Coupling device and instrument control system

Abstract

The application relates to a coupling device and an instrument control system, wherein the coupling device is detachably connected between a driving device and an executing device to transmit power of the driving device to the executing device, a plurality of coupling members are arranged in the coupling device, a distance between input shafts and output shafts of the coupling members is adjustable by arranging elastic members between the input shafts and the output shafts, in the case that the output shafts are not completely aligned with the executing device, the output shafts are pushed towards the input shafts to compress the elastic members, at this time, as long as the driving device drives the coupling members to rotate by a certain angle, the output shafts can be matched with the executing device, and the output shafts are coupled with the executing device under the action of the elastic members. When the coupling device is installed with the executing device, manual alignment is not needed, and a stable power transmission path from the driving device to the executing device can be established only by simply buckling or inserting the two, so that the operation is convenient, and the installation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a coupling device and a device control system. Background Technology

[0002] Minimally invasive techniques are designed to reduce the amount of tissue damaged during surgery, thereby reducing patient recovery time. These techniques can be performed through the patient's natural orifices or through one or more surgical incisions. An operator (e.g., a physician) can insert minimally invasive medical instruments (surgical, diagnostic, therapeutic, biopsy instruments, etc.) through these natural orifices or incisions to reach the target tissue location.

[0003] Such minimally invasive techniques typically use flexible and / or maneuverable slender medical devices, such as flexible catheters, flexible electronic endoscopes, and flexible manipulators. The operator's control of these slender medical devices involves the management of several degrees of freedom, including at least the management of the insertion, retraction, bending, and rotation of the slender medical device relative to the patient's tissue, so that the medical device is aligned with the desired target tissue.

[0004] These slender medical instruments, which come into direct contact with the surgical site, may become contaminated during surgery. They are typically discarded after a single procedure or subjected to high-temperature, high-pressure sterilization between multiple procedures. The power drive components of these slender medical instruments, including servo motors, sensors, and encoders, may be damaged or destroyed during sterilization. Specifically, both the slender medical instruments and the power drive components are equipped with transmission terminals to transfer power between them.

[0005] In related technologies, a slender medical device is directly connected to a power drive unit, with the slender medical device being a replaceable component. Because the positions of some transmission terminals within the slender medical device may shift, before installation, the transmission terminals on the medical device and / or the power drive unit need to be manually adjusted to their compatible positions to ensure complete alignment. This installation method requires manual alignment, is time-consuming, inconvenient, and affects installation efficiency. Summary of the Invention

[0006] To address the technical problem of manual alignment required for direct connection between slender medical devices and power drive devices in traditional minimally invasive techniques, which is time-consuming, inconvenient, and affects installation efficiency due to the need for manual alignment of the transmission terminals on the medical devices and / or power drive devices to their compatible positions, a coupling device and instrument control system are provided.

[0007] This application provides a coupling device detachably connected between a drive device and an actuator for transmitting power from the drive device to the actuator. The coupling device includes:

[0008] The housing has an internal cavity; the top surface of the housing has a plurality of first through holes, and the bottom surface of the housing has a plurality of second through holes; the number of first through holes is equal to the number of second through holes, and each first through hole and a second through hole are arranged opposite to each other;

[0009] A coupling mechanism is disposed within the inner cavity;

[0010] The coupling mechanism includes:

[0011] Multiple coupling elements, the number of which is equal to the number of the first through holes; each coupling element includes an input shaft, an output shaft, and an elastic element disposed between the input shaft and the output shaft; the elastic element is elastic;

[0012] The input shaft passes through the first through hole and is coupled to the driving device. Under the drive of the driving device, the input shaft rotates around the center line and drives the output shaft to rotate synchronously.

[0013] The output shaft passes through the second through hole and is coupled to the actuator;

[0014] The coupling device further includes:

[0015] An adjusting element, connected to the coupling mechanism, is used to synchronously adjust the compression of all elastic elements, so that the output shaft of each coupling element at least partially protrudes through the second through hole corresponding to the output shaft, so that the coupling device is coupled to the actuator.

[0016] The adjusting element is also used to synchronously adjust the compression of all elastic elements, so that the output shaft corresponding to each elastic element moves closer to the input shaft into the second through hole corresponding to the output shaft, so that the coupling device and the actuator are decoupled.

[0017] This application also provides a device control system, including:

[0018] A drive unit, used to provide power output;

[0019] An actuator is used to perform a predetermined action under the drive of power provided by a drive device;

[0020] The coupling device mentioned above is detachably connected between the drive device and the actuator to transmit the power provided by the drive device to the actuator.

[0021] This application relates to a coupling device and a device control system. The coupling device is detachably connected between a drive device and an actuator, transmitting power from the drive device to the actuator. The coupling device contains multiple coupling elements. An elastic element is provided between the input and output shafts of the coupling elements, allowing the distance between the input and output shafts to be adjustable. When the output shaft is not fully aligned with the actuator, it will push towards the input shaft, compressing the elastic element. At this point, by controlling the drive device to rotate the coupling elements by a certain angle, the output shaft can be aligned with the actuator, and the output shaft will be coupled to the actuator under the action of the elastic element. When installing the coupling device with the actuator, no manual alignment is required. A stable power transmission path from the drive device to the actuator can be established simply by fastening or plugging the two together, making operation convenient and improving installation efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the coupling device provided in one embodiment of this application.

[0023] Figure 2 An exploded view of a coupling device provided in an embodiment of this application.

[0024] Figure 3 This is an exploded view of the coupling device provided in one embodiment of this application.

[0025] Figure 4 This is a perspective view of the movable plate in a coupling device provided in an embodiment of this application.

[0026] Figure 5 This is a perspective view of the coupling device provided in an embodiment of this application, showing the adjustment member, the reset spring, and the second seat body assembled.

[0027] Figure 6 A first-view perspective perspective of a coupling device provided in an embodiment of this application.

[0028] Figure 7 A second perspective view of a coupling device provided in an embodiment of this application.

[0029] Figure 8 A side view of the coupling device provided in an embodiment of this application, showing the first and second seats engaged.

[0030] Figure 9 for Figure 8 The provided coupling device is shown in a sectional perspective view along line A-A'.

[0031] Figure 10 A schematic diagram of the structure of a device control system provided in an embodiment of this application (before the actuator is installed).

[0032] Figure 11 A schematic diagram of the structure of a device control system provided in an embodiment of this application (after the actuator is installed).

[0033] Figure 12 An exploded view of the drive device in a device control system provided in an embodiment of this application.

[0034] Figure 13 A perspective view of the actuator in a device control system provided in an embodiment of this application.

[0035] Figure 14 A partial structural schematic diagram of a device control system provided in an embodiment of this application (first sensing element is turned on).

[0036] Figure 15 A partial structural schematic diagram of a device control system provided in an embodiment of this application (second sensing element is turned on).

[0037] Figure label:

[0038] 100 - Coupling device; 110 - Housing; 111 - Inner cavity; 111a - Guide wall; 112 - First through hole;

[0039] 113 - Second through hole; 116 - Receiving groove; 117 - Side groove; 114 - First seat body;

[0040] 114a - Bottom surface of the first seat; 114b - Limiting post; 114c - Side hole; 115 - Second seat;

[0041] 115a - Top surface of the second seat; 115b - Positioning hole; 116 - Insertion part; 116a - Recessed space;

[0042] 120 - Coupling mechanism; 121 - Coupling element; 121a - Input shaft; 121b - Output shaft; 121c - Elastic element;

[0043] 121d - Support disc; 121e - Post; 121f - Sliding hole; 121g - Limiting disc;

[0044] 121h - First anti-rotation structure; 121i - Second anti-rotation structure; 122 - Movable plate; 122a - Third through hole;

[0045] 122b - Inclined groove; 122c - Cut surface; 123 - Positioning pin; 130 - Adjusting component; 131 - Lowering wedge block;

[0046] 132-Side wing; 140-Return spring; 10-Machine control system; 200-Drive device; 220-Base;

[0047] 220a - Seat hole; 210 - Drive motor; 230 - Connecting part; 230a - First mating structure;

[0048] 240 - Ball plunger; 250 - Housing; 300 - Actuator; 310 - Power transmission terminal;

[0049] 311 - Second mating structure; 320 - Positioning groove; 411 - Circuit board; 412 - First sensing element;

[0050] 413 - First conductive sheet; 414 - First wire; 415 - Second conductive sheet; 416 - Second wire;

[0051] 421 - Circuit board; 422 - Second sensing element; 423 - First contact piece; 424 - First connecting wire;

[0052] 425 - Second connector; 426 - Second connecting wire; 427 - Third connector; 428 - Fourth connector;

[0053] 429 - Third connecting line. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] This application provides a coupling device 100. The coupling device 100 is detachably connected between a drive device 200 and an actuator 300, and is used to transmit power from the drive device 200 to the actuator 300. It should be noted that the actuator 300 of this application can be a flexible and / or manipulable slender medical device used in minimally invasive procedures, such as a flexible catheter, a flexible electronic endoscope, or a flexible manipulator forceps. The coupling device 100 of this application is not limited to any particular slender medical device.

[0056] like Figure 1 and Figure 2 As shown, in one embodiment of this application, the coupling device 100 includes a housing 110 and a coupling mechanism 120.

[0057] Specifically, the housing 110 has an internal cavity 111; the top surface of the housing 110 has a plurality of first through holes 112, and the bottom surface of the housing 110 has a plurality of second through holes 113; both the first through holes 112 and the second through holes 113 communicate with the internal cavity 111. The number of first through holes 112 is equal to the number of second through holes 113, and each first through hole 112 and each second through hole 113 are arranged opposite to each other.

[0058] Specifically, the coupling mechanism 120 is disposed in the inner cavity 111. The coupling mechanism 120 includes a plurality of coupling elements 121. The number of coupling elements 121 is equal to the number of the first through holes 112. The number of coupling elements 121 is designed according to the required action of the actuator 300 and is not specifically limited; it can be two, three, four, etc.

[0059] Optionally, in one embodiment of this application, the number of coupling elements 121 is three.

[0060] Each coupling element 121 includes an input shaft 121a, an output shaft 121b, and an elastic element 121c disposed between the input shaft 121a and the output shaft 121b. The elastic element 121c is elastic. Specifically, the elastic element 121c can be a spring, which can deform under the action of external force.

[0061] The input shaft 121a passes through the first through hole 112 and is coupled to the drive device 200. Under the drive of the drive device 200, the input shaft 121a rotates about the center line S, and drives the output shaft 121b to rotate synchronously. The output shaft 121b passes through the second through hole 113 and is coupled to the actuator 300.

[0062] The coupling device 100 further includes an adjusting member 130. The adjusting member 130 is connected to the coupling mechanism 120 and is used to synchronously adjust the compression of all elastic members 121c, so that the output shaft 121b of each coupling member at least partially passes through the second through hole 113 corresponding to the output shaft 121b, so that the coupling device 100 is coupled to the actuator 300.

[0063] The adjusting member 130 is also used to synchronously adjust the compression of all elastic members 121c, so that the output shaft 121b corresponding to each elastic member 121c moves closer to the input shaft and into the second through hole 113 corresponding to the output shaft 121b, so that the coupling device 100 and the actuator 300 are decoupled.

[0064] In this embodiment, the coupling device is detachably connected between the drive device and the actuator, transmitting power from the drive device to the actuator. The coupling device contains multiple coupling elements. An elastic element is placed between the input and output shafts of the coupling elements, allowing the distance between them to be adjustable. If the output shaft is not fully aligned with the actuator, it will push towards the input shaft, compressing the elastic element. At this point, by controlling the drive device to rotate the coupling element by a certain angle (this action can also be performed during pre-operative checks of the drive device 200, without requiring a separate operation), the output shaft can be adapted to the actuator, and the output shaft will be coupled to the actuator under the action of the elastic element. When installing the coupling device with the actuator, no manual alignment is required. A stable power transmission path from the drive device to the actuator can be established simply by fastening or plugging the two together, making operation convenient and improving installation efficiency.

[0065] like Figure 3 As shown, in one embodiment of this application, the coupling mechanism 120 further includes a movable plate 122.

[0066] Specifically, a movable plate 122 is disposed in the inner cavity 111, and the movable plate 122 has a plurality of third through holes 122a. The number of third through holes 122a is equal to the number of first through holes 112. Each third through hole 122a is arranged opposite to a first through hole 112 and a second through hole 113.

[0067] like Figure 7 As shown, in one embodiment of this application, the coupling member 121 further includes a support disc 121d and a column 121e.

[0068] Specifically, the support disc 121d is fixedly connected to the output shaft 121b, which passes through the third through hole. The support disc 121d abuts against the top surface of the movable plate 122. The diameter of the support disc 121d is larger than the diameter of the third through hole 122a, which allows the movable plate 122 to drive the output shaft 121b to move synchronously when it moves closer to the input shaft 121a. One end of the elastic element 121c is fixedly connected to the input shaft 121a, and the other end of the elastic element 121c is fixedly connected to the top surface of the support disc 121d.

[0069] Multiple columns 121e are provided, and the top of each column 121e is fixedly connected to the input shaft 121a. The output shaft 121b has a sliding hole 121f along a direction parallel to the center line. The columns 121e pass through the sliding hole 121f, allowing the output shaft 121b to slide relative to the columns 121e, and the multiple columns 121e enable the output shaft 121b and the input shaft 121a to rotate synchronously.

[0070] In this embodiment, by setting the movable plate 122, the output shafts 121b of multiple coupling members 121 can be moved simultaneously, thereby simultaneously compressing multiple elastic members 121c, ensuring the synchronicity of the establishment and disengagement of the coupling relationship between the multiple output shafts 121b and the actuator 300. In addition, by having the column 121e pass through the movable plate 122, the movable plate 122 can provide support when the column 121e rotates, improving the stability of the coupling member 121.

[0071] like Figure 3 As shown, in one embodiment of this application, the input shaft 121a is provided with a limiting disc 121g. The diameter of the limiting disc 121g is larger than the diameter of the first through hole 112. The limiting disc 121g can limit the position of the input shaft 121a relative to the housing 110, ensuring that the input shaft 121a will not come out of the first through hole 112.

[0072] like Figure 4 As shown, in one embodiment of this application, two inclined grooves 122b are respectively provided on both sides of the movable plate 122. The two inclined grooves 122b are centrally symmetrical with respect to the center line C of the movable plate 122.

[0073] like Figure 3 , Figure 4 and Figure 5 As shown, the housing 110 is provided with two receiving slots 117 that communicate with the inner cavity 111. The two receiving slots 117 are arranged in a centrally symmetrical manner with respect to the physical center of the movable plate 122.

[0074] Two adjusting members 130 are provided, and the two adjusting members 130 are centrally symmetrically arranged with respect to the physical center of the movable plate 122. The two adjusting members 130 work together to adjust the movable plate 122, ensuring that the movable plate 122 will not tilt and get stuck when moving in the inner cavity 111.

[0075] Specifically, the adjusting member 130 includes a descending wedge block 131. Each descending wedge block 131 is placed in a receiving groove 117, and the descending wedge-shaped side of the descending wedge block 131 matches the slope of the groove surface of the inclined groove 122b.

[0076] When the downward wedge-shaped side of each descending wedge block 131 contacts and is fixedly clamped to the groove surface of the inclined groove 122b corresponding to the descending wedge block 131, the output shaft 121b of each coupling member at least partially passes through the second through hole 113 corresponding to the output shaft 121b, so that the coupling device 100 is coupled to the actuator 300.

[0077] When both descending wedges 131 slide toward the physical center of the movable plate 122, the descending wedge-shaped side of each descending wedge 131 is offset from the groove surface of the inclined groove 122b corresponding to that descending wedge 131. The two descending wedges 131 push the movable plate 122 toward the input shaft 121a to increase the compression of the elastic element 121c. The output shaft 121b corresponding to each elastic element 121c moves toward the input shaft and into the second through hole 113 corresponding to the output shaft 121b, so that the coupling device 100 and the actuator 300 are decoupled.

[0078] like Figure 3 and Figure 5 As shown, in one embodiment of this application, the adjusting member 130 further includes symmetrically arranged side wings 132. The receiving groove 117 has symmetrically arranged side grooves 118 on both sides. The side grooves 118 are formed by recessing a portion of the receiving groove 117 to both sides. The side wings 132 can be slidably embedded in the side grooves 118, thereby limiting the movement stroke of the adjusting member 130.

[0079] like Figure 3 and Figure 5 As shown, in one embodiment of this application, the side wing 132 also abuts against a return spring 140, and the other end of the return spring 140 abuts against the inner wall of the side groove 118 near the inner cavity 111, ensuring that the adjusting member 130 can be reset after adjusting the position of the movable plate 122.

[0080] like Figure 6 and Figure 7 As shown, in one embodiment of this application, the surface of the input shaft 121a near the drive device 200 is provided with a first anti-rotation structure 121h that cooperates with the drive device 200. The surface of the output shaft 121b near the actuator 300 is provided with a second anti-rotation structure 121i that cooperates with the actuator 300.

[0081] It should be noted that the form of the first anti-rotation structure 121h and the second anti-rotation structure 121i is not specifically limited, and can be structures such as protrusions and grooves distributed on the end faces of the input shaft 121a and the output shaft 121b.

[0082] In this embodiment, the power of the drive device 200 can be effectively transmitted to the actuator 300 through the cooperation of the first anti-rotation structure 121h with the drive device 200 and the cooperation of the second anti-rotation structure 121i with the actuator 300.

[0083] In one embodiment of this application, the elastic element 121c is configured to have an initial compression amount when the output shaft 121b and the input shaft 121a are in an initial relative position (here, "initial relative position" refers to the relative position of the output shaft 121b and the input shaft 121a when the coupling mechanism 120 is not subjected to external force).

[0084] In this embodiment, the elastic element 121c is configured to have an initial compression amount, so that the input shaft 121a will not slip and disengage when coupled with the drive device 200 and the output shaft 121b will not slip and disengage when coupled with the actuator 300, thus ensuring the stability of power transmission.

[0085] like Figure 7 , Figure 8 and Figure 9 As shown, in one embodiment of this application, the housing 110 includes a first base 114 and a second base 115. The first base 114 and the second base 115 are fastened together and fixedly connected to each other to form the housing 110. The fixed connection between the first base 114 and the second base 115 can be achieved by snap-fit, screw connection, or other methods. A plurality of first through holes 112 are formed in the first base 114. A plurality of second through holes 113 are formed in the second base 115.

[0086] like Figure 9 As shown, in one embodiment of this application, the bottom surface of the first seat 114 is concave and the top surface of the second seat 115 is concave, so that the inner cavity 111 is formed after the first seat and the second seat 115 are fastened together.

[0087] As an alternative to forming the inner cavity 111, the inner cavity 111 may be formed solely by the concavity of the bottom surface 114a of the first seat or solely by the concavity of the top surface 115a of the second seat.

[0088] like Figure 3 , Figure 4 and Figure 9 As shown, in one embodiment of this application, the movable plate 122 is configured to have at least one cross-section 122c, which is parallel to the centerline of the output shaft 121b. A portion of the inner wall of the inner cavity 111 is provided with a guide wall surface 111a parallel to the cross-section 122c. The guide wall surface 111a is formed jointly by the first seat 114 and the second seat 115.

[0089] In this embodiment, the rotation of the movable plate 122 relative to the housing 110 is restricted by the cooperation of the cut surface 122c and the guide wall surface 111a.

[0090] like Figure 7As shown, in one embodiment of this application, the bottom surface of the second base 115 is recessed to form a plug-in portion 116, which is used to plug into the actuator 300.

[0091] In this embodiment, the second base 115 and the actuator 300 are connected by a plug-in method, which is simple and convenient to operate.

[0092] like Figure 3 , Figure 4 and Figure 7 As shown, in one embodiment of this application, the coupling mechanism 120 further includes a positioning post 123. The positioning post 123 is fixedly connected to the bottom surface of the movable plate 122. The second seat 115 has a positioning hole 115b. The diameter of the positioning post 123 is less than or equal to the diameter of the positioning hole 115b. When the output shaft 121b and the input shaft 121a are in their initial relative positions, the positioning post 123 is partially inserted into the concave space 116a formed by the insertion part 116. The actuator 300 is provided with a positioning groove 320 corresponding to the positioning post 123. When the actuator 300 is inserted into the insertion part 116, part of the positioning post 123 can be embedded into the positioning groove 320.

[0093] In this embodiment, by setting the positioning post 123 to cooperate with the actuator 300, the actuator 300 is prevented from disengaging from the second seat 115 when subjected to external force. At the same time, the actuator 300 is prevented from being directly impacted by the output shaft 121b and thus slipping out.

[0094] This application also provides a device control system 10.

[0095] like Figure 10 and Figure 11 As shown, in one embodiment of this application, the instrument control system 10 includes a coupling device 100, a drive device 200, and an execution device 300 as mentioned in any of the foregoing embodiments.

[0096] Specifically, the drive unit 200 is used to provide power output. The actuator 300 is used to perform a predetermined action under the drive of the power provided by the drive unit 200. The coupling device 100 is detachably connected between the drive unit 200 and the actuator 300 to transmit the power provided by the drive unit 200 to the actuator 300.

[0097] like Figure 12 As shown, in one embodiment of this application, the drive device 200 includes a base 220, at least one drive motor 210, and a connecting member 230.

[0098] A connecting member 230 is mounted on a base 220. Multiple connecting members 230 are provided, each rotating relative to the base 220 under the direct or indirect drive of the drive motor 210. The drive motor 210 is mounted to the base 220, and the multiple drive motors 210 are integrally fitted with a cover 250, which is fixedly connected to the base 220. The end face of the connecting member 230 is provided with a first mating structure 230a that mates with the first anti-rotation structure 121h. At least a portion of the input shaft 121a passes through the first through hole 112 and is anti-rotatedly connected to the connecting member 230.

[0099] Specifically, the form of the first mating structure 230a is not specifically limited, and can be a groove, protrusion or other structure distributed on the end face of the connector 230.

[0100] like Figure 12 As shown, in one embodiment of this application, the base 220 is provided with a plurality of seat holes 220a. The first seat body 114 is configured to have a limiting post 114b. When the first seat body 114 is installed on the base 220, at least a portion of the limiting post 114b is inserted into the seat hole 220a.

[0101] like Figure 6 and Figure 12 As shown, the driving device 200 of this application also includes a ball plunger 240. Multiple ball plungers 240 are provided and respectively installed on the base 220. The limiting post 114b forms a side hole 114c corresponding to the ball plunger 240. When the limiting post 114b is inserted into the seat hole 220a, the ball head of the ball plunger 240 will be engaged in the side hole 114c, at which time the first seat body 114 is fixed to the base 220.

[0102] In this embodiment, the coupling device 100 and the driving device 200 are quickly connected by the cooperation of the ball plunger 240 and the limiting post 114b.

[0103] Of course, as an optional method for connecting the coupling device 100 and the drive device 200, the two can be connected by snap-fit, screw connection, or other methods.

[0104] The specific installation steps for the coupling device 100 and the driving device 200 are as follows:

[0105] 1) Align the limiting post 114b with the seat hole 220a and move the first seat body 114 to fit against the base 220. At this time, the limiting post 114b is fully inserted into the seat hole 220a, and the ball head of the ball head plunger 240 will be inserted into the side hole 114c, thus fixing the coupling device 100 and the driving device 200.

[0106] 2) Drive motor 210 drives coupling 230 to rotate until input shaft 121a is coupled to first anti-rotation structure 121h and first mating structure 230a under the action of elastic member 121c.

[0107] like Figure 14 As shown, in one embodiment of this application, the driving device further includes a circuit board 411, a first sensing element 412, a first conductive sheet 413, a first wire 414, a second conductive sheet 415, and a second wire 416.

[0108] Circuit board 411 is installed inside housing 250, and first sensing element 412 is installed on circuit board 411 or housing. Two first conductive sheets 413 are provided, respectively installed on the bottom surface of the base, and the two first conductive sheets 413 are respectively connected to the first sensing element 412 through a first wire 414. Two second conductive sheets 415 are provided, respectively installed on the top surface of the first base, and the two second conductive sheets 415 are connected by a second wire 416.

[0109] In this embodiment, after the coupling device 100 is fixed to the driving device 200, the two first conductive plates 413 and the two second conductive plates 415 respectively come into contact, so that the two first wires 414 are connected through the second conductive plates 415 and the second wires 416. This causes the first sensing element 412 to generate a sensing signal and send it to the circuit board 411. After a certain delay (e.g., 1 second), the circuit board 411 automatically controls the drive motor to rotate a preset number of revolutions and then stop, thereby driving the connecting member 230 to rotate, so that the first anti-rotation structure 121h and the first mating structure 230a are automatically coupled. In this way, no manual operation is required to control the motor rotation, the installation is convenient, and the possibility of forgetting due to human operation is avoided.

[0110] Because a sterile environment needs to be maintained during the operation, and the drive device cannot be completely sterilized, a sterile bag needs to be used to wrap the drive device during the operation.

[0111] The specific installation steps for sterile bags are as follows:

[0112] 1) Fix the sterile bag in the middle of the shell (specifically, it can be fixed between the first and second seats).

[0113] 2) After the coupling device 100 and the driving device 200 are fixed, cover the driving device with a sterile bag.

[0114] like Figure 7 and Figure 13As shown, in one embodiment of this application, the actuator 300 includes a plurality of power transmission terminals 310 corresponding to the output shaft 121b. After the actuator 300 is inserted into the second base 115, the power transmission terminals 310 are coupled to the output shaft 121b, and the power transmission terminals 310 are provided with a second mating structure 311 that cooperates with the second anti-rotation structure 121i.

[0115] Specifically, the form of the second mating structure 311 is not specifically limited, and can be a groove, protrusion or other structure distributed on the end face of the connector 230.

[0116] Of course, if the second anti-rotation structure 121i adopts a groove structure, the output shaft can be coupled to the actuator without passing through the second through hole. If this method is adopted, the actuator and the coupling device are installed by a snap-fit ​​method.

[0117] The actuator 300 is also provided with a positioning groove 320 that cooperates with the positioning pin 123. After the actuator 300 is inserted into the second base 115, part of the positioning pin 123 is inserted into the positioning groove 320.

[0118] The specific installation steps for the actuator 300 and the coupling device 100 are as follows:

[0119] 1) Press the adjusting member 130 to make the output shaft 121b and the positioning post 123 exit the concave space 116a formed by the insertion part 116, and insert the actuator into the second seat 115.

[0120] 2) After the insertion is in place, loosen the adjusting member 130, and under the action of the elastic member 121c, the positioning pin 123 is inserted into the positioning groove 320 of the actuator 300.

[0121] 3) The drive motor 210 drives the output shaft 121b to rotate through the connecting member 230, the input shaft 121a, and the column 121e until the output shaft 121b is coupled to the second anti-rotation structure 121i and the second mating structure 311 under the action of the elastic member 121c.

[0122] like Figure 15 As shown, in one embodiment of this application, the driving device further includes a circuit board 421, a second sensing element 422, a first contact piece 423, a first connecting line 424, a second contact piece 425, a second connecting line 426, a third contact piece 427, a fourth contact piece 428, and a third connecting line 429.

[0123] The circuit board 421 is installed inside the housing 250, and the second sensing element 422 is installed on the circuit board 421 or the housing. Two first contact plates 423 are provided, which are respectively installed on the bottom surface of the base, and the two first contact plates 423 are respectively connected to the second sensing element 422 through a first connecting line 424.

[0124] Two second contact plates 425 are provided, each installed on the top surface of the first base. Two third contact plates 427 are provided, each installed on the bottom surface of the second base. A second contact plate 425 and a third contact plate 427 are connected by a second connecting wire 426.

[0125] Two fourth contact plates 428 are provided, each installed on the top surface of the actuator. The two fourth contact plates 428 are connected by a fourth connecting wire.

[0126] In this embodiment, after the coupling device 100 is fixed to the driving device 200, the two first contact pieces 423 and the two second contact pieces 425 are in contact. After the actuator 300 is installed on the coupling device 100, the two fourth contact pieces 428 and the two third contact pieces 427 are in contact, so that the two second connecting lines 426 are connected through the fourth contact pieces 428 and the third connecting lines 429, and thus the two first connecting lines 424 are connected. This causes the second sensing element 422 to generate a sensing signal and send it to the circuit board 421. After a certain delay (e.g., 1 second), the circuit board 421 automatically controls the drive motor to rotate a preset number of revolutions and then stop, thereby driving the connecting member 230 and the coupling member 121 to rotate, so that the second anti-rotation structure 121i and the second mating structure 311 are automatically coupled. In this way, no manual operation is required to control the motor rotation, the installation is convenient, and the possibility of forgetting due to human operation is avoided.

[0127] The technical features of the above embodiments can be combined arbitrarily, and the execution order of the method steps is not restricted. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A coupling device, detachably connected between a drive device and an actuator, for transmitting power from the drive device to the actuator, characterized in that, The coupling device includes: The housing has an internal cavity; the top surface of the housing has a plurality of first through holes, and the bottom surface of the housing has a plurality of second through holes; the number of first through holes is equal to the number of second through holes, and each first through hole and a second through hole are arranged opposite to each other; A coupling mechanism is disposed within the inner cavity; The coupling mechanism includes: Multiple coupling elements, the number of which is equal to the number of the first through holes; each coupling element includes an input shaft, an output shaft, and an elastic element disposed between the input shaft and the output shaft; the elastic element is elastic; The input shaft passes through the first through hole and is coupled to the driving device. Under the drive of the driving device, the input shaft rotates around the center line and drives the output shaft to rotate synchronously. The output shaft passes through the second through hole and is coupled to the actuator; The coupling device further includes: An adjusting element, connected to the coupling mechanism, is used to synchronously adjust the compression of all elastic elements, so that the output shaft of each coupling element at least partially protrudes through the second through hole corresponding to the output shaft, so that the coupling device is coupled to the actuator. The adjusting component is also used to synchronously adjust the compression of all elastic components, so that the output shaft corresponding to each elastic component moves towards the input shaft and into the second through hole corresponding to the output shaft, so that the coupling device and the actuator are decoupled. The coupling mechanism further includes: A movable plate is disposed in the inner cavity; Two inclined grooves are provided on each side of the movable plate, and the two inclined grooves are arranged in a centrally symmetrical manner with respect to the physical center of the movable plate. The housing is provided with two receiving slots that communicate with the inner cavity, and the two receiving slots are arranged in a centrally symmetrical manner with respect to the physical center of the movable plate; Two descending wedges, each placed in a receiving groove, with the descending wedge-shaped side of the descending wedge matching the slope of the groove surface; When the face of each descending wedge block is in contact with and fixedly clamped to the groove surface of the inclined groove corresponding to the descending wedge block, the output shaft of each coupling element at least partially passes through the second through hole corresponding to the output shaft, so that the coupling device is coupled to the actuator. When both descending wedges slide toward the physical center of the movable plate, the descending wedge-shaped side of each descending wedge and the groove surface of the corresponding inclined groove are offset. The two descending wedges push the movable plate toward the input shaft to increase the compression of the elastic element. The output shaft corresponding to each elastic element moves toward the input shaft into the second through hole corresponding to the output shaft, so that the coupling device and the actuator are decoupled.

2. The coupling device according to claim 1, characterized in that, The movable plate has multiple third through holes; the number of third through holes is equal to the number of first through holes; each third through hole is arranged opposite to a first through hole and a second through hole.

3. The coupling device according to claim 2, characterized in that, The coupling element further includes: A support disc rests against the top surface of the movable plate; the diameter of the support disc is larger than the diameter of the third through hole; one end of the elastic element is fixedly connected to the input shaft, and the other end of the elastic element is fixedly connected to the top surface of the support disc. Multiple columns, with their tops fixedly connected to the input shaft; The output shaft has a sliding hole along a direction parallel to the center line, and the column passes through the sliding hole.

4. The coupling device according to claim 1, characterized in that, The surface of the input shaft near the drive device is provided with a first anti-rotation structure that cooperates with the drive device; the surface of the output shaft near the actuator is provided with a second anti-rotation structure that cooperates with the actuator.

5. The coupling device according to claim 2, characterized in that, The coupling mechanism further includes: The positioning column is fixedly connected to the bottom surface of the movable plate; The bottom surface of the housing is provided with a positioning hole, and the diameter of the positioning post is less than or equal to the diameter of the positioning hole.

6. The coupling device according to any one of claims 1 to 5, characterized in that, The housing includes: The first body has multiple first through holes formed therein; The second body has multiple second through holes. The first seat and the second seat are fastened together and fixedly connected to each other to form the housing; the bottom surface of the first seat is concave and the top surface of the second seat is concave, so that the first seat and the second seat are fastened together to form the inner cavity.

7. The coupling device according to claim 6, characterized in that, The bottom surface of the second base is recessed to form a plug-in portion, which is used to plug into the actuator.

8. A device control system, characterized in that, include: A drive unit, used to provide power output; An actuator is used to perform a predetermined action under the drive of power provided by a drive device; The coupling device as described in any one of claims 1 to 7 is detachably connected between the drive device and the actuator to transmit the power provided by the drive device to the actuator.

Images