Wire locking device, doctor's console and surgical robot

Abstract

The present application discloses a wire locking device, a doctor's console and a surgical robot, wherein a wire locking device comprises a connecting disk, an annular ring and a wire locker, wherein the wire locker comprises a locking screw and a wire locking body connected to the connecting disk, the wire locking body is provided with a pressure screw hole cooperating with the locking screw, and a wire fixing groove passing through the pressure screw hole is provided on the outer peripheral surface of the wire locking body. In the embodiment of the present application, the above-mentioned wire locking device, the doctor's console and the surgical robot are adopted, and the locking wire rope is limited in the radial direction of the wire locking body by cooperating with the locking wire rope, the pipe clamp and the wire fixing groove, and the locking wire rope and the pipe clamp are limited along the axial direction of the wire locking body by adjusting the position of the locking screw, wherein the locking screw does not directly contact the locking wire rope, thereby not causing any damage to the locking wire rope, thereby ensuring its service life, and the structure is simple, easy to process, manufacture and install, and the production cost is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a wire locking device, a doctor's console and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, in minimally invasive surgery, the difficulty of the operation is greatly increased due to the limitation of the size of the incision of minimally invasive instruments, and the fatigue and trembling of doctors during long operations will be magnified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotic technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] Common minimally invasive surgical robots consist of a doctor's console, a patient-side trolley, and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient-side trolley connected to the remotely operated surgical instrument. The doctor's console is usually called the master hand, which has a multi-degree-of-freedom operation input mechanism, and the patient-side trolley is usually called the slave hand, which has multi-degree-of-freedom surgical instruments for responding to the doctor's operation input. Steel wire ropes are often used as transmission parts in the master hand and the slave hand. How to fix the steel wire rope is a very important issue.

[0004] A Chinese invention patent with authorization announcement number CN101637402B discloses a minimally invasive surgical wire transmission and four-degree-of-freedom surgical tool (hereinafter referred to as Scheme 1), which discloses a method of fixing a steel wire rope by a fixed wire knot. After the steel wire rope is knotted, it is coated and solidified with brazing melt or high-strength glue, and then trimmed into a fixed wire knot. The fixed wire knot and the fixed wire groove are welded or glued together to complete the fixation of the steel wire rope on the driving wheel.

[0005] A Chinese utility model patent with authorization announcement number CN204224140U discloses a wire rope locking device (hereinafter referred to as Scheme 2), including a wire rope locking frame and a locking assembly, wherein the locking assembly consists of a locking bolt, a locking sleeve and a locking shaft, the locking shaft passes through a large hole on the locking frame, and is connected together by a locking bolt and a locking sleeve, the wire rope passes through the middle of the hole on the locking shaft, and when the locking bolt is tightened, the gap between the locking shaft and the locking sleeve is reduced, thereby compressing the wire rope.

[0006] A Chinese utility model patent with authorization announcement number CN 217338831 U discloses a wire lock fixer (hereinafter referred to as Scheme 3), which uses a pipe clamp to clamp the wire, passes the wire through a wire lock head, and fixes the wire through the abutment between the pipe clamp and the wire lock head.

[0007] However, the above solution has at least the following technical defects:

[0008] 1. Solution 1 has complicated process steps, long processing and manufacturing cycle, high cost, and can only be applied to the scene where the wire knot is processed on the wire rope in advance, and the wire rope needs to be knotted, which will undoubtedly increase the tooling or equipment;

[0009] 2. Solution 2 uses bolts to tighten the wire rope. Long-term use may cause the wire rope to loosen due to the loosening of the bolts. The squeezing method may also easily damage the wire rope, which may even break during use. Therefore, it is not suitable for scenarios with high safety requirements such as medical robots.

[0010] 3. Schemes 1 and 3 cannot pre-tighten the wire rope, have low tolerance for assembly errors, or require additional pre-tightening devices at other locations, increasing the complexity and cost of the structure;

[0011] 4. The anti-loosening effect of all the above solutions is not very good. Regular maintenance is required during long-term use, otherwise the bolts will become loose, which will lead to failure of wire rope locking. Summary of the invention

[0012] In view of the deficiencies in the prior art, the present invention provides a wire locking device, a doctor's console and a surgical robot which can adjust the tension of the wire rope and have good locking effect and strong stability.

[0013] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0014] First, the present application provides a wire locking device, comprising:

[0015] Connecting plate;

[0016] An annular ring, in the shape of a circular ring and convexly disposed on at least one end surface of the connecting disk;

[0017] A wire locker, at least one of which is disposed on the connection plate and is located inside the annular ring;

[0018] Wherein, a threading hole is provided on the annular ring at a position corresponding to the wire locker;

[0019] The wire locker comprises a locking screw and a wire locking body connected to the connection plate, the wire locking body is provided with a pressing screw hole matched with the locking screw, and a wire fixing groove is provided on the outer peripheral surface of the wire locking body and passes through the pressing screw hole;

[0020] The locking wire rope is inserted into the wire fixing groove and a pipe clamp is fixed at the end thereof and is located in the wire fixing groove. The radial displacement of the pipe clamp in the wire fixing groove along the wire locker is limited, and the locking screw can abut against the pipe clamp to limit the axial displacement of the pipe clamp along the wire locker.

[0021] It is further defined that the above-mentioned wire locking device, wherein the wire locking body comprises:

[0022] A wire lock head, used to connect the locking wire rope;

[0023] A first threaded section connected to one end of the wire lock and threadedly connected to the connecting plate;

[0024] Wherein, the pressing screw hole is arranged on the wire lock head and opens to a side of the wire lock head away from the first threaded section.

[0025] It is further defined that the above-mentioned wire locking device, wherein the wire locking body further comprises:

[0026] A second thread segment connected to an end of the first thread segment away from the wire lock head;

[0027] A locking nut, threadedly connected to the second threaded section and abutting against an end surface of the connecting plate;

[0028] The thread direction of the second thread segment is opposite to that of the first thread segment. After the first thread segment is threadedly connected to the connecting disk, the second thread segment extends to a side of the connecting disk away from the corresponding position of the wire lock.

[0029] It is further defined that the above-mentioned wire locking device, wherein the wire fixing groove includes a limiting groove that penetrates the pressing screw hole and opens to a side away from the connecting disk, and a receiving groove that communicates with the limiting groove and the outer peripheral surface of the wire locking body and opens to a side away from the connecting disk;

[0030] Wherein, the groove width of the accommodating groove is larger than the diameter of the locking wire rope and smaller than the diameter of the pipe clamp, and the groove width of the limiting groove is larger than the diameter of the pipe clamp.

[0031] It is further defined that, in the above-mentioned wire locking device, one end of the limiting groove penetrates the outer peripheral surface of the locking wire body, and the other end is connected to the accommodating groove.

[0032] It is further defined that in the above-mentioned wire locking device, both ends of the limiting groove are connected to the accommodating groove.

[0033] It is further defined that the above-mentioned wire locking device, wherein the outer peripheral surface of the wire locking body is provided with a winding groove for accommodating the locking wire rope;

[0034] Wherein, the inner wall of the winding groove close to the connecting disk is flush with the inner wall of the wire fixing groove close to the connecting disk.

[0035] It is further defined that, in the above-mentioned wire locking device, the wire threading hole and the wire winding groove on the wire locking body are located on the same vertical plane of the axis of the wire locking body.

[0036] It is further defined that, in the above-mentioned wire locking device, at least one wire fixing groove is provided on the wire locking body.

[0037] It is further defined that the above-mentioned wire locking device, wherein the wire locker is provided with two and is located at symmetrical positions on the connection disk about the symmetry center line;

[0038] The projections of the two threading holes corresponding to the two wire lockers on the connecting disk are symmetrical about the symmetry center line;

[0039] Wherein, the symmetry center line is one of the diameters of the annular ring, and the two wire lockers do not overlap each other.

[0040] It is further defined that in the above-mentioned wire locking device, the annular ring is convexly provided on one side end surface of the connecting disk, and the two wire lockers are provided on one side end surface of the connecting disk close to the annular ring.

[0041] It is further defined that the above-mentioned wire locking device, wherein the annular ring is provided with two and is respectively protruded on the two end surfaces of the connecting disk, the two wire lockers are respectively provided on the two end surfaces of the connecting disk, and the two threading holes cooperating with the two wire lockers are respectively provided on the two annular rings.

[0042] Secondly, the present application provides a doctor's console, characterized in that it includes the wire locking device of any of the above items, and also includes a support, an upper arm, a wrist assembly and a power assembly, and the upper arm is coupled to the power assembly through the wire locking device.

[0043] Finally, the present application provides a surgical robot, characterized in that it includes a slave hand and the doctor's console described above.

[0044] The present invention has at least the following beneficial effects:

[0045] 1. The locking wire rope is limited in the radial direction of the locking wire body by the cooperation of the locking wire rope, the pipe clamp and the wire fixing groove. At the same time, the locking wire rope and the pipe clamp are limited along the axial direction of the locking wire body by adjusting the position of the locking screw, thereby realizing the connection between the locking wire rope and the wire locker. The locking screw does not directly contact the locking wire rope, so that the locking wire rope is not damaged, which ensures its service life. The structure is simple, easy to manufacture and install, and the production cost is greatly reduced.

[0046] 2. When the lock wire body is rotated to screw into the connection plate, the locking wire rope is wound around the wire lock head as the lock wire body rotates, so that the locking wire rope can be pre-tightened. Similarly, when the locking wire rope is deformed and elongated during long-term use, the lock wire body can be adjusted to re-tighten the locking wire rope;

[0047] 3. Through the cooperation of the first thread segment, the second thread segment and the locking nut, the locking wire body can be prevented from loosening and the connection reliability between the locking wire body and the connecting plate can be enhanced;

[0048] 4. The connection plate and the annular ring cooperate to provide installation space for parts on the one hand, and further increase the corresponding driving force arm length of the locking wire rope on the other hand, thereby reducing the performance requirements of the power component. At the same time, the locking wire rope enters the inner part of the annular ring from the threading hole along the outer ring surface of the annular ring and is connected and fixed with the wire locker, so that there are no redundant parts on the outer ring surface of the annular ring, the structure is beautiful and dust is not easily accumulated, which reduces the difficulty of cleaning the equipment;

[0049] 5. The threading hole and the winding groove are located on the same vertical plane of the locking wire main body axis, thereby reducing the deformation of the locking wire rope caused by the height difference of each node, and further improving the service life and driving accuracy of the locking wire rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of the specific structure of the doctor's console in the embodiment of the present application;

[0051] Figure 2 It is an enlarged schematic diagram of the structure of the "wire locking device 10" of the embodiment of the present application;

[0052] Figure 3 This is a schematic diagram of the specific structure of the "wire locking device 10" of the embodiment of the present application;

[0053] Figure 4 This is a cross-sectional structural diagram of the “wire locker 130” portion of the embodiment of the present application;

[0054] Figure 5 It is an enlarged schematic diagram of the structure of the matching part of the "pipe clamp 180" and the "wire locker 130" of the embodiment of the present application;

[0055] Figure 6 This is a schematic diagram of the specific structure of the "wire locker 130" part of the embodiment of the present application;

[0056] Figure 7 This is a schematic diagram of the specific structure of the "locking wire body 131" part of the embodiment of the present application;

[0057] Figure 8 This is an enlarged schematic diagram of the structure of the "pressing screw hole 1317" part of the embodiment of the present application;

[0058] Fig. 9 This is a schematic diagram of the structure of the "accommodating groove 1315" part of the embodiment of the present application;

[0059] Fig.10 This is a schematic diagram of the structure of the "accommodating groove 1315" part of the embodiment of the present application;

[0060] Fig.11 This is a schematic diagram of the structure of the "accommodating groove 1315" portion of the embodiment of the present application.

[0061] Reference numerals

[0062] Wire locking device 10, annular ring 110, locking wire rope 120, wire locker 130, wire locking body 131, wire locking head 1311, winding groove 1312, first threaded section 1313, second threaded section 1314, accommodating groove 1315, limiting groove 1316, pressing screw hole 1317, inclined surface 1318, locking nut 132, locking screw 133, connecting plate 140, supporting protrusion 141, threading hole 170, pipe clamp 180, support arm 20, wrist assembly 30, swing arm 40, upper arm 50, support 60. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0064] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0065] The wire locking device, doctor's console and surgical robot provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in combination with the accompanying drawings.

[0066] An embodiment of the present application provides a surgical robot, including a doctor's console (also called a master hand) and a slave hand (also called a patient-side trolley). The doctor's console is used to be operated by the doctor to provide input, and the slave hand is used to connect with the patient and provide output based on the doctor's input. Generally, the doctor operates the master input device on the doctor's console, and the terminal components such as the instruments or endoscope on the mechanical arm of the slave hand provide corresponding actions based on the movement of the master input device, thereby completing the purposes of positioning, adjusting the viewing angle, and performing surgical operations.

[0067] like Figure 1 As shown, an embodiment of the present application provides a doctor's console, including a support 60, an upper arm 50, a support arm 20, a wire locking device 10, a swing arm 40, a wrist assembly 30 and a power assembly for driving the support arm 20 and the upper arm 50, wherein the upper arm 50 and the support arm 20 can rotate in a vertical plane relative to the support 60 and are respectively coupled to the power assembly through the wire locking device 10, the swing arm 40 is rotatably set on the upper arm 50, the support arm 20 is rotatably connected to the swing arm 40 away from the connection position with the upper arm 50, and the wrist assembly 30 is set on the swing arm 40 and is used to receive and sense the user's movements.

[0068] like Figures 2 to 11As shown, an embodiment of the present application provides a wire locking device 10, including a connecting disk 140 rotatably set on a support 60 and connected to the support arm 20 or the upper arm 50, and an annular ring 110 coaxial with its own rotation center is fixedly provided on one side end surface of the connecting disk 140, and two wire locks 130 located inside the annular ring 110 are also provided on the connecting disk 140, and two threading holes 170 are penetrated between the outer ring surface and the inner ring surface of the wire locker 130 at corresponding positions of the two wire lockers 130, and two locking wire ropes 120 connected to the power of the power component are respectively passed through the two threading holes 170 along the outer ring surface of the wire locker 130 to the inside of the wire locker 130 and fixedly connected to the wire lockers 130 at the corresponding positions.

[0069] The power component includes a winding shaft whose rotation is controlled by a motor, and the winding directions of the two locking steel ropes 120 at the corresponding positions on the winding shaft are opposite (the opposite winding directions here refer to the opposite of the starting position, one is wound from the outside to the inside, and the other is wound from the inside to the outside). When the power component controls the length of the two locking steel ropes 120 at the corresponding positions to become longer or shorter, one of the two locking steel ropes 120 becomes longer while the other must be shortened, thereby driving the corresponding position connecting disk 140 to rotate, and then driving the support arm 20 or the upper arm 50 connected to the connecting disk 140 to perform the action. It can be understood that the support arm 20 and the upper arm 50 can be set to be connected to the connecting disk 140, or to be connected to the annular ring 110, as long as the coupling relationship between the connecting disk 140 and the support arm 20 and the upper arm 50 can be achieved.

[0070] Of course, in order to facilitate processing, manufacturing and assembly, preferably, in this embodiment, the connecting disk 140 and the annular ring 110 are integrally formed stainless steel parts.

[0071] It can be understood that the two wire lockers 130 are provided in this scheme to adapt to the working scenario in which the connecting plate 140 is driven by two locking wire ropes 120 to rotate in two directions. In other working scenarios, if the connecting plate 140 only needs to be driven by one locking wire rope 120 to rotate in one direction, the corresponding structure can be simplified to one. If the connecting plate 140 is coupled by multiple locking wire ropes 120 for rotation control, the corresponding structure can also be added. At this time, the position of the wire locker 130 is adjusted according to the actual situation.

[0072] In the embodiment of the present application, the above-mentioned wire locking device 10 is adopted, and the connecting plate 140 cooperates with the annular ring 110 to provide installation space for parts on the one hand, and on the other hand, further increase the corresponding driving force arm length of the locking wire rope 120, thereby reducing the performance requirements of the power component. At the same time, the locking wire rope 120 enters the inside of the annular ring 110 from the threading hole 170 along the outer ring surface of the annular ring 110 and is connected and fixed to the wire locker 130, so that there are no redundant parts on the outer ring surface of the annular ring 110, the structure is beautiful and dust is not easily accumulated, which reduces the difficulty of cleaning the equipment.

[0073] The wire locker 130 includes a wire lock body 131 threadedly connected to the connecting plate 140, a locking screw 133 that cooperates with the wire lock body 131 to lock the wire, and a locking nut 132 for limiting the position of the wire lock body 131. The wire lock body 131 includes a wire lock head 1311, a first thread segment 1313, and a second thread segment 1314 that are connected in sequence. The locking wire rope 120 is fixed on the wire lock head 1311, and the connecting plate 140 is provided with a screw thread that can be engaged with the first thread segment 1313. 13, the diameter of the wire lock head 1311 is larger than the diameter of the threaded hole, the thread on the first thread segment 1313 is opposite to the thread direction of the second thread segment 1314 (similarly, for ease of processing, the diameter of the second thread segment 1314 is smaller than the diameter of the first thread segment 1313), the wire lock body 131 is fixed to the connecting disk 140 through the first thread segment 1313 and the threaded hole on the connecting disk 140, the second thread segment 1314 passes through the threaded hole on the connecting disk 140 and extends to the side of the connecting disk 140 away from the corresponding wire lock head 1311, and a locking nut 132 with a diameter larger than the diameter of the threaded hole on the connecting disk 140 is used to cooperate with the second thread segment 1314 to strengthen the connection between the wire lock 130 and the connecting disk 140, the tension of the locking wire rope 120 has the same rotation direction on the wire lock body 131 as the thread rotation direction of the first thread segment 1313, thereby achieving the effect of "pulling tighter and tighter", preventing the wire lock body 13 1. In addition, when the locking wire rope 120 is deformed and elongated after long-term use, the locking wire body 131 can continue to be twisted, and the locking nut 132 on the opposite side needs to be twisted at the same time, so that the locking wire rope 120 can be re-tightened. The length of the first threaded segment 1313 is less than the depth of the threaded hole on the connecting disk 140, which prevents the first threaded segment 1313 from being screwed out of the threaded hole on the connecting disk 140, causing the locking nut 132 to be unable to press the connecting disk 140, affecting the tightening effect.

[0074] It can be understood that when the locking wire rope 120 is fixed on the wire lock head 1311 and the locking wire body 131 is rotated to screw it into the connecting disk 140, the locking wire rope 120 is wrapped around the wire lock head 1311 as the locking wire body 131 rotates, thereby enabling the locking wire rope 120 to be pre-tightened. Similarly, when the locking wire rope 120 is deformed and elongated during long-term use, the locking wire body 131 can be adjusted to re-tighten the locking wire rope 120. The above adjustment process requires the simultaneous adjustment of the locking nut 132.

[0075] It is understandable that if thread glue is used or the locking wire body 131 is directly welded to the connecting plate 140, it can also play a role in preventing loosening. In this case, there is no need to set a complex thread structure on the locking wire body 131, but it will bring about the problem of difficulty in disassembly and inability to re-tighten the locking wire rope 120. Therefore, this non-detachable connection structure is generally not used in medical equipment.

[0076] The outer circumference of the wire lock head 1311 is provided with a winding groove 1312 (the winding groove 1312 can be a flat groove or a groove with a thread) for accommodating the locking wire rope 120 and being coaxial with the first thread segment 1313 and the second thread segment 1314. The end surface of the wire lock head 1311 away from the first thread segment 1313 is provided with a pressing screw hole 1317 which opens to the side away from the first thread segment 1313 and is coaxial with the winding groove 1312. The locking screw 133 is threadedly connected with the pressing screw hole 1317, and a limiting groove 1316 is provided on the outer circumference of the wire lock head 1311, which is connected with the pressing screw hole 1317 and opens to the side away from the first threaded segment 1313. The penetration direction of the limiting groove 1316 passes through the axis of the pressing screw hole 1317, and an accommodating groove 1315 is also provided along the penetration direction of the limiting groove 1316, which is connected with the limiting groove 1316 and penetrates the outer circumference of the wire lock head 1311.

[0077] The locking wire rope 120 is connected to the locking wire body 131, and one end thereof is fixedly sleeved with a pipe clamp 180, wherein the groove width of the accommodating groove 1315 is greater than the diameter of the locking wire rope 120 and smaller than the diameter of the pipe clamp 180, and the groove width of the limiting groove 1316 is greater than the diameter of the pipe clamp 180. When in use, the locking wire rope 120 is placed in the accommodating groove 1315, and the placement method thereof can be along the axial direction of the locking wire body 131 or the length direction of the accommodating groove 1315, thereby avoiding complicated operations such as threading the locking wire rope 120. Since the pipe clamp 180 needs to be squeezed with a crimping pliers, for application scenarios with smaller space, the locking wire rope 120 can be first placed in the accommodating groove 1315, and the time when the locking wire rope 120 extends into the limiting groove 131 is recorded. 6, insert the tube clamp 180 into the end of the locking wire rope 120, move the tube clamp 180 to the recorded position, use the crimping pliers to clamp the tube clamp 180, and then put the locking wire rope 120 into the receiving groove 1315 again. At this time, the tube clamp 180 is placed in the limiting groove 1316 and contacts the inner wall of the limiting groove 1316 close to the receiving groove 1315, thereby realizing the unidirectional fixation of the locking wire rope 120 along the radial direction of the locking wire body 131, that is, the locking wire rope 120 does not move when the locking wire body 131 is pulled in the radial direction of the locking wire body 131. It can be understood that if there is enough space, the locking wire rope 120 can be directly clamped and fixed with the tube clamp 180 after being placed in the receiving groove 1315.

[0078] It is understandable that the purpose of using crimping pliers to squeeze the pipe clamp 180 and connect it to the locking wire rope 120 is to ensure the reliability of the connection through the friction between the two. In addition to the above means, other methods can also be used, such as directly welding the two to fix them, or processing the external thread at the end of the locking wire rope 120 in advance, and providing an internal thread matching it on the pipe clamp 180, so as to achieve a fixed connection between the two through a threaded connection.

[0079] It can be understood that the inner wall of the winding groove 1312 near the first threaded segment 1313 is flush with the inner wall of the limiting groove 1316 and the pressing screw hole 1317 near the first threaded segment 1313, so that the locking wire rope 120 does not bend when it is introduced from the winding groove 1312 into the limiting groove 1316 and the pressing screw hole 1317. In the axial direction of the locking wire body 131, the depth of the pressing screw hole 1317 is not less than the depth of the limiting groove 1316 and the pressing screw hole 1317. When the locking wire rope 120 is placed in the accommodating groove 1315 and When the tube clamp 180 is placed in the limiting groove 1316, the position of the locking screw 133 in the pressing screw hole 1317 can be rotated to adjust the position of the tube clamp 180 along the axial direction of the locking wire body 131, wherein the locking screw 133 can be rotated and adjusted to just contact or squeeze the tube clamp 180. When the locking screw 133 squeezes the tube clamp 180, the position of the tube clamp 180 in the limiting groove 1316 can be further limited, thereby making the connection between the locking wire rope 120 and the locking wire body 131 more stable.

[0080] In the embodiment of the present application, the above-mentioned wire locking device 10 is adopted, and the locking wire rope 120 is limited in the radial direction of the locking wire body 131 through the cooperation of the locking wire rope 120, the tube clamp 180 and the accommodating groove 1315 and the limiting groove 1316. At the same time, the locking wire rope 120 and the tube clamp 180 are limited along the axial direction of the locking wire body 131 by adjusting the position of the locking screw 133, thereby realizing the connection between the locking wire rope 120 and the wire locker 130. The above-mentioned connection method does not cause any damage to the locking wire rope 120, thereby ensuring its service life, and has a simple structure, which is convenient for processing, manufacturing and installation, and greatly reduces the production cost.

[0081] In a preferred embodiment, Figure 8 As shown, a slope 1318 is provided on the end surface of the pressing screw hole 1317 on the side of the wire locking head 1311 away from the first threaded section 1313. The slope 1318 is convenient for forming a depression to accommodate the screwing part of the locking screw 133. Of course, the slope 1318 can also be omitted, but it will affect the visual integrity of the wire locker 130.

[0082] In a preferred embodiment, Fig.10As shown, the wire lock head 1311 is provided with two limiting grooves 1316 and two receiving grooves 1315 corresponding to the two limiting grooves 1316, the two limiting grooves 1316 are at a certain angle to each other and are completely connected with the pressing screw hole 1317. When the locking wire rope 120 is connected to the wire locker 130, only one of the receiving grooves 1315 is used to pass the locking wire rope 120, and the limiting groove 1316 corresponding to the receiving groove 1315 is used to place the pipe clamp 180, while the other receiving groove 1315 and the limiting groove 1316 are spare, and are used to prevent the locking wire rope 120 that penetrates the annular ring 110 from the threading hole 170 from being too far away from the threading hole 170 when the locking wire rope 120 is connected to the wire locker 130.

[0083] It is understandable that there is no specific restriction on the angle between the two limiting grooves 1316, but in order to ensure the selectivity of the distance between the accommodating groove 1315 and the threading hole 170, the distribution uniformity of the length direction of the two accommodating grooves 1315 in the radial direction of the wire lock 1311 should be ensured as much as possible.

[0084] In this embodiment, the groove widths of the accommodating groove 1315 and the limiting groove 1316 are 1.2 mm and 1.6 mm respectively, the diameter of the locking wire rope 120 is 0.95 mm, and the pipe clamp 180 is made of a steel pipe with an outer diameter of Φ1.5 mm × an inner diameter of Φ1.1 mm. There is a difference of 0.3 mm between the groove widths of the pipe clamp 180 and the accommodating groove 1315, which allows the pipe clamp 180 to press against the corresponding side inner wall of the limiting groove 1316 to prevent the locking wire rope 120 from moving.

[0085] Among them, the pipe clamp 180 is made of steel pipe, which has high strength and is not easy to deform. In other scenarios with low requirements, the pipe clamp 180 can also use aluminum pipe.

[0086] Similarly, the number of limit grooves 1316 on the wire lock 1311 is not limited to the above number, that is, the limit grooves 1316 only need to be ensured to have a number of not less than one. On the premise of ensuring that the positions of the plurality of limit grooves 1316 are reasonably distributed, the more limit grooves 1316 are set, the more options there are for connecting the locking wire rope 120.

[0087] It can be understood that the limiting groove 1316 can be set to be completely connected with the pressure screw hole 1317, or it can be set to be connected with only one side inner wall of the pressure screw hole 1317. At this time, the corresponding receiving groove 1315 is connected with the other side inner wall of the pressure screw hole 1317. The above two methods can realize the limiting of the tube clamp 180 by the locking screw 133. It should be noted that when the receiving groove 1315 is connected with the inner wall of the pressure screw hole 1317 and the tube clamp 180 is located in the limiting groove 1316, the tube clamp 180 and the pressure screw hole 1317 are in conflict with the inner wall of the side of the receiving groove 1315 close to the pressure screw hole 1317, thereby realizing the limiting of the locking wire rope 120 along the radial direction of 131.

[0088] In a preferred embodiment, Fig.10 As shown, the limiting groove 1316 is located inside the wire lock head 1311 and is completely connected with the pressing screw hole 1317. The penetration direction of the limiting groove 1316 passes through the axis of the lock wire body 131. Two receiving grooves 1315 are respectively penetrated between the outer peripheral surface of the wire lock head 1311 and the inner walls on both sides of the penetration direction of the limiting groove 1316. When the locking wire rope 120 and the wire locker 130 are connected, the pipe clamp 180 is placed in the limiting groove 1316, and the locking wire rope 120 is placed in the receiving groove 1315. At this time, the two ends of the tube clamp 180 respectively contact the inner walls on both sides of the limit groove 1316 in the direction of penetration, thereby realizing the bidirectional limitation of the locking wire rope 120 along the radial direction of the wire lock head 1311. It can be understood that when the above scheme is adopted, the locking wire rope 120 can pass through the tube clamp 180, that is, the two accommodating grooves 1315 at the corresponding positions of the limit groove 1316 can accommodate the locking wire rope 120, and the locking wire rope 120 and the tube clamp 180 can be given a larger adjustment space during the fixing process of the locking wire rope 120 and the tube clamp 180.

[0089] In a preferred embodiment, Fig.11As shown, a receiving groove 1315 is provided on the outer circumference of the wire lock head 1311, and the receiving groove 1315 is completely connected with the pressing screw hole 1317 and passes the axis of the pressing screw hole 1317. At this time, the limiting groove 1316 is abandoned. When the locking wire rope 120 and the wire locker 130 are connected, the locking wire rope 120 passes through the receiving groove 1315, and the pipe clamp 180 is placed on the outside of the wire lock head 1311. At this time, the pipe clamp 180 is in conflict with the outer circumference of the wire lock head 1311, so as to realize the one-way limiting of the locking wire rope 120 along the radial direction of the wire lock head 1311, and the locking screw 133 is locked. The position is adjusted to fit with the locking wire rope 120 in a clearance fit, which only limits the axial position of the locking wire rope 120 on the locking wire body 131. The contact between the locking screw 133 and the locking wire rope 120 is minimized through clearance fit, thereby avoiding wear of the locking wire rope 120. It can be understood that when adopting the above scheme, since the tube clamp 180 is arranged on the outside of the wire locking head 1311, the tube clamp 180 itself will cause a certain interference with the winding of the locking wire rope 120 on the winding groove 1312, so the positional relationship between the accommodating groove 1315 and the threading hole 170 is required to be relatively high.

[0090] In a preferred embodiment, two support protrusions 141 are fixedly provided on the connecting disk 140 at corresponding positions of the two wire lockers 130, and a threaded hole cooperating with the wire lock 1311 is provided between the end surface of the support protrusion 141 away from the connecting disk 140 and the end surface of the connecting disk 140 away from the support protrusion 141.

[0091] The two locking steel wires 120 are wound on the power component winding shaft from both ends to the middle, so that the two locking steel wires 120 are misaligned in the axial direction of the winding shaft when they are led out from the power component winding shaft, and the axes of the two threading holes 170 are not on the same vertical plane of the axis of the annular ring 110, that is, the two threading holes 170 are misaligned in the axial direction of the annular ring 110, so that the threading holes 170 and the corresponding locking steel wires 120 are roughly located in the same vertical plane of the axis of the annular ring 110 when they are led out from the power component winding shaft, and the two supporting protrusions 141 at the corresponding positions also have a corresponding height difference based on the distance between the two threading holes 170 in the axial direction of the annular ring 110, so that after the wire locker 130 is installed at the supporting protrusion 141 at the corresponding position, the locking steel wire 120 is introduced into the winding shaft. The direction of the wire groove 1312 is roughly parallel to the axis of the threading hole 170 at the corresponding position, thereby avoiding a large height difference between the position where the locking wire rope 120 is introduced into the winding groove 1312 and the corresponding threading hole 170, thereby avoiding the change in the extension direction of the locking wire rope 120 and reducing the friction between the locking wire rope 120 and the annular ring 110. In other words, the two support protrusions 141 are different in height size, so as to adapt to the axial height difference between the two threading holes 170. The height difference between the two support protrusions 141 is equal to the axial height difference between the two threading holes 170. Of course, since there is a certain distance between the winding shaft of the power component and the two threading holes 170 (in this embodiment, between the radius and diameter of the annular ring 110), the larger the distance, the smaller the above-mentioned influence.

[0092] In the embodiment of the present application, the above-mentioned wire locking device 10 is adopted, and the height difference between the two threading holes 170 and the two supporting protrusions 141 satisfies that: the lead-out end of the winding shaft of the automatic power component of the locking wire rope 120, the threading hole 170, and the winding groove 1312 are roughly located on the same plane, thereby reducing the deformation of the locking wire rope 120 caused by the height difference of each node, and further improving the service life and driving accuracy of the locking wire rope 120.

[0093] In a preferred embodiment, the connecting disk 140 is circular and an annular ring 110 coaxial with the connecting disk 140 is fixedly arranged on the outer ring surface, and the two end surfaces of the annular ring 110 protrude (protrusion means protrusion and extension) out of the two sides of the connecting disk 140 respectively. The connecting disk 140 is also provided with two wire lockers 130 and support protrusions 141 cooperating with the wire lockers 130. The annular ring 110 is provided with threading holes 170 cooperating with the wire lockers 130 at corresponding positions. The two support protrusions 141 on the connecting disk 140 are respectively arranged on the end surfaces of the two sides of the connecting disk 140, that is, at this time, the two steel lockers 130 are arranged on the connecting disk 140. The installation direction of the wire locker 130 is opposite, and the threading holes 170 corresponding to the winding groove 1312 on the wire locker 130 are also respectively located at the two sides of the annular ring 110 with respect to the connecting plate 140. The two locking steel wires 120 at the corresponding positions are respectively passed through the two threading holes 170 along the outer ring surface of the annular ring 110 to the inside of the annular ring 110 and fixedly connected with the steel wire lockers 130 at the corresponding positions. The protruding heights of the two supporting protrusions 141 and the positions of the threading holes 170 satisfy that: the lead-out end of the winding shaft of the automatic power component of the locking steel wire rope 120, the threading hole 170, and the winding groove 1312 are roughly located on the same plane.

[0094] The positional relationship between the threading hole 170 and the wire locker 130 on the connection plate 140 , and the connection method between the locking wire rope 120 and the wire locker 130 on the connection plate 140 are the same as those in the above embodiment.

[0095] In the embodiment of the present application, the above-mentioned wire locking device 10 is adopted, and the locking wire rope 120 can be fixed on both sides of the connecting plate 140 through the height difference between the wire locker 130, the annular ring 110 and the two supporting protrusions 141. This not only reduces the deformation of the locking wire rope 120 caused by the height difference of each node, further improves the service life and driving accuracy of the locking wire rope 120, but also provides a more flexible threading and fixing method of the locking wire rope 120 in different working scenarios.

[0096] It is understandable that two annular rings 110 may also be symmetrically provided and respectively located on the end surfaces on both sides of the connecting disk 140 .

[0097] In an embodiment of the present application, the above-mentioned doctor's console and surgical robot are adopted, and the above-mentioned wire locking device 10 is adopted. The locking wire rope 120 is used as a transmission member to realize the driving of the upper arm 50 and the support arm 20. The composition and connection relationship of the wire locking device 10 ensures the fixing reliability of the locking wire rope 120, thereby improving the overall driving stability of the doctor's console and the surgical robot.

[0098] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0099] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A wire locking device, characterized in that: include: Connecting plate; An annular ring, in the shape of a circular ring and convexly disposed on at least one end surface of the connecting disk; A wire locker, at least one of which is disposed on the connection plate and is located inside the annular ring; Wherein, a threading hole is provided on the annular ring at a position corresponding to the wire locker; The wire locker comprises a locking screw and a wire locking body connected to the connection plate, the wire locking body is provided with a pressing screw hole matched with the locking screw, and a wire fixing groove is provided on the outer peripheral surface of the wire locking body and passes through the pressing screw hole; A winding groove for accommodating the locking wire rope is provided on the outer circumferential surface of the wire locking body, and the inner wall of the winding groove close to the connecting disk is flush with the inner wall of the wire fixing groove close to the connecting disk; The locking wire rope is inserted into the wire fixing groove and a pipe clamp located in the wire fixing groove is fixed at the end thereof. The displacement of the pipe clamp in the radial direction of the wire locker in the wire fixing groove is limited, and the locking screw can abut against the pipe clamp to limit the displacement of the pipe clamp in the axial direction of the wire locker. The locking wire body comprises: A wire lock head, used to connect the locking wire rope; A first threaded section connected to one end of the wire lock and threadedly connected to the connecting plate; A second thread segment connected to an end of the first thread segment away from the wire lock head; A locking nut, threadedly connected to the second threaded section and abutting against an end surface of the connecting plate; The wire fixing groove includes a limiting groove that penetrates the pressing screw hole and opens to a side away from the connecting disk, and a receiving groove that communicates with the limiting groove and the outer peripheral surface of the wire locking body and opens to a side away from the connecting disk; Among them, the pressing screw hole is arranged on the wire lock and opens to the side of the wire lock away from the first thread segment; the thread direction of the second thread segment is opposite to that of the first thread segment, and after the first thread segment is threadedly connected to the connecting disk, the second thread segment extends to the side of the connecting disk away from the corresponding position of the wire lock; the groove width of the accommodating groove is greater than the diameter of the locking wire rope and smaller than the diameter of the pipe clamp, and the groove width of the limiting groove is greater than the diameter of the pipe clamp.

2. The wire locking device according to claim 1, characterized in that: One end of the limiting groove is connected to the outer peripheral surface of the locking wire body, and the other end is connected to the containing groove.

3. The wire locking device according to claim 1, characterized in that: Both ends of the limiting groove are communicated with the containing groove.

4. The wire locking device according to claim 1, characterized in that: The threading hole and the winding groove on the wire locking body are located on the same vertical plane of the axis of the wire locking body.

5. The wire locking device according to claim 1, characterized in that: At least one wire fixing groove is provided on the wire locking body.

6. The wire locking device according to claim 1, characterized in that: The wire lockers are provided with two and are located at symmetrical positions on the connection disk about the symmetrical center line; The projections of the two threading holes corresponding to the two wire lockers on the connecting disk are symmetrical about the symmetry center line; Wherein, the symmetry center line is one of the diameters of the annular ring, and the two wire lockers do not overlap each other.

7. The wire locking device according to claim 6, characterized in that: The annular ring is convexly arranged on one side end surface of the connecting disk, and the two wire lockers are arranged on one side end surface of the connecting disk close to the annular ring.

8. The wire locking device according to claim 6, characterized in that: The annular rings are provided with two and protrude from the two end surfaces of the connecting disk respectively, the two wire lockers are respectively provided on the two end surfaces of the connecting disk, and the two threading holes cooperating with the two wire lockers are respectively provided on the two annular rings.

9. A doctor's console, characterized in that: The wire locking device comprises any one of claims 1 to 8, further comprising a support, a large arm, a wrist assembly and a power assembly, wherein the large arm is coupled to the power assembly through the wire locking device.

10. A surgical robot, characterized in that: The invention comprises a hand and the doctor console as claimed in claim 9.

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