Plug device

Abstract

The invention provides a plugging device which comprises a first unit and a second unit, the first unit comprises at least three clamping jaws distributed at intervals in the circumferential direction, and each clamping jaw is provided with a clamping jaw side face; the clamping jaw inserting end comprises a first jaw surface, a second jaw surface, a first edge, a second edge and a third edge; the projection of the first edge on the radial section and the extension line of the projection do not penetrate through the rotation center of the first unit. The second unit comprises a first plug, and the plugging end of the first plug comprises a first plug surface, a second plug surface and a fourth edge; the projection and the extension line of the fourth edge on the radial section do not penetrate through the rotation center of the second unit; in the plugging process, the first plug is directly inserted into a gap between the clamping jaws; or the fourth edge slides along the second edge or the third edge; or the fourth edge slides along the first claw surface or the second claw surface to synchronously push the first unit and / or the second unit to rotate. Therefore, the blind insertion operation can be conveniently realized.

Description

Technical Field

[0001] The present application relates to a plugging device capable of conveniently realizing the plugging of a driving member and a driven member. Background Art

[0002] For the transmission connection between some detachable motion components and a power source, such as the end effector with mechanical motion in medical instruments, which needs to be disassembled for sterilization treatment or discarded as a consumable after each use, it is very difficult to sterilize the power source containing a motor as a part for recycling. At this time, the connection between the motion component and the power source needs to be convenient for disassembly and assembly and have stable and reliable transmission.

[0003] Generally, in this scenario, the connection between the unit including the power source part and the unit including the motion component is based on the connection of the outer shells. Due to the requirements of mechanical safety and sterility, the transmission component is covered by the outer shell. That is, after the two outer shells are plugged, the transmission components inside them can be coupled together. The driving member stably and reliably transmits power to the driven member. At this time, the mating part of the two parts needs to be non-circular (not cylindrical or conical, etc.). Commonly used mechanisms are D-shaped shafts, square shafts, hexagonal shafts, eccentric pins, etc. These connection mechanisms can be coupled together only when the mating surfaces on the plugging part and the part to be plugged are aligned, that is, the driving shaft and the driven shaft must be in corresponding circumferential positions to achieve plugging.

[0004] If the circumferential positions of the transmission shafts inside their respective outer shells are random when the outer shell parts of the two units are connected, it is very difficult for these mechanisms to easily achieve plugging. Especially when there are two or more transmission shafts in the outer shells of the two units, the axial position relationships between each plugging part and the part to be plugged need to be in one-to-one correspondence. This requires adjusting the positions of each plugging part and the part to be plugged during connection, which will greatly increase the operation difficulty and cannot achieve blind plugging at any position.

[0005] The existing solution is to set an elastomer at the connection end of the driving member or the driven member, so that the connection end can move axially. After plugging, the elastomer is compressed and the connection end moves backward along the axis. When the driving member rotates to the circumferential position where it can be coupled with the driven member, under the push of the elastomer, the connection ends of the driving member and the driven member are coupled to achieve the effect of blind plugging. This implementation method has a relatively complex mechanical structure, which will cause a larger volume of the mechanism, increase the failure rate, and moreover, after plugging, it is necessary to first rotate the driving member to couple each transmission mechanism, and it cannot achieve plug-and-play.

[0006] Therefore, in the prior art, how to conveniently realize the plugging of the driving member and the driven member has become a technical problem. Summary of the Invention

[0007] The object of the present application is to provide a plugging device that can conveniently achieve the plugging of a driving member and a driven member. To achieve the above object, a solution of the present application is a plugging device, which includes a first unit and a second unit that can be plugged. Taking the plugging direction as the axial direction, the direction perpendicular to the axial direction as the radial direction, and the direction of rotation around the axial direction as the circumferential direction, after plugging, the first unit and the second unit can rotate integrally and concentrically in the circumferential direction; the first unit includes at least three claws that are circumferentially spaced apart and axially extended, and each of the at least three claws has a claw side surface that axially extends; the claw plugging end of each of the at least three claws that is plugged with the second unit includes a first claw surface and a second claw surface, the first claw surface and the second claw surface intersect to form a first edge, the first claw surface and the claw side surface intersect to form a second edge, and the second claw surface and the claw side surface intersect to form a third edge; wherein, the projection of the first edge in the radial section of the first unit and its extension line do not pass through the rotation center of the first unit; the second unit includes a first plug that axially extends, and the first plugging end of the first plug that is plugged with the first unit includes a first plug surface and a second plug surface, the first plug surface and the second plug surface intersect to form a fourth edge; wherein, the fourth edge extends along a direction that intersects with the axial direction, and the projection of the fourth edge in the radial section of the second unit and its extension line do not pass through the rotation center of the second unit; during the plugging process of the first unit and the second unit, the first plug directly inserts into the gap between two adjacent claws among the at least three claws; or, the fourth edge slides along the second edge or the third edge in a direction away from the claw plugging end, synchronously pushing the first unit and / or the second unit to rotate, so that the first plug enters the gap between two adjacent claws among the at least three claws; or, the fourth edge slides along the first claw surface or the second claw surface in a direction away from the claw plugging end, synchronously pushing the first unit and / or the second unit to rotate, so that the first plug enters the gap between two adjacent claws among the at least three claws.

[0008] According to the foregoing technical solution, the first edge and the fourth edge are eccentrically arranged relative to the rotation center of their respective units. No matter where the first edge and the fourth edge are relative to the rotation center of their respective units, there is no possibility that the first edge and the fourth edge are jammed during plugging. The position and angle arrangement of each claw surface and each plug surface can convert the axial relative movement of the first unit and the second unit into a circumferential relative movement, making it easier for the first unit and the second unit to rotate circumferentially under stress during plugging, and increasing the success rate of blind plugging.

[0009] In a preferred embodiment, the rotational radius of one end of the first edge of each of the at least three jaws, which is closer to the rotational center of the first unit, is greater than the rotational radius of one end of the fourth edge, which is farther from the rotational center of the second unit.

[0010] According to the foregoing technical solution, since the rotational radius of the fourth edge is smaller, it will not contact the first edge during insertion, thus avoiding the problem of jamming against each other axially.

[0011] In a preferred embodiment, the rotational radius of one end of the first edge of each of the at least three jaws, which is closer to the rotational center of the first unit, is less than or equal to the rotational radius of one end of the fourth edge, which is farther from the rotational center of the second unit; each of the at least three jaws and / or the first plug has a specified deformation allowance axially and radially; during the insertion process of the first unit and the second unit, when the fourth edge abuts against the first edge of a single jaw among the at least three jaws, the first plug and the party or both parties with deformation allowance in this jaw are compressed axially and bent radially, so that the fourth edge disengages from the first edge and slides along one of the second edge and the third edge, or the fourth edge slides along one of the first jaw surface and the second jaw surface.

[0012] According to the foregoing technical solution, one or both of the jaws and the first plug are elastic members, which deform when the first edge and the fourth edge abut, causing the fourth edge to slide off the first edge, and then continue to slide in a direction away from the insertion end of the jaw along one of the first jaw surface and the second jaw surface or one of the second edge and the third edge, thereby realizing blind insertion.

[0013] In a preferred embodiment, the rotational radius of one end of the first edge of each of the at least three jaws, which is closer to the rotational center of the first unit, is greater than or equal to 0.8 times the rotational radius of one end of the fourth edge, which is farther from the rotational center of the second unit.

[0014] According to the foregoing technical solution, the probability of jamming against each other axially between the first edge and the second edge can be further reduced.

[0015] In a preferred embodiment, the first jaw surface, the second jaw surface, the first plug surface, and the second plug surface are respectively inclined surfaces / curved surfaces.

[0016] According to the foregoing technical solution, each jaw surface and plug surface can be an inclined surface or a curved surface. When it is an inclined surface, it is convenient for processing, and when it is an inclined surface, it is easier to achieve the blind insertion effect.

[0017] In a preferred embodiment, the first claw surface and the second claw surface are inclined surfaces at a first angle and a second angle respectively with respect to the axial direction; and / or, the first plug surface and the second plug surface are inclined surfaces at a third angle and a fourth angle respectively with respect to the axial direction.

[0018] According to the foregoing technical solution, the inclination angles of each surface with respect to the axial direction can be preset according to the experimental debugging conditions to enhance the blind plugging effect.

[0019] In a preferred embodiment, the second unit includes a plug base, and the first plug and the second plug protruding axially from the same side of the plug base, and the protruding amount of the second plug from the plug base is less than the protruding amount of the first plug from the plug base.

[0020] According to the foregoing technical solution, the two plugs can make the plugging transmission more stable. At the same time, the lengths of the two plugs are different, ensuring that only one plug contacts the claw insertion end each time during plugging, avoiding the problem of increased probability of jamming caused by the two plugs contacting the claw end simultaneously.

[0021] In a preferred embodiment, the second plug insertion end of the second plug for plugging with the first unit includes a third plug surface and a fourth plug surface, and the third plug surface and the fourth plug surface intersect to form a fifth edge; wherein, the fifth edge extends along a direction intersecting with the axial direction.

[0022] According to the foregoing technical solution, the fifth edge is provided to drive the second unit to rotate under the action of the plugging stress, increasing the success rate of blind plugging.

[0023] In a preferred embodiment, during the plugging process of the first unit and the second unit, the second plug directly inserts into the gap between two adjacent claws among the at least three claws; or, the fifth edge slides along the second edge or the third edge in a direction away from the claw insertion end, synchronously pushing the first unit and / or the second unit to rotate, so that the second plug enters the gap between two adjacent claws among the at least three claws; or, the fifth edge slides along the first claw surface or the second claw surface in a direction away from the claw insertion end, synchronously pushing the first unit and / or the second unit to rotate, so that the second plug enters the gap between two adjacent claws among the at least three claws.

[0024] According to the foregoing technical solution, the second plug and the first plug cooperate with each other to make the blind plugging smoother and the transmission more stable.

[0025] In a preferred embodiment, the first plug has a first plug notch that extends axially away from the first plug connection end and intersects the axis; during the insertion process of the first unit and the second unit, the first plug is stressed by a single one of the at least three claws, and is squeezed at the first plug notch, causing the first plug to elastically deform both axially and radially.

[0026] According to the foregoing technical solution, the plug notch makes it easier for the first plug to deform, thereby making it easier to drive the second unit to rotate and making the blind plugging smoother.

[0027] In a preferred embodiment, the side surface of the claw and / or the second plug surface is an elastic surface, which elastically deforms when being squeezed during the insertion of the first plug and the at least three claws.

[0028] According to the foregoing technical solution, the gap size between two adjacent claws in the natural state can be slightly smaller than the thickness size of the plug. When the plug is inserted into the claws, the elastic surface is squeezed and deformed by the plug and the claws, enabling the plug to enter the gap between two adjacent claws and making the fit between the plug and the claws tighter, thereby eliminating the transmission gap between the plug and the claws, improving the transmission accuracy, and avoiding the vibration problem during rotation commutation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To illustrate the present application more clearly, the accompanying drawings of the specification of the present application will be described and explained below. Obviously, the accompanying drawings in the following description only illustrate some aspects of certain exemplary embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 is a schematic diagram of the insertion state of the plugging device.

[0031] Figure 2 is a top view of the first unit.

[0032] Figure 3 is an external view of the first unit.

[0033] Figure 4 is an external view of the second unit.

[0034] Figure 5 is a side view of the second unit.

[0035] Description of the Drawings and Texts:

[0036] 100 First unit

[0037] 101 First claw

[0038] 102 The second jaw

[0039] 103 The third jaw

[0040] 104 The fourth jaw

[0041] 1 The jaw insertion end

[0042] 10 The first base

[0043] 11 The first jaw surface

[0044] 111 The first edge

[0045] 112 The second edge

[0046] 113 The third edge

[0047] 12 The second jaw surface

[0048] 13 The first side

[0049] 14 The second side

[0050] 200 The second unit

[0051] 201 The first plug

[0052] 202 The second plug

[0053] 2 The first plug insertion end

[0054] 20 The second base

[0055] 21 The first plug surface

[0056] 214 The fourth edge

[0057] 215 The fifth edge

[0058] 22 The second plug surface

[0059] 23 The third plug surface

[0060] 24 The fourth plug surface

[0061] 3 The second plug insertion end Detailed implementation manners

[0062] The following describes various exemplary embodiments of the present application in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and in no way limits the present application and its application or use. The present application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present application thorough and complete and to fully convey the scope of the present application to those skilled in the art. It should be noted that: unless otherwise specified, the relative arrangements, numerical expressions, and numerical values of the components and steps described in these embodiments should be construed as merely exemplary and not as limitations.

[0063] As used in this application, words such as "comprising" or "including" and similar words mean that the elements before this word are covered by the elements listed after this word, and it does not exclude the possibility of also covering other elements.

[0064] All terms used in this application (including technical terms or scientific terms) have the same meaning as understood by those of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless specifically defined as such herein.

[0065] For the components not described in detail in this part, parameters such as the specific models of the components, the mutual relationships between the components, and the control circuit, they can be considered as technologies, methods, and devices known to those of ordinary skill in the relevant art. However, in appropriate cases, the said technologies, methods, and devices should be regarded as part of the specification.

[0066] Plug-in device

[0067] The following refers to Figure 1 to illustrate the overall composition of the plug-in device of this application. Figure 1 is a schematic diagram of the plugged state of the plug-in device.

[0068] Refer to Figure 1 , the plug-in device includes a pluggable first unit 100 and a second unit 200. For the convenience of description, in this application, the plugging direction of the first unit 100 and the second unit 200 is taken as the axial direction, the direction perpendicular to the axial direction is taken as the radial direction, and the direction of rotation around the axial direction is taken as the circumferential direction.

[0069] In a typical application scenario, a power device is connected to one of the first unit 100 and the second unit 200. When the first unit 100 and the second unit 200 are plugged together, the power device can drive the first unit 100 and the second unit 200 to rotate integrally and concentrically in the circumferential direction, thereby realizing power transmission.

[0070] Among them, in order to increase the convenience of plugging and reduce the interference of the plugging operation on the operator's attention, preferably, the plug-in device is designed as a blind plug structure, that is, the operator does not need to pay special attention and does not need to adjust the first unit 100 or the second unit 200 to a special alignment state, and can conveniently plug one with the other by picking up one of them.

[0071] For this purpose, in this application, the first unit 100 is designed as a claw structure, the second unit 200 is designed as a plug mechanism, and the plug of the second unit 200 is inserted into the claw gap of the first unit 100 to achieve transmission connection.

[0072] The first unit

[0073] Next, in combination with Figure 2 , Figure 3 a specific description of the first unit 100 will be given. Figure 2 is the top view of the first unit 100, Figure 3 is the external view of the first unit 100.

[0074] Referring to Figure 2 , Figure 3 , the first unit 100 includes a first base 10, and at least three claws are arranged on one side of the first base 10 at circumferentially spaced intervals and extending axially. For the sake of convenience of description, only the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104 shown in the figure are taken as examples for illustration here. In fact, the number of claws can be 3 or more, and no specific limitation is made here.

[0075] Preferably, the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104 have the same size and structural style and are equally spaced in the circumferential direction for easy processing and insertion. For simplicity, only the first claw 101 is taken as an example for illustration here.

[0076] As shown in the figure, the first claw 101 has a claw insertion end 1 for inserting into the second unit 200, and the claw insertion end 1 is the end of the first claw 101 far from the first base 10. The first claw 101 also has a first side 13 extending axially as the side of the claw, and a second side 14 intersecting with the first side 13 on the radially inner side of the first claw 101. Preferably, the first side 13 and the second side 14 are vertical surfaces parallel to the axis and perpendicular to the first base 10, but they can also be inclined surfaces at a certain angle to the axis, so that the first claw 101 presents a style with different thicknesses at both ends, and no specific limitation is made here.

[0077] The claw insertion end 1 includes a first claw surface 11 and a second claw surface 12. The first claw surface 11 and the second claw surface 12 can be the inclined surfaces shown in the figure or curved surfaces, and the two are the same in the principle of blind insertion. For simplicity, only the first claw surface 11 and the second claw surface 12 are respectively taken as examples of inclined surfaces at a first angle and a second angle to the axis for illustration, and the first angle and the second angle can be the same or different.

[0078] Among them, the first claw surface 11 and the second claw surface 12 intersect to form a first edge 111, the first claw surface 11 and the first side 13 intersect to form a second edge 112, and the second claw surface 12 and the first side 13 intersect to form a third edge 113. At this time, referring to Figure 2, the projection of the first edge 111 on the radial section of the first unit 100 and its extension line do not pass through the rotation center O of the first unit 100, that is, the first edge 111 is eccentrically arranged on the radial section, and it is deviated from the rotation center O of the first unit 100 by d1.

[0079] In this embodiment, the first edge 111 extends along a direction intersecting the axial direction, that is, it is not parallel to the axial direction. Preferably, the first edge 111 is arranged perpendicular to the axial direction, that is, parallel to the radial section of the first unit 100, but actually it is not limited to this. The first edge 111 may also not be parallel to the radial section, but be inclined in a way that one end is closer to the first base 10 and the other end is farther from the first base 10. For simplicity, only the case where the first edge 111 is perpendicular to the axial direction is taken as an example for illustration here.

[0080] As Figure 2 shown, the projection of the first edge 111 on the radial section of the first unit 100 is more biased towards the side of the fourth jaw 104 relative to the rotation center O. It can be understood that the projection of the first edge 111 on the radial section may also be more biased towards the side of the second jaw 102 relative to the rotation center O, which is not specifically limited here.

[0081] At the same time, the eccentric directions of the first edges 111 of different jaws relative to the rotation center O may be the same or different. For example, the first edge 111 of the first jaw 101 is more biased towards the side of the fourth jaw 104 relative to the rotation center O, while the first edge 111 of the second jaw 102 may be more biased towards the side of the first jaw 101 or more biased towards the side of the third jaw 103 relative to the rotation center O. At this time, the structures of different jaws will be different, but the principle of eccentrically arranging the first edge 111 is the same, and all are within the protection scope of this application.

[0082] For simplicity, only the case where the eccentric directions of the first edges 111 of each jaw are the same and the first edge 111 of the first jaw 101 shown in the figure is more biased towards the side of the fourth jaw 104 relative to the rotation center O is taken as an example for illustration here.

[0083] In this application, the first jaw 101, the second jaw 102, the third jaw 103, and the fourth jaw 104 can be cut out with a cylinder as the base. For example, as shown in the figure, cutting the cylinder along the first side 13 and the second side 14 can obtain the first jaw 101. The side surfaces of the first jaw 101 that are radially outside and intersect with the first side 13 and the second side 14 respectively are the outer peripheral walls of the cylindrical base. Other jaws can also be conveniently processed in the same way.

[0084] Second unit

[0085] Next, in combination with Figure 4 , Figure 5Specifically describe the second unit 200. Figure 4 It is the external view of the second unit 200. Figure 5 It is the side view of the second unit 200.

[0086] The second unit 200 includes a second base 20 serving as a plug base and a first plug 201 axially extending from one side of the second base 20. The first plug 201 has a first plug insertion end 2 for plugging into the first unit 100, and the first plug insertion end 2 includes a first plug surface 21 and a second plug surface 22. The first plug surface 21 and the second plug surface 22 can be inclined surfaces or curved surfaces, and they are the same in the principle of blind plugging. For simplicity, here only the case where the first plug surface 21 and the second plug surface 22 are inclined surfaces at a third angle and a fourth angle with respect to the axis respectively is taken as an example for description, and the third angle and the fourth angle can be the same or different. As a preferred solution, as shown in the figure, the fourth angle is zero, that is, the second plug surface 22 is a vertical surface extending along the axis and perpendicular to the second base 20. In fact, the fourth angle is not limited to this, and will not be elaborated here.

[0087] The first plug surface 21 and the second plug surface 22 intersect to form a fourth edge 214. Among them, the fourth edge 214 extends along a direction intersecting with the axis, that is, it is not parallel to the axis. Preferably, the fourth edge 214 is arranged perpendicular to the axis, that is, parallel to the radial section of the second unit 200. In fact, it is not limited to this. The fourth edge 214 can also be inclined in a way that one end is closer to the second base 20 and the other end is farther from the second base 20. For simplicity, here only the case where the fourth edge 214 is perpendicular to the axis is taken as an example for description.

[0088] At the same time, the projection of the fourth edge 214 on the radial section of the second unit 200 and its extension line do not pass through the rotation center of the second unit 200, that is, the fourth edge 214 is arranged eccentrically on the radial section.

[0089] Plugging process

[0090] Next, specifically describe the plugging process.

[0091] During the insertion process of the first unit 100 and the second unit 200, the first plug 201 may directly insert into the gap between two adjacent claws among the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104; or, the fourth edge 214 slides along the second edge 112 or the third edge 113 in the direction away from the claw insertion end 1 and towards the first base 10, simultaneously pushing the first unit 100 and / or the second unit 200 to rotate, so that the first plug 201 enters the gap between two adjacent claws; or, the fourth edge 214 slides along the first claw surface 11 or the second claw surface 12 in the direction away from the claw insertion end 1 and towards the first base 10, simultaneously pushing the first unit 100 and / or the second unit 200 to rotate, so that the first plug 201 enters the gap between two adjacent claws.

[0092] See Figure 2 , in the first embodiment, the rotational radius of one end of the first edge 111 of each claw close to the rotation center O of the first unit 100 is greater than the rotational radius of one end of the fourth edge 214 far from the rotation center of the second unit 200. Among them, one end of the first edge 111 close to the rotation center O of the first unit 100 is the radially inner end of the first edge 111, and its rotational radius is (d2) / 2 shown in the figure, while one end of the fourth edge 214 far from the rotation center of the second unit 200 is the radially outer end of the fourth edge 214.

[0093] During the insertion process, the second unit 200 is inserted into the first unit 100 approximately aligned axially. At this time, the fourth edge 214 may directly insert into the gap between the claws, or may slide into the gap between the claws along one of the first claw surface 11 and the second claw surface 12, or slide into the gap between the claws along one of the second edge 112 and the third edge 113. Since the rotational radius of the radially outer side of the fourth edge 214 is smaller than the rotational radius of the radially inner side of the first edge 111, the fourth edge 214 will not abut against the first edge 111, that is, there will be no problem of jamming each other axially between the fourth edge 214 and the first edge 111, ensuring the smooth insertion of the first unit 100 and the second unit 200.

[0094] It can be understood that since the first edge 111 of each jaw is eccentrically arranged relative to the rotation center of the first unit 100, and the fourth edge 214 is also eccentrically arranged relative to the rotation center of the second unit 200. During the axial insertion process, when the fourth edge 214 abuts against the first jaw surface 11, the second jaw surface 12, or the second edge 112, the third edge 113, due to the fact that the first jaw surface 11 and the second jaw surface 12 are inclined surfaces at a certain angle to the axial direction, and the second edge 112 and the third edge 113 are inclined edges at a certain angle to the axial direction, the first unit 100 rotates circumferentially under the stress of the fourth edge 214, and the second unit 200 also rotates circumferentially under the stress of the first unit 100, so that the first plug 201 can be more easily inserted into the gap between the jaws of the first unit 100, improving the success rate of blind insertion.

[0095] In the second embodiment, the rotation radius of the end of the first edge 111 of each jaw close to the rotation center O of the first unit 100 is less than or equal to the rotation radius of the end of the fourth edge 214 far from the rotation center of the second unit 200. Herein, the end of the first edge 111 close to the rotation center O of the first unit 100 is the end on the radially inner side of the first edge 111, and its rotation radius is Figure 2 (d2) / 2 as shown, while the end of the fourth edge 214 far from the rotation center of the second unit 200 is the end on the radially outer side of the fourth edge 214.

[0096] During the insertion process, the second unit 200 is inserted into the first unit 100 approximately aligned axially. At this time, the fourth edge 214 may directly insert into the gap between the jaws, or may slide into the gap between the jaws along one of the first jaw surface 11 and the second jaw surface 12, or slide into the gap between the jaws along one of the second edge 112 and the third edge 113. However, there is also a situation where the fourth edge 214 abuts against the first edge 111. When the two abut, there is a problem that they are easily jammed against each other axially, making it impossible for the first unit 100 and the second unit 200 to be inserted smoothly.

[0097] For this reason, as a preferred solution, the first jaw 101, the second jaw 102, the third jaw 103, the fourth jaw 104 and / or the first plug 201 have a specified deformation allowance in the axial and radial directions. That is, at least one of the first plug 201 and the jaws of the first unit 100 (including the first jaw 101, the second jaw 102, the third jaw 103, the fourth jaw 104) is an elastic member.

[0098] Here, an example is given where only one side of the claw is the elastic member. During the insertion process of the first unit 100 and the second unit 200, if the fourth edge 214 abuts against the first edge 111 of the first claw 101, then under the stress of the fourth edge 214, the first claw 101 is compressed axially. At this time, since the first edge 111 is eccentrically arranged in a manner that is more biased towards the fourth claw 104 side, the first claw 101 will also bend radially. Specifically, the first claw surface 11 will be bent and stretched towards the direction of the fourth claw 104. Thus, under the deformation stress of the first claw 101, the first unit 100 will rotate counterclockwise along the direction from the first claw 101 towards the fourth claw 104. Furthermore, as the first unit 100 rotates, the fourth edge 214 of the first plug 201 disengages from the first edge 111, and then slides along one of the second edge 112 and the third edge 113, or slides along one of the first claw surface 11 and the second claw surface 12, and finally slides into the gap between the claws, realizing the insertion of the first unit 100 and the second unit 200.

[0099] It can be understood that since the first edge 111 of each claw is eccentrically arranged relative to the rotation center of the first unit 100, and the fourth edge 214 is also eccentrically arranged relative to the rotation center of the second unit 200. During the axial insertion process, when the fourth edge 214 disengages from the first edge 111 and then abuts against the first claw surface 11, the second claw surface 12, or the second edge 112 and the third edge 113, since the first claw surface 11 and the second claw surface 12 are inclined surfaces at a certain angle to the axial direction, and the second edge 112 and the third edge 113 are inclined edges at a certain angle to the axial direction, it causes the first unit 100 to rotate circumferentially under the stress of the fourth edge 214, and the second unit 200 will also rotate circumferentially under the stress of the first unit 100, thereby making it easier for the first plug 201 to be inserted into the gap between the claws of the first unit 100.

[0100] As a preferred solution, the claws of the first unit 100 and the first plug 201 of the second unit 200 both have a specified deformation allowance in the axial and radial directions. In this way, when the fourth edge 214 abuts against the first edge 111, the first plug 201 is also compressed axially and undergoes bending deformation radially under the stress of the first edge 111, thereby driving the second unit 200 to rotate and making it easier for the first plug 201 to be inserted into the gap between the claws of the first unit 100.

[0101] Combining the foregoing Embodiment 1 and Embodiment 2, in order to ensure the success rate of blind insertion, based on the data in the experiment, as a preferred solution, the rotation radius of one end of the first edge 111 of each claw close to the rotation center of the first unit 100 is greater than or equal to 0.8 times the rotation radius of one end of the fourth edge 214 far from the rotation center of the second unit 200.

[0102] In addition, preferably, in the plugged state, the projections of the first edge 111 of each clamping jaw and the fourth edge 214 of the first plug 201 on the radial cross-section are not parallel. In this way, during the plugging process, when the first edge 111 and the fourth edge 214 come into contact, only staggered point contacts will occur, rather than coincident line contacts, making it easier for the fourth edge 214 to slide away from the first edge 111. At the same time, it also makes the inclination directions of the first plug surface 21, the first jaw surface 11, and the second jaw surface 12 inconsistent, avoiding the situation where surface contact occurs between the first plug surface 21, the first jaw surface 11, and the second jaw surface 12, thereby increasing the frictional resistance.

[0103] Second plug

[0104] Next, in combination with Figure 4 、 Figure 5 the second plug 202 will be described.

[0105] Referring to Figure 4 、 Figure 5 , on the same side of the second base 20 connecting the first plug 201, there is also a second plug 202 extending axially. Preferably, the second plug 202 is arranged parallel to the first plug 201 and has a certain interval in the radial direction.

[0106] The second plug 202 has a second plug insertion end 3 for plugging into the first unit 100. The second plug insertion end 3 includes a third plug surface 23 and a fourth plug surface 24. The third plug surface 23 and the fourth plug surface 24 can be inclined surfaces or curved surfaces, and the principle of blind plugging is the same for both. For simplicity, here only the case where the third plug surface 23 and the fourth plug surface 24 are inclined surfaces at a fifth angle and a sixth angle with respect to the axis respectively will be described. The fifth angle and the sixth angle can be the same or different. As a preferred solution, as shown in the figure, the sixth angle is zero, that is, the fourth plug surface 24 is a vertical surface extending axially and perpendicular to the second base 20. In fact, the sixth angle is not limited to this, and will not be elaborated here. Among them, in the Figure 5 axial cross-section, the second plug surface 22 traverses the entire second unit 200, with a part serving as the side surface of the first plug 201 and another part serving as the side surface of the second plug 202. Similarly, the fourth plug surface 24 and the second plug surface 22 are arranged oppositely, and in the Figure 5 axial cross-section, it traverses the entire second unit 200. A part of the fourth plug surface 24 serves as the side surface of the second plug 202 and another part serves as the side surface of the first plug 201. In other words, it is equivalent to cutting out the second plug surface 22 and the fourth plug surface 24 along the axis with two planes on the cylinder where the second base 20 is located, which will not be elaborated here.

[0107] The third plug surface 23 intersects with the fourth plug surface 24 to form a fifth edge 215. Among them, the fifth edge 215 extends along a direction intersecting with the axial direction, that is, it is not parallel to the axial direction. Preferably, the fifth edge 215 is arranged perpendicular to the axial direction, that is, parallel to the radial section of the second unit 200, but actually it is not limited to this. The fifth edge 215 may also not be parallel to the radial section, but be inclined in a way that one end is closer to the second base 20 and the other end is farther from the second base 20. For simplicity, only the case where the fifth edge 215 is perpendicular to the axial direction is described here.

[0108] Further preferably, the projection of the fifth edge 215 on the radial section of the second unit 200 and its extension line do not pass through the rotation center of the second unit 200, that is, the fifth edge 215 is arranged eccentrically on the radial section, so that during the plugging process, the second unit 200 is more likely to rotate under the stress of the fifth edge 215, so as to reduce the probability that the fifth edge 215 and the first edge 111 of the claw are axially jammed against each other. It should be noted that the fifth edge 215 may also not be arranged eccentrically, because the first plug 201 has been inserted between the claws in advance and drives the first unit 100 / second unit 200 to rotate. Even if the fifth edge 215 is not arranged eccentrically, it can be inserted between the claws of the first unit 100, and this will not be elaborated here too much.

[0109] As a preferred solution, the protruding amount of the second plug 202 from the second base 20 is less than the protruding amount of the first plug 201 from the plug base 20, that is, the second plug 202 is shorter than the first plug 201 in the axial direction. In this way, during the plugging process, the first plug 201 reaches the claws of the first unit 100 earlier than the second plug 202, and the fourth edge 214 first contacts the claw insertion end 1 of one of the claws. After the first plug 201 is inserted a certain distance along the axial direction towards the first base 10, the second plug 202 reaches the claws of the first unit 100, and the fifth edge 215 begins to contact the claw insertion end 1 of the other claw. This can avoid the probability that the fourth edge 214 and the fifth edge 215 simultaneously contact the claw insertion ends 1 of the two claws and cause the first unit 100 and the second unit 200 to be axially jammed against each other to increase. In this way, while ensuring the success rate of blind plugging, the setting of the two plugs makes the plugging between the first unit 100 and the second unit 200 tighter and the transmission effect more stable.

[0110] Preferably, the first plug 201 and the second plug 202 are symmetrically arranged in the radial direction. For example, when the first plug 201 is inserted into the gap between the first claw 101 and the fourth claw 104, the second plug 202 is correspondingly inserted into the gap between the second claw 102 and the third claw 103.

[0111] Meanwhile, the axial dimension difference between the first plug 201 and the second plug 202 can be reasonably designed. When the dimension difference is relatively large, after the first plug 201 slides off from the first claw surface 11, the second claw surface 12, or the second edge 112, the third edge 113 and enters the gap between the claws, the second plug 202 reaches the position of the claw insertion end 1 of another claw. Since the first plug 201 has entered the gap between the claws, the second plug 202 is correspondingly inserted into the symmetric claw gap.

[0112] However, as a preferred solution, the dimension difference is designed to be relatively small. When the first plug 201 has not yet slid off from the first claw surface 11, the second claw surface 12, or the second edge 112, the third edge 113 of one of the claws, the second plug insertion end 3 of the second plug 202 begins to contact the claw insertion end 1 of another claw. For example, when the first plug 201 slides a certain distance on the first claw surface 11 of the first claw 101 and has not yet slid off, the second plug 202 begins to slide on the corresponding claw surface of the third claw 103. In this way, the first plug 201 and the second plug 202 apply a rotational force to the first unit 100 in the same direction, making it easier for the first unit 100 and the second unit 200 to rotate relative to each other, thereby improving the convenience and success rate of blind plugging.

[0113] During the plugging process, the principle of the second plug 202 and the first plug 201 inserted into the first unit 100 is the same.

[0114] Specifically, in the foregoing Embodiment 1, the rotation radius of one end of the first edge 111 of each claw close to the rotation center O of the first unit 100 is greater than the rotation radius of one end of the fifth edge 215 far from the rotation center of the second unit 200. Among them, one end of the fifth edge 215 far from the rotation center of the second unit 200 is the radially outer end of the fifth edge 215.

[0115] During the plugging process, the fifth edge 215 may directly insert into the gap between the claws, or may slide into the gap between the claws along one of the first claw surface 11 and the second claw surface 12, or slide into the gap between the claws along one of the second edge 112 and the third edge 113. Since the rotation radius of the radially outer side of the fifth edge 215 is smaller than the rotation radius of the radially inner side of the first edge 111, the fifth edge 215 will not abut against the first edge 111, that is, there will be no problem of being axially jammed between the fifth edge 215 and the first edge 111, ensuring the smooth plugging of the first unit 100 and the second unit 200.

[0116] It can be understood that, since the first rib 111 is eccentrically arranged relative to the rotation center of the first unit 100 and the fifth rib 215 is also eccentrically arranged relative to the rotation center of the second unit 200, during the axial insertion process, when the fifth rib 215 abuts against the first claw surface 11, the second claw surface 12, or the second rib 112 and the third rib 113, because the first claw surface 11 and the second claw surface 12 are inclined surfaces at a certain angle to the axis, and the second rib 112 and the third rib 113 are inclined ribs at a certain angle to the axis, the first unit 100 rotates circumferentially under the stress of the fifth rib 215, and the second unit 200 also rotates circumferentially under the stress of the first unit 100, so that the second plug 202 can be more easily inserted into the gap between the claws.

[0117] In the aforementioned second embodiment, the rotation radius of one end of the first rib 111 of each claw close to the rotation center O of the first unit 100 is less than or equal to the rotation radius of one end of the fifth rib 215 far from the rotation center of the second unit 200.

[0118] During the insertion process, the second unit 200 is axially inserted into the first unit 100. At this time, the fifth rib 215 may directly insert into the gap between the claws, or may slide into the gap between the claws along one of the first claw surface 11 and the second claw surface 12, or slide into the gap between the claws along one of the second rib 112 and the third rib 113. However, there is also a possibility that the fifth rib 215 abuts against the first rib 111, and when the two abut, it is easy for the fifth rib 215 and the first rib 111 to be jammed against each other axially.

[0119] Therefore, as a preferred solution, the first claw 101, the second claw 102, the third claw 103, the fourth claw 104 and / or the second plug 202 have a specified deformation allowance in the axial and radial directions. That is, at least one of the second plug 202 and the claws of the first unit 100 (including the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104) is an elastic member.

[0120] The principle is the same as that of the first plug 201. When the second plug 202 is an elastic member, the stress when the fifth rib 215 abuts against the first rib 111 compresses the second plug 202 axially and bends it radially, thereby driving the second base 20 to rotate, causing the fifth rib 215 to disengage from the first rib 111 and slide along one of the second rib 112 and the third rib 113, or slide along one of the first claw surface 11 and the second claw surface 12, and finally slide into the gap between the claws.

[0121] Combining the foregoing First Embodiment and Second Embodiment, in order to ensure the success rate of blind plugging, based on the data in the experiment, as a preferred solution, the rotation radius of one end of the first edge 111 of each claw, which is close to the rotation center of the first unit 100, is greater than or equal to 0.8 times the rotation radius of one end of the fifth edge 215, which is far from the rotation center of the second unit 200.

[0122] Plug notch

[0123] As a preferred manner, the first plug 201 is provided with a first plug notch (not shown in the figure) that extends axially and intersects with the axial direction at a position close to the second base 20 in the axial direction. The first plug notch has a structure that opens towards the lateral side of the first plug 201.

[0124] During the insertion process of the first unit 100 and the second unit 200, when the first plug 201 is stressed by the insertion end 1 of the claw, extrusion occurs at the first plug notch, causing the first plug 201 to be compressed axially and bent radially at the same time, so that the second base 20 rotates circumferentially under the action of the deformation stress of the first plug 201, making it easier for the first plug 201 to be inserted into the gap between the claws of the first unit 100.

[0125] Similarly, as a preferred manner, the second plug 202 is also provided with a second plug notch (not shown in the figure) that extends axially and intersects with the axial direction at a position close to the second base 20 in the axial direction. The structure and principle of the second plug notch during insertion are the same as those of the first plug notch, and will not be elaborated here.

[0126] Plug thickness and claw gap

[0127] Since the first plug 201 and the second plug 202 need to be inserted into the gap between any two adjacent claws of the first unit 100, generally speaking, the gap size between two adjacent claws needs to be greater than the thickness sizes of the first plug 201 and the second plug 202, that is, there is a transmission gap between the plug and the claw in the inserted state.

[0128] Here, the thickness size of the plug refers to the size of the plug in the radial direction. Specifically, in this embodiment, it is the size of the first plug 201 in the direction perpendicular to the second plug surface 22, and the size of the second plug 202 in the direction perpendicular to the fourth plug surface 24. Preferably, the thickness sizes of the first plug 201 and the second plug 202 are the same, which is the distance between the second plug surface 22 and the fourth plug surface 24 shown in the figure.

[0129] If the thickness dimension of the plug is greater than the gap dimension between two adjacent claws, generally the plug cannot be inserted into the gap between the claws. However, for application scenarios with high requirements for transmission accuracy, such as surgical robots, etc., this transmission gap between the plug and the claws will affect the motion control accuracy of the entire transmission mechanism. For application scenarios with high-speed rotation and reciprocating rotation, when the rotation direction is reversed, this transmission gap will cause mechanical vibration, generate additional noise, and affect the lifespan of the mechanism.

[0130] To this end, as a preferred solution, at least one of the first side surface 13 and the second side surface 14 of each claw, and / or at least one of the second plug surface 22 and the fourth plug surface 24 is set as a surface with an elastomer, that is, this surface can elastically deform in the radial direction. Thus, the gap dimension between two adjacent claws can be made slightly smaller than the thickness dimensions of the first plug 201 and the second plug 202 in the natural state. When any plug is inserted into the gap between two adjacent claws, the surface with the elastomer is compressed and deformed due to extrusion, enabling the plug to be smoothly inserted between two adjacent claws, and also eliminating the aforementioned transmission gap between the plug and the claws, thereby improving the transmission accuracy and eliminating the vibration generated during high-speed commutation.

[0131] As another preferred solution, at least one of the first side surface 13 and the second side surface 14 of each claw, and / or at least one of the second plug surface 22 and the fourth plug surface 24 is set as an inclined surface. Specifically, at least one of the first side surface 13 and the second side surface 14 of each claw can be set as an inclined surface that is inclined more away from the first base 10 and more towards the direction away from the rotation center of the first unit 100, so that the gap between two adjacent claws is configured to be in a pattern where the gap dimension is larger the more away from the first base 10. And / or, at least one of the second plug surface 22 and the fourth plug surface 24 can also be set as an inclined surface that is inclined more away from the second base 20 and more towards the direction away from the rotation center of the second unit 200, so that the first plug 201 and the second plug 202 are configured to be more tapered the more away from the second base 20.

[0132] Furthermore, the gap between two adjacent claws away from the first base 10 is made slightly larger than the thickness dimensions of the ends of the first plug 201 and the second plug 202 away from the second base 20, but the gap between two adjacent claws close to the first base 10 is made slightly smaller than the thickness dimensions of the ends of the first plug 201 and the second plug 202 away from the second base 20. When inserting, the first plug 201 and the second plug 202 are inserted into the gap between two adjacent claws like wedges, achieving a tight fit between the two and eliminating the transmission gap.

[0133] In summary, in the present application, the first edge 111 and the fourth edge 214 are both eccentrically arranged relative to their respective rotation centers, so that under the stress during plugging, it is easier to drive the first unit 100 and the second unit 200 to rotate, thereby increasing the probability of successful blind plugging. During the plugging process, the operator does not need to pay special attention, nor does it need to align the first unit 100 and the second unit 200 in the axial direction, or adjust one of them to a predetermined angle along the circumferential direction, and the plugging operation can be easily achieved.

[0134] Furthermore, the radially inner rotation radius of the first edge 111 is larger than the radially outer rotation radius of the fourth edge 214, so as to avoid the problem of axial jamming of the first edge 111 and the fourth edge 214. Alternatively, the claw of the first unit 100 and / or the first plug 201 are set as elastic members, and when the first edge 111 and the fourth edge 214 are in contact, the claw and / or the first plug 201 are compressed in the axial direction and bent in the radial direction, so that the first unit 100 and / or the second unit 200 rotate under the deformation stress, so as to avoid the problem of axial jamming.

[0135] In other words, the present application sets a plurality of special faces and edges on the connecting ends of the driving shaft and the driven shaft, respectively. These faces and edges are arranged asymmetrically, and can convert the axial relative motion into the circumferential relative rotation at any circumferential position of each shaft, that is, convert the axial plugging force during plugging into the circumferential rotational motion until the two shafts are coupled together. The plug-in device of the present application has the advantages of small size, high reliability, easy plugging and unplugging without unnecessary operations and additional tools, stable and reliable transmission, and can be conveniently used in medical fields with sterile requirements, and has low dependence on operators. In particular, when multiple driving shafts and driven shafts that need to be connected to each other by transmission are included, the structure of the present application can also conveniently achieve the effect of blind plugging between multiple shafts.

[0136] It should be understood that the specific embodiments described above are only used to explain the present application, and the protection scope of the present application is not limited thereto. Any technical personnel familiar with the technical field can make changes, substitutions, and combinations within the technical scope disclosed in the present application according to the technical solution and inventive concept of the present application, which should be covered by the protection scope of the present application.

Claims

1. An insertion device, characterized in that: it includes a first unit and a second unit that can be inserted. Taking the insertion direction as the axial direction, the direction perpendicular to the axial direction as the radial direction, and the direction of rotation around the axial direction as the circumferential direction, after insertion, the first unit and the second unit can rotate integrally and concentrically along the circumferential direction; the first unit includes at least three claws that are circumferentially spaced apart and axially extended, and each of the at least three claws has a claw side surface that axially extends; the claw insertion end of each of the at least three claws that is inserted into the second unit includes a first claw surface and a second claw surface. The first claw surface and the second claw surface intersect to form a first edge, the first claw surface and the claw side surface intersect to form a second edge, and the second claw surface and the claw side surface intersect to form a third edge; wherein, the projection of the first edge in the radial cross-section of the first unit and its extension line do not pass through the rotation center of the first unit; the second unit includes a first plug that axially extends. The first plug insertion end of the first plug that is inserted into the first unit includes a first plug surface and a second plug surface. The first plug surface and the second plug surface intersect to form a fourth edge; wherein, the fourth edge extends along a direction that intersects with the axial direction, and the projection of the fourth edge in the radial cross-section of the second unit and its extension line do not pass through the rotation center of the second unit; during the insertion process of the first unit and the second unit, the first plug directly inserts into the gap between two adjacent claws among the at least three claws; or, the fourth edge slides along the second edge or the third edge in a direction away from the claw insertion end, synchronously pushing the first unit and / or the second unit to rotate, so that the first plug enters the gap between two adjacent claws among the at least three claws; or, the fourth edge slides along the first claw surface or the second claw surface in a direction away from the claw insertion end, synchronously pushing the first unit and / or the second unit to rotate, so that the first plug enters the gap between two adjacent claws among the at least three claws.

2. The insertion device according to claim 1, characterized in that: the rotation radius of one end of the first edge of each of the at least three claws that is close to the rotation center of the first unit is greater than the rotation radius of one end of the fourth edge that is far from the rotation center of the second unit.

3. The insertion device according to claim 1, characterized in that: the rotation radius of one end of the first edge of each of the at least three claws that is close to the rotation center of the first unit is less than or equal to the rotation radius of one end of the fourth edge that is far from the rotation center of the second unit; each of the at least three claws and / or the first plug has a specified deformation allowance in the axial and radial directions; During the insertion process of the first unit and the second unit, when the fourth edge abuts against the first edge of a single one of the at least three claws, the first plug and one or both of the claws with a deformation allowance are axially compressed and radially bent, so that the fourth edge disengages from the first edge and slides along one of the second edge and the third edge, or the fourth edge slides along one of the first claw surface and the second claw surface.

4. The insertion device according to claim 3, wherein: The rotational radius of the end of the first edge of each of the at least three claws close to the rotational center of the first unit is greater than or equal to 0.8 times the rotational radius of the end of the fourth edge far from the rotational center of the second unit.

5. The insertion device according to claim 1, wherein: The first claw surface, the second claw surface, the first plug surface, and the second plug surface are respectively inclined surfaces / curved surfaces.

6. The insertion device according to claim 5, wherein: The first claw surface and the second claw surface are respectively inclined surfaces at a first angle and a second angle with respect to the axial direction; and / or, The first plug surface and the second plug surface are respectively inclined surfaces at a third angle and a fourth angle with respect to the axial direction.

7. The insertion device according to any one of claims 1-6, wherein: The second unit includes a plug base, and the first plug and the second plug protruding axially from the same side of the plug base, and the protruding amount of the second plug from the plug base is less than the protruding amount of the first plug from the plug base.

8. The insertion device according to claim 7, wherein: The second plug insertion end of the second plug inserted into the first unit includes a third plug surface and a fourth plug surface, and the third plug surface and the fourth plug surface intersect to form a fifth edge; wherein, the fifth edge extends along a direction intersecting with the axial direction.

9. The insertion device according to claim 8, wherein: During the insertion process of the first unit and the second unit, the second plug directly inserts into the gap between two adjacent claws of the at least three claws; or, The fifth edge slides along the second edge or the third edge in a direction away from the claw insertion end, synchronously pushing the first unit and / or the second unit to rotate, so that the second plug enters the gap between two adjacent claws of the at least three claws; or, The fifth edge slides along the first claw surface or the second claw surface in a direction away from the claw insertion end, synchronously pushing the first unit and / or the second unit to rotate, so that the second plug enters the gap between two adjacent claws of the at least three claws.

10. The insertion device according to any one of claims 1-6, wherein: The first plug is provided with a first plug notch extending crosswise to the axial direction at a position axially away from the first plug connection end; During the plugging process of the first unit and the second unit, the first plug is stressed by a single claw among the at least three claws, and extrusion occurs at the notch of the first plug, causing the first plug to generate elastic deformation both axially and radially.

11. The plugging device according to claim 1, characterized in that: The side surface of the claw and / or the surface of the second plug is an elastic surface, and elastic deformation occurs when the first plug is plugged with the at least three claws.

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