CN116447241A - Axial self-locking device - Google Patents

Abstract

The invention discloses an axial self-locking device which comprises a fixed frame and a self-locking mechanism rotatably arranged on the fixed frame, wherein a central shaft hole for a transmission rod to be inserted is arranged on the self-locking mechanism, a self-locking block for locking the inserted transmission rod is arranged at the periphery of the central shaft hole, the self-locking block is arranged in a radial channel communicated with the central shaft hole, the axial channel is communicated with the radial channel, a self-locking pin is arranged in the radial channel and abuts against the self-locking block through an inclined plane, and a self-locking spring is arranged between one end of the axial channel and the self-locking pin. The invention provides an axial self-locking device which is used for detachably connecting an operation end and a control end of an operation robot and has a rotational degree of freedom; the self-locking device is used for locking a transmission rod which is provided with a specific end shape and extends out of the operation end, the end part of the transmission rod is provided with a chamfer, and the side surface of the transmission rod, which is positioned at a certain distance from the end part, is provided with a locking groove.

Description

Axial self-locking device

Technical Field

The invention relates to the technical field of medical auxiliary instruments, in particular to an axial self-locking device for connecting an operation end and a control end of an ophthalmic operation robot.

Background

The surgical robot has the advantages of high flexibility, high precision, stable operation and the like, and can effectively improve the safety and the accuracy of ophthalmic surgical operation. The da vinci surgical robot is one of the most widely and most mature surgical robot systems in clinical application at present, and can complete various operations, such as cornea laceration suture, cornea transplantation, amniotic membrane transplantation, pterygium resection, and the like. Meanwhile, robots applicable to complicated intraocular surgery of vitreous body, retina, etc. are also being developed and used.

The ophthalmic surgical robot is provided with a surgical end which is directly contacted with a focus and a corresponding control end (comprising a mechanical arm, a micro-control motor and the like), and the surgical end is required to perform surgery on eyes of a patient in the surgical process, so that the surgical end is required to be frequently cleaned and disinfected, the sterilization effect is achieved, and the patient is ensured not to be infected by eyes due to the fact that the surgical end is not disinfected in place. The surgical end and the control end of the existing ophthalmic surgical robot (especially the intraocular surgical robot) are usually designed in a tightly coupled manner, so that the surgical end and the control end are difficult to disassemble and separate, and in the cleaning and disinfection process, due to the electrical characteristics of the control end, the surgical end is easy to cause electrical short circuit and rust when encountering liquid, so that the cleaning and disinfection are very difficult, and the conventional cleaning and disinfection are difficult to perform.

In order to overcome the defects in the prior art, the surgical end can be conveniently cleaned and disinfected, a detachable structure can be adopted, namely, the surgical end is arranged on the control end through the detachable structure, and the surgical end is detached during cleaning and disinfection and then assembled during operation. However, for the operation, the operation end is usually required to have a rotation degree of freedom (rotation around a fixed shaft), and is connected to the control end by a conventional elastic locking manner which is easy to disassemble, so that it is difficult to ensure the reliability and stability of the connection at the same time. Such as: chinese patent publication No. CN107289121a discloses "a one-shaft multi-speed transmission shift device" that uses a spring-loaded pin to act in a direction perpendicular to a rotation shaft to lock a transmission lever. When the spring is subjected to lateral torsion, the spring can be bent laterally, and the stability of the locking state is affected. In addition, the technical solution of this patent does not consider the requirements of disassembly and assembly (plugging) of the shaft.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a detachable axial self-locking device which is used for connecting an operation end and a control end of an operation robot and has a rotational freedom degree; the self-locking device is used for locking a transmission rod which is provided with a specific tail end shape and extends from the operation end, the end part of the transmission rod with the specific tail end shape is provided with a chamfer, and the side surface which is positioned at a certain position from the end part is provided with a concave locking groove.

The utility model provides an axial self-locking device, includes the mount, rotatable self-locking mechanism who installs on the mount, set up the central shaft hole that supplies the transfer line male on the self-locking mechanism to and the peripheral self-locking piece that is used for locking the inserted transfer line of central shaft hole, the radial passageway with central shaft hole intercommunication is arranged in to the self-locking piece, axial passageway and radial passageway intercommunication, the self-locking pin is arranged in wherein and is offset through the inclined plane with the self-locking piece, then set up the self-locking spring between axial passageway one end and self-locking pin.

According to the axial self-locking device, when the operation end is installed, the transmission rod extending out of the operation end is inserted along the central shaft hole, and when the end chamfer angle touches the self-locking block, under the action of thrust, the chamfer angle can push the self-locking block upwards into the radial channel, so that the self-locking pin propped against the self-locking block through the inclined plane is pushed to move along the radial channel in the same direction as the thrust force, and the self-locking spring is compressed; when the transmission rod is continuously inserted into place along the central shaft hole, the locking groove of the transmission rod is opposite to the self-locking block, the compressed self-locking spring can push the self-locking pin to reversely move along the axial channel, and the inclined surface of the self-locking spring downwards presses the self-locking block again, so that the self-locking block downwards moves and is inserted into the locking groove, and the locking of the transmission rod is realized. When the transmission rod is detached, the operation end is pulled backwards, the self-locking block moves outwards along the radial channel under the action of the groove on the transmission rod, meanwhile, the self-locking block pushes the self-locking pin to compress the self-locking spring in the direction opposite to the pulling force of the transmission rod, when the self-locking block completely leaves the transmission shaft locking groove, the transmission rod is unlocked, and the transmission rod is pulled to be pulled out from the central hole, so that the detachment of the transmission rod can be completed.

The axial self-locking device completes locking installation and unlocking disassembly of the transmission rod extending from the operation end through the action of insertion and extraction, not only realizes the disassembly and assembly of the operation end, but also has very convenient and simple disassembly and assembly process without any external auxiliary tool. During the disinfection operation, can dismantle the operation end and go on, the disinfection operation can not influence the control end, disinfection operation is convenient, simple. Meanwhile, the disassembly and assembly process does not need a practical auxiliary tool, so that pollution caused by an operation tool in the disassembly and assembly process is avoided, and additional disinfection burden is not brought to the unlocking and locking processes.

In addition, the self-locking mechanism is rotatably arranged on the fixing frame and has a rotational degree of freedom, and the rotation of the self-locking mechanism can drive the surgical end clamped by the transmission rod to rotate, so that the rotational degree of freedom of the surgical end is realized.

In addition, a self-locking spring for locking the transmission rod, which applies a locking force, is placed in an axial arrangement, and the axial spring force is converted into a spring force perpendicular to the shaft by using a self-locking pin which abuts against the self-locking block through an inclined surface. The axial placement of the spring reduces the volume of the self-locking device, simultaneously avoids the possibility that the spring is laterally bent due to lateral torsion in the locking and unlocking processes of the transmission rod, ensures stable locking of the transmission rod, and ensures that the locking state is more stable and reliable.

Drawings

FIG. 1 is an assembly schematic of an axial self-locking device.

Fig. 2 is a schematic perspective view of the self-locking device.

Fig. 3 is a schematic perspective view of the self-locking device.

Fig. 4 is a schematic exploded view of the self-locking device.

Fig. 5 is a side cross-sectional view of the self-locking device.

Fig. 6 is a side cross-sectional view of the self-locking device.

Fig. 7 is a front view of the self-locking device.

Fig. 8 is a schematic perspective internal view of the self-locking device.

Fig. 9 is a perspective view of the transmission rod.

Fig. 10 is a plan view of the self-locking block.

Fig. 11 is a plan view of the self-locking block.

Fig. 12 is a plan view of the self-locking block.

Description of the embodiments

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, in the embodiment of the present invention, directional indications (such as up, down, left, right, front, rear, top, bottom, inner, outer, vertical, lateral, longitudinal, counterclockwise, clockwise, circumferential, radial, axial … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first" or "second" etc. in the embodiments of the present invention, the description of "first" or "second" etc. is only for descriptive purposes, and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 6, an axial self-locking device for connecting an operation end and a control end of a robot comprises a fixing frame 1, and a self-locking mechanism 22 rotatably installed on the fixing frame 1, wherein a central shaft hole 28 for inserting a transmission rod 4 is arranged at the center of the self-locking mechanism 22, a self-locking block 25 for locking the inserted transmission rod 4 is arranged at the periphery of the central shaft hole 28, the self-locking block 25 is arranged in a radial channel communicated with the central shaft hole 28, the axial channel is communicated with the radial channel, a self-locking pin 26 is arranged in the radial channel and abuts against the self-locking block 25, the abutting end parts are inclined planes or cambered surfaces, and a self-locking spring 27 is arranged between one end of the axial channel and the self-locking pin 26.

The included angle between the axial channel and the radial channel can be different from 90 degrees, and the direct action of external force on the spring can be avoided through the included angle, so that the locking is more stable.

The end of the transmission rod 4, which is connected with the self-locking device and extends from the operation end, is provided with a chamfer, and a concave locking groove 42 is arranged on the side surface at a certain position from the end, as shown in figure 9. When the chamfer of the end part is pushed into the central shaft hole to touch with the self-locking block, the self-locking block can be pressed into the radial channel by the chamfer structure, and the chamfer can be an inclined chamfer or a round chamfer or other shapes, so long as the self-locking block can be pressed upwards when being pushed in. After the end of the transmission rod is inserted into place, the locking groove can be used for inserting the locking block into the locking groove to lock the transmission rod.

As shown in fig. 5 and 6, the self-locking block 25 may be spherical, i.e. a self-locking ball. When the transmission rod 4 is inserted into and is in contact with the end chamfer, the transmission rod can be quickly and smoothly pressed into the radial channel; when the transmission rod 4 is pulled out to prop against the edge of the locking groove, the edge of the locking groove can be pressed into the radial channel quickly, so that the insertion and pulling operation in the dismounting process is smoother.

The self-locking block 25 may also be "the bottom portion inserted into the locking slot is a cambered surface, and the top portion is a bevel surface matching with the self-locking pin 26", as shown in fig. 10. The self-locking pin 26 and the self-locking block 25 move in the channel more stably, the possibility of spring distortion is further avoided, and the stability of the locking state is further improved.

The self-locking block 25 may also be a cambered surface or an inclined surface at the top and inclined surfaces at two sides of the bottom in the insertion direction of the transmission rod, as shown in fig. 11 and 12. The automatic pressing-in requirement during the plugging can be met, and the quick assembly and disassembly of the transmission rod 4 can be realized.

The self-locking pin can be an arc surface, and the end part of the self-locking block which is abutted against the self-locking pin is an inclined surface; the self-locking pin can also be an inclined plane, and the end part of the self-locking block which is abutted against the self-locking pin is an inclined plane or an arc surface.

Referring to fig. 5, the fixing frame 1 includes a hollow cylindrical main body, one side of the main body extends out of the bottom plate to be fixed with the control end of the robot, an inward limit protrusion is provided on the inner edge of the circular bottom surface at one end of the main body, and a thread is provided on the inner edge of the circular bottom surface at the other end, and the fixing frame flange 3 is screwed thereon by the thread.

As shown in fig. 6, the self-locking mechanism 22 is installed in a space surrounded by the main body of the fixing frame 1 and the fixing frame flange 3, and is installed in a cylindrical hollow of the main body of the fixing frame 1 through a bearing 23, and can rotate relative to the main body of the fixing frame 1. The periphery of the self-locking device is provided with bearings 23, and a bearing sleeve 24 can be arranged between adjacent bearings 23.

The fixing frame can also be in a semi-cylindrical shape with an upward opening, the self-locking mechanism is arranged on the fixing frame through a bearing, and positioning pieces are arranged on two sides of the bearing to limit the lateral movement of the bearing.

As shown in fig. 7, the number of the self-locking blocks 25 may be more than two, and the radial channels for accommodating the self-locking blocks 25 and the axial channels for accommodating the self-locking pins 26 and the self-locking springs 27 may be more than two. And more than three self-locking blocks are preferably inserted into corresponding locking grooves on the transmission rod, so that the transmission rod can be locked more stably.

As shown in fig. 6, one side of the radial channel of the self-locking block 25 is opened by the self-locking mechanism 22, and the self-locking flange 21 is screwed on the opened side thereof to form the outer side wall of the radial channel, so that the self-locking block 25, the self-locking pin 26 and the self-locking spring 27 are limited in the respective channels. The self-locking spring 27, the self-locking pin 26 and the self-locking block 25 are convenient to install and detach through the detachable self-locking flange structure.

In order to prevent the self-locking piece 25 from falling out of the radial channel, a limiting part for preventing the self-locking piece 25 from falling out is required to be arranged at the bottom of the radial channel, or the size of the self-locking piece 25 is slightly larger than the bottom caliber of the radial channel.

As shown in fig. 1 and 5, the other end of the self-locking mechanism 22 opposite to the insertion direction of the transmission rod 4 is provided with a rotation shaft extending out of the fixing frame 1. The self-locking mechanism 22 can be driven to drive the inserted transmission rod 4 to rotate together by driving the rotation shaft to rotate. The rotation shaft can be driven to rotate by a motor through a gear transmission mechanism or a belt pulley transmission mechanism.

The position of one side of the fixing frame behind the rotating shaft can be further provided with a mounting frame 33 for mounting an angle sensor, as shown in fig. 6, for mounting the angle sensor for measuring the rotating angle of the self-locking mechanism, so that the control end can collect the rotating angle of the rotating shaft, and the accurate control of the rotating angle is realized.

The self-locking mechanism 22 is shaped like a cylinder, and as shown in fig. 6, the outer diameter of the self-locking mechanism is equal to the inner diameter of the bearing 23. One of the circular bottom surfaces of the self-locking mechanism 22 is completely closed and is provided with an outwardly protruding transmission shaft for being connected with a driving motor for controlling the rotation around the shaft, and the outer cylinder 222 of the self-locking mechanism 22 at the bottom surface is provided with an outwardly protruding limit convex ring for fixing the bearing 23 and the bearing sleeve 24; the other circular bottom surface of the self-locking mechanism 22 has an opening and the inner wall near the edge has threads for securing the self-locking flange 21. Meanwhile, the inside of the self-locking mechanism 22 is also provided with a cylindrical inner cylinder 224 concentric with the cylindrical outer cylinder 222, the height of the cylindrical inner cylinder 224 is slightly smaller than that of the outer cylinder 222 of the self-locking mechanism 22, one side of the cylindrical inner cylinder extends from the closed bottom surface of the self-locking mechanism 22 to the inside of the self-locking mechanism 22, and the other side of the cylindrical inner cylinder is provided with an opening.

The transmission rod 4 connected with the self-locking device and extending from the operation end can be provided with a limit concave table 42 on one side or two sides of the end, as shown in fig. 9. A limiting boss 225 matched with a limiting concave table of the transmission rod 4 can be arranged in the central shaft hole 28, the transmission rod is limited to relatively rotate in the central shaft hole 28 through the mutual fit of the two platforms, and the rotation moment can be transmitted, so that the self-locking mechanism and the transmission rod can rotate together. Meanwhile, through the matching structure, the limit on the insertion direction of the transmission rod can be provided, and the self-locking direction of the transmission rod can be limited without mutual alignment of the self-locking block and the locking groove, so that the locking groove on the transmission rod can be connected into a whole into a ring shape, as shown in fig. 9.

Claims (12)

1. The utility model provides an axial self-locking device, a serial communication port, including mount (1), rotatable self-locking mechanism (22) of installing on mount (1), set up on self-locking mechanism (22) and supply transmission pole (4) male central shaft hole (28), and central shaft hole (28) periphery is used for locking the self-locking piece (25) of male transmission pole (4), in the radial passageway of arranging in with central shaft hole (28) intercommunication, axial passageway and radial passageway intercommunication, self-locking pin (26) are arranged in wherein and are offset with self-locking piece (25), the tip that its offsets, one is the inclined plane, another is inclined plane or cambered surface, then set up self-locking spring (27) between axial passageway one end and self-locking pin (26).

2. The axial self-locking device according to claim 1, wherein the fixing frame (1) comprises a hollow cylindrical main body, one side of the main body extends out of the bottom plate to be fixed with the control end of the robot, the inner edge of the circular bottom surface at one end of the main body is provided with an inward limit bulge, the inner edge of the circular bottom surface at the other end of the main body is provided with threads, and the flange (3) of the fixing frame is screwed on the fixing frame through the threads.

3. The axial self-locking device according to claim 1, characterized in that the self-locking block (25) is spherical.

4. The axial self-locking device according to claim 1, characterized in that the bottom portion of the self-locking block (25) is inserted into the locking groove and the bottom portion is a cambered surface and the top portion is a bevel surface matching with the self-locking pin (26).

5. The axial self-locking device according to claim 1, characterized in that the top of the self-locking block (25) is a cambered surface or inclined surface and the two sides of the bottom transmission rod (4) in the insertion direction are inclined surfaces.

6. The axial self-locking device according to any one of claims 1 to 5, wherein the number of the self-locking blocks (25) is more than two, and the radial channels for accommodating the self-locking blocks (25) and the axial channels for accommodating the self-locking pins (26) and the self-locking springs (27) are more than two, and are uniformly distributed on the outer side of the circumference of the central shaft hole (28).

7. The axial self-locking device according to claim 6, wherein the self-locking mechanism (22) is installed in a space surrounded by the main body of the fixing frame (1) and the fixing frame flange (3), and is installed in a cylindrical hollow of the main body of the fixing frame (1) through a bearing (23) and can rotate relative to the main body of the fixing frame (1); the periphery of the self-locking mechanism (22) is provided with bearings (23), and a bearing sleeve (24) can be arranged between adjacent bearings (23).

8. The axial self-locking device according to any one of claims 1-7, characterized in that the self-locking mechanism (22) is mounted with one side open from the radial channel of the locking piece (25), the self-locking flange (21) being screwed onto its open side with its inner end face constituting the outer side wall of the radial channel, limiting the self-locking piece (25), the self-locking pin (26) and the self-locking spring (27) to the respective channels.

9. The axial self-locking device according to claim 8, wherein the self-locking mechanism (22) is provided with a rotating shaft extending out of the fixing frame (1) at the other end opposite to the insertion direction of the transmission rod (4).

10. The axial self-locking device according to any one of claims 1 to 9, characterized in that a limit part for preventing the self-locking piece (25) from falling out is arranged at the bottom of the radial channel, or the size of the self-locking piece (25) is slightly larger than the bottom caliber of the radial channel.

11. The axial self-locking device according to claim 10, wherein the rotation shaft is driven to rotate by a motor through a transmission mechanism.

12. The axial self-locking device of claim 11, wherein the transmission mechanism is a gear transmission mechanism or a pulley transmission mechanism.