and the processing is easy.
According to one possible implementation of this aspect, the friction coefficient of the inclined surface is greater than zero. By the aid of the implementation mode, friction between the cantilever beam and the inclined surface can be improved, and compression stability is improved.
According to one possible implementation of the present aspect, the slider is made of a metallic material or a polymeric material.
According to one possible implementation of the present aspect, the flange is made of a metallic material or a polymeric material.
According to one possible implementation of the present aspect, the flange is connected to the slider by means of screws.
According to one possible implementation of this aspect, the number of cantilever beams at both ends of the top of the flange is equal. Through the implementation mode, the pressure of the cantilever beams at the two ends of the flange top to the inclined plane is balanced, and the stability of the flange safety mechanism is realized.
According to one possible implementation of the present aspect, the body of the flange is centrally provided with an attachment zone for connection with a robot arm support.
According to one possible implementation of this aspect, the mechanical arm support is "L" -shaped. Through this realization mode, can make the arm have bigger movable range and space in forward and left and right sides, make things convenient for the arm to put the position before the operation, obtain bigger operation space.
The above-described features may be combined in various suitable ways or replaced by equivalent features as long as the object of the present invention can be achieved.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
In the present specification, it is to be understood that "leftward direction" refers to a direction perpendicular to the paper surface toward human eyes, and "rightward direction" refers to a direction perpendicular to the paper surface away from human eyes; "upward" refers to a direction parallel to the upright pointing to the robotic arm lift system, and "downward" refers to the opposite direction; "forward direction" refers to the direction perpendicular to and pointing away from the upright, and "rearward direction" refers to the direction opposite thereto.
Fig. 1 is a schematic view of a surgical trolley 100 according to the present application. As shown in fig. 1, the surgical trolley 100 includes: base 110, stand 120, arm 130, flange safety mechanism 140 and control cabinet 150, wherein, the bottom of base 110 is provided with a plurality of truckles in order to make things convenient for operating personnel to remove this operation platform truck 100 at any time according to the operation needs, is provided with foot bearing structure on some truckles, after removing operation platform truck 100 to the assigned position, steps on the brake pad, foot bearing structure stretches out downwards and contacts with ground to through operation platform truck 100 self gravity and the rubber pad of contact surface, produce great frictional force, make operation platform truck 100 can stably place. A column 120 is fixed to the base 110, a guide rail is fixed to each side of the column 120 to enable simultaneous manipulation of a plurality of robot arms 130, the robot arms 130 are connected to the column 120 through a flange safety mechanism 140, and a robot arm lifting system 121 (shown in fig. 2) is provided at an inner top end of the column 120, and the robot arm lifting system 121 controls lifting of the robot arms 130 through a combination of a plurality of pulleys. Thus, the height and angle of the robot arm 130 are adjusted, thereby realizing adjustment of various postures of the robot arm 130. Therefore, it is necessary for the surgical trolley 100 to achieve accurate and stable control of the robot arm 130.
Fig. 2 and 3 are a schematic view and a partial enlarged view, respectively, of a flange safety mechanism 140 for use on the surgical trolley 100 of the present application. As shown in fig. 2 and 3, the flange safety mechanism 140 includes: a guide rail 141 fixed to the column 120 of the operation table car 100 in the vertical direction; a slider 142 provided on the rail 141 and capable of sliding in a vertical direction on the rail 141, any side of the slider 142 including a shoulder 1423 and an inclined surface 1421 facing the column 120; a flange 143 including a main body 1431 coupled to the slider 142 and at least one cantilever beam 1432 provided at both ends of the main body 1431 at the same height as the shoulder 1423, respectively, the cantilever beam 1432 extending toward the slider 142 and having its tip pressed against the inclined surface 1421 via the shoulder 1423.
In the flange safety mechanism 140, the guide rail 141 is firmly installed on the column 120 in the vertical direction by a plurality of symmetrical screws, and the guide rail 141 is fixed on each of four sides of the rectangular column 120, so that the robot arm 130 performs the surgical operation in multiple directions. A slider 142 is provided on the guide rail 141 and the slider 142 is slidable in the vertical direction on the guide rail 141. It should be appreciated that this sliding is accomplished at a robotic arm lift system 121 disposed at the top end of the interior of upright 120. The robot arm lifting system 121 includes a plurality of pulleys and a double wire rope, and is configured to lift the slide block 141 by a combination thereof, thereby controlling the lifting of the robot arm 130. It should be understood that, for the four side sliders of the upright 120, the mechanical arm lifting system 120 corresponds to a set of pulleys to control the lifting of the four sliders, i.e. the lifting of the four sliders can be performed independently or simultaneously.
Fig. 4 is a schematic structural view of the slider 142 of the present application. As shown in fig. 4, the slider 142 has a generally "door" shape in that the front surface of the body is adapted to be screwed to the main body 1431 of the flange 143, and an inclined surface 1421 is provided on either side of the body, the inclined surface 1421 being configured to face the column 120, and the inclined surface 1421 includes a screw hole for connecting the slider 142 and the flange 143, as can be seen in fig. 2, 3 and 4. Preferably, the side of the slider 142 includes a side surface 1422 perpendicular to the body of the slider 142, in addition to the inclined surface 1421, which forms a stepped structure with the inclined surface 1421, so that the thickness of the slider 142 at the edge portion can be increased, and the strength of the slider 142 can be improved.
The body 1431 of the flange 143 is firmly coupled to the body of the slider 142 by a plurality of screws. It should be understood that in an actual surgical trolley 100, each flange 143 is connected to two slides aligned in a vertical direction, the slide 142 in this application being referred to as the slide in the upper position. At least one cantilever beam 1432 is provided at each end of flange 143, and cantilever beam 1432 extends toward one side of column 120, and its tip reaches inclined surface 1421 and is pressed against inclined surface 1421 in the opposite direction.
Alternatively, the radial cross-section of the cantilever beam 1432 may have a variety of different shapes, such as rectangular, square, triangular, circular, or oval, for example. Preferably, the radial cross section of the cantilever 1432 is square. Cantilever beam 1432 may take a variety of different shapes as a whole, such as an elongated shape, "L" shape, etc. Preferably, cantilever beam 1432 is "L" shaped with its distal limb pressed against sloped surface 1421. In the case where the cantilever beam 1432 is elongated, there is no side surface 1422, and the angle of the cantilever beam 1432 with respect to the main body 1431 is less than or equal to the inclination angle of the inclined surface 1421, so that the cantilever beams on both sides of the flange 143 can hang on the slider 142 by friction.
In addition, the cantilever beam 1432 is preferably perpendicular to the body 1431 of the flange 143. It should be appreciated that the cantilever beam 1432 may also be disposed at a different angle from the main body 1431 so long as the cantilever beam 1432 is capable of being pressed against the angled surface 1421 in a reverse direction, which is within the scope of the present invention.
It should be appreciated that in this application, the height of the shoulder 1423 and the height of the cantilever beam 1432 should be equal so that the cantilever beam 1432 can be pressed back against the inclined surface 1421 via the shoulder 1423. As for the position of the cantilever 1432, it may be disposed at the top end of the flange body 1431 or may be disposed at an intermediate position of the flange body 1431. Preferably, as shown in fig. 4, a cantilever beam 1432 may be provided at the top end of the flange body 1431, and accordingly, a shoulder 1423 is provided at the top end of the corresponding side portion of the slider 142 and is at the same height as the cantilever beam 1432, for placing the cantilever beam 1432, by which configuration the slider 142 is enabled to restrict the movement of the flange 143 in the left-right direction and the downward direction. It should be appreciated that the height of the cantilever beam 1432 at the two sides of the flange 143 may be different, so long as the cantilever beam 1432 and the shoulder 1423 of the respective sides are guaranteed to be at the same height.
Alternatively, a plurality of parallel cantilever beams 1432 may be disposed on the shoulder 1423 on any side of each slider 142, where a certain gap exists between the cantilever beams 1432, and each cantilever beam 1432 is reversely pressed against the inclined surface 1421 on that side, where the lengths of the plurality of cantilever beams may be different due to the structure of the inclined surface 1421. Preferably, the number of cantilever beams 1432 is equal on the shoulders of both sides of the slider 142, so that the pressing action of the cantilever beams 1432 on both sides of the slider 142 is ensured to be equal, thereby improving stability. More preferably, as shown in fig. 5, only one cantilever beam 1432 of square cross section is included on each shoulder 1423, which is disposed perpendicular to the main body 1431 of the flange 143, and extends on the shoulder 1423 against the side toward the column 120, pressing against the inclined surface 1421 in the opposite direction.
It should be appreciated that the friction of any of the inclined surfaces 1421 should be greater than zero to ensure that the cantilever beam 1432 is able to back-press against the inclined surface 1421.
Alternatively, the slider 142 may be made of a metallic material or a polymeric material.
Alternatively, the flange 143 may be made of a metallic material or a polymer material.
Therefore, by the flange safety mechanism 140 of the present application, the cantilever beam 1432 can limit the movement of the flange 143 in the front-rear direction, the shoulder 1423 can limit the movement of the flange 143 in the left-right direction and the downward direction, the weight of the mechanical arm 130 and other components can limit the upward movement of the flange 143, and when the connecting screw between the flange 143 and the slider 142 is loosened, the flange 143 can still be stably hung on the slider 142, thereby improving the safety and reliability of the operation table vehicle 100.
An attachment area is provided on the outer surface of the body 1431 of the flange 143 for connection with the arm bracket 131 of the arm 130. Specifically, the main body structure of the arm bracket 131 is in a 90 ° bent ("L" shape), the inside is hollow, both ends are provided with connecting flanges, one end flange of the connecting flanges is connected to the attachment area 1433, so that the arm bracket 131 is connected to the upright post 120, and the other end flange is used as a connecting base of the arm 130 for fixing the arm 130. The structure is stable and reliable as a whole, and compared with the mechanical arm 130 which is directly arranged on the upright 120, the structure can have larger moving range and space on the front side, the left side and the right side, and is convenient for the mechanical arm to swing before operation, thus obtaining larger operation space.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.