Robot power connection turntable structure

Abstract

The utility model discloses a robot power connection rotary table structure which is characterized by comprising a connection rotary table, a limiting ring, a motor rotary table and a spring. The device is characterized in that a main body of the switching turntable is cylindrical, an upper joint boss and a lower joint boss are respectively arranged on two end surfaces of the main body, and a limiting joint part is arranged on the circumferential surface of the cylinder; the limiting combination part is assembled and connected with a limiting ring which is axially fixed in advance; the plurality of lower joint bosses are assembled and connected with the motor turntable; a plurality of bosses engaged with the lower joint bosses are arranged on the motor turntable; one end of the motor turntable or the connecting turntable is fixedly connected with a spring. The medical robot has the advantages that accuracy, safety and efficiency of operation or treatment are improved, and development and application of the medical robot technology are promoted.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to a robot power connection turntable structure. Background Art

[0002] In the field of medical robots, turntable structures are widely used and are often used in surgical robots, image-guided robots, therapeutic robots and other equipment to achieve functions such as instrument connection, positioning and power transmission. However, existing turntable structures have some specific challenges and limitations in medical robots.

[0003] First, the traditional turntable structure has certain deficiencies in positioning and matching. Due to manufacturing process and design limitations, the traditional turntable structure often cannot achieve high-precision positioning and stable matching, which can easily lead to position deviations of surgical instruments or image-guided equipment, affecting the accuracy and safety of surgery or treatment. Secondly, the existing turntable structure has the risk of joint failure under special circumstances, causing abnormal or stagnant robot movement, affecting the continuity and reliability of surgery or treatment.

[0004] In addition, traditional turntable structures are often complex and easy to wear, which is not conducive to long-term continuous operation. Medical robots often need to work in high-intensity and long-term use environments. The easy wear of the turntable structure will greatly reduce the reliability and stability of the equipment and increase the maintenance and operating costs of the equipment.

[0005] In summary, the turntable structure in the prior art has problems such as insufficient precision, high risk of joint failure and easy wear and tear. It is urgent to propose a new turntable structure to solve these shortcomings and promote the advancement and application of medical robot technology. Summary of the invention

[0006] In order to solve the above technical problems, the utility model provides a robot power connection turntable structure.

[0007] The utility model is realized by the following technical solutions:

[0008] The utility model discloses a robot power connection turntable structure, characterized in that it includes a transfer turntable, a limit ring, a motor turntable and a spring; characterized in that the main body of the transfer turntable is cylindrical, and a plurality of upper engaging bosses and a plurality of lower engaging bosses are respectively arranged at its two end surfaces, and a limit joint portion is arranged on the circumferential surface of the cylinder; the limit joint portion is assembled and connected with the limit ring that is axially fixed in advance; a plurality of lower engaging bosses are assembled and connected with the motor turntable; a plurality of bosses that mesh with the lower engaging bosses are arranged on the motor turntable; a spring is arranged on the transfer turntable or the motor turntable, so that the two have a tendency to move relative to each other.

[0009] Furthermore, a plurality of upper engaging bosses and a plurality of lower engaging bosses are respectively arranged at both ends of the transfer turntable body, are respectively integrally formed with the transfer turntable body, and are respectively arranged in a uniform circular array along the central axis of the transfer turntable body; the upper engaging boss or the lower engaging boss is provided with a chamfer or a rounded corner at one end away from the transfer turntable body to form a pointed end; among the plurality of upper engaging bosses, a gap profile formed between any two adjacent upper engaging bosses is larger than an inverted profile of the upper engaging bosses; among the plurality of lower engaging bosses 12, a gap profile formed between any two adjacent lower engaging bosses 12 is larger than an inverted profile of the lower engaging boss 12.

[0010] Furthermore, the limiting ring is a circular ring; the limiting joint is a circular protrusion coaxially arranged with the transfer turntable body; the inner diameter of the limiting joint is smaller than the outer diameter of the limiting ring 2; the contact surface between the limiting ring and the limiting joint is a plane;

[0011] Or, large-angle bosses that can mesh with each other are respectively arranged on the contact surfaces of the limit ring and the limit joint; there are a number of large-angle bosses on the limit ring, which are arranged in a circular array along the main body of the transfer turntable; the gap profile formed between any two large-angle bosses is the same as the inverted profile of the large-angle bosses; the tips of the large-angle bosses form an angle.

[0012] Furthermore, the plurality of bosses arranged on the motor turntable and engaged with the lower engaging bosses have the same shape, the same number, and the same arrangement as the plurality of lower engaging bosses.

[0013] In summary, the robot power connection turntable structure includes four main components: the transfer turntable, the limit ring, the motor turntable and the spring. Among them, the transfer turntable, as the main body of the overall structure, is cylindrical, and is provided with an upper engaging boss and a lower engaging boss at both end surfaces, as well as a limit joint provided on the circumference of the cylinder. The design between these components is to ensure that the connection between the turntables is stable and reliable.

[0014] Specifically, the limiting joint is connected to a limiting ring that is axially fixed in advance, thereby ensuring the positioning of the turntable. A plurality of lower engaging bosses are connected to the motor turntable to provide a power transmission function. The bosses on the motor turntable mesh with the lower engaging bosses to ensure the movement and coordination between the turntables.

[0015] Further designs include: the shape, quantity and arrangement of the upper engaging bosses match those of the lower engaging bosses, and the two are similar and do not need to be completely consistent, to ensure the fit and stability between the turntables. At the same time, the upper engaging bosses and the lower engaging bosses are evenly distributed along the central axis of the main body of the transfer turntable, and a tip portion is provided at one end for easy operation and installation.

[0016] The tip design of the boss is of great significance. When the bosses are not fully engaged, the tip design can ensure that there is point, line or inclined surface to inclined surface contact between them, which helps to provide correct positioning and fit between the adapter turntable and the motor turntable.

[0017] At the same time, the spring on the motor turntable or the adapter turntable provides an axial compression force, so that the adapter turntable generates pressure when it approaches the motor turntable, prompting it to rotate until it is properly engaged. This design can significantly increase the probability of proper engagement.

[0018] However, in special cases, when the lower engaging boss of the adapter turntable and the boss on the motor turntable are facing each other, the axial force provided by the spring alone may cause a jamming phenomenon, resulting in a failed engagement. To solve this problem, a large beveled boss that meshes with each other can be added on the basis of the original solution. Such a design can make the adapter turntable rotate, so that the lower engaging boss and the boss on the motor turntable are no longer facing each other, thereby further improving the probability of correct engagement.

[0019] The beneficial effects of the utility model are:

[0020] Improve positioning accuracy and coordination stability: The new structural design can achieve higher-precision positioning and more stable coordination, effectively reduce the positional deviation of surgical instruments or image-guided devices, and improve the accuracy and safety of surgery or treatment.

[0021] Reduce the risk of joint failure: It effectively solves the problem of joint failure that is prone to occur in traditional structures under special circumstances, ensures the continuity and reliability of robot movement, and is conducive to the smooth progress of medical operations.

[0022] Improve structural stability and durability: The new structure adopts a reasonable design, which can improve the stability and durability of the turntable structure, effectively reduce the maintenance and operating costs of the equipment, extend the service life of the equipment, and meet the needs of long-term and stable operation of the medical robot.

[0023] In summary, the utility model will bring many beneficial effects to the field of medical robots, and is expected to improve the accuracy, safety and efficiency of surgery or treatment, and promote the development and application of medical robot technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 : A schematic diagram of the structure of Embodiment 1 of the present utility model;

[0025] Figure 2 : Another structural schematic diagram of embodiment 1 of the utility model;

[0026] Figure 3 : A first structural schematic diagram of Embodiment 2 of the present utility model;

[0027] Figure 4 : A second structural schematic diagram of Embodiment 2 of the present utility model;

[0028] Figure 5 : A third structural schematic diagram of Embodiment 2 of the present utility model;

[0029] Figure 6 : A schematic diagram of the structure of the transfer turntable in Embodiment 2 of the present utility model;

[0030] Figure 7 : Reference schematic diagram of the use state of embodiment 2 of the utility model;

[0031] In the figure: 1-adapter turntable, 2-limiting ring, 3-motor turntable, 4-spring, 11-upper engaging boss, 12-lower engaging boss, 13-limiting engaging part, A-instrument turntable. DETAILED DESCRIPTION

[0032] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0033] Example 1: Figure 1 , 2 As shown, a robot power coupling turntable structure is characterized in that it includes an adapter turntable 1, a limit ring 2, a motor turntable 3 and a spring 4; characterized in that the main body of the adapter turntable 1 is cylindrical, and a plurality of upper engaging bosses 11 and a plurality of lower engaging bosses 12 are respectively arranged at its two end surfaces, and a limit joint 13 is arranged on the circumferential surface of the cylinder; the limit joint 13 is assembled and connected with the limit ring 2 that is axially fixed in advance; a plurality of lower engaging bosses 12 are assembled and connected with the motor turntable 3; a plurality of bosses that mesh with the lower engaging bosses 12 are arranged on the motor turntable 3; a spring 4 is arranged on the adapter turntable 1 or the motor turntable 3, so that the two have a tendency to move relative to each other.

[0034] A plurality of upper engaging bosses 11 and a plurality of lower engaging bosses 12 are respectively arranged at the two ends of the main body of the transfer turntable 1, are respectively integrally formed with the main body of the transfer turntable 1, and are respectively arranged in a uniform circular array along the central axis of the main body of the transfer turntable 1; the upper engaging boss 11 or the lower engaging boss 12 is provided with a chamfer or a fillet at one end away from the main body of the transfer turntable 1 to form a pointed end; among the plurality of upper engaging bosses 11, the gap profile formed between any two adjacent upper engaging bosses 11 is larger than the inverted profile of the upper engaging boss 11; among the plurality of lower engaging bosses 12, the gap profile formed between any two adjacent lower engaging bosses 12 is larger than the inverted profile of the lower engaging boss 12.

[0035] The plurality of bosses arranged on the motor turntable 3 and engaged with the lower engaging bosses 12 have the same shape, the same number and the same arrangement as the plurality of lower engaging bosses 12 .

[0036] The limiting ring 2 is a circular ring; the limiting joint 13 is a circular protrusion coaxially arranged with the main body of the transfer turntable 1; the inner diameter of the limiting joint 13 is smaller than the outer diameter of the limiting ring 2; the contact surface between the limiting ring 2 and the limiting joint 13 is a plane.

[0037] The design of the boss tip is important. Figure 2 As shown, the tip design can ensure point, line or inclined-surface contact between them, which helps to provide correct positioning and fit between the adapter turntable 1 and the motor turntable.

[0038] At the same time, the spring 4 on the motor turntable 3 or the adapter turntable 1 provides an axial compression force, so that the adapter turntable 1 generates pressure when it approaches the motor turntable 4, prompting it to rotate until it is properly engaged. Figure 1 This design can significantly increase the probability of correct engagement.

[0039] Finally, the upper engaging boss 11 is used to connect the instrument turntable A.

[0040] Example 2: Figure 3-7 As shown, a robot power connection turntable structure includes a transfer turntable 1, a limit ring 2, a motor turntable 3 and a spring 4; characterized in that the main body of the transfer turntable 1 is cylindrical, and a plurality of upper engaging bosses 11 and a plurality of lower engaging bosses 12 are respectively arranged at the two end surfaces thereof, and a limit engaging portion 13 is arranged on the circumferential surface of the cylinder;

[0041] The limiting joint 13 is assembled and connected with the limiting ring 2 which is axially fixed in advance;

[0042] The lower engaging bosses 12 are assembled and connected with the motor turntable 3; the motor turntable 3 is provided with a plurality of bosses which are engaged and assembled with the lower engaging bosses 12;

[0043] The transfer turntable 1 or the motor turntable 3 is provided with a spring 4 to make the two have a tendency to move relative to each other;

[0044] The plurality of upper engaging bosses 11 and the plurality of lower engaging bosses 12 are respectively arranged at both ends of the main body of the transfer turntable 1, are respectively formed integrally with the main body of the transfer turntable 1, and are respectively arranged in a uniform circular array along the central axis of the main body of the transfer turntable 1;

[0045] The upper engaging boss 11 or the lower engaging boss 12 is provided with a chamfer or a rounded corner at one end away from the main body of the transfer turntable 1 to form a tip portion;

[0046] Among the plurality of upper engaging bosses 11, the gap profile formed between any two adjacent upper engaging bosses 11 is larger than the inverted profile of the upper engaging bosses 11;

[0047] Among the plurality of lower engaging bosses 12, the gap profile formed between any two adjacent lower engaging bosses 12 is larger than the inverted profile of the lower engaging bosses 12;

[0048] The limiting ring 2 is a circular ring; the limiting joint 13 is a circular protrusion coaxially arranged with the main body of the transfer turntable 1; the inner diameter of the limiting joint 13 is smaller than the outer diameter of the limiting ring 2; the contact surfaces of the limiting ring 2 and the limiting joint 13 are respectively provided with large-angle bosses that can mesh with each other; there are a number of large-angle bosses on the limiting ring 2, which are arranged in a circular array along the main body of the transfer turntable 1; the gap profile formed between any two large-angle bosses is the same as the inverted profile of the large-angle bosses; the tips of the large-angle bosses form an angle.

[0049] The design of the boss tip is important. Figure 3 As shown, the tip design can ensure point, line or inclined-surface contact between them, which helps to provide correct positioning and fit between the adapter turntable 1 and the motor turntable.

[0050] At the same time, the spring 4 on the motor turntable 3 or the adapter turntable 1 provides an axial compression force, so that the adapter turntable 1 generates pressure when it approaches the motor turntable 4, prompting it to rotate until it is properly engaged. Figure 4 This design can significantly increase the probability of correct engagement.

[0051] In a special case, when the lower engaging boss 12 of the transfer turntable 1 and the boss tip on the motor turntable 3 are facing each other, Figure 5 As shown, only the axial force provided by the spring 4 will cause a stuck phenomenon, resulting in a failed engagement. In order to solve this problem, this embodiment is provided with mutually meshing large angle bosses. Such a design can cause the adapter turntable 1 to produce a rotational motion during engagement, so that the lower engagement boss 12 and the boss on the motor turntable 3 are no longer in a state where the tip is directly facing the tip, thereby further improving the probability of correct engagement.

[0052] Finally, the upper engaging boss 11 is used to connect the upper instrument turntable A. Figure 7 shown.

[0053] Finally, it should be noted that the above is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A robot power connection turntable structure, characterized in that: The invention comprises a transfer turntable (1), a limiting ring (2), a motor turntable (3) and a spring (4); the characteristic is that the main body of the transfer turntable (1) is cylindrical, and a plurality of upper engaging bosses (11) and a plurality of lower engaging bosses (12) are respectively arranged at the two end surfaces thereof, and a limiting joint portion (13) is arranged on the circumferential surface of the cylinder; The limiting joint (13) is assembled and connected with a limiting ring (2) that is axially fixed in advance; A plurality of the lower engaging bosses (12) are connected to the motor turntable (3); the motor turntable (3) is provided with a plurality of bosses which are engaged with the lower engaging bosses (12); The transfer turntable (1) or the motor turntable (3) is provided with a spring (4) so ​​that the two have a tendency to move relative to each other.

2. A robot power connection turntable structure as claimed in claim 1, characterized in that: A plurality of upper engaging bosses (11) and a plurality of lower engaging bosses (12) are respectively arranged at two ends of the main body of the transfer turntable (1), are respectively formed integrally with the main body of the transfer turntable (1), and are respectively arranged in a uniform circular array along the central axis of the main body of the transfer turntable (1); The end of the upper engaging boss (11) or the lower engaging boss (12) away from the main body of the transfer turntable (1) is provided with a chamfer or a rounded corner to form a tip portion; Among the plurality of upper engaging bosses (11), the gap profile formed between any two adjacent upper engaging bosses (11) is larger than the inverted profile of the upper engaging bosses (11); Among the plurality of lower engaging bosses (12), a gap profile formed between any two adjacent lower engaging bosses (12) is larger than an inverted profile of the lower engaging bosses (12).

3. A robot power connection turntable structure as claimed in claim 1, characterized in that: The limiting ring (2) is a circular ring; the limiting coupling portion (13) is a circular ring-shaped protrusion coaxially arranged with the main body of the transfer turntable (1); the inner diameter of the limiting coupling portion (13) is smaller than the outer diameter of the limiting ring (2).

4. A robot power connection turntable structure as claimed in claim 1 or 2, characterized in that: The plurality of bosses arranged on the motor turntable (3) and engaged with the lower engaging bosses (12) have the same shape, the same number and the same arrangement as the plurality of lower engaging bosses (12).

5. A robot power connection turntable structure, characterized in that: The invention comprises a transfer turntable (1), a limiting ring (2), a motor turntable (3) and a spring (4); the characteristic is that the main body of the transfer turntable (1) is cylindrical, and a plurality of upper engaging bosses (11) and a plurality of lower engaging bosses (12) are respectively arranged at the two end surfaces thereof, and a limiting joint portion (13) is arranged on the circumferential surface of the cylinder; The limiting joint (13) is assembled and connected with a limiting ring (2) that is axially fixed in advance; A plurality of the lower engaging bosses (12) are connected to the motor turntable (3); the motor turntable (3) is provided with a plurality of bosses which are engaged with the lower engaging bosses (12); The transfer turntable (1) or the motor turntable (3) is provided with a spring (4) so ​​that the two have a tendency to move relative to each other; A plurality of upper engaging bosses (11) and a plurality of lower engaging bosses (12) are respectively arranged at two ends of the main body of the transfer turntable (1), are respectively formed integrally with the main body of the transfer turntable (1), and are respectively arranged in a uniform circular array along the central axis of the main body of the transfer turntable (1); The end of the upper engaging boss (11) or the lower engaging boss (12) away from the main body of the transfer turntable (1) is provided with a chamfer or a rounded corner to form a tip portion; Among the plurality of upper engaging bosses (11), the gap profile formed between any two adjacent upper engaging bosses (11) is larger than the inverted profile of the upper engaging bosses (11); Among the plurality of lower engaging bosses (12), the gap profile formed between any two adjacent lower engaging bosses (12) is larger than the inverted profile of the lower engaging bosses (12); The limiting ring (2) is a circular ring; the limiting joint (13) is a circular protrusion coaxially arranged with the main body of the transfer turntable (1); the inner diameter of the limiting joint (13) is smaller than the outer diameter of the limiting ring (2); and large beveled bosses that can mesh with each other are respectively arranged on the contact surfaces of the limiting ring (2) and the limiting joint (13).

6. A robot power connection turntable structure as claimed in claim 5, characterized in that: A plurality of large-angle bosses are provided on the limiting ring (2), which are arranged in a circular array along the main body of the transfer turntable (1); the profile of the gap formed between any two large-angle bosses is the same as the inverted profile of the large-angle bosses.

7. A robot power connection turntable structure as claimed in claim 6, characterized in that: The tip of the large-angle boss forms an angle.

8. A robot power connection turntable structure according to any one of claims 5 to 7, characterized in that: The plurality of bosses arranged on the motor turntable (3) and engaged with the lower engaging bosses (12) have the same shape, the same number and the same arrangement as the plurality of lower engaging bosses (12).

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