Telescopic device and surgical robot

Abstract

The embodiment of the utility model provides a telescopic device and a surgical robotic.The telescopic device comprises a base, a first telescopic part, a second telescopic part, a transmission belt and a tensioning part, the first telescopic part is telescopically connected to the base, the second telescopic part is telescopically connected to the first telescopic part, and the transmission belt is movably wound around the first telescopic part; the first end and the second end of the transmission belt converge at the base, the transmission belt is used for being fixed to the second telescopic part, the tensioning part is slidably arranged on the base, the first end of the transmission belt is fixed to the tensioning part, and the second end of the transmission belt is fixed to the base. According to the telescopic device, the tensioning part drives the first end of the transmission belt to be close to the second end, the transmission belt is tightened on the first telescopic part, the transmission belt is prevented from falling off from the first telescopic part, and the transmission accuracy of the transmission belt is improved.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more specifically, to a telescopic device and a surgical robot. Background Technology

[0002] With the development of technology, surgical robots have become a highly efficient and stable surgical device. A typical surgical robot consists of a doctor's console, a patient-side trolley, and a display device. The patient-side trolley includes a telescopic mechanism used to operate the actuators during surgery.

[0003] The existing technology has a three-section telescopic mechanism in which a transmission rope is wound around the middle telescopic arm. The transmission rope is connected to the base and the end telescopic arm. When the middle telescopic arm extends or retracts, the transmission rope moves, causing the end telescopic arm to extend or retract. In other words, the telescopic mechanism uses the transmission rope for transmission drive.

[0004] However, the transmission rope is prone to loosening after installation or long-term operation, making it impossible to achieve precise transmission, and there is even a risk of it falling off the intermediate telescopic arm. Therefore, how to tension the transmission rope is a technical problem that urgently needs to be solved. Utility Model Content

[0005] This application provides a telescopic device that can keep the transmission belt tightly stretched on the first telescopic part, prevent the transmission belt from falling off the first telescopic part, and improve the accuracy of the transmission belt during transmission.

[0006] In a first aspect, embodiments of this application provide a telescopic device, comprising: a base; a first telescopic portion telescopically connected to the base; a second telescopic portion telescopically connected to the first telescopic portion; a transmission belt movably wound around the first telescopic portion, the first end and the second end of the transmission belt converging at the base, a section of the transmission belt being fixed to the second telescopic portion; when the first telescopic portion extends or retracts relative to the base, the base drives the transmission belt to move, and the transmission belt drives the second telescopic portion to extend or retract relative to the first telescopic portion; a tensioning portion slidably disposed on the base; the first end of the transmission belt being fixed to the tensioning portion, and the second end of the transmission belt being fixed to the base; the telescopic device is configured such that: under the action of an external force, the tensioning portion is driven to move towards the second end of the transmission belt, thereby driving the first end of the transmission belt to move closer to the second end, and thus tensioning the transmission belt.

[0007] In one possible implementation, the base has a sliding groove that opens toward the first telescopic portion; the tensioning portion is slidably disposed within the sliding groove.

[0008] In one possible implementation, the base has a sliding wall surface near the first telescopic part, and a through hole is provided on the base, with the opening of the through hole located on the sliding wall surface; the telescopic device further includes: a support plate, which is located on the side of the sliding wall surface away from the first telescopic part, fixed to the sliding wall surface at the edge of the through hole, and extends to the opening of the through hole, with the wall surface of the support plate facing the through hole and the inner peripheral wall of the through hole jointly defining a sliding groove.

[0009] In one possible implementation, the pallet includes a connecting plate segment and a support plate segment connected to the connecting plate segment. The connecting plate segment is connected to the sliding wall surface, and the support plate segment is located at the through hole. Furthermore, the support plate segment sinks in a direction away from the first telescopic part so that a limiting gap is formed between the support plate segment and the sliding wall surface. The tensioning part also includes a main block and a mating block formed on the main block. The mating block is slidably disposed within the limiting gap.

[0010] In one possible implementation, the telescopic device further includes: a first connecting portion connected to a first end of the transmission belt, the first connecting portion being located at the opening of the sliding groove and fixed to the tensioning portion, for fixing the tensioning portion and the first end of the transmission belt.

[0011] In one possible implementation, the first connecting portion has at least two guide holes extending along the sliding direction of the tensioning portion; the telescopic device further includes at least two guide portions connected to the base and correspondingly inserted through the guide holes, wherein when the first connecting portion slides with the tensioning portion, the guide portions limit the sliding trajectory of the first connecting portion.

[0012] In one possible implementation, the telescopic device further includes a drive unit disposed on the base for connection with the tensioning unit to drive the tensioning unit to move toward the second end of the transmission belt.

[0013] In one possible implementation, the driving part is an adjusting stud disposed along the sliding direction of the tensioning part.

[0014] In one possible implementation, the first telescopic part further includes a telescopic body and two winding pulleys, which are rotatably disposed at both ends of the telescopic body. Each winding pulley has a winding loop for winding the transmission belt; and the surface of the winding loop protrudes outward at the center in the axial direction.

[0015] Secondly, embodiments of this application provide a surgical robot, including a telescopic device according to any of the above claims.

[0016] The telescopic device provided in this application embodiment has a first telescopic part that is telescopically connected to a second telescopic part of the base, and a second telescopic part that is telescopically connected to a first telescopic part. The first end and the second end of the transmission belt meet at the base. The middle part of the transmission belt is fixed to the second telescopic part. The tensioning part is slidably disposed on the base. The first end of the transmission belt is fixed to the tensioning part, and the second end of the transmission belt is fixed to the base. When the tensioning part is driven to move closer to the second end of the transmission belt, the first end of the transmission belt is driven to move closer to the second end, thereby tightening the transmission belt on the first telescopic part, preventing the transmission belt from falling off the first telescopic part, and improving the accuracy of the transmission belt during transmission. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] Figure 1 This is a schematic diagram of the telescopic device in one embodiment of this application. Figure 1 ;

[0019] Figure 2 This is a schematic diagram of the telescopic device in one embodiment of this application. Figure 2 It omits part of the telescopic main body;

[0020] Figure 3 for Figure 2 Enlarged view of part A;

[0021] Figure 4 This is a cross-sectional view of the telescopic device in a retracted state according to one embodiment of this application;

[0022] Figure 5 This is a cross-sectional view of the telescopic device in an extended state according to one embodiment of this application;

[0023] Figure 6 This is a cross-section showing the assembly relationship between the transmission belt and the base in a telescopic device according to one embodiment of this application. Figure 1 ;

[0024] Figure 7 This is a cross-section showing the assembly relationship between the transmission belt and the base in a telescopic device according to one embodiment of this application. Figure 2 ;

[0025] Figure 8 This is a schematic diagram of the belt pulley in the telescopic device in one embodiment of this application.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100. Base; 110. Installation space; 120. Sliding groove; 130. Sliding wall; 140. Through hole; 150. Threaded hole; 170. Limiting gap; 200. First telescopic part; 210. Telescopic body; 220. Belt pulley; 222. Winding ring; 300. Second telescopic part; 400. Transmission belt; 410. First end; 420. Second end; 500. Tensioning part; 510. Main block; 520. Mating block; 600. Support plate; 610. Connecting plate segment; 620. Support plate segment; 710. First connecting part; 712. Guide hole; 720. Fixing screw; 730. Second connecting part; 740. Third connecting part; 750. First pin; 760. Second pin; 800. Adjusting stud.

[0028] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0029] The existing three-section telescopic mechanism is driven by a transmission rope. Specifically, the transmission rope is wound around the middle telescopic arm and is connected to the base and the end telescopic arm. When the middle telescopic arm extends or retracts, the transmission rope moves, causing the end telescopic arm to extend or retract. In other words, the telescopic mechanism is driven by the transmission rope.

[0030] However, the transmission rope is prone to loosening after installation or long-term operation, making it impossible to achieve precise transmission, and there is even a risk of it falling off the intermediate telescopic arm. Therefore, how to tension the transmission rope is a technical problem that urgently needs to be solved.

[0031] Based on this, this application provides a telescopic device, wherein a first telescopic part is telescopically connected to a base and a second telescopic part is telescopically connected to the first telescopic part, a first end and a second end of a transmission belt converge at the base, the middle part of the transmission belt is fixed to the second telescopic part, a tensioning part is slidably disposed on the base, the first end of the transmission belt is fixed to the tensioning part, and the second end of the transmission belt is fixed to the base. When the tensioning part is driven to move closer to the second end of the transmission belt, the first end of the transmission belt is driven to move closer to the second end, thereby tightening the transmission belt on the first telescopic part, preventing the transmission belt from falling off the first telescopic part, and improving the accuracy of the transmission belt during transmission.

[0032] The following is combined Figures 1 to 8 The structure and working principle of the telescopic device according to the embodiments of this application are described.

[0033] In some embodiments, the telescopic device may include a base 100, a first telescopic portion 200, a second telescopic portion 300, and a drive belt 400.

[0034] The first telescopic part 200 is telescopically connected to the base 100, and the second telescopic part 300 is telescopically connected to the first telescopic part 200. The first end 410 and the second end 420 of the transmission belt 400 converge at the base 100 and are both used for fixing to the base 100. The transmission belt 400 is used for fixing to the second telescopic part 300. When the first telescopic part 200 extends or retracts relative to the base 100, the base 100 drives the transmission belt 400 to move, and the transmission belt 400 drives the second telescopic part 300 to extend or retract relative to the first telescopic part 200.

[0035] In some specific embodiments, the base 100, the first telescopic part 200 and the second telescopic part 300 may be configured as elongated strips, with the first telescopic part 200 extending and retracting along the length direction of the base 100 and the second telescopic part 300 extending and retracting along the length direction of the first telescopic part 200.

[0036] Furthermore, the telescopic device may also include a drive mechanism, which may be disposed on the base 100 and connected to the first telescopic part 200 to drive the first telescopic part 200 to extend and retract.

[0037] Furthermore, the drive mechanism may include a drive motor and a conversion mechanism. The drive motor provides rotational torque, and the conversion mechanism is connected to the drive motor to convert the rotational torque into linear force. The conversion mechanism is directly or indirectly connected to the first telescopic part 200 to drive the first telescopic part 200 to perform telescopic movement.

[0038] Specifically, the conversion mechanism can take various forms. For example, the conversion mechanism can be a gear and rack structure, with the gear mounted on the output shaft of the drive motor, and the rack extending along the length of the base 100 and meshing with the gear, and directly or indirectly connected to the first telescopic part 200. After the drive motor starts, it causes the gear to rotate, which in turn causes the rack to extend and retract along the length of the base 100, thereby driving the first telescopic part 200 to perform telescopic movement.

[0039] For example, the conversion mechanism can be a ball screw structure, comprising a screw and a nut. The screw extends along the length of the base 100 and is connected to the output shaft of the drive motor. The nut is fitted onto the screw and its circumferential rotation around the screw is restricted. The nut is directly or indirectly connected to the first telescopic part 200. After the drive motor starts, it causes the screw to rotate, which in turn causes the nut to extend or retract along the length of the base 100, thereby driving the first telescopic part 200 to perform telescopic movement.

[0040] In addition to the examples mentioned above, those skilled in the art can also use other forms of conversion mechanisms to convert the rotational torque of the drive motor into linear force, which will not be listed here.

[0041] In this embodiment, the second telescopic portion 300 can be driven by the transmission belt 400. Since the first telescopic portion 200 is telescopically connected to the base 100, and the second telescopic portion 300 is telescopically connected to the first telescopic portion 200, the first telescopic portion 200 also has a connection portion with the base 100 in its extended state, and similarly, the second telescopic portion 300 also has a connection portion with the first telescopic portion 200 in its extended state. Therefore, the transmission belt 400 wound around the first telescopic portion 200 can be connected to the base 100 and the second telescopic portion 300.

[0042] Furthermore, in order to achieve synchronous extension and retraction of the first telescopic part 200 and the second telescopic part 300, the base 100 and the second telescopic part 300 are respectively arranged on both sides of the first telescopic part 200, that is, the base 100 and the second telescopic part 300 are arranged on both sides of the transmission belt 400. In this way, when the drive mechanism drives the first telescopic part 200 to extend, the side of the transmission belt 400 away from the base 100 also moves along the extension direction of the first telescopic part 200, thereby achieving synchronous extension and retraction of the first telescopic part 200 and the second telescopic part 300.

[0043] by Figure 4 and Figure 5 The orientation is described below. A transmission belt 400 is movably wound around the first telescopic section 200. The first end 410 and the second end 420 of the transmission belt 400 converge at the base 100 and are both fixed to the base 100 (denoted as the first fixed point). The middle portion of the transmission belt 400 is fixed to the second telescopic section 300 (denoted as the second fixed point). When the drive mechanism drives the first telescopic section 200 to extend to the right, the first telescopic section 200 moves to the right as a whole. Under the anchoring action of the first fixed point, the transmission belt 400 rotates clockwise, while under the action of the second fixed point, the transmission belt 400 drives the second telescopic section 300 to move to the right.

[0044] Conversely, when the drive mechanism drives the first telescopic part 200 to retract to the left, the first telescopic part 200 moves to the left as a whole. Under the anchoring action of the first fixed point, it causes the transmission belt 400 to rotate counterclockwise. Under the action of the second fixed point, the transmission belt 400 causes the second telescopic part 300 to retract to the left.

[0045] Therefore, the telescopic device in this embodiment can drive the first telescopic part 200 and the second telescopic part 300 to extend and retract synchronously using a single drive source.

[0046] Furthermore, excluding the factor of slippage of the transmission belt 400 on the first telescopic section 200, the distance the first telescopic section 200 is driven by the drive mechanism is the same as the distance the second telescopic section 300 is driven by the transmission belt 400. That is to say, when the telescopic device is extending or retracting, the first telescopic section 200 and the second telescopic section 300 extend and retract synchronously in both time and distance.

[0047] In this embodiment, the telescopic device may further include a tensioning portion 500, which is slidably disposed on the base 100. A first end 410 of the transmission belt 400 is fixed to the tensioning portion 500, and a second end 420 of the transmission belt 400 is fixed to the base 100. The telescopic device is also configured to, under the action of an external force, drive the tensioning portion 500 to move towards the second end 420 of the transmission belt 400, thereby causing the first end 410 of the transmission belt 400 to move closer to the second end 420, and thus tensioning the transmission belt 400.

[0048] In this embodiment, after the transmission belt 400 is wound around the first telescopic part 200, its first end 410 and second end 420 meet at the base 100. After installation, the first end 410 and the second end 420 of the first telescopic part 200 are fixed to the base 100, thereby fixing the base 100 and the transmission belt 400.

[0049] Since the first end 410 of the transmission belt 400 is fixed to the tensioning part 500 and the second end 420 of the transmission belt 400 is fixed to the base 100, and the tensioning part 500 can slide relative to the base 100, during installation or maintenance, the installer can drive the tensioning part 500 to move closer to the second end 420, thereby bringing the first end 410 of the transmission belt 400 closer to the second end 420, thus tightening the transmission belt 400 on the first telescopic part 200, preventing the transmission belt 400 from falling off the first telescopic part 200, and improving the accuracy of the transmission belt 400 during transmission.

[0050] After installation or maintenance is completed, the installer can fix the first end 410 of the transmission belt 400 to the base 100 by fixing the tensioning part 500 to the base 100.

[0051] It should be noted that the above description describes the use of the tensioning part 500 to tension the transmission belt 400 when installing or maintaining the telescopic device of this embodiment. Obviously, those skilled in the art, after understanding the structure of this embodiment, can also drive the tensioning part 500 to move away from the second end 420 of the transmission belt 400, thereby separating the first end 410 and the second end 420 of the transmission belt 400, that is, reducing the tension of the transmission belt 400.

[0052] In some embodiments, the base 100 has a sliding groove 120 that opens toward the first telescopic portion 200. The tensioning portion 500 is slidably disposed within the sliding groove 120.

[0053] The sliding groove 120 can be provided on the wall surface of the base 100 near the first telescopic part 200 and extend along the length direction of the base 100, so that the sliding groove 120 can provide sliding space for the tensioning part 500.

[0054] The tensioning part 500 is slidably disposed in the sliding groove 120, which not only hides at least part of the tensioning part 500, but also limits the sliding trajectory of the tensioning part 500, making the sliding of the tensioning part 500 more stable.

[0055] Furthermore, the base 100 has a sliding wall surface 130 near the first telescopic part 200, and a through hole 140 is provided on the base 100, with the opening of the through hole 140 located on the sliding wall surface 130. The telescopic device may also include a support plate 600, which is located on the side of the sliding wall surface 130 away from the first telescopic part 200, fixed to the sliding wall surface 130 at the edge of the through hole 140, and extends to the opening of the through hole 140. The wall surface of the support plate 600 facing the through hole 140 and the peripheral wall of the through hole 140 together define a sliding groove 120.

[0056] Taking the specific orientation of the first telescopic part 200 above the base 100 as an example, the sliding wall surface 130 has a through hole 140 extending vertically. The support plate 600 is located below the sliding wall surface 130, fixed to the edge of the through hole 140, and extends to be directly opposite the lower opening of the through hole 140. In this way, the upper wall surface of the support plate 600 and the peripheral wall of the through hole 140 define a sliding groove 120.

[0057] Since the base 100 generally has an installation space 110 for arranging other components, the installation space 110 of the base 100 can be opened to allow the installer to directly face the lower side of the sliding wall 130, thereby facilitating the installation of the tray 600 on the lower side of the sliding wall 130.

[0058] Furthermore, since the sliding groove 120 in this embodiment is constructed through post-assembly, it is not necessary to design the sliding groove 120 with the support plate 600 when the base 100 is molded, thus reducing the difficulty of mold opening of the base 100.

[0059] In a further embodiment, the tray 600 may further include a connecting plate segment 610 and a support plate segment 620 connected to the connecting plate segment 610. The connecting plate segment 610 is connected to the sliding wall surface 130, and the support plate segment 620 is located at the through hole 140. The support plate segment 620 sinks downward in a direction away from the first telescopic part 200, so that a limiting gap 170 is formed between the support plate segment 620 and the sliding wall surface 130.

[0060] The tensioning part 500 may also include a main body block 510 and a mating block 520 formed on the main body block 510, the mating block 520 being slidably disposed within the limiting gap 170.

[0061] The following example illustrates the specific orientation of the first telescopic part 200 above the base 100. The connecting plate segment 610 can be installed on the lower surface of the sliding wall 130 by fasteners, and the upper surface of the support plate segment 620 is lowered, so that the upper surface of the support plate segment 620 and the lower surface of the sliding wall 130 respectively form a limiting gap 170 on both sides of the through hole 140.

[0062] There can be two mating blocks 520, which are respectively arranged on both sides of the sliding direction of the main body block 510 and located on the lower side of the main body block 510. In this way, when the tensioning part 500 is installed in the sliding groove 120, the two mating blocks 520 are slidably arranged in the two limiting gaps. This not only prevents the tensioning part 500 from coming out of the sliding groove 120, but also uses the mating relationship between the limiting gap 170 and the mating block 520 to further constrain the sliding trajectory of the tensioning part 500.

[0063] When installing the support plate 600 and the tensioning part 500, the tensioning part 500 can be installed from bottom to top into the through hole 140, and the mating block 520 can be made to abut against the lower surface of the sliding wall 130. Then, the support plate 600 is installed from bottom to top on the lower side of the tensioning part 500. The connecting plate segment 610 is installed on the lower surface of the sliding wall 130 by fasteners. The support plate segment 620 extends at the lower opening of the through hole 140, and a limiting gap is formed between the upper surface of the support plate segment 620 and the lower surface of the sliding wall 130 to allow the mating block 520 to slide.

[0064] In some embodiments, the telescopic device may further include a first connecting portion 710, which is connected to the first end 410 of the transmission belt 400. The first connecting portion 710 is located at the opening of the sliding groove 120 and is fixed to the tensioning portion 500 to fix the tensioning portion 500 and the first end 410 of the transmission belt 400.

[0065] In this embodiment, the first connecting part 710 can be a metal pressure plate with a certain thickness. The first end 410 of the transmission belt 400 is fixed to the first connecting part 710, and the first connecting part 710 is fixed to the tensioning part 500. This can improve the stability of the connection between the tensioning part 500 and the first end 410 of the transmission belt 400.

[0066] Furthermore, the first connecting part 710 and the tensioning part 500 are provided with corresponding insertion holes, and the first pin 750 can be inserted into the insertion holes on the first connecting part 710 and the tensioning part 500 to connect the first connecting part 710 and the tensioning part 500.

[0067] Furthermore, the first connecting portion 710 has at least two guide holes 712 extending along the sliding direction of the tensioning portion 500. The telescopic device may also include at least two guide portions, which are connected to the base 100 and pass through the guide holes 712 in a corresponding manner. When the first connecting portion 710 slides with the tensioning portion 500, the guide portions limit the sliding trajectory of the first connecting portion 710.

[0068] Specifically, the first connecting part 710 has a guide hole 712 on each side along the sliding direction of the tensioning part 500. The guide part is connected to the base 100 and passes through the guide hole 712 respectively. When adjusting the tension of the transmission belt 400, the first connecting part 710 slides with the tensioning part 500. Under the limitation of the two guide parts, only the first connecting part 710 is allowed to slide along the sliding direction of the tensioning part 500, further limiting the sliding trajectory of the first connecting part 710 and the tensioning part 500.

[0069] Furthermore, the guide portion is configured as a fixing screw 720. The fixing screw 720 is also used to fix the first connecting portion 710 to the base 100.

[0070] When adjusting the tension of the transmission belt 400, the fixing screw 720 is not fully driven into the base 100, so that part of the screw protrudes from the base 100 as a guide.

[0071] After adjusting the tension of the transmission belt 400, all the fixing screws 720 are driven into the base 100 to fix the first connecting part 710 to the base 100, thereby achieving a fixed connection between the first end 410 of the transmission belt 400 and the base 100.

[0072] In some embodiments, the telescopic device may further include a drive unit disposed on the base 100 for connection with the tensioning part 500 to drive the tensioning part 500 to move toward the second end 420 of the transmission belt 400. The drive unit can be of various types, such as electric drive, hydraulic drive, manual drive, etc.

[0073] In some specific embodiments, the driving part is an adjusting stud 800 provided along the sliding direction of the tensioning part 500.

[0074] Specifically, the tensioning part 500 on the base 100 is provided with a sliding direction along the threaded hole 150. After the adjusting stud 800 is driven into the threaded hole 150, its end abuts against the tensioning part 500. As it is driven deeper, it pushes the tensioning part 500.

[0075] In this embodiment, the tensioning part 500 is driven by adjusting the stud 800. This method is not only simple, convenient, and low in cost, but also has high controllability during adjustment because the adjusting stud 800 has a low insertion speed. This can avoid over-adjustment and breakage of the transmission belt 400.

[0076] In some embodiments, the telescopic device may further include a second connecting portion 730, which is connected to the second end 420 of the transmission belt 400 and fixed to the base 100, for fixing the second end 420 of the transmission belt 400 to the base 100.

[0077] In this embodiment, the second connecting part 730 can be a metal pressure plate with a certain thickness. The second end 420 of the transmission belt 400 is first fixed to the second connecting part 730, and then fixed to the base 100 through the second connecting part 730. This can improve the stability between the base 100 and the second end 420 of the transmission belt 400.

[0078] Furthermore, the second connecting part 730 and the base 100 are provided with corresponding insertion holes, and the second pin 760 can be inserted into the insertion holes on the second connecting part 730 and the base 100 to achieve a fixed connection between the second connecting part 730 and the tensioning part 500.

[0079] In some embodiments, the telescopic device may further include a third connecting portion 740, which is connected to the section of the transmission belt 400 and fixed to the second telescopic portion 300, for fixing the section of the transmission belt 400 to the second telescopic portion 300.

[0080] In some embodiments, the first telescopic portion 200 further includes a telescopic body 210 and two winding pulleys 220, which are rotatably disposed at both ends of the telescopic body 210. Each winding pulley 220 has a winding loop 222 for winding the transmission belt 400. The surface of the winding loop 222 is configured such that its central portion protrudes outward in the axial direction.

[0081] In this embodiment, since the surface of the winding ring 222 is designed to protrude in the middle of the axial direction, after the transmission belt 400 is tensioned, the transmission belt 400 will automatically adjust to the middle of the winding ring 222 in the axial direction during the rotation of the winding pulley 220, and the deformation on both sides will be consistent.

[0082] The working principle of the telescopic device according to the present application is described below by introducing the installation stage before tensioning, the tension adjustment stage, and the tensioning completion stage.

[0083] I. Installation stage before tensioning

[0084] Step 1: Wrap the transmission belt 400 around the first telescopic part 200, and join the first end 410 and the second end 420 of the transmission belt 400 at the base 100. Fix the first connecting part 710 to the first end 410 of the first telescopic part 200 with fasteners, and fix the second connecting part 730 to the second end 420 of the first telescopic part 200.

[0085] Step 2: Install the support plate 600 and the tensioning part 500. First, install the tensioning part 500 from bottom to top into the through hole 140 on the sliding wall surface 130 of the base 100, and make the mating block 520 abut against the lower surface of the sliding wall surface 130. Then, install the support plate 600 from bottom to top on the lower side of the tensioning part 500. The connecting plate segment 610 is installed on the lower surface of the sliding wall surface 130 by fasteners. The support plate segment 620 extends at the lower opening of the through hole 140, and a limiting gap is formed between the upper surface of the support plate segment 620 and the lower surface of the sliding wall surface 130 to allow the mating block 520 to slide.

[0086] Step 3: Place the first connecting part 710 at the upper opening of the sliding groove 120, and connect the first connecting part 710 and the tensioning part 500 by inserting the first pin 750 into the insertion holes on the first connecting part 710 and the tensioning part 500. Furthermore, connect two fixing screws 720 to the base 100 by passing them through the two guide holes 712 on the first connecting part 710. At this time, the two fixing screws 720 are not fully driven into the base 100, so that part of the screw protrudes from the base 100 to serve as a guide.

[0087] Step 4: Insert the second pin 760 into the insertion hole on the second connecting part 730 and the base 100 to achieve a fixed connection between the second connecting part 730 and the tensioning part 500.

[0088] II. Tension Adjustment Phase

[0089] Step 5: Manually adjust the drive belt 400 so that it is centered on the axial direction of the winding ring 222.

[0090] Step Six: Use a screwdriver to drive the adjusting stud 800 in, so that the end of the adjusting stud 800 abuts against the tensioning part 500. As the screw is driven deeper, it pushes the tensioning part 500 to slide, thereby causing the first end 410 of the transmission belt 400 to move closer to the second end 420, thus tensioning the transmission belt 400. Specifically, a dedicated digital torque wrench can be used to drive the adjusting stud 800 in. When the torque is between 0.08 N·m and 0.15 N·m, the transmission belt 400 can be adjusted to the appropriate tension.

[0091] III. Completion of the tensioning stage

[0092] Step 7: Drive in two fixing screws 720 to fix the first connecting part 710 to the base 100, so as to fix the first end 410 of the transmission belt 400 to the base 100.

[0093] Step 8: Use the third connecting part 740 to fix the transmission belt 400 to the second telescopic part 300.

[0094] Step 9: Manually pull the base 100 and the second telescopic part 300 at least 50 times to ensure that the transmission belt 400 remains axially centered on the winding ring 222.

[0095] It should be noted that the steps described above are only for the purpose of understanding the structure and working principle of the embodiments of this application, and do not mean that the telescopic device of this embodiment must adjust the tension of the transmission belt 400 according to the above steps and the limited parameters.

[0096] This application also provides a surgical robot that can be configured for suturing, stapler suturing, grasping, applying electrosurgical energy, and many other instruments commonly known to those skilled in the art. It consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates an input device on the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. The patient-side trolley typically includes a telescopic mechanism and an actuator, the telescopic mechanism being used to extend or retract the actuator to perform corresponding maneuvers.

[0097] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A telescopic device, characterized in that, include: Base (100); The first telescopic part (200) is telescopically connected to the base (100); The second telescopic part (300) is telescopically connected to the first telescopic part (200); A transmission belt (400) is movably wound around the first telescopic part (200). The first end (410) and the second end (420) of the transmission belt (400) meet at the base (100). The transmission belt (400) is used to fix the second telescopic part (300). When the first telescopic part (200) extends or retracts relative to the base (100), the base (100) drives the transmission belt (400) to move, and the transmission belt (400) drives the second telescopic part (300) to extend or retract relative to the first telescopic part (200). The tensioning part (500) is slidably disposed on the base (100); The first end (410) of the transmission belt (400) is fixed to the tensioning part (500), and the second end (420) of the transmission belt (400) is fixed to the base (100); The telescopic device is configured such that, under the action of an external force, the tensioning part (500) moves toward the second end (420) of the transmission belt (400) to drive the first end (410) of the transmission belt (400) to move toward the second end (420), thereby tensioning the transmission belt (400).

2. The telescopic device according to claim 1, characterized in that, The base (100) has a sliding groove (120) that opens toward the first telescopic part (200); The tensioning part (500) is slidably disposed in the sliding groove (120).

3. The telescopic device according to claim 2, characterized in that, The base (100) has a sliding wall surface (130) near the first telescopic part (200), and a through hole (140) is provided on the base, with the opening of the through hole (140) located on the sliding wall surface (130). The telescopic device further includes: A tray (600) is located on the side of the sliding wall (130) away from the first telescopic part (200), fixed to the sliding wall (130) at the edge of the through hole (140), and extending to the opening of the through hole (140); The sliding groove (120) is defined by the wall surface of the support plate (600) facing the through hole (140) and the inner peripheral wall of the through hole (140).

4. The telescopic device according to claim 3, characterized in that, The tray (600) includes a connecting plate segment (610) and a support plate segment (620) connected to the connecting plate segment (610). The connecting plate segment (610) is connected to the sliding wall surface (130), and the support plate segment (620) is located at the through hole (140). The support plate segment (620) sinks in a direction away from the first telescopic part (200) so that a limiting gap (170) is formed between the support plate segment (620) and the sliding wall surface (130); The tensioning part (500) further includes a main body block (510) and a mating block (520) formed on the main body block (510), the mating block (520) being slidably disposed within the limiting gap (170).

5. The telescopic device according to claim 2, characterized in that, Also includes: The first connecting part (710) is connected to the first end (410) of the transmission belt (400). The first connecting part (710) is located at the opening of the sliding groove (120) and is fixed to the tensioning part (500) for fixing the tensioning part (500) and the first end (410) of the transmission belt (400).

6. The telescopic device according to claim 5, characterized in that, The first connecting part (710) has at least two guide holes (712) extending along the sliding direction of the tensioning part (500); The telescopic device further includes: At least two guide portions are connected to the base (100) and are respectively inserted through the guide holes (712). When the first connecting portion (710) slides with the tensioning portion (500), the guide portions limit the sliding trajectory of the first connecting portion (710).

7. The telescopic device according to any one of claims 1 to 6, characterized in that, Also includes: A drive unit, disposed on the base (100), is used to connect with the tensioning unit (500) to drive the tensioning unit (500) to move toward the second end (420) of the transmission belt (400).

8. The telescopic device according to claim 7, characterized in that, The driving part is an adjusting stud (800) provided along the sliding direction of the tensioning part (500).

9. The telescopic device according to any one of claims 1 to 6, characterized in that, The first telescopic part (200) further includes a telescopic body (210) and two winding pulleys (220). The two winding pulleys (220) are rotatably disposed at both ends of the telescopic body (210), and each winding pulley (220) has a winding loop (222) for winding the transmission belt (400); and, The surface of the winding ring (222) protrudes outward from the center of the winding pulley (220) in the axial direction.

10. A surgical robot, characterized in that, Includes the telescopic device according to any one of claims 1 to 9.

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