CN201542753U - Rapid switching mechanism for tail end of actuator - Google Patents
Rapid switching mechanism for tail end of actuator Download PDFInfo
- Publication number
- CN201542753U CN201542753U CN2009202571581U CN200920257158U CN201542753U CN 201542753 U CN201542753 U CN 201542753U CN 2009202571581 U CN2009202571581 U CN 2009202571581U CN 200920257158 U CN200920257158 U CN 200920257158U CN 201542753 U CN201542753 U CN 201542753U
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- ball
- sleeve
- tail end
- spring
- connector
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Abstract
The utility model relates to a rapid switching mechanism for a tail end of an actuator. The bottom of a handle is connected with a center shaft. The lower part of the center shaft is provided with an inner hole. The hole wall is provided with cone ball holes; the aperture of the outer wall is greater than that of the inner wall. The diameter of balls is less than the aperture of the outer wall and is greater than the aperture of the inner wall. The outside of the center shaft is sleeved with a sleeve. The lower part of the inner wall of the sleeve is a cone surface. The inner diameter of the upper side of the cone surface is greater than that of the lower side thereof. The balls are matched on the cone surface. The lower surface of the sleeve is provided with a U-shaped groove. A spring baffle is connected at the lower end of the center shaft by a screw thread. A spring is arranged in the U-shaped groove and is encapsulated between the spring baffle and the sleeve. The outer surface of a connecting piece at the upper part of a tail end apparatus is circumferentially provided with a plurality of cone holes. The utility model utilizes the spring to reset, can realize the radial movement of the balls in the cone holes of the center shaft by the cone surface processed on the inner surface of the sleeve, can utilize the balls to simultaneously realize circumferential and axial fixation of the tail end apparatus, rapidly switches, rapidly fixes and can be suitable for various surgical equipment.
Description
Technical field
This utility model relates to a kind of switching device shifter, specifically relates to a kind of executor tail end quick switching mechanism that is used for the operating theater instruments that Fast Installation is different on the Minimally Invasive Surgery mechanical arms such as surgery, belongs to the robotics field.
Background technology
In micro-wound surgical operation, need several assistants firmly to strut otch, to push the inner internal organs of patient aside.But we know that the surgical operation time is generally all long, and surgical staff is very easily tired, and it is not in place to be easy to cause otch to strut, can not the inner internal organs of fine isolation and the situation of focus, to such an extent as to can have a strong impact on doctor's surgical field of view and operation.Therefore, in micro-wound surgical operation, can adopt operation Aided Machine arm to come the assisted surgery doctor to finish micro-wound surgical operation, surgical operation Aided Machine arm is mainly used in auxiliary doctor and struts otch, to solve the fatigable problem of manual operation, have above-mentioned advantage just because of surgical operation Aided Machine arm, its potential applicability in clinical practice is very extensive.
But, in doctor's operation process, mechanical arm as auxiliary doctor's operation, executor tail end often needs repeatedly to switch terminal aid, and each time of switching also needs very short, so that the doctor can in time successfully finish operation, this just requires the switching of finishing of operating theater instruments energy simple and fast, and can fix fast, and in the existing mechanical arm system, much all be to adopt the different operating theater instruments of a plurality of executor's clampings, if desired in same operation, at any time change different operating theater instruments and carry out different operations, just need to change whole executor, can increase system cost greatly like this.In addition, at some end-of-arm tooling switching device shifters of the same machine executor of existing employing, mostly exist to switch trouble, switching time long, connect problems such as unreliable, greatly influenced doctor perform the operation quality and effect.
The utility model content
For solving the deficiencies in the prior art, the purpose of this utility model is to provide a kind of executor tail end quick switching mechanism, for joint type multiple degrees of freedom surgical robot system provides a kind of different operating theater instruments can be installed on same mechanical arm, and can switch fast, fix rapidly.
For achieving the above object, this utility model is to realize by following technical scheme:
A kind of executor tail end quick switching mechanism, it is characterized in that comprising handle, axis, spring, sleeve and ball, the fixedly connected axis of screw thread is passed through in bottom at handle, the bottom of described axis is provided with endoporus, be provided with penetrating ball hole on the sidewall of endoporus, ball is installed in the ball hole, and described ball hole is a bellmouth, the outer wall aperture is greater than the inwall aperture, and the diameter of described ball is less than the outer wall aperture and greater than the inwall aperture; The outside at axis is set with sleeve, and the bottom of sleeve lining is a taper surface, and the internal diameter of upside is greater than the internal diameter of downside, and ball is engaged on the taper surface; Be provided with U-lag on telescopic lower surface, spring stop is by being threaded in the lower end of axis, and insert in the U-lag upper end of spring stop, is provided with spring in U-lag, is encapsulated between spring stop and the sleeve; The top of apparatus is provided with connector endways, circumferentially is provided with several bellmouths on the outer surface of connector.
Aforesaid executor tail end quick switching mechanism is characterized in that the bellmouth on described ball and the connector is at least 2.
Aforesaid executor tail end quick switching mechanism, the quantity that it is characterized in that the bellmouth on the described connector is the integral multiple of ball quantity.
Aforesaid executor tail end quick switching mechanism is characterized in that the vertical of connector circumferentially is the chamfering inclined-plane.
The beneficial effects of the utility model are: executor tail end quick switching mechanism of the present utility model, utilize spring reset, can realize ball moving radially in the axis bellmouth by the taper surface that sleeve interior surface processes, can utilize ball to realize that simultaneously the circumferential and axial of terminal apparatus fix, switch fast, fix rapidly, go for multiple operating theater instruments.
Description of drawings
Fig. 1 is a cutaway view of the present utility model;
Fig. 2 is a scheme of installation of the present utility model;
Fig. 3 is the motion mode sketch map of ball.
The number in the figure implication is as follows:
1, terminal apparatus, 2, spring stop, 3, spring, 4, sleeve, 5, ball, 6, axis, 7, handle, 8, connector.
The specific embodiment
Below in conjunction with accompanying drawing this utility model is done concrete introduction.
Fig. 1 is a cutaway view of the present utility model; Fig. 2 is a scheme of installation of the present utility model; Fig. 3 is the motion mode sketch map of ball.
As shown in the figure, executor tail end quick switching mechanism of the present utility model comprises handle 7, axis 6, spring 3, sleeve 4 and ball 5, bottom at handle 7 is provided with endoporus, by the fixedly connected axis 6 of screw thread, the bottom of axis 6 is provided with endoporus, endoporus sidewall on be provided with penetrating ball hole, ball 5 is installed in the ball hole.
Ball hole adopts bellmouth, and the outer wall aperture is greater than the inwall aperture, and promptly outer imperial palace is little.And the diameter of ball 5 is said when ball 5 is installed in the ball hole like this less than the outer wall aperture and greater than the inwall aperture, and ball can not pass through from ball hole, and bellmouth also is beneficial to moving radially of ball, guarantees the convenience of switching.
Be set with sleeve 4 in the outside of axis 6, the bottom of the inwall of sleeve 4 is a taper surface, and the internal diameter of upside is greater than the internal diameter of downside, and ball 5 is engaged on the taper surface.Like this, when ball 5 was positioned at the upside of taper surface of sleeve 4 inboards, ball 5 can radially outwards move, and made the bellmouth on the fully outstanding axis 6 of ball 5, was convenient to change action; When ball 5 was positioned at the downside of taper surface of sleeve 4 inboards, ball 5 was compressed by taper surface, in the bellmouth of dieback on axis 6, makes ball 5 outstanding, plays the fixed effect of circumferential and axial.
Be provided with U-lag on the lower surface of sleeve 4, spring stop 2 is by being threaded in the lower end of axis 6, and insert in the U-lag upper end of spring stop 2, with cavity of lower end formation of sleeve 4.In U-lag, be provided with spring 3, be encapsulated between spring stop 2 and the sleeve 4.The top of apparatus 1 is provided with connector 8 endways, circumferentially is provided with several bellmouths on the outer surface of connector 8.
Under the normal condition, because spring stop 2 connects firmly with axis 6, sleeve 4 moves up under the effect of spring 3, and its its inboard taper surface dieback ball 5 is pressed in the ball hole ball 5.When needs are installed on the end effector, sleeve 4 is down promoted, as shown in Figure 2, because the taper surface on the sleeve 4 makes the diameter of sleeve 4 upper ends bigger, as shown in Figure 3, the ball 5 that is embedded on the axis 6 can be moved outward, when the connector 8 on the terminal apparatus 1 of insertion, apply outside radial force for ball 5 by the top of connector 8, ball radially outward side is made a concession, thereby connector 8 is inserted in the axis 6 smoothly.Loosen sleeve 4 then, in the effect of spring force, sleeve 4 resets, and ball 5 is pressed in the bellmouth on the connector 8, realizes axially, circumferential location, with fixation ends apparatus 1.If bellmouth and ball 5 not to last, only need to rotate terminal apparatus, on 5 pairs on bellmouth and ball after, spring 3 can automatically reset, with fixation ends apparatus 1.
When needs switch or take down end effector, equally sleeve 4 is down promoted, the ball 5 in the ball hole that is embedded in axis 6 is moved outward, thereby can allow connector 8 from axis 6, pull out.
Generally speaking, the bellmouth quantity on ball 5 and the connector 8 is at least 2.Ball and number of connecting pieces can be inconsistent simultaneously, as long as their position can be to last just passable.In actual mechanical process, the quantity of the bellmouth on the connector is many, and with the quantity of ball be at double relation, be 2 such as ball, bellmouth can be 4,6,8 ...Simultaneously, for the ease of the insertion of connector 8,, conveniently ball 5 is ejected on the vertical chamfering inclined-plane that circumferentially is provided with of connector 8.
This utility model utilizes sleeve different big characteristics of diameter about in the of 4, can control the turnover of ball 5; Utilize ball 5 to realize the fixing of terminal apparatus 1; Utilize the retractility of spring 3 to realize that automatically sleeve 4 restores.This mechanism only need utilize ball 5 can realize the axial and circumferential location of terminal apparatus 1, need not be by means of other mechanism, and fast convenient, it is firm to act on.
The foregoing description does not limit this utility model in any form, and all employings are equal to the technical scheme that mode obtained of replacement or equivalent transformation, all drop in the protection domain of the present utility model.
Claims (4)
1. executor tail end quick switching mechanism, it is characterized in that comprising handle, axis, spring, sleeve and ball, the fixedly connected axis of screw thread is passed through in bottom at handle, the bottom of described axis is provided with endoporus, be provided with penetrating ball hole on the sidewall of endoporus, ball is installed in the ball hole, and described ball hole is a bellmouth, the outer wall aperture is greater than the inwall aperture, and the diameter of described ball is less than the outer wall aperture and greater than the inwall aperture; The outside at axis is set with sleeve, and the bottom of sleeve lining is a taper surface, and the internal diameter of upside is greater than the internal diameter of downside, and ball is engaged on the taper surface; Be provided with U-lag on telescopic lower surface, spring stop is by being threaded in the lower end of axis, and insert in the U-lag upper end of spring stop, is provided with spring in U-lag, is encapsulated between spring stop and the sleeve; The top of apparatus is provided with connector endways, circumferentially is provided with several bellmouths on the outer surface of connector.
2. executor tail end quick switching mechanism according to claim 1 is characterized in that the bellmouth on described ball and the connector is at least 2.
3. executor tail end quick switching mechanism according to claim 1 and 2, the quantity that it is characterized in that the bellmouth on the described connector is the integral multiple of ball quantity.
4. executor tail end quick switching mechanism according to claim 1 is characterized in that the vertical of connector circumferentially is the chamfering inclined-plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202571581U CN201542753U (en) | 2009-11-03 | 2009-11-03 | Rapid switching mechanism for tail end of actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202571581U CN201542753U (en) | 2009-11-03 | 2009-11-03 | Rapid switching mechanism for tail end of actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201542753U true CN201542753U (en) | 2010-08-11 |
Family
ID=42597911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202571581U Expired - Lifetime CN201542753U (en) | 2009-11-03 | 2009-11-03 | Rapid switching mechanism for tail end of actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201542753U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704249B (en) * | 2009-11-03 | 2012-07-25 | 昆山市工业技术研究院有限责任公司 | Executor tail end quick switching mechanism |
| CN112890955A (en) * | 2021-01-18 | 2021-06-04 | 山东大学 | Operation arm system of transluminal surgical robot, robot and method |
| CN113787535A (en) * | 2021-09-17 | 2021-12-14 | 广州松兴电气股份有限公司 | Automatic sleeve replacing device for robot and application of automatic sleeve replacing device |
-
2009
- 2009-11-03 CN CN2009202571581U patent/CN201542753U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704249B (en) * | 2009-11-03 | 2012-07-25 | 昆山市工业技术研究院有限责任公司 | Executor tail end quick switching mechanism |
| CN112890955A (en) * | 2021-01-18 | 2021-06-04 | 山东大学 | Operation arm system of transluminal surgical robot, robot and method |
| CN113787535A (en) * | 2021-09-17 | 2021-12-14 | 广州松兴电气股份有限公司 | Automatic sleeve replacing device for robot and application of automatic sleeve replacing device |
| CN113787535B (en) * | 2021-09-17 | 2023-03-10 | 广州松兴电气股份有限公司 | Automatic sleeve replacing device for robot and application thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100811 Effective date of abandoning: 20091103 |