CN115192204A - Connecting structure of driving seat and power seat - Google Patents

Abstract

The utility model relates to an intervention formula robot technical field, the application provides a connection structure of drive seat and power seat, the second guide structure that forms on the first butt joint piece and the second butt joint piece, when drive seat detachably lock in the power seat, because first guide structure with the butt joint can be accomplished smoothly to first butt joint piece and second butt joint piece to the guide effect of second guide structure, ensures the conveying of power.

Description

Connecting structure of driving seat and power seat

Technical Field

The application relates to the technical field of intrusive robots, in particular to a connecting structure of a driving seat and a power seat.

Background

In the prior art, interventional therapy is minimally invasive therapy carried out by modern high-tech means, namely, under the guidance of medical imaging equipment, special catheters, guide wires and other precise instruments are introduced into a human body to diagnose and locally treat internal diseases.

For interventional operation, doctors need to receive X-ray radiation for a long time, and a remote operation interventional operation robot is developed in engineering. The slave end of the interventional surgical robot can work in a strongly radiating environment so that the master end (doctor side) controls it outside the radiation environment.

The driving seat of the driving device of the existing interventional operation robot can be freely disassembled and assembled from the power seat, and the power seat provides power for the replaced driving seat. When a driving seat and a power seat in the prior art are butted, a butt joint gear of the driving seat and gear teeth of a main driving gear of the power seat need to be smoothly meshed, but in actual installation, the gear teeth of the main driving gear and the gear teeth of the butt joint gear are possibly dislocated, so that the driving seat cannot be installed on the power seat, and power transmission is influenced.

Disclosure of Invention

The main purpose of this application is to provide a connection structure, device, computer equipment and storage medium of drive seat and power seat, can solve among the prior art the tooth of a cogwheel of drive gear and the tooth of a cogwheel of interfacing gear and take place the dislocation, lead to the drive seat to install on the power seat, influence the technical problem of power transmission.

The utility model provides a pair of connection structure of drive seat and power seat is applied to and intervenes operation robot from end, including install in power input end on the drive seat, with first butt joint spare that power input end is connected, install in power take off end on the power seat and with the second butt joint spare that power take off end connects, be formed with first guide structure on the first butt joint spare, be formed with second guide structure on the second butt joint spare, work as drive seat detachably lock in during the power seat first guide structure with under the guide effect of second guide structure, first butt joint spare with the butt joint is accomplished to the second butt joint spare.

Further, one of the first guide structure and the second guide structure is configured as a docking slot, the other of the first guide structure and the second guide structure is correspondingly configured as a docking head matched with the docking slot, an outer contour of an entrance of the docking slot is a curved surface, and an outer contour of the docking head is a curved surface.

Further, the first butt joint piece comprises a first main body connected with the power input end, the butt joint groove is formed in the first main body, the second butt joint piece comprises a second main body connected with the power output end, the butt joint is formed on the end face of the second main body, and the depth of the butt joint groove in the axial direction is larger than the height of the butt joint in the axial direction, so that when two opposite end faces of the first main body and the second main body are abutted against each other, a gap is reserved between the top of the butt joint and the bottom of the butt joint groove.

Further, the height difference between the top of the butt joint and the end surface of the second body is a first height, and the ratio of the first height to the diameter of the second body is 1.

Further, the butt joint comprises a central part and a plurality of protruding parts, the central part is formed on the end face of the second main body, the protruding parts extend from the peripheral side face of the central part in the radial direction, and a gap is reserved between the bottom of each protruding part and the end face of the second main body.

Further, the side wall of the boss in the circumferential direction and the side wall of the butt joint groove in the circumferential direction abut against each other to form a fitting region, and the side wall of the boss in the radial direction and the side wall of the butt joint groove in the radial direction keep a gap to form a non-fitting region.

Furthermore, the vertex of central part highly is higher than the tip of bellying, the vertex of central part towards the top surface that the tip of bellying extends is the arc convex surface, first butt joint piece orientation be formed with the arc concave surface on the terminal surface of butt joint, the arc convex surface with the arc concave surface mutually supports first butt joint piece with the butt joint in-process of second butt joint piece leads.

Further, the height difference between the highest point and the lowest point of the arc-shaped convex surface is a second height, and the diameter ratio of the second height to the second main body is 0.05-0.5.

Further, the central part is a columnar bulge, and the height of the peak of the columnar bulge is higher than that of the top of the bulge.

Further, be formed with a plurality of spacing lugs in the butt joint inslot, the bellying with spacing lug all is formed with the complex arc surface of being convenient for to lead, and is a plurality of be formed with a plurality of screens between the spacing lug, the quantity of screens is more than the quantity of bellying, works as first butt joint piece with when the butt joint is accomplished to the second butt joint piece, the bellying joint in the screens.

Further, the raised portions are evenly arranged around the central portion.

Furthermore, the driving seat is provided with a jack, the power seat is provided with a positioning pin corresponding to the jack, and the driving seat is buckled on the power seat and is positioned by matching the jack and the positioning pin.

Furthermore, the power input end is a docking gear, the power output end is a driving motor, a connecting rod is formed on the end face, away from the first guide structure, of the first docking piece, one end, away from the first guide structure, of the connecting rod is connected with the docking gear, a second connecting groove is formed on the end face, away from the second guide structure, of the second docking piece, and the second connecting groove is connected with an output shaft of the driving motor.

Compared with the prior art, the application provides a connection structure of drive seat and power seat, including the first guide structure that forms on the first butt joint piece and the second guide structure that forms on the second butt joint piece, when drive seat detachably lock in the power seat, because first guide structure with the guide effect of second guide structure, butt joint can be accomplished smoothly to first butt joint piece and second butt joint piece, ensures the conveying of power.

Drawings

FIG. 1 is a schematic view of the assembly of a driving seat and a power seat according to the present application;

FIG. 2 is a schematic view of a connection structure of a driving seat and a power seat according to the present application;

fig. 3 is an angular exploded view of a connection structure between a driving seat and a power seat according to an embodiment of the present application;

fig. 4 is an exploded view of another angle of the connection structure between the driving seat and the power seat in an embodiment of the present application;

FIG. 5 is a schematic cross-sectional view of the first docking member and the second docking member being docked in accordance with an embodiment of the present disclosure;

FIG. 6 is another schematic cross-sectional view of the first docking member and the second docking member docked in accordance with an embodiment of the present application;

FIG. 7 is a schematic view of a first docking member in an embodiment of the present application;

FIG. 8 is a schematic view of a second docking member in an embodiment of the present application;

FIG. 9 is a schematic cross-sectional view of a first docking member and a second docking member docked in accordance with another embodiment of the present application;

FIG. 10 is a schematic view of a first docking member of the present application in another embodiment of the present application;

FIG. 11 is a schematic view of a second docking member of the present application in another embodiment of the present application.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

The names of the components identified in the figures are as follows: 1. a driving seat; 10. a first butt piece; 101. a butt joint groove; 1011. a limiting bump; 1012. clamping; 102. a connecting rod; 103. a first body; 1031. an arc-shaped concave surface; 11. a power input; 13. a jack; 2. a power base; 20. a second docking piece; 201. a butt joint; 2011. a central portion; 2012. a boss portion; 2013. an arc convex surface; 202. connecting grooves; 203. a second body; 21. a power output end; 22. an output shaft; 23. positioning pins; 1020. a mating area; 1021. a non-mating area.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1 to 3, the invention provides a connection structure of a driving seat 1 and a power seat 2, which is applied to a slave end of an interventional operation robot. The power seat 2 and the driving seat 1 are detachably mounted, the driving seat 1 can be the driving seat 1 with different functions, and the driving seat 1 is used for clamping medical instruments such as catheters and guide wires and driving the medical instruments to axially deliver or rotate through the transmission assembly. When the driving seat 1 is installed on the power seat 2, the power seat 2 provides power for the driving seat 1 to realize the rotation or delivery operation of the medical instrument through the connecting structure between the driving seat 1 and the power seat 2. Specifically, the connecting structure of the driving seat 1 and the power seat 2 includes a power input end 11 installed on the driving seat 1, a first butt-joint member 10 connected with the power input end 11, a power output end 21 installed on the power seat 2, and a second butt-joint member 20 connected with the power output end 21. A first guiding structure is formed on the first butt-joint member 10, and a second guiding structure is formed on the second butt-joint member 20. When the driving seat 1 is detachably fastened to the power seat 2, the first docking piece 10 and the second docking piece 20 are docked under the guiding action of the first guiding structure and the second guiding structure.

Further, referring to fig. 1 to 4, one of the first guide structure and the second guide structure is configured as a docking slot 101, and the other of the first guide structure and the second guide structure is correspondingly configured as a docking head 201 matching with the docking slot 101. The outer contour of the entrance of the butt joint groove 101 is a curved surface, and the outer contour of the butt joint 201 is a curved surface. When the driving seat 1 is detachably fastened to the power seat 2, the first butt joint part 10 and the second butt joint part 20 are guided by the matching of the curved surface of the butt joint groove 101 and the curved surface of the butt joint head 201.

In a possible embodiment, the first guiding structure is an abutting groove 101 formed on one end surface of the first abutting member 10 in an inward concave manner, and the second guiding structure is an abutting joint 201 formed on one end surface of the second abutting member 20 in an outward convex manner. In the butt joint process, when the first butt joint piece 10 and the second butt joint piece 20 are dislocated, because the outer contour of the butt joint 201 is a curved surface, the outer contour of the inlet of the butt joint groove 101 is a curved surface, and the curved surfaces of the two are mutually abutted, the automatic guiding is realized. Therefore, during the butting process, even if certain errors exist, the self-adaptive adjustment can be realized, and the first butting piece 10 and the second butting piece 20 can be conveniently spliced. It should be noted that, when the first butt joint member 10 and the second butt joint member 20 are butted, the axis of the first butt joint member 10 and the axis of the driving end are located on the same straight line. In this embodiment, the curved surfaces of the first butt joint part 10 and the second butt joint part 20 are both convex curved surfaces. In addition, when the butt joint 201 is inserted into the butt joint groove 101, the outer contour of the entrance of the butt joint groove 101 is a curved surface, so that the original fully-fitted contact surface between the butt joint groove and the butt joint groove is changed into a non-fully-fitted contact surface, and the friction force is reduced.

In a possible embodiment, referring to fig. 4 to 8, the first docking member 10 includes a first body 103 connected to the power input end 11, the docking slot 101 is formed on the first body 103, the second docking member 20 includes a second body 203 connected to the power output end 21, and the docking head 201 is formed on an end surface of the second body 203. The depth of the docking slot 101 in the axial direction is greater than the height of the docking head 201 in the axial direction, so that when two opposite end surfaces of the first body 103 and the second body 203 are abutted against each other, a gap is reserved between the top of the docking head 201 and the bottom of the docking slot 101. In this embodiment, the first body 103 and the second body 203 are both cylindrical. Because first main part 103 and the mutual butt of two terminal surfaces that second main part 203 is relative, remain the clearance between the top of butt joint 201 and the bottom of butt joint groove 101, can avoid like this the top of butt joint 201 with the bottom contact of butt joint groove 101 can reduce the axial load that power take off 21 bore effectively, is difficult for causing power take off 21 to damage, prolongs the life of power take off 21, has guaranteed power take off's stability simultaneously. Preferably, the height difference between the top of the docking head 201 and the end surface of the second body 203 is a first height, and the ratio of the first height to the diameter of the second body 203 is 1. In the above ratio range, a good fit relationship is formed between the first body 103 and the second body 203, and the mechanical transmission efficiency and balance are good in the ratio range.

In one possible embodiment, referring to fig. 8, the docking head 201 includes a central portion 2011 and a plurality of protrusions 2012, the central portion 2011 is formed on the end surface of the second body 203, the protrusions 2012 extend from the peripheral side surface of the central portion 2011 in the radial direction, and a gap remains between the bottom of the protrusions 2012 and the end surface of the second body 203. Because the power seat 2 and the driving seat 1 are detachably installed, the driving seat 1 can be taken down from the power seat 2 according to actual use requirements, and the driving seat 1 with the same or different functions can be replaced. In the process of replacement, if the friction force between the side surface of the docking head 201 and the side surface of the docking slot 101 is large, a large force is required, and the replacement efficiency is low. Because a gap is reserved between the bottom of the boss 2012 and the end face of the second main body 203, the contact area between the side face of the butt joint 201 and the side face of the butt joint groove 101 is reduced, so that the pressure between the two is reduced, the friction force between the two is further reduced, and the phenomenon of clamping during butt joint is avoided.

In one possible embodiment, referring to fig. 6 to 8, a sidewall of the boss 2012 in the circumferential direction and a sidewall of the docking slot 101 in the circumferential direction abut against each other to form a fitting region 1020, and a sidewall of the boss 2012 in the radial direction and a sidewall of the docking slot 101 in the radial direction form a non-fitting region 1021 with a gap therebetween. When the fitting region 1020 fits the boss 2012 and the mating groove 101, a precise fit is formed, so that the precision of transmission is high while the stability of power output is ensured. And the non-fit region 1021 enables a larger clearance fit to be formed between the boss 2012 and the butt joint groove 101, so that the friction force between the boss 2012 and the butt joint groove 101 is reduced, the phenomenon of clamping during butt joint is avoided, and the boss 2012 and the butt joint groove 101 can be conveniently matched and separated.

In one possible embodiment, referring to fig. 5, 7 and 8, the apex of the central portion 2011 is higher than the end of the boss 2012, and the top surface of the apex of the central portion 2011 extending towards the end of the boss 2012 is an arcuate convex surface 2013. An arc-shaped concave surface 1031 is formed on the end surface of the first butt joint piece 10 facing the butt joint 201, and the arc-shaped convex surface 2013 and the arc-shaped concave surface 1031 are matched with each other to guide in the butt joint process of the first butt joint piece 10 and the second butt joint piece 20. Preferably, the height difference between the highest point and the lowest point of the arc-shaped convex surface 2013 is a second height, and the ratio of the second height to the diameter of the second body 203 is 0.05-0.5. In the ratio interval, when the first butt joint part 10 and the second butt joint part 20 are dislocated, the arc-shaped convex surface 2013 and the arc-shaped concave surface 1031 are abutted with each other, so that automatic guiding is realized. Therefore, during the butting process, even if certain errors exist, the self-adaptive adjustment can be realized, and the first butting piece 10 and the second butting piece 20 can be conveniently spliced.

The above embodiment specifically describes one of the specific structures of the central portion 2011 and the convex portion 2012. In other possible embodiments, the central portion 2011 and the raised portion 2012 can have other specific configurations. Specifically, referring to fig. 11, the central portion 2011 is a columnar protrusion, and the height of the vertex of the columnar protrusion is higher than the top of the protruding portion 2012. In this embodiment, the end of the stud bump is a flat surface, and the edge of the end is a curved surface. Because the height of the top point of the columnar protrusion is higher than that of the top part of the convex part 2012, the columnar protrusion firstly enters the butt joint groove 101 in the inserting process, and a guiding effect is achieved. Thereafter, the protrusion 2012 is engaged with the curved surface of the docking slot 101.

In one possible embodiment, referring to fig. 9 to 11, a plurality of limiting protrusions 1011 are formed in the docking slot 101, and each of the protrusions 2012 and the limiting protrusions 1011 is formed with an arc surface for guiding and matching. A plurality of blocking parts 1012 are formed between the plurality of limiting projections 1011, the number of the blocking parts 1012 is more than that of the protrusions 2012, and when the first butt joint piece 10 and the second butt joint piece 20 are in butt joint, the protrusions 2012 are blocked in the blocking parts 1012. Because the number of the blocking parts 1012 is more than that of the projections 2012, the requirements of different angles can be met. In this embodiment, the radial cross-sections of the limiting projection 1011 and the protrusion 2012 are U-shaped profiles, and the end of the limiting projection 1011 and the end of the protrusion 2012 both adopt full round angles, so that the first butt-joint member 10 and the second butt-joint member 20 can be guided and matched regardless of the angle.

In one possible embodiment, referring to fig. 6 and 11, the raised portions 2012 are uniformly arranged around the central portion 2011. Preferably, the number of the first limiting bulges is three, and connecting lines among the end parts of the side surfaces of the three first limiting bulges form an equilateral triangle structure. The triangular structure has high stability and uniform stress.

In a feasible implementation manner, referring to fig. 2, a jack 13 is formed in the driving seat 1, a positioning pin 23 corresponding to the jack 13 is formed in the power seat 2, and when the driving seat 1 is fastened to the power seat 2, the positioning is realized through the matching of the jack 13 and the positioning pin 23. The above-mentioned pass through jack 13 with the location can be realized the location fast in the cooperation of locating pin 23, has improved the efficiency of changing.

In a possible embodiment, referring to fig. 2 to 4, the power input end 11 is a docking gear, the power output end 21 is a driving motor, a connecting rod 102 is formed on an end surface of the first docking member 10 away from the first guide structure, an end of the connecting rod 102 away from the first guide structure is connected to the docking gear, a second connecting groove 202 is formed on an end surface of the second docking member 20 away from the second guide structure, and the second connecting groove 202 is connected to an output shaft 22 of the driving motor.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, apparatus, article, or method comprising the element.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (13)

1. A connecting structure of a driving seat and a power seat is applied to a slave end of an interventional operation robot and is characterized by comprising a power input end arranged on the driving seat, a first butt joint piece connected with the power input end, a power output end arranged on the power seat and a second butt joint piece connected with the power output end, wherein a first guide structure is formed on the first butt joint piece, a second guide structure is formed on the second butt joint piece, when the driving seat is detachably buckled on the power seat, the first butt joint piece and the second butt joint piece are butted under the guide effect of the first guide structure and the second guide structure, and power is provided for the power input end through the power output end.

2. The connecting structure of a driving socket and a power socket according to claim 1, wherein one of the first guiding structure and the second guiding structure is configured as a docking slot, the other of the first guiding structure and the second guiding structure is correspondingly configured as a docking head matched with the docking slot, an outer contour of an entrance of the docking slot is a curved surface, and an outer contour of the docking head is a curved surface, so that when the driving socket is detachably fastened to the power socket, the first docking member and the second docking member are guided by cooperation of the curved surface of the docking slot and the curved surface of the docking head.

3. The connecting structure of the driving seat and the power seat as claimed in claim 2, wherein the first butt joint member includes a first body connected to the power input end, the butt joint groove is formed on the first body, the second butt joint member includes a second body connected to the power output end, the butt joint is formed on an end surface of the second body, and a depth of the butt joint groove in the axial direction is greater than a height of the butt joint groove in the axial direction, so that when two end surfaces of the first body opposite to the second body abut against each other, a gap is reserved between a top of the butt joint and a bottom of the butt joint groove.

4. A drive socket to power socket connection according to claim 3, wherein the difference in height between the top of the docking head and the end face of the secondary body is a first height, and the ratio of the first height to the diameter of the secondary body is 1.

5. A connection structure of a driving socket and a power socket according to claim 3, wherein the docking head includes a central portion formed on the end surface of the second body and a plurality of protrusions extending in a radial direction from the peripheral side surface of the central portion, and a gap is left between the bottom of the protrusions and the end surface of the second body.

6. The connecting structure of the driving seat and the power seat according to claim 5, wherein the side wall of the protruding portion in the circumferential direction and the side wall of the docking slot in the circumferential direction abut against each other to form an engaging region, and the side wall of the protruding portion in the radial direction and the side wall of the docking slot in the radial direction maintain a gap to form a non-engaging region.

7. A connection arrangement for a drive socket and a power socket as claimed in claim 5, wherein the apex of the central portion is higher than the ends of the protrusions, the top surface of the central portion extending towards the ends of the protrusions is a convex arcuate surface, and an concave arcuate surface is formed on the end surface of the first docking member facing the docking head, the convex arcuate surface and the concave arcuate surface cooperating with each other to guide the docking of the first docking member and the second docking member.

8. The connection structure of the driving seat and the power seat as claimed in claim 7, wherein the height difference between the highest point and the lowest point of the arc-shaped convex surface is a second height, and the ratio of the second height to the diameter of the second main body is 0.05-0.5.

9. The connecting structure of the driving seat and the power seat as claimed in claim 5, wherein the central portion is a columnar protrusion, and the height of the peak of the columnar protrusion is higher than that of the top of the protrusion.

10. The connecting structure of the driving seat and the power seat as claimed in claim 9, wherein a plurality of limiting protrusions are formed in the docking slot, the protrusions and the limiting protrusions are formed with arc surfaces convenient for guiding and matching, a plurality of clamping positions are formed between the limiting protrusions, the number of the clamping positions is greater than that of the protrusions, and when the first docking member and the second docking member are docked, the protrusions are clamped in the clamping positions.

11. A drive socket-power socket connection according to claim 5, wherein the raised portions are evenly arranged around the central portion.

12. The connecting structure of the driving seat and the power seat as claimed in claim 1, wherein the driving seat is provided with a jack, the power seat is provided with a positioning pin corresponding to the jack, and the driving seat is locked with the power seat and positioned by the matching of the jack and the positioning pin.

13. The connecting structure of the driving seat and the power seat as claimed in claim 1, wherein the power input end is a docking gear, the power output end is a driving motor, a connecting rod is formed on an end surface of the first docking member away from the first guide structure, an end of the connecting rod away from the first guide structure is connected to the docking gear, a second connecting groove is formed on an end surface of the second docking member away from the second guide structure, and the second connecting groove is connected to an output shaft of the driving motor.

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