CN117386733A

CN117386733A - Clutch trolley based on minimally invasive surgery robot

Info

Publication number: CN117386733A
Application number: CN202311703479.0A
Authority: CN
Inventors: 甘泉; 孙源池; 钟鹏飞; 骆威
Original assignee: Innolcon Medical Technology Suzhou Co Ltd
Current assignee: Innolcon Medical Technology Suzhou Co Ltd
Priority date: 2023-12-13
Filing date: 2023-12-13
Publication date: 2024-01-12
Anticipated expiration: 2043-12-13
Also published as: CN117386733B

Abstract

The application relates to the technical field of medical equipment and provides a clutch dolly based on minimally invasive surgery robot, including wheel, first driving disk and pulling the subassembly. The first driving disk is connected with the wheel through a spline, and the pulling assembly is connected with one side, far away from the wheel, of the first driving disk. The pulling assembly comprises a clutch claw disc, a hook-shaped structure is arranged at the end part of the clutch claw disc, a concave structure extending along the circumferential direction is arranged at the periphery of the first transmission disc, and the hook-shaped structure is positioned in the concave structure. Under the action of external force, the clutch claw disc can drive the first transmission disc to move along the direction of the central axis of the wheel away from the wheel through the hook-shaped structure until the spline is separated from the spline groove, and the first transmission disc is separated from the wheel. Through setting up and pulling the subassembly, realized carrying out the power separation of wheel through the manpower, can satisfy the urgent demand of moving of minimally invasive surgery robot under the unusual condition. Meanwhile, the clutch trolley is compact in structure, small in occupied space, lower in cost, convenient to assemble and beneficial to overhaul.

Description

Clutch trolley based on minimally invasive surgery robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a clutch trolley based on a minimally invasive surgery robot.

Background

Minimally invasive surgery refers to a surgical mode performed inside a human body cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

However, the minimally invasive instrument used in the minimally invasive surgery is limited by the size of the incision, the operation difficulty is greatly increased, and actions such as fatigue, tremble and the like of a doctor in the long-time operation process are amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.

Before performing a minimally invasive surgery, a positioning operation needs to be performed on the minimally invasive surgical robot. Generally, the bottom of the minimally invasive surgery robot is connected with a chassis trolley, and the positioning operation of the minimally invasive surgery robot can be realized by driving the chassis trolley to move. At present, the chassis trolley widely adopts a double-wheel direct-drive differential driving mode, and the driving mode can realize the in-situ rotation and large-angle turning of the minimally invasive surgery robot, so that the chassis trolley is a driving mode with better flexibility.

In general, most chassis trolleys are provided with a clutch device, and the connection between the wheels of the chassis trolleys and a motor can be cut off through the clutch device, so that the emergency movement of the minimally invasive surgery robot is realized.

At present, the existing clutch device needs electric power matching, and under electric power driving, the clutch device can control the separation of the wheels and the motor of the chassis trolley, so that the emergency movement of the minimally invasive surgery robot is realized. And when the special conditions of incapability of moving caused by sudden events such as power failure, abnormal power supply and the like or mechanical faults caused by the blocking of parts are met, the separation of the wheels and the motor cannot be controlled through the clutch device, and the moving requirement of the minimally invasive surgery robot cannot be met.

Disclosure of Invention

The application provides a separation and reunion dolly based on minimally invasive surgery robot to solve the unable technical problem that can't satisfy minimally invasive surgery robot's the requirement of moving that uses under the no electric power cooperation of current clutch.

The application provides a clutch dolly based on minimally invasive surgery robot includes: a wheel; one end of the first transmission disc is in spline connection with the wheel, and the central shaft of the wheel is coincident with the central shaft of the first transmission disc; the wrenching component is connected with the other end of the first transmission disc and is configured to: under the action of external force, the first driving disc is driven to move along the central axis of the wheel in a direction away from or close to the wheel so as to separate or connect the first driving disc and the wheel; the wrenching component comprises a clutch claw disc, the end part of the clutch claw disc is of a hook-shaped structure, a circumferentially extending concave structure is arranged on the peripheral wall surface of the first transmission disc, and the hook-shaped structure is positioned in the concave structure; wherein the clutch plate is configured to: under the action of external force, the first transmission disc moves along the central axis of the wheel in a direction away from the wheel so as to pull the first transmission disc away from the wheel, so that the first transmission disc is separated from the wheel; and under the action of external force, the first transmission disc moves along the central axis of the wheel in the direction approaching the wheel so as to drive the first transmission disc to approach the wheel, and the first transmission disc is connected with the wheel.

In some embodiments, the trigger assembly further comprises: the handle comprises a holding end and a mounting end which are connected, and a clutch is arranged on the mounting end; the eccentric wheel is connected with the clutch and can rotate along with the handle, and the clutch is used for limiting the rotation direction of the eccentric wheel; one end of the follower is connected with the eccentric wheel, and the other end of the follower is connected with the clutch claw disc; wherein the eccentric is configured to: when the clutch is rotated, the follower is driven to displace along the central axis of the wheel, so that the clutch claw is close to or far from the wheel.

In some embodiments, the clutch trolley further comprises: the second mounting plate is vertically arranged and provided with mounting holes; the motor penetrates through the mounting hole and is connected with the first transmission disc; the clutch claw disc comprises a middle connecting plate and clutch claws connected to two sides of the middle connecting plate, and the hook-shaped structure is positioned at the end part of the clutch claws; the intermediate link is connected with the follower and is located on a side of the second mounting plate facing away from the first drive disk, wherein the intermediate link is configured to: and the moving direction of the driven follower and the middle connecting plate is the same as the moving direction of the follower.

In some embodiments, the intermediate link plate is pinned to the follower.

In some embodiments, the clutch plate further comprises an elastic guide member disposed on the clutch plate, and having one end abutting against a side of the second mounting plate facing away from the first transmission plate, the elastic guide member extending in an axial direction of the first transmission plate; the resilient guide is configured to: the position of the clutch claw disc along the central axis direction of the first transmission disc is regulated so that after the first transmission disc is connected with the wheel, the hook-shaped structure and the wall surface of the concave structure are arranged at intervals.

In some embodiments, the hooked structure is located around the outside of the second mounting plate; the clutch trolley further comprises: the universal bull's eye wheel sets up the both ends at the second mounting panel, and the mounting hole is located between two universal bull's eye wheels, and universal bull's eye wheel and clutch claw upper surface rolling contact.

In some embodiments, the clutch comprises: the poking block penetrates through the mounting end and can rotate relative to the mounting end; the non return piece, rotate with the plectrum and be connected, the plectrum is configured as: the position of the check piece is adjusted through rotation, so that the check piece limits the rotation direction of the eccentric wheel; wherein: when the shifting block rotates in the first direction, the check piece limits the handle to rotate in the second direction, so that the eccentric wheel pushes the follower to generate relative displacement in a direction away from the wheel from the initial position; when the shifting block rotates along the third direction, the non-return piece limits the handle to rotate along the fourth direction, so that the follower is restored to the initial position; the first direction is opposite to the third direction and the second direction is opposite to the fourth direction.

In some embodiments, the trigger assembly further comprises: the gear is arranged between the clutch and the eccentric wheel and coaxially rotates with the eccentric wheel; the dial is configured to: by adjusting the position of the check member, the rotational direction of the handle is restricted, and thus the rotational direction of the gear is restricted.

In some embodiments, the number of the check pieces is two, and the two check pieces are symmetrically arranged on two sides of the shifting block; the clutch also comprises a rotating block, the rotating block is connected with the shifting block, the rotating block comprises a protruding end, and the protruding end is positioned between the two non-return pieces; the rotating block is configured to: the driven shifting block rotates to enable the protruding end to move towards the direction approaching to or away from the check pieces, one check piece of the two check pieces is abutted between any two teeth of the gear, and the two check pieces limit the rotation direction of the gear to be opposite.

In some embodiments, the mounting end comprises a root handle and a cover plate buckled on the root handle, and the shifting block is arranged on the cover plate; the root handle comprises a bottom plate and two side plates, an opening structure is enclosed between the bottom plate and the two side plates, and the check piece and the rotating block are arranged on the bottom plate and positioned in the opening structure; the opening structure comprises a first end close to the holding end and a second end far away from the holding end, and the opening width of the first end is smaller than that of the second end. In some embodiments, the clutch further comprises a first elastic member, the side plate is provided with a mounting groove, one end of the first elastic member is connected with the groove wall of the mounting groove, and the other end of the first elastic member is connected to the wall surface of the non-return member facing to one side of the mounting groove; wherein, first elastic component, mounting groove and check one-to-one.

In some embodiments, the clutch further comprises a first elastic member, one end of the first elastic member is connected with the rotating block, and the other end of the first elastic member is connected with a wall surface of the non-return member facing to one side of the rotating block; wherein, first elastic component and check piece one-to-one.

In some embodiments, the check is a latch or detent.

In some embodiments, the root handle further comprises a top plate, the top plate and the bottom plate are staggered, and one end of the top plate extends to the second end of the opening structure; the two side plates are connected with the other end of the top plate at the second end of the opening structure through a curved surface structure; wherein, roof, two curb plates and curved surface structure enclose into annular installation region, and the gear setting is in the installation region.

In some embodiments, the clutch trolley further comprises: the fixed mount is arranged between the gear and the eccentric wheel, the gear is arranged on the fixed mount, and the root handle is arranged on the upper surface of the fixed mount; the step shaft is connected between the fixed frame and the eccentric wheel; and the two deep groove ball bearings are arranged on two sides of the step shaft.

In some embodiments, the gear is a ratchet.

In some embodiments, the first mounting plate is horizontally arranged, the lower surface of the fixing frame is attached to the first mounting plate, and the eccentric wheel and the follower are positioned on one side of the first mounting plate, which is away from the fixing frame; wherein the first mounting plate is connected with the upper surface of the second mounting plate; the trigger assembly further includes: the two limiting pieces are arranged on the lower surface of the first mounting plate, are respectively arranged on two sides of the eccentric wheel and are positioned on the rotating path of the eccentric wheel; the limiter is configured to: limiting the rotation angle of the eccentric wheel.

In some embodiments, the clutch trolley further comprises: one end of the second transmission disc is connected with the first transmission disc through a second elastic piece, and the other end of the second transmission disc is connected with the motor; the second driving disc is overlapped with the central shaft of the first driving disc, and the extending direction of the second elastic piece is the same as the extending direction of the central shaft of the second driving disc.

In some embodiments, a mounting bracket is coupled to the first mounting plate, the mounting bracket for mounting the wheel; the crossed roller bearing is arranged between the mounting frame and the wheel.

In some embodiments, the right angle planetary reducer is connected with the motor at one end and the second transmission disc at the other end; the wheel is an encapsulated wheel.

The application provides a clutch dolly based on minimally invasive surgery robot, including wheel, first driving disk and pulling the subassembly. The first driving disk is connected with the wheel through a spline, and the pulling assembly is connected with one side, far away from the wheel, of the first driving disk. The pulling assembly comprises a clutch claw disc, a hook-shaped structure is arranged at the end part of the clutch claw disc, a circumferentially extending concave structure is arranged on the peripheral wall surface of the first transmission disc, and the hook-shaped structure is positioned in the concave structure. Under the action of external force, the clutch claw disc can drive the first transmission disc to move along the direction of the central axis of the wheel away from the wheel through the hook-shaped structure until the spline is separated from the spline groove, and the first transmission disc is separated from the wheel. And under the action of external force, the clutch claw disc can drive the first transmission disc to move along the direction of the central axial direction of the wheel, which is close to the wheel, until the spline is meshed in the spline groove, and the first transmission disc is connected with the wheel. Through setting up pulling the subassembly, realized carrying out the power separation of wheel through the manpower, can satisfy the urgent demand of moving of minimally invasive surgery robot under the unusual condition, clutch dolly structure is comparatively compact simultaneously, occupation space is little, and the cost is lower, and convenient assembling does benefit to the maintenance.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic view of a partial structure of a clutch trolley according to an embodiment of the present application;

FIG. 2 is a partial exploded view of a clutch trolley provided in an embodiment of the present application;

FIG. 3 is a partial cross-sectional view of a clutch trolley provided in an embodiment of the present application;

FIG. 4 is a partial schematic view of FIG. 3 at A;

FIG. 5 is a partial schematic view of FIG. 3 at B;

FIG. 6 is an exploded view of a trigger assembly provided in an embodiment of the present application;

FIG. 7 is an exploded view of a mounting end provided in an embodiment of the present application;

FIG. 8 is a side view of a wheel coupled to a first drive disk provided in an embodiment of the present application;

FIG. 9 is a top view of a wheel coupled to a first drive disk according to an embodiment of the present application;

FIG. 10 is a side cross-sectional view of a wheel provided in an embodiment of the present application as separated from a first drive disk;

FIG. 11 is a top view of a wheel provided in an embodiment of the present application separated from a first drive disk;

Fig. 12 is a schematic diagram of the overall structure of a chassis of the clutch trolley according to the embodiment of the application.

The graphic indicia:

100-clutch trolley;

11-wheels; 12-a first drive disk;

13-a trigger assembly; 130-clutch pawls; 130 a-hook structure; 1301-middle connecting plate; 1302-clutch pawls; 1303-resilient guides;

131-handle; 131 a-a gripping end; a1-a grip lever; a2-a grip; 131 b-mounting end; 1311-root stalk; 13111-bottom panel, 13112-side panels; 13112 a-mounting slots; 13113-roof; 13114-curved structures; 1312-cover plate; 131 c-opening structure; c1-a first end; c 2-a second end; 132 d-mounting area;

132-clutch; 1321-a dial; 1322-check; 1323-rotating block; 1324-a first elastic member;

133 eccentric; 134-follower; 135-gear; 136-a limiting piece; 137-fixing frame; 138-step shaft; 139-deep groove ball bearings;

14-a second mounting plate, 14 a-mounting holes; 15-an electric motor; 16-universal bull's eye wheel; 17-a first mounting plate; 18-a second driving disc, 19-a second elastic member; 20-mounting rack; 21-crossed roller bearings; 22-right angle planetary reducer.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments of the present application, other embodiments that may be obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of the present application.

Hereinafter, the terms "first," "second," and the like are used for descriptive purposes only and are 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", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

Furthermore, in this application, the terms "upper," "lower," "inner," "outer," and the like are defined relative to the orientation in which components are schematically depicted in the drawings, and it should be understood that these directional terms are relative terms, which are used for descriptive and clarity relative, and which may vary accordingly depending on the orientation in which components are depicted in the drawings.

At present, the existing clutch device needs electric power matching, and under electric power driving, the clutch device can control the separation of wheels and motors of a chassis trolley, so that the emergency movement of the minimally invasive surgery robot is realized. And when the special conditions of incapability of moving caused by sudden events such as power failure, abnormal power supply and the like or mechanical faults caused by the blocking of parts are met, the separation of the wheels and the motor cannot be controlled through the clutch device, and the moving requirement of the minimally invasive surgery robot cannot be met.

In order to solve the technical problem, the embodiment of the application provides a clutch dolly based on minimally invasive surgery robot, and this clutch dolly can realize the separation of wheel and motor under the circumstances that does not rely on electric drive, satisfies the urgent requirement of moving of minimally invasive surgery robot under the unusual circumstances, and the structure is comparatively compact, occupation space is little, practices thrift the cost, conveniently overhauls, has saved the connecting time of external power supply and clutch dolly simultaneously, does not influence the operation progress.

Fig. 1 is a schematic partial structure of a clutch trolley according to an embodiment of the present application.

Fig. 2 is a partially disassembled view of a clutch trolley provided in an embodiment of the present application.

Fig. 3 is a partial cross-sectional view of a clutch trolley provided in an embodiment of the present application.

Fig. 4 is a partial schematic view of fig. 3 at a.

Fig. 5 is a partial schematic view of fig. 3 at B.

Referring to fig. 1 to 5, the clutch trolley 100 includes wheels 11, a first drive plate 12, and a pulling assembly 13.

Wherein, one end of the first driving disc 12 and the wheel 11 can be connected through a spline, and the central axis of the wheel 11 coincides with the central axis of the first driving disc 12.

Specifically, the first transmission disc 12 may be provided with a spline, and the wheel 11 may be provided with a spline groove corresponding to the spline. The spline may be an outwardly protruding block-like structure and the spline groove may be an inwardly recessed groove-like structure. The spline on the first transmission disc 12 can be embedded into the spline groove of the wheel 11, so that the spline and the spline groove are meshed, and thus, the first transmission disc 12 and the wheel 11 are in a connected state, and the first transmission disc 12 can rotate synchronously with the wheel 11.

The trigger assembly 13 is connected to the other end of the first transmission disc 12 remote from the wheel 11. In this embodiment, the pulling assembly 13 may be used to control the connection between the first driving disc 12 and the wheel 11, for example: the first transmission disc 12 is controlled to be separated from the wheel 11, or the first transmission disc 12 is controlled to be connected with the wheel 11.

Specifically, the pulling assembly 13 may drive the first driving disk 12 to move away from or toward the wheel 11 in a direction in which the center axis of the wheel 11 is away from or toward the wheel 11 by an external force, so that the first driving disk 12 and the wheel 11 are separated or coupled.

When the wrenching component 13 drives the first driving disk 12 to move along the direction of the central axial direction of the wheel 11, which is close to the wheel 11, the spline gradually moves into the spline groove until the spline is completely embedded into the spline groove, so that the spline and the spline groove are engaged, and the first driving disk 12 and the wheel 11 are in a connected state. When the pulling assembly 13 drives the first driving disk 12 to move along the central axial direction of the wheel 11 in a direction away from the wheel 11, the spline gradually slides out of the spline groove until the spline completely slides out of the spline groove, so that the first driving disk 12 and the wheel 11 are in a separated state.

It should be noted that, in the embodiment of the present application, the pulling assembly 13 is controlled by manpower, and no electric drive is required, so that when the minimally invasive surgery robot works, if an emergency such as power failure, abnormal power supply, etc. or a special condition that the component is blocked and cannot be moved due to a mechanical failure occurs, the pulling assembly 13 can control the separation of the first driving disc 12 and the wheel 11, so as to realize the operations such as emergency movement of the minimally invasive surgery robot. Engagement of the first drive disk 12 with the wheel 11 can also be achieved by pulling the assembly 13 after power is restored.

In one particular implementation, the wheel 11 is an encapsulated wheel. The rubber-coated wheel has the advantages of wear resistance, skid resistance and noise reduction, can be better matched with the movement of a minimally invasive surgery robot, and is more suitable for the use environment of minimally invasive surgery than other types of wheels. In other preferred embodiments, the tire material of the wheel 11 may be rubber, polyurethane, TPU, or the like.

With continued reference to fig. 1 and 2, the trigger assembly 13 includes a clutch plate 130, the clutch plate 130 being disposed on a side of the first drive plate 12 facing away from the wheel 11, and the clutch plate 130 being connectable to the first drive plate 12. The clutch plate 130 may have a hook-shaped structure 130a at an end thereof, and the outer circumferential wall surface of the first driving plate 12 is provided with a recess structure extending in a circumferential direction. The hook-like structure 130a may be located in the recessed structure in a state in which the wheel 11 is connected with the first transmission disc 12.

The hook structure 130a of the clutch plate 130 may be formed with an end bent toward the central axis of the first driving plate 12. The concave structure of the first driving disc 12 may be an annular groove formed along the peripheral wall surface of the first driving disc 12, and the central axis of the groove structure coincides with the central axis of the first driving disc 12.

The clutch plate 130 may be moved in a direction away from the wheel 11 along a central axis of the wheel 11 by an external force to pull the first driving plate 12 away from the wheel 11, so that the first driving plate 12 is separated from the wheel 11.

Specifically, the clutch plate 130 is movable in a direction away from the wheel 11 along the center axis of the wheel 11 by an external force. During movement of the clutch plate 130 in a direction away from the wheel 11, the hook-like structure 130a may abut against a wall surface of the recessed structure facing away from the wheel 11. In this way, under the action of external force, the clutch claw disc 130 can pull the first driving disc 12 to move in a direction away from the wheel 11, so that the spline on the first driving disc 12 slides out from the spline groove on the wheel 11, and the first driving disc 12 is separated from the wheel 11.

The clutch plate 130 may also be moved in a direction approaching the wheel 11 along the central axis of the wheel 11 by an external force to push the first driving plate 12 to approach the wheel 11, so that the first driving plate 12 is engaged with the wheel 11.

Specifically, the clutch plate 130 is movable in a direction approaching the wheel 11 along the center axis of the wheel 11 by an external force. During the movement of the clutch pawl 130 toward the wheel 11, the hook-like structure 130a may abut against the wall surface of the recessed structure toward the wheel 11 and push the first driving disk 12 to move toward the wheel 11, so that the spline on the first driving disk 12 is engaged with the spline groove of the wheel 11 and the first driving disk 12 is connected to the wheel 11.

It should be noted that, in the pulling assembly 13 provided in the embodiment of the present application, the clutch plate 130 can drive the first driving plate 12 to move away from or towards the wheel 11 under the action of different external forces, so as to drive the first driving plate 12 to be separated from or connected with the wheel 11.

According to the clutch trolley 100 based on the minimally invasive surgery robot, provided by the embodiment of the application, due to the fact that the pulling assembly 13 is arranged, under the abnormal condition that the wheels 11 cannot be braked due to the fact that sudden events such as power failure and power supply abnormality or mechanical faults such as component blocking and the like can not be generated, an operator can separate the first transmission disc 12 from the wheels 11 under the condition of independent electric driving through the pulling assembly 13, so that the emergency moving requirement of the minimally invasive surgery robot under the abnormal condition is met, the connection time of an external power supply and the clutch trolley 100 under the abnormal condition is saved, and the operation progress is prevented from being influenced. In addition, the clutch trolley 100 is compact in structure, small in occupied space, lower in cost and convenient to overhaul. Because minimally invasive surgery robot part is accurate, the overall arrangement is compact, if the clutch dolly 100 counter weight that is connected with it is great, can influence minimally invasive surgery robot's whole discernment precision, influences its operation precision in minimally invasive surgery, this application is just also taking into account the operation precision of robot in the operation, consequently rationally sets up clutch dolly 100's inside setting, makes it carry out the structure fine setting on current overall arrangement's basis to make it rationally set up whole counter weight under the reasonable prerequisite of structural arrangement.

FIG. 6 is an exploded view of a wrench assembly provided in an embodiment of the present application.

Fig. 7 is an exploded view of a mounting end provided in an embodiment of the present application.

As shown in connection with fig. 2, 5, 6, and 7, in some embodiments, the trigger assembly 13 may further include a handle 131, a clutch 132, an eccentric 133, a gear 135, and a follower 134.

The handle 131 includes a gripping end 131a and a mounting end 131b that are connected. The gripping end 131a and the mounting end 131b may be located above the first driving disk 12, the mounting end 131b being close to the first driving disk 12, the gripping end 131a being remote from the first driving disk 12 with respect to the mounting end 131b. Specifically, the holding end 131a may include a holding rod a1 and a holding portion a2, the holding rod a1 is connected between the holding portion a2 and the mounting end 131b, the holding rod a1 may be a long rod structure, and a cross-sectional dimension of the holding portion a2 may be greater than a cross-sectional dimension of the holding rod a1, so that an operator may use the holding rod conveniently.

In one particular implementation, referring to fig. 7, the mounting end 131b includes a root handle 1311 and a cover plate 1312, the cover plate 1312 snap-fitting over the root handle 1311. The root handle 1311 comprises a bottom plate 13111, a top plate 13113 and two side plates 13112, wherein the bottom plate 13111 and the top plate 13113 are staggered, and an opening structure 131c is enclosed between the bottom plate 13111 and the two side plates 13112. The top plate 13113, the two side plates 13112 and the curved surface structure 13114 enclose an annular mounting area 132d.

As shown in fig. 2, 5, 6 and 7, the clutch 132 is provided in the opening structure 131c, and one end of the clutch 132 may be connected to the cover plate 1312 and the other end may be connected to the gear 135, and the clutch 132 serves to limit the rotational direction of the handle 131.

The gear 135 is disposed between the clutch 132 and the eccentric gear 133 and is disposed in the annular mounting area 132d, and the gear 135 can rotate with the driven handle 131 and drive the eccentric gear 133 to coaxially rotate by rotating itself.

One side of the eccentric 133 is indirectly connected with the clutch 132 through the gear 135, one side remote from the gear 135 may be connected with the follower 134, and the eccentric 133 may be rotated by the handle 131. Wherein the clutch 132 can limit the rotational direction of the eccentric 133 through the handle 131 and the gear 135.

The end of the follower 134 remote from the eccentric 133 is connected to the clutch plate 130.

In this way, when the handle 131 is rotated by an external force, the eccentric wheel 133 is rotated by the handle 131, and the rotation direction of the eccentric wheel 133 and the handle 131 can be the same. During rotation of the eccentric 133, the eccentric 133 may push the follower 134 to generate a minute rotation and simultaneously displace the follower 134 in a direction approaching or separating from the wheel 11. Thus, the eccentric wheel 133 drives the follower 134 to displace the follower 134 along the central axis of the wheel 11, and the clutch pawl 130 moves toward or away from the wheel 11 under the driving of the follower 134, so that the spline is engaged with or disengaged from the spline groove, thereby connecting or disconnecting the first driving disk 12 with or from the wheel 11.

In one particular implementation, referring to FIG. 6, the clutch 132 includes a shift block 1321, a rotational block 1323, a check member 1322, and a first elastic member 1324.

The dial block 1321 penetrates the cover plate 1312 of the mounting end 131b, the upper portion of the dial block 1321 may be a block structure, the lower portion may be a rod-shaped structure connected with the block structure, the upper portion may be located on the cover plate 1312, the lower portion may penetrate the cover plate 1312 and be located under the cover plate 1312, and the dial block 1321 may rotate relative to the mounting end 131 b. The dial 1321 may rotationally adjust the position of the check 1322 such that the check 1322 may limit the rotational direction of the handle 131 and thus the rotational direction of the eccentric 133.

The rotation block 1323 is provided under the cover plate 1312 and is coupled to the shift block 1321. The rotating block 1323 may be connected to a lower rod-shaped structure of the dial 1321 extending out of the cover 1312, the rotating block 1323 rotates following the dial 1321, and the rotating block 1323 may rotate in the same direction in synchronization with the dial 1321.

The check 1322 may be rotatably coupled to the shift block 1321 by a rotation block 1323. Specifically, the bottom of the check member 1322 may be mounted on the bottom plate 13111, and the top may be mounted on the cover plate 1312, with the end distal from the rotation block 1323 extending in a direction toward the gear 135. Wherein the number of the check members 1322 may be two. Two check members 1322 are symmetrically disposed on either side of the dial 1321. The rotating block 1323 also includes a protruding end that may be located between the two check members 1322.

In one particular implementation, referring to FIG. 6, the check 1322 may be a latch, or a pawl (not shown). By arranging the check member 1322 in the form of a clamping block or a pawl, the structure is simple and the disassembly and the assembly are convenient on the premise of playing a role in checking.

The protruding end of the rotating block 1323 may move in a direction approaching or separating from the check member 1322 in a state of being driven to rotate by the shift block 1321, so that one check member 1322 of the two check members 1322 abuts between any two teeth of the gear 135, and the two check members 1322 restrict the rotation direction of the gear 135 to be opposite.

The first elastic member 1324 has one end connected to the check member 1322 and the other end connected to the side plate 13112 or the rotation block 1323.

Specifically, in one possible implementation, the side plate 13112 is provided with a mounting groove 13112a, and one end of the first elastic member 1324 is connected to a groove wall of the mounting groove 13112a, and the other end is connected to a wall surface of the check member 1322 on a side facing the mounting groove 13112 a. Wherein the first elastic member 1324, the mounting groove 13112a, and the check member 1322 are disposed in one-to-one correspondence. That is, the number of the first elastic member 1324, the mounting groove 13112a, and the check member 1322 may be two. Because the space in the bottom plate 13111 is limited, by providing the mounting groove 13112a, the mounting space is effectively saved and the structural layout is rationalized on the premise of not affecting the clutch effect.

In this implementation, referring to fig. 6, during the operator pulling the dial 1321 to rotate in the preset direction, the rotation block 1323 may be driven by the dial 1321 to also rotate in the preset direction. During the rotation of the rotating block 1323, the rotating block 1323 moves toward one of the two non-return members 1322 until the non-return member 1322 is attached to the wall surface of the non-return member 1322, and pushes the non-return member 1322 to move to the limit position along the preset direction, and the first elastic member 1324 connected to the non-return member 1322 is compressed to the state with the shortest length. While the first elastic member 1324 coupled to the other check member 1322 maintains a natural state in a state of not being compressed by an external force such that an end portion of the other check member 1322 is abutted between any two teeth of the gear 135, thereby restricting a rotation direction of the handle 131.

Specifically, unlike the above-described embodiments, in another possible embodiment, one end of the first elastic member (not shown) is connected to the rotating block 1323, and the other end is connected to a wall surface of the check member 1322 facing the side of the rotating block 1323. Wherein, the first elastic members are in one-to-one correspondence with the check members 1322. That is, in this implementation, the first elastic member is connected between the rotating block 1323 and the check member 1322.

In this implementation, the rotation block 1323 may be driven by the dial 1321 to rotate in a predetermined direction as well as rotate in the predetermined direction when the operator pulls the dial 1321 to rotate in the predetermined direction. During the rotation of the rotating block 1323, the rotating block 1323 moves towards one of the two non-return members 1322 until, in a state that the rotating block 1323 moves to be attached to the wall surface of the non-return member 1322, the first elastic member located between the rotating block 1323 and the non-return member 1322 is compressed, and the other first elastic member is in a stretched state due to the rotation of the rotating block 1323, the non-return member 1322 connected with the rotating block is pulled to rotate, and the end portion of the non-return member 1322 is abutted between any two teeth of the gear 135 under the drive of the stretched first elastic member, so that the rotation direction of the handle 131 is limited.

For example, when the dial 1321 rotates in the first direction, the check member 1322 limits the eccentric 133 to rotate in the second direction by the handle 131, and the handle 131 can only rotate in the second direction, so that the eccentric 133 can be limited to rotate in the second direction, so that the eccentric 133 pushes the follower 134 to displace from the initial position in a direction away from the wheel 11 along the center axis of the wheel 11.

The first direction may be clockwise, the second direction may be counterclockwise, or the first direction may be counterclockwise, and the second direction may be clockwise. The first direction and the second direction may be both clockwise, or the first direction and the second direction may be both counterclockwise.

For example, when the dial block 1321 rotates along the third direction, the check member 1322 drives the gear 135 to rotate along the fourth direction through the handle 131, so as to drive the eccentric wheel 133 to rotate along the fourth direction, so as to limit the eccentric wheel 133 to rotate along the fourth direction, the thrust force acting on the follower 134 by the eccentric wheel 133 disappears, and the follower 134 can displace along the central axis of the wheel 11 in the direction approaching the wheel 11, so that the follower 134 returns to the initial position. Wherein the first direction is opposite to the third direction and the second direction is opposite to the fourth direction.

The third direction may be counterclockwise, the fourth direction may be clockwise, or the third direction may be clockwise, and the fourth direction may be counterclockwise. The third direction and the fourth direction may be counterclockwise, or the third direction and the fourth direction may be clockwise. The clockwise and counterclockwise directions may be directions when the dial 1321 is viewed from above.

In some possible implementations, referring to fig. 7, the opening structure 131c may include a first end c1 proximate to the grip end 131a and a second end c2 distal from the grip end 131a, the opening width of the first end c1 being smaller than the opening width of the second end c2. That is, the opening structure 131c may be a structure in which the cross-sectional width gradually varies.

Specifically, the opening width is increased in the process of extending away from the grip end 131 a. Thus, the opening structure 131c for mounting one end of the rotation block 1323 is small in size, and the opening structure 131c is gradually enlarged along the extending direction of the check member 1322, thereby facilitating the rotation block 1323 to toggle the check member 1322. The opening structure 131c is mainly sized to achieve better installation and toggle of the check member 1322.

In some possible implementations, referring to fig. 7, one end of the top plate 13113 extends to the second end c2 of the opening structure 131 c. The two side plates 13112 are connected to the other end of the top plate 13113 at the second end c2 of the opening structure 131c by a curved structure 13114. That is, in the upper position of the root handle 1311, there is a top plate 13113 on one side and no top plate on the other side, and the cover plate 1312 is provided to cover the side without the top plate.

In this way, the handle 131 is properly configured to provide installation space for the gear 135, the dial block 1321, the rotational block 1323 and the check member 1322.

Fig. 8 is a side view of a wheel provided in an embodiment of the present application in connection with a first drive disk.

Fig. 9 is a top view of a wheel coupled to a first drive disk according to an embodiment of the present application.

For example, referring to fig. 8 and 9, when the dial 1321 is shifted in the clockwise direction, the rotational block 1323 rotates clockwise along with the dial 1321, and the rotational block 1323 may push the check 1322 in the C direction until the rotational block 1323 pushes the C direction check 1322 to move to the limit position, and the first elastic member 1324 in the C direction is compressed to the shortest length. Meanwhile, the first elastic member 1324 in the D direction is not pushed and pops up in the C direction, so as to drive the check member 1322 in the D direction to move a small distance in the C direction until the first elastic member 1324 in the D direction is in a non-telescopic state, and the end of the check member 1322 in the D direction abuts between any two teeth of the gear 135, so that the handle 131 can only drive the gear 135 to rotate in the clockwise direction. At this time, the first transmission disc 12 is in a connected state with the wheel 11.

Fig. 10 is a side view of a wheel provided in an embodiment of the present application separated from a first drive disk.

Fig. 11 is a top view of a wheel provided in an embodiment of the present application separated from a first drive disk.

Referring to fig. 10 and 11, when the dial 1321 is shifted in the counterclockwise direction, the rotation block 1323 rotates counterclockwise following the dial 1321, and the dial 1321 shifts the check 1322 in the D direction, so that the check 1322 in the C direction restricts the rotation of the gear 135, and the end of the check 1322 in the C direction abuts between any two teeth of the gear 135, so that the handle 131 can only drive the gear 135 to rotate in the counterclockwise direction, and the eccentric wheel 133 pushes the follower 134 to move in a direction away from the wheel 11, and the first transmission disc 12 is separated from the wheel 11.

When the first driving disc 12 is in reset connection with the wheel 11, the position shown in fig. 8 and 9 can be recovered by only reversely rotating the shifting block 1321 and rotating the handle 131 to drive the eccentric wheel 133 to rotate through the handle 131.

The clutch trolley 100 also includes a second mounting plate 14. The second mounting plate 14 is located between the first drive plate 12 and the clutch plate 130, and the second mounting plate 14 is disposed vertically. The second mounting plate 14 is provided with mounting holes 14a.

The hook-like structure 130a at the end of the clutch pawl 1302 is looped around the outside of the second mounting plate 14 such that the hook-like structure 130a is positioned within the recessed structure when the first drive disk 12 is coupled to the wheel 11.

In a specific implementation, with continued reference to fig. 2 and 10, the clutch plate 130 includes an intermediate link 1301 and a clutch plate 1302, the clutch plate 1302 is connected to two sides of the intermediate link 1301, the intermediate link 1301 may be a flat plate structure disposed horizontally, and the intermediate link 1301 is located on a side of the second mounting plate 14 away from the first driving plate 12, and the follower 134 may be connected to the flat plate structure. The clutch claw 1302 may be a semicircular arc structure with a top connected to two sides of the intermediate connection plate 1301, and an opening of the semicircular arc structure may face a side facing away from the handle 131, where a central axis of the semicircular arc structure coincides with a central axis of the first transmission disc 12. At the left and right ends of the semicircle shape, a hook-shaped structure 130a is provided which is bent in a direction approaching the central axis of the first driving disk 12.

In this way, the follower 134 is connected to the clutch plate 130 through the intermediate link 1301, and when the follower 134 is driven by the eccentric 133 and generates displacement in a direction approaching or separating from the wheel 11, the intermediate link 1301 follows the follower 134 and generates displacement in the same direction, so that the hook structure 130a moves in a direction approaching or separating from the wheel 11 following the intermediate link 1301. And the two hook-shaped structures 130a can respectively hook the two sides of the first driving disk 12, so that the first driving disk 12 is uniformly stressed, and the stability of integral braking is improved.

The follower 134 and the intermediate connection plate 1301 may be connected by any means, as long as the overall stability after connection is ensured. By way of example, the connection means may include pin connection, screw connection, snap connection, or the like.

In one particular implementation, the intermediate link 1301 is pinned to the follower 134.

With continued reference to fig. 2 and 10, the clutch plate 130 further includes an elastic guide 1303, the elastic guide 1303 being disposed on the clutch plate 1302 with one end abutting against a side of the second mounting plate 14 facing away from the first transmission plate 12, the elastic guide 1303 extending in an axial direction of the first transmission plate 12.

Specifically, the elastic guide 1303 includes a screw that can be threaded on the clutch pawl 1302, the tail of the screw is abutted on the second mounting plate 14, the head of the screw is disposed on a side away from the second mounting plate 14, a spring is disposed between the head of the screw and the wall surface of the clutch pawl 1302, and the spring extends in the direction of the central axis of the first transmission plate 12.

In a specific implementation, the number of the elastic guide 1303 may be two, and the two elastic guide 1303 are symmetrically disposed at two sides of the middle connection plate 1301.

Thus, in the coupled state of the wheel 11 and the first transmission disc 12, the elastic guide 1303 can adjust the position of the clutch pawl disc 130 in the center axis direction of the first transmission disc 12 such that the hook-like structure 130a is spaced from both side walls of the recess structure of the first transmission disc 12 after the first transmission disc 12 is coupled with the wheel 11. By arranging the hook-shaped structure 130a and the two wall surfaces of the concave structure at intervals, the hook-shaped structure 130a can be ensured to be positioned in the concave structure, so that the clutch claw disc 130 hooks the first transmission disc 12, and the abrasion condition caused by friction generated by contact between the hook-shaped structure 130a and the first transmission disc 12 can be effectively avoided.

The size of the interval can be set according to the actual use condition of the clutch trolley 100 and the size of the concave structure, so that the setting of the interval is reduced as much as possible on the premise that the clutch claw disc 130 hooks the first transmission disc 12, and the size of the concave structure of the first transmission disc 12 can be relatively reduced to ensure the overall strength of the first transmission disc 12.

With continued reference to fig. 2 and 10, the clutch trolley 100 also includes a right angle planetary reducer 22, a motor 15, and a second drive disk 18.

The shell of the right-angle planetary reducer 22 is fixedly connected to the hole wall of the mounting hole 14a, and an output shaft of the right-angle planetary reducer 22 is indirectly connected with the first transmission disc 12 through the second transmission disc 18, and one end of the right-angle planetary reducer 22, which is away from the output shaft, is connected with the output shaft of the motor 15. The motor 15 can output power with larger torque after being decelerated by the right-angle planetary speed reducer 22.

One end of the second driving disc 18, which is away from the right-angle planetary reducer 22, is connected with the first driving disc 12 through a second elastic piece 19, the other end of the second driving disc 18 is indirectly connected with the motor 15 through the right-angle planetary reducer 22, and the central axis of the second driving disc 18 is coincident with the central axis of the first driving disc 12. The second driving disc 18 may be connected to a terminal flange of the right-angle planetary reducer 22, and the output torque of the right-angle planetary reducer 22 is transmitted to the first driving disc 12 through the second driving disc 18. By providing the second transmission disc 18, the power of the motor 15 can be transmitted to the first transmission disc 12.

Wherein, the extending direction of the second elastic member 19 is the same as the extending direction of the central axis of the second driving disc 18. Specifically, when one second elastic member 19 is provided, one end of the second elastic member 19 may be connected to the center of the second transmission disc 18, and the extending direction of the second elastic member 19 may coincide with the center axis of the second transmission disc 18. When the plurality of second elastic members 19 are provided, the second elastic members 19 may be uniformly disposed in the circumferential direction of the second driving disk 18, and the extending direction of the second elastic members 19 may be parallel to the central axis of the second driving disk 18.

By arranging the second elastic piece 19, the first transmission disc 12 can be tightly propped along the central axis direction of the wheel 11, so that the connection stability between the first transmission disc 12 and the wheel 11 is ensured, and the output of transmission force is further ensured.

In one particular implementation, the second resilient member 19 may be a jack spring. The spline of the first driving disc 12 can be meshed with the spline groove of the encapsulated wheel 11 by the elastic force exerted by the jacking spring, so that the output of the driving force of the clutch trolley 100 is ensured.

In one particular implementation, the gear 135 may be a ratchet. The ratchet wheel is matched with the handle 131, the handle 131 can be effectively prevented from reversing in the pulling process by the ratchet wheel, and more handy and convenient operation feedback is provided for manual pulling.

Specifically, under the action of external force, in the process of controlling the first driving disc 12 to be separated from the wheel 11, the clutch claw disc 130 drives the first driving disc 12 to move in a direction away from the wheel 11. Since the second elastic member 19 can push against the first driving disc 12 toward the inner direction of the wheel 11, the second elastic member 19 will generate a reaction force to limit the clutch disc 130 to drive the first driving disc 12 to separate from the wheel 11. Only when the external force is greater than the reaction force, the clutch plate 130 drives the spline of the first driving plate 12 to be separated from the spline groove of the wheel 11, so that the first driving plate 12 is separated from the wheel 11. By providing the ratchet, the phenomenon that the handle 131 is reversed due to the fact that the external force generated after the handle 131 rotates by a small angle is smaller than the reaction force generated by the second elastic piece 19 can be effectively avoided. In this way, an operator can not only control the first transmission disc 12 to be separated from the wheel 11 once through the large-angle rotating handle 131, but also realize the multiple separation of the first transmission disc 12 from the wheel 11 through the continuous small-angle rotating handle 131, thereby providing operability for manual pulling.

The clutch trolley 100 further includes universal bull's eye wheels 16 disposed at both ends of the second mounting plate 14, with the mounting hole 14a being located between the two universal bull's eye wheels 16. Specifically, two universal bullseye wheels 16 are positioned above clutch pawls 1302, and universal bullseye wheels 16 are in rolling contact with the upper surface of clutch pawls 1302.

With continued reference to fig. 6 and 10, the trigger assembly 13 is further provided with a mount 137, a stepped shaft 138 and a deep groove ball bearing 139, the mount 137 being disposed between the gear 135 and the eccentric 133, the gear 135 being disposed on the mount 137, and a root 1311 being disposed on an upper surface of the mount 137. Mount 137 may provide mounting support for gear 135 and handle 131.

A stepped shaft 138 is provided between the fixing frame 137 and the eccentric 133. Two deep groove ball bearings 139 are provided on both sides of the stepped shaft 138, respectively. Among other things, the stepped shaft 138 and the deep groove ball bearing 139 may improve transmission stability. Specifically, the eccentric 133 may be disposed at the bottom of the stepped shaft 138, and the two may be connected by a spline.

With continued reference to fig. 10 and 11, the clutch trolley 100 further includes a first mounting plate 17, the first mounting plate 17 is disposed below the fixing frame 137, the first mounting plate 17 is disposed horizontally, the lower surface of the fixing frame 137 is attached to the first mounting plate 17, and the eccentric 133 and the follower 134 are located on a side of the first mounting plate 17 facing away from the fixing frame 137, wherein the first mounting plate 17 is connected to an upper surface of the second mounting plate 14.

Specifically, the first mounting plate 17 is disposed horizontally and the second mounting plate 14 is disposed vertically. The lower surface of the first mounting plate 17 may be fixedly coupled to the upper surface of the second mounting plate 14 by screws. The fixing frame 137 may be fixedly installed on the upper surface of the first mounting plate 17 by a screw, a through hole may be formed in the first mounting plate 17, and the eccentric wheel 133 may be connected to the follower 134 located under the first mounting plate 17 through the through hole.

Wherein the mounting hole 14a of the second mounting plate 14 may be opened at a lower portion, and the intermediate connection plate 1301 is positioned between the first mounting plate 17 and the mounting hole 14 a. In this way, the connection positions between the components are reasonably arranged, so that the clutch trolley 100 is compact as a whole, and stability is guaranteed.

The pulling assembly 13 further comprises two limiting members 136 arranged on the lower surface of the first mounting plate 17, wherein the two limiting members 136 are respectively arranged on two sides of the eccentric wheel 133 and are positioned on the rotating path of the eccentric wheel 133.

Thus, by providing two limiting members 136, the rotation angle of the eccentric wheel 133 is limited within a certain angle range, and the situation that the clutch trolley 100 is not separated in place is avoided.

In one particular implementation, the stop 136 may be a stop screw.

With continued reference to fig. 3 and 10, the clutch trolley 100 also includes a mounting bracket 20, the mounting bracket 20 being coupled to the first mounting plate 17. The mounting frame 20 may have a certain installation space for accommodating the wheel 11 therein. A cross roller bearing 21 is also provided in the accommodation space of the mounting frame 20, the cross roller bearing 21 being provided between the mounting frame 20 and the wheel 11. The wheels 11 can be fastened and connected with the crossed roller bearings 21 and the mounting frame 20 through screws, so that the high-strength mounting frame 20 and the first mounting plate 17 are ensured to be applied with load force.

Specifically, the mounting bracket 20 may be disposed at the right side or the left side of the first mounting plate 17, and the upper surface of the mounting bracket 20 may be fixedly coupled with the lower surface of the first mounting plate 17 through bolts. Wherein, the mounting bracket 20 can be used to install the wheel 11 on the right side of the clutch trolley 100 when the mounting bracket 20 is arranged on the right side, and the mounting bracket 20 can be used to install the wheel 11 on the left side of the clutch trolley 100 when the mounting bracket 20 is arranged on the left side.

In one particular implementation, the mounting bracket 20, the first mounting plate 17, and the second mounting plate 14 may be fixedly connected by screws.

Referring to fig. 2 and 12, in practice, the clutch trolley 100 may include two sets of spanner assemblies 13 to achieve split control of the left and right wheels 11. One set of pulling assemblies 13 can control the right wheel 11, and the other set of pulling assemblies 13 can control the left wheel 11.

In the following, in order to better understand the clutch trolley 100 provided in the embodiment of the present application, the working process of the clutch trolley 100 will be described.

In an abnormal situation, the motor 15 needs to be separated from the power of the wheel 11, the shifting block 1321 on the cover plate 1312 of the switching handle 131 is used for shifting the first elastic piece 1324 to pop up the check piece 1322 on one side, so that the handle 131 is not blocked in the rotating direction, the handle 131 is rotated at this time, the multi-stage step shaft 138 rotates through the root handle 1311, the multi-stage step shaft 138 has certain axial and radial bearing capacity through the installation of the pair of deep groove ball bearings 139, meanwhile, the fixing frame 137 locks the pair of deep groove ball bearings 139, the multi-stage step shaft 138 is fixed, and the check piece 1322 ensures that the multi-stage step shaft 138 can be stopped at any point in the rotating process without excessive inversion.

The eccentric wheel 133 rotates to drive the follower 134 to displace, the follower 134 is in pin connection with the clutch claw disc 130, the tail end of the clutch claw disc 130 displaces to hook the first driving disc 12, when the pulling handle 131 rotates to a certain angle, the eccentric distance driven by the eccentric wheel 133 enables the first driving disc 12 to be separated from the wheel 11, the connection between the wheel 11 and the motor 15 and the right-angle planetary reducer 22 is disconnected, the moment of couple of the moment of couple is counteracted by the supporting force provided by the universal bull wheel 16 and the elastic guide element 1303, and the elastic guide element 1303 keeps the position of the clutch claw disc 130 to a certain extent, so that the deviation is prevented from being excessively large. When the pulling handle 131 continues to rotate, the eccentric wheel 133 can push against the limiting piece 136, so that the rotation cannot be continued, and at this time, the wheel 11 and the first transmission disc 12 are kept in a separated state.

When the minimally invasive surgical robot is moved, the dial block 1321 is reversely shifted, so that the reverse rotation handle 131 is not blocked, the rotation handle 131 is continuously returned to the starting position, and the limiting piece 136 is also arranged at the starting position. In the reverse rotation, the second elastic member 19 pushes the spline of the first driving disc 12 into the spline groove of the wheel 11 to achieve engagement, and the elastic guiding member 1303 also adjusts the clutch pawl 130 to a position having a certain distance from the wall surface of the recess structure of the first driving disc 12, so that the first driving disc 12 and the wheel 11 are restored to the connected state again.

Of course, in the process of recovering the connection state, there may be a situation that the spline of the first transmission disc 12 and the spline groove of the wheel 11 are not meshed, and since the rotation speed of the motor 15 after being matched with the right-angle planetary reducer 22 is low, only the motor 15 needs to be started to rotate by a certain angle at this time, and the spline of the first transmission disc 12 and the spline groove of the wheel 11 are automatically meshed to provide power for the surgical robot.

According to the clutch trolley 100, when the wheels 11 are required to be controlled to be separated from the first transmission disc 12, an operator drives the first transmission disc 12 through the pulling assembly 13 to realize the separation process between the first transmission disc and the wheels 11, and the clutch trolley 100 can be moved without waiting for electric power recovery, so that the use convenience is greatly improved. Moreover, the wheels 11 can be disconnected from the motor 15 in the event of a power failure, and the clutch trolley 100 can be operated without power supply. While the structure of the minimally invasive surgical robot connected with the same is not changed.

It is noted that other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. Clutching trolley based on minimally invasive surgery robot, characterized by comprising:

a wheel (11);

one end of the first transmission disc (12) is in spline connection with the wheel (11), and the central axis of the wheel (11) coincides with the central axis of the first transmission disc (12);

a pulling assembly (13) connected with the other end of the first transmission disc (12) and configured to: under the action of external force, the first driving disc (12) is driven to move along the central axis of the wheel (11) in a direction away from or close to the wheel (11) so as to separate or connect the first driving disc (12) and the wheel (11);

the pulling assembly (13) comprises a clutch claw disc (130), the end part of the clutch claw disc (130) is provided with a hook-shaped structure (130 a), the peripheral wall surface of the first transmission disc (12) is provided with a circumferentially extending concave structure, and the hook-shaped structure (130 a) is positioned in the concave structure;

Wherein the clutch pawl (130) is configured to:

under the action of external force, the first transmission disc (12) is pulled away from the wheel (11) by moving along the central axis of the wheel (11) in a direction away from the wheel (11), so that the first transmission disc (12) is separated from the wheel (11);

and under the action of external force, the first transmission disc (12) is driven to be close to the wheel (11) by moving along the central axis of the wheel (11) in the direction of approaching the wheel (11), so that the first transmission disc (12) is connected with the wheel (11).

2. The minimally invasive surgical robot-based clutch trolley of claim 1, wherein the trigger assembly (13) further comprises:

the handle (131), the handle (131) comprises a holding end (131 a) and a mounting end (131 b) which are connected, and a clutch (132) is arranged on the mounting end (131 b);

an eccentric wheel (133) connected with the clutch (132) and capable of rotating along with the handle (131), wherein the clutch (132) is used for limiting the rotation direction of the eccentric wheel (133);

a follower (134) having one end connected to the eccentric (133) and the other end connected to the clutch plate (130);

Wherein the eccentric (133) is configured to: when the clutch is rotated, the follower (134) is driven to displace the follower (134) along the central axis of the wheel (11), and the clutch plate (130) is moved closer to or farther from the wheel (11).

3. The minimally invasive surgical robot-based clutch trolley of claim 2, further comprising:

the second mounting plate (14), the said second mounting plate (14) sets up vertically, there are mounting holes (14 a) on the said second mounting plate (14);

the motor (15) penetrates through the mounting hole (14 a) and is connected with the first transmission disc (12);

the clutch claw disc (130) comprises an intermediate connecting plate (1301) and clutch claws (1302) connected to two sides of the intermediate connecting plate (1301), and the hook-shaped structure (130 a) is positioned at the end part of the clutch claws (1302); the intermediate link plate (1301) is connected with the follower (134), and the intermediate link plate (1301) is located at a side of the second mounting plate (14) facing away from the first driving plate (12), wherein the intermediate link plate (1301) is configured to: the follower (134) is driven, and the moving direction of the intermediate link plate (1301) is the same as the moving direction of the follower (134).

4. The minimally invasive surgical robot-based clutch trolley of claim 3, wherein,

the intermediate connecting plate (1301) is in pin connection with the follower (134).

5. The minimally invasive surgical robot-based clutch trolley of claim 3, wherein,

the clutch pawl (130) further comprises an elastic guide element (1303), wherein the elastic guide element (1303) is arranged on the clutch pawl (1302) and one end of the elastic guide element is abutted against one side, away from the first transmission plate (12), of the second mounting plate (14), and the elastic guide element (1303) extends along the axial direction of the first transmission plate (12);

the resilient guide (1303) is configured to: the position of the clutch claw disc (130) along the central axis direction of the first transmission disc (12) is adjusted, so that after the first transmission disc (12) is connected with the wheel (11), the hook-shaped structure (130 a) and the wall surface of the concave structure are arranged at intervals.

6. The minimally invasive surgical robot-based clutch trolley of claim 3, wherein,

the hook-like structure (130 a) surrounds the outside of the second mounting plate (14);

The clutch trolley further comprises:

the universal bull's eye wheel (16) is arranged at two ends of the second mounting plate (14), the mounting holes (14 a) are arranged between the two universal bull's eye wheels (16), and the universal bull's eye wheels (16) are in rolling contact with the upper surface of the clutch claw (1302).

7. The minimally invasive surgical robot-based clutch trolley of claim 3, wherein,

the clutch (132) includes:

a dial block (1321), the dial block (1321) penetrating the mounting end (131 b), and the dial block (1321) being rotatable relative to the mounting end (131 b);

a check (1322) in rotational connection with the dial (1321), the dial (1321) being configured to: -adjusting the position of the non-return element (1322) by rotation, such that the non-return element (1322) limits the direction of rotation of the eccentric (133); wherein:

when the shifting block (1321) rotates along a first direction, the check piece (1322) limits the handle (131) to rotate along a second direction, so that the eccentric wheel (133) pushes the follower (134) to generate relative displacement from an initial position to a direction away from the wheel (11);

When the shifting block (1321) rotates along a third direction, the check member (1322) limits the handle (131) to rotate along a fourth direction, so that the follower (134) is restored to the initial position;

the first direction is opposite to the third direction, and the second direction is opposite to the fourth direction.

8. The minimally invasive surgical robot-based clutch trolley of claim 7, wherein the trigger assembly (13) further comprises:

a gear (135) disposed between the clutch (132) and the eccentric (133), and the gear (135) rotates coaxially with the eccentric (133);

the dial block (1321) is configured to: by adjusting the position of the check member (1322), the rotational direction of the handle (131) and thus the rotational direction of the gear (135) is restricted.

9. The minimally invasive surgical robot-based clutch trolley of claim 8, wherein,

the number of the check pieces (1322) is two, and the two check pieces (1322) are symmetrically arranged at two sides of the shifting block (1321);

the clutch (132) further comprises a rotating block (1323), the rotating block (1323) is connected with the shifting block (1321), the rotating block (1323) comprises a protruding end, and the protruding end is positioned between the two non-return pieces (1322);

The rotating block (1323) is configured to: and the shifting block (1321) is driven to rotate so as to enable the protruding end to move towards or away from the check piece (1322), one check piece (1322) of the two check pieces (1322) is abutted between any two teeth of the gear (135), and the two check pieces (1322) limit the rotation direction of the gear (135) to be opposite.

10. The minimally invasive surgical robot-based clutch trolley of claim 9, wherein,

the mounting end (131 b) comprises a root handle (1311) and a cover plate (1312) buckled on the root handle (1311), and the shifting block (1321) is arranged on the cover plate (1312);

the root handle (1311) comprises a bottom plate (13111) and two side plates (13112), an opening structure (131 c) is enclosed between the bottom plate (13111) and the two side plates (13112), and the non-return piece (1322) and the rotating block (1323) are arranged on the bottom plate (13111) and are positioned in the opening structure (131 c);

wherein the opening structure (131 c) comprises a first end (c 1) close to the holding end (131 a) and a second end (c 2) far away from the holding end (131 a), and the opening width of the first end (c 1) is smaller than the opening width of the second end (c 2).

11. The minimally invasive surgical robot-based clutch trolley of claim 10, wherein,

the clutch (132) further comprises a first elastic member (1324), a mounting groove (13112 a) is formed in the side plate (13112), one end of the first elastic member (1324) is connected with the groove wall of the mounting groove (13112 a), and the other end of the first elastic member is connected to the wall surface of the non-return member (1322) on the side facing the mounting groove (13112 a); wherein the first elastic member (1324), the mounting groove (13112 a) and the check member (1322) are in one-to-one correspondence.

12. The minimally invasive surgical robot-based clutch trolley of claim 10, wherein,

the clutch (132) further comprises a first elastic piece, one end of the first elastic piece is connected with the rotating block (1323), and the other end of the first elastic piece is connected with a wall surface of the non-return piece (1322) facing to one side of the rotating block (1323); wherein the first elastic members are in one-to-one correspondence with the check members (1322).

13. The minimally invasive surgical robot-based clutch trolley of any one of claims 7-12, wherein,

the check member (1322) is a latch or pawl.

14. The minimally invasive surgical robot-based clutch trolley of claim 10, wherein,

the root handle (1311) further comprises a top plate (13113), the top plate (13113) and the bottom plate (13111) are staggered, and one end of the top plate (13113) extends to a second end (c 2) of the opening structure (131 c);

the two side plates (13112) are connected with the other end of the top plate (13113) at the second end (c 2) of the opening structure (131 c) through a curved surface structure (13114);

wherein the top plate (13113), the two side plates (13112) and the curved surface structure (13114) are enclosed into an annular mounting area (132 d), and the gear (135) is arranged in the mounting area (132 d).

15. The minimally invasive surgical robot-based clutch trolley of claim 10, wherein the wrenching assembly (13) further comprises:

the fixed frame (137) is arranged between the gear (135) and the eccentric wheel (133), the gear (135) is arranged on the fixed frame (137), and the root handle (1311) is arranged on the upper surface of the fixed frame (137);

a step shaft (138) connected between the fixed frame (137) and the eccentric wheel (133);

Two deep groove ball bearings (139) are provided on both sides of the stepped shaft (138).

16. The minimally invasive surgical robot-based clutch trolley of any one of claims 8-12, wherein,

the gear (135) is a ratchet wheel.

17. The minimally invasive surgical robot-based clutch trolley of claim 15, further comprising:

the first mounting plate (17), the first mounting plate (17) is horizontally arranged, the lower surface of the fixing frame (137) is attached to the first mounting plate (17), and the eccentric wheel (133) and the follower (134) are positioned on one side, away from the fixing frame (137), of the first mounting plate (17); wherein the first mounting plate (17) is connected to the upper surface of the second mounting plate (14);

the trigger assembly (13) further comprises:

the two limiting pieces (136) are arranged on the lower surface of the first mounting plate (17), and the two limiting pieces (136) are respectively arranged on two sides of the eccentric wheel (133) and are positioned on the rotating path of the eccentric wheel (133);

the limiter (136) is configured to: limiting the angle of rotation of the eccentric (133).

18. The minimally invasive surgical robot-based clutch trolley of claim 3, further comprising:

one end of the second transmission disc (18) is connected with the first transmission disc (12) through a second elastic piece (19), and the other end of the second transmission disc is connected with the motor (15);

wherein the second driving disc (18) coincides with the central axis of the first driving disc (12), and the extending direction of the second elastic piece (19) is the same as the extending direction of the central axis of the second driving disc (18).

19. The minimally invasive surgical robot-based clutch trolley of claim 17, further comprising:

the mounting frame (20) is connected with the first mounting plate (17), and the mounting frame (20) is used for mounting the wheels (11);

a cross roller bearing (21) is arranged between the mounting frame (20) and the wheel (11).

20. The minimally invasive surgical robot-based clutch trolley of claim 18, further comprising:

one end of the right-angle planetary reducer (22) is connected with the motor (15), and the other end of the right-angle planetary reducer is connected with the second transmission disc (18);

the wheel (11) is an encapsulated wheel.