Linear motion mechanism and operation trolleyTechnical Field
The invention belongs to the technical field of medical appliances, and relates to a linear motion mechanism and an operation trolley.
Background
As shown in fig. 5, the operation table trolley comprises a base 100, a rotating upright 300 arranged on the base 100, a cross beam arranged at the upper end of the rotating upright 300, a manipulator 200 arranged on the cross beam, and other structures, wherein a linear motion mechanism on the rotating upright is used for bearing the weight of a lifting body (the lifting body is the cross beam and the manipulator 200 in fig. 5), transmitting the transverse bending moment from the lifting body to the rotating upright, driving the lifting body to move up and down, stopping at any time according to control requirements in the lifting process, and reliably maintaining at a required position for a long time. In order to achieve a better surgical operation, it is required that the lifting body has a long axial stroke and can be stopped and locked at an arbitrary position, and among many driving methods, the driving method of the (ball) screw nut is preferable.
At present, the installation mode of the screw nut mainly comprises the following three modes: a. fixing-fixing type; b. a fixed-support type; c. fixed-free. For both the mounting modes a and b, the bases of the screw rod fixing end and the supporting end are required to be mounted on a fixed substrate, the load body is mounted on the nut, the screw rod is driven to rotate through the motor, the nut can drive the load body to do linear reciprocating motion, in the fixed-free mounting mode, the base of the screw rod fixing end is mounted on the substrate, the free end is suspended, the load body is mounted on the nut, the screw rod is driven to rotate through the motor, and the nut can drive the load body to do linear reciprocating motion.
For both mounting modes a and b, the base of the fixed end and the support end need to be mounted on the fixed substrate, if the body of the carrier needs to exceed the support end, (1) a slot needs to be formed in the carrier to avoid the base of the support end, but the lateral rigidity of the carrier is weakened; (2) or the load body is axially offset from the axis of the screw rod by a sufficient distance in parallel, and the nut and the load body are rigidly connected through the connecting plate, but the screw rod is subjected to transverse bending moment, so that the performance and safety of the screw rod are affected. Although the mounting mode c can meet the requirement that the load body exceeds the free end, the mounting mode is only suitable for the condition that the fixed end of the screw rod exceeds the upper end and the load body exceeds the lower end, and the application range is small.
The rotary upright post on the existing operation trolley is generally in a closed rectangular shape, a round shape or a square shape, parts are not contained in the rotary upright post or are not used as a main body structure for containing the parts, the linear motion mechanism is generally arranged on the outer surface of the rotary upright post, namely, the upright post is internally arranged, the load is externally arranged, and under the same sectional area, the rigidity of the upright post is relatively weak, and the load capacity is low.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a linear motion mechanism capable of balancing radial moment and an operation trolley with the linear motion mechanism.
The aim of the invention can be achieved by the following technical scheme:
the linear motion mechanism is arranged in a rotary upright column formed by a bottom plate and a plurality of side plates, and comprises a screw rod with one end connected to the bottom plate, a motor for driving the screw rod to rotate around the central axis of the motor, a nut matched with the screw rod and an upright column base plate fixedly connected with the nut, wherein the axis of the screw rod is parallel to the side plates, the upright column base plate is parallel to the axis of the screw rod, a first guide structure which guides the screw rod along the axial direction is arranged between the upright column base plate and one side of the side plates parallel to the upright column base plate, a carriage parallel to the upright column base plate is arranged on one side of the upright column base plate, the other end of the screw rod is connected with the carriage, and a second guide structure which guides the screw rod along the axial direction is arranged between the carriage and the upright column base plate.
The rotary upright post is composed of a bottom plate and four side plates, the bottom plate is perpendicular to the side plates, the cross section of the rotary upright post is rectangular, the linear motion mechanism is arranged in the rotary upright post and drives the upright post base plate to move along the length direction of the rotary upright post, and one end of the upright post base plate, which is far away from the bottom plate, is higher than the top of the side plates. Because the nut and the lead screw cooperation set up, when motor drive lead screw gyration, the rotary motion of lead screw changes the rectilinear motion of nut into, and stand base plate and nut link firmly simultaneously, will drive stand base plate rectilinear motion when nut rectilinear motion, and the whole weight effect of the lifting body is on the stand base plate, but through the guide structure one that sets up balancing radial moment, through guide structure two with the planker setting on the stand base plate, can reduce rectilinear motion's transverse dimension greatly.
In the above-mentioned linear motion mechanism, the first guide structure comprises at least one main guide rail fixed on the side plate and main sliding blocks slidably arranged on the main guide rail, each main guide rail is provided with at least one main sliding block, and the above-mentioned upright column base plate is fixedly connected with all the main sliding blocks. When the upright post base plate moves linearly, all the main sliding blocks are driven to move on the main guide rail matched with the upright post base plate. The main guide rail and the main sliding block play a role in guiding and limiting the upright post base plate, and balance radial torque.
In the linear motion mechanism, the two main guide rails are arranged on the same side plate in parallel, each main guide rail is provided with two main sliding blocks, the upright post base plate is arranged on the two main guide rails in a crossing mode, and the distances from projection lines of the screw rod on the side plate provided with the main guide rails to the two main guide rails are equal. The lead screw and the two main guide rails are arranged in a centering way, so that the stability is high. The distance between two main sliding blocks on the same main guide rail is less than or equal to half of the length of the side plate. The main sliding block is arranged at one end of the upright post base plate, which is close to the bottom plate, as much as possible.
In the linear motion mechanism, the guide structure comprises at least one auxiliary guide rail fixed on one side of the upright post base plate far away from the main slide block and an auxiliary slide block arranged on the auxiliary guide rail in a sliding manner, the auxiliary guide rail is parallel to the main guide rail, each auxiliary guide rail is provided with at least one auxiliary slide block, and the carriage is fixedly connected with the auxiliary slide block.
In the linear motion mechanism, the number of the auxiliary guide rails is two, the auxiliary guide rails are arranged in parallel, two auxiliary sliding blocks are arranged on each auxiliary guide rail, the carriage is arranged on the two auxiliary guide rails in a crossing mode, and the distance from the projection line of the screw rod on the upright post substrate to the two main guide rails is equal. The screw rod is arranged in a pair with the two auxiliary guide rails.
In the linear motion mechanism, the first connecting seat is fixed on the bottom plate, the second connecting seat which is opposite to the first connecting seat is fixed on one side, far away from the auxiliary sliding block, of the carriage, one end of the screw rod is rotationally connected with the first connecting seat, and the other end of the screw rod is rotationally connected with the second connecting seat.
The specific connection mode is as follows: be equipped with connecting hole one on the connecting seat one, be equipped with connecting hole two on the connecting seat two, penetrate connecting hole one with the one end of lead screw and realize axial and radial spacing through bearing one, realize rotating the connection, penetrate connecting hole two with the other end of lead screw and realize axial and radial spacing through bearing two, realize rotating the connection. The first connecting hole and the second connecting hole are coaxially arranged, and the first bearing and the second bearing are coaxially arranged.
In the linear motion mechanism, the speed reducer is fixed on the carriage, an output shaft of the speed reducer is coaxially and fixedly connected with the screw rod through the coupler, the motor is fixed on the speed reducer, and an output shaft of the motor is coaxially and fixedly connected with an input shaft of the speed reducer. Namely, a speed reducer is arranged between the motor and the screw rod, and the speed reducer can adopt a gear speed reducer.
In the linear motion mechanism, a brake is fixed on the carriage, and the screw rod is arranged in the brake in a penetrating way. When the upright post base plate moves in place, the brake locks the screw rod, and the screw rod is prevented from continuing to rotate. Meanwhile, a motor brake can be arranged on the motor, and the arrangement of double brakes increases the safety coefficient.
In order to facilitate the fixation of the nut and the upright post base plate, a hollow connecting plate is fixed on the upright post base plate, the nut is fixed on the connecting plate, and the screw rod is arranged in the connecting plate in a penetrating way.
Because the auxiliary sliding block, the carriage, the screw rod, the nut, the motor and the like are positioned on one side of the upright post base plate, the upright post base plate can be arranged into a surrounding structure, the auxiliary sliding block, the carriage, the screw rod, the nut and the motor are surrounded, the tightness and the safety are improved, and the deformation of the system is reduced.
The operation trolley comprises a rotary upright post, wherein the linear motion mechanism is arranged in the rotary upright post.
In the operation trolley, the rotary upright post comprises a bottom plate and a plurality of side plates vertically arranged on the bottom plate, and two adjacent side plates are fixedly connected through the angle plate.
In the above-mentioned operation trolley, the number of the side plates is four.
When the rotary upright post is provided with four side plates, the cross section of the rotary upright post is rectangular. One side of the angle plate is provided with a first connecting part, a plurality of threaded holes which are uniformly distributed along the length direction of the first connecting part, the other side of the angle plate is provided with a second connecting part, the second connecting part is provided with a plurality of threaded holes which are uniformly distributed along the length direction of the second connecting part, two sides of the side plate are respectively provided with a plurality of connecting holes which are arranged in one-to-one correspondence with the threaded holes, and the fixed connection is realized through connecting bolts. The rotary upright post adopts a split type structural design, and the linear motion mechanism is arranged in the rotary upright post, namely the rotary upright post is external, the load is internal, and the transverse deformation generated when the rotary upright post is subjected to a large transverse bending moment is small.
Compared with the prior art, the invention has the following advantages: the device has the advantages of small transverse size, low noise, large load and high integral rigidity, and has high safety coefficient under the same transverse size and small system deformation under the same load, and the brake, the speed reducer and the motor are arranged on the carriage, so that the lowest position of the screw rod is greatly reduced, the lowest position which can be reached by the lifting body of the operation trolley is furthest reduced, and the integral gravity center height can be reduced when the lifting body is lowered to the lowest position.
Drawings
Fig. 1 is a front view of a linear motion mechanism provided by the present invention.
Fig. 2 is a cross-sectional view of a linear motion mechanism provided by the present invention.
Fig. 3 is a schematic view of a part of the structure of the operation trolley provided by the invention.
Fig. 4 is a transverse cross-sectional view of the surgical trolley provided by the present invention.
Fig. 5 is a schematic structural view of the surgical trolley provided in the background art.
In the figure, 1, a bottom plate; 2. a side plate; 3. a screw rod; 4. a motor; 5. a nut; 6. a column base plate; 7. a carriage; 8. a main guide rail; 9. a main slider; 10. an auxiliary guide rail; 11. an auxiliary sliding block; 12. a first connecting seat; 13. a second connecting seat; 14. a speed reducer; 15. a brake; 16. a rotary upright post; 17. and (5) a corner plate.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
The operation cart shown in fig. 5 includes a base 100, a rotating column 300 provided on the base 100, a cross beam provided on an upper end of the rotating column 300, a manipulator 200 provided on the cross beam, and the like, and the linear motion mechanism is provided in the rotating column 300. The linear motion mechanism shown in fig. 1 is arranged in a rotary upright column formed by a bottom plate 1 and a plurality of side plates 2, the rotary upright column is formed by a bottom plate 1 and four side plates 2, the bottom plate 1 is vertical to the side plates 2, and the cross section of the rotary upright column is rectangular. The linear motion mechanism comprises a screw rod 3, a motor 4, a nut 5 and a stand column base plate 6, wherein one end of the screw rod 3 is connected to the bottom plate 1, the motor 4 is used for driving the screw rod 3 to rotate around the central axis of the motor, the nut 5 is matched with the screw rod 3, the stand column base plate 6 is fixedly connected with the nut 5, the axis of the screw rod 3 is parallel to the side plate 2, and the stand column base plate 6 is parallel to the axis of the screw rod 3. The linear motion mechanism is arranged in the rotary upright and drives the upright base plate 6 to move along the length direction of the rotary upright, and one end of the upright base plate 6, which is far away from the bottom plate 1, is higher than the top of the side plate 2. In order to improve the accuracy of the movement, it is preferable that the ball screw is engaged with the nut 5.
As shown in fig. 2, a first guide structure for guiding along the axial direction of the screw rod 3 is arranged between the upright post base plate 6 and one of the parallel side plates 2, a carriage 7 parallel to the upright post base plate 6 is arranged on one side of the upright post base plate 6 away from the first guide structure, the other end of the screw rod 3 is connected with the carriage 7, and a second guide structure for guiding along the axial direction of the screw rod 3 is arranged between the carriage 7 and the upright post base plate 6.
Because nut 5 and lead screw 3 cooperation setting, when motor 4 drive lead screw 3 gyration, the rotary motion of lead screw 3 changes the rectilinear motion of nut 5, and stand base plate 6 links firmly with nut 5 simultaneously, will drive stand base plate 6 rectilinear motion when nut 5 rectilinear motion, and the crossbeam of operation table car and the whole weight effect of apparatus hand on stand base plate 6 can balance radial moment through the guide structure one that sets up, and through guide structure two with carriage 7 setting on stand base plate 6, can reduce rectilinear motion's transverse dimension greatly.
The first guide structure comprises at least one main guide rail 8 fixed on the side plate 2 and main sliding blocks 9 arranged on the main guide rails 8 in a sliding manner, at least one main sliding block 9 is arranged on each main guide rail 8, and the upright post base plate 6 is fixedly connected with all the main sliding blocks 9. When the upright base plate 6 moves linearly, all the main sliding blocks 9 are driven to move on the main guide rail 8 matched with the upright base plate. The main guide rail 8 and the main slider 9 play a role in guiding and limiting the column base 6, and balance the radial torque.
In this embodiment, as shown in fig. 1, the main guide rails 8 are two and parallel to each other and are disposed on the same side plate 2, each main guide rail 8 is provided with two main sliding blocks 9, the upright post base plate 6 spans the two main guide rails 8, and the distance from the projection line of the screw rod 3 on the side plate 2 provided with the main guide rails 8 to the two main guide rails 8 is equal, that is, the screw rod 3 is disposed in a pair with the two main guide rails 8, so that the stability is high. The distance between two main sliders 9 on the same main rail 8 is less than or equal to half the length of the side plate 2. The main slider 9 should be disposed at the end of the pillar base 6 near the bottom plate 1 as much as possible.
The guide structure II comprises at least one auxiliary guide rail 10 fixed on one side of the upright post base plate 6 far away from the main slide block 9 and auxiliary slide blocks 11 arranged on the auxiliary guide rail 10 in a sliding manner, the auxiliary guide rail 10 is parallel to the main guide rail 8, each auxiliary guide rail 10 is at least provided with one auxiliary slide block 11, and the carriage 7 is fixedly connected with the auxiliary slide blocks 11.
Specifically, the number of the auxiliary guide rails 10 is two, the auxiliary guide rails 10 are arranged in parallel, each auxiliary guide rail 10 is provided with two auxiliary sliding blocks 11, the carriage 7 is arranged on the two auxiliary guide rails 10 in a crossing mode, the distances from projection lines of the screw rod 3 on the upright post base plate 6 to the two main guide rails 8 are equal, namely, the screw rod 3 and the two auxiliary guide rails 10 are arranged in a centering mode.
As shown in fig. 1, a first connecting seat 12 is fixed on the bottom plate 1, a second connecting seat 13 opposite to the first connecting seat 12 is fixed on one side of the carriage 7 away from the secondary slide block 11, one end of the screw rod 3 is rotationally connected with the first connecting seat 12, and the other end is rotationally connected with the second connecting seat 13.
The specific connection mode is as follows: the first connecting seat 12 is provided with a first connecting hole, the second connecting seat 13 is provided with a second connecting hole, one end of the screw rod 3 penetrates into the first connecting hole and is axially and radially limited through the first bearing, rotational connection is achieved, and the other end of the screw rod 3 penetrates into the second connecting hole and is axially and radially limited through the second bearing, so that rotational connection is achieved. The first connecting hole and the second connecting hole are coaxially arranged, and the first bearing and the second bearing are coaxially arranged.
As shown in fig. 1, a speed reducer 14 is fixed on the carriage 7, an output shaft of the speed reducer 14 is coaxially and fixedly connected with the screw rod 3 through a coupler, the motor 4 is fixed on the speed reducer 14, and an output shaft of the motor 4 is coaxially and fixedly connected with an input shaft of the speed reducer 14. Namely, a speed reducer 14 is arranged between the motor 4 and the screw rod 3, and the speed reducer 14 can adopt a gear speed reducer 14.
As shown in fig. 1 and 2, a brake 15 is fixed on the carriage 7, and the screw rod 3 is inserted into the brake 15. When the upright base plate 6 moves in place, the stopper 15 locks the screw 3, preventing the screw 3 from continuing to rotate. Meanwhile, a motor brake can be arranged on the motor 4, and the arrangement of double brakes increases the safety coefficient.
In order to facilitate the fixation of the nut 5 and the upright base plate 6, a hollow connecting plate is fixed on the upright base plate 6, the nut 5 is fixed on the connecting plate, and the screw rod 3 is arranged in the connecting plate in a penetrating way.
Because the auxiliary slide block 11, the carriage 7, the screw rod 3, the nut 5, the motor 4 and the like are arranged on one side of the upright post base plate 6, the upright post base plate 6 can be arranged into a surrounding structure, the auxiliary slide block 11, the carriage 7, the screw rod 3, the nut 5 and the motor 4 are surrounded, the tightness and the safety are improved, and the deformation of the system is reduced.
The operation trolley shown in fig. 3 comprises a rotary upright column 16, a linear motion mechanism is arranged in the rotary upright column 16, the rotary upright column comprises a bottom plate 1 and a plurality of side plates 2 which are vertically arranged on the bottom plate 1, and two adjacent side plates 2 are fixedly connected through a corner plate 17 as shown in fig. 2.
In this embodiment, the number of side plates 2 is four.
When the swivel post 16 has four side plates 2, its cross section is rectangular. One side of the angle plate 17 is provided with a first connecting part, a plurality of threaded holes which are uniformly distributed along the length direction of the first connecting part, the other side of the angle plate is provided with a second connecting part, the second connecting part is provided with a plurality of threaded holes which are uniformly distributed along the length direction of the second connecting part, and two sides of the side plate 2 are respectively provided with a plurality of connecting holes which are arranged in one-to-one correspondence with the threaded holes, and the fixed connection is realized through connecting bolts. The rotary upright post 16 adopts a split type structural design, and the linear motion mechanism is arranged in the rotary upright post 16, namely the rotary upright post is external, the load is internal, and the transverse deformation generated when the rotary upright post is subjected to a large transverse bending moment is small.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.