CN210447192U - Fixing structure of tail end mechanism and surgical robot - Google Patents
Fixing structure of tail end mechanism and surgical robot Download PDFInfo
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- CN210447192U CN210447192U CN201920866576.4U CN201920866576U CN210447192U CN 210447192 U CN210447192 U CN 210447192U CN 201920866576 U CN201920866576 U CN 201920866576U CN 210447192 U CN210447192 U CN 210447192U
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- 238000000034 method Methods 0.000 abstract description 5
- 125000006850 spacer group Chemical group 0.000 description 3
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Abstract
The utility model relates to a surgical robot technical field discloses a fixed knot of end mechanism constructs and surgical robot. The fixing structure of the end mechanism comprises a first mounting component and a second mounting component, and the end mechanism is mounted on the first mounting component; the second mounting assembly is arranged on the robot and detachably connected with the first mounting assembly, so that the tail end mechanism is convenient to mount and dismount, and the efficiency of surgical operation is improved; be equipped with on the second installation component and be used for locking the locking Assembly of first installation component in order to prevent to dismantle, prevent that the doctor from dismantling end mechanism at the operation in-process mistake, need to pass through twice and confirm just can dismantle end mechanism, reduced the risk because of the operation accident that the maloperation caused.
Description
Technical Field
The utility model relates to a surgical robot technical field especially relates to a fixed knot of end mechanism constructs and surgical robot.
Background
During the operation, the robot end surgical tool can be replaced according to the operation requirement, and the replacement frequency is high. In the prior art, the robot end joint is generally designed into a flange structure common in the industry so as to replace surgical tools. The structure connected by a plurality of screws is troublesome in installation and disassembly, not only consumes time, but also has the problem that the surgical tool is mistakenly disassembled in the surgical process, and has the risk of surgical accidents caused by misoperation.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an end mechanism's fixed knot constructs can realize quick assembly disassembly end mechanism, has solved the problem that the mistake was torn open moreover, has reduced the risk because of the operation accident that the maloperation caused.
The utility model also aims to provide a surgical robot, the operation efficiency of operation is high, and the risk of operation accident is low.
To achieve the purpose, the utility model adopts the following technical proposal:
a fixing structure of an end mechanism, comprising:
the first mounting assembly is used for connecting the tail end mechanism;
the second installation component is arranged on the robot and detachably connected with the first installation component, and a locking component used for locking the first installation component to prevent disassembly is arranged on the second installation component.
Preferably, the first mounting assembly comprises a locking member, and a first connecting piece is arranged on the locking member;
the second installation component comprises a flange, the flange comprises a flange plate and a flange column connected with the flange plate, the flange plate is connected with the robot, and a second connecting piece connected with the first connecting piece is arranged on the flange column.
Preferably, the locking member is a circular ring-shaped member, and the first connecting member includes an internal thread provided inside one end of the locking member;
the second connecting piece is including setting up external screw thread on the flange post, external screw thread with internal thread accordant connection.
Preferably, the first mounting assembly further comprises a jacket, a space for accommodating the end mechanism to penetrate through is arranged in the middle of the jacket, and the outer side wall of the jacket comprises a first conical surface and a second conical surface;
one end of the jacket penetrates through the locking piece, a gap is formed between the first conical surface and the internal thread, and the second conical surface is connected with the inner side wall of the locking piece.
Preferably, the jacket comprises a plurality of elastic sheets, the elastic sheets surround to form a space for accommodating the end mechanism to penetrate, and a gap is formed between every two adjacent elastic sheets.
Preferably, the flange column is provided with a mounting hole capable of accommodating the clamping sleeve, when the locking member is connected with the flange column, one end of the flange column is arranged in the gap, and the hole wall of the mounting hole extrudes the elastic sheet.
Preferably, the inner side wall of the other end of the locking part faces the inner thread direction and is sequentially provided with a third conical surface and a convex block, the second conical surface of the clamping sleeve is circumferentially provided with a first groove which is concave towards the center of the clamping sleeve, when the clamping sleeve is connected with the locking part, the convex block is clamped in the first groove, and the second conical surface is attached to the third conical surface.
Preferably, the locking assembly comprises:
one end of the pressure spring is mounted on the flange plate;
the one end of spacer pin with the other end of pressure spring is connected, just the spacer pin can be followed the axial displacement of pressure spring, be equipped with on the retaining member with the locating part of spacer pin connection.
Preferably, the limiting part comprises a ratchet arranged along the circumferential direction of the end face of the locking part, a pawl is arranged on the end face of the other end of the limiting pin, and the pawl can be matched with the ratchet to limit the locking part to rotate towards the dismounting direction.
A surgical robot comprises the fixing structure of the end mechanism.
The utility model has the advantages that:
the utility model provides a fixed knot of end mechanism constructs and sets up the second installation component on the robot, and end mechanism installs on the first installation component, and the first installation component can be dismantled with the second installation component and be connected, and the end mechanism of robot is conveniently installed and dismantled to the convenience, has improved the efficiency of operation; still be equipped with the locking Assembly who is used for locking first installation component on the second installation component, prevent that the doctor from tearing open end mechanism at the operation in-process mistake, need to pass through twice and confirm just can dismantle end mechanism, reduced the risk of the operation accident because of the maloperation causes.
The utility model provides a surgical robot, its end mechanism easy dismounting has improved the operating efficiency of operation, has reduced the risk of operation accident.
Drawings
Fig. 1 is a schematic overall structure diagram of a fixing structure of an end mechanism according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first mounting assembly according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a first mounting assembly according to an embodiment of the present invention;
fig. 4 is an exploded view of a fixed structure of an end mechanism according to an embodiment of the present invention;
fig. 5 is a sectional view of a fixing structure of an end mechanism according to an embodiment of the present invention.
In the figure:
1. a first mounting assembly; 11. a locking member; 12. an internal thread; 13. a jacket; 131. a first conical surface; 132. a second conical surface; 133. a spring plate; 14. a third conical surface; 15. a bump; 16. a first groove; 17. a second groove;
2. a second mounting assembly; 21. a flange; 211. a flange plate; 212. a flange column; 213. mounting holes; 22. an external thread;
3. a locking assembly; 31. a pressure spring; 32. a spacing pin; 321. a first lever; 322. a second lever; 323. a pawl; 324. a handle; 33. a ratchet; 34. an installation part;
4. and a terminal mechanism.
Detailed Description
In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1, the fixing structure of the end mechanism provided in the present embodiment includes a first mounting component 1 and a second mounting component 2, wherein an end mechanism 4 is mounted on the first mounting component 1, and the second mounting component 2 is disposed on the robot. The first installation component 1 and the second installation component 2 are detachably connected, so that the tail end mechanism 4 of the robot is convenient to install and detach, and the efficiency of operation is improved.
Specifically, as shown in fig. 2 and 3, the first mounting assembly 1 includes a locking member 11 and a clamping sleeve 13, the locking member 11 is a circular ring-shaped member, a second groove 17, a third conical surface 14 and a projection 15 are sequentially arranged on the inner side wall of one end of the locking member 11 toward the other end of the locking member 11, the third conical surface 14, the projection 15 and the second groove 17 are all arranged along the circumferential direction of the inner side wall of the locking member 11, and the projection 15 protrudes out of the third conical surface 14 and the second groove 17.
As shown in fig. 3, the middle portion of the jacket 13 is provided with a space through which the end mechanism 4 is accommodated, and in this embodiment, the space is a cylindrical hollow structure. The outer side wall of the jacket 13 comprises a first conical surface 131 and a second conical surface 132, and the second conical surface 132 of the jacket 13 is circumferentially provided with a first groove 16 which is concave towards the center of the jacket 13. As shown in fig. 2, one end of the jacket 13 is composed of a plurality of elastic sheets 133, a gap is formed between two adjacent elastic sheets 133, the plurality of elastic sheets 133 surround the inside to form a space for accommodating the end mechanism 4 to pass through, and the outside forms a second conical surface 132. The clamping sleeve 13 is installed on the locking piece 11, an operator holds the part of the second conical surface 132 of the clamping sleeve 13 to enable the part of the first conical surface 131 to penetrate through the locking piece 11, in the installation process, the operator releases the clamping sleeve 13, the elastic sheet 133 forming the second conical surface 132 is bounced off, the protruding block 15 is clamped in the first groove 16, the side surface of the second conical surface 132 is attached to the third conical surface 14 on the inner side of the locking piece 11, and the third conical surface 14 supports the clamping sleeve 13 and generates weak radial pressure on the clamping sleeve 13. The purpose of the second recess 17 is to facilitate the machining of the internal thread 12 on the retaining member 11.
Referring to fig. 4, the second mounting member 2 includes a flange 21, the flange 21 includes a flange 211 and a flange post 212, one end of the flange post 212 is connected to a side surface of the flange 211, the flange 211 is formed with a plurality of connection holes, and the flange 211 is connected to the robot by bolts. The other end of the flange column 212 is provided with a second connecting piece, and the locking piece 11 is provided with a first connecting piece connected with the second connecting piece. In order to facilitate the detachment and installation of the distal end mechanism 4 and improve the efficiency of the operation, in the present embodiment, the first connecting member includes an internal thread 12 disposed inside one end of the locking member 11, the internal thread 12 is adjacent to the second groove 17, and a gap is formed between the first conical surface 131 of the clamping sleeve 13 and the internal thread 12. The second connector includes external threads 22 disposed on the flange post 212, the external threads 22 mating with the internal threads 12.
As shown in fig. 5, the flange post 212 is provided with a mounting hole 213 capable of receiving the collet 13, when the locking member 11 is connected to the flange 21, a portion of the first conical surface 131 of the collet 13 is disposed in the mounting hole 213, the flange post 212 is disposed in a gap between the first conical surface 131 and the locking member 11, and the internal thread 12 is connected to the external thread 22. Because the other end of the jacket 13 is composed of a plurality of elastic sheets 133, a space for accommodating the end mechanism 4 is formed around the inner part of the plurality of elastic sheets 133, a first conical surface 131 is formed on the outer part of the jacket, and a gap is formed between two adjacent elastic sheets 133, when the screwing locking piece 11 is connected with the flange column 212, the elastic sheets 133 of the first conical surface 131 are extruded by the hole wall of the mounting hole 213 of the flange column 212, and the elastic sheets 133 are all close to the center to clamp the end mechanism 4.
In this embodiment, retaining member 11 and flange 21 threaded connection, simple structure not only makes things convenient for dismouting end mechanism 4, can also be in retaining member 11 and the continuous tight end mechanism 4 of the in-process of flange 21 connection, and the stability of pressing from both sides tightly is good.
In other embodiments, the locking member 11 and the flange 21 can be connected by other structures, such as a snap structure provided on the locking member 11 and the flange 21, when the locking member is installed, the collet 13 is placed in the mounting hole 213 of the flange post 212, the flange post 212 is placed in the gap between the first conical surface 131 and the locking member 11, and then the snap structure is snapped to connect the locking member 11 and the flange 21 together, thereby facilitating the disassembly and installation.
In order to avoid that the doctor mistakenly removes the end mechanism 4 in the operation process, in the embodiment, the locking assembly 3 for locking the first mounting assembly 1 is further arranged on the second mounting assembly 2, the doctor needs to open the locking assembly 3 to screw the locking member 11, namely, the doctor needs to confirm again to remove the end mechanism 4, and the misoperation rate and the risk of operation accidents caused by misoperation are reduced.
Specifically, with reference to fig. 4 and 5, the locking assembly 3 includes a mounting portion 34, a pressure spring 31 and a limit pin 32, the mounting portion 34 is disposed on the flange 211, the mounting portion 34 and the flange column 212 are disposed on the same side, an accommodating space is provided in the mounting portion 34, the pressure spring 31 is disposed in the accommodating space, one end of the pressure spring 31 is connected to the flange 211, and an axis of the pressure spring 31 is parallel to an axis of the flange column 212. The limit pin 32 comprises a first rod 321 and a second rod 322, the pressure spring 31 is sleeved on the first rod 321, the end part of the pressure spring 31 abuts against the end surface of the second rod 322, and one end of the second rod 322 penetrates through the mounting part 34 to be connected with the limit part on the locking part 11. In other embodiments, one end of the compressed spring 31 may also be directly connected to an end surface of one end of the stopper pin 32, which is not limited herein.
In order to facilitate the operation of the stopper pin 32 so as to lock or disassemble the locking member 11, a handle 324 is provided at one side of the second rod 322, a long hole is provided at a side wall of the mounting portion 34, the handle 324 passes through the long hole and is disposed at an outer side of the mounting portion 34, and the length of the long hole is the range of up-and-down movement of the stopper pin 32.
An operator pulls the handle 324 to push up the limit pin 32, the limit pin 32 is separated from the limit part on the locking member 11, the locking state of the limit pin 32 and the limit part is released, and the locking member 11 can be released clockwise at the moment. After the retaining member 11 is connected with the flange post 212, the operator pushes down the stopper pin 32 by toggling the handle 324, the stopper pin 32 is connected with the stopper on the retaining member 11, and the pressure of the pressure spring 31 keeps the stopper pin 32 and the stopper in a connected state, so that the clockwise rotation of the retaining member 11 is prevented from being released. In this embodiment, the locking assembly 3 has a simple structure, and is convenient for the operator to adjust the position of the limit pin 32.
In the embodiment, the limiting member includes a ratchet 33 circumferentially arranged along an end surface of the locking member 11, an end surface of one end of the second rod 322 of the limiting pin 32 is provided with a pawl 323, the limiting pin 32 moves downwards, and under the pressure of the pressure spring 31, the pawl 323 is attached to a tooth surface of the ratchet 33, so that the clockwise rotation of the locking member 11 is limited. This configuration not only effectively prevents the retaining member 11 from disengaging from the flange 21, but also facilitates the operator's manipulation of the locking assembly 3.
In other embodiments, the limiting member may also be an insertion hole circumferentially disposed along the end surface of the locking member 11, and one end of the second rod 322 of the limiting pin 32 is inserted into the insertion hole, so as to effectively prevent the locking member 11 from being separated from the flange 21.
The embodiment also provides a robot, which comprises the robot end mechanism fixing structure. The tail end mechanism 4 is convenient to disassemble and assemble, improves the operation efficiency of the operation, reduces the risk of operation accidents, and is widely popularized and applied clinically.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A fixing structure of an end mechanism, comprising:
a first mounting assembly (1) for connection to an end mechanism (4);
the second installation component (2) is arranged on the robot, the second installation component (2) is detachably connected with the first installation component (1), and a locking component (3) used for locking the first installation component (1) to prevent disassembly is arranged on the second installation component (2).
2. An end mechanism fixing structure according to claim 1, wherein the first mounting assembly (1) comprises a locking member (11), and a first connecting member is provided on the locking member (11);
the second installation component (2) comprises a flange (21), the flange (21) comprises a flange plate (211) and a flange column (212) connected with the flange plate (211), the flange plate (211) is connected with the robot, and a second connecting piece connected with the first connecting piece is arranged on the flange column (212).
3. An end mechanism fixing structure according to claim 2, wherein said lock member (11) is a circular ring-shaped member, and said first connecting member includes an internal thread (12) provided inside one end of said lock member (11);
the second connecting piece comprises an external thread (22) arranged on the flange column (212), and the external thread (22) is matched and connected with the internal thread (12).
4. A fixing structure of an end mechanism according to claim 3, wherein the first mounting assembly (1) further comprises a jacket (13), a middle part of the jacket (13) is provided with a space for accommodating the end mechanism (4) to penetrate through, and an outer side wall of the jacket (13) comprises a first conical surface (131) and a second conical surface (132);
one end of the jacket (13) penetrates through the locking piece (11), a gap is reserved between the first conical surface (131) and the internal thread (12), and the second conical surface (132) is connected with the inner side wall of the locking piece (11).
5. The fixing structure of the end mechanism according to claim 4, wherein the jacket (13) comprises a plurality of elastic sheets (133), the plurality of elastic sheets (133) surround to form a space for accommodating the end mechanism (4) to penetrate through, and a gap is formed between two adjacent elastic sheets (133).
6. The fixed knot of end mechanism of claim 5 constructs, characterized by, be equipped with on the flange post (212) can hold the mounting hole (213) of cover (13), when the retaining member (11) is connected with the flange post (212), one end of the flange post (212) is placed in the space, and the pore wall of mounting hole (213) extrudes the shell fragment (133).
7. The fixing structure of the end mechanism according to claim 4, wherein a third conical surface (14) and a projection (15) are sequentially arranged on the inner side wall of the other end of the locking member (11) towards the direction of the internal thread (12), a first groove (16) which is concave towards the center of the clamping sleeve (13) is circumferentially arranged on the second conical surface (132) of the clamping sleeve (13), when the clamping sleeve (13) is connected with the locking member (11), the projection (15) is clamped in the first groove (16), and the second conical surface (132) is attached to the third conical surface (14).
8. An end mechanism fixing structure according to claim 2, wherein said lock assembly (3) comprises:
one end of the pressure spring (31) is mounted on the flange plate (211);
one end of the limiting pin (32) is connected with the other end of the pressure spring (31), the limiting pin (32) can move axially along the pressure spring (31), and a limiting part connected with the limiting pin (32) is arranged on the locking part (11).
9. An end mechanism fixing structure according to claim 8, wherein the limiting member comprises a ratchet (33) circumferentially provided along an end surface of the lock member (11), and an end surface of the other end of the limiting pin (32) is provided with a pawl (323), and the pawl (323) is capable of cooperating with the ratchet (33) to limit the rotation of the lock member (11) in the detaching direction.
10. A surgical robot comprising a fixed structure of the tip mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920866576.4U CN210447192U (en) | 2019-06-06 | 2019-06-06 | Fixing structure of tail end mechanism and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920866576.4U CN210447192U (en) | 2019-06-06 | 2019-06-06 | Fixing structure of tail end mechanism and surgical robot |
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| Publication Number | Publication Date |
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| CN210447192U true CN210447192U (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920866576.4U Active CN210447192U (en) | 2019-06-06 | 2019-06-06 | Fixing structure of tail end mechanism and surgical robot |
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| Country | Link |
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| CN (1) | CN210447192U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111956330A (en) * | 2020-08-19 | 2020-11-20 | 南京普爱医疗设备股份有限公司 | Quick locking detachable surgical mechanical device |
| CN118178067A (en) * | 2024-03-05 | 2024-06-14 | 汕头大学医学院第一附属医院 | Convenient bone grafting injector for artificial bone or allogeneic bone |
-
2019
- 2019-06-06 CN CN201920866576.4U patent/CN210447192U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111956330A (en) * | 2020-08-19 | 2020-11-20 | 南京普爱医疗设备股份有限公司 | Quick locking detachable surgical mechanical device |
| CN111956330B (en) * | 2020-08-19 | 2022-03-08 | 南京普爱医疗设备股份有限公司 | Quick locking detachable surgical mechanical device |
| CN118178067A (en) * | 2024-03-05 | 2024-06-14 | 汕头大学医学院第一附属医院 | Convenient bone grafting injector for artificial bone or allogeneic bone |
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