Insertion connection device

Abstract

An insertion connection device, comprising a first unit and a second unit. The first unit comprises at least three fastening jaws distributed at intervals in a circumferential direction, with each fastening jaw having a fastening jaw side surface; an insertion connection end of each fastening jaw comprises a first jaw surface, a second jaw surface, a first edge, a second edge and a third edge, the projection of the first edge on the radial section and the extension line thereof not passing through the rotation center of the first unit. The second unit comprises a first plug; an insertion connection end of the first plug comprises a first plug surface, a second plug surface and a fourth edge, the projection of the fourth edge on the radial section and the extension line thereof not passing through the rotation center of the second unit. During insertion connection, the first plug is directly inserted into a gap between the fastening jaws; alternatively, the fourth edge slides along the second edge or the third edge; alternatively, the fourth edge slides along the first jaw surface or the second jaw surface to synchronously push the first unit and / or the second unit to rotate. Thus, the insertion connection device enables blind insertion operations to be easily implemented.

Description

A plug-in device Technical Field

[0001] The present application relates to a plug-in device that can conveniently realize the plug-in connection between a driving member and a driven member. Background Art

[0002] The transmission connection between some detachable motion components and power sources, such as end effectors with mechanical motion in medical devices, needs to be disassembled and sterilized after each use or discarded as consumables. The power source, including the motor, is difficult to sterilize as it is a reusable component. In this case, the connection between the motion component and the power source needs to be easy to assemble and disassemble, and the transmission needs to be stable and reliable.

[0003] Usually in this scenario, the connection between the unit containing the power source part and the unit containing the motion component is based on the shell connection as the connection reference. Due to the requirements of mechanical safety and sterility, the transmission component is covered by the shell. That is, it is required that after the two shells are plugged in, the transmission components inside can be coupled together. The driving part transmits power to the driven part stably and reliably. At this time, the mating parts of the two parts need to be non-circular (non-cylindrical or conical, etc.). The commonly used mechanisms are D-shaped shafts, square shafts, hexagonal shafts, eccentric pins, etc. These connection mechanisms require that the mating surfaces on the connector and the plugged part are aligned before they can be coupled together, that is, the circumferential positions of the driving shaft and the driven shaft must correspond to each other in order to achieve plug-in.

[0004] If the circumferential positions of the drive shafts within the housings of two units are random when they are connected, these mechanisms are difficult to easily plug in. This is especially true when the housings of the two units contain two or more drive shafts, requiring a one-to-one axial alignment between each connector and the connected component. This requires adjusting the positions of each connector and the connected component before connection, significantly increasing the difficulty of the operation and preventing blind plugging at any position.

[0005] The existing solution is to install an elastic body at the connecting end of the driver or driven member, allowing the connecting end to move axially. After insertion, the elastic body is compressed, causing the connecting end to move axially backward. When the driver rotates to a circumferential position where it can couple with the driven member, the elastic body pushes the connecting ends of the driver and driven member to couple, achieving a blind insertion effect. This implementation method has a relatively complex mechanical structure, resulting in a larger mechanism and increased failure rate. Moreover, after insertion, the driver must first be rotated to couple the various transmission mechanisms, which does not achieve plug-and-play.

[0006] Therefore, in the prior art, how to conveniently connect the driving member and the driven member has become a technical issue. Summary of the Invention

[0007] The purpose of the present application is to provide a plug-in device that can easily realize the plug-in of a driving member and a driven member. In order to achieve the above purpose, one scheme of the present application is a plug-in device, comprising a pluggable first unit and a second unit, with the plug-in direction as the axial direction, the direction perpendicular to the axial direction as the radial direction, and the direction of rotation around the axial direction as the circumferential direction. After plugging in, the first unit and the second unit can rotate integrally and concentrically along the circumferential direction; the first unit comprises at least three claws distributed along the circumferential direction and extending along the axial direction, and each of the at least three claws has a claw side extending along the axial direction; the claw plug-in end of each of the at least three claws plugged with the second unit comprises a first claw face and a second claw face, the first claw face intersects with the second claw face to form a first edge, the first claw face intersects with the claw side face to form a second edge, and the second claw face intersects with the claw side face to form a third edge; wherein the projection of the first edge on the radial section of the first unit and its extension line do not pass through the rotation center of the first unit; the second unit comprises a first plug extending along the axial direction, and the first plug intersects with the first plug to form a third edge. The first plug connection end of a unit includes a first plug surface and a second plug surface, and the first plug surface and the second plug surface intersect to form a fourth edge; wherein the fourth edge extends in a direction intersecting the axial direction, and the projection on the radial cross section of the second unit and its extension line do not pass through the rotation center of the second unit; during the connection process of the first unit and the second unit, the first plug is directly inserted into the gap between two adjacent claws of the at least three claws; or, the fourth edge slides along the second edge or the third edge in a direction away from the claw connection end, synchronously pushing the first unit and / or the second unit to rotate, so that the first plug enters the gap between two adjacent claws of the at least three claws; or, the fourth edge slides along the first claw surface or the second claw surface in a direction away from the claw connection end, synchronously pushing the first unit and / or the second unit to rotate, so that the first plug enters the gap between two adjacent claws of the at least three claws.

[0008] According to the aforementioned technical solution, the first edge and the fourth edge are eccentrically arranged relative to the rotation center of their respective units. No matter where the first edge and the fourth edge are relative to the rotation center of their respective units, there is no possibility that the first edge and the fourth edge will be stuck during plugging. The position and angle arrangement of each claw surface and each plug surface can convert the axial relative motion of the first unit and the second unit into circumferential relative motion, making it easier for the first unit and the second unit to rotate circumferentially under stress when plugged in, thereby increasing the success rate of blind plugging.

[0009] In a preferred embodiment, the rotation radius of the end of the first edge of each of the at least three claws close to the rotation center of the first unit is greater than the rotation radius of the end of the fourth edge away from the rotation center of the second unit.

[0010] According to the aforementioned technical solution, since the rotation radius of the fourth edge is smaller, it will not contact the first edge during insertion, thus avoiding the problem of axial jamming.

[0011] In a preferred embodiment, the rotation radius of the end of the first edge of each of the at least three claws close to the rotation center of the first unit is less than / equal to the rotation radius of the end of the fourth edge away from the rotation center of the second unit; each of the at least three claws and / or the first plug has a specified deformation allowance in the axial and radial directions; during the plug-in process of the first unit and the second unit, when the fourth edge abuts against the first edge of a single claw of the at least three claws, the first plug and one or both of the claws with the deformation allowance are compressed axially and bent radially, so that the fourth edge is separated from the first edge and slides along one of the second edge and the third edge, or the fourth edge slides along one of the first claw surface and the second claw surface.

[0012] According to the aforementioned technical solution, one or both of the claw and the first plug are elastic parts, which deform when the first edge and the fourth edge abut against each other, causing the fourth edge to slide off the first edge, and then continue to slide along one of the first claw surface and the second claw surface or one of the second edge and the third edge in the direction away from the plug-in end of the claw, thereby achieving blind insertion.

[0013] In a preferred embodiment, the rotation radius of the end of the first edge of each of the at least three claws close to the rotation center of the first unit is greater than / equal to 0.8 times the rotation radius of the end of the fourth edge away from the rotation center of the second unit.

[0014] According to the above technical solution, the probability of the first edge and the second edge hitting each other in the axial direction can be further reduced.

[0015] In a preferred embodiment, the first claw surface, the second claw surface, the first plug surface, and the second plug surface are inclined surfaces / curved surfaces respectively.

[0016] According to the aforementioned technical solution, each claw surface and plug surface can be an inclined surface or a curved surface. The inclined surface is easy to process and is easier to achieve a blind plugging effect.

[0017] In a preferred embodiment, the first claw surface and the second claw surface are inclined surfaces with a first angle and a second angle to the axial direction, respectively; and / or the first plug surface and the second plug surface are inclined surfaces with a third angle and a fourth angle to the axial direction, respectively.

[0018] According to the aforementioned technical solution, the inclination angle of each surface relative to the axial direction can be preset according to experimental debugging conditions to enhance the blind insertion effect.

[0019] In a preferred embodiment, the second unit includes a plug base, and the first plug and the second plug protruding axially from the same side of the plug base, wherein the second plug protrudes less than the first plug from the plug base.

[0020] According to the aforementioned technical solution, the two plugs can make the plug-in transmission more stable. At the same time, the two plugs are of different lengths, ensuring that only one plug contacts the plug-in end of the claw at a time during plugging, avoiding the problem of increased probability of jamming caused by two plugs contacting the claw end at the same time.

[0021] In a preferred embodiment, the second plug connecting end of the second plug that is connected to the first unit includes a third plug surface and a fourth plug surface, and the third plug surface and the fourth plug surface intersect to form a fifth edge; wherein the fifth edge extends along a direction intersecting the axial direction.

[0022] According to the aforementioned technical solution, the fifth edge is provided to facilitate driving the second unit to rotate under the action of the plugging stress, thereby increasing the success rate of blind plugging.

[0023] In a preferred embodiment, during the plugging process of the first unit and the second unit, the second plug is directly inserted into the gap between two adjacent claws of the at least three claws; or, the fifth edge slides along the second edge or the third edge in a direction away from the plugging end of the claw, synchronously pushing the first unit and / or the second unit to rotate, so that the second plug enters the gap between two adjacent claws of the at least three claws; or, the fifth edge slides along the first claw surface or the second claw surface in a direction away from the plugging end of the claw, synchronously pushing the first unit and / or the second unit to rotate, so that the second plug enters the gap between two adjacent claws of the at least three claws.

[0024] According to the aforementioned technical solution, the second plug and the first plug cooperate with each other, making blind plugging smoother and transmission more stable.

[0025] In a preferred embodiment, the first plug is provided with a first plug notch extending crosswise to the axial direction at a position axially away from the first plug connection end; during the plugging process of the first unit and the second unit, the first plug is subjected to stress from a single claw of the at least three claws, and is squeezed at the first plug notch, so that the first plug is elastically deformed in both the axial and radial directions.

[0026] According to the above technical solution, the notch in the plug makes it easier for the first plug to deform, thereby making it easier to drive the second unit to rotate, and making blind plugging smoother.

[0027] In a preferred embodiment, the side surface of the claw and / or the second plug surface is an elastic surface, which is squeezed and elastically deformed when the first plug is plugged into the at least three claws.

[0028] According to the aforementioned technical solution, the gap size between two adjacent claws in the natural state can be slightly smaller than the thickness size of the plug. When the plug and the claw are plugged in, the elastic surface is squeezed and deformed by the plug and the claw, so that the plug can enter the gap between the two adjacent claws and make the plug and the claw fit more tightly, thereby eliminating the transmission gap between the plug and the claw, improving the transmission accuracy, and avoiding vibration problems during rotation and reversing. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To more clearly illustrate the present application, the accompanying drawings are described and illustrated below. It is apparent that the drawings described below only illustrate certain aspects of some exemplary embodiments of the present application, and it is readily apparent to those skilled in the art that other drawings can be derived from these drawings without inventive effort.

[0030] FIG1 is a schematic diagram of the plug-in state of the plug-in device.

[0031] FIG2 is a top view of the first unit.

[0032] FIG3 is an external view of the first unit.

[0033] FIG4 is an external view of the second unit.

[0034] FIG5 is a side view of the second unit.

[0035] Description of the accompanying drawings: 100 First unit 101 First claw 102 Second claw 103 Third claw 104 Fourth claw 1 Claw plug-in end 10 First base 11 First claw surface 111 First edge 112 Second edge 113 Third edge 12 Second claw surface 13 First side surface 14 Second side surface 200 Second unit 201 First plug 202 Second plug 2 First plug plug-in end 20 Second base 21 First plug surface 214 Fourth edge 215 Fifth edge 22 Second plug surface 23 Third plug surface 24 Fourth plug surface 3 Second plug plug-in end DETAILED DESCRIPTION

[0036] Various exemplary embodiments of the present application are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and in no way limits the present application and its application or use. The present application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present application thorough and complete and to fully convey the scope of the present application to those skilled in the art. It should be noted that unless otherwise stated, the relative arrangement of the components and steps, numerical expressions, numerical values, etc. described in these embodiments should be interpreted as merely exemplary and not as limiting.

[0037] The words “include” or “comprising” and similar words used in this application mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements.

[0038] All terms (including technical or scientific terms) used in this application have the same meaning as those understood by ordinary technicians in the field to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined in this article.

[0039] Components, parameters such as specific models of components, relationships between components, and control circuits that are not described in detail in this section may be considered to be technologies, methods, and equipment known to ordinary technicians in the relevant fields, but where appropriate, such technologies, methods, and equipment should be considered as part of the specification.

[0040] Plug-in device

[0041] The overall structure of the plug-in device of the present application is described below with reference to Figure 1. Figure 1 is a schematic diagram of the plug-in device in a plugged state.

[0042] 1 , the plug-in device comprises a pluggable first unit 100 and a second unit 200. For ease of description, the present application defines the plugging direction of the first unit 100 and the second unit 200 as the axial direction, the direction perpendicular to the axial direction as the radial direction, and the direction of rotation around the axial direction as the circumferential direction.

[0043] In a common application scenario, one of the first unit 100 and the second unit 200 is connected to a power device. When the first unit 100 and the second unit 200 are plugged in, the power device can drive the first unit 100 and the second unit 200 to rotate integrally and concentrically in the circumferential direction, thereby realizing power transmission.

[0044] Among them, in order to increase the convenience of plugging and reduce the interference of the plugging operation on the personnel's attention, the plugging device is preferably designed as a blind plug structure, that is, the operator does not need to pay special attention, and does not need to adjust the first unit 100 or the second unit 200 to a special alignment state. One of them can be easily plugged with the other by picking up one of them.

[0045] To this end, the present application designs the first unit 100 as a claw structure and the second unit 200 as a plug mechanism, and inserts the plug of the second unit 200 into the claw gap of the first unit 100 to achieve transmission connection.

[0046] Unit 1

[0047] Next, the first unit 100 will be described in detail with reference to Figures 2 and 3. Figure 2 is a top view of the first unit 100, and Figure 3 is an external view of the first unit 100.

[0048] Referring to Figures 2 and 3 , the first unit 100 includes a first base 10, with at least three axially extending claws spaced circumferentially from one side of the first base 10. For ease of illustration, the first claw 101, second claw 102, third claw 103, and fourth claw 104 are illustrated as examples. In practice, the number of claws can be three or more, and this is not a specific limitation.

[0049] Preferably, the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104 are of the same size and structure and are evenly spaced in the circumferential direction for ease of processing and plugging. For simplicity, only the first claw 101 is used as an example for description.

[0050] As shown in the figure, the first claw 101 has a claw plugging end 1 for plugging into the second unit 200. The claw plugging end 1 is the end of the first claw 101 away from the first base 10. The first claw 101 also has a first side surface 13 extending axially as a claw side surface, and a second side surface 14 intersecting the first side surface 13 radially inward of the first claw 101. Preferably, the first side surface 13 and the second side surface 14 are vertical surfaces parallel to the axial direction and perpendicular to the first base 10. However, they can also be inclined surfaces at a certain angle to the axial direction, so that the first claw 101 appears to have different thicknesses at both ends. This is not specifically limited here.

[0051] The claw plug end 1 includes a first claw surface 11 and a second claw surface 12. These surfaces can be inclined, as shown, or curved; the blind mating principle is the same for both. For simplicity, the following example illustrates first and second claw surfaces 11 and 12 that are inclined at first and second angles relative to the axial direction, respectively. The first and second angles can be the same or different.

[0052] The first claw surface 11 and the second claw surface 12 intersect to form a first edge 111, the first claw surface 11 intersects with the first side surface 13 to form a second edge 112, and the second claw surface 12 intersects with the first side surface 13 to form a third edge 113. Referring to FIG2 , the projection of the first edge 111 on a radial cross section of the first unit 100 and its extension do not pass through the rotation center O of the first unit 100. That is, on this radial cross section, the first edge 111 is eccentrically disposed, offset from the rotation center O of the first unit 100 by a distance d1.

[0053] In this embodiment, the first ridge 111 extends in a direction intersecting the axial direction, that is, it is not parallel to the axial direction. Preferably, the first ridge 111 is arranged perpendicular to the axial direction, that is, parallel to the radial cross section of the first unit 100. However, this is not limiting. The first ridge 111 can also be arranged not parallel to the radial cross section, but tilted such that one end is closer to the first base 10 and the other end is farther away from the first base 10. For simplicity, the following description only takes the example of the first ridge 111 being perpendicular to the axial direction.

[0054] As shown in FIG2 , the projection of the first edge 111 on the radial cross section of the first unit 100 is further toward the fourth claw 104 relative to the rotation center O. It is understood that the projection of the first edge 111 on the radial cross section may also be further toward the second claw 102 relative to the rotation center O, which is not specifically limited here.

[0055] At the same time, the eccentric directions of the first edges 111 of different claws relative to the rotation center O can be the same or different. For example, the first edge 111 of the first claw 101 is more inclined to the side of the fourth claw 104 relative to the rotation center O, and the first edge 111 of the second claw 102 can be more inclined to the side of the first claw 101 relative to the rotation center O, or more inclined to the side of the third claw 103. At this time, the structures of different claws will be different, but the principle of eccentrically setting the first edge 111 is the same, and all are within the protection scope of this application.

[0056] For the sake of simplicity, the following example is used to illustrate that the eccentric direction of the first edge 111 of each claw is consistent, as shown in the figure, the first edge 111 of the first claw 101 is more inclined to the side of the fourth claw 104 relative to the rotation center O.

[0057] In the present application, the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104 can be cut out of a cylindrical body. For example, as shown in the figure, the first claw 101 can be obtained by cutting the cylindrical body along the first side surface 13 and the second side surface 14. The radially outer side surface of the first claw 101, which intersects with the first side surface 13 and the second side surface 14, respectively, is the outer circumferential wall of the cylindrical body. The other claws can be conveniently processed in the same manner.

[0058] Unit 2

[0059] Next, the second unit 200 will be described in detail with reference to Figures 4 and 5. Figure 4 is an external view of the second unit 200, and Figure 5 is a side view of the second unit 200.

[0060] The second unit 200 includes a second base 20 serving as a plug base, and a first plug 201 extending axially from one side of the second base 20. The first plug 201 has a first plug connection end 2 for connection to the first unit 100. The first plug connection end 2 includes a first plug face 21 and a second plug face 22. The first plug face 21 and the second plug face 22 can be either inclined or curved, and both are identical in the blind-mating principle. For simplicity, the first plug face 21 and the second plug face 22 are inclined at a third and fourth angles to the axial direction, respectively, as an example. The third and fourth angles can be the same or different. As a preferred embodiment, as shown in the figure, the fourth angle is zero, i.e., the second plug face 22 is a vertical surface extending axially and perpendicular to the second base 20. In practice, the fourth angle is not limited to this, and no further details will be given here.

[0061] The first plug surface 21 and the second plug surface 22 intersect to form a fourth ridge 214. The fourth ridge 214 extends in a direction intersecting the axial direction, i.e., not parallel to the axial direction. Preferably, the fourth ridge 214 is arranged perpendicular to the axial direction, i.e., parallel to the radial cross-section of the second unit 200. However, this is not limiting. The fourth ridge 214 can also be arranged not parallel to the radial cross-section, but tilted, with one end closer to the second base 20 and the other end further away from the second base 20. For simplicity, the following example illustrates the fourth ridge 214 being perpendicular to the axial direction.

[0062] Meanwhile, the projection of the fourth edge 214 on the radial section of the second unit 200 and its extension line do not pass through the rotation center of the second unit 200 , that is, the fourth edge 214 is eccentrically arranged on the radial section.

[0063] Insertion process

[0064] Next, the plugging process is described in detail.

[0065] During the plugging process of the first unit 100 and the second unit 200, the first plug 201 may be directly inserted into the gap between two adjacent claws among the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104; or, the fourth edge 214 slides along the second edge 112 or the third edge 113 in a direction away from the claw plugging end 1 and close to the first base 10, synchronously pushing the first unit 100 and / or the second unit 200 to rotate, so that the first plug 201 enters the gap between the two adjacent claws; or, the fourth edge 214 slides along the first claw surface 11 or the second claw surface 12 in a direction away from the claw plugging end 1 and close to the first base 10, synchronously pushing the first unit 100 and / or the second unit 200 to rotate, so that the first plug 201 enters the gap between the two adjacent claws.

[0066] 2 , in the first embodiment, the rotation radius of the end of the first edge 111 of each claw, closer to the rotation center O of the first unit 100, is greater than the rotation radius of the end of the fourth edge 214, farther from the rotation center of the second unit 200. Specifically, the end of the first edge 111 closer to the rotation center O of the first unit 100 is the radially inner end of the first edge 111, and its rotation radius is (d2) / 2 as shown. The end of the fourth edge 214 farther from the rotation center of the second unit 200 is the radially outer end of the fourth edge 214.

[0067] During the plugging process, the second unit 200 is inserted into the first unit 100 in a roughly aligned axial direction. At this point, the fourth edge 214 may directly insert into the gap between the claws, or it may slide into the gap along one of the first claw surface 11 or the second claw surface 12, or along one of the second edge 112 or the third edge 113. Because the radially outer rotation radius of the fourth edge 214 is smaller than the radially inner rotation radius of the first edge 111, the fourth edge 214 will not abut the first edge 111. In other words, there will be no axial jamming between the fourth edge 214 and the first edge 111, ensuring smooth plugging of the first unit 100 and the second unit 200.

[0068] It can be understood that since the first edge 111 of each claw is eccentrically arranged relative to the rotation center of the first unit 100, the fourth edge 214 is also eccentrically arranged relative to the rotation center of the second unit 200. During the axial plugging process, when the fourth edge 214 abuts against the first claw surface 11, the second claw surface 12 or the second edge 112, the third edge 113, since the first claw surface 11 and the second claw surface 12 are inclined surfaces with a certain angle to the axial direction, and the second edge 112 and the third edge 113 are oblique edges with a certain angle to the axial direction, the first unit 100 rotates circumferentially under the stress of the fourth edge 214, and the second unit 200 also rotates circumferentially under the stress of the first unit 100, thereby making it easier for the first plug 201 to be inserted into the gap between the claws of the first unit 100, thereby improving the success rate of blind plugging.

[0069] In the second embodiment, the rotation radius of the end of the first edge 111 of each claw that is closer to the rotation center O of the first unit 100 is less than or equal to the rotation radius of the end of the fourth edge 214 that is farther from the rotation center of the second unit 200. Specifically, the end of the first edge 111 that is closer to the rotation center O of the first unit 100 is the radially inner end of the first edge 111, and its rotation radius is (d2) / 2 as shown in FIG2 , while the end of the fourth edge 214 that is farther from the rotation center of the second unit 200 is the radially outer end of the fourth edge 214.

[0070] During the plugging process, the second unit 200 is inserted into the first unit 100, roughly aligned along the axial direction. At this point, the fourth edge 214 may directly insert into the gap between the claws, or it may slide into the gap along one of the first claw surface 11 or the second claw surface 12, or along one of the second edge 112 or the third edge 113. However, there is also the possibility that the fourth edge 214 may abut against the first edge 111. When the two abut, the fourth edge 214 and the first edge 111 may easily cause axial jamming, preventing the first unit 100 and the second unit 200 from plugging smoothly.

[0071] To this end, as a preferred solution, the first claw 101, the second claw 102, the third claw 103, the fourth claw 104, and / or the first plug 201 have a specified allowable deformation in the axial and radial directions. In other words, at least one of the first plug 201 and the claws of the first unit 100 (including the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104) is an elastic member.

[0072] This example illustrates a situation where only one of the claws is an elastic member. During the insertion and connection between the first unit 100 and the second unit 200, if the fourth edge 214 abuts the first edge 111 of the first claw 101, the stress from the fourth edge 214 causes the first claw 101 to be compressed axially. At this point, because the first edge 111 is eccentrically positioned toward the fourth claw 104, the first claw 101 also bends radially. Specifically, the first claw surface 11 is bent and stretched toward the fourth claw 104. Consequently, under the deformation stress of the first claw 101, the first unit 100 rotates counterclockwise from the first claw 101 toward the fourth claw 104. Furthermore, as the first unit 100 rotates, the fourth edge 214 of the first plug 201 disengages from the first edge 111, and then slides along one of the second edge 112 and the third edge 113, or slides along one of the first claw surface 11 and the second claw surface 12, and finally slides into the gap between the claws, thereby realizing the plug-in connection between the first unit 100 and the second unit 200.

[0073] It can be understood that since the first edge 111 of each claw is eccentrically arranged relative to the rotation center of the first unit 100, the fourth edge 214 is also eccentrically arranged relative to the rotation center of the second unit 200. During the axial insertion process, when the fourth edge 214 disengages from the first edge 111 and then abuts against the first claw surface 11, the second claw surface 12 or the second edge 112, the third edge 113, since the first claw surface 11 and the second claw surface 12 are inclined surfaces with a certain angle to the axial direction, and the second edge 112 and the third edge 113 are oblique edges with a certain angle to the axial direction, the first unit 100 rotates circumferentially under the stress of the fourth edge 214, and the second unit 200 also rotates circumferentially under the stress of the first unit 100, thereby making it easier for the first plug 201 to be inserted into the gap between the claws of the first unit 100.

[0074] As a preferred solution, the claws of the first unit 100 and the first plug 201 of the second unit 200 have specified deformation tolerances in both the axial and radial directions. Thus, when the fourth edge 214 abuts the first edge 111, the first plug 201 is compressed axially and bent radially due to the stress of the first edge 111, thereby driving the second unit 200 to rotate and making it easier for the first plug 201 to be inserted into the gap between the claws of the first unit 100.

[0075] In summary of the aforementioned embodiment 1 and embodiment 2, in order to ensure the success rate of blind insertion, combined with the data from the test, as a preferred solution, the rotation radius of the end of the first edge 111 of each claw close to the rotation center of the first unit 100 is greater than / equal to 0.8 times the rotation radius of the end of the fourth edge 214 away from the rotation center of the second unit 200.

[0076] Furthermore, preferably, when plugged in, the projections of the first edge 111 of each claw and the fourth edge 214 of the first plug 201 on a radial cross-section are non-parallel. This allows for interlaced point contact between the first and fourth edges 111, 214 during plugging, rather than overlapping line contact. This makes it easier for the fourth edges 214 to slide away from the first edges 111. This also ensures that the inclinations of the first plug surface 21 and the first and second claw surfaces 11, 12 are not aligned, preventing surface contact between the first plug surface 21 and the first and second claw surfaces 11, 12, which would increase frictional resistance.

[0077] Second plug

[0078] Next, the second plug 202 will be described with reference to FIG. 4 and FIG. 5 .

[0079] 4 and 5 , a second plug 202 extends axially from the same side of the second base 20 as the first plug 201. Preferably, the second plug 202 is arranged parallel to the first plug 201 and spaced apart radially.

[0080] The second plug 202 has a second plug connector 3 that plugs into the first unit 100. The second plug connector 3 includes a third plug face 23 and a fourth plug face 24. The third plug face 23 and the fourth plug face 24 can be either beveled or curved, and both operate under the same blind-mating principle. For simplicity, this description uses as an example the third plug face 23 and the fourth plug face 24 being beveled at a fifth and sixth angles relative to the axial direction, respectively. The fifth and sixth angles can be the same or different. As a preferred embodiment, as shown in the figure, the sixth angle is zero, meaning that the fourth plug face 24 is an axially extending vertical surface perpendicular to the second base 20. In practice, the sixth angle is not limited to this, and will not be elaborated upon here. In the axial cross-section of Figure 5, the second plug face 22 extends across the entire second unit 200, with a portion serving as a side surface of the first plug 201 and another portion serving as a side surface of the second plug 202. Similarly, the fourth plug surface 24 and the second plug surface 22 are arranged opposite to each other and cross the entire second unit 200 in the axial cross-section of Figure 5. A portion of the fourth plug surface 24 serves as the side surface of the second plug 202, and the other portion serves as the side surface of the first plug 201. In other words, it is equivalent to using two planes to cut out the second plug surface 22 and the fourth plug surface 24 along the axial direction on the cylinder where the second base 20 is located. No further details will be given here.

[0081] The third plug surface 23 and the fourth plug surface 24 intersect to form a fifth ridge 215. The fifth ridge 215 extends in a direction intersecting the axial direction, i.e., not parallel to the axial direction. Preferably, the fifth ridge 215 is arranged perpendicular to the axial direction, i.e., parallel to the radial cross-section of the second unit 200. However, this is not limiting. The fifth ridge 215 can also be arranged not parallel to the radial cross-section, but tilted, with one end closer to the second base 20 and the other end further away from the second base 20. For simplicity, the following example illustrates the fifth ridge 215 being perpendicular to the axial direction.

[0082] Further preferably, the projection of the fifth edge 215 on the radial cross-section of the second unit 200 and its extension do not pass through the rotation center of the second unit 200. That is, the fifth edge 215 is arranged eccentrically on this radial cross-section. This allows the second unit 200 to rotate more easily under the stress of the fifth edge 215 during the plugging process, thereby reducing the probability of axial jamming between the fifth edge 215 and the first edge 111 of the claw. It should be noted that the fifth edge 215 can also be arranged non-eccentrically, because the first plug 201 has already been inserted between the claws and drives the first unit 100 / second unit 200 to rotate. Even if the fifth edge 215 is arranged non-eccentrically, it can still be inserted between the claws of the first unit 100. This will not be elaborated here.

[0083] As a preferred solution, the second plug 202 protrudes less from the second base 20 than the first plug 201 does from the plug base 20, that is, the second plug 202 is axially shorter than the first plug 201. Thus, during the plugging process, the first plug 201 reaches the claws of the first unit 100 before the second plug 202, and the fourth edge 214 first contacts the claw plugging end 1 of one of the claws. Only after the first plug 201 has been inserted a certain distance axially toward the first base 10 does the second plug 202 reach the claws of the first unit 100, and the fifth edge 215 begins to contact the claw plugging end 1 of the other claw. This prevents the fourth edge 214 and the fifth edge 215 from contacting the claw plugging ends 1 of both claws simultaneously, thereby increasing the probability of the first unit 100 and the second unit 200 from axially jamming. While ensuring a high blind plugging success rate, the two plugs ensure a tighter connection and more stable transmission between the first unit 100 and the second unit 200.

[0084] Preferably, the first plug 201 and the second plug 202 are arranged symmetrically in the radial direction. For example, when the first plug 201 is inserted into the gap between the first claw 101 and the fourth claw 104 , the second plug 202 is correspondingly inserted into the gap between the second claw 102 and the third claw 103 .

[0085] At the same time, the axial dimension difference between the first plug 201 and the second plug 202 can be reasonably designed. When this dimension difference is large, the second plug 202 will not reach the position of the claw plugging end 1 of the other claw until the first plug 201 slides off the first claw surface 11, the second claw surface 12, or the second edge 112, the third edge 113 and enters the gap between the claws. Since the first plug 201 has already entered the gap between the claws, the second plug 202 will be inserted into the symmetrical gap between the claws accordingly.

[0086] However, as a preferred solution, the size difference is designed to be relatively small. When the first plug 201 has not yet slipped off the first claw surface 11, the second claw surface 12, or the second edge 112, the third edge 113 of one of the claws, the second plug plugging end 3 of the second plug 202 begins to contact the claw plugging end 1 of the other claw. For example, when the first plug 201 slides a certain distance on the first claw surface 11 of the first claw 101 and has not yet slipped off, the second plug 202 begins to slide on the corresponding claw surface of the third claw 103. In this way, the first plug 201 and the second plug 202 apply rotational force to the first unit 100 in the same direction, making it easier for the first unit 100 and the second unit 200 to rotate relative to each other, thereby improving the convenience and success rate of blind plugging.

[0087] During the plugging process, the second plug 202 and the first plug 201 are plugged into the first unit 100 in the same manner.

[0088] Specifically, in the aforementioned first embodiment, the rotation radius of the end of the first edge 111 of each claw closer to the rotation center O of the first unit 100 is greater than the rotation radius of the end of the fifth edge 215 farther from the rotation center of the second unit 200. The end of the fifth edge 215 farther from the rotation center of the second unit 200 is the radially outer end of the fifth edge 215.

[0089] During the plugging process, the fifth edge 215 may be directly inserted into the gap between the claws, or it may slide into the gap between the claws along one of the first claw surface 11 and the second claw surface 12, or slide into the gap between the claws along one of the second edge 112 and the third edge 113. Because the radially outer rotation radius of the fifth edge 215 is smaller than the radially inner rotation radius of the first edge 111, the fifth edge 215 will not abut the first edge 111. In other words, there will be no axial jamming between the fifth edge 215 and the first edge 111, ensuring smooth plugging of the first unit 100 and the second unit 200.

[0090] It can be understood that since the first edge 111 is eccentrically arranged relative to the rotation center of the first unit 100, the fifth edge 215 is also eccentrically arranged relative to the rotation center of the second unit 200. During the axial plugging process, when the fifth edge 215 abuts against the first claw surface 11, the second claw surface 12 or the second edge 112, the third edge 113, since the first claw surface 11 and the second claw surface 12 are inclined surfaces with a certain angle to the axial direction, and the second edge 112 and the third edge 113 are oblique edges with a certain angle to the axial direction, the first unit 100 rotates circumferentially under the stress of the fifth edge 215, and the second unit 200 also rotates circumferentially under the stress of the first unit 100, thereby making it easier for the second plug 202 to be inserted into the gap between the claws.

[0091] In the aforementioned second embodiment, the rotation radius of the first edge 111 of each claw close to the rotation center O of the first unit 100 is less than / equal to the rotation radius of the fifth edge 215 away from the rotation center of the second unit 200 .

[0092] During the insertion process, the second unit 200 is inserted axially into the first unit 100. At this point, the fifth edge 215 may directly insert into the gap between the claws, or it may slide into the gap along one of the first claw surface 11 or the second claw surface 12, or along one of the second edge 112 or the third edge 113. However, there is also the possibility that the fifth edge 215 may abut against the first edge 111. When the fifth edge 215 and the first edge 111 abut, they may easily become stuck in the axial direction.

[0093] To this end, as a preferred solution, the first claw 101, the second claw 102, the third claw 103, the fourth claw 104, and / or the second plug 202 have a specified allowable deformation in the axial and radial directions. In other words, at least one of the second plug 202 and the claws of the first unit 100 (including the first claw 101, the second claw 102, the third claw 103, and the fourth claw 104) is an elastic member.

[0094] Similar to the principle of the first plug 201, when the second plug 202 is an elastic member, the stress when the fifth edge 215 abuts the first edge 111 causes the second plug 202 to be compressed in the axial direction and bent in the radial direction, thereby driving the second base 20 to rotate, causing the fifth edge 215 to break contact with the first edge 111 and slide along one of the second edge 112 and the third edge 113, or slide along one of the first claw surface 11 and the second claw surface 12, and finally slide into the gap between the claws.

[0095] In summary of the aforementioned embodiment 1 and embodiment 2, in order to ensure the success rate of blind insertion, combined with the data from the test, as a preferred solution, the rotation radius of the end of the first edge 111 of each claw close to the rotation center of the first unit 100 is greater than / equal to 0.8 times the rotation radius of the end of the fifth edge 215 away from the rotation center of the second unit 200.

[0096] Plug notch

[0097] As a preferred embodiment, the first plug 201 is provided with a first plug notch (not shown) extending crosswise to the axial direction at a position close to the second base 20 in the axial direction. The first plug notch is a structure open toward one lateral side of the first plug 201 .

[0098] During the plugging process between the first unit 100 and the second unit 200, when the first plug 201 is subjected to stress from the claw plug-in end 1, extrusion occurs at the notch of the first plug, causing the first plug 201 to be compressed in the axial direction and bent in the radial direction at the same time, thereby causing the second base 20 to rotate circumferentially under the action of the deformation stress of the first plug 201, making it easier for the first plug 201 to be inserted into the gap between the claws of the first unit 100.

[0099] Similarly, as a preferred embodiment, the second plug 202 is also provided with a second plug notch (not shown in the figure) extending crosswise to the axial direction at a position close to the second base 20 in the axial direction. The structure and plugging principle of the second plug notch are the same as those of the first plug notch and will not be repeated here.

[0100] Plug thickness and claw clearance

[0101] Since the first plug 201 and the second plug 202 need to be inserted into the gap between any two adjacent claws in the first unit 100, generally speaking, the gap between the two adjacent claws needs to be larger than the thickness of the first plug 201 and the second plug 202, that is, in the plugged state, there is a transmission gap between the plugs and the claws.

[0102] The thickness of the plugs herein refers to their radial dimensions. Specifically, in this embodiment, this refers to the dimension of the first plug 201 perpendicular to the second plug surface 22, and the dimension of the second plug 202 perpendicular to the fourth plug surface 24. Preferably, the thickness of the first plug 201 and the second plug 202 is the same, i.e., the distance between the second plug surface 22 and the fourth plug surface 24 shown in the figure.

[0103] If the thickness of the plug is larger than the gap between two adjacent claws, the plug will typically not fit within the gap. However, for applications requiring high transmission precision, such as surgical robots, this transmission gap between the plug and the claws can affect the motion control accuracy of the entire transmission mechanism. For high-speed, reciprocating applications, this transmission gap can introduce mechanical vibration during reversal, generating additional noise and shortening the life of the mechanism.

[0104] To this end, as a preferred solution, the present application configures at least one of the first side surface 13 and the second side surface 14 of each claw, and / or at least one of the second plug surface 22 and the fourth plug surface 24, to be an elastomeric surface, i.e., a surface capable of elastically deforming radially. This allows the gap between two adjacent claws to be naturally slightly smaller than the thickness of the first plug 201 and the second plug 202. When a plug is inserted into the gap between two adjacent claws, the elastomeric surface is compressed and deformed, allowing the plug to be smoothly inserted between the two adjacent claws. This also eliminates the transmission gap between the plug and the claw, thereby improving transmission accuracy and reducing vibration caused by high-speed switching.

[0105] As another preferred solution, at least one of the first side surface 13 and the second side surface 14 of each claw, and / or at least one of the second plug surface 22 and the fourth plug surface 24, can be configured as an inclined surface. Specifically, at least one of the first side surface 13 and the second side surface 14 of each claw can be configured as an inclined surface that tilts away from the first base 10 and toward the rotation center of the first unit 100, so that the gap between two adjacent claws increases in size as they move away from the first base 10. Furthermore, / or at least one of the second plug surface 22 and the fourth plug surface 24 can be configured as an inclined surface that tilts away from the second base 20 and toward the rotation center of the second unit 200, so that the first plug 201 and the second plug 202 become increasingly tapered as they move away from the second base 20.

[0106] Furthermore, the gap between two adjacent claws away from the first base 10 is slightly larger than the thickness of the first plug 201 and the second plug 202 at one end away from the second base 20, but the gap between two adjacent claws close to the first base 10 is slightly smaller than the thickness of the first plug 201 and the second plug 202 at one end away from the second base 20. When plugging in, the first plug 201 and the second plug 202 are inserted into the gap between the two adjacent claws like wedges, achieving a close fit between the two and eliminating transmission clearance.

[0107] In summary, in this application, the first edge 111 and the fourth edge 214 are both eccentrically positioned relative to their respective rotational centers, making it easier for them to drive the respective first unit 100 and second unit 200 to rotate under the stress of plugging, thereby increasing the probability of successful blind plugging. During the plugging process, the operator does not need to pay special attention, nor does they need to specifically align the first unit 100 and the second unit 200 in the axial direction, or adjust one of them to a predetermined angle along the circumference, and the plugging operation can be easily completed.

[0108] Furthermore, the radially inner rotation radius of the first ridge 111 is larger than the radially outer rotation radius of the fourth ridge 214 to avoid axial jamming between the first ridge 111 and the fourth ridge 214. Alternatively, the claws of the first unit 100 and / or the first plug 201 are configured as elastic members. When the first ridge 111 and the fourth ridge 214 abut, the claws and / or the first plug 201 are compressed axially and bent radially, thereby causing the first unit 100 and / or the second unit 200 to rotate under the action of the deformation stress, thus avoiding axial jamming.

[0109] In other words, the present application sets a plurality of special faces and edges on the connecting ends of the driving shaft and the driven shaft respectively. These faces and edges are arranged asymmetrically, and can convert the axial relative motion into circumferential relative rotation at any circumferential position of each shaft, that is, convert the axial plugging force during plugging into circumferential rotational motion until the two shafts are coupled together. The plug-in device of the present application has the advantages of small size, high reliability, easy plugging and unplugging without unnecessary operations and additional tools, stable and reliable transmission, and can be conveniently used in medical fields with sterility requirements, and has low dependence on operators. In particular, when multiple driving shafts and driven shafts that need to be connected to each other through transmission are included, the structure of the present application can also easily achieve the effect of blind plugging between multiple shafts.

[0110] It should be understood that the specific embodiments described above are only used to explain the present application, and the scope of protection of the present application is not limited thereto. Any technical personnel familiar with the technical field, within the technical scope disclosed in the present application, can make changes, substitutions, and combinations based on the technical solutions and inventive concepts of the present application, which should be covered by the scope of protection of the present application.

Claims

1. A plug-in device, characterized in that: It comprises a pluggable first unit and a second unit, with the plugging direction as the axial direction, the direction perpendicular to the axial direction as the radial direction, and the direction of rotation around the axial direction as the circumferential direction. After being plugged in, the first unit and the second unit can rotate in an integral and concentric manner along the circumferential direction; The first unit comprises at least three claws distributed in a circumferential direction and extending in an axial direction, and each of the at least three claws has a claw side surface extending in an axial direction; The claw plugging end of each of the at least three claws plugged with the second unit comprises a first claw surface and a second claw surface, the first claw surface and the second claw surface intersect to form a first edge, the first claw surface and the side surface of the claw intersect to form a second edge, and the second claw surface and the side surface of the claw intersect to form a third edge; Wherein, the projection of the first edge on the radial cross section of the first unit and its extension line do not pass through the rotation center of the first unit; The second unit comprises a first plug extending in the axial direction, a first plug plugging end of the first plug plugged into the first unit comprises a first plug surface and a second plug surface, and the first plug surface and the second plug surface intersect to form a fourth edge; The fourth edge extends in a direction intersecting the axial direction, and the projection on the radial cross section of the second unit and its extension line do not pass through the rotation center of the second unit; During the plugging process of the first unit and the second unit, the first plug is directly inserted into the gap between two adjacent claws of the at least three claws; or, The fourth edge slides along the second edge or the third edge in a direction away from the plug-in end of the claw, and simultaneously pushes the first unit and / or the second unit to rotate, so that the first plug enters the gap between two adjacent claws of the at least three claws; or The fourth edge slides along the first claw surface or the second claw surface in a direction away from the claw plugging end, synchronously pushing the first unit and / or the second unit to rotate, so that the first plug enters the gap between two adjacent claws of the at least three claws.

2. The plug-in device according to claim 1, characterized in that: The rotation radius of the end of the first edge of each of the at least three claws close to the rotation center of the first unit is greater than the rotation radius of the end of the fourth edge far from the rotation center of the second unit.

3. The plug-in device according to claim 1, characterized in that: The rotation radius of the end of the first edge of each of the at least three claws close to the rotation center of the first unit is less than / equal to the rotation radius of the end of the fourth edge far from the rotation center of the second unit; Each of the at least three claws and / or the first plug has a specified deformation tolerance in the axial and radial directions; During the plugging process of the first unit and the second unit, when the fourth edge abuts against the first edge of a single claw among the at least three claws, the first plug and one or both of the claws with a deformation allowance are compressed axially and bent radially, so that the fourth edge is separated from the first edge and slides along one of the second edge and the third edge, or the fourth edge slides along one of the first claw surface and the second claw surface.

4. The plug-in device according to claim 3, characterized in that: The rotation radius of the end of the first edge of each of the at least three claws close to the rotation center of the first unit is greater than / equal to 0.8 times the rotation radius of the end of the fourth edge far from the rotation center of the second unit.

5. The plug-in device according to claim 1, characterized in that: The first claw surface, the second claw surface, the first plug surface, and the second plug surface are inclined surfaces / curved surfaces respectively.

6. The plug-in device according to claim 5, characterized in that: The first claw surface and the second claw surface are inclined surfaces that are respectively at a first angle and a second angle with the axial direction; and / or, The first plug surface and the second plug surface are inclined surfaces that form a third angle and a fourth angle with the axial direction respectively.

7. The plug-in device according to any one of claims 1 to 6, characterized in that: The second unit includes a plug base, and the first plug and a second plug protruding from the same side of the plug base in the axial direction, wherein the protrusion amount of the second plug from the plug base is smaller than the protrusion amount of the first plug from the plug base.

8. The plug-in device according to claim 7, characterized in that: The second plug connecting end of the second plug connected to the first unit comprises a third plug surface and a fourth plug surface, wherein the third plug surface intersects with the fourth plug surface to form a fifth edge; wherein the fifth edge extends along a direction intersecting the axial direction.

9. The plug-in device according to claim 8, characterized in that: During the plugging process between the first unit and the second unit, the second plug is directly inserted into the gap between two adjacent claws of the at least three claws; or, The fifth edge slides along the second edge or the third edge in a direction away from the plug-in end of the claw, and simultaneously pushes the first unit and / or the second unit to rotate, so that the second plug enters the gap between two adjacent claws of the at least three claws; or The fifth edge slides along the first claw surface or the second claw surface in a direction away from the claw plugging end, synchronously pushing the first unit and / or the second unit to rotate, so that the second plug enters the gap between two adjacent claws of the at least three claws.

10. The plug-in device according to any one of claims 1 to 6, characterized in that: The first plug is provided with a first plug notch extending crosswise with the axial direction at a position away from the first plug connection end in the axial direction; During the plugging process of the first unit and the second unit, the first plug is subjected to stress from a single claw of the at least three claws, and extrusion occurs at the notch of the first plug, so that the first plug undergoes elastic deformation in both the axial and radial directions.

11. The plug-in device according to claim 1, characterized in that: The side surface of the claw and / or the second plug surface is an elastic surface, which is squeezed and elastically deformed when the first plug is plugged into the at least three claws.

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