CN117618120A - Power-off unlocking device and surgical robot - Google Patents

Abstract

The invention relates to the technical field of medical equipment, and provides a power-off unlocking device and a surgical robot, wherein the power-off unlocking device comprises: an operating assembly and a transmission assembly; the operating component can be manually driven and can perform unlocking movement; the operation assembly comprises a rotating member, and the unlocking motion is autorotation motion of the rotating member; the transmission assembly comprises a first transmission mechanism and a second transmission mechanism; the first transmission mechanism is used for transmitting the autorotation motion of the rotating piece to a clutch of the surgical robot and unlocking a driving wheel of the surgical robot; the second transmission mechanism is used for transmitting the autorotation motion of the rotating piece to a supporting component of the surgical robot so as to retract the supporting component. When the surgical robot needs to be quickly evacuated under the condition of sudden power failure or emergency, the operation assembly can be manually operated, so that the operation assembly can make unlocking movement; and the clutch is opened and the supporting component is retracted, so that the surgical robot can be quickly evacuated.

Description

Power-off unlocking device and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a power-off unlocking device and a surgical robot.

Background

In order to ensure the mobility of the existing heavy-load surgical robot, the bottom of the trolley is usually provided with a driving wheel, and the driving wheel is connected with a clutch for controlling power interruption or communication.

The clutch is driven by pneumatic, hydraulic or electromagnetic means. The pneumatic clutch needs an independent motor and an air compressor, and has the defects of large occupied volume, high noise and easy air leakage; the hydraulic clutch requires structures such as a hydraulic pump and a hydraulic cylinder, is complex in structure and occupies more space, has the risk of oil leakage to pollute the operation environment, and is not suitable for medical robots in consideration of the reliability of the structures.

The existing heavy-load surgical robots generally adopt electromagnetic clutches, and the power on-off of trolley driving wheels is realized through the electric drive clutches.

The surgical robot can only drive the clutch while the power is kept on, for example, the two clutch members of the drive clutch are engaged or disengaged in the power-on state. Therefore, when the surgical robot is required to move in position or to evacuate in an emergency, the power supply must be ensured to supply power normally, and at this time, the driving assembly can input power to the driving wheel through the clutch so as to ensure the normal movement of the surgical robot. In the normal operation process of the operation robot, the two clutch parts of the clutch are usually in a combined state so as to facilitate emergency evacuation of the operation robot, and the state is only suitable for the state of normal power supply of the operation robot. Once the voltage is abnormal, when the electromagnetic clutch cannot be supplied with power, the driving wheel cannot be disconnected with the output shaft of the driving assembly, the driving assembly is reversely dragged when the driving wheel rotates, the reverse driving force is large, and the driving wheel is locked by the electromagnetic clutch. In addition, the self weight of the surgical robot can not easily move the trolley, so that the trolley can not quickly withdraw from the sickbed.

In addition, the surgical robot base is typically provided with a support assembly that is elongate supported on the ground when the surgical robot is moved to a target location to ensure stability of the surgical robot. Therefore, in the power-off process, if the surgical robot needs to move the position or withdraw in an emergency, the supporting component needs to be retracted, and the rapid evacuation of the trolley is further disturbed.

The existing heavy-load surgical robots have no safe, effective and quick evacuation mode under the condition of power failure.

Therefore, a power-off unlocking device and a surgical robot are needed, the power-off unlocking device can be manually operated under a power-off working condition, and the clutch is opened, so that the driving wheel is disconnected with the input power to release the locking of the clutch to the driving wheel, and in the manual operation process, the supporting component of the surgical robot can be synchronously retracted, so that the surgical robot can be enabled to resume movement, the surgical robot can be quickly evacuated, the flexibility of movement of a surgical platform under the condition of power-off is improved, and the sudden risk in the surgical process is reduced.

Disclosure of Invention

The invention provides a power-off unlocking device and a surgical robot, wherein the power-off unlocking device can be manually operated under a power-off working condition, and a clutch is opened to disconnect a driving wheel from input power so as to release the locking of the clutch to the driving wheel, and a supporting component of the surgical robot can be synchronously retracted in the manual operation process, so that the surgical robot can be conveniently restored to move, quickly evacuated, the flexibility of movement of a surgical platform under the condition of power-off is improved, and the sudden risk in the surgical process is reduced.

The power-off unlocking device comprises: an operating assembly and a transmission assembly;

the operating component can be manually driven and can perform unlocking movement; the operation assembly comprises a rotating member, and the unlocking motion is autorotation motion of the rotating member;

the transmission assembly comprises a first transmission mechanism and a second transmission mechanism;

the first transmission mechanism is used for transmitting the autorotation motion of the rotating piece to a clutch of the surgical robot so as to separate a first clutch piece and a second clutch piece of the clutch, and unlock a driving wheel of the surgical robot;

the second transmission mechanism is used for transmitting the autorotation motion of the rotating piece to a supporting component of the surgical robot so as to retract the supporting component.

Optionally, the first transmission mechanism includes a first driving transmission member and a first driven transmission member, where the first driving transmission member is disposed on the rotating member and rotates along with the rotation of the rotating member, and converts the rotation of the first driving transmission member into the linear motion of the first driven transmission member, and when the first driven transmission member does the linear motion, one clutch member used for driving the clutch moves in a direction away from the other clutch member.

Optionally, the first transmission mechanism further comprises a first intermediate transmission combination, wherein the first intermediate transmission combination is linked with the first driving transmission piece and transmits the motion of the first driving transmission piece to the first driven transmission piece.

Optionally, the first driving part comprises a first driving wheel, the first intermediate transmission combination comprises a first flexible part and a first driven wheel, the first driving part is in transmission fit with the first driven wheel through the first flexible part, the first driven part is a screw rod, the first driven wheel is arranged on the screw rod and drives the screw rod to synchronously rotate, and the screw rod is in threaded connection with the clutch.

Optionally, the second driving mechanism includes a second driving member and a second driven driving member, where the second driving member is disposed on the rotating member and moves along with the rotating movement of the rotating member, and converts the rotation of the rotating member into the movement of the second driven driving member, so as to drive the supporting component to retract.

Optionally, the second transmission mechanism further comprises a second intermediate transmission combination, wherein the second intermediate transmission combination is linked with the second driving transmission piece and transmits the motion of the second driving transmission piece to the second driven transmission piece.

Optionally, the second driving rotating member is a second driving wheel, the second driven driving member is a second driven wheel, the second intermediate transmission combination includes a second flexible member, and the second driving rotating member is in transmission fit with the second driven driving member through the second flexible member.

The invention also provides a surgical robot which comprises the power-off unlocking device, a trolley base, a supporting component, a driving wheel, a clutch and a driving component;

the driving wheel and the driving assembly are arranged on the trolley base, the driving assembly is used for driving the driving wheel to rotate, and the clutch is arranged between the driving assembly and a power transmission path of the driving wheel and used for controlling the on-off of the power from the driving assembly to the driving wheel;

the support component is vertically movably arranged on the trolley base;

the power-off unlocking device is arranged on the trolley base and used for unlocking the supporting component and the driving wheel when the surgical robot is in a power-off state.

Optionally, the support assembly is a hydraulic support, the support assembly is provided with a hydraulic valve, and the second transmission mechanism is used for transmitting the unlocking motion to the hydraulic valve so as to control the hydraulic valve to act to enable the support assembly to release pressure.

Optionally, the clutch includes a first clutch member, a second clutch member and an elastic member, the elastic member is configured to provide an elastic force for the first clutch member to press the first clutch member against the second clutch member, and the first transmission mechanism is configured to transmit the unlocking action to the first clutch to drive the first clutch to move away from the second clutch member against the elastic force.

According to the surgical robot, when the surgical robot needs to be rapidly evacuated under the condition of sudden power failure or emergency, the operating component can be manually driven to make the operating component perform unlocking motion; and the unlocking motion is transmitted to the clutch and the supporting component through the first transmission mechanism and the second transmission mechanism respectively, so that the clutch is opened and the supporting component is retracted, unlocking of all driving wheels is ensured, and all the supporting components are retracted simultaneously, so that the surgical robot can be evacuated rapidly. The unlocking device is arranged, so that the unlocking operation is simple, the unlocking speed is high, and the flexibility of the movement of the surgical robot under the condition of power failure is ensured; the emergency evacuation is facilitated, the evacuation time is shorter and quicker, the emergency evacuation device is more suitable for emergency conditions in the operation process, and the risk of emergency in the operation process is reduced.

Drawings

Fig. 1 is a schematic view of a surgical robot according to a first embodiment of the present invention;

fig. 2 is a schematic structural view of a trolley base of a surgical robot according to a first embodiment of the present invention;

fig. 3 is a schematic view showing a partial structure of a bogie hearth according to a first embodiment of the present invention;

FIG. 4 is a schematic structural view of a support assembly according to a first embodiment of the present invention;

fig. 5 is a schematic structural diagram of a switch fixing block according to a first embodiment of the present invention;

fig. 6 is a schematic structural diagram of a movable contact according to a first embodiment of the present invention;

fig. 7 is a schematic structural diagram of a power-off unlocking device according to a first embodiment of the present invention;

fig. 8 is an exploded view of a power-off unlocking device according to a first embodiment of the present invention;

fig. 9 is a schematic structural view of a second transmission mechanism according to a first embodiment of the present invention;

fig. 10 is a schematic partial structure of a power-off unlocking device according to a first embodiment of the present invention;

FIG. 11 is a schematic structural view of a first driving device according to a first embodiment of the present invention;

fig. 12 is a schematic perspective view of a clutch according to a first embodiment of the present invention;

fig. 13 is a schematic plan view of a clutch according to a first embodiment of the present invention;

fig. 14 is a partial schematic view (engaged state) of a clutch according to a first embodiment of the present invention;

Fig. 15 is a partial schematic view (disengaged state) of a clutch according to a first embodiment of the present invention;

fig. 16 is a schematic structural view of a driven sheave of the first embodiment of the present invention;

FIG. 17 is a schematic view of an internal thread disk according to a first embodiment of the present invention;

FIG. 18 is a flow chart of the operation robot according to the first embodiment of the present invention;

fig. 19 is an unlocking flow chart of a surgical robot according to the first embodiment of the present invention;

fig. 20 is a schematic perspective view of a power-off unlocking device according to a second embodiment of the present invention;

fig. 21 is a schematic structural view of a clutch according to a second embodiment of the present invention;

fig. 22 is a schematic perspective view of a power-off unlocking device according to a third embodiment of the present invention.

Detailed Description

The power-off unlocking device provided by the invention is further described in detail below with reference to the attached drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.

The invention provides a surgical robot, which is provided with a power-off unlocking device, wherein the power-off unlocking device can be manually operated under a power-off working condition to open a clutch so as to disconnect a driving wheel from input power, so that the locking of the clutch to the driving wheel is released, and a supporting component of the surgical robot can be synchronously retracted in the manual operation process, thereby being beneficial to enabling the surgical robot to resume movement, quickly withdraw, improving the flexibility of movement of a surgical platform under the condition of power-off, and reducing the sudden risk in the surgical process.

Example 1

Referring to fig. 1 and 2, the present embodiment provides a surgical robot including a power outage unlocking device 100, a trolley base 200, a support assembly 300, a driving wheel 400, a clutch 500, and a driving assembly 600.

Referring to fig. 1 and 2, in the present embodiment, the surgical robot further includes a mechanical arm 700 disposed on the trolley base 200, and the mechanical arm 700 can adaptively select an existing model based on the functional requirement of the surgical robot. The cart base 200 may be further provided with a manipulation mechanism 800 for manipulating operations such as advancing, retreating, turning, stopping, etc. of the surgical robot.

Referring to fig. 2, the bogie base 200 has two beams 210 thereon, and the beams 210 extend along the traveling direction thereof. The two driving wheels 400 are arranged, the driving wheels 400 can be driven to rotate by the driving assembly 600, in addition, two driven wheels 900 are also arranged on the trolley base 200, the driven wheels 900 are universal wheels, and the two driving wheels 400 and the two driven wheels 900 are arranged on the trolley base 200 in four corners. Wherein the two driving wheels 400 are respectively disposed at the front sides of the two cross beams 210 along the traveling direction, and the two driven wheels 900 are respectively disposed at the rear sides of the two cross beams 210 along the traveling direction.

In other alternative embodiments, the trolley base 200 may take other forms, for example, the bottom of the trolley base 200 may be provided with the driving wheels 400, or the arrangement positions and the number of the driving wheels 400 and the driven wheels 900 may be adaptively adjusted based on the actual use requirements thereof.

With continued reference to fig. 2, the driving assembly 600 is provided with two sets and is disposed on the front side of the beam 210 along the traveling direction. Correspondingly, the clutch 500 is also provided with two sets adaptively. The driving assembly 600 is used for driving the driving wheel 400 to rotate, and the clutch 500 is disposed between the driving assembly 600 and a power transmission path of the driving wheel 400, and is used for controlling the on-off of the power from the driving assembly 600 to the driving wheel 400. Wherein the drive assembly 600 may be a single motor or a motor-in-combination reducer configuration. When the driving assembly 600 is a single motor, the output end of the motor is directly connected with the power input end of the clutch, and the power output end of the clutch is connected with the driving wheel 400. When the driving assembly 600 is a motor matched with a speed reducer, the output end of the motor is connected with the power input end of the speed reducer, the power output end of the speed reducer is connected with the power input end of a clutch, and the power output end of the clutch is connected with the driving wheel 400.

The clutch 500 is an electromagnetic clutch, and the clutch 500 in fig. 2 is integrated inside the beam 210, so the clutch 500 in fig. 2 is not shown (the specific structure of the clutch 500 is shown in fig. 12-15). The clutch 500 includes two clutch members, and when the two clutch members are engaged, the driving assembly 600 is in power communication with the driving wheel 400, and the driving assembly 600 can drive the driving wheel 400 to rotate through the clutch 500. In addition, the clutch 500 is also equipped with an electromagnet, which in the energized state can drive one of the clutch members by means of the electromagnet in a direction away from the other clutch member, so that the two clutch members are disengaged. When the two clutch members are kept in the engaged state in the power-off state, the driving wheel 400 is reversely pulled by the clutch to drive the assembly 600 when rotating, and the driving wheel 400 is in the locked state due to the large reverse pulling moment, and the manual driving of the clutch is required to be realized by the power-off unlocking device 100 due to the failure of the electromagnet.

With continued reference to fig. 2, the support assemblies 300 are four, and the four support assemblies 300 are disposed on the two beams 210. Four supporting components 300 are arranged below the trolley base 200 in four corners, and the four supporting components 300 are respectively matched with the two driving wheels 400 and the two driven wheels 900 one by one. The support assembly 300 is vertically movably disposed on the trolley base 200, and is configured to be supported on the ground when the support assembly 300 is vertically moved downward. As the support assembly 300 moves vertically upward, the support assembly 300 collapses out of the ground.

As shown in fig. 3, the front side of the beam 210 is provided with the driving wheel 400 and the clutch 500 (not shown) and the driving assembly 600 are required to be disposed in a matched manner, so that the arrangement space of the front side of the beam 210 is relatively crowded. At this time, the two support assemblies 300 located at the front side of the beam 210 are detachably disposed at the outer side walls of the beam 210, and the two support assemblies 300 located at the rear side of the carriage base 200 are disposed in the carriage base 200 because of a relatively abundant arrangement space. Since the two support assemblies 300 located at the front side of the beam 210 cause the overall width dimension of the surgical robot to be increased, resulting in reduced passing performance thereof, the two support assemblies 300 are detachably connected with the beam 210, and can be detached as necessary to secure passing performance of the surgical robot.

In other alternative embodiments, the number and placement of the support assemblies 300 may be adapted based on actual use requirements, such as one, two, three, or more of the support assemblies 300.

Referring to fig. 3 and 4, in the present embodiment, the support assembly 300 is a hydraulic support, and the support assembly 300 disposed on the front side of the beam 210 is taken as an example, and the support assembly 300 includes a hydraulic support plate 310, a hydraulic cylinder 320, a linear bearing 330, a linear bearing flange 340, a support ram 350, a support sleeve 360, and a travel switch 370. The hydraulic support plate 310 is L-shaped, and a reinforcing rib is disposed between two right-angle sides of the hydraulic support plate 310, the right-angle sides of the hydraulic support plate 310 are detachably fixed to the outer side portion of the beam 210 through bolts, and the linear bearing flange 340 is fixed to the right-angle side of the other bracket of the hydraulic support plate 310. The hydraulic cylinder 320 is connected to the linear bearing flange 340 by screws, and the output end of the hydraulic cylinder 320 is disposed downward. The linear bearing 330 is fixedly connected with the hydraulic support plate 310 by a screw. The supporting ejector rod 350 is connected with the output end of the hydraulic cylinder 320 through threads, the supporting ejector rod 350 is vertically matched with the linear bearing 330 in a sliding manner, the linear bearing 330 plays a role in guiding and reducing friction in the up-and-down motion of the supporting ejector rod 350, and the supporting sleeve 360 is sleeved on the bottom of the supporting ejector rod 350 and fixedly connected with the connecting supporting ejector rod 350.

In addition, the support assembly 300 provided at the rear side of the beam 210 is fixed inside the beam by screws, and is provided near the driven wheel 900.

Referring to fig. 4 to 6, the travel switch 370 includes a movable contact 371, a movable arm 372, a fixed contact 373, and a switch fixing block 374, wherein a connection portion 3741 is formed by extending the bottom of the switch fixing block 374, the connection portion 3741 is fixed to the linear bearing flange 340, and an installation hole is formed in the inner side of the switch fixing block 374, and the fixed contact 373 is installed in the installation hole. The movable arm 372 is L-shaped, one end of the movable arm 372 is annular and sleeved on the supporting sleeve 360 and fixed with the supporting sleeve 360, the other end of the movable arm 372 is integrated with the movable contact 371, and the end is located inside the switch fixing block 374. When the movable arm 372 moves vertically along with the support sleeve 360, the movable contact 371 moves vertically adaptively, and the fixed contact 373 is disposed on a movement path of the movable contact 371.

The travel switch 370 monitors the up and down travel of the support assembly 300, triggering a feedback signal. When the surgical robot works normally, the output end of the hydraulic cylinder 320 extends downwards, namely the supporting ejector rod 350 drives the supporting sleeve 360 and the movable contact 371 to move downwards, and when the movable contact 371 moves downwards to a lower limit, the movable contact 371 contacts with the fixed contact 373 to trigger the lower limit micro switch, so that closed loop control of the system is completed. When the support sleeve 360 falls to the ground, the solenoid valve of the hydraulic valve group obtains a signal, and the power pump stops working.

The power-off unlocking device 100 is arranged on the trolley base 200. When the surgical robot loses power or other emergency, the supporting component 300 needs to be manually retracted and the clutch 500 needs to be opened, the power-off unlocking device 100 is only manually operated, and the supporting component 300 can be synchronously controlled to be retracted and the clutch 500 can be synchronously controlled to be opened.

Referring to fig. 7, the power-off unlocking device 100 includes: an operating assembly 10 and a transmission assembly 20;

the operating assembly 10 can be manually actuated and perform an unlocking motion;

the transmission assembly 20 includes a first transmission 21 and a second transmission 22;

the first transmission mechanism 21 is used for transmitting an unlocking motion to a clutch of the surgical robot so as to separate a first clutch piece and a second clutch piece of the clutch;

the second transmission mechanism 22 is used to transmit the unlocking motion to the support assembly of the surgical robot to retract the support assembly. The support assembly 300 is a hydraulic support, so that it is provided with a hydraulic valve 380, and when the surgical robot is energized, the hydraulic valve 380 pressurizes the hydraulic valve to extend the output end of the hydraulic cylinder 320. When the surgical robot loses power, the second transmission mechanism 22 transmits unlocking motion to the hydraulic valve 380, and the hydraulic valve is controlled to act so that the hydraulic cylinder 320 is depressurized, so that the output end of the hydraulic cylinder 320 of the support assembly 300 is automatically retracted.

In this embodiment, four sets of support assemblies 300 are provided, preferably, the hydraulic valves 380 are connected with the four sets of support assemblies 300 through oil pipe connections respectively, and the four sets of support assemblies 300 are synchronously controlled through one hydraulic valve 380, so that when the hydraulic valve 380 acts to release pressure, synchronous pressure release of the four sets of support assemblies 300 is realized, and the four sets of support assemblies 300 are synchronously retracted.

In the above-mentioned surgical robot, when the surgical robot needs to be quickly evacuated in the event of sudden power failure or emergency, the operating assembly 10 can be manually driven to make the operating assembly 10 perform unlocking motion; and the unlocking motion is transmitted to the clutch 500 and the supporting component 300 through the first transmission mechanism 21 and the second transmission mechanism 22 respectively, so that the clutch 500 is opened and the supporting component 300 is retracted, unlocking of each driving wheel 400 is ensured, and each supporting component 300 is retracted simultaneously, so that the surgical robot can be evacuated rapidly. The unlocking device is arranged, so that the unlocking operation is simple, the unlocking speed is high, and the flexibility of the movement of the surgical robot under the condition of power failure is ensured; the emergency evacuation is facilitated, the evacuation time is shorter and quicker, the emergency evacuation device is more suitable for emergency conditions in the operation process, and the risk of emergency in the operation process is reduced.

Referring to fig. 7 and 8, the operating assembly 10 includes a rotary member 11, and the unlocking motion is a rotation motion of the rotary member 11. Therefore, the synchronous operation of the support assembly 300 and the clutch 500 can be achieved by simply manually rotating the rotary member 11.

As shown in fig. 8, the operation assembly 10 further includes an operation member 12, where the operation member 12 is connected to the rotating member 11, and the operation member 12 is used for driving the rotating member 11 to rotate. The rotating member 11 is a cylindrical rotating shaft, the control member 12 is a handle, and the control member 12 is arranged on the rotating shaft and used for holding the rotating member 11 to rotate.

In other alternative embodiments, the control member 12 may be provided as a knob structure fixed to one end of the shaft.

With continued reference to fig. 8 to 12, the first transmission mechanism 21 includes a first driving transmission member 211 and a first driven transmission member 212, where the first driving transmission member 211 moves following the unlocking movement of the operating assembly 10 and converts the unlocking movement into a linear movement of the first driven transmission member 212, and one clutch member for driving the clutch moves away from the other clutch member when the first driven transmission member 212 moves linearly. The first driving transmission member 211 follows the rotary member 11 to perform a rotational movement, and a linear movement is required to drive the clutch member, so that it is preferable that the first driven transmission member 212 is at least linearly movable, and the first driving transmission member 211 converts the rotational movement of the rotary member 11 into a linear movement of the first driven transmission member 212. The first driving transmission member 211 and the first driven transmission member 212 may be a rack-and-pinion transmission structure, a screw-nut transmission structure, or the like.

The second transmission mechanism 22 includes a second driving transmission member 221 and a second driven transmission member 222, and the second driving transmission member 221 moves following the unlocking movement of the operating assembly 10 and converts the unlocking movement into the movement of the second driven transmission member 222 to drive the supporting assembly to retract. Specifically, the second driving transmission member 221 is disposed on the rotating member 11 and rotates along with the rotating member 11. In this embodiment, the hydraulic valve 380 is turned on and off, so the second driven transmission member 222 is used to control the turning of the hydraulic valve 380, and it is preferable that the second driven transmission member 222 is turned on and off.

As shown in fig. 8 and 9, in this embodiment, the second driving member 221 and the second driven member 222 are a pair of meshed gears, where the second driving member 221 is a large gear, and the second driven member 222 is a small gear. Wherein the second driving transmission member 221 is mounted on the rotating member 11, the hydraulic valve 380 is mounted on the hydraulic valve fixing plate 390, and the second driven transmission member 222 is mounted on the hydraulic valve fixing plate 390 and connected with the switch of the hydraulic valve.

Therefore, when the hand-held control 12 rotates the rotary member 11, the first driven transmission member 212 moves linearly and drives the clutch 500 to open, in addition, the rotary member 11 drives the second driving transmission member 221 to rotate, and the second driven transmission member 222 adaptively rotates to drive the hydraulic valve 380 to switch, so as to realize synchronous decompression of each support assembly 300.

In other alternative embodiments, the unlocking motion of the operating assembly 10 may also be a linear motion, which converts the linear motion of the operating assembly 10 into a linear motion of the end of the first transmission mechanism 21 through the first active transmission member 211, so as to drive one of the clutches to perform a function of opening the clutch.

In other alternative embodiments, the specific movement pattern of the second driven transmission member 222 may be adaptively adjusted based on the movement pattern of the switch of the hydraulic valve, for example, when the switch of the hydraulic valve is in linear movement, the second driven transmission member 222 is adaptively set to be in linear movement.

With continued reference to fig. 10, in the present invention, based on the specific transmission mode of the first transmission mechanism 21, a first intermediate transmission combination 213 is further provided, where the first intermediate transmission combination 213 is linked with the first driving member 211 and transmits the motion of the first driving member 211 to the first driven member 212.

Specifically, the first driving member 211 includes a driving sheave, the first intermediate transmission assembly 213 includes a pulling rope 2134, the pulling rope 2134 is wound around the first driving member 211, and the pulling rope 2134 and the first driven member 212 are linked, and when the first driving member 211 rotates along with the rotating member 11 and winds the pulling rope 2134, the first driven member 212 is driven to do a linear motion by the pulling rope 2134.

As shown in fig. 10, since the bogie base 200 of the present invention is provided with two sets of driving wheels 400 and two clutches 500, the first transmission mechanism 21 is provided with two sets and controls the two clutches, respectively. Therefore, the rotating member 11 is provided with two first driving members 211, and the two first driving members 211 are respectively wound with a pulling rope 2134, one pulling rope is linked with one first driven member 212, and the other pulling rope is linked with the other first driven member 212, so as to respectively control the two clutches.

The first driving transmission piece 211 is sleeved on the rotating piece 11, keyless connection is realized between the first driving transmission piece 211 and the rotating piece 11 through a pair of expansion sleeves 23, each expansion sleeve 23 is formed by a pair of conical sleeves, each expansion sleeve 23 is positioned between the first driving transmission piece 211 and the rotating piece 11, the inner circular surface of each expansion sleeve 23 is in interference fit with the rotating piece 11, the outer circular surface of each expansion sleeve 23 is in interference fit with the first driving transmission piece 211, and the first driving transmission piece 211 and the rotating piece 11 form a transmission fit relation in an interference fit mode. When the first driving transmission member 211 is loaded, torque, axial force or a composite load of the two is transmitted by virtue of the combined pressure of the expansion sleeve and the first driving transmission member 211 and the rotary member 11 and the concomitant friction force. The arrangement of the expansion sleeve 23 ensures that the connection centering precision of the first driving transmission part 211 and the rotating part 11 is high, the installation, the adjustment and the disassembly are convenient, the strength is high, and the connection is stable and reliable.

In addition, the rotating member 11 is further provided with an axial positioning structure formed by the first nut 24, the washer 25 and the first bearing 26, and the axial positioning structure is used for forming axial positioning for the first driving member 211, and the axial positioning structure is an existing structure and will not be described herein.

Referring to fig. 10 and 11, an annular groove for winding the traction rope is formed in the middle of the first driving member 211, a traction rope clamping plate 27 and a traction rope pressing plate 28 are disposed on the first driving member 211, a gap is formed on an outer circumferential surface of the first driving member 211, the traction rope clamping plate 27 is installed in the gap, a fixing groove is formed on the traction rope clamping plate 27, and the traction rope pressing plate 28 covers the fixing groove and is fastened by a bolt. One end of the traction rope may be placed in the fixing groove and pressed by the traction rope pressing plate 28 to fix the one end of the traction rope on the first driving transmission member 211.

Referring to fig. 12 to 15, in order to illustrate the structure of the clutch 500, the clutch 500 includes a first clutch member 510, a second clutch member 520, and an elastic member 530, wherein the elastic member 530 is used for providing an elastic force for the first clutch member 510 to press the second clutch member 520, so that the first clutch member 510 is combined with the second clutch member 520. When the first clutch member 510 is engaged with the second clutch member 520, the driving assembly 600 is in power communication with the driving wheel 400, and the driving assembly 600 can drive the driving wheel 400 to rotate. In addition, the clutch 500 is further provided with an electromagnet which can drive the first clutch member 510 to move away from the second clutch member 520 against the elastic force in the energized state to ensure that the first clutch member 510 and the second clutch member 520 are disengaged. When the first clutch member 510 and the second clutch member 520 are kept in the combined state in the power-off state, the driving wheel 400 is reversely pulled by the clutch to drive the driving assembly 600 when rotating, and the driving wheel 400 is in the locked state due to the large reverse pulling moment, and the power-off unlocking device 100 is required to drive the clutch when the electromagnet is disabled.

The first clutch member 510 and the second clutch member 520 are dental discs, the second clutch member 520 is integrally provided with a rotating shaft, axially opposite end surfaces of the first clutch member 510 and the second clutch member are provided with engaging teeth, the first clutch member 510 is mounted on the driving wheel shaft 540, and the driving wheel 400 is mounted on the driving wheel shaft 540. The driving axle 540 is hollow, and the elastic member 530 is disposed in the driving axle 540 and provides elastic force to the first clutch member 510. In this embodiment, the elastic member 530 is a cylindrical coil spring. The first clutch member 510 is axially slidably disposed on the driving axle 540 with a single degree of freedom, and the first clutch member 510 can be engaged with the driving axle 540 through a spline, so that the first clutch member 510 axially slides relative to the driving axle 540, and the driving axle 540 follows the first clutch member 510 to rotate.

When the axial end surfaces of the first clutch member 510 and the second clutch member 520 are engaged, the engagement teeth are engaged with each other, and the power transmission paths are communicated.

The clutch 500 further includes a drive bevel gear 550 and a driven bevel gear 560 engaged with each other, and the driven bevel gear 560 is mounted on the rotation shaft of the second clutch member 520. The driving assembly 600 drives the driving bevel gear 550 to rotate and transmits power to the second clutch member 520 through the driven bevel gear 560, and if the first clutch member 510 and the second clutch member 520 are combined, the power is sequentially transmitted to the first clutch member 510 and the driving wheel shaft 540 through the second clutch member 520 and drives the driving wheel 400 to rotate through the driving wheel shaft 540.

With continued reference to fig. 12-15, the first driven transmission member 212 includes a driven sheave 2121, the traction rope 2134 is wound around the driven sheave 2121, and the driven sheave 2121 is configured for threaded connection to the surgical robot. Specifically, the slave roping wheel 2121 is threadedly coupled to the clutch 500 of the surgical robot.

Wherein clutch 500 further comprises a housing 570 and an internally threaded disc 580;

as shown in fig. 16, the driven sheave 2121 has an annular groove for winding the traction rope, and is provided with a traction rope clamping plate and a traction rope pressing plate for fixing the traction rope, similarly to the first driving transmission member 211. As shown in fig. 16, the driven sheave 2121 has an extension 2122 in the axial direction, and the extension 2122 has an external thread. As shown in fig. 17, the internal thread plate 580 has an internal thread, and the external circumference of the internal thread plate 580 is provided with a flange plate, which is fixed to the housing 570 by the flange plate. The driven sheave 2121 is threaded to the internally threaded disk 580. When the first driving transmission member 211 drives the driven sheave 2121 to rotate through the traction rope 2134, the driven sheave 2121 rotates in a threaded manner with respect to the internal thread disk 580, and the driven sheave 2121 also moves linearly in the axial direction thereof. The driven sheave 2121 is configured to drive the first clutch 510 to rotate in a direction away from the second clutch 520 when moving linearly.

As shown in fig. 14, in a clutch-combined state, the driven rope pulley 2121 rotates in a threaded manner relative to the internal thread disk 580, the driven rope pulley 2121 also moves linearly along the axial direction thereof in a direction approaching the second clutch member 520, the driven rope pulley 2121 drives the first clutch member 510 to move in a direction approaching the second clutch member 520, and the first clutch member 510 and the second clutch member 520 are combined together in a combined state.

As shown in fig. 15, in a clutch-disengaged state, the driven sheave 2121 rotates with respect to the internal thread disk 580 in a threaded manner, and the driven sheave 2121 also moves linearly in a direction away from the second clutch member 520 along an axial direction thereof, and the driven sheave 2121 drives the first clutch member 510 to move in a direction away from the second clutch member 520, so that the first clutch member 510 and the second clutch member 520 are separated from each other.

Referring to fig. 13 to 15, the clutch 500 further includes a second bearing 591, a bearing inner race pressing plate 592, a stop screw 593, an inner bore baffle 594, a third bearing 595, and a lock nut 596, wherein an inner race of the second bearing 591 is sleeved at one end of the first clutch member 510, and the bearing inner race pressing plate 592 is fixed at one end of the first clutch member 510 and axially positions an inner race of the second bearing 591. The outer race of the second bearing 591 is an interference fit with the inner wall of the extension of the driven sheave 2121. When the driven sheave 2121 rotates, the driven sheave 2121 moves axially relative to the internal thread disk 580, the driven sheave 2121 drives the outer ring of the second clutch 591 to rotate and simultaneously move axially, the outer ring of the second clutch 591 drives the inner ring of the second clutch 591 to move axially linearly, so that the second clutch 591 moves axially as a whole, and the second clutch 591 drives the first clutch 510 to move axially away from the second clutch 520 due to the axial positioning of the second clutch 591 relative to the first clutch 510. In this embodiment, since the axial force driving the first clutch 510 is small, the second bearing 591 is a roller bearing, and the driving method is used in emergency, the number of times of use is small, so that the daily use requirement can be met by adopting the roller bearing. In other alternative embodiments, the second bearing 591 may be replaced with a bearing having a greater axial load capacity.

With continued reference to fig. 13 to 15, the stop screw 593 is screwed to one end of the driving axle 540 and closes the hollow port thereof, the inner hole baffle 594 is fixed in the middle of the first clutch member 510 and faces the other open end of the driving axle 540, the elastic member 530 is located inside the driving axle 540, and one end of the elastic member abuts against the stop screw 593 and the other end abuts against the inner hole baffle 594; the outer ring of the third bearing 595 is mounted on the housing 570, the inner ring of the third bearing 595 is sleeved on the driving axle 540, and the locking nut 596 is in threaded connection with one end of the driving axle 540 and axially positions the third bearing 595.

In this embodiment, the traction rope is a steel wire rope, and in other alternative embodiments, the traction rope may be nylon wire or other rope that does not undergo significant elastic deformation when pulled.

In other alternative embodiments, the resilient member 530 may take the form of a disc spring, reed, or other known resilient structure.

In other alternative embodiments, the first driven transmission member 212 may move linearly, and the traction ropes directly pull the first driven transmission member 212 to move linearly and actuate one of the clutches.

In other alternative embodiments, the number of first transmissions 21 may be adaptively adjusted based on the number of clutches.

In this embodiment, the first clutch member 510 and the second clutch member 520 in the clutch 500 are pressure plates, and in other alternative embodiments, the first clutch member 510 and the second clutch member 520 may be friction plates.

The first transmission mechanism 21 adopts a traction rope transmission mode, is beneficial to flexible wiring, is convenient to arrange, and also facilitates driving a plurality of groups of traction ropes simultaneously to drive a plurality of clutches simultaneously, and has simpler overall layout.

In this embodiment, the support assembly 300 is a hydraulic support structure, and the second transmission mechanism 22 only needs to drive the hydraulic valve to act. In other alternative embodiments, the support assembly 300 may be in the form of a lead screw nut, with the lead screw being configured to be raised and lowered for support or stowing purposes. At this time, the second transmission mechanism 22 can drive the screw rod or the nut to rotate so as to drive the screw rod to lift and lower, thereby achieving the purpose of retracting the supporting component. The configuration of the second transmission 22 may be adapted based on the actual configuration of the support assembly 300.

Referring to fig. 18, in order to interrupt the unlocking flow chart of the electrolytic lock device 100 according to the present invention, preoperative preparation is first performed, at this time, the surgical robot needs to be powered on, the clutch is engaged, the driving wheel is driven to rotate, so that the surgical robot moves to the target position, and then the hydraulic valve is controlled to put down the support assembly to support the surgical robot on the ground. If the accident is powered off during the operation, the operation is stopped, at this time, the operation assembly 10 is manually driven to retract the support assembly and separate the two clutch members of the clutch, the driving wheel is unlocked, the operation robot system is promptly withdrawn from the current position, and the operation is continued by being shifted to a position where power can be supplied.

Referring to fig. 19, when the surgical robot loses power, the outer cover of the trolley base 200 can be opened to expose the operating assembly 10, the handle is held to rotate the rotating member, the hydraulic valve is driven by the gear transmission, the supporting assembly is decompressed and retracted, and the two clutch members in each clutch are separated by the traction rope transmission to unlock the driving wheel, so that the surgical robot can be evacuated. When the robot is withdrawn to the designated position, the robot can be powered up again and the support assembly is lowered, and the rotating handle is reset, so that the clutch is recombined and the surgical robot is locked again.

Example two

The present embodiment differs from the first embodiment in that the operating assembly 10, the first transmission mechanism 21, and the second transmission mechanism 22 are different.

In this embodiment, the handle is replaced by a foot pedal for the control 12, the control 12 is U-shaped, the opening end of the control is fixed on the rotating member 11, the rotating member 11 is disposed on the trolley base 200, and the foot pedal for the control 12 can drive the rotating member 11 to rotate.

Referring to fig. 20, the first driving member 211 includes a first driving wheel, the first intermediate transmission assembly 213 includes a first flexible member 2131 and a first driven wheel 2132, and the first driving member 211 is in driving engagement with the first driven wheel 2132 via the first flexible member 2131. The first flexible member 2131 is a flexible member that can only withstand tensile forces, and mainly refers to a belt or a chain, and when the first flexible member 2131 is a belt, the corresponding first driving element 211 and the first driven element 2132 are both pulleys, and when the first flexible member 2131 is a chain, the corresponding first driving element 211 and the first driven element 2132 are both sprockets.

The first driven transmission member 212 is a screw, the first driven wheel 2132 is disposed on the screw and drives the screw to rotate synchronously, and the screw is used for being connected to the clutch in a threaded manner.

The second transmission 22 further includes a second intermediate transmission assembly 214, the second intermediate transmission assembly 214 being in communication with the second driving transmission member 221 and transmitting movement of the second driving transmission member 221 to the second driven transmission member 222. Specifically, the second driving rotating member 221 is a second driving wheel, the second driven driving member 222 is a second driven wheel, the second intermediate transmission assembly 214 includes a second flexible member 2141, and the second driving rotating member 221 is in transmission fit with the second driven driving member 222 through the second flexible member 2141.

Also, when the second flexible member 2141 is a belt, the corresponding second driving transmission member 221 and second driven transmission member 222 are pulleys, and when the second flexible member 2141 is a chain, the corresponding second driving transmission member 221 and second driven transmission member 222 are sprockets.

With continued reference to fig. 20, the second driven transmission member 222 is connected to a switch of the hydraulic valve 380 for controlling the support assembly 300 to release and retract.

Referring to fig. 21, a second nut 597 is mounted on the housing of the clutch 500, and the first driven transmission member 212 is in threaded driving engagement with the second nut 597. When the rotating member 11 rotates, power is transmitted to the first driven member 212 through the first driving member 211, the first flexible member 2131 and the first driven wheel 2132 in sequence, the first driven member 212 rotates relative to the second nut 597 and moves axially, and one end of the first driven member 212 pushes the first clutch member 510 to move axially so as to be far away from the second clutch member 520.

In order to prevent friction between the first driven transmission member 212 and the first clutch member 510, in this embodiment, a fourth bearing 598 is mounted at an end of the first driven transmission member 212, and the end surface of the fourth bearing 598 abuts against the inner end surface of the first clutch member 510 to perform linear motion against the elastic force of the elastic member.

In the operation process, the pedal control 12 realizes the clutch disengagement of the driving wheel and the decompression of the oil valve through the first transmission mechanism 21, namely realizes the synchronization of the clutch disengagement and the retraction of the hydraulic oil cylinder, and has simple operation and high corresponding speed.

Example III

The present embodiment differs from the first embodiment in that the operating assembly 10 and the first transmission mechanism 21 are different.

In this embodiment, the operating member 12 is replaced by a handle, which is similar to the structure of the second embodiment, and will not be repeated here.

Referring to fig. 22, the first driving member 211 includes a first driving gear, the first intermediate transmission assembly 213 includes a first driven gear 2133, the first driving member 211 is meshed with the first driven gear 2133, the first driven member 212 is a screw, the first driven gear 2133 is disposed on the screw and drives the screw to rotate synchronously, and the screw is used for being screwed to the clutch. The connection manner of the wire rod is similar to that of the second embodiment, and will not be described here again.

The first driving member 211 is meshed with the first driven gear 2133 and the second driven member 222, so that the first driving member 211 is also substantially the second driving member 221, and the first driving member 211 and the second driving member 221 share a gear.

The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any changes and modifications made by those skilled in the art based on the above disclosure are intended to fall within the scope of the appended claims.

Claims (10)

1. A power outage unlocking device, comprising: an operating assembly and a transmission assembly;

the operating component can be manually driven and can perform unlocking movement; the operation assembly comprises a rotating member, and the unlocking motion is autorotation motion of the rotating member;

the transmission assembly comprises a first transmission mechanism and a second transmission mechanism;

the first transmission mechanism is used for transmitting the autorotation motion of the rotating piece to a clutch of the surgical robot so as to separate a first clutch piece and a second clutch piece of the clutch, and unlock a driving wheel of the surgical robot;

the second transmission mechanism is used for transmitting the autorotation motion of the rotating piece to a supporting component of the surgical robot so as to retract the supporting component.

2. The power outage unlocking device according to claim 1, wherein the first transmission mechanism comprises a first driving transmission member and a first driven transmission member, the first driving transmission member is arranged on the rotating member and rotates along with the rotation of the rotating member, the rotation of the first driving transmission member is converted into the linear motion of the first driven transmission member, and the first driven transmission member is used for driving one clutch member of the clutch to move away from the other clutch member when in the linear motion.

3. The power outage unlocking device according to claim 2, wherein said first transmission mechanism further comprises a first intermediate transmission combination, said first intermediate transmission combination being in linkage with said first driving transmission member and transmitting movement of said first driving transmission member to said first driven transmission member.

4. The power outage unlocking device according to claim 3, wherein the first driving transmission member comprises a first driving wheel, the first intermediate transmission assembly comprises a first flexible member and a first driven wheel, the first driving transmission member is in transmission fit with the first driven wheel through the first flexible member, the first driven transmission member is a screw rod, the first driven wheel is arranged on the screw rod and drives the screw rod to synchronously rotate, and the screw rod is in threaded connection with the clutch.

5. The power outage unlocking device according to claim 1, wherein the second transmission mechanism comprises a second driving transmission member and a second driven transmission member, wherein the second driving transmission member is arranged on the rotating member and moves along with the rotating movement of the rotating member, and converts the rotating member into the movement of the second driven transmission member so as to drive the supporting assembly to retract.

6. The power outage unlocking device according to claim 5, wherein said second transmission mechanism further comprises a second intermediate transmission combination, said second intermediate transmission combination being in linkage with said second driving transmission member and transmitting movement of said second driving transmission member to said second driven transmission member.

7. The power outage unlocking device according to claim 6, wherein said second driving rotary member is a second driving wheel, said second driven transmission member is a second driven wheel, said second intermediate transmission assembly comprises a second flexible member, and said second driving rotary member is in driving engagement with said second driven transmission member via said second flexible member.

8. A surgical robot, comprising: the power outage unlocking device according to any one of claims 1 to 7, and a trolley base, a support assembly, a drive wheel, a clutch and a drive assembly;

The driving wheel and the driving assembly are arranged on the trolley base, the driving assembly is used for driving the driving wheel to rotate, and the clutch is arranged between the driving assembly and a power transmission path of the driving wheel and used for controlling the on-off of the power from the driving assembly to the driving wheel;

the support component is vertically movably arranged on the trolley base;

the power-off unlocking device is arranged on the trolley base and used for unlocking the supporting component and the driving wheel when the surgical robot is in a power-off state.

9. The surgical robot of claim 8, wherein the support assembly is a hydraulic support, the support assembly being configured with a hydraulic valve, the second transmission mechanism being configured to transmit the unlocking motion to the hydraulic valve to control the hydraulic valve action to depressurize the support assembly.

10. The surgical robot of claim 8, wherein the clutch includes a first clutch member, a second clutch member, and an elastic member for providing the first clutch member with an elastic force that presses the first clutch member against the second clutch member, and the first transmission mechanism is for transmitting the unlocking motion to the first clutch to urge the first clutch against the elastic force in a direction away from the second clutch member.