A multi-channel interface device and a flexible arm drive system

Abstract

The present invention discloses a multi-channel interface device and a flexible arm drive system. Among them, a multi-channel interface device includes a first adapter and a second adapter; the first adapter includes a female seat and a plurality of sub-seats arranged in the female seat, and the second adapter includes a female plug and a plurality of sub-plugs arranged in the female plug. When the female seat and the female plug are docked and locked or unlocked, a plurality of the sub-seats and their corresponding sub-plugs are synchronously docked and locked or unlocked. The present invention can simultaneously dock and separate multiple independent drive channels, and can complete docking or separation with a single hand operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and particularly to a multi-channel interface device and a flexible arm drive system. Background Art

[0002] A flexible arm drive system generally consists of a drive module, a flexible arm module driven by multiple wire ropes, and an interface module connecting the drive module and the flexible arm module. The flexible arm is usually used as a consumable with a short service life and needs to be frequently replaced; the drive module, as a part of the robot body, has a longer service life; and the function of the interface module is to connect the flexible arm module to the drive module on the robot body for the disassembly and replacement of the flexible arm.

[0003] Quick connectors in the prior art adopt a ball locking mechanism to facilitate the quick docking of different modules, such as CN214213625U and CN103817661A. However, for a flexible arm system that transmits driving force through multiple wire ropes, since the multi-wire rope drive has multiple drive channels, its interface module needs to achieve the simultaneous docking and separation of multiple independent flexible wire ropes, and after docking, each wire rope needs to be independently driven without interference. The quick connectors in the above prior art can only achieve single-channel quick docking and cannot meet the requirements. Summary of the Invention

[0004] Object of the Invention: Aiming at the above deficiencies, the present invention proposes a multi-channel quick interface device for a flexible robotic arm and a flexible arm drive system, which can simultaneously dock and separate multiple drive channels, and each drive channel independently operates to control the movement of the end effector.

[0005] Technical Solution:

[0006] A multi-channel interface device includes a first adapter and a second adapter; the first adapter includes a female seat and a plurality of sub-seats arranged in the female seat, the second adapter includes a female plug and a plurality of sub-plugs arranged in the female plug, and when the female seat and the female plug are docked and locked or unlocked, the plurality of sub-seats and their corresponding sub-plugs are synchronously docked and locked or unlocked.

[0007] The female seat includes a female base, a push plate arranged in the female base, and a female sleeve arranged outside the female base; the push plate and the female sleeve slide synchronously; the sub-seat is arranged through the push plate, and it includes a sub-base and a sub-sleeve slidably arranged outside the sub-base through a sub-spring, and a flange abutting against the end face of the push plate is provided at the tail of the sub-sleeve; the synchronous sliding of the push plate, the female sleeve and the sub-sleeve is realized through the restoring force of the sub-spring and the cooperation of the flange and the push plate.

[0008] The push plate and the female sleeve are connected by a connecting member, and a waist-shaped hole for the connecting member to pass through and move is provided at a corresponding position on the side wall of the female base.

[0009] The female base further includes an input shaft that is slidably inserted into the female base through a first spring. The end of the input shaft inside the female base is fixedly connected to the sub-base; both ends of the first spring abut against the female base and the sub-base respectively.

[0010] The second adapter further includes a fixing plate that is parallel and fixed to the end face of the female plug. The sub-plug is slidably inserted through the female plug and the fixing plate through a fourth spring; both ends of the fourth spring abut against the end face of the female plug and the fixing plate respectively.

[0011] Both the input shaft and the sub-plug have flanges. Both ends of the first spring abut against the female base and the flange on the input shaft respectively, and both ends of the fourth spring abut against the flange on the sub-plug and the fixing plate respectively.

[0012] During the process of docking, locking or unlocking of the first adapter and the second adapter, the position of the sub-base remains unchanged, and the elastic force of the first spring is always greater than or equal to the elastic force of the fourth spring.

[0013] The elastic coefficient of the sub-spring is much smaller than the elastic coefficient of the first spring.

[0014] The elastic coefficient of the first spring is equal to the elastic coefficient of the fourth spring.

[0015] A female retaining hole and a female ball with a diameter larger than the wall thickness of the female base are provided on the side wall of the female base. A bushing for opening and closing the female retaining hole is slidably provided on the inner wall of the female base through a third spring. Both ends of the third spring abut against the female base and the end wall of the bushing respectively.

[0016] A groove for accommodating the female ball is provided at a position on the female plug corresponding to the female retaining hole.

[0017] The sliding of the bushing to open and close the female retaining hole is realized by the thrust applied to the bushing by the female plug and the restoring force of the third spring.

[0018] A reduced-diameter section and an enlarged-diameter section for opening and closing the female retaining hole are provided on the female sleeve.

[0019] The diameter of the bushing is the same as the diameter of the female plug.

[0020] A guiding column along the axial direction is provided in the female base. The push plate is slidably sleeved on the guiding column through a second spring.

[0021] The sub-base and the docking end of the sub-plug are provided with jacks, and sub-retaining holes and sub-balls with diameters larger than the wall thickness of the jacks are arranged on the side walls of the jacks;

[0022] At a position corresponding to the sub-retaining hole on the sub-plug, a card slot for accommodating the sub-ball is provided;

[0023] The sub-sleeve is provided with a diameter-reducing section and a diameter-expanding section for opening and closing the sub-retaining hole.

[0024] Flanges and retaining plates are respectively arranged at both ends of the sub-base for limiting the movement of the sub-sleeve.

[0025] A positioning protrusion is arranged on the female seat of the first adapter, and a positioning groove adapted to the protrusion is arranged at a corresponding position on the female plug of the second adapter.

[0026] The female plug is an annular plug, and the sub-plug is a pen-shaped plug.

[0027] The card slot is a tapered slot.

[0028] It includes a driving unit, an input rope, the aforementioned multi-channel interface device, an output shaft, an output rope, and a flexible arm driven by the output rope, which are connected in sequence;

[0029] One end of the input shaft located outside the female seat is connected to the input rope, and one end of the sub-plug located outside the female plug is connected to the output shaft.

[0030] The flexible arm is a six-rope-driven flexible arm, and the number of sub-seats is six.

[0031] Advantageous effects: The present invention can simultaneously dock and separate multiple drive channels, and each drive channel can independently operate and control the actions of the end effector. In addition, the present invention can achieve docking or separation with one hand, and the operation is convenient and fast. Brief Description of the Drawings

[0032] Figure 1 It is a schematic diagram of the multi-channel interface of the present invention;

[0033] Figure 2 It is a sectional view of the multi-channel interface of the present invention taken along the A-A direction;

[0034] Figure 3 It is a sectional view of the first adapter of the multi-channel interface of the present invention taken along the B-B direction;

[0035] Figure 4 It is a working principle diagram of the sub-seat and the sub-plug of the present invention. From top to bottom, they are (a), (b), and (c), which are sectional views of the sub-seat in the locked state, the intermediate state, and the unlocked state respectively;

[0036] Figure 5This is the working schematic diagram of the multi-channel interface of the present invention; from top to bottom are (a), (b), (c), and (d), which are cross-sectional views of the sub-seat in the unlocked state, intermediate state, locked state I, and locked state II respectively.

[0037] Figure 6 This is the schematic diagram of the flexible arm drive system of the present invention;

[0038] Figure 7 This is the cross-sectional view of the flexible arm drive system along the C-C direction of the present invention;

[0039] Figure 8 This is the schematic diagram of the driving stroke of the flexible arm drive system.

[0040] Among them, K. Driving unit, G. Input rope, H. Multi-channel interface device, D. Output shaft, E. Output rope; H1. First adapter, H2. Second adapter;

[0041] 1. Female seat, 2. Sub-seat, 3. Input shaft, 4. First spring, 5. Female plug, 6. Sub-plug, 7. Fourth spring, 8. Fixed plate;

[0042] 11. Chassis, 12. Base sleeve, 13. Guide post, 14. Female sleeve, 15. Push plate, 16. Second spring, 17. Connecting piece, 18. Bushing, 19. Third spring; 21. Sub-base, 22. Sub-sleeve, 23. Sub-spring; 31. First flange; 51. Female card slot, 52. Second channel, 53. Fixed column, 54. Positioning protrusion; 61. Sub-card slot, 62. Fourth flange, 81. Third channel.

[0043] 111. First channel; 121. Accommodating waist-shaped hole, 122. Second flange, 123. Limit fixing hole, 124. Limit pin, 125. Female holding hole, 126. Female ball, 127. Positioning groove; 141. Female accommodating groove, 151. Fourth channel; 181. Waist-shaped hole, 182. U-shaped groove;

[0044] 211. Sub-holding hole, 212. Sub-ball, 213. Sub-plug jack; 221. Inner wall reduced diameter section, 222. Inner wall enlarged diameter section, 223. Third flange, 224. Flap. Detailed implementation manners

[0045] The present invention will be further clarified below with reference to the accompanying drawings and specific embodiments.

[0046] The present invention provides a multi-channel interface device, such as Figure 1 shown as H, including a first adapter H1 and a second adapter H2. The first adapter H1 and the second adapter H2 can be quickly plugged or separated.

[0047] The structure of the first adapter H1 of the present invention is asFigure 2 , 3 As shown, it includes a female base 1, a male base 2 slidably disposed within the female base 1, an input shaft 3, and a first spring 4; the input shaft 3 is disposed within the female base 1 through the first spring 4, and its end (i.e., the inner end) is fixedly connected to the male base 2; the first spring 4 is sleeved outside the input shaft 3, and both ends respectively abut against the first flange 31 on the input shaft 3 and the end face of the female base 1, and is always in a compressed state; the input shaft 3 cooperates with the male base 2 to slide left and right (in the left and right directions shown in the figure, that is, along the axial direction) within the female base 1 under the action of an external force or the restoring force of the first spring 4. In the present invention, there are at least two male bases 2, preferably six, and the number of the input shafts 3 and the first springs 4 corresponds to it.

[0048] The structure of the female base 1 of the present invention is as Figure 2 , 3 shown, including a chassis 11, a base sleeve 12 fixedly connected to the chassis 11 and a guide post 13, a female sleeve 14 slidably sleeved outside the base sleeve 12, a push plate 15 fixedly connected to the female sleeve 14 through a connecting member 17 and slidably sleeved on the guide post 13, and a second spring 16 sleeved on the guide post 13 and having both ends respectively abutting against the end face of the push plate 15 and the flange provided on the guide post 13; the second spring 16 is always in a compressed state, and the female sleeve 14 cooperates with the push plate 15 to slide left and right inside and outside the base sleeve 12 under the action of an external force or the restoring force of the second spring 16; the base sleeve 12 is provided with a receiving waist hole 121, and the connecting member 17 is disposed through the receiving waist hole 121. On the one hand, it is used to realize the connection between the push plate 15 and the female sleeve 14 inside and outside the base sleeve 12, and on the other hand, it is used to realize the limit of the left and right sliding of the connecting member 17 on the base sleeve 12, that is, to realize the limit of the left and right sliding of the push plate 15 and the female sleeve 14 on the base sleeve 12. In the present invention, the connecting member 17 adopts a fastening bolt; the push plate 15 is provided with a fourth hole 151 through which the head of the male base 2 can pass; wherein, the male base 2 can slide left and right (in and out sliding) in the fourth hole 151 under the action of an external force or the restoring force of the first spring 4; wherein, the input shaft 3 is disposed through a first hole 111 opened on the chassis 11, and the first spring 4 is disposed between the end face of the chassis 11 and the first flange 31 of the input shaft 3; in the present invention, the positions of the fourth hole 151 and the first hole 111 correspond, and the number is the same as the number of the male bases 2.

[0049] In the present invention, the female base 1 further includes a bushing 18 that fits against the inner wall of the base sleeve 12; as Figure 2 , 3As shown, a third spring 19 is provided between the second flange 122 provided on the base sleeve 12 and the left edge (i.e., the inner end wall) of the bushing 18; the third spring 19 is also always in a compressed state, and the bushing 18 can slide left and right in the base sleeve 12 under the action of the female plug 5 or under the action of the restoring force of the third spring 19; a limit pin 124 is fixedly connected to the side wall of the base sleeve 12, and the limit pin 124 can be fixedly connected to the base sleeve 12 through a limit pin fixing hole 123 provided on the side wall of the base sleeve 12; a waist-shaped hole 181 is provided on the bushing 18 at a position corresponding to the limit pin 124, and the limit pin 124 is penetrated in the waist-shaped hole 181, so as to realize the limiting of the bushing 18 sliding left and right in the base sleeve 12; a U-shaped groove 182 is provided on the bushing 18 at a position corresponding to the connecting piece 17, which is used for the penetration of the connecting piece 17, so that when the female sleeve 14 slides on the base sleeve 12, the connecting piece 17 fixedly connected thereto is not affected by the bushing 18.

[0050] In the present invention, the function of the bushing 18 is to open and close the female holding hole 125, thereby maintaining or releasing the positioning of the female sleeve 14, that is, maintaining or releasing the unlocking state of the female seat 1; Figure 2 , 3 As shown, a female retaining hole 125 is provided on the side wall of the end of the base sleeve 12 away from the chassis 11, and a female ball 126 is provided in the female retaining hole 125. The female ball 126 can float up and down (up and down directions as shown in the figure, that is, radially) in the female retaining hole 125, and the diameter of the female ball 126 is greater than the thickness of the side wall of the base sleeve 12; when the bushing 18 is located at the left and right extreme positions on the base sleeve 12, its right end correspondingly opens or covers the female retaining hole 125 on the side wall of the base sleeve 12, thereby allowing or limiting the female ball 126 to float radially inwardly along the base sleeve 12; the right end of the female sleeve 14 has an inner wall diameter expansion section, and the inner wall diameter expansion section specifically The form may be a female accommodating groove 141. When the female sleeve 14 is located at the left or right extreme positions on the base sleeve 12, the female accommodating groove 141 corresponds exactly to or is offset from the female retaining hole 125, thereby allowing or limiting the female ball 126 to float radially outward along the base sleeve 12; when the bushing 18 is located at the right extreme position on the base sleeve 12 and its right end covers the female retaining hole 125 on the side wall of the base sleeve 12, and the female sleeve 14 is located at the left extreme position on the base sleeve 12 and the female accommodating groove 141 corresponds exactly to the female retaining hole 125, the female sleeve can be stuck by the female ball 126 and can still be maintained at the left extreme position without human intervention, so that the female seat remains unlocked.

[0051] Furthermore, the female accommodating groove 141 opened on the female sleeve 14 can be an open groove extending axially; the connecting piece 17 fixedly connected to the female sleeve 14 and the upper limit pin 124 fixedly connected to the base sleeve 12 can be multiple, preferably two and symmetrically arranged; the accommodating waist hole 121, U-shaped groove 182, waist-shaped hole 181, and limit pin fixing hole 123 are correspondingly arranged, so as to ensure that the push plate 15 and the bushing 18 are evenly stressed on both sides, thereby ensuring stable sliding.

[0052] In the present invention, the structure of the stroma 2 is as Figure 4 shown, including a sub-base 21 and a sub-sleeve 22 sleeved outside the sub-base 21 through a sub-spring 23; a third flange 223 is provided at the tail of the sub-sleeve 22, and the third flange 223 can contact the push plate 15; the sub-spring 23 is always in a compressed state, and the sub-sleeve 22 can slide left and right outside the sub-base 21 under the thrust of the push plate 15 or the restoring force of the sub-spring 23; wherein, the left end face of the sub-base 21 is fixedly connected to the input shaft 3, and the right end face has a sub-plug jack 213 for mating with the sub-plug 6; a sub-retaining hole 211 is formed in the side wall of the sub-base 21 at the position corresponding to the sub-plug jack 213, and sub-balls 212 are arranged to float up and down in the sub-retaining hole 211, and the diameter of the sub-balls 212 is greater than the thickness of the side wall at the corresponding position of the sub-retaining hole 211 of the sub-base 21, so as to cooperate with the sub-groove 61 on the sub-plug 6 to realize the fixed installation of the sub-plug 6; a flange (not marked in the figure) is also provided at the left end tail of the sub-base 21, and a retaining piece 224 is provided at the right end tail, and the left and right sliding limits of the sub-sleeve 22 relative to the sub-base 21 are realized through the flange and the retaining piece 224; an inner wall reduced diameter section 221 and an inner wall enlarged diameter section 222 are provided on the inner wall at the position corresponding to the sub-plug jack 213 of the sub-sleeve 22, and when the sub-sleeve 22 slides to the left and right extreme positions relative to the sub-base 21, the inner wall enlarged diameter section 222 and the inner wall reduced diameter section 221 respectively move to the position of the sub-retaining hole 211.

[0053] In the present invention, the second adapter H2 is as Figure 1 、 2As shown in the figure, it includes a female plug 5, a male plug 6, a fourth spring 7 and a fixing plate 8; the female plug 5 can be docked with the female socket 1, and the male plug 6 can be docked with the male socket 2; the fixing plate 8 and the female plug 5 are fixedly connected by a fixing column 53; among them, the female plug 5 is a hollow cylindrical structure, and the fixing plate 8 and the female plug 5 are parallel to each other; the diameter of the female plug 5 is the same as that of the bushing 18 in the first adapter H1, and when it is engaged with the first adapter H1, it can push the bushing 18 to slide leftward; on the outer side wall of the end of the female plug 5 facing the first adapter H1, there is a female card slot 51, and when it is completely engaged with the first adapter H1, the female card slot 51 corresponds to the position of the female retaining hole 125 on the base sleeve 12, so as to allow the female ball 126 to move radially inward along the female socket 1; second holes 52 and third holes 81 are respectively opened at the positions corresponding to the male socket 2 in the first adapter H1 on the female plug 5 and the fixing plate 8, and the male plug 6 is slidably inserted therein; on the part of the male plug 6 located between the female plug 5 and the fixing plate 8, there is also a fourth flange 62, and a fourth spring 7 is sleeved outside the male plug 6 between the fourth protrusion 62 and the fixing plate 8. The fourth spring 7 is in a compressed state from the moment the male plug 6 is completely inserted into the male socket 2. On the side wall of the docking end of the male plug 6, there is a male card slot 61. When the male plug 6 is completely engaged with the male socket 2, the position of the male card slot 61 on it corresponds to the position of the male retaining hole 211, so as to allow the male ball 212 to move radially inward along the male socket 2. In the present invention, in order to facilitate the alignment of the male card slot 61 and the male ball 212, the slot opened at the corresponding position on the side wall of the docking end of the male plug 6 is an annular slot.

[0054] In the present invention, as Figure 2 shown in the figure, on the guide post 13, the input shaft 3, the base sleeve 12, and the guide post 13, there are all flanges, the purpose of which is to reduce the requirement for the length of the spring sleeved thereon. Of course, the flanges can also be not included, in which case the two ends of the first spring 4 abut against the chassis 11 and the male socket 2, the two ends of the second spring 16 abut against the chassis 11 and the push plate 15, and the two ends of the third spring 19 abut against the chassis 11 and the left edge of the bushing 18. At this time, the length of each spring will be much greater than that in the case where there are flanges.

[0055] In the present invention, in order to facilitate the control of the aforementioned female and male balls, the female receiving groove 141 on the aforementioned female sleeve 14, the female card slot 51 on the female plug 5, and the male card slot 61 on the male plug 6 are all set as tapered grooves. Further, there is an inclined surface transition section between the inner wall reduced diameter section 221 and the inner wall enlarged diameter section 222 on the male sleeve 22, so as to facilitate the pushing of the male ball 212. Through this design, it can be made that when unlocking after locking, the ball moves more smoothly radially outward, and the unlocking is more convenient and rapid.

[0056] In the present invention, the fourth hole 151 on the push plate 15 can be a closed round hole, an open U-shaped hole, etc., as long as it can allow the male socket 2 to pass through, and the bottom of the push plate 15 can contact and act on the third flange 223 on the male sleeve 22.

[0057] As Figure 1 , 6 shown, a positioning protrusion 54 is further provided on the female plug 5 of the present invention, and a positioning groove 127 is further provided on the base sleeve 12, so that when the second adapter H2 is inserted into the first adapter H1, the male plug 5 and the male socket 2 can be quickly aligned. The working principle of the present invention is as Figure 4-5 shown:

[0058] As Figure 5 (a), 4(c) shown, an external force is applied to the female sleeve 14 to the left, so that the female sleeve 14 moves to the left against the action of the second spring 16 until the connecting member 17 contacts the left wall of the receiving waist-shaped hole 121; at this time, both the female sleeve 14 and the push plate 15 are located at the left extreme position, and the female receiving groove 141 of the female sleeve 14 exactly corresponds to the female retaining hole 125, and the female ball 126 can float radially outward along the base sleeve 12; at the same time, since the bushing 18 is not affected by the external force and the restriction of the female ball 126, under the restoring force of the third spring 19, it moves to the right to push the female ball 126 into the female receiving groove 141 and continues to move to the right until the left wall of the waist-shaped hole 181 on the bushing 18 contacts the limit pin 124, and the bushing 18 reaches the right extreme position. At this time, the bushing 18 has covered the female retaining hole 125 on the side wall of the base sleeve 12, thereby restricting the radial inward floating of the female ball 126 along the base sleeve 12; the female sleeve 14 is held at the left extreme position by the action of the female ball 126 and does not require an external force to maintain it.

[0059] During the process of the female sleeve 14 and the push plate 15 moving to the left synchronously, the push plate 15 drives the male base 21, and applies a leftward thrust to the male sleeve 22 through the third flange 223 thereon. When the female sleeve 14 is maintained at the left extreme position, the male sleeve 22 is also maintained at the left extreme position, as Figure 4 (c) shown. At this time, the expanded diameter section 222 of the male sleeve 22 corresponds to the male ball retaining hole 211, and the male ball 212 can float radially outward along the male socket 2, and the male plug 6 is not restricted by the male ball 212 and can be inserted into the male socket 2.

[0060] At this time, it is the initial state. The state of the first adapter H1 is as Figure 5 (a) shown. The female sleeve 14 is maintained at the left extreme position by the action of the side wall of the bushing 18 and the female ball 126; at this time, the female plug 5 can enter the female socket 1, that is, the female socket 1 is in the unlocked state; since the female sleeve 14 and the push plate 15 are fixedly connected through the connecting member 17, the push plate 15 is also maintained at the extreme position, and the end of the push plate 15 abuts against the third flange 223 of the male sleeve 22, and the male sleeve 22 is also maintained at the left extreme position under the action of the push plate 15; at this time, the male plug 6 can enter the male socket 2, that is, multiple male sockets 2 are also in the unlocked state.

[0061] During the process of the second adapter H2 entering the first adapter H1, as Figure 5(b) As shown in 4(b), when the second adapter H2 is inserted into the first adapter H1, the female plug 5 and the male plug 6 respectively enter the female socket 1 and the male socket 2; the female plug 5 first contacts the bushing 18, overcomes the thrust of the third spring 19, and pushes the bushing 18 to move leftward, releasing the coverage of the female retaining hole 125 by the bushing 18 and replacing it with the coverage of the side wall of the female plug 5 on the female retaining hole 125; during the leftward movement of the bushing 18, the male plug 6 first completely enters the male socket 2; the male card slot 61 is first aligned with the male retaining hole 211, and the male ball 212 can float radially inward along the male socket 2. At this time, since the female card slot 51 is not yet aligned with the female retaining hole 125, the female socket 1 remains in the unlocked state, and the male socket 2 is still in the unlocked state and will not lock the male plug 6, as Figure 5 (b) shown;

[0062] Push the second adapter H2 to continue to enter the first adapter H1, and the female plug 5 further pushes the bushing 18 to move leftward until the female ball 126 is aligned with the female card slot 51 of the female plug 5, as Figure 5 (c) shown. At this time, the female ball 126 can move radially inward along the base sleeve 12; at this time, the female sleeve 14 is no longer restricted by the female ball 126 and moves rightward under the restoring force of the second spring 16, pushing the female ball 126 into the female card slot 51 of the female plug 5, and the reduced-diameter section (i.e., the side wall without the female receiving groove 141) of the female sleeve 14 restricts the female ball 126 in the female card slot 51, thereby locking the female plug 5 in the female socket 1 and changing the female socket 1 from the unlocked state to the locked state; at the same time, the female sleeve 14 will synchronously drive the push plate 15 to move rightward, and the male sleeve 22 moves rightward following the push plate 15 under the restoring force of the male spring 23, pushing the male ball 212 into the male card slot 61 of the male plug 6, and the inner wall reduced-diameter 221 section of the male sleeve 22 restricts the male ball 212 in the male card slot 61, thereby locking the male plug 6 in the male socket 2 and changing the male socket 2 from the unlocked state to the locked state. At this time, the male sleeve 22 abuts against the stop piece 224 and reaches the right limit position, as Figure 4 (a) shown; at this time, the push plate 15 contacts the third flange 223 on the male sleeve 22, but the thrust on the third flange 223 of the male sleeve 22 is zero. At this time, the positions of the female sleeve 14 and the push plate 15 can be at the right limit position, and the docking of the first adapter H1 and the second adapter H2 of the multi-channel interface device H is completed.

[0063] In the present invention, at this time, the positions of the female sleeve 14 and the push plate 15 can also be non-right limit positions. The female sleeve 14 and the push plate 15 continue to move rightward under the restoring force of the second spring 16. During this period, the push plate 15 gradually separates from the male sleeve 22. When the female sleeve 14 reaches the right limit position, the separation distance between the push plate 15 and the third flange 223 on the male sleeve 22 is L1. At this time, the docking of the first adapter H1 and the second adapter H2 of the multi-channel interface device H is completed, as Figure 5As shown in (d). The space L1 reserved between the push plate 15 and the flange of the sub-sleeve 22 can provide space L1 for the rightward movement of the sub-seat, increasing the movement space of the sub-seat. After being connected to the flexible arm, it can also make the driving of the flexible arm more smooth and flexible.

[0064] The present invention also provides a flexible arm drive system, as Figure 6 , 7 shown, including a drive unit K, an input rope G, a multi-channel interface device H, an output shaft D, an output rope E, and a flexible arm (not shown in the figure) driven by the output rope E. The drive unit K includes a motor group and a winding wheel group corresponding to the motor group. The output end of each motor K1 is connected to a winding wheel K2, and each winding wheel is connected to one end of an input rope G. The corresponding motor drives the winding wheel to rotate to tighten or loosen the input rope G. The other end of the input rope G is fixedly connected to the outer end of the input shaft 3 on the first adapter H1; the left end (i.e., the inner end) of the output shaft D is fixedly connected to the sub-plug 6 inside the second adapter H2, and its right end (i.e., the outer end) is connected to the output rope E, and the output rope E is connected to the flexible arm.

[0065] In the present invention, the flexible arm is preferably a six-rope drive flexible arm. Correspondingly, the motors K1, winding wheels K2, input ropes G, output shafts D, and output ropes E are all set to six groups, and the multi-channel interface H is a six-channel interface.

[0066] In the present invention, the input rope G is fixedly connected to the input shaft 3 of the first adapter H1 of the multi-channel interface H by crimping or welding. The output rope E of the flexible arm is connected to the output shaft D by crimping or welding, and then the output shaft D is fixedly connected to the sub-plug 6 of the second adapter H2 of the multi-channel interface H. Finally, docking the first adapter H1 with the second adapter H2 can complete the assembly of the flexible arm drive system.

[0067] As Figure 7 shown, the drive unit K converts the rotational motion of the motor shaft into the linear motion of the proximal input rope G through the winding wheel K2 on its motor shaft. Through the multi-channel interface H of the present invention, the driving force on the input rope G is transmitted to the distal end to drive the output rope E of the flexible arm. The driving of each output rope E is independent of each other and does not affect each other.

[0068] In the present invention, the arrangement of the flexible arm drive shafts is an equidistant circumferential array arrangement, or it can also be other arrangement forms, such as a linear array arrangement or other irregular array arrangements.

[0069] Figure 8 Shows a schematic diagram of the working stroke of the flexible arm drive system.

[0070] After the first adapter H1 is docked with the second adapter H2, the distance from the first flange 31 on the input shaft 3 to the chassis 11 is L3, the distance from the third flange 223 on the sub-sleeve 22 to the push plate 15 is L1, the distance from the fourth flange 62 on the sub-plug 6 to the female plug 5 is L4, and the distance from the fourth flange 62 on the sub-plug 6 to the fixing plate 8 is L2. The stroke of the sub-seat 2 is limited by L1 - L4; the smaller value of L1 and L2 is the maximum stroke of the sub-seat 2 moving to the right, and the smaller value of L3 and L4 is the maximum stroke of the sub-seat 2 moving to the left; the stroke of the output rope E driving the flexible arm is the same as that of the sub-seat 2. The existence of L1 enables the flexible arm to be driven by multiple input ropes G with both retraction and extension, making the driving of the flexible arm more ergonomic and the movement smoother and more flexible.

[0071] In the flexible arm drive system of the present invention, during the docking process of the first adapter H1 and the second adapter H2, the position of the sub-base 21 needs to be kept unchanged, so that the positions of several sub-bases are consistent, and the position of the sub-base can be used as the driving zero position, without the need to perform a zero-finding operation after docking.

[0072] The resultant force acting on the sub-base to the left is F 左 , including: the tensile force F exerted by the input rope on the sub-base 21 through the input shaft 3 拉 , during the docking process, F 拉 is a constant and can be zero; the thrust F exerted by the push plate on the sub-base 21 through the sub-sleeve 22 and the sub-spring 23 推 , during the docking process, F 推 is a variable and can become zero, such as Figure 5 the states of c and 5d; the restoring force F4 of the fourth spring 7 acting on the sub-base 21 through the sub-plug 6, during the docking process, F4 is a variable and can become zero, such as when the sub-plug 6 just contacts the sub-base; the force F exerted by the sub-spring 23 itself on the sub-base 21 子 , here F 子 mainly refers to the force exerted by the sub-spring 23 on the sub-base 21 by itself without the action of the push plate, during the docking process, F 子 is a variable and can become zero, such as Figure 5 the states of c and 5d, the leftward force directly exerted by the sub-spring 23 on the sub-base cancels out the rightward force indirectly exerted on the sub-base 21 through the sub-sleeve and the retaining piece 224, making F 子 zero.

[0073] The resultant force acting on the sub-base to the left is F 右 , including: the restoring force F1 of the first spring. Since the position of the sub-base 21 remains unchanged, F1 is a constant during the docking process. During the docking process, keeping the position of the sub-base 21 unchanged satisfies F 左 = F 右That's all. F1 should be strong enough to offset multiple leftward forces acting on the sub-base.

[0074] To simplify the position control of the sub-base 21, it is optional to set F 拉 = 0, and keep the position of the sub-base 21 unchanged, satisfying F1 = F 推 + F4 + F 子 That's all. Since the minimum value of F push can be zero, to keep the position of the sub-base 21 unchanged, it is necessary to satisfy F1 ≥ F4 + F 子 ; Further, the elastic coefficient K of the sub-spring 23 can be made 子 much smaller than the elastic coefficient K1 of the first spring. Since the telescopic distance of the sub-spring is also very limited, the influence of the sub-spring itself on the position of the sub-base during the docking process can be ignored. Then, to keep the position of the sub-base 21 unchanged, it is necessary to satisfy F1 = F 推 + F4. Since F 推 can be zero at minimum, to keep the position of the sub-base 21 unchanged, it is necessary to satisfy F1 ≥ F4; Further, it is also optional to make the elastic coefficient K1 of the first spring equal to the elastic coefficient K4 of the fourth spring. According to Hooke's law, to keep the position of the sub-base 21 unchanged during the docking process, it is necessary to satisfy that the compression distance S1 of the first spring is greater than or equal to the maximum compression distance S4 of the fourth spring. Specifically, the compression distance S1 of the first spring can be made equal to the maximum compression distance S4 of the fourth spring.

[0075] After the first adapter H1 and the second adapter H2 are docked, during the driving process of the flexible arm, F 拉 is a variable force, and F 拉 has a functional relationship with the displacement S of the sub-base, S = f(F 拉 ), and then the driving control of the flexible arm can be realized by controlling the displacements of each sub-base.

[0076] In the present invention, by providing a push plate 15 in the base 1, the female sleeve 14 is fixedly connected to the push plate 15 to make the female sleeve 14 and the push plate 15 synchronous. There are multiple sub-seats 2 on the push plate 15, and the bottom of the push plate 15 abuts against the flange on the side wall of the sub-sleeve 22 of the sub-seat 2 to make the push plate 15 and multiple sub-sleeves 22 synchronous. Thus, the female sleeve 14 and multiple sub-sleeves 22 are synchronous, achieving the purpose of synchronously controlling multiple sub-sleeves 22 through a single female sleeve 14, and thus realizing the quick disconnection and connection of multiple channels.

[0077] By cooperating the bushing 18 with the female plug 5, the inward floating of the female ball 126 along the radial direction of the base 1 is restricted or permitted, thereby realizing the maintenance or release of the unlocked state of the female sleeve 14 and the push plate 15. Further, when the second adapter H2 docks with the first adapter H1, there is no need to hold and push open the female sleeve 14 by hand, and only a single hand operation on the second adapter H2 is required.

[0078] By arranging the first spring 4 on the input shaft 3 and the fourth spring 7 on the sub-plug 6, a rod-shaped integrated structure formed by multiple groups of input shafts 3 and output shafts D after being docked through the sub-seat 2 and the sub-plug 6 can slide linearly left and right independently along the axial direction within the female seat 1, so that each output rope E can be independently driven, and thus the flexible arm can be driven through the output rope E.

[0079] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations (such as quantity, shape, position, etc.) can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A multi-channel interface device, comprising a first adapter and a second adapter; characterized in that, The first adapter includes a female socket and a plurality of sub-sockets disposed within the female socket. The second adapter includes a male plug and a plurality of sub-plugs disposed within the male plug. When the female socket and the male plug are docked and locked or unlocked, the plurality of sub-sockets and their corresponding sub-plugs are synchronously docked and locked or unlocked. The female socket includes a female base, a push plate disposed within the female base, and a female sleeve disposed outside the female base. The push plate and the female sleeve slide synchronously. The sub-socket is disposed through the push plate and includes a sub-base and a sub-sleeve slidably disposed outside the sub-base by a sub-spring. A flange that abuts against the end face of the push plate is provided at the tail of the sub-sleeve. The synchronous sliding of the push plate, the female sleeve, and the sub-sleeve is achieved through the restoring force of the sub-spring and the cooperation between the flange and the push plate. A female retaining hole and a female ball disposed within the female retaining hole and having a diameter larger than the wall thickness of the female base are provided on the side wall of the female base. A bushing for opening and closing the female retaining hole is slidably disposed within the inner wall of the female base by a third spring. The two ends of the third spring respectively abut against the female base and the end wall of the bushing. A card slot for accommodating the female ball is provided at a position corresponding to the female retaining hole on the male plug. The sliding of the bushing to open and close the female retaining hole is achieved through the thrust applied by the male plug to the bushing and the restoring force of the third spring. The female socket further includes an input shaft slidably disposed through the female base by a first spring. The end of the input shaft located inside the female base is fixedly connected to the sub-base. The two ends of the first spring respectively abut against the female base and the sub-base. The second adapter further includes a fixing plate parallel and fixed to the end face of the male plug. The sub-plug is slidably disposed through the male plug and the fixing plate by a fourth spring. The two ends of the fourth spring respectively abut against the end face of the male plug and the fixing plate. During the process of docking and locking or unlocking the first adapter and the second adapter, the position of the sub-base remains unchanged, and the elastic force of the first spring is always greater than or equal to the elastic force of the fourth spring.

2. The multi-channel interface device according to claim 1, characterized in that, The push plate and the female sleeve are connected by a connecting member, and a waist hole for the connecting member to pass through and move is provided at a corresponding position on the side wall of the female base.

3. The multi-channel interface device according to claim 1, wherein Both the input shaft and the sub-plug have flanges. The two ends of the first spring respectively abut against the female base and the flange on the input shaft, and the two ends of the fourth spring respectively abut against the flange on the sub-plug and the fixing plate.

4. The multi-channel interface device according to claim 1, characterized in that, The elastic coefficient of the sub-spring is much smaller than the elastic coefficient of the first spring.

5. The multi-channel interface device according to claim 4, wherein The elastic coefficient of the first spring is equal to the elastic coefficient of the fourth spring.

6. The multi-channel interface device according to claim 1, characterized in that A reduced-diameter section and an enlarged-diameter section for opening and closing the female retaining hole are provided on the female sleeve.

7. The multi-channel interface device according to claim 1, wherein The diameter of the bushing is the same as the diameter of the male plug.

8. The multi-channel interface device according to claim 1, wherein A guiding post along the axial direction is provided within the female base, and the push plate is slidably sleeved on the guiding post by a second spring.

9. The multi-channel interface device according to claim 1, characterized in that, A jack is provided at the docking end of the sub-base and the sub-plug. A sub-retaining hole and a sub-ball disposed within the sub-retaining hole and having a diameter larger than the wall thickness of the jack are provided on the side wall of the jack. A card slot for accommodating the sub-ball is provided at a position corresponding to the sub-retaining hole on the sub-plug. The sub-sleeve is provided with a diameter-reducing section and a diameter-expanding section for opening and closing the sub-retaining hole.

10. The multi-channel interface device according to claim 9, wherein, Flanges and stoppers are respectively provided at both ends of the sub-base for limiting the movement of the sub-sleeve.

11. The multi-channel interface device according to claim 1, characterized in that, A positioning projection is provided on the female seat of the first adapter, and a positioning groove adapted to the projection is provided at a corresponding position on the female plug of the second adapter.

12. The multi-channel interface device according to claim 1, characterized in that, The female plug is a ring-shaped plug, and the sub-plug is a pen-shaped plug.

13. The multi-channel interface device according to claim 9, characterized in that, The card slot is a tapered slot.

14. A flexible arm drive system, characterized in that, It includes a drive unit, an input rope, a multi-channel interface device according to any one of claims 1 to 13, an output shaft, an output rope, and a flexible arm driven by the output rope, which are connected in sequence. One end of the input shaft located outside the female seat is connected to the input rope, and one end of the sub-plug located outside the female plug is connected to the output shaft.

15. The flexible arm drive system according to claim 14, wherein The flexible arm is a six-rope-driven flexible arm, and the number of sub-seats is six.

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