Automatic installation device of anastomat staple cartridge assembly steering pull rod and installation method thereof

Abstract

This invention relates to an automatic installation device and method for a stapler cartridge assembly steering tie rod. The automatic installation device for the steering tie rod includes: a clamp for positioning and holding the housing of the stapler cartridge assembly, with a horizontally oriented slot on the housing; the slot for accommodating and limiting the steering tie rod; a gripper disposed on the drive end of a robotic arm; and an adsorption tube fixed to the gripper for picking up the steering tie rod via vacuum adsorption. In the adsorption state, one end of the steering tie rod protrudes from the gripper along its length, defined as the insertion end. The gripper, driven by the robotic arm, moves the steering tie rod, causing the insertion end to first insert into the slot, followed by the remaining portion being pushed into the slot by the gripper abutting against the slot opening and moving axially along the housing. This invention avoids spatial interference between the gripper body and the slot entrance area of ​​the housing.

Description

Technical Field

[0001] This invention relates to the field of stapler processing equipment technology, specifically to an automatic installation device and method for the steering tie rod of a stapler cartridge assembly. Background Technology

[0002] As a widely used minimally invasive instrument in modern surgery, the assembly precision and reliability of the stapler cartridge assembly directly affect the clinical safety and operational performance of the device. In existing stapler cartridge assemblies, the steering tie rod is a key moving component that enables the linkage between cartridge angle adjustment and firing. It typically employs a slender, thin-walled, high-rigidity metal or polymer structure design to meet the requirements of force transmission and precise guidance under space-constrained conditions.

[0003] However, the assembly of this steering tie rod in automated assembly processes suffers from the following drawbacks: 1. The steering tie rod is a slender structure, making it difficult for the end effector of an industrial robot to hold it stably; 2. During the snap-fit ​​assembly process, the steering tie rod needs to be precisely inserted into a narrow, deep slot pre-set in the housing along a specific trajectory, and ultimately completely submerged in the slot to achieve axial limiting and functional locking. However, the robot's gripping part is usually located in the middle or end of the tie rod, and its gripping mechanism itself interferes spatially with the entrance area of ​​the housing slot, severely hindering the tie rod's guide path and preventing the completion of the full assembly action. In practice, manual intervention or the use of additional pushing mechanisms is often required to achieve the final snap-fit ​​limitation, which not only reduces assembly efficiency but also increases costs.

[0004] Therefore, how to overcome the above-mentioned defects has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] To address the technical problems in the background art, this invention discloses an automatic installation device and method for the steering tie rod of a stapler cartridge assembly.

[0006] This invention provides an automatic installation device for the steering tie rod of a stapler cartridge assembly, comprising:

[0007] A clamp is used to position and hold the housing of the stapler cartridge assembly, with the slots on the housing oriented horizontally; the slots are used to accommodate and limit the steering lever;

[0008] The gripper is located at the drive end of the robotic arm;

[0009] The adsorption tube is fixed on the gripper and picks up the steering tie rod by vacuum adsorption, so that the steering tie rod is arranged horizontally; in the adsorption state, one end of the steering tie rod protrudes from the gripper along its length direction, and this end is defined as the snap-in end;

[0010] The gripper, driven by the robotic arm, moves the steering rod, causing the insertion end to first insert into the slot. Then, the remaining part is pushed into the slot by the gripper abutting against the slot opening and moving along the housing axis. During the insertion process, the angle between the steering rod and the housing axis gradually decreases to zero. During the insertion process, the steering rod moves synchronously along the housing axis.

[0011] Furthermore, the lower wall of the slot is flush with the upper surface of the fixture;

[0012] When the inserting end is inserted into the slot and the rest of the part is still outside the slot, the lower end face of the steering tie rod abuts against the upper end face of the clamp.

[0013] Furthermore, the fixture is equipped with raised stops;

[0014] The stop block and the gripper are located on the same side of the housing;

[0015] Projected radially onto the housing, the stop block is located within the projection range of the steering tie rod and is close to the end of the steering tie rod away from the snap-in end.

[0016] Furthermore, the portion of the stop block extending beyond the upper end of the clamp is triangular, with the height of the extension increasing from the side furthest from the housing to the side closest to the housing.

[0017] Furthermore, the clamp is provided at both ends of the housing along the axial direction with:

[0018] The limiting block is located at one end of the housing near the anvil seat and is driven to rise and fall by the first cylinder. It is used to press the anvil seat and abut against the axial end face of the adapter.

[0019] The pressure block, located at the end of the housing away from the anvil, is driven to rise and fall by the second cylinder and is used to press the upper end of the housing.

[0020] Furthermore, the gripper includes a vertically extending clamping plate;

[0021] The clamp plate is equipped with a push block, the lower end of which protrudes downward from the clamp plate by an amount equal to the thickness of the steering tie rod;

[0022] The push block is located on the side of the clamp plate away from the slot.

[0023] Furthermore, a vertically extending mounting groove is provided on one side of the clamp, with an opening at its lower end;

[0024] The push block is inserted into the mounting slot and positioned by friction.

[0025] The push block has two vertically extending elongated holes;

[0026] The locating pins are inserted into the elongated hole and the corresponding hole in the clamping plate, so that the push block is constrained in the horizontal direction.

[0027] The present invention also provides an installation method for an automatic installation device for a stapler cartridge assembly steering tie rod, comprising the following steps:

[0028] S1. The robotic arm drives the gripper to move to the loading station, and vacuum adsorbs the steering rod through the adsorption tube to make it horizontal.

[0029] S2. The robotic arm drives the gripper to move above the fixture and rotates around its own axis by an angle so that the axis of the steering tie rod forms an acute angle with the axis of the housing, and the insertion end faces the slot.

[0030] S3. The robotic arm drives the gripper to feed radially along the housing, so that the insertion end enters the slot first;

[0031] S4. The adsorption tube releases the vacuum, releasing the adsorption on the steering tie rod;

[0032] S5. The robotic arm drives the gripper to retract slightly radially to ensure that it avoids the housing during subsequent rotation;

[0033] S6. The robotic arm drives the gripper to rotate another angle in the same direction, so that the side of the gripper closest to the housing is close to the insertion end;

[0034] S7. The robotic arm drives the gripper to feed radially to the abutment slot opening;

[0035] S8. The robotic arm drives the gripper to advance along the axial direction of the housing, pushing the steering tie rod completely into the slot. During the process of the steering tie rod entering the slot, it also moves a certain distance along the axial direction of the housing to complete the installation.

[0036] The beneficial effects of this invention are:

[0037] 1. The slender steering tie rod is picked up by a vacuum suction tube, avoiding the instability of traditional mechanical clamping methods, while keeping the tie rod horizontal and providing a precise initial posture for subsequent assembly.

[0038] 2. The adsorption tube is fixed at the front end of the gripper, and only a small contact surface (adsorption end face) acts on the steering tie rod. The overall clamping structure outline is much smaller than that of traditional pneumatic grippers, which completely avoids spatial interference between the gripper body and the slot entrance area of ​​the housing.

[0039] 3. The gripper abuts against the slot opening and pushes along the housing axis, so that the steering tie rod is gradually and completely submerged into the slot. During the process, the angle between the steering tie rod and the housing axis gradually decreases to zero, realizing the full automation of the process from insertion to complete engagement and limit, without the need for manual intervention or additional pushing mechanism.

[0040] 4. During the movement of the gripper along the axial direction of the housing, since the steering tie rod forms an acute angle with the axial direction of the housing, the thrust of the gripper on the steering tie rod will form an axial component force. This component force will drive the steering tie rod to move towards the abutment seat, so that the steering tie rod is accurately installed in the set position. Attached Figure Description

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0042] Figure 1 This is a schematic diagram of the structure of the present invention;

[0043] Figure 2 This is a schematic diagram showing the structure in which the two ends of the stapler cartridge assembly are pressed and fixed during the assembly of the steering tie rod;

[0044] Figure 3 This is a schematic diagram of the installation structure of the stapler cartridge assembly and clamps;

[0045] Figure 4 This is a right view of the housing and fixture after assembly;

[0046] Figure 5 This is a front view of the adapter and steering tie rod after assembly, with only a portion of the steering tie rod shown.

[0047] Figure 6 yes Figure 5 Sectional view of AA;

[0048] Figure 7 This is a schematic diagram of the gripper structure;

[0049] Figure 8 This is the front view of the gripper;

[0050] Figure 9 yes Figure 8 Sectional view of BB;

[0051] Figure 10 This is a schematic diagram of the structure when the insert end is preferentially inserted into the card slot;

[0052] Figure 11 yes Figure 10 A schematic diagram of the hidden gripper structure;

[0053] Figure 12 This is a schematic diagram of the structure when the gripper pushes the steering tie rod and pushes the remaining part of the steering tie rod into the slot;

[0054] In the diagram: 1. Fixture; 2. Housing; 3. Slot; 4. Steering rod; 5. Gripper; 6. Adsorption tube; 7. Stop block; 8. Limiting block; 9. Pressure block; 10. Anchor seat; 11. First cylinder; 12. Adapter; 13. Second cylinder; 14. Flexible vibratory plate; 21. Upper cover; 22. Lower cover; 23. Flared groove; 24. Conveyor; 25. First support; 26. Second support; 41. Insertion end; 42. Transmission end; 51. Clamping plate; 52. Push block; 53. Mounting groove; 54. Oblong hole; 55. Positioning pin; 56. Groove; 57. Mounting block; 101. Positioning groove. Detailed Implementation

[0055] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0056] Example 1:

[0057] like Figure 1 As shown, the present invention discloses an automatic installation device for the steering tie rod of a stapler cartridge assembly, including a conveyor 24. Multiple clamps 1 are fixedly installed on the conveyor belt of the conveyor 24 at intervals. The clamps 1 are used to position and clamp the housing 2 of the stapler cartridge assembly. The conveyor 24 drives the clamps 1 to move at each assembly station to realize the automatic assembly of the stapler cartridge assembly.

[0058] like Figure 3 As shown, the housing 2 includes an upper cover 21 and a lower cover 22. One side of the connection between the upper cover 21 and the lower cover 22 forms a groove 3. The steering tie rod 4 is accommodated and confined within the groove 3, and is completely submerged. One end of the housing 2 is sequentially connected to an adapter 12 and a pin seat 10. The groove 3 opens radially on one side of the housing 2, opposite to the direction of movement of the clamp 1, and also opens axially to one end of the housing 2, which faces away from the pin seat 10. Figure 5 and Figure 6 As shown, the slot 3 extends axially from the other end of the housing 2 to the adapter 12. This end is sealed and used for limiting the installation of the steering tie rod 4. This sealed end forms a flared groove 23 facing away from the opening of the abutment seat 10. The circular end of the steering tie rod 4 is installed in the flared groove 23, and this end is positioned as the transmission end 42. Therefore, in order to avoid the steering tie rod 4 from colliding with the outer wall of the flared groove 23, the steering tie rod 4 needs to first be engaged with the slot 3 at a position avoiding the outer wall of the flared groove 23, and then installed into the flared groove 23 by axial movement to achieve proper installation.

[0059] The clamp 1 is arranged horizontally, and a positioning groove 101 is provided at its upper end. The extension direction of the positioning groove 101 is perpendicular to the moving direction of the conveyor belt. The lower cover 22 is positioned and engaged in the positioning groove 101.

[0060] A loading station is provided on one side of the conveyor 24. The loading station is equipped with a flexible vibrating plate 14, and the steering tie rod 4 is mounted on the flexible vibrating plate 14. The steering tie rod 4 is rotated and dispersed by vibration. The loading station is also equipped with a robot arm, whose drive end is equipped with a gripper 5 for gripping the isolated steering tie rod 4 with the set surface facing upward.

[0061] like Figure 7-9 As shown, the gripper 5 includes a vertically extending rectangular clamping plate 51. A connecting part is vertically connected to the upper end of one side of the clamping plate 51, and the connecting part is fixedly connected to the drive end of the robot. A U-shaped, downward-facing groove 56 is provided in the middle of the clamping plate 51. A mounting block 57 is fixedly provided on one side of the groove 56, and a vertically extending suction tube 6 is fixedly mounted on the mounting block 57. The suction port of the suction tube 6 faces downward and is flush with the lower end face of the clamping plate 51. When the suction tube 6 adsorbs the steering tie rod 4, the upper end face of the steering tie rod 4 abuts against the lower end face of the clamping plate 51, making the positional stability of the steering tie rod 4 higher. The suction tube 6 adsorbs the middle position of the steering tie rod 4, so that one end of the steering tie rod 4 protrudes from the clamping plate 51 along the horizontal extension direction of the clamping plate 51. This end is defined as the snap-in end 41.

[0062] Under the drive of the robotic arm, the gripper 5 drives the steering rod 4 to move, so that the insertion end 41 is first inserted into the slot 3, and then the remaining part is pushed into the slot 3 by the gripper 5 abutting against the slot 3 and moving along the axis of the housing 2; during the insertion process, the angle between the steering rod 4 and the axis of the housing 2 gradually decreases to zero; during the insertion process, the steering rod 4 moves synchronously along the axis of the housing 2, so that the transmission end 42 moves to the set position of the flared slot 23.

[0063] During the insertion of the insertion end 41 into the slot 3, friction occurs between it and the wall of the slot 3, creating resistance. The suction force of the adsorption tube 6 is insufficient to overcome this resistance, making it difficult for the insertion end 41 to enter the slot 3. Therefore, a push block 52 is provided on the other side of the clamping plate 51. The lower end of the push block 52 protrudes downwards from the clamping plate 51, with the protrusion equal to the thickness of the steering tie rod 4. The push block 52 is located on the side of the clamping plate 51 away from the slot 3. The specific installation structure of the push block 52 is as follows: a vertically extending mounting groove 53 is provided on the other side of the clamping plate 51, with an open lower end, positioned near the insertion end 41. The push block 52 is inserted into the mounting groove 53, relying on friction for positioning. The push block 52 has two vertically extending elongated holes 54, and positioning pins 55 pass through the elongated holes 54 and corresponding positions on the clamping plate 51, thus constraining the push block 52 in the horizontal direction and allowing for height adjustment to accommodate steering tie rods 4 of different thicknesses.

[0064] When the insert end 41 needs to be inserted into the slot 3, the push block 52 can overcome the resistance generated by the friction and generate a pushing force on the insert end 41, so that the insert end 41 can stably enter the slot 3.

[0065] Among them, such as Figure 4 As shown, the lower wall of the slot 3 is flush with the upper surface of the clamp 1. When the insertion end 41 is inserted into the slot 3, and the rest of the part is still outside the slot 3, the lower surface of the steering tie rod 4 abuts against the upper surface of the clamp 1. This establishes a precise planar reference for the assembly process of the steering tie rod 4. After the insertion end 41 of the tie rod is inserted into the slot 3, the lower surface of the part that has not yet entered the slot 3 (i.e., the suspended section) can directly fit against the upper surface of the clamp 1, forming a stable surface contact support. This effectively prevents the slender tie rod from sagging, shifting, or vibrating due to its own weight during the assembly process, ensuring that the tie rod axis and the slot 3 axis maintain a relatively stable spatial posture after initial alignment. As the gripper 5 pushes the tie rod to move axially along the housing 2, causing the tie rod to gradually sink into the slot 3, the continuous contact between the lower surface of the tie rod and the upper surface of the clamp 1 plays a sliding guiding role. As the pull rod is continuously pushed in, the angle between it and the axis of the housing 2 gradually decreases to zero. The supporting effect of the upper end face of the clamp 1 can constrain the displacement of the pull rod in the vertical direction, avoiding jamming or tilting caused by uneven force, thus realizing a smooth and gradual attitude transition of the pull rod from tilted insertion to complete horizontal submersion.

[0066] The upper surface of the clamp 1 is also provided with a recessed platform, and the stop 7 is engaged in the recessed platform. The stop 7 and the gripper 5 are located on the same side of the housing 2; in the radial projection of the housing 2, the stop 7 is located within the projection range of the steering tie rod 4 and is close to the end of the steering tie rod 4 away from the engaging end 41. The stop 7 protrudes upward from the clamp 1, and the part of it that exceeds the upper end of the clamp 1 is triangular, and the height of its protrusion increases from the side away from the housing 2 to the side close to the housing 2. The stop 7 obstructs the movement of the clamping plate 51, thereby constraining the distance that the clamping plate 51 can move and preventing the clamping plate 51 from moving too far and causing collision damage to the adapter 12. Moreover, the top of the stop 7 is lower than the upper groove wall of the slot 3, and there is a gap between the stop 7 and the slot 3. With the upper cover 21 being made of plastic and having elastic deformation, the triangular protrusion of the stop 7 can guide the steering tie rod 4 into the slot 3.

[0067] To improve the positional stability of the steering tie rod 4 mounted on the housing 2, such as Figure 2 As shown, a first support 25 and a second support 26 are respectively provided on both sides of the conveyor 24. The first support 25 is on the same side as the robot arm and is equipped with a limiting block 8 located above the clamp 1 and a first cylinder 11 for driving the limiting block 8 to rise and fall. The limiting block 8 is used to press the anvil seat 10 against the axial end face of the adapter 12. The second support 26 is equipped with a pressure block 9 located above the clamp 1 and a second cylinder 13 for driving the pressure block 9 to rise and fall; the pressure block 9 is used to press the upper end of the housing 2.

[0068] Compared to existing technologies, the advantages of this embodiment are: 1. By using the vacuum suction tube 6 to pick up the slender steering rod 4, the instability of traditional mechanical clamping methods is avoided, while keeping the rod horizontally arranged, providing a precise initial posture for subsequent assembly. 2. The suction tube 6 is fixed to the front end of the gripper 5, acting on the steering rod 4 with only a small contact surface (adsorption end face). The overall clamping structure contour is much smaller than that of traditional pneumatic grippers 5, completely avoiding spatial interference between the gripper 5 body and the inlet area of ​​the slot 3 in the housing 2. 3. By having the gripper 5 abut against the slot 3 opening and push along the axial direction of the housing 2, the steering rod 4 is gradually and completely submerged into the slot 3. During the process, the angle between the steering rod 4 and the axis of the housing 2 gradually decreases to zero, realizing full automation from insertion to complete clamping and limiting, without manual intervention or additional pushing mechanisms. 4. During the process of the gripper 5 moving along the axial direction of the housing 2, since the steering tie rod 4 forms an acute angle with the axial direction of the housing 2, the thrust of the gripper 5 on the steering tie rod 4 will form an axial component force. This component force will drive the steering tie rod 4 to move towards the abutment seat 10, so that the steering tie rod 4 is accurately installed in the set position.

[0069] Example 2:

[0070] This invention also discloses an installation method for an automatic installation device for the steering tie rod of a stapler cartridge assembly, comprising the following steps:

[0071] S1. The robotic arm drives the gripper 5 to move to the loading station, and vacuum adsorbs the steering rod 4 through the adsorption tube 6 to make it horizontal.

[0072] S2. The robotic arm drives the gripper 5 to move above the fixture 1 and rotates around its own axis by an angle so that the axis of the steering rod 4 forms an acute angle with the axis of the housing 2, and the insertion end 41 faces the slot 3.

[0073] S3, such as Figure 10 and Figure 11 As shown, the robotic arm drives the gripper 5 to feed radially along the housing 2, so that the insertion end 41 first enters the slot 3 under the pushing action of the pusher block 52;

[0074] S4. The vacuum in the adsorption tube 6 is released, releasing the adsorption on the steering tie rod 4.

[0075] S5. The robotic arm drives the gripper 5 to retract slightly in the radial direction to ensure that it avoids the housing 2 during subsequent rotation;

[0076] S6, such as Figure 12 As shown, the robotic arm drives the gripper 5 to rotate in the same direction by an angle, so that the side of the gripper 5 closest to the housing 2 is close to the insertion end 41.

[0077] S7. The robotic arm drives the gripper 5 to feed radially to the opening of the contact slot 3;

[0078] S8. The robotic arm drives the gripper 5 to advance along the axial direction of the housing 2, pushing the steering rod 4 completely into the slot 3. During the process of the steering rod 4 entering the slot 3, it also moves a distance along the axial direction of the housing 2, so that the transmission end 42 enters the flared groove 23, completing the installation.

[0079] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An automatic installation device for the steering tie rod of a stapler cartridge assembly, characterized in that, include: A clamp (1) is used to position and hold the housing (2) of the stapler cartridge assembly, such that the slot (3) on the housing (2) is oriented horizontally; the slot (3) is used to accommodate and limit the steering tie rod (4). The gripper (5) is located at the drive end of the robotic arm; The adsorption tube (6) is fixed on the gripper (5) and picks up the steering rod (4) by vacuum adsorption, so that the steering rod (4) is arranged horizontally; in the adsorption state, one end of the steering rod (4) protrudes out of the gripper (5) along its length direction, and this end is defined as the snap-in end (41). The gripper (5) drives the steering rod (4) to move under the drive of the manipulator, so that the insertion end (41) is first inserted into the slot (3), and then the remaining part is pushed into the slot (3) by the gripper (5) abutting against the slot (3) and moving along the axial direction of the housing (2); during the insertion process, the angle between the steering rod (4) and the axis of the housing (2) gradually decreases to zero; during the insertion process, the steering rod (4) moves synchronously along the axial direction of the housing (2); The lower wall of the slot (3) is flush with the upper surface of the clamp (1); When the insert end (41) has been inserted into the slot (3) and the rest of the part is still outside the slot (3), the lower end face of the steering rod (4) abuts against the upper end face of the clamp (1); The clamp (1) is provided with a protruding stop (7); The stop (7) and the gripper (5) are located on the same side of the housing (2); In the radial projection of the housing (2), the stop (7) is located within the projection range of the steering tie rod (4) and is close to the end of the steering tie rod (4) away from the snap-in end (41); The gripper (5) includes a vertically extending clamping plate (51); The clamping plate (51) is provided with a push block (52), the lower end of which protrudes downward from the clamping plate (51) by an amount equal to the thickness of the steering tie rod (4); The push block (52) is located on the side of the clamping plate (51) away from the slot (3); The clamp (51) has a vertically extending mounting groove (53) on one side, with an opening at its lower end; The pusher (52) is inserted into the mounting groove (53) and is positioned by friction. The push block (52) is provided with two vertically extending elongated holes (54). The positioning pin (55) passes through the elongated hole (54) and the corresponding position of the clamp (51), so that the push block (52) is constrained in the horizontal direction.

2. The automatic installation device for the steering tie rod of the stapler cartridge assembly according to claim 1, characterized in that: The portion of the stop (7) extending beyond the upper end of the clamp (1) is triangular, and its height increases from the side away from the shell (2) to the side closer to the shell (2).

3. The automatic installation device for the steering tie rod of the stapler cartridge assembly according to claim 1, characterized in that: The clamp (1) is provided with the following at both ends of the housing (2) along the axial direction: The limiting block (8) is located at one end of the housing (2) near the anvil (10), and is driven to rise and fall by the first cylinder (11) to press the anvil (10) against the axial end face of the adapter (12); The pressure block (9) is located at one end of the housing (2) away from the anvil (10) and is driven to rise and fall by the second cylinder (13) to press the upper end of the housing (2).

4. An installation method for an automatic installation device for a stapler cartridge assembly steering tie rod, characterized in that, The automatic installation device for the stapler cartridge assembly steering tie rod as described in claim 1 includes the following steps: S1. The robotic arm drives the gripper (5) to move to the loading station, and vacuum adsorbs the steering rod (4) through the adsorption tube (6) to make it horizontal. S2. The robotic arm drives the gripper (5) to move above the clamp (1) and rotates around its own axis by an angle so that the axis of the steering rod (4) forms an acute angle with the axis of the housing (2) and the insertion end (41) faces the slot (3). S3. The robotic arm drives the gripper (5) to feed radially along the housing (2), so that the insertion end (41) first enters the slot (3); S4. The adsorption tube (6) releases the vacuum, releasing the adsorption on the steering tie rod (4); S5. The robotic arm drives the gripper (5) to retract slightly in the radial direction to ensure that it avoids the housing (2) during subsequent rotation. S6. The robotic arm drives the gripper (5) to rotate in the same direction by an angle, so that the side of the gripper (5) close to the housing (2) is close to the insertion end (41). S7. The robotic arm drives the gripper (5) to feed radially to the opening of the abutment slot (3); S8. The robotic arm drives the gripper (5) to advance along the axial direction of the housing (2) and push the steering rod (4) completely into the slot (3); during the process of the steering rod (4) entering the slot (3), it also moves a distance along the axial direction of the housing (2) to complete the installation.

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