Rotating shaft locking device

Abstract

The utility model belongs to the technical field of locking devices, and particularly relates to a rotating shaft locking device which comprises a rotating shaft, a self-locking disc is rotationally installed on the rotating shaft, an annular groove is formed in one side of the self-locking disc, and a first pressing disc is installed in the annular groove. A first pressing disc groove is formed in the side, provided with the annular groove, of the first pressing disc, a second pressing disc is installed in the first pressing disc groove, a special-shaped disc is further arranged in the annular groove of the self-locking disc and rotationally connected with the rotating shaft, a compression spring is arranged on the special-shaped disc, and the compression spring is connected with the self-locking disc. Stand columns are mounted at two ends of the compression spring. The self-locking disc and the special-shaped disc can be locked at fixed positions and unlocked, so that the position of the medical manipulator part connected to the self-locking disc and the special-shaped disc is effectively locked, position deviation of the medical manipulator part caused by external interference is avoided, the operation precision of the medical manipulator is effectively guaranteed, and the operation accident rate is reduced.

Description

A rotating shaft locking device Technical Field

[0001] This utility model belongs to the technical field of locking devices, specifically relating to a rotating shaft locking device. Background Technology

[0002] In recent years, with technological advancements, a surgical robotic arm has emerged, falling between traditional laparoscopic surgical instruments and multi-degree-of-freedom surgical robots. It not only possesses the multi-degree-of-freedom and high flexibility of the da Vinci robot, but also, due to its purely mechanical construction, retains the low-cost characteristics of traditional laparoscopic surgery. Based on these features, it has gained increasing favor from medical institutions and is rapidly becoming more widespread.

[0003] Because the multiple degrees of freedom of this minimally invasive surgical robot is an essential function, its multiple degrees of freedom and high-precision transmission are easily affected by external factors during operation, causing relative rotation between components, deviating from the operating position that the operator wants to stay in, making minimally invasive surgery difficult and affecting its precision, which can have adverse effects on patients and even threaten their lives. Summary of the Invention [Summary of the Utility Model]

[0004] This invention provides a rotating shaft locking device to solve the technical problem in the prior art that the operation of a minimally invasive surgical robot is easily affected by external factors, causing relative rotation between components and affecting the operational accuracy of the minimally invasive surgery.

[0005] The technical solution of the rotating shaft locking device provided by this utility model is as follows:

[0006] A rotating shaft locking device includes a rotating shaft with a self-locking disc rotatably mounted on it. A pressing disc is mounted on one side of the self-locking disc, and two pressing discs are rotatably mounted on the rotating shaft, arranged in a mirror-symmetrical and overlapping manner. The pressing disc includes a disc portion and symmetrical extension portions on both sides of the disc portion, with columns on the extension portions. A shaped disc is also provided on the same side of the self-locking disc, and the shaped disc is rotatably connected to the rotating shaft. A compression spring is provided on the shaped disc, and pressing columns are installed at both ends of the compression spring. The rotating shaft locking device also includes a self-locking spring strip and a tension spring. A steel wire rope is provided on the self-locking spring strip, and the self-locking spring is used to move to the position where the extension of the tension spring is minimal.

[0007] Furthermore, the irregularly shaped disc is provided with a compression spring positioning hole, which is used to place the compression spring.

[0008] Furthermore, two compression springs are also provided.

[0009] Furthermore, the self-locking connector is fixedly connected to the first rotating shaft connector, the first rotating shaft connector is rotatably connected to the rotating shaft, the irregular disc is fixedly connected to the self-locking connector by a positioning screw, and the self-locking spring is used to move along the direction of the two positioning screws to the position where the extension of the tension spring is minimal.

[0010] Furthermore, the self-locking disc is fixedly connected to the rotating shaft connector, which is connected to the rotating shaft bearing.

[0011] The beneficial effects are:

[0012] (1) When the rotating shaft locking device is working, the irregular disc and the self-locking disc approach each other along the central axis of the compression spring. The compression spring uses its elastic force to lock the pressing cylinder between the two, locking the rotational freedom of the irregular disc and the self-locking disc. At this time, the self-locking spring bar is at its farthest end, the extension of the tension spring reaches its maximum, and it does not affect the first and second pressing discs. At the same time, when the rotational freedom of the irregular disc and the self-locking disc is locked, the rotational freedom between the first and second rotating shaft connecting parts is also locked, effectively completing the locking. When it is necessary to unlock, the steel wire rope on the self-locking spring bar is loosened. Under the action of the tension spring, the self-locking spring bar moves along the direction of the positioning screw to the point where the extension of the tension spring is minimal. With the help of the inclined surface on the self-locking spring bar, its movement pushes the first and second pressing discs together, causing the pressing cylinder to move inward along the central axis of the compression spring, further compressing the spring, releasing the locking state of the pressing cylinder on the self-locking disc and the irregular disc, unlocking their rotational freedom, and realizing the free rotation of the corresponding parts of the rotating shaft. That is, the self-locking disc and the irregular disc can be locked in a fixed position and then unlocked, thereby effectively locking the position of the medical robotic arm component connected to the two components, preventing the position of the medical robotic arm component from being displaced by external interference, thus effectively ensuring the operating accuracy of the medical robotic arm and reducing the surgical accident rate.

[0013] (2) The irregularly shaped disc and compression spring work together to provide elastic force for locking the disc to other components. The two compression spring positioning holes and the two compression springs ensure the uniform distribution of elastic force, providing a stable and balanced locking force during locking, improving the reliability and stability of the locking effect, and enhancing the working performance of the device.

[0014] (3) Through the cooperation of the shaft connector and the shaft bearing, the locking disc can rotate flexibly relative to the shaft, which provides the necessary conditions for realizing the locking and unlocking functions of the shaft, ensuring the rotational flexibility and stability of the device under different working conditions, and improving the applicability of the device.

[0015] (5) By setting a self-locking spring bar and a tension spring, a power source and control method are provided for the unlocking operation of the rotating shaft locking device. The setting of the wire rope facilitates the control and operation of the self-locking spring bar. The self-locking spring bar can move along the direction of the positioning screw and the extension of the tension spring can change, realizing the switching control of the locking and unlocking states of the device, making the operation of the device more convenient and flexible, and improving the ease of use and operability of the device. Figure Description

[0016] Figure 1 is a front view of the rotating shaft locking device of Embodiment 1 provided by this utility model;

[0017] Figure 2 is a top view of the rotating shaft locking device of Embodiment 1 provided by this utility model.

[0018] Figure 3 is a schematic diagram of the internal structure of the rotating shaft locking device of Embodiment 1 provided by this utility model;

[0019] Figure 4 is a bottom view of the rotating shaft locking device of Embodiment 1 provided by this utility model;

[0020] 1. Self-locking disc; 2. First clamping disc; 3. Second clamping disc; 4. Irregularly shaped disc; 5. Clamping cylinder; 6. Self-locking spring strip; 7. Compression spring; 8. Bearing; 9. Self-locking connector; 10. Positioning screw; 11. Fixing screw; 12. Tension spring. Detailed Implementation Methods

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description of this utility model is provided in conjunction with the accompanying drawings.

[0022] Specific embodiment 1 of the rotating shaft locking device provided by this utility model:

[0023] This embodiment provides a rotating shaft locking device, including a rotating shaft with a self-locking disc rotatably mounted on it. A pressing disc is mounted on one side of the self-locking disc. In this embodiment, the self-locking disc has an annular groove on one side, and the pressing disc is installed in the annular groove. The pressing disc is rotatably mounted on the rotating shaft. The pressing disc includes a disc portion and symmetrical extension portions on both sides of the disc portion. A column is provided on each extension portion, and both columns are fixed on the same side of the pressing disc, as shown in the figure. In this embodiment, the column on one extension portion is located on the left side of the first circular pressing disc, and the other is located on the right side. As shown in the figure, there are two pressing discs, mirror-symmetrically arranged and overlapping.

[0024] The self-locking disc also has an irregularly shaped disc on the same surface. The irregularly shaped disc has positioning holes for compression springs, which are used to hold the springs. Both ends of the compression springs are fitted with clamping cylinders. As shown in the figure, there are two positioning holes for the compression springs on the irregularly shaped disc, and correspondingly, there are two compression springs. The irregularly shaped disc is rotatably connected to the rotating shaft. In this embodiment, a self-locking connector is fixedly connected to the irregularly shaped disc, and the self-locking connector is fixedly connected to the first rotating shaft connector. The first rotating shaft connector is rotatably connected to the rotating shaft. The irregularly shaped disc and the self-locking connector are fixedly connected by positioning screws. The self-locking disc is rotatably connected to the rotating shaft. In this embodiment, the self-locking disc and the rotating shaft connector are fixedly connected, and the rotating shaft connector is connected to the rotating shaft bearing, thereby ensuring the relative rotation between the self-locking disc and the rotating shaft.

[0025] In this embodiment, the rotating shaft locking device also includes a self-locking spring strip and a tension spring. The self-locking spring strip is provided with a steel wire rope, and the self-locking spring strip can be moved along the direction of the two positioning screws to the position where the extension of the tension spring is minimal.

[0026] In this embodiment, when the rotating shaft locking device is working, the distance between the irregular-shaped disc and the self-locking disc gradually decreases outward along the central axis of the compression spring. The compression spring locks the pressing cylinders at both ends between the irregular-shaped disc and the self-locking disc with elastic force, achieving complete locking of the rotational freedom between the irregular-shaped disc and the self-locking disc. At this time, the self-locking spring bar is located at the farthest end, the extension of the tension spring is at its maximum, and it does not interfere with the position of the first pressing disc and the second pressing disc. In addition, when the rotational freedom of the irregular-shaped disc and the self-locking disc is completely locked, the rotational freedom between the first rotating shaft connector and the second rotating shaft connector is also completely locked, thereby effectively achieving locking.

[0027] When locking is not required, the steel wire rope on the self-locking spring bar relaxes, and under the influence of the tension spring, the self-locking spring bar moves along the direction of the two positioning screws to the position where the tension spring has the minimum elongation. Due to the inclined surface on the self-locking spring bar, its movement pushes the first and second clamping discs together, causing the clamping cylinder to move inward along the central axis of the compression spring. At the same time, it further compresses the compression spring, releasing the clamping cylinder from the jamming between the self-locking disc and the irregular disc, thus releasing the rotational degree of freedom between the self-locking disc and the irregular disc, thereby realizing the free rotation of the corresponding two components of the rotating shaft, achieving the purpose of releasing the rotational degree of freedom.

[0028] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0029] In the description of the embodiments of this application, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

Claims

1. A rotating shaft locking device, characterized in that, The device includes a rotating shaft, on which a self-locking disc is rotatably mounted. A clamping disc is mounted on one side of the self-locking disc. Two clamping discs are rotatably mounted on the rotating shaft, arranged in a mirror-symmetrical and overlapping manner. Each clamping disc includes a disc portion and symmetrical extensions on both sides of the disc portion, with columns on the extensions. A shaped disc is also provided on the same side of the self-locking disc, rotatably connected to the rotating shaft. A compression spring is provided on the shaped disc, with clamping columns mounted at both ends of the compression spring. The rotating shaft locking device also includes a self-locking spring strip and a tension spring. A steel wire rope is provided on the self-locking spring strip, which is used to move to the position where the tension spring has the smallest elongation.

2. The rotational axis locking device according to claim 1, wherein The irregularly shaped disc has a compression spring positioning hole, which is used to place the compression spring.

3. The rotational axis locking device according to claim 2, wherein The irregularly shaped disc has two positioning holes for the compression springs, and there are also two compression springs.

4. The rotating shaft locking device according to claim 1, wherein A self-locking connector is fixedly connected to the irregularly shaped disc. The self-locking connector is fixedly connected to the first rotating shaft connector. The first rotating shaft connector is rotatably connected to the rotating shaft. The irregularly shaped disc and the self-locking connector are fixedly connected by positioning screws. The self-locking spring is used to move along the direction of the two positioning screws to the position where the extension of the tension spring is minimal.

5. The rotating shaft locking device according to claim 1, characterized in that, The self-locking disc is fixedly connected to the rotating shaft connector, which is connected to the rotating shaft bearing.

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