CN-224229683-U - Omnidirectional mobile base for medical instrument

Abstract

The utility model discloses an omni-directional mobile base for medical equipment, which comprises a base body and at least two wheel groups arranged below the base body, wherein the at least two wheel groups are parallel and are sequentially arranged below the base body, each wheel group comprises two omni-directional electric driving wheel modules and a suspension, each suspension is arranged between the corresponding omni-directional electric driving wheel module and is respectively connected with the corresponding omni-directional electric driving wheel module, each suspension comprises a fixed seat, two connecting rod assemblies and two elastic connecting assemblies, the fixed seat is fixedly connected with the lower end face of the base, the two connecting rod assemblies are respectively arranged on two sides of the fixed seat, the two ends of each connecting rod assembly are respectively hinged with the corresponding omni-directional electric driving wheel module and the fixed seat, the two elastic connecting assemblies are respectively arranged between the corresponding omni-directional driving wheel module and the corresponding base, and the two ends of each elastic connecting assembly are respectively connected with the corresponding omni-directional driving wheel module and the corresponding base.

Inventors

• WANG SHAOBAI
• Zhong Jinbing
• SHI JIAMIN
• YUAN JIA

Assignees

• 上海卓昕医疗科技有限公司

Dates

Publication Date

20260512

Application Date

20250630

Claims (9)

1. 1. The omnidirectional mobile base for the medical instrument is characterized by comprising a base body and at least two wheel sets arranged below the base body, wherein the at least two wheel sets are parallel and are sequentially arranged below the base body; the wheel set comprises two omnidirectional electric driving wheel modules and a suspension, wherein the suspension is arranged between the two omnidirectional electric driving wheel modules, and two ends of the suspension are respectively connected with the two omnidirectional electric driving wheel modules; the suspension comprises a fixed seat, two connecting rod assemblies and two elastic connecting assemblies, wherein the fixed seat is fixedly connected with the lower end face of the base, the two connecting rod assemblies are respectively arranged on two sides of the fixed seat, and two ends of each connecting rod assembly are respectively hinged with the omnidirectional electric drive wheel module and the fixed seat; the two elastic connection components are respectively arranged between the two omnidirectional electric drive wheel modules and the base, and two ends of the elastic connection components are respectively connected with the omnidirectional electric drive wheel modules and the base.
2. 2. The omni-directional mobile base for a medical instrument according to claim 1, wherein the suspension comprises two connection seats, the two connection seats are respectively arranged on the two omni-directional electric drive wheel modules, and two ends of the connecting rod assembly are respectively hinged with the connection seats and the fixed seat.
3. 3. The omni-directional mobile base for a medical appliance of claim 1, wherein the linkage assembly comprises two links disposed in parallel.
4. 4. The omni-directional mobile base for a medical instrument of claim 2, wherein the omni-directional electrically driven wheel module comprises an omni-directional drive wheel and a driver drivingly connected to the omni-directional drive wheel, the connection base being connected to the driver.
5. 5. The omni-directional mobile base for a medical appliance of claim 4, wherein the omni-directional drive wheel is a mecanum wheel.
6. 6. The omni-directional mobile base for a medical instrument of claim 4, wherein the driver comprises a decelerator drivingly connected to the omni-directional drive wheel and a drive motor drivingly connected to the decelerator, the connection block being connected to the decelerator.
7. 7. The omni-directional mobile base for a medical instrument according to claim 2, wherein the elastic connection assembly comprises a guide shaft and a spring, the lower end of the guide shaft is fixedly connected with the connection seat, the upper end of the guide shaft penetrates through the base body and is slidably connected with the base body, and the spring is sleeved on the guide shaft and is located between the connection seat and the base body.
8. 8. The omni-directional mobile base for a medical instrument according to claim 1, wherein the fixed seat is fixedly connected with the lower end surface of the base through a screw.
9. 9. The omni-directional mobile base for a medical instrument of claim 6, wherein the connection mount is secured to the decelerator by screws.

Description

Omnidirectional mobile base for medical instrument Technical Field The utility model belongs to the technical field of medical instruments, and particularly relates to an omnidirectional mobile base for a medical instrument. Background In the medical field, the application of mobile medical instruments is increasingly wide, and the advantages and disadvantages of the mobile performance directly influence the use convenience and efficiency of the medical instruments and the applicability of the medical instruments in various medical scenes. Currently, there are two main types of mobile medical devices on the market in the mobile mode. One is to use a manual movement method, which to some extent follows the limitation of the standard of the medical apparatus to the starting force (push-pull force), but because of the diversity and uncertainty of the use place, for example, in the environments of uneven ground, narrow space or obstacles, the manual movement often needs to consume great physical force, the movement process is extremely laborious, the use efficiency of the medical apparatus is greatly reduced, and the workload of operators is increased. The other is an electric driving moving mode, however, the existing electric driving movable medical apparatus has relatively single moving function, and generally only can realize basic operations such as advancing, retreating, turning by controlling the direction of the roller wheels and the like. The turning mode has obvious defects that the turning radius is relatively large, so that the movement flexibility is poor, and the movement is greatly limited in the environments of hospital wards, operating rooms and the like in places with limited space, so that the actual use requirements are difficult to meet. In terms of realizing the omnidirectional mobile technology, the Mecanum wheel technology is widely applied to the industrial market. By adjusting the driving conditions of the four roller motors, the Mecanum wheel can realize the omnidirectional movement of the instrument, and the characteristic enables the Mecanum wheel to have great advantages in a scene needing flexible movement, so that part of Mecanum wheel technology is also applied to mobile medical instruments. For example, patent publication number CN209712937U discloses an omni-directional mobile base for a G-arm, which base contains components such as an upper mobile stationary plate, bearing mounts, wheel end caps, speed reducers, motors, and mecanum wheels. However, this prior art solution has significant drawbacks. Because the hard connection mode is adopted between the Mecanum wheel and the fixed plate, when the movable base runs on the uneven ground with the pothole on the road surface, the hard connection cannot effectively buffer the impact and the unevenness of the ground. On one hand, the shaking of the whole instrument can be caused, the stability and the use precision of the medical instrument are affected, the shaking of medical equipment with extremely high requirements on stability, such as image diagnosis equipment and the like, can influence the accuracy of a diagnosis result, on the other hand, the suspension of one or more driving wheels can occur, once the driving wheels are suspended, the effective driving cannot be realized, the normal moving capability of the movable base is lost, and the normal use of the medical instrument is seriously affected. Disclosure of utility model To solve the above problems, an object of the present utility model is to provide an omni-directional mobile base for a medical instrument, which is omni-directional mobile and adaptable to a depressed uneven ground. In order to achieve the above purpose, the technical scheme of the utility model is as follows: An omnidirectional mobile base for medical equipment comprises a base body and at least two wheel sets arranged below the base body, wherein the at least two wheel sets are parallel and are sequentially arranged below the base body; the wheel set comprises two omnidirectional electric driving wheel modules and a suspension, wherein the suspension is arranged between the two omnidirectional electric driving wheel modules, and two ends of the suspension are respectively connected with the two omnidirectional electric driving wheel modules; the suspension comprises a fixed seat, two connecting rod assemblies and two elastic connecting assemblies, wherein the fixed seat is fixedly connected with the lower end face of the base, the two connecting rod assemblies are respectively arranged on two sides of the fixed seat, and two ends of each connecting rod assembly are respectively hinged with the omnidirectional electric drive wheel module and the fixed seat; The two elastic connection assemblies are respectively arranged between the two omnidirectional driving wheel modules and the base, and two ends of each elastic connection assembly are respectively connected with the omnidirectional driving wheel m