阅读说明：本技术 阻尼传动组件及远程控制组件 (Damping transmission assembly and remote control assembly ) 是由 李耀 陈建平 龚俊杰 于 2019-11-13 设计创作，主要内容包括：本发明提供了一种阻尼传动组件及远程控制组件,其中,所述阻尼传动组件包括固定架、带轮传动件和摩擦阻尼件；所述带轮传动件转动安装在所述固定架上；所述摩擦阻尼件与所述带轮传动件连接,其中,所述摩擦阻尼件通过摩擦使所述带轮传动件产生阻尼。本发明公开的一种阻尼传动组件,当带轮传动件转动时,通过摩擦阻尼件产生摩擦从而使带轮传动件产生阻尼效果,即避免操控手柄位移过快或过量的问题。(The invention provides a damping transmission assembly and a remote control assembly, wherein the damping transmission assembly comprises a fixed frame, a belt wheel transmission part and a friction damping part; the belt wheel transmission part is rotationally arranged on the fixed frame; the friction damping member is connected with the pulley drive member, wherein the friction damping member damps the pulley drive member by friction. According to the damping transmission assembly disclosed by the invention, when the belt wheel transmission member rotates, the friction damping member generates friction so as to enable the belt wheel transmission member to generate a damping effect, namely, the problem that the control handle is excessively fast or excessively displaced is avoided.)

1. A damped transmission assembly, comprising:

a fixed mount;

the belt wheel transmission part is rotationally arranged on the fixed frame;

a friction damping member connected with the pulley drive member, wherein the friction damping member dampens the pulley drive member by friction.

2. The damped transmission assembly of claim 1 wherein the pulley drive includes:

the transmission shaft is rotatably fixed on the fixed frame;

the driving belt wheel is fixedly connected with the transmission shaft;

the driven belt wheel is connected with the driving belt wheel through a synchronous belt;

and the friction shaft is rotatably fixed on the fixing frame and is fixedly connected with the driven belt wheel.

3. The damped transmission assembly of claim 2 wherein the frictional damping member comprises:

a first friction disk fixed to one end of the friction shaft;

and the second friction disc is in contact fit with the end surface of the first friction disc, so that the first friction disc generates damping through friction.

4. The damped transmission assembly according to claim 3, wherein the friction damping member further includes a drive structure driving the second friction disk against the first friction disk.

5. The damped transmission assembly of claim 4 wherein the drive structure includes:

the connecting sleeve is fixed on the fixing frame;

and the knob disc is arranged in the connecting sleeve and is in fit connection with the connecting sleeve through threads.

6. The damped transmission assembly according to claim 5, wherein the knob plate abuts against a second friction disc disposed within the connecting sleeve and threadedly connected thereto.

7. The damped transmission assembly according to claim 5, wherein a resilient member is disposed between the knob plate and the second friction disk to urge the second friction disk against the first friction disk.

8. The dampened transmission assembly of claim 7, wherein the resilient member includes a spring.

9. The damped transmission assembly according to claim 7, wherein a guide block is disposed on an end surface of the second friction disc adjacent to the knob disc, at least one guide hole is disposed on an end surface of the guide block adjacent to the knob disc, a guide pin is disposed in the guide hole, and the guide pin is fixedly connected to the knob disc in a circumferential direction.

10. The damped transmission assembly of claim 2 wherein the pulley drive further comprises:

an encoder connected to the friction shaft or the transmission shaft.

11. A remote control assembly comprising a damped transmission assembly as claimed in any one of claims 1 to 10.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a damping transmission assembly and a remote control assembly.

Background

Robotics has been applied in the field of medical instruments, and medical robots can assist doctors in performing minimally invasive intervention operations or teleoperations or telemedicine, such as telemedicine on a patient using a robot arm carrying an ultrasonic probe. Because the fault tolerance rate is low in the operation or diagnosis and treatment process, the medical robot has to have high operability.

Disclosure of Invention

The invention aims to provide a damping transmission assembly to solve the defects of the prior art.

The invention is realized by the following steps:

a damped transmission assembly, comprising:

a fixed mount;

the belt wheel transmission part is rotationally arranged on the fixed frame;

a friction damping member connected with the pulley drive member, wherein the friction damping member dampens the pulley drive member by friction.

In a preferred embodiment of the invention, the pulley drive comprises:

the transmission shaft is rotatably fixed on the fixed frame;

the driving belt wheel is fixedly connected with the transmission shaft;

the driven belt wheel is connected with the driving belt wheel through a synchronous belt;

and the friction shaft is rotatably fixed on the fixing frame and is fixedly connected with the driven belt wheel.

In a preferred embodiment of the present invention, the frictional damping member includes:

a first friction disk fixed to one end of the friction shaft;

and the second friction disc is in contact fit with the end surface of the first friction disc, so that the first friction disc generates damping through friction.

In a preferred embodiment of the invention, the friction damping member further comprises a drive structure for driving the second friction disc against the first friction disc.

In a preferred embodiment of the present invention, the driving structure includes:

the connecting sleeve is fixed on the fixing frame;

and the knob disc is arranged in the connecting sleeve and is in fit connection with the connecting sleeve through threads.

In a preferred embodiment of the invention, the knob plate abuts against the second friction disk, and the second friction disk is disposed in the connecting sleeve and is in threaded connection with the connecting sleeve.

In a preferred embodiment of the invention, an elastic member is provided between the knob plate and the second friction plate to urge the second friction plate against the first friction plate.

In a preferred embodiment of the present invention, the elastic member includes a spring.

In a preferred embodiment of the present invention, a guide block is disposed on an end surface of the second friction disc close to the knob disc, at least one guide hole is disposed on an end surface of the guide block close to the knob disc, a guide pin is disposed in the guide hole, and the guide pin is circumferentially and fixedly connected to the knob disc.

In a preferred embodiment of the invention, the pulley drive further comprises:

an encoder connected to the friction shaft or the transmission shaft.

A remote control assembly comprising a damped transmission assembly as claimed in any one of the above embodiments.

The invention discloses a damping transmission assembly, which has the beneficial effects that: when the driving member of band pulley rotates, thereby produce the friction through friction damping piece and make the driving member of band pulley produce the damping effect, avoid controlling handle displacement too fast or excessive problem promptly.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. In summary, the objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of a damper drive assembly provided by the present invention;

FIG. 2 is a schematic view of another damping friction member of the damping transmission assembly provided by the present invention.

Icon: 1243-drive shaft; 1244-first bearing; 1245-fixing frame; 1246-bearing press part; 1247-driving pulley; 1248-synchronous belt; 1249-encoder; 1250-a driven gear; 1251-friction shaft; 1252 — a first friction disk; 1253-a second friction disk; 1254-knob disk; 1255-connecting sleeve; 1256-bearing seat; 1257-a second bearing; 1258-guide pins; 1259-a guide block; 1260-elastomeric piece.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

As shown in fig. 1-2, some embodiments of the present disclosure provide a damped transmission assembly, the transmission damping structure including a mount 1245, a pulley drive, and a friction damping member.

The pulley drives include a drive shaft 1243, a drive pulley 1247, a driven pulley 1250, a friction shaft 1251, and an encoder 1249. The transmission shaft 1243 is rotatably fixed on the fixing frame 1245, and specifically, the transmission shaft 1243 is rotatably mounted on the fixing frame 1245 through a first bearing 1244; preferably, the first bearing 1244 is further provided with a bearing pressing member 1246 to prevent the first bearing 1244 from falling off the fixing frame 1245.

The driving pulley 1247 is fixedly mounted on the transmission shaft 1243 in a manner known in the art, such as by building or welding, but not limited thereto. The driven pulley 1250 is mounted on the friction shaft 1251 and is connected with the driving pulley 1247 through a timing belt 1248; it should be noted that the manner of transmitting the power of the transmission shaft 1243 to the friction shaft 1251 further includes a chain or gear engagement transmission, etc., and is not exhaustive herein as to the manner of transmitting the power of the transmission shaft 1243 to the friction shaft 1251 as long as the power of the transmission shaft 1243 can be transmitted to the friction shaft 1251.

The friction shaft 1251 is rotatably fixed on the fixing frame 1245, specifically, a bearing seat 1256 is fixedly arranged on the fixing frame 1245, and the friction shaft 1251 and the bearing seat 1256 are rotatably connected through a second bearing 1257; the friction shaft 1251 is fixedly connected with a driven gear 1250; preferably, the second bearing 1257 is further configured with a bearing follower (not shown) to prevent the second bearing from falling off the bearing seat 1256.

Friction damping member includes a first friction disk 1252 and a second friction disk 1523, first friction disk 1252 being fixed to one end of friction shaft 1251; preferably, the first friction disc 1252 is a disc-shaped disc made of metal material; it is further preferred that the surface of first friction disk 1252 remote from friction shaft 1251 be roughened to facilitate a damping effect by friction with second friction disk 1523 to reduce acceleration during operation by a user.

The friction damping member also includes drive structure that drives second friction disk 1253 against first friction disk 1252.

The driving structure comprises a connecting sleeve 1255 and a knob disc 1254; the connecting sleeve 1255 is fixed on the fixing frame 1245; the knob disk 1254 is disposed within the connecting sleeve 1255 and is threadably engaged with the connecting sleeve 1255.

First way of the embodiment of the invention in which second friction disk 1253 abuts against first friction disk 1252: the second friction disc 1253 is in contact fit with the first friction disc 1252, and the second friction disc 1253 is arranged in the connecting sleeve 1255 and is in threaded connection with the connecting sleeve 1255; specifically, the connecting sleeve 1255 is provided with an internal thread, the outer circumferential surface of the second friction disk 1253 is provided with an external thread, the second friction disk 1253 is connected with the connecting sleeve 1255 through a thread fit, and when the second friction disk 1253 is rotated, the second friction disk 1253 is moved to be stopped when contacting with the first friction disk 1252, so that the friction shaft 1251 is forced to rotate the first friction disk 1252, thereby generating a damping effect. A knob disk 1254 rests against the second friction disk 1253. When friction shaft 1251 is forced to rotate first friction disc 1252, first friction disc 1252 is in frictional contact with second friction disc 1253, that is, first friction disc 1252 provides a driving force for rotating second friction disc 1253, and then second friction disc 1253 is prevented from rotating and problem that second friction disc 1253 is far away from first friction disc 1252 due to knob disc 1254 abutting against second friction disc 1253. The term "abutting" means that the knob plate 1254 contacts the second friction disk 1253 to limit the displacement of the second friction disk 1253.

Second manner in which second friction disk 1253 abuts first friction disk 1252 in an embodiment of the present invention: an elastic member 1260 is arranged between the knob disc 1254 and the second friction disc 1253; elastic member 1260 abuts knob plate 1254 at one end and second friction disk 1253 at the other end, and second friction disk 1253 abuts first friction disk 1252 by the force of elastic member 1260, and when first friction disk 1252 is rotated by friction shaft 1251, friction is generated by the cooperation of second friction disk 1253 and first friction disk 1252, thereby generating a damping effect. The elastic member 1260 may be specifically a spring, a steel sheet and a corrugated tube with holes, etc. arranged at intervals along the axial line of the knob disk 1254, and herein is not exhaustive, as long as the elastic member 1260 can still make the second friction disk 1253 abut against the first friction disk 1252 when the elastic member 1260 is in a compressed state.

A guide block 1259 is fixedly arranged on the end surface of the second friction disc 1253 close to the knob disc 1254; the guide block 1259 is cylindrical, preferably stepped cylindrical, which facilitates a fixed connection with the second friction disc 1253. The end surface of the guide block 1259 adjacent to the knob disk 1254 is provided with at least one guide hole, preferably n square guide holes, where n is a natural number, more preferably 4 or 6 guide holes, and the guide block 1259 is provided with a guide pin 1258 in the guide hole. The guide pin 1258 is circumferentially and fixedly connected to the knob disk 1254, specifically, a blind hole corresponding to the guide hole is formed in an end surface of the knob disk 1254 close to the guide block 1259, and one end of the guide pin 1258 extends out of the guide hole and into the blind hole.

By adjusting the axial movement of the knob disc 1254 in the connecting sleeve 1255, the knob disc 1254 and the second friction disc 1253 rotate synchronously through the guide pins 1258, and the extension and retraction of the elastic member 1260 are controlled, so as to achieve the function of adjusting the friction force between the second friction disc 1253 and the first friction disc 1252. In addition, second friction disc 1253 and elastic member 1260 may be prevented from rotating together with first friction disc 1252 by guide pins 1258, causing side friction or noise.

The encoder 1249 is connected to the friction shaft 1251 or the transmission shaft 1243, reads corresponding spatial coordinate data through the encoder 1249, and remotely controls the medical robot to move in up-down, left-right, and front-back directions by outputting a signal.

A remote control assembly comprising a damped transmission assembly as set forth in any one of the above embodiments, which have been described in detail in the above embodiments and will not be described again.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

It should be noted that, in this document, the term "comprises/comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.