CN115068112B - Power installation device, power device and surgical robot - Google Patents

Power installation device, power device and surgical robot Download PDF

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Publication number
CN115068112B
CN115068112B CN202211009739.XA CN202211009739A CN115068112B CN 115068112 B CN115068112 B CN 115068112B CN 202211009739 A CN202211009739 A CN 202211009739A CN 115068112 B CN115068112 B CN 115068112B
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mounting
groove
sleeve
main shaft
power
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CN115068112A (en
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白剑锋
李漠
郭振东
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Beijing Weigao Intelligent Technology Co ltd
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Beijing Weigao Intelligent Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

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  • Heart & Thoracic Surgery (AREA)
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Abstract

The invention belongs to the technical field of medical treatment, and particularly discloses a power installation device, a power device and a surgical robot. The power installation device includes: the base assembly comprises a base unit and a fastener, wherein the base unit is provided with a mounting ring groove, and the fastener penetrates through the inner and outer groove walls of the mounting ring groove along the radial direction of the base unit; the mounting shaft assembly comprises a mounting main shaft and a limiting pin, the mounting main shaft is convexly provided with a clamping ring part, the clamping ring part is provided with a limiting groove, and the clamping ring part can be inserted into the mounting ring groove and rotates relative to the base unit, so that a fastening piece can enter the limiting groove through a first end of the limiting groove and rotate to be limited to a second end of the limiting groove; the limiting pin is inserted into the second end of the clamping ring part, and the tail end of the limiting pin extends into the limiting groove, so that the fastening piece is clamped between the limiting pin and the second end wall of the limiting groove. The power installation device, the power device and the surgical robot disclosed by the invention can improve the convenience of assembling and disassembling the power installation device and the installation reliability.

Description

Power installation device, power device and surgical robot
Technical Field
The invention belongs to the technical field of medical treatment, and particularly relates to a power installation device, a power device and a surgical robot.
Background
With the progress of science and technology and the development of robot technology, the medical robot capable of assisting a doctor in performing an operation is more and more widely applied in the medical field, and the operation precision and stability are improved, and meanwhile, the operation strength and fatigue degree of the surgeon can be reduced, so that the operation safety is improved. An orthopedic surgical robot is one of medical robots, and can be applied to bone joint surgery such as joint replacement surgery, joint repair surgery, and the like.
The orthopedic surgery often requires precise cutting, grinding, fixing and the like, and thus the end of the mechanical arm of the orthopedic surgery robot is usually provided with a powered surgical instrument. The power device on the traditional orthopaedic surgery robot is usually fixedly arranged at the tail end of a mechanical arm by adopting a flange, when the power device is disassembled and assembled, the whole power device needs to be disassembled from the tail end of the mechanical arm, and then the power device is integrally arranged at the tail end of the mechanical arm after cleaning and disinfection, so that the problems of troublesome disassembly and assembly, long disassembly and assembly time and the like exist, and the early-stage preparation time of an operation is prolonged and the cleaning after the operation is difficult; meanwhile, when bilateral joint surgery is performed, the surgical machine connected to the power device is inconvenient to change the direction, and the surgery efficiency is influenced.
The prior art discloses an orthopedic surgery robot's fast-assembling pendulum saw, its fast-assembling pendulum saw is including pendulum saw base member and quick-connect tool bit subassembly, and the link of pendulum saw base member is provided with the arm joint, is provided with the screw that does not take off that is used for with arm fixed connection on the arm joint, still is provided with the fast-assembling flange on the arm joint, does not take off the mounting of screw on the fast-assembling flange. However, the quick-assembly swing saw disclosed in the prior art only improves the quick-assembly efficiency by keeping the screw on the mechanical arm joint all the time, and the assembly process still needs to be completed by screwing the screw with a special tool, which is substantially difficult to achieve the requirement of quick assembly.
Disclosure of Invention
One object of the present invention is to provide a power installation device to improve the convenience of disassembly, assembly and cleaning of a power module and a power device thereof, reduce the preparation time of the operation, and improve the operation efficiency.
Another object of the present invention is to provide a power unit that can be easily removed and mounted.
Still another object of the present invention is to provide a surgical robot, so as to improve the efficiency of the surgical robot for assisting the operation and improve the cleaning convenience of the surgical robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a power mounting device comprising:
the base assembly comprises a base unit and a fastening piece, wherein a mounting ring groove coaxial with the base unit is formed in the first end of the base unit, the second end of the base unit is used for being connected with the mechanical arm, and the fastening piece penetrates through the inner groove wall and the outer groove wall of the mounting ring groove along the radial direction of the base unit;
the mounting shaft assembly comprises a mounting main shaft and a limiting pin, wherein a first end of the mounting main shaft is convexly provided with an annular clamping ring part along the radial direction and the axial direction, the clamping ring part is radially penetrated and provided with a limiting groove, a first end of the limiting groove penetrates through the end surface of a first end of the clamping ring part, a second end of the limiting groove extends along the circumferential direction of the clamping ring part, and the clamping ring part can be inserted into the mounting ring groove and rotates relative to the base unit so that the fastening piece can enter the limiting groove through the first end of the limiting groove and rotate to be limited to the second end of the limiting groove; the limiting pin is inserted into the second end of the clamping ring part, and the tail end of the limiting pin extends into the limiting groove, so that the fastening piece is clamped between the limiting pin and the second end wall of the limiting groove.
As an optional technical scheme of a power installation device, the spacer pin includes coaxial coupling's principal post portion and frustum portion, the main post portion the main end of frustum portion with the smooth connection of principal post portion, principal post portion slides and wears to locate clamping ring portion, frustum portion can stretch into in the spacing groove.
As an optional technical scheme of the power installation device, when the clamping ring part and the base unit are inserted in place, one end of the limiting pin, which faces the bottom of the installation ring groove, is located in the limiting groove;
and/or, when the clamping ring part is inserted into the base unit in place, the first end face of the clamping ring part and the groove bottom of the mounting ring groove are arranged at intervals.
As an optional technical solution of the power installation device, the installation main shaft includes a main shaft portion and the collar portion coaxially connected to the first end of the main shaft portion, the outer diameter of the collar portion is larger than the outer diameter of the main shaft portion, and the first end face of the main shaft portion abuts against the first end of the base unit.
As an optional technical solution of the power installation device, the installation shaft assembly includes an installation sleeve, the installation sleeve is slidably sleeved on the outer side of the main shaft portion, a first end of the limit pin is connected with an end surface of the installation sleeve, and a second end of the limit pin can be selectively inserted into the limit groove.
As an optional technical solution of the power installation device, the installation shaft assembly includes a locking assembly, and the locking assembly is sleeved on the outer side of the main shaft portion and can selectively apply an acting force towards the clamping ring portion to the installation sleeve.
As an optional technical scheme of the power installation device, an accommodating ring groove with one end open and the other end closed is formed by the inner wall of the installation sleeve and the outer wall of the main shaft part in a surrounding manner, and the opening of the accommodating ring groove deviates from the clamping ring part;
the locking assembly comprises an elastic piece and a locking sleeve, the elastic piece is sleeved on the main shaft part and is positioned in the accommodating ring groove, and the locking sleeve is sleeved on the main shaft part and has a locking state fixed relative to the mounting main shaft and a release state sliding along the axial direction relative to the mounting main shaft;
when the locking sleeve is in the locking state, the first end of the locking sleeve extends into the accommodating annular groove, two ends of the elastic piece are respectively abutted against the groove bottom of the accommodating annular groove and the first end face of the locking sleeve, and the elastic piece is in a compression state.
As an optional technical scheme of the power installation device, a U-shaped guide chute is formed in the outer side wall of the main shaft portion, a first end and a second end of the guide chute extend in the axial direction of the main shaft portion, the first end of the guide chute penetrates through the end face of the second end of the main shaft portion, and the second end of the guide chute is closed;
the inner surface of the locking sleeve is convexly provided with a convex column part, the convex column part is slidably inserted into the guide sliding groove, and when the locking sleeve is in the locking state, the convex column part is positioned at the second end of the guide sliding groove.
As a power installation device's optional technical scheme, the base unit still includes that mounting base and coaxial cover establish the adapter sleeve in the mounting base outside, the adapter sleeve is kept away from the one end of base unit second end has been seted up the installation annular, the fastener link up and wears to locate the lateral wall of adapter sleeve and with mounting base threaded connection.
As an optional technical scheme of the power installation device, the installation base is provided with a base center hole with two through ends, a first socket is arranged in the base center hole, and the tail end of the fastening piece is in threaded connection with the outer side wall of the first socket;
and a second socket is arranged in the mounting main shaft, and when the base assembly and the mounting shaft assembly are matched in place, the first socket is electrically connected with the second socket.
As an optional technical scheme of the power installation device, a fastening threaded hole is formed in the connecting sleeve, a locking screw is screwed in the fastening threaded hole in a threaded manner, the locking screw extends along the axial direction of the connecting sleeve, and the tail end of the locking screw abuts against the fastening piece;
and/or, the fastener includes coaxial coupling's cylinder section and double-screw bolt section, the cylinder section is worn to locate the inside and outside both sides cell wall of mounting ring groove, the spiral bolt section passes the inboard cell wall of mounting ring groove and with the mounting base spiro union.
As an optional technical scheme of the power installation device, an annular limiting ring groove is formed in the peripheral wall of the fastener, and the tail end of the locking screw abuts against the bottom of the limiting ring groove.
As an optional technical scheme of the power installation device, the installation base comprises a main cylinder portion, a fixed ring portion is arranged at the first end of the main cylinder portion in a protruding mode along the radial direction, a flange disc portion extends outwards at the second end of the main cylinder portion along the radial direction, the connection sleeve is sleeved on the main cylinder portion, the end face of the closed end abuts against one end, far away from the flange disc portion, of the fixed ring portion, and the flange disc portion is detachably connected with the mechanical arm.
As an optional technical scheme of the power installation device, a mounting bolt penetrates through the flange part, a screw head of the mounting bolt is sunk in the flange part, and a screw rod part of the mounting bolt extends out of the flange part and is connected with the mechanical arm;
one end of the flange part, which is far away from the fixed ring part, is connected with an insulating pad, and the screw part penetrates through the insulating pad; and/or insulating sleeves are inserted in the flange disc part, the insulating sleeves correspond to the mounting bolts one to one, and the mounting bolts penetrate through the insulating sleeves.
As an optional technical solution of the power installation device, one end of the insulating sleeve, which is far away from the fixed ring portion, is inserted into the insulating pad.
A power device comprises a power module and the power installation device, wherein the power module is installed on an installation main shaft.
A surgical robot comprises a mechanical arm and further comprises the power installation device, and the second end of the base unit is detachably connected with the mechanical arm.
The invention has the beneficial effects that:
the power installation device provided by the invention can realize the radial limit of the base component and the installation shaft component through the insertion and matching of the clamping ring part and the installation ring groove, and simultaneously ensure the connection coaxiality of the base component and the installation shaft component; the mounting shaft assembly and the base assembly are axially limited and fixed through the matching of the fastener and the limiting groove; through spacing groove, fastener and spacer pin three's cooperation, can realize that installation axle subassembly and base subassembly are fixed and spacing in installation main shaft circumference, by last cooperation, can realize that installation axle subassembly and base subassembly are fixed and spacing in the ascending installation of all directions, improve power installation device's installation coaxiality and installation steadiness. Meanwhile, when the power installation device needs to be assembled, the clamping ring part is inserted into the installation main shaft, the fastener is made to slide to the second end of the limiting groove, and then the limiting pin is inserted into the limiting groove; when the power installation device needs to be disassembled, the clamping ring part is pulled out of the limiting pin, and the clamping ring part is reversely rotated so that the fastening piece is withdrawn from the limiting groove, so that the clamping ring part can be pulled out of the installation ring groove, the disassembly and the assembly are convenient and quick, and the efficiency is high.
The power device that this embodiment provided connects arm and power collection moulding piece through adopting foretell power installation device, can improve power device's dismouting convenience and dismouting efficiency, improves power device's cleanness and switching-over convenience.
The surgical robot that this embodiment provided, through adopting foretell power installation device, can improve surgical robot preoperative preparation efficiency and clean efficiency after the art, improve surgical robot's convenience of use and use experience.
Drawings
FIG. 1 is a schematic structural diagram of a power plant provided by an embodiment of the invention;
FIG. 2 is a schematic view of a portion of a power installation apparatus provided in an embodiment of the present invention;
FIG. 3 is a schematic view of a portion of a power plant provided in an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a mounting base provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a connecting sleeve provided by an embodiment of the invention;
FIG. 6 is a schematic structural view of a mounting sleeve and a stop pin according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a mounting spindle according to an embodiment of the present invention;
FIG. 8 is a second schematic view of a mounting spindle according to an embodiment of the present invention;
fig. 9 is a schematic structural view of a locking sleeve provided in an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a mounting spindle and power module provided in an embodiment of the present invention;
FIG. 11 is a cross-sectional view of the structure of FIG. 10;
FIG. 12 is a schematic view of the structure of FIG. 10 with the protective shell removed;
fig. 13 is a schematic structural diagram of a fixing base according to an embodiment of the present invention.
The figures are labeled as follows:
1. a base assembly; 11. mounting a base; 111. a main cylinder part; 1111. fastening the threaded hole; 1112. positioning a plane; 112. a fixed ring portion; 1121. connecting the threaded hole; 113. a flange disk portion; 114. an outer skirt portion; 115. a positioning ring portion; 116. a seat center hole; 1161. a main hole portion; 1162. an installation hole portion; 117. mounting a through hole; 118. an anti-rotation boss; 119. a positioning post portion; 12. connecting sleeves; 121. mounting a ring groove; 122. inner perforation; 123. perforating outside; 124. a positioning projection; 125. locking the threaded hole; 126. a connecting through hole; 13. a fastener; 131. a cylindrical section; 1311. a limiting ring groove; 132. a stud segment; 14. a first socket; 141. a first seat body; 142. a first pin; 15. fixing the sleeve; 151. an inner skirt portion; 16. an insulating pad; 17. an insulating sleeve; 171. a first jacket portion; 172. a second sleeve portion; 18. locking the screw; 19. installing a bolt; 110. a connecting screw;
2. mounting a shaft assembly; 21. installing a main shaft; 211. a main shaft portion; 212. a collar portion; 2121. limiting the jacks; 213. a power connection shaft section; 2131. a grip shaft portion; 2132. a connecting shaft portion; 2133. an anti-slip structure; 2134. a positioning groove; 2135. inserting grooves; 214. a limiting groove; 2141. an in-out slot part; 2142. a limiting groove part; 2151. butting slots; 2152. positioning a groove; 2153. a fixing hole; 2154. a wire passing hole; 216. a guide chute; 2161. a first groove portion; 2162. a second groove portion; 2163. a third groove portion; 22. installing a sleeve; 221. an abutting sleeve part; 222. a sliding sleeve portion; 2221. an anti-slip groove; 223. a flange portion; 23. a spacing pin; 231. a main column portion; 232. a frustum portion; 24. an elastic member; 25. a locking sleeve; 251. a main sleeve portion; 252. a convex column part; 253. a convex ring part; 26. a second socket;
3. a power module; 31. a fixed seat; 311. a main base body; 3111. a power mounting hole; 3112. mounting grooves; 312. an extension shaft portion; 3121. inserting grooves; 3122. a wiring hole; 32. a connecting seat; 321. a first pillar portion; 322. a second column section; 323. a routing channel; 33. a power unit; 34. sealing the cover; 35. a protective shell; 35a, a half shell; 351. a main housing portion; 352. a housing portion; 353. a cylindrical shell portion; 354. a routing shell part; 355. a connecting projection; 356. a power shell portion; 36. a snap ring; 361. a first collar portion; 362. a second collar portion;
4. a reference frame; 41. a frame body; 411. inserting a boss; 42. a light-reflecting ball; 5. a surgical instrument.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
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, removably 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 meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. 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.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1-2, the present embodiment provides a power device, which can be applied to a surgical robot, and is used to mount a surgical instrument 5 on a mechanical arm of the surgical robot and drive the surgical instrument 5 to move, so as to control the movement of the surgical instrument 5 through the surgical robot, thereby assisting a doctor in performing a surgical operation.
Specifically, power device includes power installation device and power module 3, and power installation device includes base subassembly 1 and installation axle subassembly 2, and the second end of base subassembly 1 is connected with the first end of installation axle subassembly 2, and the second end and the arm of base subassembly 1 are connected. Power module 3 installs on installation axle subassembly 2, and quick assembly disassembly can be realized with installation axle subassembly 2 to base subassembly 1 to realize the fast loading and unloading of power module 3 on the arm.
As shown in fig. 2 and fig. 3, the base assembly 1 includes a base unit and a fastening element 13, a mounting ring groove 121 coaxial with the base unit is formed at a first end of the base unit, a second end of the base unit is used for being connected with the robot arm, and the fastening element 13 penetrates through inner and outer groove walls of the mounting ring groove 121 along a radial direction of the base unit. The mounting shaft assembly 2 comprises a mounting main shaft 21 and a limiting pin 23, a first end of the mounting main shaft 21 is provided with an annular clamping ring part 212 in a protruding manner along the axial direction and the radial direction, the clamping ring part 212 is provided with a limiting groove 214 in a penetrating manner along the radial direction, a first end of the limiting groove 214 penetrates through a first end face of the clamping ring part 212, and a second end of the limiting groove 214 extends along the circumferential direction of the clamping ring part 212; the snap ring part 212 can be inserted into the mounting ring groove 121 and rotate relative to the base unit, so that the fastening member 13 can enter the limiting groove 214 through the first end of the limiting groove 214 and rotate to be limited to the second end of the limiting groove 214; the limiting pin 23 is inserted into the second end of the clamping ring part 212, and the tail end of the limiting pin extends into the limiting groove 214, so that the fastening piece 13 is clamped between the limiting pin 23 and the end wall of the second end of the limiting groove 214.
In the power installation device provided by the embodiment, the snap ring part 212 is arranged on the installation main shaft 21, and the snap ring part 212 is coaxially inserted into the installation ring groove 121, so that the coaxiality of the installation main shaft 21 and the base assembly 1, namely the coaxiality of the base assembly 1 and the installation shaft assembly 2 after assembly can be ensured, and the radial limit of the installation main shaft 21 and the base unit can be realized; by arranging the fastening member 13 and the limiting groove 214, in the process of inserting the clamping ring part 212 into the mounting ring groove 121, the fastening member 13 can enter the limiting groove 214 through the notch at the first end of the limiting groove 214, and the fastening member 13 can move to the second end of the limiting groove 214 through the rotation of the mounting main shaft 21 relative to the base unit, because the second end of the limiting groove 214 extends along the circumferential direction of the clamping ring part 212, the fastening member 13 is limited between two opposite side walls of the limiting groove 214 along the axial direction of the mounting main shaft 21, so that the fastening member 13 is limited from moving along the axial direction relative to the mounting main shaft 21, and the fastening member 13 is effectively prevented from falling out of the limiting groove 214 along the axial direction of the base component 1, namely, the relative position of the base component 1 and the mounting shaft component 2 in the axial direction is limited; by arranging the limit pin 23, after the fastening member 13 slides into the second end of the limit groove 214, the limit pin 23 is inserted into the limit groove 214, so that the fastening member 13 is clamped between the second end wall of the limit groove 214 and the limit pin 23, that is, the movement of the fastening member 13 relative to the collar portion 212 in the circumferential direction can be limited, that is, the fastening member 13 and the collar portion 212 are fixed in the circumferential direction.
That is, the power installation apparatus provided in this embodiment can realize the radial limit of the base assembly 1 and the installation shaft assembly 2 through the insertion and the cooperation of the snap ring portion 212 and the installation ring groove 121, and simultaneously ensure the coaxiality of the connection between the base assembly and the installation shaft assembly; the axial limiting and fixing of the mounting shaft assembly 2 and the base assembly 1 are realized through the matching of the fastening piece 13 and the limiting groove 214; through spacing groove 214, fastener 13 and spacer pin 23 three's cooperation, can realize installing axle subassembly 2 and base subassembly 1 in installation main shaft 21 ascending fixed and spacing of circumference, by last cooperation, can realize installing axle subassembly 2 and base subassembly 1 fixed and spacing in the ascending installation of all directions, improve power installation device's installation coaxiality and installation steadiness. Meanwhile, when the power installation device needs to be assembled, the clamping ring part 212 is inserted into the installation main shaft 21, the fastener 13 slides to the second end of the limiting groove 214, and then the limiting pin 23 is inserted into the limiting groove 214; when the power installation device needs to be disassembled, the retainer pin 23 is pulled out of the clamping ring part 212, and the clamping ring part 212 is rotated reversely so that the fastener 13 exits from the retainer groove 214, so that the clamping ring part 212 can be pulled out of the installation ring groove 121.
Preferably, as shown in fig. 2, the base unit includes a hollow mounting base 11 and a connecting sleeve 12 sleeved outside a first end of the mounting base 11, the mounting ring groove 121 is opened on a first end surface of the connecting sleeve 12, and a second end of the mounting base 11 is used for connecting with the robot arm. The fastener 13 passes through the inner and outer side walls of the connecting sleeve 12 in sequence and is in threaded connection with the mounting base 11. That is, in the present embodiment, the fastening member 13 simultaneously serves to connect the connecting sleeve 12 and the mounting base 11, so that the assembly between the base units can be effectively simplified, and the structural compactness can be improved; simultaneously, through setting up split body's adapter sleeve 12 and mounting base 11, be favorable to simplifying mounting base 11 and adapter sleeve 12's structure, improve the processing convenience, and can reduce mounting base 11 and adapter sleeve 12's maintenance and replacement cost. In other embodiments, the connecting sleeve 12 and the mounting base 11 can be integrally formed, and only two ends of the fastening element 13 pass through the inner and outer walls of the mounting ring groove 121.
As shown in fig. 2 to 4, the fastening member 13 includes a cylindrical section 131 and a stud section 132 coaxially connected to each other, and the stud section 132 has an external thread. The two ends of the cylindrical section 131 are respectively inserted into the inner and outer walls of the connecting sleeve 12. The outer side wall of the first end of the mounting base 11 is provided with a fastening threaded hole 1111, and the stud section 132 is screwed in the fastening threaded hole 1111. The fastening screw holes 1111 are provided in one-to-one correspondence with the fastening pieces 13. Due to the arrangement, the part of the fastening piece 13, which is positioned in the mounting ring groove 121, is not provided with threads, so that the fastening piece 13 is prevented from being scratched with the groove wall of the limiting groove 214 when sliding in the limiting groove 214, the threads on the fastening piece 13 are prevented from being damaged when the limiting pin 23 presses the fastening piece 13, and the use reliability and the service life of the fastening piece 13 are improved.
As shown in fig. 2, 3 and 5, an inner through hole 122 is formed through the inner annular wall of the connecting sleeve 12, an outer through hole 123 is formed through the outer annular wall, the inner through hole 122 and the outer through hole 123 are coaxial and opposite to each other in the radial direction of the connecting sleeve 12, and the hole walls of the inner through hole 122 and the outer through hole 123 are both attached to the outer side surface of the cylindrical section 131 to prevent the fastening member 13 from shaking relative to the connecting sleeve 12.
To limit the depth to which the stud segment 132 is screwed into the threaded fastening hole 1111, the inner bore 122 is a stepped bore comprising a large bore portion and a small bore portion, the large bore portion being located on the side of the small bore portion facing the outer bore 123, a stepped surface being formed between the large bore portion and the small bore portion. The outer diameter of the cylindrical section 131 is larger than that of the stud section 132, a limiting step is formed between the cylindrical section 131 and the stud section 132, the cylindrical section 131 is inserted into the large hole portion, the stud section 132 is inserted into the small hole portion, and the limiting step is abutted to the step surface to limit the cylindrical section 131 from entering the small hole portion, namely, to limit the depth of the fastening piece 13 extending in the radial direction.
As shown in fig. 2, 3 and 5, further, a locking threaded hole 125 is formed in the second end surface of the connecting sleeve 12 along the axial direction thereof, and the locking threaded hole 125 is communicated with the outer through hole 123 and is arranged in one-to-one correspondence with the outer through hole 123. The base component 1 further comprises a locking screw 18 screwed into the locking threaded hole 125, and the end of the locking screw 18 abuts against the fastening member 13 to limit the fastening member 13 from being separated from the connecting sleeve 12 in the direction away from the mounting base 11, so as to improve the stability and reliability of the fastening member 13 on the mounting base 11 and the connecting sleeve 12. The locking screws 18 are provided in one-to-one correspondence with the fastening members 13.
The outer circumferential wall of the fastening member 13 is preferably provided with an annular limiting ring groove 1311, and the end of the locking screw 18 abuts against the groove bottom of the limiting ring groove 1311, so as to improve the abutting effect of the locking screw 18 on the fastening member 13.
Preferably, the fastening pieces 13 are uniformly arranged along the circumferential direction of the mounting base 11 at intervals, and the limiting grooves 214, the fastening threaded holes 1111, the inner through holes 122 and the outer through holes 123 are all arranged in one-to-one correspondence with the fastening pieces 13, so that the assembling and connecting reliability of the mounting main shaft 21 and the base assembly 1 can be improved, and the rigidity of the power quick assembly after being assembled can be improved. In this embodiment, four fasteners 13 are uniformly spaced along the circumference of the connecting sleeve 12 to improve the force balance. In other embodiments, the number of fasteners 13 may be two, three, five or more.
As shown in fig. 2, 4 and 5, in order to better realize the installation and positioning of the connection sleeve 12 on the installation base 11, the installation base 11 includes a main cylinder portion 111 and a fixed ring portion 112 protruding along the radial direction of the main cylinder portion 111, and the fixed ring portion 112 abuts against an end surface of the connection sleeve 12 far away from the installation main shaft 21, so as to realize the positioning and the limiting of the connection sleeve 12 and the installation base 11 in the axial direction. Preferably, the fixed ring part 112 and the connecting sleeve 12 are tightly connected by the connecting screw 110 to further improve the reliability of the connecting sleeve 12 and the mounting base 11 after connection, thereby improving the structural rigidity of the base assembly 1 after assembly.
Preferably, the connecting sleeve 12 has a connecting through hole 126 penetrating through the groove bottom of the mounting ring groove 121, the connecting through hole 126 is preferably a countersunk hole, the fixed ring portion 112 is provided with connecting threaded holes 1121, the connecting through holes 126 correspond to the connecting threaded holes 1121 one to one, the connecting screw 110 penetrates through the connecting through hole 126 and the connecting threaded hole 1121, and the screw head of the connecting screw 110 is sunk in the countersunk hole, so as to prevent the connecting screw 110 from protruding out of the groove bottom of the mounting ring groove 121 to scratch the clamping ring portion 212. Preferably, the plurality of connection screws 110 are uniformly arranged along the circumferential direction of the fixed ring portion 112 at intervals, and the connection through holes 126 and the connection threaded holes 1121 correspond to the connection screws 110 one to one, so as to further improve the connection reliability of the connection sleeve 12 and the mounting base 11.
In order to limit the rotation of the connection sleeve 12 relative to the mounting base 11, a positioning plane 1112 is disposed on the outer peripheral wall of the first end of the main cylinder 111, a positioning protrusion 124 is disposed on the inner wall of the connection sleeve 12 in a protruding manner, and when the connection sleeve 12 is sleeved on the main cylinder 111, the positioning plane 1112 is attached to the surface of the positioning protrusion 124. The positioning planes 1112 are preferably provided at regular intervals along the circumferential direction of the main cylindrical portion 111, and the positioning protrusions 124 are provided in one-to-one correspondence with the positioning planes 1112, so as to improve the positioning and rotation prevention effects.
Preferably, the positioning planes 1112 and the fasteners 13 are arranged in a one-to-one correspondence, and the fastening threaded holes 1111 are vertically formed in the positioning planes 1112, so that the machining of the fastening threaded holes 1111 is simplified, and the machining precision of the fastening threaded holes 1111 is improved.
Further, as shown in fig. 2, the central through hole of the main cylindrical portion 111 forms a seat central hole 116, and the base assembly 1 further includes the first socket 14 disposed in the seat central hole 116. The mounting shaft assembly 2 includes a second socket 26 disposed inside the first end of the mounting spindle 21, and when the snap ring portion 212 is engaged with the fastening member 13, the first socket 14 and the second socket 26 are electrically connected. The first socket 14 is used for being connected with a controller on the mechanical arm, and the second socket 26 is used for being electrically connected with the power module 3, so that the power module 3 and the controller can be communicated on and off by plugging and unplugging the mounting shaft assembly 2 on the base assembly 1.
The outer side wall of the first socket 14 is provided with a fixing threaded hole, the fixing threaded hole is opposite to the fastening threaded hole 1111, and the tail end of the fastening piece 13 is screwed in the fixing threaded hole, so that the fastening among the mounting base 11, the connecting sleeve 12 and the first socket 14 can be realized through the fastening piece 13, the assembly efficiency of the base assembly 1 is improved, the number of parts required by assembly is reduced, the structure compactness is improved, and the rigidity of the base assembly 1 after assembly is improved.
The first socket 14 includes a first housing 141 and a first pin 142 inserted into the first housing 141. The first base 141 is made of an insulating material and is fixedly mounted in the base center hole 116, and the first base 141 is provided with the fixing threaded hole. The first pin 142 is made of a conductive material, and the first pin 142 is preferably screwed into the first seat 141 and is locked and fixed by a nut screwed and sleeved outside the first pin 142. The first ends of the first pins 142 are flush with the first end surface of the first seat 141, and the second ends of the first pins 142 are terminals and protrude outward from the second end surface of the first seat 141. In the present embodiment, the first socket 14 is a three-pin socket, i.e. it includes three first pins 142. The structure of the three-pin socket is the existing structure, and the description is omitted here.
To improve the convenience of mounting the first socket 14, the socket center hole 116 includes a main hole portion 1161 and a mounting hole portion 1162 which are coaxial, the mounting hole portion 1162 has a larger diameter than the main hole portion 1161, and a mounting step surface is formed between the mounting hole portion 1162 and the main hole portion 1161. The first seat 141 is installed in the installation hole 1162, and the second end surface of the first seat abuts against the installation step surface, so that the installation and positioning of the first seat and the second seat are realized.
The outer surface of the first seat body 141 is cut with a rotation-stop plane, the inner wall of the mounting hole 1162 is protruded with a rotation-stop boss 118, when the first seat body 141 is inserted into the mounting hole 1162, the surface of the rotation-stop boss 118 is attached to the rotation-stop plane to limit the rotation of the first socket 14 relative to the mounting base 11. The rotation preventing bosses 118 are preferably provided in plurality at even intervals in the circumferential direction of the mounting base 11, and the rotation preventing planes are provided in one-to-one correspondence with the rotation preventing bosses 118.
As shown in fig. 2 and 4, in order to improve the convenience of connecting the base assembly 1 with the robot arm, the second end of the main cylinder 111 is provided with a flange part 113 protruding outward in the radial direction, the flange part 113 is provided with a mounting bolt 19 in a penetrating manner, a screw part of the mounting bolt 19 penetrates out of the flange part 113 and is used for connecting with the robot arm, and the mounting bolt 19 is preferably provided in plurality at intervals along the circumferential direction of the flange part 113, so as to improve the reliability and stability of connection with the robot arm.
Further, the base assembly 1 further includes an insulating pad 16, the insulating pad 16 is connected to an end surface of the flange portion 113 away from the fixed ring portion 112, and the mounting bolt 19 passes through the flange portion 113 and the insulating pad 16 and then is connected to the robot arm. By providing the insulating pad 16, electrical insulation between the mounting base 11 and the robot arm can be achieved, and the safety of mounting and dismounting the power mounting device can be improved.
The insulating pad 16 is an annular spacer having an outer diameter less than or equal to the outer diameter of the flange disk portion 113 and an inner diameter equal to or slightly greater than the bore diameter of the seat central bore 116. The insulating pad 16 is made of an insulating material.
The base component 1 preferably further comprises an insulating sleeve 17, the flange portion 113 is provided with a plurality of mounting through holes 117 along the circumferential direction, the insulating sleeve 17 is inserted into the mounting through holes 117 and contacts with the wall of the mounting through holes 117, the mounting bolts 19 penetrate through the insulating sleeve 17, the heads of the mounting bolts 19 are sunk in the insulating sleeve 17, and the tail ends of the screws of the mounting bolts 19 extend out of the insulating sleeve 17 and the insulating pad 16. The insulating sleeve 17 can further insulate and isolate the mounting bolt 19 from the hole wall of the mounting through hole 117, thereby preventing electric charges on the mechanical arm from being transmitted to the mounting base 11 through the mounting bolt 19, preventing electric charges in the mounting base 11 from being transmitted to the mechanical arm through the mounting bolt 19, and improving the use safety of the power mounting device.
The mounting through-hole 117 is a counter-sunk hole including a large hole portion and a small hole portion, the small hole portion being located on a side of the large hole portion facing the insulating pad 16. The insulating sleeve 17 comprises a first sleeve part 171 and a second sleeve part 172 which are coaxially connected, the outer diameter of the first sleeve part 171 is the same as the inner diameter of the large hole part, the outer diameter of the second sleeve part 172 is the same as the inner diameter of the small hole part, the first sleeve part 171 is inserted into the large hole part, and the second sleeve part 172 is inserted into the small hole part. The internal diameter of first cover portion 171 is greater than the internal diameter of second cover portion 172, is formed with the spacing face in first cover portion 171 and the second cover portion 172, and in first cover portion 171 was worn to locate by the spiral shell head of mounting bolt 19, in second cover portion 172 was worn to locate by the screw rod portion, the spiral shell head of mounting bolt 19 supported tightly on the spacing face.
Preferably, the insulating pad 16 is provided with through insertion through holes, the insertion through holes are arranged in one-to-one correspondence with the mounting through holes 117, and one end of the second sleeve portion 172, which is far away from the first sleeve portion 171, extends out of the mounting through holes 117 and is inserted into the insertion through holes, so that complete electrical insulation between the mounting bolt 19 and the mounting base 11 can be realized, the electrical insulation reliability is improved, and the use safety of the base assembly 1 and the power mounting device is improved.
Preferably, a positioning column 119 is further protruded from the outer end surface of the flange portion 113, the positioning column 119 penetrates through the insulating pad 16, and the positioning column 119 can be abutted and positioned with a positioning hole on the arm flange, thereby improving the connection reliability and connection precision between the mounting base 11 and the robot arm.
The base component 1 further comprises a fixing sleeve 15, the fixing sleeve 15 is sleeved on the outer side of the mounting base 11 and detachably connected with the mounting base 11, the first end of the mounting base 11 and the mounting bolt 19 are concealed in the first end of the fixing sleeve 15, and the connecting sleeve 12 is located on the outer side of the fixing sleeve 15. Due to the structural arrangement of the base assembly 1, the fixing sleeve 15 can cover part of the structure of the mounting base 11, the base assembly 1 is integrally in a cylindrical structure while the base assembly 1 is conveniently connected with the mechanical arm and the mounting main shaft 21, the edge angle of an exposed structure is reduced, rubbing of a user is avoided, and the base assembly 1 is convenient to clean and maintain; while the fixing sleeve 15 provides a better protection of the mounting base 11 and enhances the overall structural rigidity of the base assembly 1.
An external thread is formed on the outer peripheral wall of the flange disc portion 113, and an internal thread matched with the external thread in a screwing mode is formed at the first end of the fixing sleeve 15, namely the fixing sleeve 15 is in threaded connection with the flange disc portion 113. The second end of the fixed sleeve 15 is provided with an annular inner flange 151 in an inward protruding manner, the mounting base 11 further comprises an outer flange 114 protruding on the outer wall of the fixed ring portion 112, the outer flange 114 is located in the fixed sleeve 15 and is abutted to the inner end face of the inner flange 151, and the outer side wall of the outer flange 114 is abutted to the inner side wall of the fixed sleeve 15.
Due to the structural arrangement, when the power device is assembled with the mechanical arm, the fixing sleeve 15 can be screwed along the direction far away from the flange part 113, so that the flange part 113 is exposed, and the flange part 113 is conveniently connected with the mechanical arm; after the installation, the flange portion 113 is screwed in the direction toward the flange portion 113, so that the flange portion 113 can be wrapped inside the fixing sleeve 15 again, the outer flange portion 114 abuts against the inner flange portion 151, the screwing limit position of the fixing sleeve 15 is limited, and the assembling stability of the mounting base 11 and the fixing sleeve 15 is ensured.
The inner peripheral wall of the inner flange 151 preferably abuts against the outer wall of the fixed ring portion 112, so that the gap between the fixed sleeve 15 and the mounting base 11 is further reduced, and the cleaning convenience of the base assembly 1 is improved. Further, the second end face of the fixing sleeve 15 abuts against the second end face of the connecting sleeve 12 to reduce the gap between the connecting sleeve 12 and the fixing sleeve 15, thereby facilitating the cleaning, disinfection and maintenance of the base assembly 1.
More preferably, in this embodiment, the end surface of the flange disk portion 113 is located inside the fixing sleeve 15, and the end surface of the flange disk portion 113 is a set distance away from the end surface of the first end of the fixing sleeve 15, so that after the flange disk portion 113 is assembled with the robot arm, the fixing sleeve 15 can shield the connection position between the flange disk portion 113 and the robot arm, thereby ensuring the overall aesthetic property of the surgical robot, reducing the structural exposure, and improving the structural stability of the connection position. Moreover, with the arrangement, when the base assembly 1 is detached from the mechanical arm, the mounting bolts 19 penetrating the flange part 113 can be ensured to be hidden in the fixing sleeve 15, so that scratching and collision of external structures on the threaded connecting piece are avoided, and the use safety and reliability of the base assembly 1 are improved.
As shown in fig. 2 and 7, the mounting spindle 21 includes a main shaft portion 211 and a snap ring portion 212 coaxially connected to a first end of the main shaft portion 211, the snap ring portion 212 has an outer diameter larger than that of the main shaft portion 211, and a first end surface of the main shaft portion 211 abuts against a first end of the base unit. This arrangement can provide location and spacing for the insertion of the mounting spindle 21 with the base assembly 1.
In order to further improve the installation coaxiality of the installation base 11 and the installation main shaft 21, the first end of the main cylinder part 111 is provided with a positioning ring part 115 in an outward protruding mode along the axial direction, and the outer diameter of the positioning ring part 115 is smaller than that of the main cylinder part 111. The first end face of the main shaft portion 211 is provided with a positioning groove 2152, and the groove diameter of the positioning groove 2152 is the same as the outer diameter of the positioning ring portion 115. After the installation main shaft 21 and the installation base 11 are assembled in place, the positioning ring part 115 is inserted into the positioning groove 2152, and the end face of the main shaft part 211 abuts against the end face of the main cylinder part 111, so that the insertion positioning of the main shaft part and the installation base is realized, the depth of the mutual insertion of the main shaft part and the installation base is limited, and the assembly reliability is improved.
Preferably, the groove depth of the positioning groove 2152 is greater than the axial length of the positioning ring portion 115, so that when the end surface of the main shaft portion 211 abuts against the end surface of the main cylinder portion 111, a gap is formed between the positioning ring portion 115 and the groove bottom of the positioning groove 2152, thereby avoiding a problem of pressing of the positioning ring portion 115 and the groove bottom of the positioning groove 2152 due to a machining error or an assembly error. More preferably, when the end surface of the main cylinder portion 111 abuts against the end surface of the main shaft portion 211, the end surface of the snap ring portion 212 is spaced apart from the groove bottom of the mounting ring groove 121, so as to avoid a problem that the snap ring portion 212 is pressed against the groove bottom of the mounting ring groove 121 due to a machining error or an assembly error.
The first end face of the connecting sleeve 12 is preferably flush with the first end face of the main cylindrical portion 111, so as to increase the contact area between the first end face of the base unit and the main shaft portion 211, and improve the positioning effect and reliability.
As shown in fig. 2, fig. 3 and fig. 7, the limiting groove 214 preferably includes an L-shaped in-out groove portion 2141 and a limiting groove portion 2142, the in-out groove portion 2141 extends along the axial direction of the main mounting shaft 21 and one end of the in-out groove portion 2141 penetrates through the end surface of the collar portion 212, the limiting groove portion 2142 extends along the circumferential direction of the main mounting shaft 21, and one end of the limiting groove portion 2142 away from the in-out groove portion 2141 is a second end of the limiting groove 214. This kind of structural arrangement of the limiting groove 214 is favorable for realizing that the fastener 13 enters or exits the in-out groove portion 2141 through the movement of the mounting main shaft 21 in the axial direction, and can make the fastener 13 enter the second end of the limiting groove portion 2142 through rotating the mounting main shaft 21 after the fastener 13 enters the second end of the in-out groove portion 2141. That is, this kind of structure of spacing groove 214 is favorable to simplifying the assembling process of installation main shaft 21 and base subassembly 1, improves the dismouting convenience, and does benefit to the processing of spacing groove 214. In other embodiments, the limiting groove 214 may be a circular arc groove.
The second end of the limiting groove portion 2142 is preferably circular arc-shaped, and the circular arc-shaped end wall is in smooth transition connection with the groove walls on both sides of the limiting groove portion 2142, so that the fasteners 13 are prevented from being scratched. Preferably, the radius of the circular arc-shaped end wall is the same as the radius of the cylindrical section 131 of the fastener 13, so that when the fastener 13 is located at the second end of the limiting groove portion 2142, the fastener 13 can be attached to the circular arc-shaped end wall to improve the limiting effect on the fastener 13. More preferably, the in-out groove portions 2141 and the limiting groove portions 2142 are in arc transition connection, so as to further reduce the scraping and rubbing of the fasteners 13.
To ensure the retaining effect for the fastening element 13, the retaining groove portion 2142 has two retaining groove walls which are axially opposite and spaced apart along the mounting main shaft 21, and the width between the two retaining groove walls is equal to the diameter of the cylindrical section 131, so that the two retaining groove 214 walls are both in contact with the cylindrical section 131, thereby preventing the fastening element 13 from sliding axially in the retaining groove portion 2142.
The inner wall of collar portion 212 encloses and is formed with butt joint slot 2151, and the first end of mounting base 11 and the first end of adapter sleeve 12 all are located butt joint slot 2151, and the groove diameter of butt joint slot 2151 is greater than the groove diameter of constant head tank 2152, forms spacing step face between butt joint slot 2151 and the constant head tank 2152 from this, and spacing step face forms the first end terminal surface of main shaft portion 211.
The distance between the tail end of the limiting pin 23 and the limiting step surface is smaller than the groove depth of the butt joint slot 2151, namely, after the base component 1 and the installation shaft component 2 are matched in place, one end, facing the groove bottom of the installation ring groove 121, of the limiting pin 23 is located in the limiting groove 214, therefore, the limiting pin 23 cannot stretch out of the outer side of the limiting groove 214, the phenomenon that the limiting pin 23 is deformed or damaged due to extrusion of the limiting pin 23 and the groove bottom of the installation ring groove 121 is avoided, and the use reliability of the limiting pin 23 is improved.
As shown in fig. 2, 3, 6 and 7, the stopper pin 23 preferably includes a main column portion 231 and a frustum portion 232 which are coaxially connected, a large end of the frustum portion 232 is connected to the main column portion 231, an outer diameter of the large end of the frustum portion 232 is equal to an outer diameter of the main column portion 231, the main column portion 231 is slidably inserted into the collar portion 212, and the frustum portion 232 can fully extend into the stopper groove 214. The arrangement of the tapered platform part 232 is beneficial to guiding the limiting pin 23 inserted into the clamping ring part 212, and the connection smoothness and convenience are improved; meanwhile, the arrangement of the main column 231 is beneficial to ensuring the stable insertion of the limit pin 23 on the clamping ring portion 212. The taper of the land 232 is preferably greater than 5 ° and less than 30 °.
A limiting jack 2121 is formed in the second end face of the clamping ring part 212, the limiting jack 2121 is communicated with the limiting groove 214, the limiting jacks 2121 correspond to the limiting pins 23 one to one, and the limiting pins 23 are inserted into the limiting jacks 2121. The outer diameter of the main column 231 of the limit pin 23 is equal to the aperture of the limit socket 2121, so that the plugging tightness of the two is ensured.
The axial length of the restraining socket 2121 is preferably smaller than the axial length of the main post portion 231 so that when the restraining pin 23 is inserted into the restraining socket 2121, only the main post portion 231 is located in the restraining socket 2121 and the tapered portion 232 is located completely in the restraining groove 214. By the arrangement, when the limiting pin 23 extrudes the fastening piece 13, the main column 231 is in contact with the fastening piece 13, so that the distance between the end wall of the second end of the limiting groove 214 and the limiting pin 23 can be controlled, and the abutting and limiting effects of the limiting pin 23 on the fastening piece 13 can be guaranteed.
The limiting insertion hole 2121 is preferably in direct-facing communication with the in-out groove portion 2141, and when the limiting pin 23 is inserted in place, the tail end of the limiting pin 23 extends into the in-out groove portion 2141, so that extrusion or hard collision caused by the fact that the tail end of the limiting pin 23 is abutted against the groove bottom of the limiting groove portion 2142 can be avoided, and the service reliability and the service life of the mounting main shaft 21 and the limiting pin 23 are improved.
As shown in fig. 2, in order to facilitate the insertion and engagement of the stop pin 23 and the snap ring portion 212, the mounting shaft assembly 2 further includes a mounting sleeve 22, the mounting sleeve 22 is slidably sleeved on the main shaft portion 211, and one end surface of the mounting sleeve 22 can abut against the second end surface of the snap ring portion 212. All the limiting pins 23 are connected to the first end surface of the mounting sleeve 22, so that all the limiting pins 23 can be driven to be inserted into or pulled out of the corresponding limiting insertion holes 2121 through the sliding of the mounting sleeve 22 relative to the mounting spindle 21.
In the present embodiment, the stopper pin 23 is integrally formed with the mounting sleeve 22 to improve the structural strength and the service life of the stopper pin 23. In other embodiments, the limit pin 23 may be mounted on the mounting sleeve 22 by welding or screwing.
To limit the sliding movement of the mounting sleeve 22 relative to the mounting spindle 21, the mounting shaft assembly 2 includes a locking assembly that fits over the outer side of the spindle portion 211 and selectively applies a force to the mounting sleeve 22 toward the collar portion 212. The setting of locking subassembly can be in place at installation cover 22 and snap ring portion 212 assembly back, exerts the tight power of supporting towards snap ring portion 212 to installation cover 22 through the locking subassembly to guarantee that installation cover 22 and snap ring portion 212 are in the assembled state all the time, avoid installation cover 22 to slide and make spacer pin 23 deviate from spacing groove 214 along the direction of keeping away from snap ring portion 212, improve the assembly reliability of installation axle subassembly 2 and base subassembly 1.
An accommodating ring groove with an open end and a closed end is formed by the inner wall of the mounting sleeve 22 and the outer wall of the mounting main shaft 21 in a surrounding manner, and an opening is formed at one end of the accommodating ring groove, which is far away from the snap ring part 212. The locking assembly comprises an elastic piece 24 and a locking sleeve 25, the elastic piece 24 is sleeved on the main shaft portion 211 and is located in the accommodating ring groove, and the locking sleeve 25 is sleeved on the main shaft portion 211 and has a locking state fixed relative to the mounting main shaft 21 and a releasing state sliding along the axial direction relative to the mounting main shaft 21. When the locking sleeve 25 is in the locking state, the first end of the locking sleeve 25 extends into the accommodating ring groove, the two ends of the elastic part 24 respectively abut against the groove bottom of the accommodating ring groove and the first end face of the locking sleeve 25, and the elastic part 24 is in the compression state. This kind of locking subassembly's structure setting, simple structure, convenient operation, simultaneously, elastic component 24 is located the holding annular, is favorable to sheltering from the holding annular, improves the clearance and the maintenance convenience of installation axle subassembly 2.
As shown in fig. 2 and 6, the mounting sleeve 22 preferably includes an abutting sleeve portion 221 and a sliding sleeve portion 222 which are coaxially connected, the outer diameter of the abutting sleeve portion 221 is larger than the outer diameter of the sliding sleeve portion 222, the stopper pin 23 is connected to one end of the abutting sleeve portion 221 which is far from the sliding sleeve portion 222, and the end surface of the abutting sleeve portion 221 which is far from the sliding sleeve portion 222 abuts against the end surface of the snap ring portion 212, whereby the contact area between the mounting sleeve 22 and the snap ring portion 212 can be increased. Preferably, the outer diameter of the collar portion 212 is equal to the outer diameter of the abutment sleeve portion 221, so as to improve the appearance consistency of the power installation device, and reduce the number of steps and gaps on the installation shaft assembly 2 and the power installation device, which are difficult to clean, and facilitate the cleaning and maintenance of the installation shaft assembly 2.
The inner diameters of the abutting sleeve portion 221 and the sliding sleeve portion 222 are equal and larger than the outer diameter of the main shaft portion 211, an annular flange portion 223 is arranged on the inner wall of the abutting sleeve portion 221 in a radially inward protruding mode, the inner diameter of the flange portion 223 is equal to the outer diameter of the main shaft portion 211, and the flange portion 223, the sliding sleeve portion 222 and the mounting main shaft 21 are surrounded to form the accommodating ring groove.
Preferably, the wall thickness of the sliding sleeve portion 222 gradually increases in a direction away from the abutting sleeve portion 221 so that the outer peripheral surface of the sliding sleeve portion 222 is a tapered surface to improve the comfort of using the operation mounting sleeve 22. An anti-slip groove 2221 is formed in the outer circumferential wall of the sliding sleeve portion 222 to improve anti-slip performance, which is beneficial for an operator to operate. The anti-slip groove 2221 is preferably an annular groove provided around the sliding sleeve portion 222, and the anti-slip groove 2221 is preferably provided in plurality at intervals in the axial direction of the sliding sleeve portion 222. The cross section of the anti-slip groove 2221 is preferably, but not limited to, a circular arc.
As shown in fig. 2, 8 and 9, the locking sleeve 25 includes a main sleeve portion 251, an inner diameter of the main sleeve portion 251 is equal to an outer diameter of the main shaft portion 211, an outer diameter of the main sleeve portion 251 is equal to an inner diameter of the mounting sleeve 22, that is, the locking sleeve 25 is slidably connected to the main shaft portion 211, and the locking sleeve 25 is slidably connected to an inner wall of the mounting sleeve 22 to close a gap between the mounting sleeve 22 and the mounting main shaft 21, which is beneficial to cleaning and maintenance of the entire mounting shaft assembly 2 and the power mounting device.
The outer peripheral wall of the main shaft portion 211 is provided with a guide sliding groove 216, the guide sliding groove 216 is a U-shaped groove or a V-shaped groove, a first end of the guide sliding groove 216 extends along the axial direction of the main shaft portion 211 and penetrates through an end face of the main shaft portion 211, the end face of the main shaft portion 211 is far away from the clamping ring portion 212, and a second end of the guide sliding groove 216 extends along the axial direction of the main shaft portion 211 and is closed. The inner wall of the main sleeve portion 251 is convexly provided with a convex column portion 252, and the convex column portion 252 can be inserted into the guide sliding groove 216 through the first end of the guide sliding groove 216 and slide to the second end of the guide sliding groove 216.
That is, when the protruding column 252 is located at the second end of the guide sliding groove 216, since the protruding column 252 abuts against the second end wall of the guide sliding groove 216 and the protruding column 252 slides in the direction away from the snap ring portion 212, the elastic member 24 applies an elastic force to the locking sleeve 25 away from the snap ring portion 212, so that the locking sleeve 25 is axially fixed relative to the mounting spindle 21; because the guide sliding groove 216 is of a U-shaped structure or a V-shaped structure, that is, the second end of the guide sliding groove 216 extends along the axial direction of the mounting main shaft 21, the locking sleeve 25 can only slide relative to the mounting main shaft 21 under the action of external force, and cannot rotate relative to the mounting main shaft 21, so that the circumferential positions of the mounting main shaft 21 and the locking sleeve 25 can be limited, and the locking sleeve 25 can be kept fixed relative to the mounting main shaft 21.
The guide chute 216 is preferably a U-shaped groove, and includes a first groove portion 2161, a second groove portion 2162, and a third groove portion 2163 that are sequentially communicated, the first groove portion 2161 and the third groove portion 2163 are disposed opposite to each other at an interval and extend in the axial direction of the mounting spindle 21, and one end of the first groove portion 2161 penetrates through the end surface of the main shaft portion 211. The second groove portion 2162 preferably extends in the circumferential direction of the mounting spindle 21.
When the locking sleeve 25 is sleeved on the main shaft portion 211, the convex pillar portion 252 is aligned with the first end of the first groove portion 2161, and the locking sleeve 25 is slid along the direction toward the snap ring portion 212 until the convex pillar portion 252 slides along the first groove portion 2161 to the first end of the second groove portion 2162, at this time, the elastic member 24 is in a first compression state; then, the locking sleeve 25 is rotated relative to the mounting spindle 21, so that the convex column 252 slides along the second groove portion 2162 until the convex column 252 abuts against the second end wall of the second groove portion 2162; thereafter, the lock sleeve 25 is released, and the lock sleeve 25 slides in a direction away from the snap ring portion 212 by the elastic restoring force of the elastic piece 24, so that the boss portion 252 can enter the third groove portion 2163 until abutting against the end of the third groove 2163. When no external force acts, the convex column portion 252 can be stably maintained to the end of the third groove portion 2163 far away from the second groove portion 2162.
Preferably, the locking sleeve 25 further includes a convex ring portion 253, and the convex ring portion 253 is convexly disposed outside an end of the main sleeve portion 251 far away from the snap ring portion 212, so as to limit a depth of the locking sleeve 25 inserted into the receiving ring groove and improve convenience for an operator to pull the locking sleeve 25. The convex ring portion 253 is smoothly and transitionally connected with the outer wall of the main sleeve portion 251 to reduce the edge angle.
As shown in fig. 10 to 13, the power module 3 includes a mounting bracket and a power unit 33, the mounting bracket includes a fixing seat 31 and two connecting seats 32 disposed at two ends of the fixing seat 31, the fixing seat 31 extends along a first direction, and two ends of the fixing seat are respectively connected to the two connecting seats 32. The first direction is the extending direction of the installation main shaft 21, the fixed seat 31 and the installation main shaft 21 are arranged at intervals in the second direction, and one end of the connecting seat 32 far away from the fixed seat 31 is connected with the installation main shaft 21. The fixing base 31 is provided with a power mounting hole 3111 along the third direction, and the power unit 33 extends along the third direction and is fixedly disposed through the power mounting hole 3111. Two ends of the power unit 33 extend out of the outer side of the fixed seat 31, the driving end of the power unit 33 is used for connecting the surgical instrument 5, the other end of the power unit 33 is a terminal, and the terminal is connected with the second socket 26 through a connecting wire.
Above-mentioned setting for installation main shaft 21 sets up with fixing base 31 and 33 intervals of power unit, and installation main shaft 21, fixing base 31 and two connecting seats 32 enclose to establish and form a square structure to make things convenient for the operator to grip installation main shaft 21, improve power device's operation convenience, also be favorable to guaranteeing the stress balance among the operation process, improve operating stability and reliability.
The mounting main shaft 21 comprises a power connecting shaft section 213, the power connecting shaft section 213 is coaxially connected to one end of the main shaft part 211 far away from the clamping ring part 212, and the maximum outer diameter of the power connecting shaft section 213 is smaller than the outer diameter of the main shaft part 211, so that the locking sleeve 25 and the mounting sleeve 22 can be sleeved on the main shaft part 211 from the tail end of the power connecting section 213. Both attachment sockets 32 are connected to the power connecting shaft section 213.
The power connection shaft segment 213 includes two connection shaft portions 2132 coaxially connected to two ends of the grip shaft portion 2131 along the grip shaft portion 2131, the second ends of the two connection bases 32 are respectively connected to the two connection shaft portions 2132, one of the connection shaft portions 2132 is connected to the main shaft portion 211, and the power unit 33 is disposed at an interval from the grip shaft portion 2131. Preferably, the maximum outer diameter of the gripping shaft portion 2131 is smaller than the outer diameter of the connecting shaft portion 2132, so that the whole power connecting shaft segment 213 is of a structure with a small middle and large two ends, which is beneficial to improving the gripping convenience; meanwhile, the power unit 33 is arranged right opposite to the holding shaft part 2131, so that the holding stability and the stress balance are improved.
Preferably, the outer diameter of the grip shaft portion 2131 is gradually increased from both ends to the middle, so that the grip shaft portion 2131 is overall tapered to improve gripping comfort. Furthermore, the grip shaft portion 2131 is provided with an anti-slip structure 2133 to reduce the probability that the grip shaft portion 2131 slips off an operator and improve the safety and reliability of the power device. In this embodiment, the anti-slip structure 2133 is an anti-slip pattern, in other embodiments, the anti-slip structure 2133 may be an anti-slip groove or an anti-slip layer sleeved on the outer side of the grip shaft portion 2131.
The connecting seat 32 is preferably a columnar structure to improve the convenience of the connection between the connecting seat 32 and the connecting shaft portion 2132. In order to realize the installation and positioning of the connecting seat 32 and the connecting shaft portion 2132, a positioning groove 2134 is formed in the outer side wall of the connecting shaft portion 2132, the positioning groove 2134 is a circular groove, and the second end of the connecting seat 32 is inserted into the positioning groove 2134 and abuts against the groove side wall and the groove bottom of the positioning groove 2134, so that the connection and positioning of the connecting seat 32 and the groove bottom are realized; simultaneously, this kind of setting can reduce the gap after connecting seat 32 and connecting shaft portion 2132 are connected, improves power device's appearance aesthetic property, and it improves power device's clearance convenience.
The groove bottom of the positioning groove 2134 is preferably vertically provided with two fixing through holes in a penetrating manner, and the fixing through holes are arranged at intervals. Threaded holes are formed in the end face of the first end of the connecting base 32, the threaded holes correspond to the fixing through holes one to one, and the connecting shaft portion 2132 is connected with the connecting base 32 through connecting bolts penetrating through the fixing through holes and the threaded holes. The fixing through hole is preferably a countersunk hole so that a screw head of the connecting bolt is concealed in the fixing through hole. In this embodiment, four fixing through holes and four threaded holes are arranged in a rectangular shape, so as to improve the connection reliability between the connecting seat 32 and the connecting shaft portion 2132.
The fixing seat 31 preferably includes a main seat body 311 and two extending shaft portions 312 disposed at two ends of the main seat body 311 along a first direction, the extending shaft portions 312 extend along the first direction, and the main seat body 311 is provided with the power mounting hole 3111. The main base body 311 is disposed opposite to the grip shaft portion 2131, and the two extending shaft portions 312 are disposed opposite to the two connecting shaft portions 2132, respectively. This kind of setting can improve the convenience of being connected of fixing base 31 and connecting seat 32 when reducing fixing base 31's overall dimension.
Each extending shaft portion 312 is provided with a plugging groove 3121 along the second direction, an opening of the plugging groove 3121 faces the connecting shaft portion 2132, and the second end of the connecting base 32 is inserted into the plugging groove 3121 and abuts against the groove bottom and the groove side wall of the plugging groove 3121, so as to realize the connection and positioning of the connecting base 32 and the fixed base 31.
One side of each extending shaft portion 312, which is away from the connecting seat 32, is provided with a connecting groove coaxial with the inserting groove 3121, and the connecting groove and the inserting groove 3121 are arranged and communicated with each other in the second direction. The bottom of the connecting groove is provided with a connecting through hole, the second end face of the connecting seat 32 is provided with a threaded hole, the threaded holes are communicated with the connecting through holes in a one-to-one correspondence manner, the extending shaft part 312 is connected with the connecting seat 32 through screws penetrating through the threaded holes and the connecting through holes, and the head of each screw is concealed in the connecting groove. In this embodiment, the connecting through holes are four in a rectangular shape, and in other embodiments, the number of the connecting through holes can be set according to requirements.
Preferably, the mounting main shaft 21 has a fixing hole 2153 for mounting the second socket 26 therein, and the mounting main shaft 21 has a wire passing hole 2154 communicated with the fixing hole 2153 therein. The connecting seat 32 is provided with a wire passage 323 with two through ends, the side wall of the extending shaft portion 312 is provided with a wire hole 3122 communicated with the insertion groove 3121, and two ends of the wire passage 323 are respectively communicated with the wire hole 2154 and the wire hole 3122. The connecting wires led out from the terminals of the power unit 33 sequentially pass through the wire routing hole 3122, the wire routing channel 323 and the wire passing hole 2154 to communicate with the second socket 26. This kind of setting is favorable to improving power unit 33 and second socket 26 between connecting wire's the line standardization and convenience, avoids connecting wire to take place to buckle, twine, is favorable to protecting connecting wire.
For improving the installation stability of installing power unit 33, power module 3 still includes snap ring 36, and snap ring 36 includes first snap ring portion 361 and the second snap ring portion 362 of can dismantling the lock and connecting, and first snap ring portion 361 can be dismantled with fixing base 31 and be connected, and snap ring 36 cutting ferrule is in the outside of power unit 33. The fastening action of the snap ring 36 on the power unit 33 can improve the mounting reliability and stability of the power unit 33 on the fixed seat 31.
In this embodiment, the first and second ring portions 361 and 362 are snap-fit connected in the second direction, so as to facilitate the connection between the first ring portion 361 and the fixing base 31. And, preferably, both sides of the main housing 311 in the third direction are provided with snap rings 36 to further improve the connection reliability to the power unit 33.
First collar portion 361 and second collar portion 362 all include half circular arc's semi-circular ring portion, and the both ends of every semi-circular ring portion all have the connection ear along radially outwards extending, and the semi-circular ring portion lock of first collar portion 361 and second collar portion 362 forms the ring, ring and power unit 33 interference fit. The connecting ears at the two ends of the first clamping ring part 361 and the second clamping ring part 362 are arranged oppositely and connected through a screw.
To improve the convenience of connecting the first engaging portion 361 with the fixing base 31, the main base 311 is provided with a mounting groove 3112, the mounting groove 3112 penetrates a side wall of the main base 311 along the third direction and penetrates a side wall of the main base 311 facing the mounting spindle 21. The first collar portion 361 is at least partially disposed in the mounting groove 3112 and two connecting ears thereof are detachably connected to the bottom of the mounting groove 3112.
For avoiding the operation in-process, liquid such as blood or other pollutants cause the pollution to power unit 33, power module 3 still includes protective housing 35, and protective housing 35 wraps up in the outside of fixing base 31, and inside has the protection chamber, and fixing base 31 and power unit 33's wiring end all are located protective housing 35, and power unit 33's drive end is located outside protective housing 35, walks line hole 3122 and protection chamber intercommunication.
The protective shell 35 preferably includes two snap-fit connection housing halves 35a in the second direction to facilitate removal of the protective shell 35. Each half shell 35a comprises a main shell 351 wrapping the main seat body 311 and two shaft shells 352 wrapping the two extension shaft parts 312, the main shell 351 of the two half shells 35a are connected in a buckling manner, the two shaft shells 352 of the two half shells 35a on the same side surround to form a cylindrical shell with an opening facing the main shell 351, and the extension shaft parts 312 are positioned in the cylindrical shell.
Each half-shell 35a further includes a power shell portion 356 disposed on one side of the main shell portion 351 along the third direction, the two power shell portions 356 of the two half-shells 35a surround to form a circular shell structure with two open ends, and the cylindrical shell structure is wrapped around a portion of the power unit 33 extending out of the fixing base 31.
The half shell 35a facing the mounting spindle 21 is further provided with a cylindrical shell portion 353 in a protruding manner, the cylindrical shell portion 353 and the connecting seat 32 are arranged in a one-to-one correspondence manner, an opening of the cylindrical shell portion 353 faces the mounting spindle 21, the connecting seat 32 comprises a first column portion 321 and a second column portion 322 which are coaxially connected, the first column portion 321 is connected with the mounting spindle 21, and the outer diameter of the second column portion 322 is smaller than the outer diameter of the first column portion 321; the second column portion 322 is inserted into the cylindrical shell portion 353, and the end face of the cylindrical shell portion 353 abuts against the end face of the first column portion 321, and the outer diameter of the cylindrical shell portion 353 is equal to the outer diameter of the first column portion 321. The setting of cylinder shell portion 353 can wrap up the one end of connecting seat 32, and makes the surface of connecting seat 32 and the surface of protective housing 35 smooth transition, reduces the edge, improves the appearance aesthetic property.
Further, two sides of the protective shell 35 along the third direction are respectively provided with a first through hole and a second through hole, a driving end of the power unit 33 penetrates through the first through hole in a sealing manner, and a terminal of the power unit 33 is inserted into the second through hole; the power device further comprises a cover 34, and the cover 34 is detachably connected with the terminal end face of the power unit 33 and blocks the second through hole. The provision of the cover 34 can effectively improve the convenience of attaching and detaching the power unit 33.
Each half shell 35a is removably connected to main housing 311. Specifically, the main housing 351 is convexly provided with a connecting protrusion 355 along a direction toward the other half housing 35a, the main base 311 is provided with a positioning groove, the positioning groove and the connecting protrusion 355 are correspondingly arranged one to one, the connecting protrusion 355 is inserted into the positioning groove, and the half housing 35a is connected with the main base 311 through a screw thread penetrating through the connecting protrusion 355 and a bottom of the positioning groove.
Further, each half shell 35a further includes a routing shell 354, the routing shell 354 is connected to the power shell 356, the shaft shell 352 and the main shell 351 at the same time, and the routing shells 354 of the two half shells 35a surround to form a routing cavity, the routing cavity is communicated with the routing hole 3122, and the routing cavity extends to the terminal of the power unit 33, so that the connection wire between the terminal of the power unit 33 and the routing hole 3122 is located in the routing cavity.
The power plant further comprises a reference frame 4, which reference frame 4 is mounted at an end of the power connection shaft section 213 remote from the main shaft section 211. The reference frame 4 includes a frame body 41 and a light reflecting ball 42 disposed on the frame body 41. In order to better realize the installation of the reference frame 4 on the power connection shaft section 213, the end face of the end of the power connection shaft section 213 is provided with an insertion groove 2135, the frame body 41 of the reference frame 4 is convexly provided with an insertion boss 411, the shape of the insertion boss 411 is matched with that of the insertion groove 2135, and the frame body 41 is connected through a threaded part penetrating through the insertion boss 411 and the bottom of the insertion groove 2135.
The specific structure of the reference frame 4 can refer to the prior art, and the invention is not limited thereto.
The present embodiment further provides a surgical robot, which includes a mechanical arm and the power device, wherein the mechanical arm is connected to the flange part 113 in the base assembly 1.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (18)

1. A power mounting device, comprising:
the base assembly (1) comprises a base unit and a fastener (13), wherein a mounting ring groove (121) coaxial with the base unit is formed in the first end of the base unit, the second end of the base unit is used for being connected with a mechanical arm, and the fastener (13) penetrates through the inner and outer groove walls of the mounting ring groove (121) along the radial direction of the base unit;
the mounting shaft assembly (2) comprises a mounting main shaft (21) and a limiting pin (23), wherein a first end of the mounting main shaft (21) is provided with an annular clamping ring part (212) in a protruding mode along the radial direction and the axial direction, the clamping ring part (212) is provided with a limiting groove (214) in a penetrating mode along the radial direction, a first end of the limiting groove (214) penetrates through a first end face of the clamping ring part (212), a second end of the limiting groove (214) extends along the circumferential direction of the clamping ring part (212), and the clamping ring part (212) can be inserted into the mounting ring groove (121) and rotates relative to the base unit, so that the fastening piece (13) can enter the limiting groove (214) through the first end of the limiting groove (214) and rotates to be limited to the second end of the limiting groove (214); the limiting pin (23) is inserted into the second end of the clamping ring part (212), and the tail end of the limiting pin extends into the limiting groove (214), so that the fastening piece (13) is clamped between the limiting pin (23) and the end wall of the second end of the limiting groove (214);
the mounting main shaft (21) comprises a main shaft part (211) and a clamping ring part (212) coaxially connected to a first end of the main shaft part (211), the outer diameter of the clamping ring part (212) is larger than that of the main shaft part (211), and a first end face of the main shaft part (211) is abutted to a first end of the base unit;
the installation axle subassembly (2) is including installation cover (22), installation cover (22) slip cap is located the outside of main shaft portion (211), the first end of spacer pin (23) with the terminal surface of installation cover (22) is connected, the second end of spacer pin (23) can selectively insert in spacing groove (214).
2. The power mounting arrangement according to claim 1, wherein the limit pin (23) comprises a main column part (231) and a frustum part (232) which are coaxially connected, the large end of the frustum part (232) is smoothly connected with the main column part (231), the main column part (231) is slidably arranged through the clamping ring part (212), and the frustum part (232) can extend into the limit groove (214).
3. The power mounting arrangement according to claim 1, wherein an end of the retainer pin (23) facing the bottom of the mounting ring groove (121) is located inside the retainer groove (214) when the collar portion (212) is plugged into place with the base unit.
4. The power mounting arrangement as claimed in claim 1, wherein the first end face of the snap ring portion (212) is spaced from the groove bottom of the mounting ring groove (121) when the snap ring portion (212) is snapped into place with the base unit.
5. The powered mounting arrangement of claim 1, characterized in that the mounting shaft assembly (2) includes a locking assembly that is sleeved outside the main shaft portion (211) and that is selectively operable to apply a force to the mounting sleeve (22) towards the collar portion (212).
6. The power mounting device as claimed in claim 5, wherein the inner wall of the mounting sleeve (22) and the outer wall of the main shaft part (211) enclose to form a receiving ring groove with one end open and the other end closed, and the opening of the receiving ring groove is away from the clamping ring part (212);
the locking assembly comprises an elastic piece (24) and a locking sleeve (25), the elastic piece (24) is sleeved on the main shaft part (211) and is positioned in the accommodating ring groove, and the locking sleeve (25) is sleeved on the main shaft part (211) and has a locking state fixed relative to the mounting main shaft (21) and a releasing state sliding along the axial direction relative to the mounting main shaft (21);
when the locking sleeve (25) is in the locking state, the first end of the locking sleeve (25) extends into the accommodating ring groove, the two ends of the elastic piece (24) respectively abut against the groove bottom of the accommodating ring groove and the first end face of the locking sleeve (25), and the elastic piece (24) is in a compression state.
7. The power mounting device according to claim 6, wherein a U-shaped guide chute (216) is formed in an outer side wall of the main shaft portion (211), a first end and a second end of the guide chute (216) both extend along an axial direction of the main shaft portion (211), the first end of the guide chute (216) penetrates through an end surface of the second end of the main shaft portion (211), and the second end of the guide chute (216) is closed;
the inner surface of the locking sleeve (25) is convexly provided with a convex column part (252), the convex column part (252) is slidably inserted into the guide sliding groove (216), and when the locking sleeve (25) is in the locking state, the convex column part (252) is located at the second end of the guide sliding groove (216).
8. The dynamic mounting device according to any one of claims 1 to 7, wherein the base unit further comprises a mounting base (11) and a connecting sleeve (12) coaxially sleeved outside the mounting base (11), the mounting ring groove (121) is opened at one end of the connecting sleeve (12) far away from the second end of the base unit, and the fastening member (13) penetrates through the side wall of the connecting sleeve (12) and is in threaded connection with the mounting base (11).
9. The powered mounting device according to claim 8, characterized in that the mounting base (11) has a seat central hole (116) with two ends passing through, a first socket (14) is arranged in the seat central hole (116), and the end of the fastening member (13) is in threaded connection with the outer side wall of the first socket (14);
and a second socket (26) is arranged in the mounting main shaft (21), and when the base assembly (1) and the mounting shaft assembly (2) are matched in place, the first socket (14) is electrically connected with the second socket (26).
10. The dynamic mounting device according to claim 8, characterized in that the connecting sleeve (12) is provided with a locking threaded hole (125), a locking screw (18) is screwed in the locking threaded hole (125), the locking screw (18) extends along the axial direction of the connecting sleeve (12), and the end of the locking screw abuts against the fastening member (13).
11. The dynamic mounting device as claimed in claim 8, wherein the fastening member (13) comprises a cylindrical section (131) and a stud section (132) which are coaxially connected, the cylindrical section (131) is arranged on the inner groove wall and the outer groove wall of the mounting groove (121), and the stud section (132) penetrates through the inner groove wall of the mounting groove (121) and is in threaded connection with the mounting base (11).
12. The dynamic mounting device as claimed in claim 10, wherein the outer peripheral wall of the fastening member (13) is provided with an annular limiting ring groove (1311), and the end of the locking screw (18) abuts against the groove bottom of the limiting ring groove (1311).
13. The power mounting device according to claim 8, wherein the mounting base (11) comprises a main cylinder part (111), a fixed ring part (112) is arranged at a first end of the main cylinder part (111) in a protruding manner in a radial direction, a flange disc part (113) is arranged at a second end of the main cylinder part (111) in an extending manner in a radial direction, the connecting sleeve (12) is sleeved on the main cylinder part (111), the end face of the closed end abuts against one end of the fixed ring part (112) far away from the flange disc part (113), and the flange disc part (113) is detachably connected with the mechanical arm.
14. The dynamic mounting device according to claim 13, characterized in that a mounting bolt (19) is arranged on the flange plate part (113) in a penetrating manner, the head of the mounting bolt (19) is sunk into the flange plate part (113), and the screw part of the mounting bolt (19) extends out of the flange plate part (113) and is connected with a mechanical arm;
one end, far away from the fixed ring part (112), of the flange disc part (113) is connected with an insulating pad (16), and the screw part penetrates through the insulating pad (16).
15. The dynamic mounting device according to claim 14, characterized in that an insulating sleeve (17) is inserted into the flange portion (113), the insulating sleeve (17) and the mounting bolt (19) are in one-to-one correspondence, and the mounting bolt (19) is inserted through the insulating sleeve (17).
16. A power mounting arrangement according to claim 15, characterised in that the end of the insulating sleeve (17) remote from the fixed ring portion (112) is interposed in the insulating mat (16).
17. A power plant comprising a power module (3), characterized by further comprising a power mounting device according to any one of claims 1-16, said power module (3) being mounted on said mounting spindle (21).
18. A surgical robot comprising a robotic arm, and further comprising a powered mounting device according to any of claims 1-16, wherein the second end of the base unit is removably attached to the robotic arm.
CN202211009739.XA 2022-08-23 2022-08-23 Power installation device, power device and surgical robot Active CN115068112B (en)

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CN113598956A (en) * 2021-09-30 2021-11-05 杭州键嘉机器人有限公司 Orthopedic surgery robot tail end execution device
CN114010324A (en) * 2022-01-07 2022-02-08 北京威高智慧科技有限公司 Reversing mechanism for power device and surgical robot

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US4979949A (en) * 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
WO2021135786A1 (en) * 2019-12-30 2021-07-08 上海微创医疗机器人（集团）股份有限公司 Transmission assembly, drive box, surgical instrument system, and robot system
CN113520595A (en) * 2021-07-13 2021-10-22 瑞龙诺赋(上海)医疗科技有限公司 Endoscope switching structure, mounting jig, adapter, switching device, mounting method and surgical robot
CN113598956A (en) * 2021-09-30 2021-11-05 杭州键嘉机器人有限公司 Orthopedic surgery robot tail end execution device
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