CN109771036A - End effector device - Google Patents
End effector device Download PDFInfo
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- CN109771036A CN109771036A CN201910199502.4A CN201910199502A CN109771036A CN 109771036 A CN109771036 A CN 109771036A CN 201910199502 A CN201910199502 A CN 201910199502A CN 109771036 A CN109771036 A CN 109771036A
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- locking
- end effector
- inner sleeve
- quick change
- jacket
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Abstract
The invention discloses a kind of end effector devices, it includes end effector and quick change locking assembly, the end effector includes mounting cylinder, the mounting cylinder has the inner cavity for being sheathed on surgical instrument, the both ends of the inner cavity are respectively provided with connects end and abutment end fastly, the quick change locking assembly be connected to it is described connect end fastly, and the quick change locking assembly, for being removably attachable to the surgical instrument, the abutment end, which is used to support, is resisted against the surgical instrument.End effector device of the invention makes surgical instrument be installed on mounting cylinder, realizes fast assembling-disassembling, stable connection is easy to operate, improves work efficiency, and compact-sized by quick change locking assembly.
Description
Technical field
The present invention relates to a kind of end effector devices.
Background technique
Operating robot is to realize surgical incision minimally invasiveization, the important means of device intelligence and information digitalization,
The use of operating robot breaches the limitation of traditional operation, can greatly improve the precision and level of operation, reduce the hand of patient
Art wound shortens rehabilitation duration.In order to complete robotic surgery corresponding operation, need in the end effector of robot more
Different surgical instruments is changed to complete corresponding operation, due to replacement operation inconvenience, spends the time long, causes working efficiency low
Under.
Summary of the invention
The technical problem to be solved by the present invention is to spend the time long, work to overcome replacement operation in the prior art inconvenient
The defect for making inefficiency provides a kind of end effector device.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of end effector device, it is characterized in that comprising end effector and quick change locking assembly, the terminal
Effector includes mounting cylinder, and the mounting cylinder has the inner cavity for being sheathed on surgical instrument, the both ends difference of the inner cavity
With connecing end and abutment end fastly, the quick change locking assembly be connected to it is described connect end fastly, and the quick change locking assembly is for can
It is releasably connected to the surgical instrument, the abutment end, which is used to support, is resisted against the surgical instrument.
In the present solution, form using the above structure, by quick change locking assembly surgical instrument is installed or disassembly
In mounting cylinder, fast assembling-disassembling is realized, stable connection is easy to operate, improves work efficiency.Meanwhile end effector device is whole
Body is compact-sized, small in size, light-weight.
Preferably, the end effector further includes having internal axle sleeve, the internal axle sleeve is set to described interior intracavitary and described
Internal axle sleeve is connected to the abutment end.
In the present solution, form using the above structure, by internal axle sleeve abutting contact in the outer peripheral surface of surgical instrument, operation
Instrument passes through internal axle sleeve during use to be played fixed and reduces load coefficient of friction, and end effector device is improved
Stability.
Preferably, the end effector further includes having handle and connection boss, the both ends of the handle are connected to
The outer surface of the connection boss and the mounting cylinder, the connection boss is interior to have mounting groove, the end effector device
It further include force sensor component, the force sensor module is connected to the mounting groove.
It is easy to connect in the present solution, form using the above structure, easy to use and operate and compact-sized.
Preferably, the quick change locking assembly includes locking inner sleeve, locking jacket, locking spring and at least one locking
Part, the locking inner sleeve and the locking jacket are respectively positioned on described interior intracavitary, and the locking inner sleeve is connected to described meets end, institute fastly
The outside wall surface that locking jacket is slidedly arranged on the locking inner sleeve is stated, the both ends of the locking spring are born against in the locking inner sleeve
With the locking jacket, it is formed with limiting groove between the locking inner sleeve and the locking jacket, puts on and sets in the locking
There is at least one perforation, the perforation and the locking member correspond, and the perforation is connected with the limiting groove, institute
Locking member is stated to slide in the perforation；
For the locking jacket in the outside wall surface sliding of the locking inner sleeve, the locking member is resisted against the locking
Housing and the inner wall for being exposed to the locking inner sleeve；Or the locking member is retracted to the perforation and is inserted into the limit
In groove.
In the present solution, form using the above structure, realizes quick locking and the release of surgical instrument, easy to operate, symbol
Close clinical use demand；Meanwhile structure is simple, compact overall structure, it is small in size.
Preferably, the outside wall surface lug boss with outward extension of the locking inner sleeve, the locking jacket include outer
Body and cover of wedge body, the outer sleeve body are slidedly arranged on the outside wall surface of the locking inner sleeve, and the locking spring is set to the housing
Between body and the locking inner sleeve, and the both ends of the locking spring are born against in the lug boss and the outer sleeve body, institute
The inner wall that cover of wedge body is connected to the outer sleeve body is stated, and it is recessed that the limit is formed between the cover of wedge body and the locking inner sleeve
Slot, the inner wall of the cover of wedge body have lozenges, and the locking member is resisted against the lozenges and slides on the lozenges
It moves.
In the present solution, form using the above structure, is installed and used by lug boss convenient for locking spring, structure it is simple and
It is compact.
In addition, enabling locking member to can smoothly enter into limiting groove by lozenges, end effector dress is improved
The stability set.
Preferably, the end effector device further includes having beating device, the beating device includes strike bar and strike
Head, the attacking head are connected to the left end of the strike bar, are successively arranged from left to right inwardly on the outer peripheral surface of the strike bar
The slippage slot of recess and the first positioning region of outwardly convex, the slippage slot are extended along the length direction of the strike bar,
The quick change locking assembly is inserted into the slippage slot and in the slippage slot along the length direction sliding of the strike bar, described
First positioning region is for being resisted against the abutment end.
In the present solution, form using the above structure, ensure that the accurate of end effector device by the first positioning region
Installation.
In addition, moving in slippage slot by quick change locking assembly, the stability of beating device in use ensure that.
Preferably, the end effector device further includes having rotator, the rotator includes successively connecting from left to right
The interface section connect rotates shaft part and joint section, is successively arranged and is recessed inwardly from left to right on the outer peripheral surface of the rotation shaft part
Second positioning region of annular groove and outwardly convex, the quick change locking assembly are inserted into the annular groove and the edge in the annular groove
The circumferential sliding of the rotator, second positioning region is for being resisted against the abutment end.
In the present solution, form using the above structure, the second positioning region have positioning action, enabling quick change locking assembly
Enough be accurately positioned is inserted into annular groove.
In addition, passing through quick change locking assembly moving in rotation in a ring groove, the steady of end effector device is substantially increased
It is qualitative.
Preferably, the end effector device further includes having instrument power source, the instrument power source is connected to described
Rotator simultaneously is used to drive the rotator rotary motion.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
End effector device of the invention makes surgical instrument be installed on mounting cylinder by quick change locking assembly, realizes
Fast assembling-disassembling, stable connection is easy to operate, improves work efficiency, and compact-sized.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the end effector device of the embodiment of the present invention 1.
Fig. 2 is the schematic diagram of internal structure of the quick change locking assembly of the end effector device of the embodiment of the present invention 1.
Fig. 3 is the decomposition texture schematic diagram of the quick change locking assembly of the end effector device of the embodiment of the present invention 1.
Fig. 4 is the structural schematic diagram of the beating device of the end effector device of the embodiment of the present invention 1.
Fig. 5 is the structural schematic diagram of the end effector device of the embodiment of the present invention 2.
Fig. 6 is the structural schematic diagram of the rotator of the end effector device of the embodiment of the present invention 2.
Description of symbols:
End effector 1
Mounting cylinder 11
End 111 is connect fastly
Abutment end 112
Internal axle sleeve 12
Handle 13
Connect boss 14
Quick change locking assembly 2
Lock inner sleeve 21
Perforation 211
Lug boss 212
Locking jacket 22
Outer sleeve body 221
Cover of wedge body 222
Lozenges 223
Locking spring 23
Locking member 24
Limiting groove 25
Force sensor module 3
Beating device 4
Attacking head 41
Hit bar 42
Slippage slot 421
First positioning region 422
Rotator 5
Interface section 51
Rotate shaft part 52
Annular groove 521
Second positioning region 522
Joint section 53
Instrument power source 6
Specific embodiment
Illustrate below by the mode of embodiment and completely the present invention in conjunction with attached drawing to become apparent from, but therefore not incite somebody to action this
It invents among the scope of embodiments being limited in.
Embodiment 1
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the end effector device of the embodiment of the present invention includes 1 He of end effector
Quick change locking assembly 2, end effector 1 include mounting cylinder 11, and mounting cylinder 11 has the inner cavity for being sheathed on surgical instrument,
The both ends of inner cavity be respectively provided with connect fastly end 111 and abutment end 112, quick change locking assembly 2 be connected to and connect end 111 fastly, and quick change lock
For tight component 2 for being removably attachable to surgical instrument, abutment end 112, which is used to support, is resisted against surgical instrument.Surgical instrument is logical
It crosses the inner cavity of mounting cylinder 11 and is installed and connected in mounting cylinder 11, it can by quick change locking assembly 2 at the end 111 that connects fastly of inner cavity
It is releasably connected to surgical instrument, the abutment end 112 in inner cavity is used for against support surgical instrument.Pass through quick change locking assembly 2
So that surgical instrument is installed or is dismantled in mounting cylinder 11, so that it is convenient to replace different surgical instruments on end effector device
And quickly, fast assembling-disassembling is realized, stable connection is easy to operate, improves work efficiency.Meanwhile end effector device is whole
It is compact-sized, small in size, light-weight, appearance looks elegant.
End effector 1 further includes having internal axle sleeve 12, internal axle sleeve 12 be set to it is interior intracavitary, and internal axle sleeve 12 be connected to against
End 112.By 12 abutting contact of internal axle sleeve in the outer peripheral surface of surgical instrument, surgical instrument is using the abutment end 112 of inner cavity
It plays fixed by internal axle sleeve 12 in the process and reduces load coefficient of friction, improve the stability of end effector device.Its
In, internal axle sleeve 12 is removably attachable in mounting cylinder 11 by holding screw.
End effector 1 further includes having handle 13 and connection boss 14, and the both ends of handle 13 are connected to connection boss
14 and mounting cylinder 11 outer surface, connection boss 14 in have mounting groove, end effector device further includes force sensor group
Part 3, force sensor module 3 are connected to mounting groove.When in use, operator passes through hand gripping handle to end effector device
13, it is easy to use and operate and compact-sized, it is easy to connect.Wherein, one between mounting cylinder 11, handle 13 and connection boss 14
Molding.
Quick change locking assembly 2 includes locking inner sleeve 21, locking jacket 22, locking spring 23 and at least one locking member
24, it locks inner sleeve 21 and locking jacket 22 and is respectively positioned on interior intracavitary, locking inner sleeve 21 is connected to connects end 111 fastly, and locking jacket 22 is sliding
Set on the outside wall surface of locking inner sleeve 21, the both ends of locking spring 23 are born against in locking inner sleeve 21 and locking jacket 22, locking
Limiting groove 25 is formed between inner sleeve 21 and locking jacket 22, locking inner sleeve 21 is equipped at least one perforation 211, perforation
211 and locking member 24 correspond, and perforate and 211 be connected with limiting groove 25, locking member 24 slides in 211 perforating；Lock
In the outside wall surface sliding for locking inner sleeve 21, locking member 24 is resisted against locking jacket 22 and is exposed to locking inner sleeve 21 tight housing 22
Inner wall；Or locking member 24 is retracted to perforation 211 and is inserted into limiting groove 25.
Quick change locking assembly 2 realizes the connection with surgical instrument, in the initial state, quick change locking group by locking member 24
Part 2 and surgical instrument are connected with each other, and locking member 24 is resisted against locking jacket 22 and is exposed to the inner wall of locking inner sleeve 21, are passed through
The part that locking member 24 exposes is realized with surgical instrument is connected with each other cooperation；When disassembly and replacement are required, referring to attached drawing 2, pass through
Active force is on locking jacket 22, so that locking jacket 22 slides to the left in the outside wall surface of locking inner sleeve 21, so that limiting groove
25 left end space becomes larger, so that limiting groove 25 has the space for accommodating locking member 24, locking member 24 will be retracted to perforation
It 211 and is inserted into limiting groove 25, locking member 24 will no longer be exposed to the inner wall of locking inner sleeve 21 at this time, so that locking member
24 with the disassembly of surgical instrument, to realize the dismounting and change to surgical instrument, after replacement is completed, no longer active force is being locked
On tight housing 22, active force to the right is applied to locking jacket 22 by locking spring 23, quick change locking assembly 2 returns back to initially
State.Structure is simple, compact overall structure, small in size, and is able to achieve quick locking and the release of surgical instrument, easy to operate,
Meet clinical use demand.
The outside wall surface lug boss 212 with outward extension of inner sleeve 21 is locked, locking jacket 22 includes 221 He of outer sleeve body
Cover of wedge body 222, outer sleeve body 221 are slidedly arranged on the outside wall surface of locking inner sleeve 21, and locking spring 23 is set in outer sleeve body 221 and locking
Between set 21, and the both ends of locking spring 23 are born against in lug boss 212 and outer sleeve body 221.The right end of outer sleeve body 221 has
The gathering portion to extend internally, so that being formed with the space of accommodating locking spring 23, locking between outer sleeve body 221 and locking inner sleeve 21
The left end of spring 23 is resisted against lug boss 212, and the right end of locking spring 23 is resisted against gathering portion, and structure is simple and compact, and steady
Qualitative height.
Cover of wedge body 222 is connected to the inner wall of outer sleeve body 221, and is formed and limited between cover of wedge body 222 and locking inner sleeve 21
The inner wall of groove 25, cover of wedge body 222 has lozenges 223, and locking member 24 is resisted against lozenges 223 and on lozenges 223
Sliding.Lozenges 223 has guiding role, and when disassembly and replacement are required, locking member 24 is resisted against lozenges 22 simultaneously to surgical instrument
It is slid on lozenges 223, by lozenges 223 locking member 24 can smoothly enter into limiting groove 25, improve
The stability of end effector device.Wherein, it is connected between outer sleeve body 221 and cover of wedge body 222 by grub screw, locks inner sleeve
21 are connected by grub screw with mounting cylinder 11, and locking member 24 is steel ball.
In the present embodiment, end effector device further includes having beating device 4, and beating device 4 includes strike bar 42 and beats
Tap the head 41, attacking head 41 is connected to the left end of strike bar 42, hits to be successively arranged concaving from left to right on the outer peripheral surface of bar 42
First positioning region 422 of sunken slippage slot 421 and outwardly convex, slippage slot 421 are extended along the length direction of strike bar 42,
Quick change locking assembly 2 is inserted into slippage slot 421 and in slippage slot 421 along the length direction sliding of strike bar 42, the first positioning region
422 for being resisted against abutment end 112.The left end of strike bar 42 is inserted through inner cavity from the abutment end 112 of mounting cylinder 11, locks
Part 24 will be inserted into slippage slot 421, so that the connection of strike bar 42 and end effector 1 is realized, later by attacking head 41
It is connected to the left end of strike bar 42, to realize the installation connection of end effector device.Slippage slot 421 has position-limiting action,
In use, locking member 24 moves beating device 4 in slippage slot 421, ensure that the stabilization of beating device 4 in use
Property；Meanwhile first positioning region 422 have positioning action, assembling when internal axle sleeve 12 will be resisted against on the first positioning region 422,
It ensure that the accurate installation of end effector device.
Embodiment 2
As shown in Figure 5 and Figure 6, the end effector apparatus structure of the present embodiment and the same section of embodiment 1 are no longer multiple
It states, only difference is explained.It does not include beating device, end effector device in the end effector device of the present embodiment
It include rotator 5, rotator 5 includes sequentially connected interface section 51 from left to right, rotates shaft part 52 and joint section 53, rotation
The second positioning region 522 of the annular groove 521 being recessed inwardly and outwardly convex is successively arranged on the outer peripheral surface of shaft part 52 from left to right,
Quick change locking assembly 2 is inserted into annular groove 521 and in annular groove 521 along the circumferential direction sliding of rotator 5, and the second positioning region 522 is used
In being resisted against abutment end 112.The left end of rotator 5 is inserted through inner cavity, quick change locking group from the abutment end 112 of mounting cylinder 11
Locking member in part 2 will be inserted into annular groove 521, to realize the connection of rotator 5 Yu end effector 1.Second is fixed
Position portion 522 has positioning action, and in assembling, internal axle sleeve 12 will be resisted against on the second positioning region 522, so that quick change locking group
Part 2, which can be accurately positioned, to be inserted into annular groove 521.End effector device when in use, rotator 5 can rotary motion,
Locking member in quick change locking assembly 2 will in annular groove 521 moving in rotation, substantially increase the steady of end effector device
It is qualitative.
End effector device further includes having instrument power source 6, and instrument power source 6 is connected to rotator 5 and for driving
5 rotary motion of rotator.Instrument power source 6 is for providing twisting resistance, so that end effector device can be used in robot
Acetabular bone grinding in art.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (8)
1. a kind of end effector device, which is characterized in that it includes end effector and quick change locking assembly, the terminal by
Dynamic device includes mounting cylinder, and the mounting cylinder has the inner cavity for being sheathed on surgical instrument, and the both ends of the inner cavity have respectively
Have and connect end and abutment end fastly, the quick change locking assembly be connected to it is described connect end fastly, and the quick change locking assembly is for removable
It is connected to the surgical instrument with unloading, the abutment end, which is used to support, is resisted against the surgical instrument.
2. end effector device as described in claim 1, which is characterized in that the end effector further includes having inner shaft
Set, the internal axle sleeve are set to described interior intracavitary, and the internal axle sleeve is connected to the abutment end.
3. end effector device as described in claim 1, which is characterized in that the end effector further include have handle and
Boss is connected, the both ends of the handle are connected to the outer surface of the connection boss and the mounting cylinder, and the connection is convex
There is mounting groove, the end effector device further includes force sensor component, and the force sensor module is connected in platform
The mounting groove.
4. end effector device as described in claim 1, which is characterized in that the quick change locking assembly includes in locking
Set, locking jacket, locking spring and at least one locking member, the locking inner sleeve and the locking jacket are respectively positioned on the inner cavity
It is interior, the locking inner sleeve be connected to it is described connect end fastly, the locking jacket is slidedly arranged on the outside wall surface of the locking inner sleeve, the lock
The both ends of tight spring are born against in the locking inner sleeve and the locking jacket, the locking inner sleeve and the locking jacket it
Between be formed with limiting groove, put in the locking equipped at least one perforation, it is described perforation and the locking member correspond,
And the perforation is connected with the limiting groove, the locking member slides in the perforation；
For the locking jacket in the outside wall surface sliding of the locking inner sleeve, the locking member is resisted against the locking jacket
And it is exposed to the inner wall of the locking inner sleeve；Or the locking member is retracted to the perforation and is inserted into the limiting groove
It is interior.
5. end effector device as claimed in claim 4, which is characterized in that the outside wall surface of the locking inner sleeve is equipped with outside
The lug boss of extension, the locking jacket include outer sleeve body and cover of wedge body, and the outer sleeve body is slidedly arranged on the locking inner sleeve
Outside wall surface, the locking spring are set between the outer sleeve body and the locking inner sleeve, and the both ends of the locking spring point
It is not resisted against the lug boss and the outer sleeve body, the cover of wedge body is connected to the inner wall of the outer sleeve body, and the cover of wedge
The limiting groove is formed between body and the locking inner sleeve, the inner wall of the cover of wedge body has lozenges, the locking member
It is resisted against the lozenges and is slid on the lozenges.
6. the end effector device as described in any one of claim 1-5, which is characterized in that the end effector dress
Setting further includes having beating device, and the beating device includes strike bar and attacking head, and the attacking head is connected to the strike bar
Left end, it is described strike bar outer peripheral surface on be successively arranged from left to right the slippage slot and outwardly convex that are recessed inwardly first positioning
Portion, the slippage slot are extended along the length direction of the strike bar, and the quick change locking assembly is inserted into the slippage slot simultaneously
Along the length direction sliding of the strike bar in the slippage slot, first positioning region is for being resisted against the abutment end.
7. the end effector device as described in any one of claim 1-5, which is characterized in that the end effector dress
Setting further includes having rotator, and the rotator includes sequentially connected interface section from left to right, rotates shaft part and joint section, described
The second positioning region for being successively arranged the annular groove and outwardly convex that are recessed inwardly on the outer peripheral surface of shaft part from left to right is rotated, it is described
Quick change locking assembly is inserted into the annular groove and in the annular groove along the circumferential direction sliding of the rotator, second positioning
Portion is for being resisted against the abutment end.
8. end effector device as claimed in claim 7, which is characterized in that the end effector device further includes having device
Tool power source, the instrument power source are connected to the rotator and for driving the rotator rotary motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910199502.4A CN109771036B (en) | 2019-03-15 | 2019-03-15 | End effector device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910199502.4A CN109771036B (en) | 2019-03-15 | 2019-03-15 | End effector device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109771036A true CN109771036A (en) | 2019-05-21 |
| CN109771036B CN109771036B (en) | 2021-10-29 |
Family
ID=66488183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910199502.4A Active CN109771036B (en) | 2019-03-15 | 2019-03-15 | End effector device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109771036B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113796964A (en) * | 2021-09-27 | 2021-12-17 | 天衍医疗器材有限公司 | Terminal device of orthopedic surgery robot |
| CN114052916A (en) * | 2021-11-15 | 2022-02-18 | 山东大学 | Handheld surgical robot based on rod transmission |
| WO2022052237A1 (en) * | 2020-09-11 | 2022-03-17 | 杭州键嘉机器人有限公司 | End effector |
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| WO2022052237A1 (en) * | 2020-09-11 | 2022-03-17 | 杭州键嘉机器人有限公司 | End effector |
| CN113796964A (en) * | 2021-09-27 | 2021-12-17 | 天衍医疗器材有限公司 | Terminal device of orthopedic surgery robot |
| CN114052916A (en) * | 2021-11-15 | 2022-02-18 | 山东大学 | Handheld surgical robot based on rod transmission |
| CN114052916B (en) * | 2021-11-15 | 2023-08-08 | 山东大学 | Handheld surgical robot based on rod transmission |
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