CN115956961A - Stab card fixing device and minimally invasive surgery robot thereof - Google Patents
Stab card fixing device and minimally invasive surgery robot thereof Download PDFInfo
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Abstract
本发明涉及一种戳卡固定装置及其微创手术机器人,其中戳卡固定装置包括锁紧机构,所述锁紧机构适于被驱动以卡设定位戳卡本体;触发机构,所述触发机构与所述锁紧机构联动;其中当所述触发机构触发所述锁紧机构时,所述锁紧机构适于定位卡设戳卡本体。本发明通过锁紧机构,为戳卡本体的定位提供一个良好的定位条件,通过触发机构的设置,为锁紧机构提供一个良好的触发驱动条件,从而促使触发机构操控锁紧机构卡设定位/放开戳卡本体,工作过程简单,效率高。
The present invention relates to a poking card fixing device and a minimally invasive surgical robot thereof, wherein the poking card fixing device includes a locking mechanism, the locking mechanism is suitable for being driven to lock and position the poking card body; a trigger mechanism, the triggering The locking mechanism is linked with the locking mechanism; wherein when the triggering mechanism triggers the locking mechanism, the locking mechanism is suitable for positioning and setting the poking body. The present invention provides a good positioning condition for the positioning of the poking card body through the locking mechanism, and provides a good trigger driving condition for the locking mechanism through the setting of the trigger mechanism, thereby prompting the trigger mechanism to manipulate the locking mechanism card to set the position / Let go of the poking card body, the working process is simple and efficient.
Description
技术领域technical field
本发明涉及微创机器人,具体涉及戳卡固定装置及其微创手术机器人。The invention relates to a minimally invasive robot, in particular to a poking card fixing device and a minimally invasive surgical robot.
背景技术Background technique
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小、疼痛轻、恢复快等优势。然而,微创手术中微创器械由于受到切口大小的限制,手术操作难度大为增加,且医生在长时间手术过程中的疲劳、颤抖等动作会被放大,这成为制约微创手术技术发展的关键因素。随着机器人技术的发展,一种可以克服缺点、继承优点的微创医疗领域新技术——微创手术机器人技术应运而生。Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of incision size in minimally invasive surgery, minimally invasive instruments are greatly increased in operation difficulty, and the fatigue and trembling of doctors during long-term surgery will be amplified, which restricts the development of minimally invasive surgery technology. The key factor. With the development of robotic technology, a new technology in the field of minimally invasive medical care that can overcome its shortcomings and inherit its advantages - minimally invasive surgical robot technology has emerged as the times require.
在机器人辅助微创外科手术过程中,通常通过戳卡(也称为套管)建立专用通道,医生借助细长的微创手术器械进入该专用通道内,从而在人体腹腔内实施手术操作任务。由于每次手术后都得对戳卡进行消毒,因此要求戳卡能够可拆卸地固定在微创手术机器人上。In the process of robot-assisted minimally invasive surgery, a special channel is usually established by poking a card (also called a cannula), and the doctor enters the special channel with the help of slender minimally invasive surgical instruments to perform surgical operations in the abdominal cavity of the human body. Since the poking card must be sterilized after each operation, it is required that the poking card can be detachably fixed on the minimally invasive surgery robot.
中国发明专利CN106102642B(以下称为对比文件1)公开了一种外科手术套管安装件及相关的系统和方法,包括:主体,所述主体具有接收套管的一部分的孔口;可枢转的夹紧臂,所述可枢转的夹紧臂接合被接收在孔口内的所述套管的部分;夹紧臂包括凸轮从动件表面;在第一位置和第二位置之间可移动的块,所述块包括凸轮表面。所述块的凸轮表面可以在第一位置接合夹紧臂的凸轮从动件表面,以将夹紧臂致动到闭合位置,在所述闭合位置,夹紧臂接合被接收在孔口中的所述套管的部分。当所述块在第二位置时,夹紧臂可以被允许移动到打开位置,在所述打开位置,夹紧臂不接合套管。Chinese invention patent CN106102642B (hereinafter referred to as reference document 1) discloses a surgical cannula mount and related systems and methods, including: a main body having an orifice for receiving a part of the cannula; a pivotable a clamping arm, the pivotable clamping arm engaging the portion of the bushing received in the aperture; the clamping arm comprising a cam follower surface; the movable clamping arm being movable between a first position and a second position; A block including a cam surface. The cam surface of the block can engage the cam follower surface of the clamping arm in a first position to actuate the clamping arm to a closed position in which the clamping arm engages all the clamping arms received in the aperture. part of the bushing. When the block is in the second position, the clamping arm may be allowed to move to an open position in which the clamping arm does not engage the bushing.
中国发明专利申请CN112494142A(以下称为对比文件2)公开了一种器械夹持装置、从操作设备及手术机器人,包括夹持臂、驱动块、弹性件及操作机构,驱动块被弹性件和操作机构驱动以使而运动,在驱动块的运动过程中,夹持臂的末端通过抵触驱动块的不同部位从而实现夹持臂张开和夹紧器械。该方案原理与专利1相似,均是通过手柄带动滑块运动,利用滑块与夹持臂的配合,从而使套管被夹紧。Chinese invention patent application CN112494142A (hereinafter referred to as reference document 2) discloses an instrument clamping device, slave operating equipment and a surgical robot, including a clamping arm, a driving block, an elastic member and an operating mechanism, and the driving block is operated by the elastic member and The mechanism is driven to move, and during the movement of the driving block, the end of the clamping arm touches different parts of the driving block so as to realize the opening and clamping of the clamping arm. The principle of this solution is similar to that of patent 1, both of which drive the slider to move through the handle, and use the cooperation between the slider and the clamping arm to clamp the sleeve.
中国发明专利CN106037933B(以下称为对比文件3)公开了一种用于微创外科手术机器人的导管夹锁机构,包括底座和安装底座上的盖体、导管夹持连杆装置、夹持锁止释放装置。按压导管夹持连杆装置中的一侧(或一对)夹头,一对夹头的相向旋转运动通过连杆驱动与连杆铰接的直线运动连杆沿滑杆作直线运动,夹持锁止释放装置中的压头在弹性组件的驱动下锁紧直线运动连杆,进而锁紧一对夹头;向下按压压头即可解锁直线运动连杆,使直线运动连杆在弹簧弹力的作用下复位,进而使一对夹头释放导管。Chinese invention patent CN106037933B (hereinafter referred to as reference document 3) discloses a catheter clamping and locking mechanism for a minimally invasive surgical robot, including a base and a cover on the mounting base, a catheter clamping link device, and a clamping and locking mechanism. release device. Press one side (or a pair) of clamps in the tube clamping rod device, and the relative rotation of the pair of clamps drives the linear motion hinged with the connecting rod through the connecting rod. The connecting rod moves linearly along the sliding rod, clamping the lock. The pressure head in the release device locks the linear motion connecting rod under the drive of the elastic component, and then locks a pair of chucks; pressing down the pressure head can unlock the linear motion connecting rod, so that the linear motion connecting rod is under the force of the spring Reset under action, thereby causing the pair of chucks to release the catheter.
中国实用新型专利CN212118197U(以下称为对比文件4)公开了一种用于快速装卸的戳卡固定装置,包括戳卡连接件、平台和戳卡固定组件,戳卡连接件,套装在戳卡杆体的上部,平台通过戳卡固定组件与戳卡连接件连接,平台后盖安装在平台上。Chinese utility model patent CN212118197U (hereinafter referred to as reference document 4) discloses a poking card fixing device for quick loading and unloading, including a poking card connector, a platform and a poking card fixing component, and a poking card connector, which is set on the poking card rod body The upper part of the platform, the platform is connected with the poking card connector through the poking card fixing component, and the platform back cover is installed on the platform.
虽然现有技术提供了各种戳卡的固定方式,但是上述现有技术至少还具有如下的缺陷:Although the prior art provides various fixing methods for poking cards, the above-mentioned prior art has at least the following defects:
1、对比文件1和对比文件2均是利用凸轮结构摩擦运动来实现锁舌的开合,在长期使用过程中会发生磨损,导致可靠性和锁紧力的降低;1. Both Comparative Document 1 and Comparative Document 2 use the frictional movement of the cam structure to realize the opening and closing of the lock tongue, which will wear out during long-term use, resulting in a decrease in reliability and locking force;
2、对比文件2和对比文件3均是通过两个夹爪夹紧戳卡的结构,相对于整体固定式(对比文件1、对比文件4)而言,夹紧可靠性差;2. Both the comparison document 2 and the comparison document 3 use two clamping jaws to clamp and poke the card. Compared with the overall fixed type (comparison document 1 and comparison document 4), the clamping reliability is poor;
3、对比文件3和对比文件4均是通过单侧锁舌锁定,可靠性差;3. Both comparative document 3 and comparative document 4 are locked by a single-sided lock bolt, which has poor reliability;
4、对比文件2、对比文件3和对比文件4均是通过弹簧的弹力对结构完成限位,长期使用过程中弹簧老化,会导致锁定可靠性变差,且当戳卡受到较大外力时,可能会发生脱落的现象。4. Reference 2, Reference 3 and Reference 4 all limit the structure through the elastic force of the spring. The aging of the spring during long-term use will lead to poor locking reliability, and when the poking card is subjected to a large external force, Shedding may occur.
综上,现有技术方案存在各种各样的问题,亟待发明一种可以解决上述问题的更优的戳卡固定装置。To sum up, there are various problems in the existing technical solutions, and it is urgent to invent a better poking card fixing device that can solve the above problems.
发明内容Contents of the invention
本发明的目的是提供一种戳卡固定装置,以解决上述技术问题。The object of the present invention is to provide a poking card fixing device to solve the above technical problems.
本发明第一方面提供了一种戳卡固定装置,用于定位戳卡本体,包括:The first aspect of the present invention provides a poking card fixing device for positioning the poking card body, including:
锁紧机构,所述锁紧机构适于被驱动以卡设定位戳卡本体;a locking mechanism, the locking mechanism is adapted to be driven to lock and set the positioning poking body;
触发机构,所述触发机构与所述锁紧机构联动;其中A trigger mechanism, the trigger mechanism is linked with the locking mechanism; wherein
当所述触发机构触发所述锁紧机构时,所述锁紧机构适于定位卡设戳卡本体。When the trigger mechanism triggers the locking mechanism, the locking mechanism is suitable for positioning the poking body.
作为优选,所述触发机构包括转动柱体;Preferably, the trigger mechanism includes a rotating cylinder;
所述锁紧机构包括镜像设置的两个锁紧部,以及两个锁紧部形成一适于卡设戳卡本体的锁紧空间;其中The locking mechanism includes two locking parts arranged in mirror images, and the two locking parts form a locking space suitable for clamping the poking body; wherein
当所述转动柱体转动至撑紧工位时,所述转动柱体适于撑开所述锁紧空间;When the rotating cylinder rotates to the tightening position, the rotating cylinder is suitable for expanding the locking space;
当所述转动柱体复位时,所述转动柱体适于收缩所述锁紧空间以卡设抱紧戳卡本体。When the rotating cylinder is reset, the rotating cylinder is suitable for shrinking the locking space so as to clamp and hold the poking body tightly.
作为优选,所述戳卡固定装置包括适于承载所述锁紧机构和所述触发机构的固定支架,以及所述固定支架的上端面上具有一卡设部;Preferably, the poking fixing device includes a fixing bracket suitable for carrying the locking mechanism and the triggering mechanism, and an upper end surface of the fixing bracket has a clamping portion;
所述转动柱体伸出所述固定支架;The rotating cylinder protrudes from the fixed bracket;
所述触发机构还包括一固定在所述转动柱体的上端部的把手部;以及The trigger mechanism also includes a handle portion fixed to the upper end of the rotating cylinder; and
当所述锁紧空间被收缩以抱紧所述戳卡本体时,所述把手部被卡设固定在所述卡设部内。When the locking space is contracted to hold the poking body tightly, the handle portion is locked and fixed in the locking portion.
作为优选,所述把手部包括前端具有敞口且内部中空的旋钮,位于所述敞口内的卡设弹簧和滑动块;以及Preferably, the handle part includes a knob with an open front end and a hollow interior, a retaining spring and a sliding block located in the opening; and
所述旋钮与所述转动柱体固定连接;The knob is fixedly connected with the rotating cylinder;
所述卡设弹簧的一端抵住所述旋钮内腔的侧底部,另一端抵住所述滑动块;One end of the retaining spring is against the side bottom of the inner chamber of the knob, and the other end is against the sliding block;
所述卡设部包括位于所述固定支架上的挡台,所述挡台上开设有一适于卡设所述滑动块的挡槽;其中The clamping part includes a block located on the fixed bracket, and a block groove suitable for clamping the sliding block is provided on the block; wherein
当戳卡本体被抱紧时,所述滑动块位于所述挡槽内。When the poking card body is tightened, the sliding block is located in the blocking groove.
作为优选,所述把手部包括端部铰接有转动头的旋钮;以及Preferably, the handle part includes a knob with a rotating head hinged at the end; and
所述转动头上具有一锁体;所述卡设部包括开设在所述固定支架的上端面上的锁腔;其中There is a lock body on the rotating head; the clamping part includes a lock cavity opened on the upper end surface of the fixed bracket; wherein
所述锁体适于被限制在所述锁腔内。The lock body is adapted to be confined in the lock cavity.
作为优选,所述锁紧部包括转动连接在所述固定支架内的锁舌,套设固定有扭簧本体的扭簧柱体;以及Preferably, the locking part includes a lock tongue rotatably connected in the fixed bracket, sleeved with a torsion spring cylinder on which the torsion spring body is fixed; and
所述锁舌上具有一扭簧槽,所述扭簧本体的扭臂卡设在所述扭簧槽内;There is a torsion spring groove on the lock tongue, and the torsion arm of the torsion spring body is clamped in the torsion spring groove;
所述转动柱体的下端与所述锁舌铰接联动;The lower end of the rotating cylinder is hingedly linked with the lock tongue;
当所述转动柱体转动以协同所述锁舌转动时,所述扭臂被压迫。The torsion arm is compressed when the rotary cylinder rotates in conjunction with the rotation of the bolt.
作为优选,在所述扭簧槽的侧壁上开设有至少一个竖向钢柱槽,在所述扭簧槽的底壁上开设有至少一个横向钢柱槽,以及Preferably, at least one vertical steel column slot is opened on the side wall of the torsion spring slot, and at least one horizontal steel column slot is opened on the bottom wall of the torsion spring slot, and
在每个所述竖向钢柱槽和每个所述横向钢柱槽内分别设置有一钢柱本体,其中A steel column body is respectively arranged in each of the vertical steel column grooves and each of the horizontal steel column grooves, wherein
所述扭臂的周向适于持续与所述钢柱本体相贴。The circumferential direction of the torsion arm is adapted to be continuously in contact with the steel column body.
作为优选,位于所述转动柱体的下端镜像设置有片体组,每个所述片体组上还设置有一联动组件;As a preference, a sheet group is mirrored at the lower end of the rotating cylinder, and each sheet group is also provided with a linkage assembly;
所述片体组包括相互平行设置的片本体;The sheet group includes sheet bodies arranged parallel to each other;
所述联动组件包括连接件和四个转盘窝,在所述连接件上镜像开设有窝口组,每个所述窝口组对应有两个窝口本体,在每个所述窝口本体内可转动地设置有一所述转盘窝;以及The linkage assembly includes a connecting piece and four turntable sockets, and a socket group is mirrored on the connecting piece, and each socket group corresponds to two socket bodies, and each socket body a turntable nest is rotatably arranged; and
一侧的两个所述转盘窝可转动地设置在两个所述片本体之间,另一侧的两个所述转盘窝与所述锁舌铰接。The two turntable sockets on one side are rotatably arranged between the two sheet bodies, and the two turntable sockets on the other side are hinged to the lock tongue.
作为优选,所述固定支架的侧壁具有一适于所述卡套本体安装的安装口;Preferably, the side wall of the fixing bracket has an installation opening suitable for the installation of the ferrule body;
所述固定支架的上端面为一平台面;The upper end surface of the fixed bracket is a platform surface;
或者or
所述固定支架的侧壁具有一适于所述卡套本体安装的安装口;The side wall of the fixing bracket has an installation opening suitable for the installation of the ferrule body;
位于所述固定支架的上端面上具有一台体;There is a platform on the upper end surface of the fixed bracket;
或者or
所述固定支架的侧壁具有一适于所述卡套本体安装的安装口;The side wall of the fixing bracket has an installation opening suitable for the installation of the ferrule body;
位于所述固定支架的上端面上具有一台体,所述台体的侧壁上开设有一适于透光的灯孔。There is a platform on the upper end surface of the fixing bracket, and a light hole suitable for light transmission is provided on the side wall of the platform.
本发明至少具有以下有益效果:The present invention has at least the following beneficial effects:
1、本发明通过锁紧机构,为戳卡本体的定位提供一个良好的定位条件,通过触发机构的设置,为锁紧机构提供一个良好的触发驱动条件,从而促使触发机构操控锁紧机构卡设定位/放开戳卡本体,工作过程简单,效率高。1. The present invention provides a good positioning condition for the positioning of the poking card body through the locking mechanism, and provides a good triggering and driving condition for the locking mechanism through the setting of the trigger mechanism, thereby prompting the trigger mechanism to control the locking mechanism card setting Positioning/releasing the poking card body, the working process is simple and efficient.
2、本发明的锁紧机构,通过开设的卡设部和与之配合的把手部,形成刚性限位,可以避免由于意外事故导致受到较大外力时,原有的扭簧(或现有技术中的弹簧)锁紧力不足而发生戳卡脱落。2. The locking mechanism of the present invention forms a rigid limit through the set-up part and the handle part matched with it, which can avoid the original torsion spring (or the prior art The spring in the center) the locking force is insufficient and the card falls off.
3、本发明的锁紧机构结构小巧,尤其是实施例三的结构纵向空间占用小,可节约器械运动平台末端的空间尺寸,使得设备更利于小型化,符合手术机器人的发展趋势。3. The structure of the locking mechanism of the present invention is compact, especially the structure of the third embodiment occupies a small longitudinal space, which can save the space size at the end of the instrument movement platform, making the equipment more miniaturized, and conforming to the development trend of surgical robots.
本发明第二方面还提供一种微创手术机器人,包括基座,位于基座后端的推车把手,承载固定在基座上的升降立柱,与升降立柱连接的机械臂,位于机械臂末端的器械运动平台;位于所述器械运动平台的末端固定有如上所说的戳卡固定装置。The second aspect of the present invention also provides a minimally invasive surgical robot, including a base, a cart handle located at the rear end of the base, a lifting column fixed on the base, a mechanical arm connected to the lifting column, and a mechanical arm located at the end of the mechanical arm. The equipment movement platform; the end of the equipment movement platform is fixed with the poking fixing device as mentioned above.
此种微创手术机器人,通过戳卡固定装置,为整体工作过程提供便利,提高工作效率,拆装方便。This kind of minimally invasive surgical robot provides convenience for the overall working process, improves work efficiency, and is easy to disassemble and assemble through the poking card fixing device.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明的戳卡本体的优选实施例的立体图;Fig. 1 is a perspective view of a preferred embodiment of the poking card body of the present invention;
图2是本发明的带有戳卡本体的一种戳卡固定装置的爆炸图;Fig. 2 is an exploded view of a poking card fixing device with a poking card body of the present invention;
图3是本发明的一种戳卡固定装置的优选实施例的结构示意图;Fig. 3 is a schematic structural view of a preferred embodiment of a poking card fixing device of the present invention;
图4是本发明的一种戳卡固定装置的局部结构示意图;Fig. 4 is a partial structural schematic diagram of a poking card fixing device of the present invention;
图5是本发明的上盖体的结构示意图;Fig. 5 is a schematic structural view of the upper cover of the present invention;
图6是本发明的锁定机构和触发机构局部的结构示意图;Fig. 6 is a schematic structural view of a locking mechanism and a trigger mechanism of the present invention;
图7是本发明的转动柱体的结构示意图;Fig. 7 is a structural schematic diagram of a rotating cylinder of the present invention;
图8是本发明的联动组件的结构示意图;Fig. 8 is a structural schematic diagram of the linkage assembly of the present invention;
图9是本发明的锁舌的结构示意图;Fig. 9 is a structural schematic diagram of the dead bolt of the present invention;
图10是本发明的实施例一的旋钮的爆炸示意图;Fig. 10 is an exploded schematic diagram of the knob of Embodiment 1 of the present invention;
图11是本发明的实施例二及实施例三的一种戳卡固定装置的结构示意图;Fig. 11 is a schematic structural view of a poking card fixing device according to Embodiment 2 and Embodiment 3 of the present invention;
图12是本发明的实施例三的带有转动头的旋钮的结构示意图;Fig. 12 is a structural schematic diagram of a knob with a rotating head according to Embodiment 3 of the present invention;
图13是本发明的实施例二的上盖体的结构示意图;Fig. 13 is a schematic structural view of the upper cover of Embodiment 2 of the present invention;
图14是本发明的实施例一的卡套本体的结构示意图;Fig. 14 is a schematic structural view of the ferrule body of Embodiment 1 of the present invention;
图15是本发明的实施例一的卡套本体的另一视角的结构示意图。Fig. 15 is a structural schematic diagram of another viewing angle of the ferrule body of the first embodiment of the present invention.
图中:In the picture:
100、戳卡本体,101、戳卡卡槽,102、倾斜倒面;100, poking card body, 101, poking card slot, 102, inclined and inverted surface;
200、锁紧机构,210、锁舌,211、容纳仓,212、扭簧槽,213、竖向钢柱槽,214、横向钢柱槽,215、锁扣头,220、扭簧柱体,230、扭簧本体,231、扭臂,240、导向柱;200, locking mechanism, 210, deadbolt, 211, holding chamber, 212, torsion spring groove, 213, vertical steel column groove, 214, horizontal steel column groove, 215, buckle head, 220, torsion spring cylinder, 230, torsion spring body, 231, torsion arm, 240, guide post;
300、触发机构,310、转动柱体,311、凹环槽,312、腰形柱体,313、片本体,320、联动组件,321、连接件,322、窝口本体,323、转盘窝,324、联动柱体,330、旋钮,331、把钮,332、底台,3321、滑动槽口,3322、收缩口,3323、承载台,333、滑动件,3331、T形端口,3332、T形长臂,334、卡设弹簧,335、转动头,336、锁体,3361、导向接触面,337、槽腔,;300, trigger mechanism, 310, rotating cylinder, 311, concave ring groove, 312, waist-shaped cylinder, 313, sheet body, 320, linkage assembly, 321, connector, 322, socket body, 323, turntable socket, 324. Linkage cylinder, 330. Knob, 331. Knob, 332. Base, 3321. Sliding notch, 3322. Retraction port, 3323. Carrying platform, 333. Slider, 3331. T-shaped port, 3332. T Shaped long arm, 334, locking spring, 335, rotating head, 336, lock body, 3361, guide contact surface, 337, groove chamber;
400、卡套本体,410、环形片,420、翻边,430、卡套卡槽,440、仿形凸起,450、卡套卡头;400, ferrule body, 410, ring piece, 420, flanging, 430, ferrule slot, 440, profiling protrusion, 450, ferrule chuck;
500、固定支架,510、上盖体,511、上斜台面,512、水平遮盖面,513、灯孔,514、避让槽,515、挡台,516、挡槽,517、台体,518、锁腔,520、中盖体,530、下底罩,531、安装口,532、卡套解锁部,5321、支架卡头,533、下斜台面,534、灯口。500, fixed bracket, 510, upper cover body, 511, upward inclined table top, 512, horizontal cover surface, 513, light hole, 514, avoidance groove, 515, blocking platform, 516, blocking groove, 517, platform body, 518, Lock cavity, 520, middle cover body, 530, lower bottom cover, 531, installation opening, 532, ferrule unlocking part, 5321, bracket chuck, 533, inclined table top, 534, lamp socket.
具体实施方式Detailed ways
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图,仅以示意方式说明本发明的基本结构,因此其仅显示与本发明有关的构成。The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
如图1~10、14、15所示,本发明提供了一种戳卡固定装置,用于定位戳卡本体100,包括:As shown in Figures 1 to 10, 14, and 15, the present invention provides a poking card fixing device for positioning the
锁紧机构200,锁紧机构200适于被驱动以卡设定位戳卡本体100;触发机构300,触发机构300与锁紧机构200联动;其中当触发机构300触发锁紧机构200时,锁紧机构200适于定位卡设戳卡本体100。
该戳卡固定装置,主要用于固定戳卡本体100,而戳卡本体100的侧壁存在一连接块,在该连接块的侧壁镜像开设有一个戳卡卡槽101,该戳卡卡槽101的边缘具有一个倾斜倒面102,该倾斜倒面102,主要为后续的安装提供一个良好的引导安装的条件,优选的该戳卡卡槽101的横截面呈一腰形孔状,整体结构的稳定性相对较高;触发机构300为主动机构,其作为驱动源,该驱动源的传动形式包括但不限于转动输出或者按压输出;锁紧机构200主要起到定位或者放开戳卡本体100,而其整体的定位状态以及放开状态都是由触发机构300来保证。而锁紧机构200以及触发机构300的整体是承载在固定支架500内并且戳卡本体100在与锁紧机构200实现连接前,首先会与固定支架500产生连接关系。The poking card fixing device is mainly used for fixing the
具体地,固定支架500包括上盖体510、下底罩530和中盖体520,在下底罩530上具有用于安装锁紧机构200的安装空间,侧部具有一个安装口531,上部敞开用于固定上盖体510;而为了能够较好的定位固定锁紧机构200中的各个零部件并且不妨碍整体结构的美观性,在上盖体510之下同步设置有一中盖体520,该中盖体520主要用来从上部承载限位锁紧机构200,而下底罩530的作用则是主要从下部承载限位锁紧机构200。Specifically, the fixed
在下底罩530的结构中,位于其安装口531处的外侧壁上镜像设置有两个卡套解锁部532,该卡套解锁部532呈片状卡设在下底罩530的侧壁上,在该卡套解锁部532上具有一支架卡头5321。远离安装口531处的下底罩530的另外一边具有一下斜台面533;相应的,在上盖体510上具有一上斜台面511以及水平遮盖面512。In the structure of the
为了便于指示器械运动平台以及戳卡本体100的状态,在下底罩530内具有一灯头,而在上斜台面511、水平遮盖面512上分别开设有灯孔513,以及在下底罩530的底部位置两侧同样各开设有一灯口534。In order to facilitate the indication of the state of the equipment movement platform and the poking
在下底罩530与上盖体510的连接中,分别采用了卡键卡口的形式,螺母锁止的形式以及侧壁贴合的形式。而具体的,在上盖体510靠近上斜台面511处具有一个避让槽514,该避让槽514的存在主要为触发机构300提供一个良好的运动空间;同步地,为了能够锁止触发机构300,在上盖体510上具有挡台515,挡台515的中部具有挡槽516。当然,也可以采用其他不同的结构来锁止触发机构300,将在后续实施例中进行介绍。In the connection between the
触发机构300的具体结构包括转动柱体310,该转动柱体310呈杆状,其腰部开设有一凹环槽311从而形成一圆柱体结构,在该凹环槽311的上端以及下端分别套设固定有一轴承,即轴承的内圈内壁与圆柱体结构抱紧,上端的轴承的外圈外壁与上盖体510抱紧,下端的轴承的外圈外壁与中盖体520抱紧。在转动柱体310的上端具有一腰形柱体312;在转动柱体310的下端镜像设置有片体组,每个片体组包括两个相互平行设置的片本体313;为了促使后续的连接;关于片体组上还设置有一个联动组件320,该联动组件320包括连接件321,连接件321上镜像开设有窝口组,每个窝口组对应有两个窝口本体322,窝口本体322下陷形成圆锥台体;在每个窝口本体322内可转动的设置有一个转盘窝323,该转盘窝323与窝口本体322适配;上下两个转盘窝323之间通过联动柱体324限位;一侧的一组转盘窝323位于两个片本体313之间并且联动柱体324的端部分别插接固定在片本体313内。在转动柱体310的底部同步设置有一个与下底罩530固定连接的轴承,该轴承外圈与下底罩530抱紧,内圈与转动柱体310固定连接。本实施例给出了一种优选的联动组件320的组成结构,只要能够实现转动柱体310和锁紧部的联动(即转动柱体310向一个方向转动时会导致锁紧部锁紧,向另一个方向转动时会导致锁紧部放开),其他类似结构也可以用在本发明中。The specific structure of the
在转动柱体310伸出上盖体510的端部上固定有一个旋钮330,该旋钮330便于带动转动柱体310转动,而为了防止旋钮330相对于转动柱体310出现相对转动,转动柱体310的上端设置呈腰形柱体,便于在插接旋钮330中后实现良好的防转效果;具体的,旋钮330与转动柱体310之间也可以通过卡接等其他形式定位,对此不作限定。A
当旋钮330运动到位以后,本实施例设置了相应的结构对旋钮330进行卡设定位以保证整体结构的稳定性,防止由于意外事故导致受到较大外力时,原有的扭簧(或现有技术中的弹簧)锁紧力不足而发生戳卡脱落。该结构即旋钮330内部中空且前端具有敞口,在该敞口内设置有一卡设弹簧334,该卡设弹簧334的一端抵住旋钮330内腔的侧底部,另一端则与滑动块相抵,滑动块可滑动地设置在敞口处。After the
具体地,旋钮330的结构包括具有上述中空内部的把钮331和底台332,在底台332上开设有滑动槽口3321以及位于滑动槽口3321的端部具有一收缩口3322,在远离收缩口3322一侧的底台332面上具有一承载台3323,在底台332上开设有一个用于与转动柱体310连接的底台332连接口;滑动件333的横截面呈T形,该滑动件333的T形端口3331位于滑动槽口3321内,并且滑动槽口3321为T形端口3331提供了一个滑动空间,而滑动件333的T形长臂3332则位于收口内,卡设弹簧334则承载在承载台3323上,卡设弹簧334能够在承载台3323上出现相对伸缩;具体的,在卡设弹簧334的作用下,能够推送滑动件333相对于滑动槽口3321出现滑动直至T形长臂3332被卡设到挡槽516内。当需要操作触发机构300时,医生只需按压滑动件333使其脱出上盖体510上的挡槽516,再转动旋钮330即可。Specifically, the structure of the
锁紧机构200包括镜像设置的两个锁紧部,锁紧部被承载放置在下底罩530内,而触发机构300即转动柱体310则是设置在两个锁紧部之间。具体的,锁紧部的结构包括转动连接在下底罩530内的锁舌210和套设固定有扭簧本体230的扭簧柱体220,靠近扭簧柱体220的一侧的锁舌210上开设有一个扭簧槽212,该扭簧本体230的扭臂231卡设在扭簧槽212内;在锁舌210靠近扭簧槽212处具有一个容纳仓211,在该容纳仓211内主要用于容纳联动组件320,即联动组件320中的联动柱体324被插接卡设在该容纳仓211内并且转盘窝323可转动地设置在容纳仓211内,在远离扭簧柱体220一侧的锁舌210的端部具有一锁扣头215,该锁扣头215适于卡设固定戳卡本体100,两个锁扣头215之间的间隙形成一锁紧空间。The
一般地,锁舌210采用的材料为铝制材料,其硬度相对于扭簧的扭臂231更低,因此在使用的过程中会出现损坏扭簧槽212的问题,而为了便于加工并且延长锁舌210的使用寿命,扭簧槽212优选为镜像开设,便于后续进行翻转更换;在扭簧槽212的侧壁上开设有至少一个竖向钢柱槽213,优选为三个,在扭簧槽212的底壁上开设有至少一个横向钢柱槽214,优选为1个,在每个横向钢柱槽214内以及每个竖向钢柱槽213内分别设置有一个钢柱本体。扭簧的扭臂231伸入到扭簧槽212内并且承载在横向钢柱槽214内的钢柱本体以及与竖向钢柱槽213内的钢柱本体相抵,从而使整体的线摩擦变为点接触,从而很好的减少摩擦力,提供扭簧槽212的耐磨性。而之所以设置三个竖向钢柱槽213,其更多的是为了在转动柱体310转动的过程中,扭臂231能够持续与不同的钢柱本体相抵。而在上述的扭簧槽212的一些侧壁内,在转动柱体310工作过程中不存在与扭臂231的接触,因此无需设置竖向钢柱槽213。Generally, the material used for the
更多的,扭簧柱体220以及锁舌210围绕转动的导向柱240体分别下端与下底罩530相互插接,上端与中盖体520相互插接。Furthermore, the lower end of the
具体地,在戳卡本体100与锁紧机构200连接之前,为了能够加强整体的连接强度,保证良好的连接效果,在固定支架500上还设置有一个卡套本体400。Specifically, before the poking
该卡套本体400包括具有贯穿口的环形片410,与环形片410适配的翻边420,在该翻边420上镜像开设有与支架卡头5321相互适配的卡套卡槽430,贯穿口与安装口531相互适配,由环形片410的内边缘向固定支架500内腔延伸有与戳卡本体100适配的仿形凸起440,在该仿形凸起440的两侧分别镜像设置上述卡套卡槽430,在该仿形凸起440的另一侧表面具有用于与戳卡本体100相互连接的卡套卡头450,在环形片410上具有适配戳卡本体100形状的避让凹陷。The
该卡套本体400中的至少仿形凸起440采用柔性材料,在仿形凸起440与戳卡本体100连接并且与锁紧机构200相互卡设的时候,因为其本身具有的阻尼性能,从而很好的加强了整体的连接强度。At least the
实施例二Embodiment two
实施例二与实施例一的区别在于固定支架500的不同。The difference between the second embodiment and the first embodiment lies in the difference of the fixing
如图11、13所示,在该实施例中,固定支架500上的上盖体510其具体为平台面,即旋钮330能够自由的转动,而不存在其他的干扰。此种形式,能够很好减少高度尺寸,从而保证且扩大了整体的运动行程。As shown in FIGS. 11 and 13 , in this embodiment, the
作为一种可替换的实施例,在上盖体510上可以设置一台体517,而该台体517优选为平台面,并且为了避免对于旋钮330的工作造成干扰,在该台体517靠近旋钮330处开设有避让槽514。优选的,该台体517的竖直高度选对于旋钮330的竖直高度矮或者齐平,从而极大的保证且扩大了器械运动平台整体的运动行程。As an alternative embodiment, a
实施例三Embodiment Three
如图11、12所示,实施例三与实施例一和二的区别在于旋钮330的限位形式不同。As shown in Figures 11 and 12, the difference between Embodiment 3 and Embodiments 1 and 2 is that the limit form of the
在该旋钮330的端部铰接有一转动头335,在该转动头335的端部具有一适配的锁体336,而在上盖体510的端面上则设置有锁腔518,锁体336能够卡设在锁腔518内。A
在旋钮330的端部形成槽腔337,该槽腔337内横贯有一轴体,转动头335设置在槽腔337内并且相对于轴体可转动地设置,而在转动头335靠近槽腔337处具有一个圆滑的导向接触面3361,该导向接触面3361便于促进转动头335在槽腔337内进行转动的过程。A
相应的,锁体336卡设在锁腔518内形成对于转动头335的定位,从而防止旋钮330的转动。而在锁体336脱离锁腔518以后,转动头335会相对于旋钮330的水平面高度更高,从而便于人手抓持,促进旋钮330的转动的进行。Correspondingly, the
需要申明的是锁体336与锁腔518的结构包括但不限于卡键卡口的形式,作为一种优选的形式,可以在锁腔518内设置一第一磁钢,即自上盖体510的背部安装第一磁钢,而在锁体336处则安装一个第二磁钢,即在锁体336位于锁腔518内时,通过磁力使两者吸附固定,从而提高结构的稳定性,防止设备工作过程中的晃动等因素导致锁体336与锁枪518脱离。It should be stated that the structure of the
以上述依据本发明的理想实施例为启示,通过上述的说明内容,相关工作人员完全可以在不偏离本项发明技术思想的范围内,进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容,必须要根据权利要求范围来确定其技术性范围。Inspired by the above-mentioned ideal embodiment according to the present invention, through the above-mentioned description content, relevant workers can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.
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Country or region after: China Address after: 311121 Hangzhou City, Yuhang District, Yuhang Street, Keji Avenue 39, Building 1, first floor, Building 2, first to fourth floors Applicant after: Hangzhou Kangji Weijing Medical Robot Co.,Ltd. Address before: Building 1, 1st Floor, and Building 2, 1-4 Floors, No. 39 Keji Avenue, Yuhang Street, Yuhang District, Hangzhou City, Zhejiang Province Applicant before: Hangzhou Weijing medical robot Co.,Ltd. Country or region before: China |