CN115385261B - Lifting upright post and surgical robot - Google Patents

Abstract

The present invention relates to a lifting column and a surgical robot. It includes a lifting bracket, a lifting platform and a counterweight structure. The lifting bracket has a lifting bottom end and a lifting top end, and the lifting bottom end and the lifting top end are arranged at intervals along the extension direction of the lifting bracket. The lifting platform is slidably arranged on the lifting bracket, and the lifting platform slides along the extension direction of the lifting bracket and approaches or moves away from the lifting top end under the action of a driving force. The counterweight structure includes a gravity balance component and a magnetic compensation component, the gravity balance component balances the weight of the lifting platform, and the magnetic compensation component compensates for the balance force of the gravity balance component; the lifting bracket is a frame bracket, and the lifting platform and the counterweight structure are arranged in the frame bracket. In the above-mentioned lifting column and surgical robot, the elastic counterweight structure with a smaller volume balances the weight of the lifting platform with its own elastic force when it undergoes elastic deformation; at the same time, the lifting platform and the counterweight structure are not easily bumped by external objects, the lifting column is unlikely to be in danger of tipping over, and the entire lifting column structure is more compact.

Description

Lifting column and surgical robot

Technical Field

The present invention relates to the technical field of medical devices, and in particular to a lifting column and a surgical robot.

Background Art

The surgical robot can assist the doctor to perform more precise operations during the surgical operation. During the operation using the outer shell of the surgical robot, the doctor needs to install the registration probe, surgical instruments (such as scalpels, suture structures) and other end tools to the slave robot arm of the surgical robot according to the needs of the current surgical process, and then the doctor operates the main operating table of the surgical robot, and the slave robot arm performs the corresponding operation under the control of the main operating table. In the process of the doctor using the surgical robot to perform the operation, it is necessary to adjust the height of the lifting platform in the lifting column according to his own height and the current operating conditions. In order to realize the free movement of the lifting platform, the general lifting column often uses a counterweight to balance the weight of the lifting platform. However, because the general counterweight block is large in size and occupies a large amount of space, most of them are arranged on the periphery of the lifting bracket, which makes the structure of the entire lifting column bloated, and the counterweight block is also easy to be bumped by objects in the external environment, making the lifting column prone to tipping.

Summary of the invention

Based on this, it is necessary to provide a lifting column and a surgical robot with a compact structure to address the problem that the counterweight block of the lifting platform in a general lifting column is large and bulky, and the counterweight block is easily bumped by objects in the external environment, which makes the lifting column prone to tipping over.

A lifting column, comprising:

A lifting bracket, comprising a lifting bottom end and a lifting top end, wherein the lifting bottom end and the lifting top end are arranged at intervals along an extension direction of the lifting bracket;

A lifting platform, slidably disposed on the lifting bracket, wherein the lifting platform slides along the extension direction of the lifting bracket under the action of a driving force and approaches or moves away from the lifting top end;

A counterweight structure, comprising a gravity balance component and a magnetic compensation component, disposed between the lifting bracket and the lifting platform, wherein the gravity balance component balances the weight of the lifting platform, and the magnetic compensation component compensates for the balancing force of the gravity balance component;

Wherein, the lifting bracket is a frame-type bracket, and the lifting platform and the counterweight structure are respectively arranged in the frame-type bracket.

In one embodiment, the frame-type support is a closed structural frame.

In one embodiment, the structural frame includes a first support rod, a second support rod, a top connecting rod and a bottom plate;

The first support rod and the second support rod are arranged at intervals, opposite to each other and in parallel, the two ends of the top connecting rod are respectively fixedly connected to the top ends of the first support rod and the second support rod, and the two ends of the bottom plate are respectively fixedly connected to the bottom ends of the first support rod and the second support rod.

In one embodiment, the gravity balance assembly includes a counterweight spring, and the counterweight spring is arranged between the lifting platform and the lifting bottom end, and/or the counterweight spring is arranged between the lifting platform and the lifting top end.

In one embodiment, the counterweight spring includes a bottom spring and a top spring. The bottom spring is arranged between the lifting platform and the lifting bottom end, and the bottom spring pushes the lifting platform along the ascending direction in the use state; the top spring is arranged between the lifting platform and the lifting top end, and the top spring pulls the lifting platform along the ascending direction in the use state.

In one of the embodiments, the bottom spring is a constant force spring and/or a linear spring; the top spring is a constant force spring and/or a linear spring.

In one embodiment, the constant force spring and the linear spring are tension springs, compression springs or torsion springs.

In one embodiment, the top spring is a constant force spring, one end of which is fixedly connected to the lifting platform, and the other end of which is connected to the top connecting rod; the bottom spring is a compression spring, one end of which is abutted against the lifting platform, and the other end of which is abutted against the bottom plate.

In one embodiment, the number of the top spring and/or the bottom spring is one, two or more, respectively, and the two or more top springs and/or the bottom springs are arranged in parallel and at intervals.

In one embodiment, the number of the top spring is one, and the number of the bottom spring is two.

In one of the embodiments, the counterweight structure further includes a bottom guide column, the bottom guide column is fixedly disposed on the lifting bracket, and an extension direction of the bottom guide column is parallel to an extension direction of the lifting bracket.

In one embodiment, the number of the bottom guide posts is the same as the number of the bottom springs, and each bottom spring is sleeved on a corresponding bottom guide post.

In one embodiment, the magnetic compensation component includes a first magnetic component and a second magnetic component, the first magnetic component is fixedly connected to the lifting platform, the second magnetic component is fixedly connected to the lifting bracket, the first magnetic component and/or the second magnetic component are magnets, and the first magnetic component and the second magnetic component are magnetically attracted to each other.

In one embodiment, the first magnetic member is a magnet, and the second magnetic member is a strip plate; the magnet is fixedly disposed on the lifting platform, the strip plate is fixedly disposed on the lifting bracket, and the strip plate extends along the extension direction of the lifting bracket; or

The first magnetic component is a strip plate, and the second magnetic component is a magnet; the strip plate is fixedly arranged on the lifting platform, the strip plate extends along the extension direction of the lifting bracket, and the magnet is fixedly arranged on the lifting bracket.

In one of the embodiments, the lifting column also includes a brake assembly, which is used to limit the sliding of the lifting platform relative to the lifting bracket; the brake assembly includes an electromagnet and a strip plate, the electromagnet is fixedly arranged on one of the lifting platform and the lifting bracket, and the strip plate is fixedly arranged on the other of the lifting platform and the lifting bracket; the strip plate extends along the extension direction of the lifting bracket, and the electromagnet adsorbs the strip plate and is fixed relative to the strip plate when energized.

In one embodiment, the first magnetic member is annular in structure, the electromagnet is placed inside the first annular magnetic member, and both the first annular magnetic member and the electromagnet can contact the strip plate.

In one of the embodiments, the lifting column also includes a driving assembly, and the driving assembly is arranged between the lifting bracket and the lifting platform; the driving assembly includes a power member, a clutch member and a driving member, and the power member, the clutch member, the driving member and the lifting platform are sequentially connected in transmission, and the power member drives the lifting platform to slide along the extension direction of the lifting bracket through the driving member.

In one embodiment, the power member is a motor, the driving member is a screw, and the lifting platform is provided with a thread that matches the screw;

When the clutch is in an engaged state, the motor can drive the lifting platform to rise or fall through the screw; when the clutch is in a disengaged state, the operator can manually drive the lifting platform to rise or fall.

In one of the embodiments, the lifting column further includes a slide rail, and the slide rail is fixedly arranged along the extension direction of the lifting column, and a slide groove matched with the slide rail is provided on the lifting platform.

The present invention also provides a surgical robot capable of solving at least one of the above-mentioned technical problems.

The surgical robot provided by the present invention comprises the lifting column described in any one of the above embodiments.

Beneficial effects of the present invention:

The present invention provides a lifting column and a surgical robot, wherein the extension direction of the lifting column is the lifting direction in the use state, and the lifting platform can perform the lifting action by sliding along the extension direction of the lifting bracket. At the same time, the smaller counterweight structure balances the weight of the lifting platform in a balanced and compensated manner, thereby allowing the operator to easily realize the lifting and lowering of the lifting platform manually, or allowing a smaller power part to drive the lifting and lowering of the lifting platform. Moreover, since the lifting bracket is a frame bracket, the lifting platform and the counterweight structure are respectively arranged in the frame bracket, which not only enables the lifting bracket to protect the lifting platform and the counterweight structure, but also the lifting platform and the counterweight structure are not easily bumped by objects in the external environment, and the lifting column is unlikely to tip over; it also makes the overall volume of the entire lifting column smaller, thereby making the lifting column and the surgical robot provided by the present invention more compact.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a first stereoscopic schematic diagram of a lifting column provided by an embodiment of the present invention;

FIG2 is a second perspective schematic diagram of a lifting column provided by an embodiment of the present invention;

FIG3 is a first perspective schematic diagram of a partial structure of a lifting column provided by an embodiment of the present invention;

FIG. 4 is a second perspective schematic diagram of a partial structure of a lifting column provided by an embodiment of the present invention.

Among them: 10, lifting column; 100, lifting bracket; 100a, lifting top; 100b, lifting bottom; 110, first support rod; 120, second support rod; 130, top connecting rod; 140, bottom plate; 200, lifting platform; 310, bottom spring; 320, top spring; 331, first magnetic part; 332, strip plate; 340, bottom guide column; 400, electromagnet; 500, drive assembly; 510, motor; 520, clutch; 530, screw screw; 600, guide rail.

DETAILED DESCRIPTION

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

As shown in FIGS. 1-2 , the present invention provides a lifting column 10, which is not only compact in structure but also can realize convenient lifting. Specifically, the lifting column 10 includes a lifting bracket 100, a lifting platform 200 and a counterweight structure. The lifting bracket 100 has a lifting bottom end 100b and a lifting top end 100a, and the lifting bottom end 100b and the lifting top end 100a are arranged at intervals along the extension direction of the lifting bracket 100. The lifting platform 200 is slidably arranged on the lifting bracket 100, and the lifting platform 200 slides along the extension direction of the lifting bracket 100 under the action of the driving force and approaches or moves away from the lifting top end 100a. The counterweight structure includes a gravity balance component and a magnetic compensation component, which are arranged between the lifting bracket 100 and the lifting platform 200, the gravity balance component balances the weight of the lifting platform 200, and the magnetic compensation component compensates for the balancing force of the gravity balance component.

The above-mentioned lifting column 10 has an extension direction that is the lifting direction in the use state, and the lifting platform 200 can perform the lifting action by sliding along the extension direction of the lifting bracket 100. At the same time, the relatively small counterweight structure balances the weight of the lifting platform 200 in a balanced and coordinated compensation manner, thereby allowing the operator to manually and easily achieve the lifting of the lifting platform 200, or allowing a smaller power component to drive the lifting of the lifting platform 200. Not only is the counterweight structure relatively small in size, but it also allows manual adjustment of the lifting of the lifting platform 200 or the use of a smaller power component, which can further reduce the overall volume, weight and cost of the lifting column 10. The lifting column 10 provided by the present invention has a more compact structure.

Optionally, the counterweight structure can be a structure such as a spring or rubber that can generate a deformation force when deformed to balance the weight of the lifting platform 200. As a feasible method, the gravity balance assembly includes a counterweight spring, which is arranged between the lifting platform 200 and the bottom end 100b of the lifting platform, and/or the counterweight spring is arranged between the lifting platform 200 and the top end 100a of the lifting platform. The counterweight spring can balance the weight of the lifting platform 200 with its own deformation force when elastic deformation occurs. The counterweight spring has the advantages of small size, light weight and compact structure. In the process of using the counterweight spring to balance the gravity of the lifting platform 200, one counterweight spring, two counterweight springs or multiple counterweight springs can be used, and the counterweight spring can be connected to the top position, middle position and/or bottom position of the lifting platform 200 or the lifting bracket 100.

As shown in FIG. 1-2 , specifically, the counterweight spring includes a bottom spring 310 and a top spring 320. The bottom spring 310 is disposed between the lifting platform 200 and the lifting bottom end 100b, and the bottom spring 310 pushes the lifting platform 200 in the ascending direction in the use state. The top spring 320 is disposed between the lifting platform 200 and the lifting top end 100a, and the top spring 320 pulls the lifting platform 200 in the ascending direction in the use state. Balancing the weight of the lifting platform 200 from two directions close to the top and bottom of the lifting bracket 100 of the lifting platform 200 is conducive to providing a more stable counterweight force.

As shown in Fig. 1-2, as an achievable method, the lifting bracket 100 is a frame bracket, and the lifting bracket 100 forms a closed structural frame in the vertical plane in the use state, and the lifting platform 200 and the counterweight spring are respectively arranged within the range of the structural frame. Specifically, the lifting bracket 100 includes a first support rod 110, a second support rod 120, a top connecting rod 130 and a bottom plate 140. The first support rod 110 and the second support rod 120 are arranged at intervals, opposite to each other, and in parallel. The two ends of the top connecting rod 130 are respectively fixedly connected to the top ends of the first support rod 110 and the second support rod 120, and the two ends of the bottom plate 140 are respectively fixedly connected to the bottom ends of the first support rod 110 and the second support rod 120. The two ends of the top spring 320 are respectively connected to the lifting platform 200 and the top connecting rod 130, and the two ends of the bottom spring 310 are respectively abutted against the lifting platform 200 and the bottom plate 140. As another achievable manner, the lifting bracket 100 is a rod-shaped structure, and has protrusions at the top and bottom ends of the lifting bracket 100, respectively, for connecting the top spring 320 and the bottom spring 310, respectively.

Optionally, the bottom spring 310 is of a constant force spring and/or a linear spring, and correspondingly, the top spring 320 is of a constant force spring and/or a linear spring. The constant force spring can output a relatively constant deformation force when the deformation amount changes. The linear spring can output a deformation force within a set range when the deformation amount changes, and can also realize the function of counterweighting the lifting platform 200 in conjunction with the sliding friction between the lifting platform 200 and the lifting bracket 100. In addition, the constant force spring and the linear spring can be of a tension spring, a compression spring or a torsion spring.

As a feasible way, the top spring 320 and the bottom spring 310 are respectively constant force springs, and the counterweight force is applied from the two ends of the lifting platform 200 close to the lifting bracket 100, thereby allowing the lifting of the lifting platform 200 to be manually adjusted or a smaller power part to be used. As another feasible way, the top spring 320 and the bottom spring 310 are respectively linear springs, and the counterweight force is applied from the two ends of the lifting platform 200 close to the lifting bracket 100, respectively, and the sliding friction between the lifting platform 200 and the lifting bracket 100 is cooperated, thereby allowing the lifting of the lifting platform 200 to be manually adjusted or a smaller power part to be used.

As shown in Fig. 1-2, in one embodiment of the present invention, the top spring 320 is a constant force spring, one end of the top spring 320 is fixedly connected to the side of the lifting platform 200 close to the lifting top 100a, and the other end of the top spring 320 is connected to the top connecting rod 130 located at the lifting top 100a. The bottom spring 310 is a compression spring, one end of the bottom spring 310 is in contact with the side of the lifting platform 200 close to the lifting bottom 100b, and the other end of the bottom spring 310 is in contact with the bottom plate 140 located at the lifting bottom 100b. During the lifting process of the lifting platform 200, the top spring 320 applies a constant counterweight force to the lifting platform 200 in the lifting direction, and at the same time, the bottom spring 310 provides a counterweight force within a set range to the lifting platform 200 in the lifting direction, and the two counterweight forces jointly balance the weight of the lifting platform 200. Optionally, the number of the top spring 320 and/or the bottom spring 310 is one, two or more, and two or more top springs 320 and/or bottom springs 310 are arranged in parallel and at intervals. Multiple counterweight springs can provide more accurate counterweight force.

Further, as shown in FIG1-2, the number of the top spring 320 is one, and the number of the bottom spring 310 is two, which together provide the counterweight force of the lifting platform 200. The counterweight structure also includes a bottom guide column 340, which is fixedly arranged on the lifting bracket 100, and the extension direction of the bottom guide column 340 is parallel to the extension direction of the lifting bracket 100. The number of the bottom guide column 340 is the same as the number of the bottom springs 310, for example, two, and each bottom spring 310 is sleeved on a corresponding bottom guide column 340. The bottom guide column 340 can effectively ensure the stability of the bottom spring 310 during compression and deformation recovery, and prevent the bottom spring 310 from losing its balance force due to instability.

In one embodiment of the present invention, the lifting platform 200 and the lifting bracket 100 achieve relative sliding by means of the guide rail 600 and the slider. The magnetic compensation component is disposed between the lifting platform 200 and the lifting bracket 100, and the magnetic compensation component generates a friction force that hinders the movement of the lifting platform 200. The friction force generated by the magnetic compensation component is in the same direction as the friction force generated between the lifting platform 200 and the lifting bracket 100, and the two friction forces can jointly offset the change in the counterweight force (elastic restoring force) caused by the change in the deformation of the bottom spring 310.

Take the two extreme positions of the lifting platform 200 as an example to illustrate that when the lifting platform 200 drops to the lowest point, the elastic force of the bottom spring 310 is the largest. If the elastic force of the bottom spring 310 and the elastic force of the top spring 320 are greater than the gravity of the lifting platform 200 at this time, the lifting platform 200 has an upward trend, and the friction force generated by the magnetic compensation component offsets the force of the sum of the elastic force of the bottom spring 310 and the elastic force of the top spring 320 exceeding the gravity of the lifting platform 200, so that the lifting platform 200 remains stable and will not rise naturally. When the lifting platform 200 rises to the highest point, the elastic force of the bottom spring 310 is the smallest. If the elastic force of the bottom spring 310 and the elastic force of the top spring 320 are less than the gravity of the lifting platform 200 at this time, the lifting platform 200 has a downward trend. The friction force generated by the magnetic compensation component offsets the force of the gravity of the lifting platform 200 exceeding the sum of the elastic force of the bottom spring 310 and the elastic force of the top spring 320, so that the lifting platform 200 remains stable and will not fall naturally.

It can be understood that the magnetic compensation component only needs to generate friction between the lifting platform 200 and the lifting bracket 100 to hinder the two pairs of movements of the two. As shown in Figures 2-4, as a feasible method, the magnetic compensation component includes a first magnetic component 331 and a second magnetic component, the first magnetic component 331 is fixedly connected to the lifting platform 200, the second magnetic component is fixedly connected to the lifting bracket 100, the first magnetic component 331 and/or the second magnetic component are magnets, and the first magnetic component 331 and the second magnetic component are magnetically attracted to each other. Friction is generated between the mutually attracted first magnetic component 331 and the second magnetic component during relative movement. In other embodiments, friction can also be generated by mechanical clamping, such as adjusting the degree of clamping by screws.

Further, as shown in FIGS. 2-4 , the first magnetic member 331 is a magnet, and the second magnetic member is a strip plate 332. The strip plate 332 is fixedly arranged on the lifting bracket 100, and the strip plate 332 extends along the extension direction of the lifting bracket 100. The magnet and the strip plate 332 always maintain magnetic attraction. In other embodiments, the strip plate 332 can also be fixedly installed on the lifting platform 200, and the magnet can be fixedly installed on the lifting bracket 100. The magnet can ensure the stability of the lifting platform 200 at any position, and is not affected by the power on and off of the lifting column, thereby ensuring the safety of the lifting column.

In one embodiment of the present invention, the lifting column 10 further includes a brake assembly, which is used to limit the lifting platform 200 from sliding relative to the lifting bracket 100, thereby firmly fixing the lifting platform 200 on the lifting bracket 100. Optionally, the brake assembly can be a conventional brake structure, or a special brake structure designed based on actual working conditions. In one embodiment of the present invention, as shown in Figures 2-4, the brake assembly includes an electromagnet 400 and a strip plate 332. The electromagnet 400 is fixedly arranged on the lifting platform 200, the strip plate 332 is fixedly arranged on the lifting bracket 100, and the strip plate 332 extends along the extension direction of the lifting bracket 100. When the electromagnet 400 is energized, it adsorbs the strip plate 332 and is relatively fixed to the strip plate 332. Alternatively, the electromagnet 400 is fixedly arranged on the lifting bracket 100, the strip plate 332 is fixedly arranged on the lifting platform 200, and the strip plate 332 extends along the extension direction of the lifting bracket 100. When the electromagnet 400 is energized, it adsorbs the strip plate 332 and is relatively fixed to the strip plate 332.

The strip plate 332 in the above embodiment and the strip plate 332 in the magnetic force compensation assembly can be one or two separate strip plates 332. The first magnetic member 331 can also be designed to be annular, and the electromagnet 400 can be placed inside the annular first magnetic member 331. The annular first magnetic member 331 and the electromagnet 400 act independently without interfering with each other. The annular first magnetic member 331 and the electromagnet 400 can contact the strip plate 332 respectively.

The lifting column 10 in each of the above-mentioned embodiments allows the operator to easily drive the lifting platform 200 to lift and lower manually with less force. In other embodiments, the lifting platform 200 can also be automatically lifted and lowered by a driving assembly 500. As a feasible method, as shown in FIG. 1 and FIG. 3-4, the lifting column 10 also includes a driving assembly 500, and the driving assembly 500 is arranged between the lifting bracket 100 and the lifting platform 200. The driving assembly 500 includes a power member, a clutch 520 and a driving member, and the power member, the clutch 520, the driving member and the lifting platform 200 are sequentially connected in transmission, and the power member drives the lifting platform 200 to slide along the extension direction of the lifting bracket 100 through the driving member. Specifically, the power member is a motor 510, and the driving member is a screw screw 530, and a thread adapted to the driving member is provided on the lifting platform 200. When the clutch 520 is in an engaged state, the motor 510 can drive the lifting platform 200 to rise or fall through the screw 530; when the clutch 520 is in a disengaged state, the operator is allowed to manually drive the lifting platform 200 to rise or fall.

In one embodiment of the present invention, as shown in Figures 1-3, the lifting column 10 also includes a slide rail, which is fixed on the slide rail along the extension square of the lifting bracket 100, and a slide groove adapted to the slide rail is opened on the lifting platform 200, thereby realizing stable sliding of the lifting platform 200 relative to the lifting bracket 100.

An embodiment of the present invention further provides a surgical robot, comprising a lifting column 10 as described in any one of the above embodiments. In the above surgical robot, the extension direction of the lifting column 10 is the lifting direction in the use state, and the lifting platform 200 can perform the lifting action by sliding along the extension direction of the lifting bracket 100. At the same time, the smaller counterweight structure balances the weight of the lifting platform 200 with the elastic force when it undergoes elastic deformation, thereby allowing the operator to manually and easily achieve the lifting of the lifting platform 200, or allowing a smaller power component to drive the lifting of the lifting platform 200. Not only is the volume of the counterweight structure small, but it also allows manual adjustment of the lifting of the lifting platform 200 or the use of smaller power components, which can further reduce the overall volume, weight and cost of the lifting column 10. The surgical robot provided by the present invention has a more compact structure.

The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims (16)

1. A lifting column, characterized by comprising: A lifting bracket, comprising a lifting bottom end and a lifting top end, wherein the lifting bottom end and the lifting top end are arranged at intervals along an extension direction of the lifting bracket; A lifting platform, slidably disposed on the lifting bracket, wherein the lifting platform slides along the extension direction of the lifting bracket under the action of a driving force and approaches or moves away from the lifting top end; The counterweight structure comprises a gravity balance component and a magnetic compensation component, which are arranged between the lifting bracket and the lifting platform. The gravity balance component balances the weight of the lifting platform. The gravity balance component comprises a counterweight spring, and the counterweight spring comprises a bottom spring and a top spring. The bottom spring is a linear spring, which is arranged between the lifting platform and the bottom end of the lifting platform, and the bottom spring pushes the lifting platform in the ascending direction in the use state. The top spring is a constant force spring and/or a linear spring, which is arranged between the lifting platform and the top end of the lifting platform, and the top spring pulls the lifting platform in the ascending direction in the use state. The magnetic compensation component compensates for the balance of the gravity balance component. The magnetic compensation component generates a friction force that hinders the movement of the lifting platform; the friction force generated by the magnetic compensation component offsets the force of the sum of the bottom spring force and the top spring force exceeding the gravity of the lifting platform; when the lifting platform drops to the lowest point, the friction force generated by the magnetic compensation component offsets the force of the sum of the bottom spring force and the top spring force exceeding the gravity of the lifting platform, so that the lifting platform remains stable and does not rise naturally; when the lifting platform rises to the highest point, the friction force generated by the magnetic compensation component offsets the force of the gravity of the lifting platform exceeding the sum of the bottom spring force and the top spring force, so that the lifting platform remains stable and does not fall naturally; Wherein, the lifting bracket is a frame-type bracket, and the lifting platform and the counterweight structure are respectively arranged in the frame-type bracket. 2. The lifting column according to claim 1 is characterized in that the lifting bracket forms a closed structural frame in a vertical plane in a use state. 3. The lifting column according to claim 2, characterized in that the structural frame comprises a first support rod, a second support rod, a top connecting rod and a bottom plate; The first support rod and the second support rod are arranged at intervals, opposite to each other and in parallel, the two ends of the top connecting rod are respectively fixedly connected to the top ends of the first support rod and the second support rod, and the two ends of the bottom plate are respectively fixedly connected to the bottom ends of the first support rod and the second support rod. 4 . The lifting column according to claim 1 , wherein the constant force spring and the linear spring are of a tension spring, a compression spring or a torsion spring. 5. The lifting column according to claim 3 is characterized in that the top spring is a constant force spring, one end of the top spring is fixedly connected to the lifting platform, and the other end of the top spring is connected to the top connecting rod; the bottom spring is a compression spring, one end of the bottom spring abuts against the lifting platform, and the other end of the bottom spring abuts against the bottom plate. 6. The lifting column according to claim 5, characterized in that the number of the top spring and/or the bottom spring is one or more, and the multiple top springs and/or the bottom springs are arranged in parallel and at intervals. 7. The lifting column according to any one of claims 1 to 6 is characterized in that the counterweight structure also includes a bottom guide column, the bottom guide column is fixedly arranged on the lifting bracket, and the extension direction of the bottom guide column is parallel to the extension direction of the lifting bracket. 8. The lifting column according to claim 7, characterized in that the number of the bottom guide columns is the same as the number of the bottom springs, and each bottom spring is sleeved on a corresponding bottom guide column. 9. The lifting column according to claim 1 is characterized in that the magnetic compensation component includes a first magnetic component and a second magnetic component, the first magnetic component is fixedly connected to the lifting platform, the second magnetic component is fixedly connected to the lifting bracket, the first magnetic component and/or the second magnetic component are magnets, and the first magnetic component and the second magnetic component are magnetically attracted to each other. 10. The lifting column according to claim 9, characterized in that the first magnetic member is a magnet, and the second magnetic member is a strip plate; the magnet is fixedly arranged on the lifting platform, the strip plate is fixedly arranged on the lifting bracket, and the strip plate extends along the extension direction of the lifting bracket; or The first magnetic component is a strip plate, and the second magnetic component is a magnet; the strip plate is fixedly arranged on the lifting platform, the strip plate extends along the extension direction of the lifting bracket, and the magnet is fixedly arranged on the lifting bracket. 11. The lifting column according to claim 10 is characterized in that the lifting column also includes a brake assembly, which is used to limit the sliding of the lifting platform relative to the lifting bracket; the brake assembly includes an electromagnet and a strip plate, the electromagnet is fixedly arranged on one of the lifting platform and the lifting bracket, and the strip plate is fixedly arranged on the other of the lifting platform and the lifting bracket; the strip plate extends along the extension direction of the lifting bracket, and the electromagnet adsorbs the strip plate and is fixed relative to the strip plate when energized. 12. The lifting column according to claim 11, characterized in that the first magnetic member is annular in structure, the electromagnet is placed inside the first annular magnetic member, and both the first annular magnetic member and the electromagnet can contact the strip plate. 13. The lifting column according to claim 1 is characterized in that the lifting column also includes a driving assembly, and the driving assembly is arranged between the lifting bracket and the lifting platform; the driving assembly includes a power member, a clutch member and a driving member, and the power member, the clutch member, the driving member and the lifting platform are sequentially connected by transmission, and the power member drives the lifting platform to slide along the extension direction of the lifting bracket through the driving member. 14. The lifting column according to claim 13, characterized in that the power member is a motor, the driving member is a screw, and the lifting platform is provided with a thread matched with the screw; When the clutch is in an engaged state, the motor can drive the lifting platform to rise or fall through the screw; when the clutch is in a disengaged state, the operator can manually drive the lifting platform to rise or fall. 15. The lifting column according to any one of claims 1-6 or 8-14, characterized in that the lifting column further comprises a slide rail, the slide rail is fixedly arranged along the extension direction of the lifting column, and a slide groove matched with the slide rail is provided on the lifting platform. 16. A surgical robot, characterized by comprising the lifting column according to any one of claims 1-15.