Transmission box and surgical robot

Abstract

The utility model provides a transmission box and a surgical robot, and relates to the technical field of medical instruments. The transmission box comprises a shell, a pushing piece and a clamping piece, the pushing piece and the clamping piece are arranged on the shell, the clamping piece is used for being clamped with a connecting piece of the driving box, and the connecting piece is arranged in the pushing direction of the pushing piece; the pushing part comprises a pressing part and a transmission part which are connected, in the process that the transmission box and the driving box are switched from the connection state to the disassembly state, pressing force is applied to the pressing part, the transmission part moves in the transmission direction, the transmission part abuts against the connecting part to enable the connecting part to move, and the connecting part is separated from the clamping part. The transmission box and the surgical robot provided by the utility model are used for solving the problems that the transmission box and the mechanical arm of the surgical robot are not easy to disassemble and the use is relatively inconvenient.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a transmission box and a surgical robot. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. With the development of robotics technology, minimally invasive surgical robots have emerged. Using minimally invasive surgical robots to perform minimally invasive surgery helps avoid the hand tremors caused by surgeon fatigue, which could affect the distal ends of surgical instruments.

[0003] In related technologies, surgical robots typically include a movable control console and a robotic arm. The surgeon can control the robotic arm's movement via the control console to perform surgical procedures. The robotic arm is equipped with a drive unit; the endoscope is usually detachably connected to the drive unit via a transmission unit. The drive unit, through the transmission unit, controls the rotation of the endoscope, enabling the surgeon to perform precise surgical procedures.

[0004] However, in the existing technology, the transmission box and the drive box of the robotic arm are not easy to disassemble, making it inconvenient to use. Utility Model Content

[0005] This utility model provides a transmission box and a surgical robot to solve the problem that the transmission box and the robotic arm of the surgical robot are not easy to disassemble and are inconvenient to use.

[0006] In a first aspect, the present invention provides a transmission box, which includes a housing, a pushing member disposed on the housing, and a snap-fit ​​member, wherein the snap-fit ​​member is used to snap-fit ​​with a connecting member of the drive box, and the connecting member is disposed in the pushing direction of the pushing member;

[0007] The pushing member includes a pressing part and a transmission part connected to each other. During the process of switching from a connected state to a disassembled state between the transmission box and the drive box, a pressing force is applied to the pressing part, the transmission part moves along the transmission direction, the transmission part presses against the connecting member to displace the connecting member, and the connecting member disengages from the snap-fit ​​member.

[0008] As an optional implementation, the number of the pushing member is one;

[0009] Alternatively, the number of the pushers is two, including a first pusher and a second pusher, which are symmetrically arranged with respect to a set surface.

[0010] As an optional implementation, the housing is provided with a guide structure;

[0011] The transmission part slides in contact with the guide structure, and the transmission part slides relative to the guide structure between a first position and a second position.

[0012] As an optional implementation, the guide structure includes a fixing member and an abutment member;

[0013] The fixing member and the abutting member are disposed opposite to each other; the fixing member, the abutting member and the housing form a guide groove, the guide groove being at least used to accommodate the transmission part.

[0014] As an optional implementation, the fastener is detachably connected to the housing; the fastener is provided with a limiting portion;

[0015] When the transmission part is located in the guide groove, the transmission part abuts against the housing, and the surface of the transmission part away from the housing faces the limiting part.

[0016] As an optional implementation, the number of the abutting members is set to multiple, and the multiple abutting members include a first abutting member and a second abutting member;

[0017] The number of the transmission parts is set to be multiple, and the multiple transmission parts include a first transmission part and a second transmission part;

[0018] The fastener is disposed between the first abutting member and the second abutting member;

[0019] The fixing member, the first abutting member, and the housing form a first guide groove, which accommodates the first transmission part.

[0020] The fixing member, the second abutting member, and the housing form a second guide groove, which accommodates the second transmission part.

[0021] As an optional implementation, the housing is provided with an opening, and at least a portion of the pressing part is disposed within the opening;

[0022] The pusher also includes a bending portion, a first portion of which is located inside the housing, and a second portion of which extends through the opening to the outside of the housing, and the second portion of which is connected to the pressing portion.

[0023] As an optional implementation, the pusher is provided with a reset part, which is at least used to push the transmission part to move toward the first position;

[0024] And / or, the pusher includes an anti-detachment part, which abuts against the housing when the transmission part is in the first position.

[0025] As an optional implementation, the number of the pushing components is two;

[0026] The first pushing member includes a first pressing part and a first transmission part, and the second pushing member includes a second pressing part and a second transmission part;

[0027] The first transmission unit and the second transmission unit can move in directions that bring them closer together or further apart from each other;

[0028] The first pressing part and the second transmission part are disposed on the same side relative to the setting surface, and the second pressing part and the first transmission part are disposed on the same side relative to the setting surface;

[0029] And / or, the first pushing member includes a first limiting portion, the second pushing member includes a second limiting portion, the first limiting portion abuts against the second pushing member, and the second limiting portion abuts against the first pushing member.

[0030] Secondly, this utility model provides a surgical robot, which includes a robot body and a transmission box of any one of the above-mentioned components;

[0031] The robot body includes a drive box, and the drive box is provided with a connector;

[0032] The transmission box is configured as follows:

[0033] When the pressing part is in the first state, the snap-fit ​​part is connected to the connecting part, and the transmission box is connected to the robot body through the drive box;

[0034] When the pressing part is in the second state, the transmission part is used to push the connecting member, the snap-fit ​​member disengages from the connecting member, and the transmission box disengages from the drive box.

[0035] The present invention provides a transmission box and a surgical robot, wherein the transmission box includes a housing and a pushing member and a snap-fit ​​member disposed on the housing; the pushing member includes a pressing part and a transmission part connected to each other, the pressing part being able to drive the transmission part to move relative to the housing; when the transmission box is installed on the drive box of the robot body, the connecting part of the drive box is snapped with the snap-fit ​​member of the housing, and the connecting part is located in the pushing direction of the pushing member; when it is necessary to disassemble the transmission box, it is only necessary to apply pressing force to the pressing part, so that the pressing part drives the transmission part to move along the transmission direction, and the transmission part presses against the connecting part, causing the connecting part to displace, so that the snap-fit ​​member is disengaged from the connecting part. The disassembly operation is simple and can realize convenient disassembly between the transmission box and the robotic arm of the robot body. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0037] Figure 1 This is a schematic diagram of the transmission box provided in an embodiment of the present utility model;

[0038] Figure 2 for Figure 1 A schematic diagram of the structure after removing the outer shell;

[0039] Figure 3 for Figure 2 View along the -X direction;

[0040] Figure 4 for Figure 3 Sectional view along AA;

[0041] Figure 5 for Figure 2 View along the -Z direction;

[0042] Figure 6 for Figure 5 Sectional view along BB Figure 1 ;

[0043] Figure 7 for Figure 5 Sectional view along BB Figure 2 ;

[0044] Figure 8 for Figure 1 A schematic diagram of the structure of the central pusher component.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100 - Housing; 101 - Mounting hole;

[0047] 110 - Base plate; 111 - Snap-fit ​​connector; 112 - Mounting slot;

[0048] 120 - Outer shell; 121 - Opening;

[0049] 130 - Guide structure; 131 - Fixing member; 1311 - Limiting part; 1312 - Screw; 132 - First abutting member; 133 - Second abutting member;

[0050] 140 - First guide groove;

[0051] 150 - Second guide groove;

[0052] 200 - Pushing component; 201 - Bending part; 2011 - First part; 2012 - Second part; 202 - Reset part; 203 - Anti-detachment part; 204 - Extension arm;

[0053] 210 - First pushing member; 211 - First pressing part; 212 - First transmission part; 213 - First limiting part;

[0054] 220 - Second pushing member; 221 - Second pressing part; 222 - Second transmission part; 223 - Second limiting part;

[0055] 10-Connector.

[0056] The accompanying drawings have illustrated specific embodiments of the present invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the embodiments of this utility model.

[0058] In this embodiment of the invention, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of the invention and their implementations, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of the invention according to the specific circumstances.

[0059] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0060] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present utility model described herein can be implemented, for example, in orders other than those illustrated or described herein.

[0061] In this embodiment of the invention, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplarily" or "for example" in this embodiment of the invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0062] Unless otherwise stated, the term "multiple" means two or more.

[0063] As the background technology indicates, surgical robots typically include a movable control console and a robotic arm. The surgeon can control the robotic arm's movement via the control console to perform surgical procedures. The robotic arm is equipped with a drive unit; surgical instruments such as endoscopes are generally detachably connected to the drive unit via a transmission unit. The drive unit, through the transmission unit, controls the rotation of the endoscope, enabling the surgeon to perform precise surgical operations.

[0064] During surgery, different surgical instruments may need to be changed to handle complex situations. When changing instruments, the transmission housing and the surgical instruments must be disassembled together to allow for the adjustment and calibration of the new instruments, ensuring they can be correctly installed and configured. After surgery, the transmission housing and surgical instruments are usually also removed from the robotic arm for thorough cleaning and sterilization of all components, ensuring the sterility of the surgical instruments. Therefore, it is evident that frequent disassembly of the transmission housing is necessary during the use of surgical robots to facilitate the replacement and maintenance of surgical instruments.

[0065] The transmission box can be secured to the robotic arm of the surgical robot using a snap-fit ​​mechanism. This mechanism provides a secure connection and allows for quick installation and removal. However, in practice, the snap-fit ​​button can easily get stuck on the transmission box's outer shell, preventing it from springing back smoothly. This not only increases operational complexity but can also potentially damage the transmission box's structure.

[0066] When the latch button is stuck by the housing, the operator usually needs to intervene manually to restore its normal function. For example, manually disassembling the transmission box housing. However, disassembling the housing is not only time-consuming and labor-intensive, but also carries the risk of damaging the internal structure of the transmission box. Such damage may affect the function of the transmission box, thereby affecting the installation and use of surgical instruments and hindering the smooth progress of the surgery.

[0067] Therefore, this utility model provides a transmission box and a surgical robot. The transmission box includes a housing and a pushing member and a snap-fit ​​member disposed on the housing. The pushing member includes a pressing part and a transmission part connected to each other. The pressing part can drive the transmission part to move relative to the housing. When the transmission box is installed on the drive box of the robot body, the connecting part of the drive box is snapped with the snap-fit ​​member of the housing, and the connecting part is located in the pushing direction of the pushing member. When it is necessary to disassemble the transmission box, it is only necessary to apply a pressing force to the pressing part, so that the pressing part drives the transmission part to move along the transmission direction. The transmission part presses against the connecting part, causing the connecting part to displace, so that the snap-fit ​​member is disengaged from the connecting part. The disassembly operation is simple and can realize convenient disassembly between the transmission box and the robotic arm of the robot body.

[0068] The technical solution of this utility model will now be described in detail with reference to the accompanying drawings and specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0069] Figure 1 This is a schematic diagram of the transmission box provided in an embodiment of the present utility model; Figure 2 for Figure 1 A schematic diagram of the structure after removing the outer shell; Figure 5 for Figure 2 View along the -Z direction; Figure 6 for Figure 5 Sectional view along BB Figure 1 ; Figure 7 for Figure 5 Sectional view along BB Figure 2 .

[0070] like Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7 As shown, one embodiment of this utility model provides a transmission box, which includes a housing 100, a pusher 200 disposed on the housing, and a snap-fit ​​member 111. The snap-fit ​​member 111 is used to snap-fit ​​with the connector 10 of the drive box. The connector 10 is disposed in the pushing direction of the pusher 200. The pusher 200 includes a pressing part and a transmission part connected to each other. During the process of switching the transmission box and the drive box from a connected state to a disassembled state, a pressing force is applied to the pressing part, the transmission part moves along the transmission direction, and the transmission part presses against the connector to displace the connector, so that the connector is disengaged from the snap-fit ​​member.

[0071] The housing 100 is provided with mounting holes 101 for installing surgical instruments. Surgical instruments may include, but are not limited to, endoscopes, suture devices, clamps, suction devices, or irrigation devices. Doctors can select appropriate surgical instruments to install in the transmission box according to the specific needs of the surgery.

[0072] In some embodiments, the housing 100 includes a base plate 110 and an outer shell 120, which are detachably connected by a snap-fit ​​structure or by fastening screws. After the base plate 110 and the outer shell 120 are connected, a mounting cavity is formed between them. A transmission assembly is disposed within the mounting cavity. The transmission assembly is used to connect with surgical instruments mounted on the housing 100. The robot body can drive the surgical instruments to move via the transmission assembly to perform surgical operations.

[0073] The snap-fit ​​connector 111 is set on the base plate 110. The robot body can be connected to the snap-fit ​​connector 111 from the side of the base plate 110 away from the outer shell 120. By setting the snap-fit ​​connector 111, the transmission box can be stably connected to the robot body, ensuring that the surgical instruments will not loosen or fall off during operation.

[0074] The pusher 200 is disposed in the mounting cavity and is movable relative to the base plate 110. The operator can press the pressing part of the pusher 200 to control the movement of the transmission part, thereby switching the transmission part between a first position and a second position, and thus connecting and disconnecting the transmission box and the drive box. The pressing part and the transmission part are connected and can move synchronously, making the operation simpler and more efficient.

[0075] Specifically, when the pressing part is in the first state, the transmission part is in the first position. At this time, the locking part 111 can be connected to the connecting part 10 of the robot body to achieve a stable connection between the transmission box and the drive box. When it is necessary to disassemble the transmission box, the pushing part 200 is moved to make the pressing part in the second state. Then the transmission part can be switched from the first position to the second position to push the locking part 111 or the connecting part 10, so that the locking part 111 can be disengaged from the connecting part 10. The operation is simple and can realize convenient disassembly between the transmission box and the drive box.

[0076] In some embodiments, the number of pushers 200 is one.

[0077] The pusher 200 can be disposed on the housing 100 facing the direction of Figure 2 One side in the Y direction can also be located opposite to the housing 100. Figure 2 On one side in the Y direction. By setting the number of pushers 200 to one, it features a simple structure, making it easy to assemble and operate.

[0078] In other embodiments, the number of pushers 200 is two, including a first pusher 210 and a second pusher 220, which are symmetrically arranged with respect to a set surface.

[0079] It should be noted that the setting is... Figure 2 The planes containing the X and Z directions. The number of snap-fit ​​pieces 111 is the same as the number of push pieces 200, and snap-fit ​​pieces 111 and push pieces 200 are set in a one-to-one correspondence; the number of connector pieces 10 of the robot body is the same as the number of snap-fit ​​pieces 111, and when the transmission box and the drive box are connected, the connector pieces 10 and snap-fit ​​pieces 111 are connected in a one-to-one correspondence.

[0080] By symmetrically arranging the first pusher 210 and the second pusher 220 relative to the set surface, it is convenient for the user to press the first pusher 210 and the second pusher 220 to simultaneously drive the snap-fit ​​111 corresponding to all the connecting parts 10, so as to disassemble the transmission box and the drive box, thereby improving the convenience of operation.

[0081] Figure 3 for Figure 2 View along the -X direction; Figure 4 for Figure 3 A cross-sectional view along point AA. (See diagram below.) Figures 3 to 5 As shown, in some embodiments, the housing 100 is provided with a guide structure 130; the transmission part slides in contact with the guide structure 130, and the transmission part slides relative to the guide structure 130 between a first position and a second position.

[0082] Under the guidance of the guide structure 130, the transmission unit can move along... Figure 2 The Y-axis slides back and forth to slide between the first and second positions.

[0083] Understandably, the guide structure 130 guides the movement of the transmission unit, enabling it to slide smoothly and accurately within the housing 100. The guide structure 130 ensures that the transmission unit does not deviate from the predetermined track during movement, preventing it from being jammed by the housing 100 and ensuring that the transmission unit can smoothly switch between the first and second positions.

[0084] Specifically, when the transmission unit is in the first position, the transmission unit does not exert a thrust on the connector 10, and the snap-fit ​​111 of the housing 100 can remain connected to the connector 10 of the drive box, thereby ensuring a stable connection between the transmission box and the robotic arm of the robot body. When the transmission unit slides from the first position to the second position, the transmission unit will push the connector 10 away from the snap-fit ​​111, so that the connector 10 is disengaged from the snap-fit ​​111, and the transmission box can be disengaged from the drive box, thereby disengaging the transmission box from the robotic arm of the robot body.

[0085] For example, the guide structure 130 can be in the form of a guide rail, a slide, etc. These structures can effectively guide the movement of the transmission part and prevent the transmission part from deviating or getting stuck during the movement.

[0086] like Figures 3 to 5 As shown, in some embodiments, the guide structure 130 includes a fixing member 131 and an abutment member; the fixing member 131 and the abutment member are disposed opposite to each other; the fixing member 131, the abutment member and the housing 100 form a guide groove, which is at least used to accommodate the transmission part.

[0087] Among them, the extension direction of the guide groove is... Figure 2 The Y-axis is aligned to provide a path for the transmission unit to move, allowing the transmission unit to slide along the extension direction of the guide groove to switch between a first position and a second position.

[0088] It should be noted that the cross-sectional shape of the guide groove formed by the fixing member 131, the abutment member and the housing 100 is adapted to the cross-sectional shape of the transmission part, and the cross-sectional size of the guide groove is slightly larger than the cross-sectional size of the transmission part, so that the transmission part can slide smoothly in the guide groove, avoid the displacement when the gap between the transmission part and the guide groove is too large, and also avoid the movement of the transmission part being stuck due to the gap between the transmission part and the guide groove being too small.

[0089] For example, the cross-sectional shape of the guide groove can be L-shaped, rectangular, or fan-shaped, etc., as long as it matches the cross-sectional shape of the transmission part. This utility model embodiment does not impose any restrictions on this.

[0090] like Figure 4 As shown, in some embodiments, the fixing member 131 is detachably connected to the housing 100; the fixing member 131 is provided with a limiting part 1311; when the transmission part is located in the guide groove, the transmission part abuts against the housing 100, and the surface of the transmission part away from the housing 100 faces the limiting part 1311.

[0091] For example, the fastener 131 can be detachably connected to the base plate 110 by screws 1312. Connecting the fastener 131 and the base plate 110 by screws 1312 has the effect of stable connection and easy disassembly, which facilitates the assembly of the transmission box.

[0092] The limiting portion 1311 of the fixing member 131, the surface of the abutting member facing the fixing member 131, and the surface of the base plate 110 facing the fixing member 131 can be formed into a guide groove. The surface of the transmission part away from the base plate 110 (i.e., the surface of the transmission part facing away from the base plate 110) Figure 2 The surface of the Z-axis faces the limiting part 1311, and the surface of the transmission part faces the base plate 110 (i.e., the transmission part faces away from the base plate 110). Figure 2 The surface in the Z direction abuts against the base plate 110, and the base plate 110 and the limiting part 1311 can restrict the transmission part along the Z direction. Figure 2Move in the Z direction;

[0093] transmission unit facing Figure 2 The surface and transmission part in the X direction are opposite to each other. Figure 2 The surface in the X direction faces the limiting part 1311 or the abutment, and the limiting part 1311 or the abutment can restrict the transmission part along the X direction. Figure 2 Move in the X direction.

[0094] Therefore, it can be seen that, under the constraints of the fixing member 131, the abutment member, and the base plate 110, the transmission part can only move along... Figure 2 The Y-axis movement allows the transmission unit to slide between the first and second positions, ensuring that it does not deviate from the predetermined track during movement. This avoids the transmission unit being jammed by the housing 100 and improves the smoothness and convenience of disassembly between the transmission box and the robotic arm of the surgical robot.

[0095] Understandably, the limiting part 1311 is used to limit the movement range of the transmission part, ensuring that the movement path of the transmission part within the guide groove is controlled. The limiting part 1311 can prevent the transmission part from sliding out of the guide groove or moving to a position it should not reach, thereby improving the operational safety and reliability of the transmission box.

[0096] It should be noted that the number of abutting parts is the same as the number of pushing parts 200, and the positions of the abutting parts and the pushing parts 200 correspond one-to-one.

[0097] In some embodiments, the number of abutting members is set to multiple, including a first abutting member 132 and a second abutting member 133; a fixing member 131 is disposed between the first abutting member 132 and the second abutting member 133; the number of transmission parts is set to multiple, including a first transmission part 212 and a second transmission part 222; the fixing member 131, the first abutting member 132 and the housing 100 form a first guide groove 140, the first guide groove 140 accommodating the first transmission part 212; the fixing member 131, the second abutting member 133 and the housing 100 form a second guide groove 150, the second guide groove 150 accommodating the second transmission part 222.

[0098] Understandably, the first abutment 132 and the second abutment 133 can make the guide structure 130 more stable, ensuring that the movement of the transmission part in the guide groove is more smooth and controlled; the fixing member 131 is set between the first abutment 132 and the second abutment 133, which can form two independent and symmetrical guide grooves. The first transmission part 212 and the second transmission part 222 can cooperate with different guide grooves respectively, which can ensure that each transmission part moves smoothly in its own guide groove and improve the operational reliability of the transmission box.

[0099] Figure 8 for Figure 1 A structural schematic diagram of the middle pusher 200. (See diagram below.) Figure 1 , Figure 2 and Figure 8 As shown, in some embodiments, the housing 100 is provided with an opening 121, and at least a portion of the pressing part is disposed in the opening 121; the pusher 200 also includes a bending part 201, a first portion 2011 of the bending part 201 is located inside the housing 100, and a second portion 2012 of the bending part 201 extends to the outside of the housing 100 through the opening 121, and the second portion 2012 of the bending part 201 is connected to the pressing part.

[0100] The opening 121 is formed in the outer shell 120, and the opening 121 can connect the mounting cavity formed by the base plate 110 and the outer shell 120 with the external environment. At least part of the pressing part is provided in the opening 121, and the operator can easily operate the pressing part from the outside of the outer shell 100 to drive the pressing part to move.

[0101] Understandably, the design of the bend 201 allows the pusher 200 to extend both inside and outside the housing 100. Specifically, the first portion 2011 of the bend 201 is located inside the housing 120 and can conform to the inner wall of the housing 120, serving a guiding and limiting function, facilitating the sliding of the pusher 200 between the first and second positions, and preventing the bend 201 from sliding along... Figure 2 The Z-axis movement detaches it from the outer shell 120.

[0102] The second part 2012 of the bent part 201 extends to the outside of the housing 100 through the opening 121, allowing the operator to operate the pressing part from outside the housing 100, improving the convenience and flexibility of operation, and making the pressing part easier to operate.

[0103] It should be noted that opening 121 along Figure 2 The width in the Y direction is greater than the second part 2012 of the bend 201 along the middle. Figure 2 The width in the Y direction provides an operable gap between the second portion 2012 of the bent portion 201 and the sidewall of the opening 121, preventing interference between the second portion 2012 of the bent portion 201 and the sidewall of the opening 121 when the pusher 200 slides. Furthermore, if the pusher 200 becomes stuck and cannot be reset due to uncontrollable factors, it can be manually reset through the gap between the second portion 2012 of the bent portion 201 and the sidewall of the opening 121.

[0104] like Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, in some embodiments, the pusher 200 is provided with a reset part 202, which is at least used to push the transmission part to move toward a first position.

[0105] For example, the bend 201 is opposite to Figure 2 An extension arm 204 is provided on one side in the Z direction. A guide post can be provided on the extension arm 204. The fixing member 131 has a connecting hole on the side facing the extension arm 204. One end of the reset part 202 is embedded in the connecting hole, and the other end is sleeved on the guide post. When the pressing part of the pushing member 200 is pressed to make the transmission part slide from the first position to the second position, the reset part 202 is compressed. When the pushing member 200 is released, the reset part 202 returns to its original shape, which can push the pushing member 200 to move, so that the transmission part moves toward the first position, thereby realizing the reset of the pushing member 200.

[0106] Understandably, the reset mechanism ensures that the transmission unit automatically returns to the first position after the operation is completed, thereby reducing the operator's manual adjustment time and improving the convenience and efficiency of disassembling the transmission box.

[0107] For example, the reset part 202 is a spring. Springs are easy to install and have a good rebound effect. The reset element can also be other elastic elements that can drive the transmission part to move toward the first position. This embodiment of the utility model does not impose any limitations on this.

[0108] like Figure 1 , Figure 2 and Figure 8 As shown, in some embodiments, the pusher 200 includes an anti-detachment part 203, which abuts against the housing 100 when the transmission part is in the first position.

[0109] For example, the anti-detachment part 203 is a protruding structure provided on the pressing part, and the anti-detachment part 203 can be provided on the pressing part facing towards Figure 2 On the side wall in the X direction.

[0110] Understandably, the anti-detachment part 203 can prevent the transmission part from detaching from the housing 100 when it is in the first position, thus ensuring the stability and safety of the transmission part in the non-operating state.

[0111] like Figures 1 to 8 As shown, in some embodiments, there are two pushers 200; the first pusher 210 includes a first pressing part 211 and a first transmission part 212, and the second pusher 220 includes a second pressing part 221 and a second transmission part 222; the first transmission part 212 and the second transmission part 222 can move in directions that are closer to or further away from each other; the first pressing part 211 and the second transmission part 222 are disposed on the same side relative to the setting surface, and the second pressing part 221 and the first transmission part 212 are disposed on the same side relative to the setting surface.

[0112] like Figure 6As shown, for example, a mounting groove 112 may be provided on the base plate 110, and a snap-fit ​​member 111 is disposed on the inner wall of the mounting groove 112. The connecting member 10 of the drive box can be inserted into the base plate 110 through the mounting groove 112 and snap-fitted onto the snap-fit ​​member 111. At this time, the first transmission part 212 and the second transmission part 222 are located in the first position, and the first pressing part 211 and the second pressing part 221 are far apart from each other.

[0113] like Figure 7 As shown, when the first pressing part 211 and the second pressing part 221 are pressed to bring the first pressing part 211 and the second pressing part 221 closer to each other, the first transmission part 212 and the second transmission part 222 can switch from the first position to the second position. Then, the first transmission part 212 and the second transmission part 222 can push the connecting part 10 of the robot body to move, so as to cancel the connection between the connecting part 10 and the snap-fit ​​part 111, so that the transmission box is disconnected from the robot body and the transmission box can be easily removed.

[0114] In some embodiments, the first pusher 210 includes a first limiting portion 213, the second pusher 220 includes a second limiting portion 223, the first limiting portion 213 abuts against the second pusher 220, and the second limiting portion 223 abuts against the first pusher 210.

[0115] like Figure 8 As shown, the first transmission part 212 is disposed at one end of the extension arm 204 of the first pusher 210 away from the bent portion 201, and the extension direction of the first transmission part 212 is parallel to... Figure 2 The Y-direction is consistent, wherein the first limiting part 213 may be a protrusion structure provided at one end of the first transmission part 212 away from the extension arm 204.

[0116] Correspondingly, the second transmission part 222 is disposed at one end of the extension arm 204 of the second pusher 220 away from the bent part 201, and the extension direction of the second transmission part 222 is... Figure 2 The Y-direction is consistent, wherein the second limiting part 223 may be a protrusion structure provided at one end of the second transmission part 222 away from the extension arm 204. The first pusher 210 and the second pusher 220 are distributed on both sides of the setting surface.

[0117] Understandably, the first pusher 210 and the second pusher 220 along... Figure 2 The first and second pushers 210 and 220 are arranged opposite each other in the Y direction. When the first pusher 210 and the second pusher 220 are pressed, and the first pressing part 211 and the second pressing part 221 are brought closer to each other, the first transmission part 212 and the second transmission part 222 switch from the first position to the second position. The distance between the end of the first transmission part 212 away from the first pressing part 211 and the end of the second transmission part 222 away from the second pressing part 221 increases, which can push the corresponding connecting part 10 to move so as to disengage from the snap-fit ​​part 111.

[0118] When the first pusher 210 and the second pusher 220 are released from their positions, the first pressing part 211 and the second pressing part 221 move away from each other under the action of the reset part 202, so that the first transmission part 212 and the second transmission part 222 switch from the second position to the first position. At this time, the first limiting part 213 abuts against the connecting arm 204 of the second pusher 220, and the second limiting part 223 abuts against the connecting arm 204 of the first pusher 210. This restricts the first pressing part 211 and the second pressing part 221 from moving away from each other when the first transmission part 212 and the second transmission part 222 are in the first position, preventing the pusher 200 from falling out of the housing 100 and ensuring the stability of the pusher 200.

[0119] Another embodiment of this utility model provides a surgical robot, which includes a robot body and a transmission box provided in any of the above embodiments.

[0120] The transmission box has been described in detail in the above embodiments and will not be repeated here.

[0121] The robot body includes a drive box, which is provided with a connector 10. The transmission box is configured such that when the pressing part is in the first state, the snap-fit ​​111 is connected to the connector 10, and the transmission box is connected to the robot body through the drive box. When the pressing part is in the second state, the transmission part is used to push the connector 10, the snap-fit ​​111 is disengaged from the connector 10, and the transmission box is disengaged from the drive box.

[0122] In summary, the transmission box and surgical robot provided in this embodiment of the present invention, when the transmission box is installed on the robotic arm of the robot body, the connecting part 10 of the drive box connected to the robotic arm is engaged with the snap-fit ​​part 111 of the housing 100. At this time, the pressing part is in the first state and the transmission part is in the first position. When it is necessary to disassemble the transmission box, the pressing part is moved to the second state, so that the pressing part drives the transmission part to switch from the first position to the second position. The transmission part can push the snap-fit ​​part 111 or the connecting part 10 so that the snap-fit ​​part 111 is disengaged from the connecting part 10. The operation is simple and can realize convenient disassembly between the transmission box and the robotic arm.

[0123] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of the applications disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed in the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0124] It should be understood that the embodiments of this utility model are 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 the embodiments of this utility model is limited only by the appended claims.

Claims

1. A transmission box, detachably connected to the drive box of a robot, characterized in that, The transmission box includes a housing (100), a pusher (200) disposed on the housing, and a snap-fit ​​member (111). The snap-fit ​​member (111) is used to snap-fit ​​with the connector (10) of the drive box. The connector (10) is disposed in the pushing direction of the pusher (200). The pusher (200) includes a pressing part and a transmission part connected to each other. During the process of switching the transmission box and the drive box from a connected state to a disassembled state, a pressing force is applied to the pressing part, the transmission part moves along the transmission direction, the transmission part presses against the connector to displace the connector, and the connector disengages from the snap-fit.

2. The transmission box according to claim 1, characterized in that, The number of the pusher (200) is one; Alternatively, the number of the pushers (200) is two, the two pushers (200) including a first pusher (210) and a second pusher (220), the first pusher (210) and the second pusher (220) being symmetrically arranged with respect to a set surface.

3. The transmission box according to claim 1, characterized in that, The housing (100) is provided with a guide structure (130); The transmission part slides in contact with the guide structure (130), and the transmission part slides relative to the guide structure (130) between a first position and a second position.

4. The transmission box according to claim 3, characterized in that, The guide structure (130) includes a fastener (131) and an abutment; The fixing member (131) and the abutting member are disposed opposite to each other; the fixing member (131), the abutting member and the housing (100) form a guide groove, which is at least used to accommodate the transmission part.

5. The transmission box according to claim 4, characterized in that, The fastener (131) is detachably connected to the housing (100); the fastener (131) is provided with a limiting part (1311); When the transmission part is located in the guide groove, the transmission part abuts against the housing (100), and the surface of the transmission part away from the housing (100) faces the limiting part (1311).

6. The transmission box according to claim 5, characterized in that, The number of abutting members is set to multiple, and the multiple abutting members include a first abutting member (132) and a second abutting member (133); The number of the transmission parts is set to multiple, and the multiple transmission parts include a first transmission part (212) and a second transmission part (222); The fastener (131) is disposed between the first abutting member (132) and the second abutting member (133); The fixing member (131), the first abutting member (132) and the housing (100) form a first guide groove (140), which accommodates the first transmission part (212); The fixing member (131), the second abutting member (133) and the housing (100) form a second guide groove (150), which accommodates the second transmission part (222).

7. The transmission box according to any one of claims 1-6, characterized in that, The housing (100) is provided with an opening (121), and at least a portion of the pressing part is disposed within the opening (121); The pusher (200) also includes a bending portion (201), a first portion (2011) of which is located inside the housing (100), and a second portion (2012) of which extends through the opening (121) to the outside of the housing (100), and the second portion (2012) of which is connected to the pressing portion.

8. The transmission box according to any one of claims 3-6, characterized in that, The pusher (200) is provided with a reset part (202), which is at least used to push the transmission part to move toward the first position; And / or, the pusher (200) includes an anti-detachment part (203), which abuts against the housing (100) when the transmission part is in the first position.

9. The transmission box according to claim 2, characterized in that, The number of the pusher (200) is two; The first pusher (210) includes a first pressing part (211) and a first transmission part (212), and the second pusher (220) includes a second pressing part (221) and a second transmission part (222); The first transmission unit (212) and the second transmission unit (222) can move in directions that are closer to or further away from each other; The first pressing part (211) and the second transmission part (222) are disposed on the same side relative to the setting surface, and the second pressing part (221) and the first transmission part (212) are disposed on the same side relative to the setting surface; And / or, the first pusher (210) includes a first limiting portion (213), the second pusher (220) includes a second limiting portion (223), the first limiting portion (213) abuts against the second pusher (220), and the second limiting portion (223) abuts against the first pusher (210).

10. A surgical robot, characterized in that, Includes the robot body and the transmission box as described in any one of claims 1-9; The robot body includes a drive box, and the drive box is provided with a connector (10); The transmission box is configured as follows: When the pressing part is in the first state, the snap-fit ​​part (111) is connected to the connector (10), and the transmission box is connected to the robot body through the drive box; When the pressing part is in the second state, the transmission part is used to push the connector (10), the snap-fit ​​part (111) disengages from the connector (10), and the transmission box disengages from the drive box.

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