CN115451073A

CN115451073A - Steel wire locking device, doctor's control cabinet and surgical robot

Info

Publication number: CN115451073A
Application number: CN202211114217.6A
Authority: CN
Inventors: 不公告发明人
Original assignee: Hangzhou Weijing Medical Robot Co ltd
Current assignee: Hangzhou Weijing Medical Robot Co ltd
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2022-12-09

Abstract

The application discloses a steel wire locking device, doctor's control cabinet and surgical robot, wherein, a steel wire locking device, including the connection pad, annular ring and steel wire fixer, the steel wire fixer includes locking screw, the locking wire main part of being connected with the connection pad, be equipped with on the locking wire main part with locking screw complex to press the screw, link up on the locking wire main part outer peripheral face and be equipped with the solidus groove that passes and press the screw, in this application embodiment, adopt foretell steel wire locking device, doctor's control cabinet and surgical robot, through locking wire rope, pipe clamp and the cooperation of solidus groove realize locking wire rope is at the radial spacing of locking wire main part, through adjusting locking screw's position realization to locking wire rope, the pipe clamp is along the spacing of locking wire main part axial, wherein, locking screw does not directly contact with locking wire rope, thereby do not cause any damage to locking wire rope, guaranteed its life, and simple structure, and convenient processing manufacturing and installation, greatly reduced manufacturing cost.

Description

Steel wire locking device, doctor's control cabinet and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a steel wire locking device, a doctor console and a surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery inside a human body cavity by using modern medical instruments such as a laparoscope and a thoracoscope and related equipment, and has the advantages of small wound, light pain, quick recovery and the like compared with the traditional surgery mode. However, in the minimally invasive surgery, because the minimally invasive instrument is limited by the size of the incision, the difficulty of the surgical operation is greatly increased, and the actions of fatigue, trembling and the like of a doctor in the long-time surgery process can be amplified, which becomes a key factor restricting the development of the minimally invasive surgery technology.

A common minimally invasive surgical robot consists of a surgeon console, a patient side cart, and a display device, where the surgeon operates input devices and transmits inputs to the patient side cart connected to a remotely operated surgical instrument. The doctor console is generally called a master hand and includes an operation input mechanism having multiple degrees of freedom, and the patient-side cart is generally called a slave hand and includes a surgical instrument having multiple degrees of freedom for responding to an operation input by a doctor.

Chinese patent with publication number CN101637402B discloses a minimally invasive surgical wire transmission and four-degree-of-freedom surgical tool (hereinafter referred to as scheme 1), which discloses a method for fixing a steel wire rope by a wire fixing knot, wherein the steel wire rope is knotted, then coated and cured by brazing melt or high-strength glue, then shaped and processed into the wire fixing knot, and the wire fixing knot and a wire fixing groove are welded or glued into a whole to complete the fixation of the steel wire rope on a driving wheel.

In the chinese utility model patent of the bulletin number CN204224140U, a wire rope locking device (hereinafter referred to as scheme 2) is disclosed, including wire rope locking frame and locking component, locking component comprises locking bolt, locking axle sleeve and locking axle, and the locking axle passes the macropore on the locking frame, through locking bolt and locking axle sleeve connection together, and wire rope passes in the middle of the epaxial hole of locking, and when screwing up locking bolt, the clearance between locking axle and the locking axle sleeve reduces to compress tightly wire rope.

In the chinese utility model patent with the grant publication number CN 217338831U, a steel wire lock fixer (hereinafter referred to as scheme 3) is disclosed, which adopts a pipe clamp to clamp a steel wire, passes the steel wire through a steel wire lock head, and realizes the fixation of the steel wire through the butt of the pipe clamp and the steel wire lock head.

However, the above solution has at least the following technical drawbacks:

1. the method 1 has the advantages of complex process steps, long processing and manufacturing period and high cost, and can only be suitable for a scene that a wire fixing knot is processed on a steel wire rope in advance, and the knotting operation needs to be carried out on the steel wire rope, so that a tool or equipment is increased undoubtedly;

2. in the scheme 2, the steel wire rope is fixed in a mode that the bolt tightly presses the steel wire rope, the steel wire rope is loosened due to the loosening of the bolt after long-time use, the steel wire rope is easy to damage in an extrusion mode, and the steel wire rope is seriously broken in the use process, so that the steel wire rope is not suitable for a medical robot which is a scene with high requirements on safety;

3. the scheme 1 and the scheme 3 can not pre-tighten the steel wire rope, the tolerance to assembly errors is low, or a pre-tightening device needs to be additionally arranged at other positions, so that the complexity and the cost of the structure are increased;

4. the locking effect of all above-mentioned schemes is not very good, needs the periodic overhaul in long-time use, otherwise can appear the not hard up condition of bolt, and then leads to wire rope locking inefficacy.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the steel wire locking device, the doctor console and the surgical robot, which can adjust the tension degree of a steel wire rope, have good locking effect and strong stability.

In order to achieve the above object, the present invention is achieved by the following technical solutions.

First, the present application provides a wire locking device, comprising:

connecting the disc;

the annular ring is annular and is convexly arranged on at least one side end face of the connecting disc;

at least one steel wire locking device is arranged on the connecting disc and is positioned in the annular ring;

wherein, the annular ring is provided with a threading hole at a position corresponding to the steel wire locking device;

the steel wire locking device comprises a locking screw and a locking wire main body connected with the connecting disc, wherein a pressing screw hole matched with the locking screw is formed in the locking wire main body, and a wire fixing groove penetrating through the pressing screw hole is formed in the outer peripheral surface of the locking wire main body in a penetrating manner;

the locking steel wire rope penetrates through the wire fixing groove, the tail end of the locking steel wire rope is fixedly provided with a pipe clamp located in the wire fixing groove, the pipe clamp is located in the wire fixing groove and limited in radial displacement of the steel wire locking device, and the locking screw can abut against the pipe clamp to limit axial displacement of the pipe clamp along the steel wire locking device.

Further defined, the above-mentioned wire locking device, wherein the locking wire main body comprises:

the steel wire lock head is used for connecting the locking steel wire rope;

the first thread section is connected with one end of the steel wire lock head and is in threaded connection with the connecting disc;

the pressing screw hole is formed in the steel wire lock head, and an opening of the pressing screw hole is towards one side, far away from the first thread section, of the steel wire lock head.

Further defined, the above-mentioned wire locking device, wherein, the locking wire main body further includes:

the second thread section is connected with one end of the first thread section, which is far away from the steel wire lock head;

the locking nut is in threaded connection with the second threaded section and abuts against one end face of the connecting disc;

the thread direction of the second thread section is opposite to that of the first thread section, and after the first thread section is in threaded connection with the connecting disc, the second thread section extends to one side, away from the corresponding position, of the steel wire lock head of the connecting disc.

Further, the steel wire locking device is characterized in that the wire fixing groove comprises a limiting groove which is communicated with the abutting screw hole and is opened to one side far away from the connecting disc, and an accommodating groove which is communicated with the limiting groove and the outer peripheral surface of the wire locking main body and is opened to one side far away from the connecting disc;

the groove width of the accommodating groove is larger than the diameter of the locking steel wire rope and smaller than the diameter of the pipe clamp, and the groove width of the limiting groove is larger than the diameter of the pipe clamp.

Further prescribe that, in the above-mentioned steel wire locking device, wherein, one end of the limiting groove is through with the locking wire main part peripheral face, and the other end is communicated with the holding tank.

Further inject, foretell steel wire locking device, wherein, spacing groove both ends all with the holding tank intercommunication.

Further, in the above-mentioned steel wire locking device, a wire winding groove for accommodating the locking steel wire rope is formed on the outer circumferential surface of the wire locking main body;

the inner wall of one side, close to the connecting disc, of the wire winding groove is flush with the inner wall of one side, close to the connecting disc, of the wire fixing groove.

Further, in the above-mentioned wire locking device, the threading hole and the winding groove on the lockwire main body are located on the same vertical plane of the axis of the lockwire main body.

Further, in the above-mentioned wire locking device, at least one wire fixing groove is provided on the wire locking body.

Further, in the above-mentioned wire locking device, two wire locking devices are provided and are located at symmetrical positions on the connecting disc with respect to a symmetrical center line;

the projections of the two threading holes corresponding to the two steel wire locking devices on the connecting disc are symmetrical about the symmetrical center line;

wherein, the symmetry central line is one of the diameters of annular circle, two the steel wire locking device is not overlapped each other.

Further, the steel wire locking device is characterized in that the annular ring is convexly arranged on one end face of the connecting disc, and the two steel wire locking devices are arranged on the end face of the connecting disc, which is close to the annular ring.

Further, the steel wire locking device is characterized in that the annular rings are provided with two annular rings which are respectively arranged on the two end faces of the connecting disc in a protruding mode, the two steel wire locking devices are respectively arranged on the two end faces of the connecting disc, and the two threading holes matched with the two steel wire locking devices are respectively arranged on the two annular rings.

Secondly, this application provides a doctor's control cabinet, its characterized in that includes any one of the aforesaid steel wire locking device still includes support, big arm, wrist subassembly and power component, big arm passes through steel wire locking device with the power component coupling.

Finally, the present application provides a surgical robot characterized by comprising a slave hand and a surgeon console as described above.

The invention has at least the following beneficial effects:

1. the locking steel wire rope is limited in the radial direction of the wire locking main body through the matching of the locking steel wire rope, the pipe clamp and the wire fixing groove, and meanwhile, the locking steel wire rope and the pipe clamp are limited in the axial direction of the wire locking main body through adjusting the position of the locking screw, so that the connection of the locking steel wire rope and the steel wire locking device is realized, wherein the locking screw is not in direct contact with the locking steel wire rope, so that the locking steel wire rope is not damaged, the service life of the locking steel wire rope is ensured, the structure is simple, the processing, the manufacturing and the installation are convenient, and the production cost is greatly reduced;

2. in the process of rotating the wire locking main body to be screwed into the connecting disc, the locking steel wire rope is wound on the steel wire locking head along with the rotation of the wire locking main body, so that the pre-tightening of the locking steel wire rope can be realized, and similarly, when the locking steel wire rope is deformed and elongated in the long-term use process, the wire locking main body can be adjusted to re-tighten the locking steel wire rope;

3. through the matching of the first thread section and the second thread section with the locking nut, the locking of the lock wire main body can be realized and the connection reliability between the lock wire main body and the connecting disc is enhanced;

4. the connecting disc is matched with the annular ring, so that an installation space is provided for parts, and the length of a driving force arm corresponding to the locking steel wire rope is further increased, so that the performance requirement on a power assembly is reduced;

5. the threading hole and the winding groove are located on the same vertical plane of the axis of the wire locking main body, so that deformation of the locking steel wire rope caused by height difference of each node is reduced, and the service life and the driving precision of the locking steel wire rope are further improved.

Drawings

FIG. 1 is a schematic structural diagram of a physician console according to an embodiment of the present application;

FIG. 2 is an enlarged view of the wire lock device 10 according to the embodiment of the present invention;

FIG. 3 is a schematic view showing a detailed structure of a portion of a "wire lock apparatus 10" according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a portion of a wire lock 130 according to an embodiment of the present invention;

FIG. 5 is an enlarged view of the structure of the mating portion of the "tube clamp 180" and the "wire locker 130" according to the embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a portion of a wire locking device 130 according to an embodiment of the present invention;

fig. 7 is a detailed structural diagram of a "lockwire main body 131" portion according to an embodiment of the present application;

FIG. 8 is an enlarged view of a "pressing screw hole 1317" portion of the present application;

FIG. 9 is a schematic structural view of a "holding tank 1315" portion in an embodiment of the present application;

FIG. 10 is a schematic structural view of a "holding tank 1315" portion in an embodiment of the present application;

fig. 11 is a schematic structural view of a "receiving groove 1315" portion in this embodiment of the present application.

Reference numerals

The steel wire locking device comprises a steel wire locking device-10, an annular ring-110, a locking steel wire rope-120, a steel wire locking device-130, a locking wire body-131, a steel wire locking head-1311, a winding groove-1312, a first thread section-1313, a second thread section-1314, a containing groove-1315, a limiting groove-1316, a pressing screw hole-1317, an inclined plane-1318, a locking nut-132, a locking screw-133, a connecting disc-140, a supporting protrusion-141, a thread hole-170, a pipe clamp-180, a supporting arm-20, a wrist component-30, a swing arm-40, a large arm-50 and a support-60.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application are capable of operation in sequences other than those illustrated or described herein, and that the terms "first," "second," etc. are generally used in a generic sense and do not limit the number of terms, e.g., a first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/", and generally means that the former and latter related objects are in an "or" relationship.

The steel wire locking device, the doctor console and the surgical robot provided by the embodiment of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.

The embodiment of the application provides a surgical robot, which comprises a doctor console (also called a master hand) and a slave hand (also called a patient side trolley), wherein the doctor console is used for providing input by doctor operation, the slave hand is used for being connected with a patient and providing output obtained according to the doctor input, generally, the doctor operates a master control input device on the doctor console, and end assemblies such as instruments or endoscopes on a mechanical arm of the slave hand provide corresponding actions according to the movement of the master control input device, so that the purposes of positioning, adjusting the visual angle, performing surgical operation and the like are fulfilled.

As shown in fig. 1, the present embodiment provides a doctor console, which includes a support 60, a large arm 50, a support arm 20, a wire locking device 10, a swing arm 40, a wrist assembly 30, and a power assembly for driving the support arm 20 and the large arm 50, wherein the large arm 50 and the support arm 20 can rotate in a vertical plane relative to the support 60 and are respectively coupled with the power assembly through the wire locking device 10, the swing arm 40 is rotatably disposed on the large arm 50, the support arm 20 and the swing arm 40 are rotatably connected away from a connection position with the large arm 50, and the wrist assembly 30 is disposed on the swing arm 40 and is used for receiving and sensing a user's motion.

As shown in fig. 2 to 11, the present embodiment provides a wire locking device 10, which includes a connection pad 140 rotatably disposed on a support 60 and connected to a support arm 20 or a large arm 50, wherein an annular ring 110 coaxial with a rotation center of the connection pad 140 is fixedly disposed on one side end surface of the connection pad 140, two wire fasteners 130 disposed inside the annular ring 110 are further disposed on the connection pad 140, two threading holes 170 are disposed between an outer annular surface and an inner annular surface of the wire fasteners 130 and penetrate through corresponding positions of the two wire fasteners 130, and two locking wire ropes 120 dynamically connected to a power assembly penetrate from the two threading holes 170 into the wire fasteners 130 along the outer annular surface of the wire fasteners 130 and are fixedly connected to the corresponding position wire fasteners 130.

The power assembly comprises a winding shaft controlled to rotate by a motor, the winding directions of two locking steel wire ropes 120 on the winding shaft at corresponding positions are opposite (the opposite winding directions refer to the opposite of the initial position, one is wound from outside to inside, and the other is wound from inside to outside), when the power assembly controls the lengths of the two locking steel wire ropes 120 at the corresponding positions to be lengthened or shortened, one of the two locking steel wire ropes 120 is lengthened while the other is inevitably shortened, so that the connecting disc 140 at the corresponding position is driven to rotate, and further the supporting arm 20 or the large arm 50 connected with the connecting disc 140 is driven to perform actions, it can be understood that the supporting arm 20 and the large arm 50 can be connected with the connecting disc 140 or can be connected with the annular ring 110, as long as the coupling relation between the connecting disc 140 and the supporting arm 20 and the large arm 50 can be realized.

Of course, for ease of manufacturing and assembly, it is preferable that the connecting disc 140 and the annular ring 110 are integrally formed stainless steel members in this embodiment.

It can be understood that, in this scheme, two wire fasteners 130 are provided to be suitable for a working scenario in which the connection disc 140 is driven by two locking wire ropes 120 to rotate in two directions, and in other working scenarios, if the connection disc 140 is driven by only one locking wire rope 120 to rotate in one direction, the corresponding structure can be simplified into one, if the connection disc 140 is coupled by a plurality of locking wire ropes 120 to perform rotation control, the corresponding structure can be added as well, and at this time, the position of the wire fastener 130 is adjusted according to an actual situation.

In the embodiment of the present application, by using the above-mentioned steel wire locking device 10, the connection disc 140 cooperates with the annular ring 110 to provide an installation space for the components, and on the other hand, the length of the driving arm corresponding to the locking steel wire rope 120 is further increased, thereby reducing the performance requirement on the power assembly, and meanwhile, the locking steel wire rope 120 is attached to the outer annular surface of the annular ring 110, enters the annular ring 110 from the threading hole 170, and is connected and fixed with the steel wire locking device 130, so that no redundant components are left on the outer annular surface of the annular ring 110, the structure is beautiful, dust is not easy to accumulate, and the difficulty in cleaning the device is reduced.

The steel wire locking device 130 comprises a locking wire main body 131 in threaded connection with the connecting disc 140, a locking screw 133 matched with the locking wire main body 131 for locking the wire, and a locking nut 132 used for limiting the locking wire main body 131, wherein the locking wire main body 131 comprises a steel wire locking head 1311, a first threaded section 1313 and a second threaded section 1314 which are sequentially connected, the locking steel wire rope 120 is fixed on the steel wire locking head 1311, the connecting disc 140 is provided with a threaded hole capable of being matched with the first threaded section 1313, the diameter of the steel wire locking head 1311 is larger than that of the threaded hole, the direction of the thread on the first threaded section 1313 is opposite to that of the thread on the second threaded section 1314 (likewise, for convenience of processing, the diameter of the second threaded section is smaller than that of the first threaded section 1313), the locking wire main body 131 is matched and fixed on the connecting disc 140 through the first threaded section 1313 and the threaded hole on the connecting disc 140, the second thread section 1314 penetrates through a threaded hole on the connecting disc 140 and extends to one side of the connecting disc 140 far away from the corresponding wire lock head 1311, and the locking nut 132 with the diameter larger than that of the threaded hole on the connecting disc 140 is adopted to be matched with the second thread section 1314 to strengthen the connection between the wire lock device 130 and the connecting disc 140, the rotating direction of the tension of the locking wire rope 120 to the locking wire body 131 is the same as the thread rotating direction of the first thread section 1313, so that the effect of tightening the locking wire rope more and more is achieved, the locking wire body 131 is prevented from loosening, in addition, when the locking wire rope 120 is deformed and elongated after long-term use, the locking wire rope body 131 can be continuously screwed, meanwhile, the opposite locking nut 132 needs to be continuously screwed, so that the locking wire rope 120 is re-tensioned, the length of the first thread section 1313 is smaller than the depth of the threaded hole on the connecting disc 140, and the situation that the locking nut 132 cannot be tightly pressed on the connecting disc 140 due to the screwing of the first thread section 3 out of the threaded hole on the connecting disc 140 is prevented, affecting the fastening effect.

It can be understood that, when the locking steel wire rope 120 is fixed on the wire lock 1311 and the locking wire body 131 is rotated to be screwed into the connection disc 140, the locking steel wire rope 120 is wound around the wire lock 1311 along with the rotation of the locking wire body 131, so as to pre-tighten the locking steel wire rope 120, and similarly, when the locking steel wire rope 120 is deformed and elongated during a long-term use, the locking steel wire rope 120 can be re-tightened by adjusting the locking wire body 131, and the locking nut 132 needs to be synchronously adjusted during the adjustment process.

It can be understood that if thread glue is used or the locking wire main body 131 and the connection disc 140 are directly welded, the locking function can be achieved, and at this time, a complex thread structure does not need to be arranged on the locking wire main body 131, but the problems that the locking wire rope 120 is difficult to detach and cannot be tensioned again are caused, so that the non-detachable connection structure cannot be adopted in medical equipment generally.

A wire winding groove 1312 (the wire winding groove 1312 can be a flat groove or a groove with threads) which is used for accommodating the locking wire rope 120 and is coaxial with the first thread section 1313 and the second thread section 1314 is arranged on the outer peripheral surface of the wire lock head 1311, a pressing screw hole 1317 which is opened towards one side far away from the first thread section 1313 and is coaxial with the wire winding groove 1312 is arranged on the end surface of one side of the wire lock head 1311 far away from the first thread section 1313, a locking screw 133 is in threaded connection with the pressing screw hole 1317, a limiting groove 1316 which is communicated with the pressing screw hole 1317 and is opened towards one side far away from the first thread section 1313 is arranged on the outer peripheral surface of the wire lock head 1311, the penetrating direction of the limiting groove 1316 passes through the axis of the pressing screw hole 1317, and a containing groove 1315 which is communicated with the limiting groove 1316 and is communicated with the outer peripheral surface of the wire lock head 1311 is also arranged along the penetrating direction of the limiting groove 1316.

The pipe clamp 180 is fixedly sleeved at one end of the locking steel wire rope 120 connected with the wire locking main body 131, wherein the groove width of the accommodating groove 1315 is larger than the diameter of the locking steel wire rope 120 and smaller than the diameter of the pipe clamp 180, and the groove width of the limiting groove 1316 is larger than the diameter of the pipe clamp 180, when the locking steel wire rope 120 is used, the locking steel wire rope 120 is placed in the accommodating groove 1315 in a mode of being capable of being placed along the axial direction of the wire locking main body 131 or the length direction of the accommodating groove 1315, so that complex operations such as threading the locking steel wire rope 120 are avoided, the pipe clamp 180 is required to be squeezed by a crimping clamp, when an application scene with a small space is required, the locking steel wire rope 120 can be placed in the accommodating groove 1315 first, the corresponding position of the locking steel wire rope 120 extending into the limiting groove 1316 is recorded, the pipe clamp 180 is sleeved at the tail end of the locking steel wire rope 120, the pipe clamp 180 is moved to the recorded position, the crimping clamp 180 is placed in the accommodating groove 1315 again, the pipe clamp 180 is placed in the accommodating groove 1316 and is abutted against the inner wall of one side of the limiting groove 1316 close to the accommodating groove 1316, so that the locking steel wire rope 120 can be fixed along the radial direction when the wire locking steel wire rope 120, even if the locking steel wire rope 131 is pulled, the locking steel wire rope 131 and the locking steel wire rope 131 can be fixed, and the locking steel wire rope 1315, and the locking steel wire rope can be fixed in the radial direction.

It is understood that the crimping pliers are used to press the pipe clamp 180 to connect with the locking wire rope 120 in order to ensure the connection reliability through the friction force between the two, and other methods can be used besides the above-mentioned methods, such as directly welding and fixing the two, or machining an external thread on the end of the locking wire rope 120 in advance and providing an internal thread on the pipe clamp 180 to match with the external thread, so as to realize the fixed connection between the two through a threaded connection.

It can be understood that the inner wall of the winding groove 1312 close to the first threaded section 1313 is flush with the inner wall of the limiting groove 1316 and the abutting screw hole 1317 close to the first threaded section 1313, so that the locking steel cable 120 is led into the limiting groove 1316 and the abutting screw hole 1317 from the winding groove 1312 and is not bent, the depth of the abutting screw hole 1317 is not less than that of the limiting groove 1316 and the abutting screw hole 1317 in the axial direction of the locking wire body 131, when the locking steel cable 120 is placed in the accommodating groove 1315 and the pipe clamp 180 is placed in the limiting groove 1316, the position of the pipe clamp 180 in the limiting groove 1316 can be limited in the axial direction of the locking wire body 131 by adjusting the position of the locking screw 133 in the abutting screw hole 1317 by rotation, wherein the locking screw 133 can be adjusted to just abut against the pipe clamp 180 or press the pipe clamp 180, and when the locking screw 133 presses the pipe clamp 180, the position of the pipe clamp 180 in the limiting groove 1316 can be further limited, so that the connection between the locking steel cable 120 and the locking wire body 131 is more stable.

In the embodiment of the present application, adopt foretell steel wire locking device 10, through locking wire rope 120, pipe clamp 180 and holding groove 1315, spacing slot 1316's cooperation realizes locking wire rope 120 at the radial ascending spacing of locking wire rope body 131, realize locking wire rope 120 simultaneously through the position of adjusting locking screw 133, pipe clamp 180 is along the axial spacing of locking wire rope body 131, thereby realized locking wire rope 120 and steel wire locking ware 130's being connected, wherein, above-mentioned connected mode does not cause any damage to locking wire rope 120, guaranteed its life, and simple structure, and the manufacturing and the installation of being convenient for, greatly reduced manufacturing cost.

In a preferred embodiment, as shown in fig. 8, pressed bore 1317 is provided with a chamfer 1318 on the end of wire lock 1311 distal from first thread segment 1313, chamfer 1318 facilitating the formation of a recess for receiving the threaded portion of locking screw 133, although chamfer 1318 may be omitted, but may affect the visual integrity of wire lock 130.

In a preferred embodiment, as shown in fig. 10, two position-limiting grooves 1316 and two receiving grooves 1315 corresponding to the two position-limiting grooves 1316 are provided on the wire lock head 1311, the two position-limiting grooves 1316 form a certain angle with each other and completely penetrate the contact screw hole 1317, when the locking wire rope 120 is connected to the wire fastener 130, only one of the receiving grooves 1315 is used for passing through the locking wire rope 120, the position-limiting groove 1316 corresponding to the receiving groove 1315 is used for placing the pipe clamp 180, and the other receiving groove 1315 and the position-limiting groove 1316 are spare for preventing the single receiving groove 1315 from being too far away from the threading hole 170 when the locking wire rope 120 passing through the threading hole 170 into the annular ring 110 is connected to the wire fastener 130.

It is understood that the angle between the two retaining grooves 1316 is not particularly limited, but the distribution uniformity of the two receiving grooves 1315 in the radial direction of the wire locking head 1311 should be ensured as much as possible in order to ensure the selectivity of the distance between the receiving grooves 1315 and the threading holes 170.

In this embodiment, the groove widths of the accommodating groove 1315 and the limiting groove 1316 are 1.2mm and 1.6mm respectively, the diameter of the locking steel wire rope 120 is 0.95mm, the pipe clamp 180 is a steel pipe, the outer diameter Φ 1.5mm × the inner diameter Φ 1.1mm, and the difference between the groove widths of the pipe clamp 180 and the accommodating groove 1315 is 0.3mm, so that the pipe clamp 180 can abut against the inner wall of the corresponding side of the limiting groove 1316, and the locking steel wire rope 120 is prevented from moving.

The pipe clamp 180 is made of steel pipes, so that the pipe clamp 180 is high in strength and not prone to deformation, and in other scenes with low requirements, an aluminum pipe can be used as the pipe clamp 180.

Similarly, the number of the limiting grooves 1316 on the wire lock 1311 is not limited to the above number, that is, the limiting grooves 1316 only need to be at least one, and on the premise that the positions of the limiting grooves 1316 are reasonably distributed, the more the number of the limiting grooves 1316 is set, the more the connecting options of the locking wire rope 120 are provided.

It can be understood that the limiting groove 1316 can be completely communicated with the abutting screw hole 1317, and can also be communicated with the inner wall of one side of the abutting screw hole 1317, at this time, the accommodating groove 1315 corresponding to the limiting groove is communicated with the inner wall of the other side of the abutting screw hole 1317, and the two modes can both realize the limiting of the locking screw 133 on the pipe clamp 180, and it should be noted that, when the accommodating groove 1315 is communicated with the inner wall of the abutting screw hole 1317 and the pipe clamp 180 is located in the limiting groove 1316, the pipe clamp 180 is abutted against the inner wall of one side of the abutting screw hole 1317, which is close to the accommodating groove 1315, so as to realize the radial limiting of the locking steel wire rope 120 along 131.

In a preferred embodiment, as shown in fig. 10, the limiting groove 1316 is located inside the wire lock 1311 and completely penetrates through the abutting screw hole 1317, the penetrating direction of the limiting groove 1316 passes through the axis of the wire lock body 131, two accommodating grooves 1315 are respectively provided between the outer circumferential surface of the wire lock 1311 and the inner walls of the two sides of the penetrating direction of the limiting groove 1316, when the locking wire rope 120 and the wire lock 130 are connected, the pipe clamp 180 is placed in the limiting groove 1316, the locking wire rope 120 is placed in the accommodating grooves 1315, and at this time, the two ends of the pipe clamp 180 respectively abut against the inner walls of the two sides of the penetrating direction of the limiting groove 1316, so as to achieve the two-way limiting of the locking wire rope 120 along the radial direction of the wire lock 1311, it can be understood that, when the above scheme is adopted, the locking wire rope 120 can pass through the pipe clamp 180, that the locking wire rope 120 can be accommodated in both the two accommodating grooves 5 at the corresponding positions of the limiting groove 1316, and a larger adjustment space can be provided for the two in the fixing process of the locking wire rope 131120 and the pipe clamp 180.

In a preferred embodiment, as shown in fig. 11, a receiving groove 1315 is provided on an outer circumferential surface of the wire lock 1311 in a penetrating manner, the receiving groove 1315 is completely penetrated through the pressing screw 1317 and passes through an axis of the pressing screw 1317, and at this time, the stopper groove 1316 is discarded, and when the wire rope 120 and the wire anchor 130 are connected, the locking wire rope 120 passes through the receiving groove 1315, and the pipe clamp 180 is placed outside the wire lock 1311, and at this time, the pipe clamp 180 abuts against the outer circumferential surface of the wire lock 1311, thereby achieving unidirectional positioning of the locking wire rope 120 along a radial direction of the wire lock 1311, and a position of the locking screw 133 is adjusted to be in clearance fit with the locking wire rope 120, so that only a position of the locking wire rope 120 in an axial direction of the wire lock body 131 is limited, and contact between the locking screw 133 and the locking wire rope 120 is minimized by clearance fit, thereby preventing abrasion of the locking wire rope 120, and it is understood that, when the above-mentioned scheme is adopted, since the pipe clamp 180 is provided outside the wire lock 1311, a winding of the locking wire rope 120 on a winding groove 1312 would cause a certain interference, and a high positional relationship between the wire receiving groove 1315 and the wire hole 170 is required.

In a preferred embodiment, two supporting protrusions 141 are fixedly disposed on the connecting disc 140 at corresponding positions of the two wire locking devices 130, and a threaded hole for engaging with the wire locking head 1311 is disposed between an end surface of the supporting protrusion 141 away from the connecting disc 140 and an end surface of the connecting disc 140 away from the supporting protrusion 141.

Two locking steel wire ropes 120 are wound on the power component winding shaft from two ends to the middle, so that when the two locking steel wire ropes 120 are led out from the power component winding shaft, a certain dislocation exists in the axial direction of the winding shaft, the axes of the two threading holes 170 are not on the same vertical plane of the axis of the annular ring 110, that is, the two threading holes 170 are dislocated in the axial direction of the annular ring 110, so that the threading holes 170 and the corresponding locking steel wire ropes 120 are approximately positioned on the same vertical plane of the axis of the annular ring 110 according to the leading-out direction of the two threading holes 170 on the power component winding shaft, the two corresponding supporting protrusions 141 also have corresponding height differences based on the distance of the two threading holes 170 in the axial direction of the annular ring 110, so that after the steel wire locking device 130 is installed on the corresponding supporting protrusions 141, the leading-in direction of the locking steel wire ropes 120 into the winding grooves 1312 is approximately parallel to the axis of the threading holes 170 at the corresponding positions, thereby avoiding the larger height difference between the position where the locking steel wire rope 120 is led into the winding grooves 1312 and the corresponding threading holes 170, reducing the friction between the two locking steel wire ropes 120 and the annular ring 110, that the height difference of the two supporting protrusions is equal to the larger diameter difference between the two threading holes 170, and the axial distance of the two threading holes 170 (the axial distance of the axial direction of the two threading holes 170).

In the embodiment of the present application, the above-mentioned steel wire locking device 10 is adopted, and the height difference through the two threading holes 170 and the two supporting protrusions 141 satisfies: the leading-out end of the locking wire rope 120 from the power assembly spool, the threading hole 170 and the winding groove 1312 are substantially located on the same plane, so that deformation of the locking wire rope 120 due to height difference of each node is reduced, and the service life and the driving precision of the locking wire rope 120 are further improved.

In a preferred embodiment, the connecting disc 140 is circular, an annular ring 110 coaxial with the connecting disc 140 is fixedly disposed on an outer circumferential surface of the connecting disc 140, two end surfaces of the annular ring 110 respectively protrude (protruding is a protrusion and extends) out of two sides of the connecting disc 140, two wire fasteners 130 and supporting protrusions 141 matched with the wire fasteners 130 are also disposed on the connecting disc 140, threading holes 170 matched with the wire fasteners 130 at corresponding positions are disposed on the annular ring 110, the two supporting protrusions 141 on the connecting disc 140 are respectively disposed on two end surfaces of the connecting disc 140, that is, at this time, the mounting directions of the two wire fasteners 130 are opposite, the threading holes 170 corresponding to the winding grooves 1312 on the wire fasteners 130 are also respectively located at two side positions of the annular ring 110 relative to the connecting disc 140, the two locking wire ropes 120 at corresponding positions respectively penetrate from the two threading holes 170 to the inside of the annular ring 110 along the outer circumferential surface of the annular ring 110 and are fixedly connected with the wire fasteners 130 at corresponding positions, the protruding heights of the two supporting protrusions 141 and the positions of the threading holes 170 satisfy: the leading end of the locking wire rope 120 from the power unit spool, the threading hole 170, and the winding groove 1312 are substantially on the same plane.

The position relationship between the threading hole 170 and the wire locking device 130 on the connecting disc 140 and the connection manner between the locking wire rope 120 and the wire locking device 130 on the connecting disc 140 are the same as those of the above embodiments.

In the embodiment of the present application, by using the above-mentioned steel wire locking device 10, through the height difference between the steel wire locking device 130, the annular ring 110 and the two supporting protrusions 141, both sides of the connecting disc 140 can realize the fixation of the locking steel wire rope 120, which not only can reduce the deformation of the locking steel wire rope 120 caused by the height difference between the nodes, further improve the service life and the driving precision of the locking steel wire rope 120, but also can provide a more flexible threading and fixing mode of the locking steel wire rope 120 in different working scenes.

It is understood that the annular rings 110 may be symmetrically disposed in two and respectively located on two side end surfaces of the connecting disc 140.

In the embodiment of the present application, the doctor console and the surgical robot are provided, the above steel wire locking device 10 is adopted, and the driving of the large arm 50 and the support arm 20 is realized by using the locking steel wire rope 120 as a driving medium, wherein the wire fixing reliability of the locking steel wire rope 120 is ensured through the composition and connection relation of the steel wire locking device 10, so that the overall driving stability of the doctor console and the surgical robot is improved.

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, method, article, or apparatus 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, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatuses in the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions recited, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A wire locking device, comprising:

a connecting disc;

the locking steel wire rope penetrates through the wire fixing groove, the tail end of the locking steel wire rope is fixedly provided with a pipe clamp located in the wire fixing groove, the pipe clamp is located in the wire fixing groove and limited in radial displacement of the steel wire locking device, and the locking screw can be abutted against the pipe clamp to limit axial displacement of the pipe clamp along the steel wire locking device.

2. The wire locking device according to claim 1, wherein the wire locking body comprises:

the steel wire lock head is used for connecting the locking steel wire rope;

the abutting screw hole is formed in the steel wire lock head, and an opening of the abutting screw hole is formed in one side, far away from the first threaded section, of the steel wire lock head.

3. The wire locking device according to claim 2, wherein the wire locking body further comprises:

the thread direction of the second thread section is opposite to that of the first thread section, and after the first thread section is in threaded connection with the connecting disc, the second thread section extends to one side, away from the corresponding position, of the connecting disc, of the steel wire lock head.

4. The steel wire locking device according to any one of claims 1 to 3, wherein the wire fixing groove comprises a limiting groove which is communicated with the abutting screw hole and opens to a side away from the connecting disc, and an accommodating groove which is communicated with the limiting groove and the outer peripheral surface of the locking wire main body and opens to a side away from the connecting disc;

5. The wire locking device according to claim 4, wherein one end of the stopper groove is communicated with the outer peripheral surface of the lockwire body, and the other end is communicated with the receiving groove.

6. The wire locking device according to claim 4, wherein both ends of the limiting groove communicate with the receiving groove.

7. The wire locking device according to claim 1, wherein a winding groove for receiving the locking wire rope is provided on an outer circumferential surface of the wire locking body;

the inner wall of the wire winding groove close to the connecting disc is flush with the inner wall of the wire fixing groove close to the connecting disc.

8. A wire locking device according to claim 1 or 7 wherein the threading aperture is located in the same plane perpendicular to the axis of the body as the winding slot in the body.

9. The wire locking device according to claim 1, wherein at least one of the wire fixing grooves is provided on the wire locking body.

10. The wire locking device according to claim 1 wherein said wire retainers are provided in two and are located at symmetrical positions on said connecting disc about a center line of symmetry;

wherein, the symmetry central line is one of them diameter of annular ring, two the steel wire locking device is not overlapped each other.

11. The wire locking system of claim 10 wherein said annular ring is raised from one of said end surfaces of said connecting plate, and two of said wire fasteners are disposed on said connecting plate adjacent said one end surface of said annular ring.

12. The wire locking device according to claim 10, wherein two of said annular rings are provided and respectively protruded on both end surfaces of said connecting plate, two of said wire lockers are respectively provided on both end surfaces of said connecting plate, and two of said threading holes engaged with said two of said wire lockers are respectively provided on both of said annular rings.

13. A physician's console comprising the wire locking device of any one of claims 1 to 12, further comprising a support, a large arm, a wrist assembly, and a power assembly, the large arm being coupled to the power assembly through the wire locking device.

14. A surgical robot comprising a slave hand and a surgeon console as claimed in claim 13.