Grinding and drilling machine

Abstract

The drill grinding machine comprises a drill grinding main body, a drill grinding protective cover and a quick-change assembly, one end of the quick-change assembly is detachably connected with a mechanical arm, the other end of the quick-change assembly is detachably connected with the drill grinding main body, one end of the drill grinding protective cover is connected to the end of the drill grinding main body in a sleeving mode, and the other end of the drill grinding protective cover is detachably connected with a tool; a driving motor and a transmission shaft are arranged in the abrasive drill body, and the output end of the driving motor is connected with the cutter through the transmission shaft. The quick-change assembly is used for connecting the mechanical arm and the abrasive drill body, the transmission shaft and the transmission gear assembly can be fixed and disassembled by connecting the abrasive drill body and the abrasive drill protective cover, meanwhile, the transmission gear assembly and the tool are fixedly connected in the abrasive drill protective cover, and the quick-change assembly is simple in structure, small in occupied size, convenient and quick to assemble and disassemble and high in practicability. And the mounting and dismounting efficiency of all parts of the grinding and drilling machine is improved.

Description

Technical Field

[0001] The invention relates to the technical field of drilling rig installation, in particular to a hand-held drilling rig. Background Art

[0002] Surgical actuators such as drill grinders need to be assembled during surgical operations, and then disassembled and separated before or after the operation for easy storage and transportation. The drill grinder contains multiple transmission mechanisms, and the drive motor drives the tool at the end of the drill grinder to operate through the transmission mechanism.

[0003] In view of the structural complexity of the transmission mechanism, the drill grinder in the prior art cannot realize the rapid disassembly and installation of the transmission mechanism when disassembling and installing the drill grinder, resulting in low efficiency in disassembly and installation of the drill grinder. Summary of the invention

[0004] The present invention aims to solve one of the problems in the related art to at least some extent. To this end, the present invention aims to provide a drill grinder with a simple structure, which helps to improve the disassembly and installation of the drill grinder and improves the assembly efficiency of the drill grinder.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a drill grinder, comprising a drill grinder body, a drill grinder protective cover and a quick-change assembly, wherein one end of the quick-change assembly is detachably connected to a mechanical arm, and the other end is detachably connected to the drill grinder body, one end of the drill grinder protective cover is sleeved on the end of the drill grinder body, and the other end is detachably connected to a tool;

[0006] A driving motor and a transmission shaft are arranged in the drill grinding body, and the output end of the driving motor is connected to the tool through the transmission shaft.

[0007] Furthermore, the drill grinder body includes a main body shell, the inner side wall of the main body shell is provided with a sliding sealing sleeve, and the outer peripheral side of the transmission shaft is provided with a clamping piece; when the drill grinder protective cover is sleeved on the end of the drill grinder body, the sealing sleeve and the clamping piece are misaligned, and when the drill grinder protective cover is separated from the end of the drill grinder body, the sealing sleeve and the clamping piece are abutted.

[0008] Furthermore, the top end of the transmission shaft is fixed inside the grinding drill body, and the sealing sleeve is located on a side of the clamping member close to the top end of the transmission shaft;

[0009] A spring is provided at one end of the sealing sleeve away from the clamping member, one end of the spring is fixedly connected to the main housing, and the other end of the spring abuts against the sealing sleeve;

[0010] An abutment ring is provided in the drill grinder protective cover. When the drill grinder protective cover is installed at the end of the drill grinder body, the abutment ring pushes the sealing sleeve to overcome the spring force and move in the direction away from the clamping part; when the drill grinder protective cover is separated from the drill grinder body, the sealing sleeve slides to the abutment position with the clamping part under the elastic force of the spring.

[0011] Furthermore, the drill grinder protective cover is an L-shaped structure; the drill grinder protective cover includes a connecting corner, a connecting cover and a connecting nut, the connecting corner is an L-shaped structure, the connecting cover covers the side of the connecting corner close to the drill grinder body, and the connecting nut is located between the connecting cover and the connecting corner, and is used to limit the connecting cover and the connecting corner in the axial direction.

[0012] Furthermore, a first fixing groove is provided on the outer side of the connecting corner, and a second fixing groove is provided on the inner side of the connecting cover, and the first fixing groove and the second fixing groove overlap in a direction perpendicular to the axial center line of the drill grinding protective cover; a positioning pin is provided on the inner side wall of the connecting cover, and a positioning groove is provided in the connecting corner.

[0013] Furthermore, a tolerance ring is sleeved on the outer side of the end of the drill grinding body, and the tolerance ring is provided with an expansion and contraction notch along the extension direction of the axis; an inclined surface is provided at the end of the tolerance ring, and a limiting groove adapted to the tolerance ring is provided in the drill grinding protective cover.

[0014] Furthermore, the tolerance ring is provided with an expansion and contraction notch along the extension direction of the axial line; an accommodating groove is provided on the outer side of the drill grinding body, and the tolerance ring is sleeved on the accommodating groove; along the axial line direction of the tolerance ring, the length of the tolerance ring is equal to the length of the accommodating groove; in the direction perpendicular to the axial line of the drill grinding body, the depth of the accommodating groove is less than the height of the tolerance ring.

[0015] Furthermore, a tool fixing clamp for accommodating the tool is arranged inside the drill bit protective cover, a first fixing through hole is arranged on the side of the tool fixing clamp, and a driving member is arranged on the side of the first fixing through hole; a first fixing groove is arranged in the tool, and when the tool is located in the tool fixing clamp, the driving member can drive the marble to pass through the first fixing through hole and move into or out of the first fixing groove.

[0016] Furthermore, the driving member includes an active driving member and a passive driving member, the passive driving member is sleeved on the outside of the tool fixing clamp, and the active driving member can drive the passive driving member to move to a position covering the first fixing through hole, or a position misaligned with the first fixing through hole.

[0017] Furthermore, the drill grinding body includes a main body shell, a support column is arranged on the outside of the main body shell, and a wire sheath is arranged inside the support column; a conductive column is arranged at one end of the quick-change assembly close to the robotic arm; the wire connected to the conductive column passes through the wire sheath and is connected to the input end of the drive motor.

[0018] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art: the drill grinder of the present application includes a drill grinder body, a drill grinder protective cover and a quick-change assembly, one end of the quick-change assembly is detachably connected to a mechanical arm, and the other end is detachably connected to the drill grinder body, one end of the drill grinder protective cover is sleeved on the end of the drill grinder body, and the other end is detachably connected to a tool; a driving motor and a transmission shaft are provided in the drill grinder body, and the output end of the driving motor is connected to the tool via a transmission shaft. The quick-change assembly of the present application is used to connect the mechanical arm and the drill grinder body, and the connection between the drill grinder body and the drill grinder protective cover can realize the fixing and disassembly of the transmission shaft and the transmission gear assembly, and at the same time, the transmission gear assembly and the tool are fixedly connected inside the drill grinder protective cover. The present application has a simple structure, occupies a small volume, and the installation and disassembly method is convenient and quick, which improves the installation and disassembly efficiency between the various components of the drill grinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 It is a schematic diagram of the overall structure of the drilling rig in this application;

[0022] Figure 2 is a cross-sectional schematic diagram of the grinding drill in this application;

[0023] Figure 3 It is a cross-sectional schematic diagram of the drill grinding body in this application;

[0024] Figure 4 It is a cross-sectional schematic diagram of the drill grinding protective cover in this application;

[0025] Figure 5 It is a cross-sectional schematic diagram of the junction between the drill grinding body and the drill grinding protective cover in this application;

[0026] Figure 6 It is a cross-sectional schematic diagram of the corner of the drill grinding protection cover in this application;

[0027] Figure 7 A cross-sectional schematic diagram of the quick-change assembly in the present application.

[0028] Figure 8 It is a schematic diagram of the structure of the tolerance ring in this application;

[0029] Fig. 9 It is a structural schematic diagram of the connecting cover in this application;

[0030] Fig.10 It is a structural schematic diagram of the camshaft in this application;

[0031] Fig.11 It is a schematic diagram of the structure of the tool in this application.

[0032] Figure numerals: 12, navigator; 13, main body shell; 14, PCB control board; 15, wire gap; 16, support column; 17, wire sheath; 21, quick-change assembly; 23, mechanical connecting plate; 24, positioning column; 25, conductive column; 26, wire; 31, grinding drill body; 311, sealing sleeve; 312, first sealing ring; 314, spring; 315, anti-slip boss; 316, snap-on piece; 32, tolerance ring; 321, inclined surface; 322, expansion and contraction notch; 34, button; 35, connector; 36, snap-on groove; 37, positioning groove; 41, grinding drill protective cover; 411, abutment ring; 412, connection Corner; 413, connecting cover; 414, connecting nut; 415, first fixing groove; 416, connecting assembly; 417, fixing pin; 42, limiting groove; 43, clamping column; 44, driving motor; 45, transmission shaft; 46, transmission gear assembly; 47, tool; 51, tool fixing clamp; 52, first fixing groove; 53, marble; 55, passive sleeve; 56, first limiting bracket; 57, passive slider; 58, passive drive spring; 59, second limiting bracket; 61, active sleeve; 62, active drive spring; 63, unlocking rotating ring; 64, unlocking rotating steel ball; 65, camshaft; 67, limiting groove. DETAILED DESCRIPTION

[0033] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the mechanism or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0034] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0035] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, mechanisms, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0036] Example 1

[0037] See also Figure 1-Figure 11 The present application provides a drill grinder, comprising a drill grinder body 31, a drill grinder protective cover 41 and a quick-change assembly 21, wherein one end of the quick-change assembly 21 is detachably connected to a mechanical arm, and the other end is detachably connected to the drill grinder body 31, one end of the drill grinder protective cover 41 is sleeved on the end of the drill grinder body 31, and the other end is detachably connected to a tool 47;

[0038] The drill bit body 31 is provided with a driving motor 44 and a transmission shaft 45 . The output end of the driving motor 44 is connected to the tool 47 via the transmission shaft 45 .

[0039] The drill grinder of the present application comprises a drill grinder body 31, a drill grinder protective cover 41 and a quick-change assembly 21. One end of the quick-change assembly 21 is detachably connected to a mechanical arm, and the other end is detachably connected to the drill grinder body 31. One end of the drill grinder protective cover 41 is sleeved on the end of the drill grinder body 31, and the other end is detachably connected to a tool 47. A drive motor 44 and a transmission shaft 45 are provided in the drill grinder body 31, and the output end of the drive motor 44 is connected to the tool 47 via the transmission shaft 45. The quick-change assembly 21 of the present application is used to connect the mechanical arm and the drill grinder body 31. The drill grinder body 31 and the drill grinder protective cover 41 are connected to realize the fixing and disassembly of the transmission shaft 45 and the tool 47. The present application has a simple structure, occupies a small volume, and has a convenient and quick installation and disassembly method, which improves the installation and disassembly efficiency between the various components of the drill grinder.

[0040] The present application drill grinder has a navigator 12 detachably mounted on the top, and the navigator 12 is simultaneously adsorbed on the top of the drill grinder body 31 and the drill grinder protective cover 41 through a magnetic suction component. The navigator 12 can be quickly installed and removed through the magnetic suction component.

[0041] Example 2

[0042] See also Figure 1-Figure 11 The present application provides a drill grinder, comprising a drill grinder body 31, a drill grinder protective cover 41 and a quick-change assembly 21, wherein one end of the quick-change assembly 21 is detachably connected to a robotic arm, and the other end is detachably connected to the drill grinder body 31, one end of the drill grinder protective cover 41 is sleeved on the end of the drill grinder body 31, and the other end is detachably connected to a tool 47; a drive motor 44 and a transmission shaft 45 are provided in the drill grinder body 31, a transmission gear assembly 46 is provided in the drill grinder protective cover 41, and the output end of the drive motor 44 is connected to the tool 47 via the transmission shaft 45 and the transmission gear assembly 46.

[0043] The drill grinding body 31 includes a main body shell and a transmission shaft 45 located at the axis of the main body shell; the inner side wall of the main body shell is provided with a sliding sealing sleeve 311, and the outer peripheral side of the transmission shaft 45 is provided with a clamping piece 316. When the drill grinding shield 41 is sleeved on the end of the drill grinding body 31, the sealing sleeve 311 and the clamping piece 316 are misaligned. At this time, a certain gap is maintained between the transmission shaft 45 and the main body shell to ensure that the transmission shaft 45 can rotate smoothly. When the drill grinding shield 41 is separated from the end of the drill grinding body 31, the sealing sleeve 311 and the clamping piece 316 are abutted. At this time, the inside of the drill grinding body 31 is sealed. By setting the position of the sealing sleeve 311 and the clamping piece 316, the effect of not sealing when the sealing shaft rotates and sealing when disassembled and stationary is achieved.

[0044] Furthermore, in the present application, the top end of the transmission shaft 45 is fixed inside the drill grinding body 31, and the clamping member 316 is located in the transmission shaft 45 near the end of the transmission shaft 45. The position of the clamping member 316 in the transmission shaft 45 is fixed. In order to ensure that the sealing position of the sealing sleeve 311 to the clamping member 316 is as biased as possible toward the end of the installation body, the present application sets the clamping member 316 to be located near the bottom of the transmission shaft 45. At the same time, the setting of the clamping member 316 also needs to consider that when the drill grinding body 31 and the drill grinding protection cover 41 are assembled, the clamping member 316 will not hinder the smooth installation of the drill grinding protection cover 41.

[0045] The sealing sleeve 311 described in the present application is located on the side of the clamping member 316 close to the top of the transmission shaft 45. That is to say, when the sealing sleeve 311 is misaligned with the clamping member 316, the sealing sleeve 311 slides in a direction close to the top of the transmission shaft 45 and away from the clamping member 316. When the sealing sleeve 311 needs to abut against the clamping member 316, the sealing sleeve 311 slides in a direction away from the top of the transmission shaft 45 and close to the clamping member 316 until the sealing sleeve 311 abuts against the clamping member 316 for sealing.

[0046] In the present application, a spring 314 is provided at one end of the sealing sleeve 311 away from the clamping member 316, one end of the spring 314 is fixedly connected to the main housing, and the other end abuts against the sealing sleeve 311. The spring 314 is used to drive the sealing sleeve 311 to slide along the axis of the installation body.

[0047] At the same time, an abutment ring 411 is provided in the drill grinding protection cover 41. When the drill grinding protection cover 41 is installed at the end of the drill grinding body 31, the abutment ring 411 pushes the sealing sleeve 311 to overcome the force of the spring 314 and move in the direction away from the clamping piece 316; when the drill grinding protection cover 41 is separated from the drill grinding body 31, the sealing sleeve 311 slides to the abutment position with the clamping piece 316 under the elastic force of the spring 314.

[0048] The driving force of the sealing sleeve 311 in the present application comes from the combined force of the abutting ring 411 and the spring 314. When the drill grinding shield 41 is away from the drill grinding body 31, the abutting ring 411 has no force on the sealing sleeve 311. At this time, the sealing sleeve 311 is only subjected to the force of the spring 314. In the present application, the spring 314 is always in a compressed state. When the abutting ring 411 is away from the sealing sleeve 311, the elastic force of the spring 314 on the sealing sleeve 311 causes the sealing sleeve 311 to slide to a position where it abuts against the clamping member 316. In the present application, the clamping member 316 is a component surrounding the transmission shaft 45, and the sealing sleeve 311 is also a part surrounding the transmission shaft 45. When the sealing sleeve 311 abuts against the clamping member 316, the sealing sleeve 311 is evenly clamped on the outer peripheral side of the clamping member 316 to achieve a 360° seal.

[0049] Furthermore, in order to ensure that the sealing sleeve 311 can stop when it slides to the position where it abuts against the clamping piece 316 under the elastic force of the spring 314, an anti-slip boss 315 is arranged inside the main shell of the present application, and the anti-slip boss 315 is located on the side of the sealing sleeve 311 away from the spring 314. When the spring 314 pushes the sealing sleeve 311 to slide to the position where it abuts against the anti-slip boss 315, the sealing sleeve 311 stops moving. At this time, the sealing sleeve 311 is sealed and clamped with the clamping piece 316, and the sealing sleeve 311 remains stationary under the action of the anti-slip boss 315 and the spring 314, and will not apply any force to the transmission shaft 45, thereby ensuring the position stability of the transmission shaft 45.

[0050] When the drill grinder shield 41 is installed at the end of the drill grinder body 31, the abutment ring 411 pushes the sealing sleeve 311 to overcome the elastic force of the spring 314, so that the spring 314 is further compressed until the elastic force of the spring 314 is equal to the thrust of the abutment ring 411 on the sealing sleeve 311, or until the sealing sleeve 311 touches the limiting component inside the main shell, and the sealing sleeve 311 stops sliding. In the present application, the clamping member 316 is a component surrounding the transmission shaft 45, and the sealing sleeve 311 is also a part surrounding the transmission shaft 45. The clamping member 316 is a structure protruding relative to the position of the main shell relative to the transmission shaft 45. When the sealing sleeve 311 and the clamping member 316 are misaligned, the sealing sleeve 311 is located at the position of the transmission shaft 45 other than the clamping member 316. At this time, each position of the transmission shaft 45 maintains a certain gap between the main shell and the sealing sleeve 311 to ensure that the transmission shaft 45 can rotate smoothly.

[0051] In order to ensure the sealing effect, the present application is provided with a first sealing ring 312 on the side of the sealing sleeve 311 close to the transmission shaft 45, and a second sealing ring is provided on the side of the sealing sleeve 311 close to the main body shell. The sealing sleeve 311 is an annular structure surrounding the inside of the main body shell, and coincides with the axis of the installation body. When the sealing sleeve 311 abuts against the clamping member 316, it is necessary to ensure the sealing between the sealing sleeve 311 and the main body shell and the sealing between the sealing sleeve 311 and the transmission shaft 45, so as to ensure that the disinfectant is completely shielded from the outside of the grinding drill body 31 during sterilization. When the sealing sleeve 311 contacts the clamping member 316, the first sealing ring 312 just abuts against the clamping member 316. At the same time, the second sealing ring outside the sealing sleeve 311 always abuts against the main body shell.

[0052] In the present application, a driving motor 44 is provided in the main housing, and the output end of the driving motor 44 is connected to the transmission shaft 45. Specifically, the output end of the driving motor 44 is connected to the top end of the transmission shaft 45, and the top end of the transmission shaft 45 is fixed to the output shaft of the driving motor 44, and the driving motor 44 is used to drive the transmission shaft 45 to rotate.

[0053] The bottom end of the transmission shaft 45 is provided with a snap-in groove, the interior of the drill grinder protection cover 41 is provided with a transmission gear assembly and a cutter 47, and the end of the transmission gear assembly is provided with a positioning column adapted to the snap-in groove. When the drill grinder protection cover 41 is installed at the end of the drill grinder body 31, the positioning column in the transmission gear assembly is adapted to connect with the snap-in groove in the transmission shaft 45, so that the transmission shaft 45 is fixedly connected to one end of the transmission gear assembly, and the other end of the transmission gear assembly is fixedly connected to the cutter 47. When the driving motor 44 drives the transmission shaft 45 to rotate, the transmission shaft 45 drives the cutter 47 to rotate synchronously through the transmission gear assembly.

[0054] In the present application, the transmission shaft 45 is statically sealed, and the working principle of dynamic separation is as follows: in the present application, the spring 314 is always in a compressed state. When the abutment ring 411 is away from the sealing sleeve 311, the elastic force of the spring 314 on the sealing sleeve 311 causes the sealing sleeve 311 to slide to a position abutting against the anti-slip boss 315. At this time, the sealing sleeve 311 is located exactly on the outer peripheral side of the clamping part 316. At the same time, the first sealing ring 312 abuts against the clamping part 316, and the second sealing ring abuts against the main shell, thereby realizing a 360° seal on the inner and outer sides of the sealing sleeve 311.

[0055] When the drill grinder shield 41 is installed at the end of the drill grinder body 31, the abutment ring 411 pushes the sealing sleeve 311 to overcome the elastic force of the spring 314, so that the spring 314 is further compressed until the elastic force of the spring 314 is equal to the thrust of the abutment ring 411 on the sealing sleeve 311, or until the sealing sleeve 311 touches the limiting component inside the main shell, and the sealing sleeve 311 stops sliding. In the present application, the clamping member 316 is a component surrounding the transmission shaft 45, and the sealing sleeve 311 is also a part surrounding the transmission shaft 45. The clamping member 316 is a structure protruding relative to the position of the main shell relative to the transmission shaft 45. When the sealing sleeve 311 and the clamping member 316 are misaligned, the sealing sleeve 311 is located at the position of the transmission shaft 45 other than the clamping member 316. At this time, each position of the transmission shaft 45 maintains a certain gap between the main shell and the sealing sleeve 311 to ensure that the transmission shaft 45 can rotate smoothly.

[0056] Example 3

[0057] See also Figure 1-Figure 11, the drill grinder structure in this embodiment includes the structure in embodiment 1 or embodiment 2. In addition, in this embodiment, the drill grinder protective cover 41 is an L-shaped structure; the L-shaped structure refers to the drill grinder protective cover 41 including a corner structure. Specifically, the drill grinder protective cover 41 includes a connecting corner 412, a connecting cover 413 and a connecting nut 414, the connecting corner 412 is an L-shaped structure, that is, a corner structure, the connecting cover 413 covers the side of the connecting corner 412 close to the drill grinder body 31, and the connecting nut 414 is located between the connecting cover 413 and the connecting corner 412, and is used to limit the connecting cover 413 and the connecting corner 412 in the axial direction.

[0058] The corner-shaped drill grinding protective cover 41 in the present application is provided with a connecting component 416 connected to the drill grinding body 31 on the side close to the drill grinding body 31. The connecting component 416 needs to be integrated in the drill grinding protective cover 41. In order to integrate the connecting component 416 in the drill grinding protective cover 41, the present application adopts a connecting cover 413 to fix the connecting corner 412 and the connecting component 416, and then adopts a connecting nut 414 to fix the connecting corners 412 and the connecting corners 412.

[0059] Specifically, a first fixing groove 415 is provided on the outer side of the connecting corner 412 in the present application, and a second fixing groove is provided on the inner side of the connecting cover 413. In a direction perpendicular to the axial center line of the drill bit protection cover 41, the first fixing groove 415 and the second fixing groove overlap; the overlap here can be a complete overlap or a partial overlap. When the connecting cover 413 is sleeved on the connecting corner 412, the first fixing groove 415 and the second fixing groove overlap in a direction perpendicular to the axial centerline of the drill grinding protective cover 41, and the connecting nut 414 is installed inside the first fixing groove 415 and the second fixing groove, wherein the size of the connecting nut 414 in a direction perpendicular to the axial centerline of the drill grinding protective cover 41 is greater than the depth of the first fixing groove 415 and the second fixing groove, and when the connecting nut 414 is installed in the first fixing groove 415 and the second fixing groove, the side of the connecting nut 414 close to the corner is simultaneously in contact with the side walls of the first fixing groove and the second fixing groove, so that the connecting nut 414 will simultaneously form a limit on the connecting corner and the connecting cover 413 in the axial centerline direction.

[0060] In order to further limit the connection cover 413 in the circumferential direction, the inner side wall of the connection cover 413 of the present application is provided with a positioning pin, and the connection corner 412 is provided with a positioning groove, the size of the positioning groove is adapted to the positioning pin, and the positioning groove extends to the end of the connection corner along the axial direction of the drill grinding shield 41. The positioning groove is set in the form of a notch to facilitate the positioning pin to slide along the positioning groove to the position where the connection cover 413 and the connection corner are assembled. In the present application, the positioning groove and the positioning pin are used to limit the connection corner and the connection cover 413 in the circumferential direction. At the same time, the connection nut 414 forms a limit on the connection corner and the connection cover 413 in the axial direction, so as to ensure that the position between the connection cover 413 and the connection corner is relatively fixed.

[0061] At the same time, a groove for positioning the connection component 416 is provided at one end of the connection cover away from the corner, so that the connection component 416 can be fixed at the corner position of the drill grinding protective cover 41.

[0062] The angle locking structure in the present application can not only meet the operational requirements of the surgical actuator, but also ensure the operational stability of the angle locking.

[0063] Example 4

[0064] See also Figure 1-Figure 11 In this embodiment, the drill grinding machine structure includes any one of the structures of embodiments 1 to 3. In addition, in this embodiment, a tolerance ring 32 is sleeved on the outer side of the end of the drill grinding body 31, and an inclined surface 321 is provided at the end of the tolerance ring 32, and a limiting groove 42 adapted to the tolerance ring 32 is provided in the drill grinding protective cover 41.

[0065] Furthermore, if Figure 8 As shown, the tolerance ring 32 in the present application is provided with an expansion and contraction notch 322 along the extension direction of the axis. That is to say, the tolerance ring 32 in the present application is an open cylindrical structure, where the open means that there is no closure along the circumferential direction of the cylinder.

[0066] One of the purposes of setting the expansion and contraction notch 322 in the present application is that when the drill grinding shield 41 is installed, the expansion and contraction notch 322 shrinks, so that the radius of the tolerance ring 32 becomes smaller and fits in the drill grinding body 31. After the drill grinding shield 41 is installed, the expansion and contraction notch 322 stretches, so that the radius of the tolerance ring 32 becomes larger and fits in the limiting groove 42 of the drill grinding shield 41, so that the installation position of the drill grinding shield 41 is accurate and fixed, and the axial clearance is eliminated.

[0067] The second purpose of setting the expansion and contraction gap 322 in the present application is to be compatible with the drill grinding shield 41 with different errors; to ensure that when the errors of the drill grinding shield 41 are different, the drill grinding shield 41 and the drill grinding body 31 can be accurately connected through the retractable tolerance ring 32 to avoid axial movement of the actuator.

[0068] In the present application, the error between the drill grinding body 31 and the drill grinding protective cover 41 is small, so the smaller telescopic range of the tolerance ring 32 can meet the installation requirements of the drill grinding body 31 and the drill grinding protective cover 41. Therefore, the curvature of the expansion and contraction notch 322 set in the present application is much smaller than the curvature of the semicircle. In this way, the contact area between the tolerance ring 32 and the limiting groove 42 can be as large as possible, ensuring that the fitting area between the tolerance ring 32 and the limiting groove 42 is large, thereby improving the assembly accuracy.

[0069] The outer side of the drill grinding body 31 of the present application is provided with a receiving groove, and the tolerance ring 32 is sleeved on the receiving groove. Along the axial centerline direction of the tolerance ring 32, the length of the tolerance ring 32 is equal to the length of the receiving groove.

[0070] In the present application, the drill grinding body 31 is a cylindrical structure, the tolerance ring 32 is an annular structure, and the tolerance ring 32 is sleeved on the outer side of the drill grinding body 31, and the two are coaxially arranged. In order to realize the assembly between the tolerance ring 32 and the drill grinding body 31, the present application sets a receiving groove on the outer side of the drill grinding body 31, and the receiving groove is an annular structure surrounding the drill grinding body 31. When the tolerance ring 32 is assembled in the receiving groove, the two ends of the tolerance ring 32 abut against the two end side walls of the receiving groove, and the side wall here refers to the drill grinding body 31 forming the receiving groove.

[0071] In order to facilitate the assembly of the tolerance ring 32 and the limiting groove 42 in the drill grinding shield 41, the depth of the receiving groove in the direction perpendicular to the axis of the drill grinding body 31 is less than the height of the tolerance ring 32. That is, when the tolerance ring 32 is installed in the receiving groove, the tolerance ring 32 protrudes from the receiving groove, and the protruding part is used for grounding and assembly with the limiting groove 42.

[0072] In the present application, the bottom of the tolerance ring 32 is located in the accommodating groove, and when the drill grinding shield 41 is not assembled, there is a certain gap between the tolerance ring 32 and the accommodating groove. After the drill grinding shield 41 is assembled, the drill grinding shield 41 squeezes the tolerance ring 32, so that the bottom of the tolerance ring 32 fits tightly with the accommodating groove, and the top fits tightly with the limiting groove 42. The tolerance ring 32 at the bottom abuts against both ends of the accommodating groove, that is, the tolerance ring 32 will not move relative to the drill grinding body 31, and the tolerance ring 32 at the top fits tightly with the inclined surface 321 in the limiting groove 42 through the inclined surface 321, that is, the drill grinding shield 41 will not move relative to the tolerance ring 32, so that the drill grinding body 31 and the drill grinding shield 41 can be ensured to fit tightly, eliminate production errors, eliminate axial clearance, improve assembly accuracy, and improve the end operation accuracy of the actuator.

[0073] In order to further improve the accuracy of the limit, Figure 8 As shown, the two ends of the tolerance ring 32 in the present application are provided with inclined surfaces 321, and the two ends of the limiting groove 42 are provided with matching inclined surfaces 321. The bottom of the tolerance ring 32 is an annular structure, and the top is provided with an inclined surface 321, where the bottom refers to the bottom relative to the axis of the tolerance ring 32. The two inclined surfaces 321 are simultaneously fitted with the inclined surfaces 321 of the limiting groove 42 in the grinding drill protection cover 41, and the grinding drill protection cover 41 is limited in two axial directions at the same time.

[0074] Furthermore, the first snap-on assembly in the present application includes a button 34 and a connecting piece 35, wherein the button 34 is arranged perpendicular to the axial direction of the drill grinding body 31, and the connecting piece 35 is sleeved on the outer side of the drill grinding body 31; the button 34 is fixedly connected to one end of the connecting piece 35, and the other end of the connecting piece 35 is provided with a snap-on groove 36; and the drill grinding protective cover 41 is provided with a snap-on column 43 adapted to the snap-on groove 36.

[0075] The button 34 and the connecting member 35 in the present application are for facilitating the assembly between the drill grinding body 31 and the drill grinding protective cover 41; when the button 34 is pressed, the button 34 drives the connecting member 35 to move in the direction close to the axis of the drill grinding body 31, and the engaging groove 36 in the connecting member 35 moves in the direction close to the axis of the drill grinding body 31 simultaneously. At this time, the drill grinding protective cover 41 can be installed in the drill grinding body 31, or the drill grinding protective cover 41 can be moved out of the drill grinding body 31. When the button 34 is released, the button 34 drives the connecting member 35 to move in the direction away from the axis of the drill grinding body 31, and the engaging groove 36 in the connecting member 35 moves in the direction away from the axis of the drill grinding body 31 simultaneously. At this time, the engaging column 43 in the drill grinding protective cover 41 is engaged in the engaging groove 36 of the drill grinding body 31, so that the engaging assembly of the drill grinding protective cover 41 and the drill grinding body 31 can be realized.

[0076] Furthermore, a positioning piece is provided in the drill grinding shield 41, and a positioning groove 37 adapted to the positioning piece is provided in the drill grinding body 31. The positioning piece and the positioning groove 37 are provided to facilitate the preliminary positioning of the drill grinding shield 41 relative to the drill grinding body 31. In the early stage of assembly, the position of the drill grinding shield 41 is determined by preliminary positioning between the clamping piece and the clamping groove 36.

[0077] The drill grinding body 31 in the present application is the drill grinding body 31 of the drill grinding machine, and the drill grinding body 31 includes a transmission shaft 45 and a driving motor 44; a transmission gear assembly 46 is arranged inside the drill grinding protective cover 41, and the transmission gear assembly 46 is connected to the transmission shaft 45. The output end of the driving motor 44 is connected to one end of the transmission shaft 45, and the other end of the transmission shaft 45 is connected to the transmission gear assembly 46, and the transmission gear assembly 46 is connected to the tool of the drill grinding machine; thereby realizing the power transmission in the actuator. When the drill grinding protective cover 41 is installed in the drill grinding body 31, the gear clamping part in the drill grinding protective cover 41 and the transmission shaft 45 in the drill grinding body 31 are fixed to the assembler to realize the power transmission of the actuator.

[0078] The assembly principle between the drill grinding body 31 and the drill grinding shield 41 in the present application is as follows:

[0079] The tolerance ring 32 is sleeved in the receiving groove of the grinding drill body 31;

[0080] Press the button 34, and the button 34 drives the connecting member 35 and the engaging groove 36 in the connecting member 35 to move toward a position close to the axis of the grinding drill body 31;

[0081] The installation position of the drill grinder protection cover 41 is preliminarily determined by using the matching relationship between the positioning piece in the drill grinder protection cover 41 and the positioning groove 37 in the drill grinder body 31;

[0082] The drill grinder protective cover 41 is installed on the outer side of the end of the drill grinder body 31. The drill grinder protective cover 41 squeezes the tolerance ring 32, and the expansion and contraction notch 322 in the tolerance ring 32 shrinks, so that the bottom of the tolerance ring 32 fits tightly with the accommodating groove, and the top fits tightly with the limiting groove 42. The tolerance ring 32 at the bottom abuts against both ends of the accommodating groove, that is, the tolerance ring 32 will not move relative to the drill grinder body 31, and the tolerance ring 32 at the top fits tightly with the inclined surface 321 in the limiting groove 42 through the inclined surface 321, that is, the drill grinder protective cover 41 will not move relative to the tolerance ring 32, so that the drill grinder body 31 and the drill grinder protective cover 41 can be ensured to fit tightly, eliminate production errors, eliminate axial clearance, improve assembly accuracy, and improve the end operation accuracy of the actuator.

[0083] Release the button 34, and the button 34 drives the connecting member 35 and the engaging groove 36 in the connecting member 35 to move toward a position away from the axis of the drill grinding body 31, so that the engaging groove 36 in the connecting member 35 and the positioning member in the drill grinding shield 41 are engaged and assembled with each other. As the drill grinding shield 41 is installed, the expansion and contraction notch 322 is extended, so that the tolerance ring 32 fits in the limiting groove 42 of the drill grinding shield 41, so that the installation position of the drill grinding shield 41 is accurate and fixed, and the axial clearance is eliminated.

[0084] Example 5

[0085] See also Figure 1-Figure 11 In this embodiment, the drill grinder structure includes any one of the structures of embodiments 1-4. In addition, in this embodiment, the drill grinder protective cover 41 is provided with a tool fixing clamp 51 for accommodating the tool 47, and the side of the tool fixing clamp 51 is provided with a first fixing through hole, and the side of the first fixing through hole is provided with a driving member; the tool 47 is provided with a first fixing groove 52, and when the tool 47 is located in the tool fixing clamp 51, the driving member can drive the marble 53 to pass through the first fixing through hole and move into or out of the first fixing groove 52.

[0086] Furthermore, the driving member in the present application includes an active driving member and a passive driving member, the passive driving member is sleeved on the outside of the tool fixing clamp 51, and the active driving member can drive the passive driving member to move to a position covering the first fixing through hole, or a position misaligned with the first fixing through hole.

[0087] When the active driving member drives the passive driving member to move to a position misaligned with the first fixed through hole, the main part of the marble 53 is located in the first fixed through hole, and the part protruding from the first fixed through hole can be located in the first fixed groove 52 of the tool 47, or can be located on the side of the passive driving member; at this time, the tool 47 can be removed from the tool fixing clamp 51.

[0088] When the active driving member drives the passive driving member to move to a position covering the first fixed through hole, since the other end of the first fixed through hole is covered by the passive driving member, the main part of the marble 53 is located in the first fixed through hole, and the part protruding from the first fixed through hole can only be located in the first fixed groove 52 of the tool 47. At this time, the tool 47 is fixed in the tool fixing clamp 51.

[0089] Furthermore, the passive driving member in the present application includes a passive sleeve 55, a passive slider 57 and a passive driving spring 58, one end of the passive sleeve 55 is sleeved on the outside of the tool fixing clamp 51, and the other end is fixedly connected to the passive slider 57, and the passive slider 57 is located on the side of the passive sleeve 55 away from the installation position of the tool 47. The passive driving spring 58 can drive the passive sleeve 55 to move along the axis of the drill grinding shield 41.

[0090] One end of the passive driving spring 58 is fixed inside the drill protection cover 41, and the other end is in contact with the end of the passive slider 57 away from the tool 47. A first limit bracket 56 is provided at the end of the passive sleeve 55 close to the passive slider 57. The first limit bracket 56 extends in a direction perpendicular to the axis of the drill protection cover 41 and away from the axis of the drill protection cover 41. The passive slider 57 is in contact with the end of the first limit bracket 56 away from the tool 47. A second limit bracket 59 is provided on the side of the passive slider 57 away from the passive sleeve. The passive driving spring 58 drives the passive slider 57 to move between the first limit bracket 56 and the second limit bracket 59.

[0091] In the present application, the tool fixing clamp 51 is located at the end of the drill protection cover 41, and a channel for the tool 47 to pass through is provided in the tool fixing clamp 51. The end of the drill protection cover 41 for installing and removing the tool 47 is defined as the end of the drill protection cover 41, and the other end is defined as the beginning of the drill protection cover 41; in the present application, the drill protection cover 41 is a cylindrical structure. Fig.11 As shown, the top of the tool 47, that is, the side that first enters the installation fixing clamp, is a rectangular parallelepiped structure, and the bottom of the tool 47 is a cylindrical structure. At the same time, the first fixing groove 52 is located in the cylindrical structure of the tool 47. The shape of the tool fixing clamp 51 is adapted to the shape of the tool 47. The top of the tool 47 and the top of the tool fixing clamp 51 are set as rectangular parallelepiped structures in this application to facilitate the fixed connection between the tool 47 and the tool fixing clamp 51, and the rectangular parallelepiped structure is not easy to rotate in the circumferential direction.

[0092] One end of the passive sleeve 55 in the passive driving member of the present application is located outside the tool fixing clamp 51, and the other end extends toward the starting end of the drill grinding protection cover 41. When the passive sleeve 55 slides toward the end of the drill grinding protection cover 41, the passive sleeve 55 can cover the first fixed through hole, and the tool 47 is fixed in the tool fixing clamp 51; when the passive sleeve 55 slides toward the starting end of the drill grinding protection cover 41, the passive sleeve 55 and the first fixed through hole are misaligned, and the tool 47 can be removed.

[0093] In the present application, the passive sleeve 55 and the passive slider 57 are fixed together, and the two keep moving synchronously under the action of the passive driving spring 58. The passive slider 57 is fixedly connected to the middle or end of the passive driving spring 58, and the beginning of the passive driving spring 58 is fixed at the beginning position of the grinding drill protection cover 41. The passive slider 57 moves along the axis of the grinding drill protection cover 41 under the action of the active driving member and the passive driving spring 58.

[0094] Furthermore, the active driving member in the present application includes an active sleeve 61, and the active sleeve 61 is used to drive the passive slider 57 to move. In the present application, the passive slider 57 and the passive sleeve 55 need to keep moving synchronously. At the same time, the active sleeve 61 is used to drive the movement of the passive slider 57 and the passive sleeve. The connection relationship between the three is as follows: the passive slider 57 is located on the side of the passive sleeve 55 away from the end of the drill grinding protection cover 41, and a first limit bracket 56 is set on the side of the passive sleeve 55 close to the beginning of the drill grinding protection cover 41. The first limit bracket 56 extends in a direction perpendicular to the axis of the drill grinding protection cover 41 in a direction away from the axis of the drill grinding protection cover 41, and one end of the passive slider 57 abuts against the first limit bracket 56. The active sleeve 61 is sleeved on the outside of the passive sleeve 55, and the active sleeve 61 is located on the side of the passive sleeve close to the end of the drill grinding protection cover 41, and the end of the active sleeve 61 abuts against the first limit bracket 56. Note: The first limit bracket 56 is a structure protruding from the passive sliding sleeve 55. The side of the first limit bracket 56 close to the end of the drill grinding protection cover 41 abuts against the active sliding sleeve 61, and the side away from the end of the drill grinding protection cover 41 abuts against the passive sliding block 57. When the active sliding sleeve 61 moves toward the end of the drill grinding protection cover 41, under the elastic force of the passive driving spring 58, the passive sliding sleeve 55 and the passive sliding block 57 move synchronously toward the end of the drill grinding protection cover 41. When the active sliding sleeve 61 moves toward the beginning of the drill grinding protection cover 41, the passive sliding sleeve 55 and the passive sliding block 57 overcome the compression force of the passive driving spring 58 and move synchronously toward the beginning of the drill grinding protection cover 41.

[0095] When the active sleeve 61 moves toward the starting end of the drill grinding protective cover 41, the passive sleeve 55 and the passive slider 57 need to overcome the compression force of the passive driving spring 58. In order to make the passive sleeve 55 and the passive slider 57 slide smoothly, the active driving member also includes an active driving spring 62, one end of which is fixed at the end position of the drill grinding protective cover 41, and the other end is abutted against the end of the active sleeve 61 away from the passive slider 57. In this way, when the active sleeve 61 moves toward the starting end of the drill grinding protective cover 41, under the action of the active driving spring 62, the passive sleeve 55 and the passive slider 57 can smoothly overcome the compression force of the passive driving spring 58 and move toward the starting end of the drill grinding protective cover 41 synchronously.

[0096] In order to limit the moving distance of the passive sleeve and the passive slider 57, the present application provides a second limit bracket 59 at the starting end of the drill grinding protection cover 41 to ensure that the passive slider 57 stops moving when it moves to the position of the second limit bracket 59. At this time, the passive sleeve is misaligned with the first fixed through hole in the tool fixing clamp 51.

[0097] The active driving member in the present application also includes an unlocking rotating ring 63, an unlocking rotating steel ball 64 and a camshaft 65, which are used to drive the active sleeve 61 to move in the axial direction. The camshaft 65 is sleeved on the outside of the active sleeve, the unlocking rotating ring 63 is sleeved on the outside of the camshaft 65, and a spiral limiting groove 67 is provided in the camshaft 65. Fig.10 The unlocking rotating steel ball 64 is located in the limiting groove 67, and the lower end and the top end of the unlocking rotating steel ball 64 are fixedly connected to the active sliding sleeve and the unlocking rotating ring 63 respectively; when the unlocking rotating ring 63 rotates along the axis of the drill grinding protective cover 41, the unlocking rotating steel ball 64 slides along the limiting groove 67, and synchronously drives the active sliding sleeve 61 to move along the axis of the drill grinding protective cover 41.

[0098] The principle of disassembly and installation of the tool 47 in the present application is as follows: the tool 47 is placed in the tool fixing clamp 51, the unlocking rotating ring 63 moves toward the end of the drill grinding protective cover 41, and drives the unlocking rotating steel ball 64 to slide along the spiral limiting groove 67 on the camshaft 65. At the same time, the unlocking rotating steel ball 64 drives the active sleeve 61 to move toward the end of the drill grinding protective cover 41. At this time, the passive sleeve 55 and the passive slider 57 keep moving synchronously with the active sleeve 61 under the elastic force of the passive driving spring 58 until the passive sleeve 55 covers the first fixed through hole in the tool fixing clamp 51; the marble 53 is clamped in the first limiting groove 67 of the tool 47 to realize the installation of the tool 47.

[0099] When the tool 47 needs to be disassembled, the unlocking rotating ring 63 moves toward the starting end of the drill grinding protective cover 41, driving the unlocking rotating steel ball 64 to slide along the spiral limiting groove 67 on the camshaft 65. At the same time, the unlocking rotating steel ball 64 drives the active sleeve 61 to move toward the starting end of the drill grinding protective cover 41. At this time, the passive sleeve 55 and the passive slider 57 overcome the compression force of the passive driving spring 58 under the elastic force of the active driving spring 62, and keep moving synchronously with the active sleeve 61 until the passive sleeve abuts against the second limiting bracket 59. At this time, the passive sleeve 55 is misaligned with the first fixed through hole in the tool fixing clamp 51; the marble 53 can extend to the side of the passive sleeve, and cannot fix the tool 47. External force is applied to move the tool 47 out of the tool fixing clamp 51.

[0100] Example 6

[0101] See also Figure 1-Figure 11 In this embodiment, the drill grinding machine structure includes any one of the structures of embodiments 1 to 5. In addition, in this embodiment, a support column 16 is provided outside the main housing 13, and a wire sheath 17 is provided inside the support column 16; one end of the quick-change assembly 21 is connected to the mechanical arm, and the other end is connected to the support column 16; a conductive column 25 is provided at one end of the quick-change assembly 21 close to the mechanical arm; and a wire 26 connected to the conductive column 25 passes through the wire sheath 17 and is connected to the input end of the drive motor 12.

[0102] Furthermore, a mechanical connection plate 23 is provided at one end of the quick-change assembly 21 connected to the mechanical arm, and the conductive column 25 is located in the mechanical connection plate 23. There are M conductive columns 25, which are arranged in a circular shape and distributed in the quick-change assembly 21; the mechanical arm is provided with connection ports corresponding to the M conductive columns 25. M is an integer greater than 0.

[0103] In the present application, multiple conductive columns 25 are dispersedly arranged, which helps to lead the electrical signals in the robot arm to the quick-change assembly 21 from different angles and positions, so that the electrical signals in the robot arm extend to the drill grinder body 11 through the quick-change assembly 21, providing the drill grinder body 11 with electrical signals, thereby avoiding the drill grinder body 11 from introducing additional electrical signals from the outside for connection.

[0104] The mechanical arm is provided with a terminal corresponding to the conductive post 25. The specific terminal can have the same structure as the conductive post 25, or can be other conductive devices capable of transmitting electrical signals. When the quick-change assembly 21 and the mechanical arm are assembled together, the terminal of the mechanical arm and the conductive post 25 in the quick-change assembly 21 are electrically connected.

[0105] Furthermore, in the present application, a conductive spring is provided at one end of the conductive column 25 close to the mechanical arm, and the conductive spring is used to adjust the distance between the conductive column 25 and the terminal. When the mechanical arm and the quick-change assembly 21 are assembled together, the conductive spring is compressed. When the mechanical arm and the quick-change assembly 21 are separated, the elastic force of the conductive spring can quickly separate the two. At the same time, the presence of the conductive spring can also enable the quick-change assembly 21 to be assembled and connected with mechanical arms of different models or sizes. When the distance between the two is different, the different degrees of compression of the conductive spring can ensure smooth electrical connection between the terminal and the conductive column 25.

[0106] Furthermore, in the present application, a positioning column 24 is also provided at one end of the quick-change assembly 21 close to the mechanical arm, and the mechanical arm is provided with a positioning groove adapted to the positioning column 24. When assembling the mechanical arm and the quick-change assembly 21, the positioning column 24 and the positioning groove are firstly adapted and placed, and then the quick-change assembly 21 is pushed toward the mechanical arm along the direction of the positioning groove, and finally fastened with fasteners such as screws. The function of the positioning column 24 is to determine the position of the quick-change assembly 21 relative to the mechanical arm, and to achieve preliminary accurate positioning.

[0107] Furthermore, the input end of the driving motor 12 is connected to the PCB control board 14, and the output end of the driving motor 12 is connected to the surgical actuator. The surgical actuator in the present application can be, for example, an actuator used for surgical operations such as a grinding drill.

[0108] The normal operation of the surgical actuator needs to be driven by the drive motor 12. For example, the drive motor 12 in the grinding drill drives the tool on the head to rotate for grinding. Therefore, in the surgical actuator, only the electrical connection of the drive motor 12 is required to ensure the normal operation of the actuator. The output end of the drive motor 12 is connected to the surgical actuator.

[0109] In the present application, the wire sheath 17 is located in the support column 16, and is used to protect the wire 26 connected to the conductive column 25. The outlet of the wire sheath 17 is located outside the drive motor 12, and a wire 26 channel is formed between the drive motor 12 and the main housing 13. The wire 26 passes through the wire sheath 17 and the wire 26 channel and is connected to the input end of the drive motor 12.

[0110] The present application arranges the main housing 13 and the drive motor 12 to be coaxially arranged cylindrical structures, and utilizes the difference in outer diameters between the two to form an arc-shaped wire 26 channel located between the inner wall of the main housing 13 and the outer wall of the drive motor 12. The wire 26 channel has arc-shaped corners, which will not cause wear on the wire 26.

[0111] In the present application, the wire sheath 17 protects the wire 26 and guides the wire 26 into the wire 26 channel, and the wire 26 channel guides the wire 26 to the output end of the drive motor 12. The input end of the drive motor 12 is provided with a PCB control board 14, and the PCB control board 14 is provided with a soldering point; the wire 26 is connected to the soldering point through the wire sheath 17 and the wire 26 channel; thereby realizing the electrical connection between the terminal in the robot arm and the soldering point in the PCB control board 14. Among them, the wire 26 connecting the terminal in the robot arm and the soldering point in the PCB control board 14 is integrated and placed in the wire sheath 17 and the wire 26 channel, and will not be worn or scratched, etc., which significantly extends the reliability of the electrical signal connection.

[0112] Furthermore, in the present application, the quick-change assembly 21 is detachably connected to the support column 16. When the two are assembled together, the axial center lines of the support column 16 and the quick-change assembly 21 coincide with each other, and a connecting chamber for accommodating the wire 26 is formed between the inner side walls of the support column 16 and the quick-change assembly 21. One end of the wire sheath 17 is connected to the connecting chamber, and the other end of the wire sheath 17 extends to the interior of the grinding drill body 11.

[0113] A connection chamber is formed between the support column 16 and the inner wall of the quick-change assembly 21, and the connection chamber is used for connecting the wire 26 and the conductive column 25 and arranging the wire 26. In the present application, one end of the wire sheath 17 is located at the bottom of the connection chamber to ensure that the wire 26 can penetrate into the wire sheath 17 after being electrically connected to the conductive column 25. Since there are multiple conductive columns 25 in the present application, the entrance of the wire sheath 17 is set at a position at a certain distance from the support plate to ensure that the wire 26 at each position can smoothly enter the wire sheath 17. The other end of the wire sheath 17 passes through the main body shell 13 of the grinding drill body 11, is connected to the wire 26 channel, and guides the wire 26 in the connection chamber to the wire gap 15.

[0114] In the present application, the quick-change assembly 21 is a cylindrical structure, the mechanical connecting plate 23 at the bottom of the quick-change assembly 21 is connected to the end of the mechanical arm, and the angle between the quick-change assembly 21 and the grinding drill body 11 can be any angle, which only needs to be reasonably set according to the working position of the surgical actuator. Figure 1 The angle between the quick-change assembly 21 and the drill grinding body 11 is less than 90°. At the same time, since the input end of the drive motor 12 is arranged at the end of the main housing 13, the wire sheath 17 and the support column 16 are both cylindrical structures in the present application. The wire sheath 17 does not coincide with the axial center line of the support column 16, and the guide sheath extends from the quick-change assembly 21 to the drill grinding body 11, toward the output end of the drive motor 12, so that the arrangement of the wire 26 in the wire gap 15 is as short as possible, thereby shortening the length of the wire 26.

[0115] In the present application, the quick-change assembly 21 can simultaneously realize the mechanical connection and electrical connection between the drill grinder body 11 and the robotic arm. The setting of the wire sheath 17 and the wire gap 15 ensures that the electrically connected wire 26 is protected throughout the entire process and will not be worn or scratched, thereby improving the stability of the electrical connection of the drill grinder body 11 and extending the service life of the surgical actuator.

[0116] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A drill grinding machine, characterized in that: It includes a drill grinding body, a drill grinding protection cover and a quick-change assembly, wherein one end of the quick-change assembly is detachably connected to the mechanical arm, and the other end is detachably connected to the drill grinding body; one end of the drill grinding protection cover is sleeved on the end of the drill grinding body, and the other end is detachably connected to the tool; A driving motor and a transmission shaft are arranged in the drill grinding body, and the output end of the driving motor is connected to the tool through the transmission shaft.

2. A drill grinding machine according to claim 1, characterized in that: The drill grinder body includes a main body shell, the inner side wall of the main body shell is provided with a sliding sealing sleeve, and the outer peripheral side of the transmission shaft is provided with a clamping piece; when the drill grinder protective cover is sleeved on the end of the drill grinder body, the sealing sleeve and the clamping piece are misaligned, and when the drill grinder protective cover is separated from the end of the drill grinder body, the sealing sleeve and the clamping piece are abutted.

3. A drill grinding machine according to claim 2, characterized in that: The top end of the transmission shaft is fixed inside the grinding drill body, and the sealing sleeve is located on a side of the clamping member close to the top end of the transmission shaft; A spring is provided at one end of the sealing sleeve away from the clamping member, one end of the spring is fixedly connected to the main housing, and the other end of the spring abuts against the sealing sleeve; An abutment ring is provided in the drill grinder protective cover. When the drill grinder protective cover is installed at the end of the drill grinder body, the abutment ring pushes the sealing sleeve to overcome the spring force and move in the direction away from the clamping part; when the drill grinder protective cover is separated from the drill grinder body, the sealing sleeve slides to the abutment position with the clamping part under the elastic force of the spring.

4. A drill grinding machine according to claim 1, characterized in that: The drill grinder protective cover is an L-shaped structure; the drill grinder protective cover includes a connecting corner, a connecting cover and a connecting nut, the connecting corner is an L-shaped structure, the connecting cover covers the side of the connecting corner close to the drill grinder body, and the connecting nut is located between the connecting cover and the connecting corner, and is used to limit the connecting cover and the connecting corner in the axial direction.

5. A drill grinding machine according to claim 4, characterized in that: A first fixing groove is arranged on the outer side of the connecting corner, and a second fixing groove is arranged on the inner side of the connecting cover. The first fixing groove and the second fixing groove overlap in a direction perpendicular to the axial center line of the drill grinding protective cover; a positioning pin is arranged on the inner side wall of the connecting cover, and a positioning groove is arranged in the connecting corner.

6. A drill grinding machine according to claim 1, characterized in that: A tolerance ring is sleeved on the outer side of the end of the drill grinding body, and the tolerance ring is provided with an expansion and contraction notch along the extension direction of the axis; an inclined surface is provided at the end of the tolerance ring, and a limiting groove matched with the tolerance ring is provided in the drill grinding protective cover.

7. A drill grinding machine according to claim 6, characterized in that: The tolerance ring is provided with an expansion and contraction notch along the extending direction of the axis; an accommodating groove is provided on the outer side of the drill grinding body, and the tolerance ring is sleeved on the accommodating groove. Along the axis direction of the tolerance ring, the length of the tolerance ring is equal to the length of the accommodating groove; in the direction perpendicular to the axis of the drill grinding body, the depth of the accommodating groove is less than the height of the tolerance ring.

8. A drill grinding machine according to claim 1, characterized in that: A tool fixing clamp for accommodating the tool is arranged inside the drill grinding protective cover, a first fixing through hole is arranged on the side of the tool fixing clamp, and a driving member is arranged on the side of the first fixing through hole; a first fixing groove is arranged in the tool, and when the tool is located in the tool fixing clamp, the driving member can drive the marble to pass through the first fixing through hole and move into or out of the first fixing groove.

9. A drill grinding machine according to claim 8, characterized in that: The driving member includes an active driving member and a passive driving member. The passive driving member is sleeved on the outside of the tool fixing clamp. The active driving member can drive the passive driving member to move to a position covering the first fixing through hole, or a position misaligned with the first fixing through hole.

10. A drill grinding machine according to claim 1, characterized in that: The drill grinding body includes a main body shell, a support column is arranged outside the main body shell, and a wire sheath is arranged inside the support column; a conductive column is arranged at one end of the quick-change assembly close to the mechanical arm; the wire connected to the conductive column passes through the wire sheath and is connected to the input end of the drive motor.

Images