Wire harness management device and surgical robot

Abstract

The application relates to a wire harness management device and a surgical robot. The wire harness management device comprises a wire passing part, a rotating part and a bearing part. The wire passing part comprises a through hole for accommodating a wire harness. The rotating part is annularly arranged outside the wire passing part and is rotationally arranged along the axis of the wire passing part, and the wire harness is connected to the rotating part. The bearing part is arranged between the wire passing part and the rotating part. Based on the above arrangement, the bearing part can help the wire passing part and the rotating part to rotate more smoothly, reduce the mutual friction between the wire passing part and the rotating part, reduce the wear between the wire passing part and the rotating part, and thus improve the durability of the wire harness management device. The application adopts a scheme that the wire harness passes through an L-axis rotating shaft and enters the inside of an L-arm from the lower end of the L-arm. Before entering the L-arm, the wire harness is fixed by using a rigid structure, and the slight torsion of the wire harness when the L-arm rotates is released through the free rotation of the bearing part, so that the friction between the wire harness and other components is avoided.

Description

Technical Field

[0001] This application relates to the field of surgical robots, and more particularly to a wire harness management device and a surgical robot. Background Technology

[0002] In digital subtraction angiography (DSA) equipment, a common mechanical system structure is the suspended C-arm (L+C arm), used to achieve three-dimensional rotational movement in space. The wiring harness typically enters the equipment rack system from the control room cabinet via the ceiling panel, then proceeds through the main rack frame, the L-arm, and finally the C-arm to enable functions such as equipment activation or signal transmission. If the wiring harness enters the L-arm from its lower end via the L-axis rotation axis, it will slightly twist as the L-axis rotates. If the wiring harness does not enter the L-arm via the L-axis rotation axis (e.g., via the L-arm sidewall), it will move around the L-arm sidewall. Utility Model Content

[0003] The purpose of this application is to provide a wire harness management device and a surgical robot to address some or all of the shortcomings in the related technologies.

[0004] According to a first aspect of the embodiments of this application, a wire harness management device is provided for organizing wire harnesses, the wire harness management device comprising:

[0005] The threading section includes a through hole for accommodating a wire bundle;

[0006] A rotating part is provided, which is circumferentially disposed outside the threading part and rotatably disposed along the axis of the threading part; the wire harness is connected to the rotating part.

[0007] A bearing portion is disposed between the threading portion and the rotating portion.

[0008] In some optional embodiments, the threading section includes a buffer unit and a thread guiding unit, the buffer unit is connected to the thread guiding unit, the through hole is disposed through the buffer unit and the thread guiding unit, the wire bundle enters the through hole from the thread guiding unit and exits the through hole from the buffer unit, and the wire bundle is disposed in contact with the buffer unit.

[0009] Based on the above configuration, the bearing section can help the threading section and the rotating section rotate more smoothly, reducing the mutual friction between the threading section and the rotating section, reducing the wear between the threading section and the rotating section, thereby improving the durability of the wire harness management device.

[0010] In combination with the above-mentioned digital subtraction angiography (DSA) device, the wire bundle passes through the L-axis rotating shaft and enters the inside of the L-arm from the lower end of the L-arm, the wire bundle is fixed by using a rigid structure before entering the L-arm, and the slight twisting of the wire bundle when the L-arm rotates is released by the free rotation of the bearing part, so as to avoid the friction between the wire bundle and other components. The application effectively avoids the collision risk between the wire bundle and other components (such as the C-arm) when the L-arm rotates.

[0011] In some optional embodiments, the wire passing part comprises a first slot unit, the first slot unit is arranged on the outer wall of the wire passing part, the first slot unit comprises a first slot part and a second slot part, the first slot part is arranged on one side of the buffer unit close to the wire passing unit, and the second slot part is arranged on one side of the wire passing unit close to the buffer unit.

[0012] The bearing part comprises an inner shaft part, and the first slot part and the second slot part are matched to accommodate at least part of the inner shaft part.

[0013] Based on the above arrangement, the bearing part can be fixed when the wire passing part is assembled. The specific process is to first fix the wire passing unit, then arrange the inner shaft part of the bearing part in the second slot part after the fixing of the wire passing unit is completed, then cover the buffer unit on the wire passing unit, and the first slot part also corresponds to the inner shaft part of the bearing part. Finally, the buffer unit and the wire passing unit are fixed to each other, and at this time the inner shaft part of the bearing part is directly fixed.

[0014] The above assembly process does not need to increase other components, and only needs to arrange the first slot part and the second slot part on the buffer unit and the wire passing unit to complete the installation of the bearing part. The design is simple and convenient, and also has high practicability.

[0015] In some optional embodiments, the rotating part comprises a rotating body and a bearing pressing plate, and the bearing pressing plate is matched with the rotating body to form a second slot unit.

[0016] The bearing part comprises an outer shaft part, and the second slot unit is used to accommodate the outer shaft part.

[0017] The above-mentioned rotating body and bearing pressing plate can cooperate to fix the outer shaft part of the bearing part. The second slot unit in combination with the above-mentioned first slot unit can fix the outer shaft part of the bearing part on the rotating body and fix the inner shaft part of the bearing part on the wire passing part. Therefore, the wire passing part and the rotating part can rotate more smoothly.

[0018] In some optional embodiments, the wire passing part comprises a buffer unit, a wire passing unit and a bearing pressing plate, the bearing pressing plate is arranged between the buffer unit and the wire passing unit, and the bearing pressing plate is fixed on the wire passing unit.

[0019] The through hole is arranged through the buffer unit, the bearing pressing plate and the wire passing unit, the wire harness enters the through hole from the wire passing unit and exits the through hole from the buffer unit, and the wire harness is arranged in contact with the buffer unit.

[0020] The cooperation of the wire passing unit and the bearing pressing plate can facilitate the wire harness to pass through and provide a safe accommodation space for the wire harness. The buffer unit can reduce the abrasion of the wire harness, thereby increasing the durability of the wire harness.

[0021] In some optional embodiments, the wire passing portion includes a first groove unit arranged on the outer wall of the wire passing portion, and the bearing pressing plate cooperates with the wire passing unit to form the first groove unit.

[0022] The bearing portion includes an inner shaft portion, and the first groove unit is used to accommodate at least part of the inner shaft portion.

[0023] The assembly process of the bearing portion is as follows: first, the wire passing unit is fixed, then the bearing portion is placed into the first groove unit, and finally the bearing pressing plate is fixed on the wire passing unit, at which time the inner shaft portion of the bearing portion is directly fixed. The above cooperation and assembly mode of the bearing portion is simple and convenient, and the assembly can be completed without additional materials and processes.

[0024] In some optional embodiments, the buffer unit is fixed to the rotating portion and cooperates with the rotating portion to form a second groove unit.

[0025] The bearing portion includes an outer shaft portion, and the second groove unit is used to accommodate the outer shaft portion.

[0026] Based on the above arrangement, the buffer unit cooperates with the rotating portion to form the second groove unit and is used to accommodate the outer shaft portion of the bearing portion. That is, the buffer unit rotates with the rotating portion, at which time the wire harness on the buffer unit hardly has relative displacement with the buffer unit. Therefore, the friction between the buffer unit and the wire harness hardly occurs, the abrasion of the wire harness is minimized, and the durability of the wire harness is ensured.

[0027] In some optional embodiments, an end of the buffer unit away from the wire passing unit is a close end, the close end is gradually increased in size in a direction towards the rotating portion, and the increasing speed is gradually decreased.

[0028] In this way, when the wire harness is placed on the close end, no edges are encountered, avoiding the situation that the wire harness is cut by the edges. In addition, this mode can increase the contact area between the buffer unit and the wire harness, thereby minimizing the abrasion of the wire harness.

[0029] In some alternative embodiments, the wire harness management device further comprises a wire fixing frame and a housing, the housing comprises a fixing space, the wire fixing frame is arranged in the fixing space, and the wire harness is fixed on the wire fixing frame and extends out of the fixing space.

[0030] The wire harness extending out of the fixing space enters the through hole.

[0031] Based on the above arrangement, firstly, the fixing space provided by the housing can protect the wire harness from contacting the outside. In addition, the fixing frame can fix the wire harness thereon to prevent the wire harness from shaking and colliding with the housing.

[0032] According to a second aspect of the embodiments of the present application, a surgical robot is provided, which comprises the above-described wire harness management device.

[0033] The technical scheme provided by the embodiments of the present application has the following beneficial technical effects:

[0034] By arranging the threading part, the rotating part and the bearing part, the threading part comprises a through hole for accommodating the wire harness, the rotating part is annularly arranged outside the threading part and is arranged to rotate along the axis of the threading part, the wire harness is connected to the rotating part, and the bearing part is arranged between the threading part and the rotating part.

[0035] Based on the above arrangement, the bearing part can help the threading part and the rotating part to rotate more smoothly, reduce the mutual friction between the threading part and the rotating part, and reduce the wear between the threading part and the rotating part, thereby improving the durability of the wire harness management device.

[0036] In combination with the above-mentioned digital subtraction angiography (DSA) device, the present application adopts a scheme that the wire harness passes through the L-axis rotating shaft and enters the inside of the L-arm from the lower end of the L-arm, the wire harness is fixed using a rigid structure before entering the L-arm, and the slight twisting of the wire harness when the L-arm rotates is released through the free rotation of the bearing part to avoid the friction between the wire harness and other components. The present application effectively avoids the risk of collision between the wire harness and other components (such as the C-arm) when the L-arm rotates.

[0037] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0039] Figure 1 A structure diagram of a wire harness management device according to an embodiment of the present application.

[0040] Figure 2 A cross-sectional diagram of a wire harness management device according to an embodiment of the present application.

[0041] Figure 3 A structure diagram of a wire harness management device according to an embodiment of the present application. Figure 2 An enlarged diagram of A in the middle.

[0042] Figure 4 Another cross-sectional diagram of a wire harness management device according to an embodiment of the present application.

[0043] Figure 5 A structure diagram of a wire harness management device according to an embodiment of the present application. Figure 4 An enlarged diagram of B in the middle.

[0044] Explanation of Reference Signs

[0045] Wire harness management device 10

[0046] Threading portion 100

[0047] Threading hole 110

[0048] Buffer unit 120

[0049] Wire passing unit 130

[0050] Rotating portion 200

[0051] Rotating body 210

[0052] Bearing portion 300

[0053] Inner shaft portion 310

[0054] Outer shaft portion 320

[0055] First groove unit 410

[0056] First groove portion 411

[0057] Second groove portion 412

[0058] Second groove unit 420

[0059] Bearing pressing plate 430

[0060] Fixing stand 500

[0061] Housing 600

[0062] Fixing space 610 DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments (or, modes of implementation) of the present application will be clearly and completely described with reference to the drawings. When the following description refers to the drawings, identical or similar elements in different drawings represent identical or similar elements or features unless otherwise specified.

[0064] If the application embodiments involve directional indications or positional relationships (for example, up, down, left, right, front, back, inner, outer, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between components in a certain posture (as shown in the drawings); if the posture changes, the directional indications or positional relationships will also change accordingly. In addition, the terms "first", "second", etc. in the application embodiments are only used for convenience of description, and cannot be understood as indicating or implying relative importance.

[0065] In a digital subtraction angiography (DSA) device, a common mechanical system structure is a suspended C-arm (L+C arm) mechanical system structure, which is used to realize spatial three-way rotation movement. A wire harness usually enters the device rack system through the ceiling decorative plate from the cabinet in the control room, passes through the main frame of the rack, and then reaches the C-arm through the L-arm to realize device enabling or signal transmission functions. If the wire harness enters the L-arm from the lower end of the L-arm through the L-axis rotation shaft, when the L-axis rotates, the wire harness will be slightly twisted. If the wire harness does not enter the L-arm through the L-axis rotation shaft (such as through the side wall of the L-arm), the wire harness will move around the side wall of the L-arm.

[0066] The application provides a wire harness management device 10, as shown in the figure, which is used to arrange the wire harness. The wire harness management device 10 comprises a threading part 100, a rotating part 200 and a bearing part 300. Figures 1-5

[0067] The threading part 100 comprises a through hole 110 for accommodating the wire harness. The rotating part 200 is annularly arranged outside the threading part 100 and is rotationally arranged along the axis of the threading part 100. The wire harness is connected to the rotating part 200.

[0068] Based on the above arrangement, the bearing part 300 can help the threading part 100 and the rotating part 200 to rotate more smoothly, reduce the mutual friction between the threading part 100 and the rotating part 200, reduce the wear between the threading part 100 and the rotating part 200, and thus improve the durability of the wire harness management device 10.

[0069] ​Regarding the aforementioned digital subtraction angiography (DSA) equipment, this application employs a design where the lumbar harness rotates along the L-axis and enters the L-arm from its lower end. Before entering the L-arm, the lumbar harness is secured by a rigid structure, and the free rotation of the bearing portion 300 releases any slight twisting of the harness during L-arm rotation, preventing friction between the harness and other components. This application effectively avoids the risk of collision between the lumbar harness and other components (such as the C-arm) during L-arm rotation.

[0070] This embodiment includes two schemes for the specific internal structure of the wire harness management device 10, wherein, Figure 2 and Figure 3 As one of the options, Figure 4 and Figure 5 This is another possible solution. The following will combine visual... Figure 1 The first point explains its specific structural scheme.

[0071] In one embodiment, reference Figures 1-3 As shown, the threading section 100 includes a buffer unit 120 and a thread-passing unit 130. The buffer unit 120 is connected to the thread-passing unit 130. A through hole 110 is provided through the buffer unit 120 and the thread-passing unit 130. The wire harness enters the through hole 110 from the thread-passing unit 130 and exits the through hole 110 from the buffer unit 120, and the wire harness is in contact with the buffer unit 120. It should be noted that the buffer unit 120 is a wear-resistant ring, which can reduce the wear of the wire harness. Of course, the buffer unit 120 can also be made of other materials, as long as it can reduce the wear of the wire harness, it is within the protection scope of this application.

[0072] refer to Figure 2 and Figure 3 As shown in the diagram, when the rotating part 200 rotates, it causes the wire harness to move above the threading part 100, thereby rubbing against the buffer unit 120. Therefore, the buffer unit 120 is provided here to reduce wear on the wire harness, thus increasing its durability. Furthermore, the aforementioned thread-passing unit 130 facilitates the passage of the wire harness, providing it with a safe and secure storage space.

[0073] In one embodiment, reference Figures 1-3 As shown, the threading section 100 includes a first groove unit 410, which is disposed on the outer wall of the threading section 100. The first groove unit 410 includes a first groove portion 411 and a second groove portion 412. The first groove portion 411 is disposed on the side of the buffer unit 120 near the thread guiding unit 130, and the second groove portion 412 is disposed on the side of the thread guiding unit 130 near the buffer unit 120. The bearing section 300 includes an inner shaft portion 310, and the first groove portion 411 and the second groove portion 412 cooperate to accommodate at least a portion of the inner shaft portion 310.

[0074] Based on the above configuration, the bearing portion 300 can be fixed during the assembly of the threading portion 100. Specifically, the thread guiding unit 130 is fixed first. After the thread guiding unit is fixed, the inner shaft portion 310 of the bearing portion 300 is arranged in the second groove portion 412. Then, the buffer unit 120 is placed on top of the thread guiding unit 130, and the first groove portion 411 also corresponds to the inner shaft portion 310 of the bearing portion 300. Finally, the buffer unit 120 and the thread guiding unit 130 are fixed together, at which point the inner shaft portion 310 of the bearing portion 300 is directly fixed.

[0075] The assembly process described above requires no additional components; the bearing section 300 can be installed simply by providing the first groove 411 and the second groove 412 on the buffer unit 120 and the wire guide unit 130. This design is simple, convenient, and highly practical.

[0076] In one embodiment, reference Figures 1-3 As shown, the rotating part 200 includes a rotating body 210 and a bearing pressure plate 430, which cooperates with the rotating body 210 to form a second groove unit 420. The bearing part 300 includes an outer shaft part 320, and the second groove unit 420 is used to accommodate the outer shaft part 320.

[0077] The aforementioned rotating body 210 and bearing pressure plate 430 can cooperate to fix the outer shaft portion 320 of the bearing portion 300.

[0078] The second slot unit 420, in conjunction with the first slot unit 410 above, can fix the outer shaft portion 320 of the bearing portion 300 onto the rotating body 210, and fix the inner shaft portion 310 of the bearing portion 300 onto the threading portion 100. This allows for smoother rotation between the threading portion 100 and the rotating portion 200.

[0079] In another embodiment, reference Figure 1 , Figure 4 and Figure 5 As shown, the wire harness management device 10 can also be configured with a wire threading section 100 including a buffer unit 120, a wire guiding unit 130, and a bearing pressure plate 430. The bearing pressure plate 430 is disposed between the buffer unit 120 and the wire guiding unit 130, and is fixed to the wire guiding unit 130. A through hole 110 is disposed through the buffer unit 120, the bearing pressure plate 430, and the wire guiding unit 130. The wire harness enters the through hole 110 from the wire guiding unit 130 and exits the through hole 110 from the buffer unit 120, and is in contact with the buffer unit 120.

[0080] Similarly, the buffer unit 120 here is a wear-resistant ring or other material, which can reduce the wear of the wire harness.

[0081] The cooperation between the wire guide unit 130 and the bearing pressure plate 430 facilitates the passage of the wire harness and provides a safe storage space for it. The buffer unit 120 reduces wear on the wire harness, thereby increasing its durability.

[0082] In one embodiment, reference Figure 1 , Figure 4 and Figure 5 As shown, the threading portion 100 includes a first groove unit 410, which is disposed on the outer wall of the threading portion 100. The bearing pressure plate 430 cooperates with the thread guiding unit 130 to form the first groove unit 410. The bearing portion 300 includes an inner shaft portion 310, and the first groove unit 410 is used to accommodate at least a portion of the inner shaft portion 310.

[0083] The assembly process of the bearing part 300 is as follows: first, fix the wire guide unit 130, then place the bearing part 300 into the first slot unit 410, and finally fix the bearing pressure plate 430 onto the wire guide unit 130. At this point, the inner shaft part 310 of the bearing part 300 is directly fixed. The above assembly method with the bearing part 300 is simple and convenient, and assembly can be completed without additional materials or procedures.

[0084] In one embodiment, reference Figure 1 , Figure 4 and Figure 5 As shown, the buffer unit 120 is fixed to the rotating part 200 and cooperates with the rotating part 200 to form the second groove unit 420. The bearing part 300 includes an outer shaft part 320, and the second groove unit 420 is used to accommodate the outer shaft part 320.

[0085] Based on the above configuration, the buffer unit 120 and the rotating part 200 together form the second groove unit 420, which is used to accommodate the outer shaft part 320 of the bearing part 300. That is, the buffer unit 120 rotates with the rotating part 200, and at this time, the wire harness on the buffer unit 120 hardly undergoes relative displacement with the buffer unit 120. Thus, there is almost no friction between the buffer unit 120 and the wire harness, minimizing the wear of the wire harness and ensuring its durability.

[0086] In one embodiment, reference Figure 1 , Figure 4 and Figure 5 As shown, the end of the buffer unit 120 away from the wire guide unit 130 is designated as the proximal end. The proximal end gradually increases in size in the direction toward the rotating part 200, and the rate of increase gradually decreases. That is, the buffer unit 120 is arranged in an arc shape.

[0087] In this way, when the wire harness is arranged close to the end, the wire harness does not encounter the edges and corners, and the wire harness is prevented from being cut by the edges and corners. In addition, this way can increase the contact area between the buffer unit 120 and the wire harness, and thus the abrasion of the wire harness is minimized.

[0088] In an embodiment, referring to Figs. 1-3, the wire harness management device 10 further comprises a wire fixing frame 500 and a housing 600. The housing 600 comprises a fixing space 610, and the wire fixing frame 500 is arranged in the fixing space 610. The wire harness is fixed on the wire fixing frame 500 and extends out of the fixing space 610. The wire harness extending out of the fixing space 610 enters the through hole 110. Figure 1 Figure 4 Figure 5 In an embodiment, referring to Figs. 1-3, the wire harness management device 10 further comprises a wire fixing frame 500 and a housing 600. The housing 600 comprises a fixing space 610, and the wire fixing frame 500 is arranged in the fixing space 610. The wire harness is fixed on the wire fixing frame 500 and extends out of the fixing space 610. The wire harness extending out of the fixing space 610 enters the through hole 110.

[0089] Based on the above arrangement, firstly, the fixing space 610 provided by the housing 600 can protect the wire harness from contacting the outside. In addition, the wire fixing frame 500 can fix the wire harness thereon, and prevent the wire harness from shaking and colliding with the housing 600.

[0090] The present application also provides a surgical robot comprising the wire harness management device 10. The surgical robot comprises a digital subtraction angiography (DSA) device.

[0091] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of the present application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.​​

Claims

1. A wire harness management device for organizing wire harnesses, characterized in that, The wire harness management device includes: The threading section includes a through hole for accommodating a wire bundle; A rotating part is provided, which is circumferentially disposed around the threading part and rotatably disposed along the axis of the threading part; the wire harness is connected to the rotating part. A bearing portion is disposed between the threading portion and the rotating portion.

2. The wire harness management device as described in claim 1, characterized in that, The threading section includes a buffer unit and a thread guiding unit. The buffer unit is connected to the thread guiding unit. The through hole is provided through the buffer unit and the thread guiding unit. The wire bundle enters the through hole from the thread guiding unit and exits the through hole from the buffer unit. The wire bundle is in contact with the buffer unit.

3. The wire harness management device as described in claim 2, characterized in that, The threading part includes a first groove unit, which is disposed on the outer wall of the threading part. The first groove unit includes a first groove portion and a second groove portion. The first groove portion is disposed on the side of the buffer unit near the thread passing unit, and the second groove portion is disposed on the side of the thread passing unit near the buffer unit. The bearing portion includes an inner shaft portion, and the first groove portion and the second groove portion cooperate to accommodate at least a portion of the inner shaft portion.

4. The wire harness management device as described in claim 3, characterized in that, The rotating part includes a rotating body and a bearing pressure plate, wherein the bearing pressure plate and the rotating body cooperate to form a second groove unit; The bearing portion includes an outer shaft portion, and the second groove unit is used to accommodate the outer shaft portion.

5. The wire harness management device as described in claim 1, characterized in that, The threading section includes a buffer unit, a thread guiding unit, and a bearing pressure plate. The bearing pressure plate is disposed between the buffer unit and the thread guiding unit, and the bearing pressure plate is fixed on the thread guiding unit. The perforation extends through the buffer unit, the bearing pressure plate, and the wire guide unit. The wire harness enters the perforation from the wire guide unit and exits the perforation from the buffer unit, and the wire harness is in contact with the buffer unit.

6. The wire harness management device as described in claim 5, characterized in that, The threading part includes a first groove unit, which is disposed on the outer wall of the threading part. The bearing pressure plate cooperates with the threading unit to form the first groove unit. The bearing portion includes an inner shaft portion, and the first groove unit is used to accommodate at least a portion of the inner shaft portion.

7. The wire harness management device as described in claim 6, characterized in that, The buffer unit is fixed to the rotating part and cooperates with the rotating part to form a second groove unit; The bearing portion includes an outer shaft portion, and the second groove unit is used to accommodate the outer shaft portion.

8. The wire harness management device as described in claim 2, characterized in that, The end of the buffer unit that is away from the wire guide unit is called the proximal end. The proximal end is gradually increased in size in the direction toward the rotating part, and the rate of increase is gradually decreased.

9. The wire harness management device as claimed in claim 1, characterized in that, The wire harness management device further includes a wire fixing frame and a housing. The housing includes a fixing space, the wire fixing frame is disposed in the fixing space, the wire harness is fixed to the wire fixing frame, and extends out from the fixing space. The wire harness extending from the fixed space enters the perforation.

10. A surgical robot, characterized in that, The surgical robot includes a wire harness management device as described in any one of claims 1-9.

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