Two-section type telescopic mechanism
Through the design of the two-stage telescopic mechanism, the gear meshing and limiting structure are used to solve the problem of excessive size of the existing surgical robot telescopic mechanism during long strokes, achieving longer stroke movement and reducing space occupation.
Patent Information
- Application Number
- CN202422366492.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2025-07-11
- Estimated Expiration
- 2034-09-27
AI Technical Summary
When the telescopic mechanism of existing surgical robots requires a long stroke, the size and space are too large, which affects the motion performance.
A two-stage telescopic mechanism is adopted, including a base, an outer sleeve, an inner sleeve and a driving motor. The telescopic movement is achieved through gear meshing and limiting structure, and combined with the coordination of the guide port and limiting block to prevent disengagement and rotation.
Long stroke movement is achieved while reducing the size and space occupied by the mechanism.
Smart Images
Figure CN223084836U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of telescopic mechanisms, in particular to a two-stage telescopic mechanism. Background Art
[0002] Currently, telescopic mechanisms are commonly involved in surgical robots. Most of the existing telescopic mechanisms are of the structure of a first-stage lead screw. When a long stroke is required, a long-stroke lead screw is needed, so that the size and occupied space of the telescopic mechanism will be very large, which may in turn affect the movement of the surgical robot. Summary of the Utility Model
[0003] In order to solve the problems existing in the prior art, this application proposes a two-stage telescopic mechanism.
[0004] To achieve the above object, the present application proposes a two-stage telescopic mechanism, including a base. The right end of the base is open and hollow inside. The right end of the base is fixedly connected to an outer sleeve. The outer sleeve is in the shape of a tube with both ends open, and the inner cavity of the base communicates with the inner cavity of the outer sleeve. A driving motor is fixedly assembled in the base. The output shaft of the driving motor drives a first gear to rotate. The first gear meshes with a second gear. The second gear is fixed on a solid lead screw. The left end of the solid lead screw is rotatably connected to the left end plate of the base. When the driving motor is driven to act, the solid lead screw can rotate. A solid lead screw nut is provided on the solid lead screw. The solid lead screw nut is fixed to the left end of a hollow lead screw, and the solid lead screw extends into the inner cavity of the hollow lead screw. A retaining ring is provided at the right end of the solid lead screw to prevent the solid lead screw from separating from the solid lead screw nut. A hollow lead screw nut is provided on the hollow lead screw. A limiting block is fixedly connected to the hollow lead screw nut. The right end of the hollow lead screw is rotatably connected to the right end plate of an inner sleeve. The inner sleeve is in the shape of a tube with the left end open. The inner cavity of the inner sleeve communicates with the inner cavity of the outer sleeve. A first limiting portion is provided at the inner wall of the right end of the outer sleeve. A second limiting portion is provided at the outer wall of the left end of the inner sleeve. Through the cooperation of the first limiting portion and the second limiting portion, the inner sleeve can be prevented from separating from the outer sleeve. A third limiting portion is further provided at the right end of the inner sleeve, which cooperates with the right end of the outer sleeve to limit the position when the inner sleeve retracts into the outer sleeve. A first guiding opening is provided on the outer sleeve along the telescopic direction. The first guiding opening has a left inner wall, and the right end of the first guiding opening penetrates through the outer sleeve. A second guiding opening is provided at the corresponding position of the inner sleeve. The second guiding opening has a right inner wall. In the retracted state, the limiting block sequentially passes through the second guiding opening and the first guiding opening. The limiting block can cooperate with the left inner wall of the first guiding opening and the right inner wall of the second guiding opening to achieve the limiting effect. Through the cooperation of the limiting block, the second guiding opening and the first guiding opening, the rotation of the hollow lead screw nut can be prevented.
[0005] In some embodiments, the first limiting portion and the second limiting portion adopt a retaining piece structure, and the third limiting portion adopts a retaining piece structure.
[0006] In some embodiments, a brake is sleeved on the solid lead screw, and the brake is controlled to stop the solid lead screw from rotating.
[0007] The beneficial effect of the solution of the present application lies in the above two-stage telescopic mechanism, which can not only achieve a long-stroke movement, but also has a relatively small size and occupied space. Description of the Drawings
[0008] Figure 1 Shows a partial cross-sectional structural schematic diagram of the two-stage telescopic mechanism in the embodiment.
[0009] Figure 2 Shown is a partial cross-sectional structural schematic diagram of the two-stage telescopic mechanism in the embodiment from another angle.
[0010] Figure 3 Shown is a schematic diagram of the two-stage telescopic mechanism in the embodiment in the extended state.
[0011] Figure 4 Shown is a schematic diagram of the two-stage telescopic mechanism in the embodiment in the retracted state.
[0012] Reference numerals: 1 - base, 2 - outer sleeve, 3 - drive motor, 4 - first gear, 5 - second gear, 6 - solid lead screw, 7 - solid lead screw nut, 8 - retaining ring, 9 - hollow lead screw, 10 - hollow lead screw nut, 11 - limit block, 12 - inner sleeve, 13 - first limiting portion, 14 - second limiting portion, 15 - first guiding opening, 16 - second guiding opening, 17 - brake. Detailed implementation manners
[0013] The following further describes the detailed implementation manners of the present application with reference to the accompanying drawings.
[0014] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.
[0015] As Figures 1 to 4 shown, the two-stage telescopic mechanism involved in the present application includes a base 1. The right end of the base 1 is open and internally hollow. The right end of the base 1 is fixedly connected to an outer sleeve 2. The outer sleeve 2 is in the shape of a tube with both ends open, and the inner cavity of the base 1 is communicated with the inner cavity of the outer sleeve 2. In some embodiments, the base 1 and the outer sleeve 2 may be an integral structure. A drive motor 3 is fixedly assembled in the base 1. The output shaft of the drive motor 3 drives a first gear 4 to rotate. The first gear 4 meshes with a second gear 5. The second gear 5 is fixed on a solid lead screw 6. The left end of the solid lead screw 6 is rotatably connected to the left end plate of the base 1. When the drive motor 3 is driven to act, the solid lead screw 6 can rotate.
[0016] A solid lead screw nut 7 is provided on the solid lead screw 6. The solid lead screw nut 7 is fixed to the left end of the hollow lead screw 9, and the solid lead screw 6 extends into the inner cavity of the hollow lead screw 9. To prevent the solid lead screw 6 from detaching from the solid lead screw nut 7, a retaining ring 8 is provided at the right end of the solid lead screw 6. A hollow lead screw nut 10 is provided on the hollow lead screw 9, and a limiting block 11 is fixedly connected to the hollow lead screw nut 10. The right end of the hollow lead screw 9 is rotatably connected to the right end plate of the inner sleeve 12. The inner sleeve 12 is in the shape of a cylinder with an open left end. The inner cavity of the inner sleeve 12 communicates with the inner cavity of the outer sleeve 2. A first limiting portion 13 is provided at the inner wall of the right end of the outer sleeve 2, and a second limiting portion 14 is provided at the outer wall of the left end of the inner sleeve 12. Through the cooperation of the first limiting portion 13 and the second limiting portion 14, the inner sleeve 12 can be prevented from detaching from the outer sleeve 2. Specifically, the first limiting portion 13 and the second limiting portion 14 can adopt a retaining piece structure. A third limiting portion is further provided at the right end of the inner sleeve 12, which cooperates with the right end of the outer sleeve 2 to limit the position when the inner sleeve 12 retracts into the outer sleeve 2. Specifically, the third limiting portion can adopt a retaining piece structure.
[0017] A first guiding opening 15 is provided on the outer sleeve 2 along the telescopic direction. The first guiding opening 15 has a left inner wall, and the right end of the first guiding opening 15 penetrates through the outer sleeve 2. A second guiding opening 16 is provided at the corresponding position of the inner sleeve 12. The second guiding opening 16 has a right inner wall. In the retracted state, the limiting block 11 sequentially passes through the second guiding opening 16 and the first guiding opening 15. The limiting block 11 can cooperate with the left inner wall of the first guiding opening 15 and the right inner wall of the second guiding opening 16 to achieve the limiting function. Through the cooperation of the limiting block 11, the second guiding opening 16 and the first guiding opening 15, the rotation of the hollow lead screw nut 10 can also be prevented. When the telescopic mechanism is in the retracted state, the second guiding opening 16 corresponds to the first guiding opening 15, and the inner sleeve 12 retracts into the inner cavity of the outer sleeve 2.
[0018] To prevent the solid lead screw 6 from continuing to rotate due to inertia after the driving motor 3 stops operating, a brake 17 is sleeved on the solid lead screw 6. The brake 17 is controlled to stop the rotation of the solid lead screw 6.
[0019] In the specific usage process, the driving motor 3 drives the second gear 5 to rotate, thereby realizing the rotation of the solid lead screw 6. Due to the limitations of the first guiding port 15 and the second guiding port 16 and the friction factor, when the solid lead screw 6 rotates clockwise (viewing the axis direction of the second gear 5), the solid lead screw nut 7 drives the hollow lead screw 9 to extend due to the rotation of the solid lead screw 6. The extension of the hollow lead screw 9 drives the inner sleeve 12 to extend from the inner cavity of the outer sleeve 2 until it extends to the cooperation of the first limiting portion 13 and the second limiting portion 14. At this time, if the solid lead screw 6 continues to rotate, it will drive the hollow lead screw 9 to rotate. The rotation of the hollow lead screw 9 will drive the hollow lead screw nut 10 to move to the right until the limiting block 11 cooperates with the right inner wall of the second guiding port 16 to realize the limiting function. When the solid lead screw 6 rotates counterclockwise (viewing the axis direction of the second gear 5), due to the friction, the rotation of the solid lead screw 6 first drives the hollow lead screw 9 to retract. The retraction of the hollow lead screw 9 drives the inner sleeve 12 to retract into the inner cavity of the outer sleeve 2 until it retracts to the mechanical structure limit (the third limiting portion cooperates with the right end of the outer sleeve 2). Then the solid lead screw 6 continues to rotate and further drives the hollow lead screw nut 10 to move to the left until the limiting block 11 cooperates with the left inner wall of the first guiding port 15 to realize the limiting function.
[0020] The two-stage telescopic mechanism involved in the present application can not only achieve a longer stroke movement, but also has a relatively small size and occupied space.
[0021] The above is only the preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application, according to the technical solution and its concept of the present application, makes equivalent substitutions or changes, and should be covered by the protection scope of the present application.
Claims
1. A two-stage telescopic mechanism, characterized in that: It includes a base. The right end of the base is open and hollow inside. The right end of the base is fixedly connected to an outer sleeve. The outer sleeve is in the shape of a tube with both ends open, and the inner cavity of the base is communicated with the inner cavity of the outer sleeve. A driving motor is fixedly assembled in the base. The output shaft of the driving motor drives a first gear to rotate. The first gear meshes with a second gear. The second gear is fixed on a solid lead screw. The left end of the solid lead screw is rotatably connected to the left end plate of the base. When the driving motor is driven to act, the solid lead screw can rotate. A solid lead screw nut is provided on the solid lead screw. The solid lead screw nut is fixed to the left end of a hollow lead screw, and the solid lead screw extends into the inner cavity of the hollow lead screw. A retaining ring is provided at the right end of the solid lead screw to prevent the solid lead screw from separating from the solid lead screw nut. A hollow lead screw nut is provided on the hollow lead screw. A limiting block is fixedly connected to the hollow lead screw nut. The right end of the hollow lead screw is rotatably connected to the right end plate of the inner sleeve. The inner sleeve is in the shape of a tube with the left end open. The inner cavity of the inner sleeve is communicated with the inner cavity of the outer sleeve. A first limiting portion is provided at the inner wall of the right end of the outer sleeve. A second limiting portion is provided at the outer wall of the left end of the inner sleeve. Through the cooperation of the first limiting portion and the second limiting portion, the inner sleeve can be prevented from detaching from the outer sleeve. A third limiting portion is further provided at the right end of the inner sleeve and is matched with the right end of the outer sleeve for limiting when the inner sleeve retracts into the outer sleeve. A first guiding opening is provided on the outer sleeve along the telescopic direction. The first guiding opening has a left inner wall. The right end of the first guiding opening penetrates through the outer sleeve. A second guiding opening is provided at the corresponding position of the inner sleeve. The second guiding opening has a right inner wall. In the retracted state, the limiting block sequentially passes through the second guiding opening and the first guiding opening. The limiting block can cooperate with the left inner wall of the first guiding opening and the right inner wall of the second guiding opening to achieve the limiting effect. Through the cooperation of the limiting block, the second guiding opening and the first guiding opening, the rotation of the hollow lead screw nut can be prevented.
2. The two-stage telescopic mechanism according to claim 1, wherein: The first limiting portion and the second limiting portion adopt a retaining piece structure, and the third limiting portion adopts a retaining piece structure.
3. The two-stage telescopic mechanism according to claim 1, characterized in that: A brake is sleeved on the solid lead screw, and the brake can be controlled to stop the solid lead screw from rotating.