An assembly apparatus for a surgical robotic hook actuator

Abstract

The application discloses a kind of equipment of surgical robot electric hook executor's assembly, belong to automatic assembly technical field, including the assembly seat and assembly frame of "L" type for electric hook assembly, electric hook includes inner electrocoagulation sleeve, insulating rubber sheath pipe that is sleeved outside inner electrocoagulation sleeve, hook core installed with curved hook head and the execution end provided with connecting interface, arrangement conveying unit for conveying quality inspection to hook core is provided on assembly seat, and arrangement conveying unit two sides are respectively provided with suspension turnover unit and quality inspection switching unit.The application realizes the detection of the electrical properties and functions of hook core in the electric hook assembly process, and through head suspension groove, guide port, L-shaped locking port and the like, the accurate positioning of each component during the assembly process is ensured, the execution end can be accurately tightened on hook core through servo control, the consistency and reliability of threaded connection are ensured, and errors or damage caused by improper manual operation are reduced.

Description

Technical Field

[0001] This invention relates to the field of automated assembly technology, and more particularly to an assembly device for an electric hook actuator for a surgical robot. Background Technology

[0002] Minimally invasive surgical robots (such as the da Vinci robotic system) provide surgeons with magnified 3D high-definition vision, tremor filtering, and dexterity and precision surpassing that of the human hand. The retractable electrocoagulation hook, a key execution tool for fully realizing the potential of minimally invasive surgical robots, not only achieves precise electrocoagulation cutting during surgery but also simultaneously performs smoking and fluid aspiration, effectively maintaining a clear surgical field and significantly improving the autonomy, efficiency, and safety of robotic surgery. On high-end minimally invasive surgical robot platforms, this electrocoagulation hook offers higher overall surgical efficacy compared to traditional electrocoagulation hooks.

[0003] However, existing retractable electrocoagulation hooks for smoking and liquid suction require extremely high positional accuracy from various components (such as the hook core, insulating rubber sheath, inner electrocoagulation sleeve, and actuator) during assembly due to their precise structure and diverse components. Traditional assembly processes typically employ a "piece-by-piece assembly" approach, which is not only cumbersome and reliant on manual operation, but also makes it difficult to perform real-time functional and electrical performance testing on key components (such as the hook core) during assembly. This results in potential quality issues going undetected and unaddressed, severely impacting overall assembly efficiency and product reliability. Therefore, there is an urgent need to develop an electric hook actuator assembly device with online quality inspection capabilities, capable of precise positioning and automatic integration of multiple components, to overcome the bottlenecks in efficiency and quality control inherent in existing assembly processes. Summary of the Invention

[0004] The purpose of this invention is to solve the problems existing in the prior art and to propose an assembly device for an electric hook actuator for a surgical robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An assembly device for an electrocautery hook actuator for a surgical robot includes an "L"-shaped assembly base and an assembly frame for assembling the electrocautery hook. The electrocautery hook includes an inner electrocautery sleeve, an insulating rubber sheath sleeved outside the inner electrocautery sleeve, a hook core with a bent hook head, and an actuator end with a connection interface. The assembly base is provided with an arrangement and conveying unit for conveying and inspecting the hook core. A suspension and flipping unit and an inspection and switching unit are respectively provided on both sides of the arrangement and conveying unit. The assembly base is provided with a lifting and mounting unit for assembling the actuator end. An offset assembly unit for assembling the inner electrocautery sleeve is provided above the lifting and mounting unit.

[0006] As a preferred embodiment, the arrangement and conveying unit includes a conveyor belt disposed on an assembly frame, the surface of which has a notch for conveying the hook core, and an arc-shaped blocking cover is disposed on the assembly frame located at the conveyor belt to prevent the hook core from falling.

[0007] As a preferred embodiment, the suspension flipping unit includes a flipping cylinder connected to an assembly frame via a rotating motor, and a plurality of suspension detection components are evenly arranged on the outer side wall of the flipping cylinder; The suspension detection component includes a suspension rail plate fixedly installed on the side wall of the tilting cylinder. The suspension rail plate has a hook head suspension groove for the hook head of the hook core to move. Multiple temperature sensors for detecting the hook core are evenly arranged on the hook head suspension groove.

[0008] As a preferred embodiment, the quality inspection switching unit includes a switching main drive push rod disposed on the assembly base, the output end of the switching main drive push rod is connected to an inner push plate, the inner push plate is connected to an electrical contact rail via a connecting block, a quality inspection electric push rod is disposed on the inner push plate, and a quality inspection electrical contact strip is connected to the output end of the quality inspection electric push rod. The quality inspection electrical strip is equipped with an electrical post that supplies power to the hook core, and the electrical post extends through into the electrical rail.

[0009] As a preferred embodiment, the lifting and mounting unit includes an upward push rod disposed within the assembly base. The output end of the upward push rod is connected to a mounting base. The mounting base is connected to a torsion disc via a linkage tightening component. The torsion disc has a torsion port for mounting the actuator.

[0010] As a preferred embodiment, the interlocking tightening component includes a transmission cavity formed in the mounting base, an interlocking motor is provided on the mounting base, the output end of the interlocking motor is connected to multiple worm shafts, the torsion disc is connected to a worm wheel through a vertical shaft, and the worm wheel is meshed with the multiple worm shafts.

[0011] As a preferred embodiment, the offset assembly unit includes an embedded assembly seat connected to the mounting base via an elastic connector. The embedded assembly seat has an insertion port on its side for installing an insulating rubber sheath tube. A locking slide is provided on the top slide of the embedded assembly seat. The locking slide has an L-shaped locking port. The embedded assembly seat is provided with a locking electric push rod that drives the locking slide to move.

[0012] As a preferred embodiment, the elastic connector includes a fixing lug fixedly connected to the mounting base and the embedded assembly, wherein a spring post is fixedly connected to the lower fixing lug, and the spring post is slidably connected to the upper fixing lug.

[0013] As a preferred embodiment, one end of the suspension detection component is provided with a guide end, and the guide end has a guide port for positioning and twisting the hook core.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In the process of electric hook assembly, the present invention uses a quality inspection switching unit to test the electrical performance and function of the hook core. Furthermore, through the head suspension groove, guide port, L-shaped locking port, etc., the precise positioning of each component during the assembly process is ensured. Through servo control, the execution end can be precisely tightened onto the hook core, ensuring the consistency and reliability of the threaded connection and reducing errors or damage caused by improper manual operation.

[0015] 2. This invention achieves automatic feeding, positioning and assembly of the hook core, actuator, insulating rubber sheath and inner electrocoagulation sleeve by coordinating the conveying unit, suspension and flipping unit and lifting and installation unit. It changes the traditional "one-by-one assembly" mode and integrates multiple assembly steps into a continuous automated process, which greatly reduces manual intervention and time costs. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of an assembly device for an electric hook actuator for a surgical robot proposed in this invention; Figure 2 This is a schematic diagram of the combined structure of the conveying unit, the suspension and flipping unit, and the quality inspection and switching unit in the assembly equipment for the electric hook actuator of a surgical robot proposed in this invention. Figure 3 This is a schematic diagram of the suspended flipping unit in the assembly equipment of the electric hook actuator for a surgical robot proposed in this invention; Figure 4 This is a schematic diagram of the quality inspection switching unit in the assembly equipment of the electric hook actuator for a surgical robot proposed in this invention; Figure 5 This is a schematic diagram of the lifting and offset assembly unit in the assembly equipment for an electric hook actuator of a surgical robot proposed in this invention; Figure 6 This is a schematic diagram of the bias assembly unit in the assembly equipment for an electric hook actuator of a surgical robot proposed in this invention; Figure 7 This is a schematic diagram of the interconnected tightening component in the assembly equipment for an electric hook actuator of a surgical robot proposed in this invention.

[0017] In the diagram: 1. Assembly base; 2. Assembly frame; 3. Conveyor belt; 4. Notch; 5. Arc-shaped blocking cover; 6. Tilting cylinder; 7. Suspension rail plate; 8. Hook suspension groove; 9. Guide end; 10. Switching main drive push rod; 11. Inner push plate; 12. Electrical connection rail; 13. Quality inspection electric push rod; 14. Quality inspection electrical connection strip; 15. Electrical connection column; 16. Lifting push rod; 17. Mounting base; 18. Torque disc; 19. Torque opening; 20. Linked control motor; 21. Multi-worm shaft; 22. Worm gear disc; 23. Embedded combination base; 24. Embedded opening; 25. Locking slide; 26. L-shaped locking opening; 27. Locking electric push rod; 28. Fixed lug; 29. ​​Spring column; 30. Temperature sensor. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Example, refer to Figures 1 to 7 An assembly device for an electrocautery hook actuator for a surgical robot includes an "L"-shaped assembly base 1 and an assembly frame 2 for assembling the electrocautery hook. The electrocautery hook includes an inner electrocautery sleeve, an insulating rubber sheath sleeved outside the inner electrocautery sleeve, a hook core with a bent hook head, and an execution end with a connection interface. The structure of the electrocautery hook is the same as that of the existing retractable smoke-absorbing and liquid-absorbing electrocautery hook, which will not be described in detail here.

[0022] The assembly base 1 is equipped with an arrangement conveying unit for conveying and inspecting the hook core. The arrangement conveying unit includes a conveyor belt 3 set on the assembly frame 2. The conveyor belt 3 is driven by a pulley driven by a motor. The conveyor belt 3 is existing technology and will not be described in detail here. The surface of the conveyor belt 3 is provided with a notch 4 for conveying the hook core. The assembly frame 2 located at the conveyor belt 3 is equipped with an arc-shaped blocking cover 5 to prevent the hook core from falling. The hook core is transported by the conveyor belt 3 set on the assembly frame 2. The notch 4 set on the conveyor belt 3 will limit the hook core. During the rotation of the conveyor belt 3, the hook core is transported to the suspension and flipping unit in an orderly manner.

[0023] The two sides of the conveying unit are respectively equipped with a suspension flipping unit and a quality inspection switching unit. Further, the suspension flipping unit includes a flipping cylinder 6 connected to the assembly frame 2 via a rotating motor. Multiple suspension inspection pieces are evenly arranged on the outer wall of the flipping cylinder 6. The suspension detection component includes a suspension rail plate 7 fixedly installed on the side wall of the tilting cylinder 6. The suspension rail plate 7 has a hook head suspension groove 8 for the hook head of the hook core to move. The hook core is always in the hook head suspension groove 8 to achieve the purpose of suspension in a vertical state.

[0024] One end of the suspension detection component is provided with a guide end 9, which has a guide port for positioning and twisting the hook core. The guide end 9 can adjust the position of the hook core and hook head.

[0025] Furthermore, the quality inspection switching unit includes a switching main drive push rod 10 mounted on the assembly base 1. The output end of the switching main drive push rod 10 is connected to an inner push plate 11. The inner push plate 11 is connected to an electrical rail 12 via a connecting block. A quality inspection electric push rod 13 is mounted on the inner push plate 11. The output end of the quality inspection electric push rod 13 is connected to a quality inspection electrical strip 14. When the quality inspection electric push rod 13 is working, the quality inspection electrical strip 14 connected to it moves inward and contacts the wiring end of the hook core. At this time, by supplying power to the quality inspection electrical strip 14, the hook head at the end of the hook core is heated. The quality inspection electrical strip 14 is equipped with an electrical post 15 that supplies power to the hook core. The electrical post 15 extends through into the electrical guide rail 12. One end of the hook core is the hook head, and the other end is the electrical terminal. When the electrical post 15 comes into contact with the electrical terminal, the hook head at one end of the hook core will heat up, simulating the actual working state. At this time, the hook core can be detected by the temperature sensor.

[0026] The assembly base 1 is provided with a lifting and mounting unit for assembling the actuator. Further, the lifting and mounting unit includes an upward push rod 16 disposed in the assembly base 1. The output end of the upward push rod 16 is connected to a mounting base 17. The mounting base 17 is connected to a torsion disc 18 through a linkage tightening component. The torsion disc 18 has a torsion port 19 for mounting the actuator. Under the action of the torsion disc 18, the actuator can be threadedly tightened to the hook core.

[0027] Furthermore, the interlocking tightening component includes a transmission cavity formed within the mounting base 17. The mounting base 17 is equipped with an interlocking motor 20, which is existing technology and will not be described in detail here. The output end of the interlocking motor 20 is connected to a multi-worm shaft 21. The torsion disc 18 is connected to a worm wheel 22 via a vertical shaft. The worm wheel 22 meshes with the multi-worm shaft 21, which is also existing technology.

[0028] Above the lifting installation unit is an offset assembly unit for assembling the inner electrocoagulation sleeve. The offset assembly unit includes an embedded assembly seat 23 connected to the installation base 17 via an elastic connector. The side of the embedded assembly seat 23 has an embedded port 24 for installing the insulating rubber sheath. The top slide of the embedded assembly seat 23 is provided with a locking slide 25. The locking slide 25 has an L-shaped locking port 26. The embedded assembly seat 23 is provided with a locking electric push rod 27 that drives the locking slide 25 to move.

[0029] Furthermore, the elastic connector includes a fixed lug 28 fixedly connected to the mounting base 17 and the embedded assembly seat 23. The lower fixed lug 28 is fixedly connected to a spring post 29, and the spring post 29 is slidably connected to the upper fixed lug 28. Under the action of the elastic connector, the embedded assembly seat 23 will move upward first, so that the insulating rubber sheath and the hook core can be assembled. After complete assembly, the upper part of the embedded assembly seat 23 will be blocked by the suspension detection device on the flipping cylinder 6 and cannot continue to move. At this time, the mounting base 17 continues to move upward, and the mounting base 17 and the embedded assembly seat 23 approach each other, so that the actuator provided on the mounting base 17 will contact the assembled insulating rubber sheath and the hook core. The actuator will achieve assembly when it contacts the hook core.

[0030] In the assembly of the electrocoagulation hook, the present invention uses a conveyor belt 3 on the assembly frame 2 to transport the hook core. The notch 4 on the conveyor belt 3 limits the position of the hook core. During the rotation of the conveyor belt 3, the hook core is transported in an orderly manner to the suspension and flipping unit. Subsequently, guided by the arc-shaped blocking cover 5, the hook core enters the suspension testing component. The hook core is positioned and twisted through the guide port 9 to ensure the hook head is correctly suspended on the hook head suspension groove 8. At this time, the other end of the hook core is at the electrical contact rail 12, and the hook core is in a horizontal state. The quality inspection electric push rod 13, located on the inner push plate 11, is activated, causing the connected quality inspection electrical contact bar 14 to move inward and contact the hook core's wiring terminal. Power is then supplied to the quality inspection electrical contact bar 14, causing the hook head at the end of the hook core to heat up, simulating the working state of the electric hook. The stability sensor 30 then performs stability testing on the electric hook, achieving quality control and testing of its electrical performance. If the hook core passes quality inspection, subsequent assembly continues; if it fails, the quality inspection switching unit rejects it. After the electric hook is tested, it is changed from a horizontal state to a vertical suspension state. The main drive push rod 10 is switched to drive the inner push plate 11 to activate the electric hook, which causes the power guide rail 12 to move. The original support force on one end of the electric hook is canceled. At this time, the synchronous control flipping cylinder 6 drives the suspension detection component to rotate under the drive of the rotating motor, so that the hook core adjusts its posture to a vertical state during the flipping process.

[0031] Next, the lifting and installation unit is operated. Under the action of the elastic connector, the insertion port 24 of the embedded assembly 23 is aligned with the insulating rubber sheath. The locking electric push rod 27 pushes the locking slide 25 to move. The L-shaped locking port 26 locks the insulating rubber sheath and the inner electrocoagulation sleeve on the embedded assembly 23. At this time, the lifting push rod 16 pushes the installation base 17 to rise, so that the torsion port 19 on the torsion disc 18 is connected with the execution end. The linkage control tightening component drives the multi-worm shaft 21 through the linkage control motor 20, which drives the worm wheel 22 and the torsion disc 18 to rotate, tightening and fixing the execution end on the hook core. The whole process is automated, which improves the assembly efficiency and accuracy and ensures the reliable integration of the electrocoagulation hook assembly.

[0032] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An assembly device for an electrocautery hook actuator for a surgical robot, comprising an "L"-shaped assembly base (1) and an assembly frame (2) for assembling the electrocautery hook, wherein the electrocautery hook comprises an inner electrocautery sleeve, an insulating rubber sheath sleeved outside the inner electrocautery sleeve, a hook core with a bent hook head, and an actuator end with a connection interface, characterized in that, The assembly base (1) is provided with an arrangement conveying unit for conveying and inspecting the hook core. The arrangement conveying unit is provided with a suspension flipping unit and an inspection switching unit on both sides. The assembly base (1) is provided with a lifting and mounting unit for assembling the execution end. Above the lifting and mounting unit is an offset assembly unit for assembling the inner electrocoagulation sleeve.

2. The assembly equipment for an electric hook actuator of a surgical robot according to claim 1, characterized in that, The arrangement and conveying unit includes a conveyor belt (3) set on the assembly frame (2), the surface of the conveyor belt (3) is provided with a notch (4) for conveying the hook core, and an arc-shaped blocking cover (5) is set on the assembly frame (2) located at the conveyor belt (3) to prevent the hook core from falling.

3. The assembly equipment for an electric hook actuator of a surgical robot according to claim 1, characterized in that, The suspended flipping unit includes a flipping cylinder (6) connected to the assembly frame (2) via a rotating motor, and multiple suspended detection components are evenly arranged on the outer side wall of the flipping cylinder (6); The suspension detection component includes a suspension rail plate (7) fixedly installed on the side wall of the flipping cylinder (6). The suspension rail plate (7) has a hook head suspension groove (8) for the hook head of the hook core to move. Multiple temperature sensors (30) for detecting the hook core are evenly arranged on the hook head suspension groove (8).

4. The assembly equipment for an electric hook actuator for a surgical robot according to claim 1, characterized in that, The quality inspection switching unit includes a switching main drive push rod (10) set on the assembly base (1), the output end of the switching main drive push rod (10) is connected to an inner push plate (11), the inner push plate (11) is connected to an electrical rail (12) through a connecting block, a quality inspection electric push rod (13) is set on the inner push plate (11), and a quality inspection electrical strip (14) is connected to the output end of the quality inspection electric push rod (13). The quality inspection electrical strip (14) is provided with an electrical post (15) for supplying power to the hook core, and the electrical post (15) extends through into the electrical guide rail (12).

5. The assembly equipment for an electric hook actuator for a surgical robot according to claim 1, characterized in that, The lifting installation unit includes an upward push rod (16) disposed in the assembly base (1). The output end of the upward push rod (16) is connected to the mounting base (17). The mounting base (17) is connected to a torsion disc (18) through a joint control tightening component. The torsion disc (18) has a torsion port (19) for the installation of the execution end.

6. The assembly equipment for an electric hook actuator of a surgical robot according to claim 5, characterized in that, The control tightening component includes a transmission cavity opened in the mounting base (17). The mounting base (17) is equipped with a control motor (20). The output end of the control motor (20) is connected to a multi-worm shaft (21). The torsion disc (18) is connected to a worm wheel disc (22) through a vertical shaft. The worm wheel disc (22) is meshed with the multi-worm shaft (21).

7. The assembly equipment for an electric hook actuator for a surgical robot according to claim 1, characterized in that, The offset assembly unit includes an embedded assembly base (23) connected to the mounting base (17) via an elastic connector. The embedded assembly base (23) has an embedded port (24) on its side for installing an insulating rubber sheath tube. The top slide of the embedded assembly base (23) is provided with a locking slide (25). The locking slide (25) has an L-shaped locking port (26). The embedded assembly base (23) is provided with a locking electric push rod (27) that drives the locking slide (25) to move.

8. The assembly equipment for an electric hook actuator of a surgical robot according to claim 7, characterized in that, The elastic connector includes a fixed lug (28) fixedly connected to the mounting base (17) and the embedded assembly (23), the lower fixed lug (28) being fixedly connected to a spring post (29), and the spring post (29) being slidably connected to the upper fixed lug (28).

9. The assembly equipment for an electric hook actuator of a surgical robot according to claim 1, characterized in that, The suspension detection component is provided with a guide end (9) at one end, and the guide end (9) is provided with a guide port for positioning and twisting the hook core.

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