CN211534788U - Speed reduction assembly and shell - Google Patents
Speed reduction assembly and shell Download PDFInfo
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- CN211534788U CN211534788U CN202020028596.7U CN202020028596U CN211534788U CN 211534788 U CN211534788 U CN 211534788U CN 202020028596 U CN202020028596 U CN 202020028596U CN 211534788 U CN211534788 U CN 211534788U
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- housing
- receiving cavity
- side wall
- accommodating
- assembly
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- 230000009467 reduction Effects 0.000 title claims abstract description 31
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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Abstract
A speed reduction assembly and a housing thereof, the speed reduction assembly comprising: the bevel gear assembly is provided with a driving wheel and a driven wheel meshed with the driving wheel, and the driving wheel is used for connecting the power part; the speed reducer is connected with the driven wheel, and the end part of the speed reducer is positioned in an accommodating space formed by the driving wheel and the driven wheel so as to shorten the distance between the speed reducer and the driven wheel.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to a speed reduction subassembly and casing.
Background
The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.
With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation. The application of the surgical robot is limited due to the structural limitation of the slave operation device.
SUMMERY OF THE UTILITY MODEL
Accordingly, there is a need for a surgical robot with a wider application range.
There is provided a speed reduction assembly comprising: the bevel gear component is provided with a driving wheel and a driven wheel meshed with the driving wheel, and the driving wheel is used for connecting the power part; and the end part of the speed reducer is positioned in an accommodating space formed by the driving wheel and the driven wheel so as to shorten the distance between the speed reducer and the driven wheel.
The speed reduction assembly further comprises a shell, the bevel gear assembly is contained in the shell, and the speed reducer is fixed with the shell.
The shell is provided with a first accommodating cavity for accommodating the driving wheel and a second accommodating cavity for accommodating the driven wheel, the first accommodating cavity is communicated with the second accommodating cavity, the driving wheel is meshed with the driven wheel in a communicated area, a first bottom wall of the first accommodating cavity extends along a second side wall of the second accommodating cavity, and an included angle is formed between the first bottom wall and the end face of the second side wall, so that the first accommodating cavity and the outer wall of the second accommodating cavity form the accommodating space.
Wherein the included angle is a right angle.
And the speed reducer is fixedly connected with the second side wall and/or the first side wall.
The driving wheel is connected with the input shaft, the driven wheel is connected with the connecting shaft, the speed reducer is fixedly connected with the first side wall along the direction of the input shaft, and is fixedly connected with the second side wall along the direction of the connecting shaft.
The opening area of the second accommodating cavity is provided with a bayonet, and the speed reducer extends into the bayonet.
Wherein the bayonet is arranged along the periphery of the second accommodating cavity.
Wherein, the bayonet is located the second lateral wall and keeps away from the one side of first diapire.
Wherein the second side wall is adjacent to a region where the driving wheel is meshed with the driven wheel.
The shell of the speed reducer is cylindrical, the part of the outer wall of the first accommodating cavity, which extends out of the outer wall of the second accommodating cavity, is matched with the shell of the speed reducer, and the thickness of the middle part of the first side wall in the radial direction of the first accommodating cavity is greater than that of the end part of the first side wall.
The speed reducing assembly further comprises a power part connected with the driving wheel, and a rotating shaft of the power part is basically perpendicular to a rotating shaft of the speed reducer.
Wherein the bevel gear assembly forms a single reduction mechanism.
A shell of a speed reduction assembly comprises a bevel gear assembly and a speed reducer connected with the bevel gear assembly, the shell is provided with a first accommodating cavity for accommodating a driving wheel in the bevel gear assembly and a second accommodating cavity for accommodating a driven wheel in the bevel gear assembly, the first accommodating cavity is communicated with the second accommodating cavity, a first bottom wall of the first accommodating cavity extends along a second side wall of the second accommodating cavity, and an included angle is formed between the first bottom wall and the end face of the second side wall, so that the first accommodating cavity and the outer wall of the second accommodating cavity form an accommodating space for accommodating the speed reducer.
Wherein the included angle is a right angle.
The first side wall and/or the second side wall are used for fixedly connecting the end part of the speed reducer.
The first side wall and the second side wall fix the speed reducer along different directions.
The opening area of the second accommodating cavity is provided with a bayonet used for accommodating the end part of the speed reducer.
Wherein the bayonet is arranged along the periphery of the second accommodating cavity.
Wherein, the bayonet is located the second lateral wall and keeps away from the one side of first diapire.
Wherein the second side wall is adjacent to a region where the driving wheel is meshed with the driven wheel.
The part of the outer wall of the first containing cavity, which extends out of the outer wall of the second containing cavity, is matched with the shell of the speed reducer, and the thickness of the middle part of the first side wall in the radial direction of the first containing cavity is larger than that of the end part of the first side wall.
The utility model discloses a speed reduction subassembly and casing has following beneficial effect:
through shortening the speed reducer and the distance from the driving wheel, and then shorten the distance between arm and the power unit installation casing, make from operating means can implement the operation in the narrower and small position in space, and then make surgical robot's range of application wider.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a surgical robot;
FIG. 2 is a partial schematic view of an embodiment of a surgical robot;
FIG. 3 is a partial schematic view of an embodiment of a surgical robot;
fig. 4 and 5 are a partial schematic structural view and a cross-sectional view of an embodiment of a surgical robot;
fig. 6 and 7 are schematic structural diagrams and sectional views of an embodiment of a housing of the deceleration assembly.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the surgical robot includes a master operation table 1 and a slave operation device 2. The main console 1 is configured to transmit a control command to the slave operating device 2 according to a doctor's operation to control the slave operating device 2, and is configured to display an image acquired by the slave operating device 2. The slave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and the slave operation device 2 is also used for acquiring the images in the body.
The slave operation device 2 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, a surgical instrument 23 provided on the power mechanism 22, and a cannula 24 in which the surgical instrument 23 is sleeved. The robotic arm 21 is used to adjust the position of the surgical instrument 23; the power mechanism 22 is used for driving the surgical instrument 23 to perform corresponding operation, and is provided with a mounting shell which is connected with the mechanical arm and can move relative to the mechanical arm; the surgical instrument 23 is used to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located end instrument. Specifically, as shown in fig. 2 and 3, the surgical instrument 23 is inserted into the cannula 24, and the distal end instrument extends out of the cannula 24 and is driven to perform an operation by the power mechanism 22. In fig. 2, the region of the surgical instrument 23 within the cannula 24 is a rigid region; in fig. 3, the region of the surgical instrument 23 within the cannula 24 is a flexible region, and the cannula bends with the flexible region. The sleeve 24 may also be omitted.
In the embodiment shown in fig. 4 and 5, the robot arm 21 has a speed reducing assembly 201, and the speed reducing assembly 201 is connected to a mounting housing 202 of the power mechanism to adjust the position and/or posture of the mounting housing 202. The deceleration assembly 201 includes: the power unit 200, the bevel gear assembly 300 and the speed reducer 400 are connected in sequence to the housing 100. Wherein, the bevel gear assembly 300 is accommodated in the housing 100, the bevel gear assembly 300 has a driving wheel 310 and a driven wheel 320 engaged with each other, the driving wheel 310 is connected with the power part 200, and the driven wheel 320 is connected with the speed reducer 400; one end of the speed reducer 400 is located in the accommodating space formed by the driving wheel 310 and the driven wheel 320, and the other end of the speed reducer 400 is connected with the mounting shell 202, so that the distance between the speed reducer 400 and the driven wheel 320 is shortened, the distance between the mechanical arm 21 and the mounting shell 202 of the power part 200 is shortened, the slave operation equipment can perform an operation at a position with a narrower space, and the application range of the surgical robot is wider.
Referring to fig. 6 and 7, the first sidewall 110 and the first bottom wall 120 of the housing 100 enclose a first receiving cavity 130 for receiving the driving wheel 310, and an input shaft connected to the driving wheel 310 is connected to the driving wheel 310 through an opening region opposite to the first bottom wall 120. The second side wall 150 and the second bottom wall 160 of the housing 100 enclose a second receiving cavity 170 for receiving the driven wheel 320, and the connecting shaft connected to the speed reducer 400 is connected to the speed reducer 400 through an opening area of the second receiving cavity 170. The first receiving cavity 130 is communicated with the second receiving cavity 170, and the driving wheel 310 is engaged with the driven wheel 320 at a communication area, which can also be understood as the receiving cavities are communicated at an area adjacent to the first sidewall 110 and the second sidewall 150.
In one embodiment, the power section 200 is disposed substantially perpendicular to the speed reducer 400 to shorten the distance between the mechanical arm 21 and the power section 200 mounting housing 202, for example, in a vertical connection via the bevel gear assembly 300. At this time, the two receiving cavities of the housing 100 are also substantially vertical.
The power part 200 is fixedly connected with the opening region of the first receiving cavity 130. In one embodiment, the power portion 200 abuts against the first sidewall, and in other embodiments, the power portion 200 may be fixedly connected to the first sidewall by other methods such as clamping.
The speed reducer 400 is fixed to the housing 100. Specifically, the first bottom wall 120 of the first accommodating cavity 130 extends along the second side wall 150 of the second accommodating cavity 170, an included angle is formed between the end surfaces of the first bottom wall and the second side wall, so that the outer walls of the first accommodating cavity and the second accommodating cavity form an accommodating space 180, and the end of the speed reducer 400 is located in the accommodating space 180, i.e., in an accommodating area formed by the included angle, and is fixedly connected to the housing 100. In this embodiment, the included angle is a right angle, that is, the end faces of the first bottom wall 120 and the second side wall are substantially perpendicular to each other; in other embodiments, the included angle may also be an acute angle or an obtuse angle, and at this time, the speed reducer 400 is matched with the included angle region to be accommodated in the included angle region, so as to reduce the distance between the driven wheel 320 and the speed reducer 400.
In an embodiment, the speed reducer 400 is fixedly connected to the second sidewall 150 and the first sidewall 110. The speed reducer 400 is fixedly connected to the first sidewall 110 along the direction of the input shaft, and is fixedly connected to the second sidewall 150 along the direction of the connecting shaft. In other embodiments, the speed reducer 400 may be fixedly connected to only one of the sidewalls, or may be fixedly connected to the sidewalls from other directions. Compare speed reducer and lateral wall fixed connection, it is connected with the lateral wall and more can reduce the speed reduction subassembly volume.
As shown in fig. 6 and 7, in an embodiment, the speed reducer housing is cylindrical, the portion of the outer wall of the first receiving cavity extending out of the outer wall of the second receiving cavity 170 matches with the speed reducer housing, and the thickness of the first sidewall 110 in the radial direction of the first receiving cavity 130 is greater than that of the end portion, so as to reinforce the housing, for example, the thickness of the first sidewall is smoothly transited.
In an embodiment, the opening region of the second accommodating cavity is provided with a bayonet 190, and the speed reducer 400 extends into the bayonet 190. The bayonet may be disposed along a periphery of the second receiving cavity, or may be disposed in a partial area of the second sidewall, for example, the bayonet is located on a side of the second sidewall away from the first bottom wall. The bayonet can more stably fix the speed reducer 400, thereby reducing the shaking of the mechanical arm 21 generated by the speed reducer 400 in the movement process.
In one embodiment, the second sidewall 150 is adjacent to the area where the driving wheel 310 is engaged with the driven wheel 320, so that the speed reducer 400 can penetrate more into the accommodating space formed by the housing 100, and the distance between the mechanical arm 21 and the mounting housing 202 of the power portion 200 is shortened.
In one embodiment, the bevel gear assembly forms a single stage reduction mechanism to further increase the reduction ratio of the reduction assembly.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (22)
1. A speed reduction assembly, comprising:
the bevel gear component is provided with a driving wheel and a driven wheel meshed with the driving wheel, and the driving wheel is used for connecting the power part;
and the end part of the speed reducer is positioned in an accommodating space formed by the driving wheel and the driven wheel so as to shorten the distance between the speed reducer and the driven wheel.
2. The reduction assembly of claim 1, further comprising a housing, wherein the bevel gear assembly is received within the housing, and wherein the reducer is secured to the housing.
3. The decelerating assembly as claimed in claim 2, wherein the housing has a first receiving cavity for receiving the driving wheel and a second receiving cavity for receiving the driven wheel, the first receiving cavity is in communication with the second receiving cavity, the driving wheel is engaged with the driven wheel at a communication area, a first bottom wall of the first receiving cavity extends along a second side wall of the second receiving cavity, and an included angle is formed between the first bottom wall and an end surface of the second side wall, so that the first receiving cavity and an outer wall of the second receiving cavity form the receiving space.
4. The speed reduction assembly of claim 3, wherein the included angle is a right angle.
5. The speed reduction assembly of claim 3, wherein the speed reducer is fixedly connected to the second side wall and/or the first side wall.
6. The speed reduction assembly of claim 3, wherein the drive wheel is connected to an input shaft, the driven wheel is connected to a connecting shaft, and the speed reducer is fixedly connected to the first sidewall along the direction of the input shaft and to the second sidewall along the direction of the connecting shaft.
7. The speed reducer assembly according to claim 3, wherein an opening region of the second receiving cavity is provided with a bayonet, and the speed reducer extends into the bayonet.
8. The speed reduction assembly of claim 7, wherein the bayonet is disposed along a periphery of the second receiving cavity.
9. The speed reduction assembly of claim 7, wherein the bayonet is located on a side of the second side wall remote from the first bottom wall.
10. The speed reduction assembly of claim 3, wherein the second side wall is adjacent to a region where the drive wheel engages the driven wheel.
11. The reduction assembly according to claim 3, wherein the housing of the reduction gear is cylindrical, a portion of the outer wall of the first receiving cavity, which extends beyond the outer wall of the second receiving cavity, is matched with the housing of the reduction gear, and a middle thickness of the first side wall in a radial direction of the first receiving cavity is greater than an end thickness.
12. The speed reduction assembly of claim 1, further comprising a power portion connected to the drive wheel and having a rotational axis substantially perpendicular to the rotational axis of the reducer.
13. The reduction assembly of claim 1, wherein the bevel gear assembly forms a single reduction mechanism.
14. A shell of a speed reduction assembly comprises a bevel gear assembly and a speed reducer connected with the bevel gear assembly, and is characterized in that the shell is provided with a first accommodating cavity for accommodating a driving wheel in the bevel gear assembly and a second accommodating cavity for accommodating a driven wheel in the bevel gear assembly, the first accommodating cavity is communicated with the second accommodating cavity, a first bottom wall of the first accommodating cavity extends along a second side wall of the second accommodating cavity, and an included angle is formed between the first bottom wall and the end face of the second side wall, so that the first accommodating cavity and the outer wall of the second accommodating cavity form an accommodating space for accommodating the speed reducer.
15. The housing of claim 14, wherein the included angle is a right angle.
16. The housing of claim 14, wherein the first side wall and/or the second side wall is configured to be fixedly connected to an end of the reducer.
17. The housing of claim 14, wherein the first sidewall and the second sidewall secure the reducer in different directions.
18. The housing of claim 14, wherein the open area of the second receiving cavity is provided with a bayonet for receiving an end of the reducer.
19. The housing of claim 18, wherein the bayonet is disposed along a periphery of the second receiving cavity.
20. The housing of claim 18, wherein the bayonet is located on a side of the second side wall remote from the first bottom wall.
21. The housing of claim 14, wherein the second sidewall is adjacent to a region where the drive wheel engages the driven wheel.
22. The reduction assembly according to claim 14, wherein a portion of the outer wall of the first receiving cavity, which extends beyond the outer wall of the second receiving cavity, is matched with a housing of the reduction gear, and a middle portion of the first side wall in a radial direction of the first receiving cavity has a thickness greater than a thickness of an end portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020028596.7U CN211534788U (en) | 2020-01-07 | 2020-01-07 | Speed reduction assembly and shell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020028596.7U CN211534788U (en) | 2020-01-07 | 2020-01-07 | Speed reduction assembly and shell |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211534788U true CN211534788U (en) | 2020-09-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020028596.7U Active CN211534788U (en) | 2020-01-07 | 2020-01-07 | Speed reduction assembly and shell |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211534788U (en) |
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2020
- 2020-01-07 CN CN202020028596.7U patent/CN211534788U/en active Active
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