CN106236275A - The operating theater instruments that a kind of cleft hand is swingable - Google Patents
The operating theater instruments that a kind of cleft hand is swingable Download PDFInfo
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- CN106236275A CN106236275A CN201610838380.5A CN201610838380A CN106236275A CN 106236275 A CN106236275 A CN 106236275A CN 201610838380 A CN201610838380 A CN 201610838380A CN 106236275 A CN106236275 A CN 106236275A
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- 240000007711 Peperomia pellucida Species 0.000 claims description 25
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 210000003464 cuspid Anatomy 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000007423 decrease Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 241000237858 Gastropoda Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 108010022579 ATP dependent 26S protease Proteins 0.000 description 1
- 235000009161 Espostoa lanata Nutrition 0.000 description 1
- 240000001624 Espostoa lanata Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The invention discloses the operating theater instruments that a kind of cleft hand is swingable, including carrying out the implement body of three-dimensional motion, the brake structure that the motion of implement body is braked, the swing arm being arranged in implement body, install mechanical claw hand on a swing arm.Described mechanical claw hand includes cleft hand frame, be hinged in cleft hand frame two pairs of cleft hands, it is arranged in cleft hand frame for driving the two cleft hand drive mechanisms to cleft hand action；Under the driving of cleft hand drive mechanism, two pairs of cleft hands draw in and expansion action.In operation, medical worker action robot body and swing arm, make mechanical claw hand be at object to be taken；Afterwards, the fifth wheel in patient is taken out by mechanical claw hand, simple to operation.
Description
Technical field
The present invention relates to medical apparatus and instruments, in particular to the operating theater instruments that a kind of cleft hand is swingable.
Background technology
In operation, medical worker takes object in doctors and patients' body, such as cotton balls, gauze, other internal fifth wheels, conventional hands,
Tweezers, shears, this type of instrument is difficult to and internal fifth wheel is exhausted by inconvenience completely, or, internal fifth wheel is exhausted ratio completely
Cumbersome.
Summary of the invention
Technical problem solved by the invention: the medical worker in operation is difficult to or inconvenience is by complete for fifth wheel in patient
Exhaust.
For solving above-mentioned technical problem, the present invention provides following technical scheme: the operating theater instruments that a kind of cleft hand is swingable, bag
The waist rotation member include base body, being articulated on base body, the large arm being articulated on waist rotation member, the operation that is arranged in large arm
Hands, the forearm being fixed in large arm, be articulated in forearm front end swing arm, drive swing arm swing the first driver element, peace
The mechanical claw hand being contained in swing arm front end, the second driver element driving mechanical claw hand to rotate；In when described swing arm swings
Heart line is perpendicular to the rotation centerline of mechanical claw hand, and described waist rotation member horizontal cross is arranged, and waist rotation member rotates around base body,
Described large arm is vertically arranged, and the bottom of large arm is articulated in the middle part of waist rotation member, and described manipulator is arranged on the top of large arm, institute
State forearm and be fixed on the middle part of large arm；
Described mechanical claw hand includes cleft hand frame, be hinged in cleft hand frame two pairs of cleft hands, it is arranged in cleft hand frame
For driving the two cleft hand drive mechanisms to cleft hand action；Described cleft hand drive mechanism include stake body, the first locking body, second
Locking body；Being articulated with gear wheel, the second middle gear, the first little gear, power transmission shaft on described stake body, described power transmission shaft vertically sets
Putting and couple with the power set being arranged on stake body, described gear wheel is fixed on power transmission shaft, tooth in gear wheel and second
Wheel engagement, the second middle gear and the engagement of the first little gear；Described first locking body includes the first stud being fixedly installed, described
The centre of one little gear offers the screwed hole being spirally connected with the first stud；Described second locking body includes the second spiral shell being fixedly installed
Post, the centre of described second middle gear offers the screwed hole being spirally connected with the second stud；Stake body is provided with the first locking body
Lifting with the second locking body carries out the guide post guided；About two cleft hands in first pair of cleft hand in described two pairs of cleft hands
It is symmetrical arranged, is symmetrical arranged before and after two cleft hands in second pair of cleft hand in two pairs of cleft hands, two pawls in first pair of cleft hand
The first slide slot being obliquely installed is offered in the bottom of hands, and be obliquely installed is offered in the bottom of two cleft hands in second pair of cleft hand
Two slide slots, the top of described first locking body is provided with the first sliding pin being slidably matched with the first slide slot, the second locking body
Top is provided with the second sliding pin being slidably matched with the second slide slot.
By technique scheme, the operation principle of the operating theater instruments that a kind of cleft hand of the present invention is swingable is as follows: first,
Medical worker holds manipulation hands, rotates large arm or waist rotation member, makes the mechanical claw hand on swing arm be at object to be taken；The
Two, power set drive power transmission shaft to rotate, and power transmission shaft drives gear wheel to rotate, and gear wheel drives the second middle gear to rotate, and second
Middle gear drives the first little gear to rotate；Described second middle gear drives the second stud to rise, and the second stud drives the second locking
Body rises, and owing to the second slide slot is obliquely installed, therefore, the second sliding pin vertically risen can order about arbitrary pawl in second pair of cleft hand
Hands rotates around it with the hinged place of cleft hand frame, makes second pair of cleft hand swing in opposite directions；Described first little gear drives first
Stud declines, and the first stud drives the first locking body to decline, owing to the first slide slot is obliquely installed the (side that the first slide slot tilts
To in opposite direction with what the second slide slot tilted), therefore, the first sliding pin being vertically lowered orders about arbitrary cleft hand in first pair of cleft hand
Rotate with the hinged place of cleft hand frame around it, make first pair of cleft hand swing in opposite directions；So far, two pairs of cleft hands, in drawing shape in, are used
In capturing object；3rd, under the driving of the first driver element, the swing of swing arm can drive mechanical claw hand thereon to swing,
Under the driving of the second driver element, mechanical claw hand is rotatable.
By technique scheme, first pair of cleft hand connects the first locking body, and second pair of cleft hand connects the second locking body, and
The the first little gear driving the first locking body lifting engages and by gear wheel with the second middle gear driving the second locking body lifting
Driving, so, the present invention can make the action simultaneously of the first pair of cleft hand and motion amplitude identical, can make the action simultaneously of second pair of cleft hand and
Motion amplitude is identical, first pair of cleft hand and second pair of cleft hand action simultaneously and motion amplitude can be made identical, in order to mechanical claw hand is accurate
Really and fully capture sufferer intrabody object.Above-mentioned mechanical claw hand coordinates rotating waist rotation member and large arm, and swing arm,
Medical worker is facilitated to take thing in patient.
As the present invention a kind of explanation to mechanical claw hand, described cleft hand frame includes the cleft hand being arranged on swing arm front end
Framework soleplate, the cleft hand frame support bar being vertically arranged on cleft hand framework soleplate, it is fixed on cleft hand frame support bar top
Cleft hand frame top board；Described cleft hand drive mechanism is arranged on cleft hand framework soleplate and is positioned at the lower section of cleft hand frame top board, institute
Stating and offer four hinge holes on cleft hand frame top board, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
As described above, being fixed with swivel pin in each hinge hole, four cleft hands are hinged on four in man-to-man mode by swivel pin
In individual hinge hole.The bottom of arbitrary cleft hand is positioned at the lower section of hinge hole, i.e. the first slide slot of inclination and the equal position of the second slide slot
Lower section in hinge hole.Described cleft hand frame is provided with integrated photographic head and illuminator, described integrated photographic head and photograph
Bright device is between two pairs of cleft hands.Described photographic head electrically connects with display, and under the illumination of illuminator, medical worker can
The object being positioned at mechanical claw hand front is observed from display.
As the present invention a kind of explanation to mechanical claw hand, described stake body includes base, support plate；Described base is fixing to be set
Putting in cleft hand frame, described guide post is fixed on base, and described support plate is horizontally fixed on the top of guide post；Described canine tooth
Wheel, the second middle gear, the first little gear are articulated on support plate, and the top of described power transmission shaft is articulated on support plate, the end of power transmission shaft
End is articulated on base；Described first locking body includes the first lifting chassis, a pair first latch segments, a pair first spill blocks；
The first guiding slot port is offered on described first lifting chassis, and the first guiding slot port is slidably matched with guide post；Described first stud
Quantity is two, and two the first studs are vertically arranged on the first lifting chassis, and described support plate offers a pair first through holes, one
To the first stud through a pair first through holes；The quantity of described first little gear is two, and two the first little gears are with one to one
Mode be spirally connected with a pair first studs；The pair of first latch segment is arranged on two the first studs in man-to-man mode
Top, a pair first spill blocks are arranged on the top of a pair first latch segments, the number of described first sliding pin in man-to-man mode
Amount is two, and two the first sliding pins are arranged on the top of a pair first spill blocks in man-to-man mode, two the first sliding pins with
Man-to-man mode is slidably matched with the first slide slot of two cleft hands in first pair of cleft hand；Described second locking body includes
Two lifting chassis, locking plate, a pair second spill blocks；The second guiding slot port, the second gathering sill are offered in described second lifting chassis
Mouth is slidably matched with guide post；The quantity of described second stud is two, and two the second studs are vertically arranged at the bottom of the second lifting
On dish, the second lifting chassis is positioned at the lower section on the first lifting chassis；The second through hole, described support plate are offered in described first lifting chassis
On offer third through-hole, two the second studs are upward through the second through hole and third through-hole；The quantity of described second middle gear is
Two, two the second middle gears are spirally connected with two the second studs in man-to-man mode, and two the second middle gears are all and gear wheel
Engagement, two the second middle gears engage with two the first little gears in man-to-man mode；Described locking plate is horizontally arranged at
The top of two studs, a pair second spill blocks are arranged on locking plate, and the quantity of described second sliding pin is two, two second cunnings
Pin is arranged on the top of a pair second spill blocks in man-to-man mode, and two the second sliding pins are right with second in man-to-man mode
Second slide slot of two cleft hands in cleft hand is slidably matched；Offering fourth hole on described locking plate, described first stud is worn
Crossing fourth hole, described first latch segment is positioned at the top of locking plate.
As described above, described gear wheel drives a pair second middle gears being symmetrical set, a pair second middle gears
Drive a pair first little gears being symmetrical set.The pair of second middle gear drives a pair second studs to rise, a pair
Second stud drives locking plate to rise, and locking plate drives the most symmetrically arranged second spill block before and after a pair to rise, and a pair second recessed
Shape block drives a pair second sliding pins vertically to rise, and a pair second sliding pins are symmetrically arranged before and after being driven by a pair second slide slots
Second pair of cleft hand swings in opposite directions.The pair of first little gear drives a pair first studs to decline, and a pair first studs drive one
Declining the first latch segment, a pair first latch segments drive the first spill block being symmetrical set for a pair to decline, a pair first
Spill block drives a pair first sliding pins to be vertically lowered, and a pair first sliding pins are driven by a pair first slide slots and are symmetrical set
First pair of cleft hand swing in opposite directions.
As the present invention a kind of explanation to mechanical claw hand, described second lifting chassis is vertically arranged with the 4th stud,
6th stud, the 4th stud, the 6th stud be upward through the first lifting chassis and support plate, and described locking plate is arranged on the 4th spiral shell
Post, the top of the 6th stud；The 4th middle gear, the 6th middle gear, the 4th middle gear, the 6th middle gear it is articulated with on described support plate
Between support plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear all offer screwed hole,
4th stud is screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear engages with gear wheel, and the 6th stud is screwed onto the 6th
In the screwed hole of middle gear, the 6th middle gear engages with gear wheel.As described above, gear wheel is driving a pair second middle gears
While rotation, driving the 4th middle gear and the 6th middle gear to rotate, the 4th middle gear and the 6th middle gear correspondingly drive the
Four studs and the 6th stud rise, and the 4th stud and the 6th stud and a pair second middle gears drive locking plate to rise jointly.
As the present invention a kind of explanation to mechanical claw hand, described power set include the snail being arranged on bottom power transmission shaft
The first servomotor that the worm screw that wheel engages with worm gear couples with worm screw, worm screw is horizontally disposed with, and worm screw is articulated on base, the
One servomotor is arranged on base.Owing to worm and gear has good auto-lock function, therefore, two pairs of pawls of the present invention
Hands can stably rest on the optional position in space in swing process.
As the present invention a kind of explanation to mechanical claw hand, described second middle gear includes the second gear part and the second tooth
The second articulated section that wheel portion is coaxially disposed；The centre of described second gear part and the second articulated section is provided with through second gear part
Screwed hole with the second articulated section；Described second articulated section is articulated in the third through-hole of support plate.Described first little gear includes
The first articulated section that first gear part and the first gear part are coaxially disposed；Described first gear part and the central authorities of the first articulated section
Place is provided with through first gear part and the screwed hole of the first articulated section；Described first articulated section is articulated in the first through hole of support plate
In.
As the present invention a kind of explanation to base body, described base body be provided with symmetrical first horizontal guide rail and
Second horizontal guide rail, the first horizontal guide rail is sliding combined with the first cross sliding clock, and the second horizontal guide rail is sliding combined with
Two cross sliding clocks, the two ends, left and right of described waist rotation member are cylindrical, and the left end of waist rotation member is articulated in the first cross sliding clock,
The right-hand member of waist rotation member is articulated in the second cross sliding clock.As described above, waist rotation member can be along the first horizontal guide rail and second
Horizontal guide rail moves, to increase the range of activity of mechanical claw hand.
As the present invention a kind of explanation to base body, described base body is provided with brake structure, and brake structure includes solid
The brake rotation being connected is fixed in a pair support plate being scheduled on base body, the brake lever being articulated on a pair support plate, one end with brake lever
Turn the brake hinged with the brake rotary components other end of assembly, one end to be connected assembly to be connected the assembly other end with brake hinged
Lever assembly, the middle part of lever assembly is hinged on support plate, and the cross section of described brake lever is regular hexagon；Described second level
Slide block is provided with keep plate, keep plate and the second cross sliding clock and is connected by coil tension spring, and keep plate is positioned at waist rotation member right-hand member
The side in face, described brake lever is close to keep plate.As described above, one end of medical worker's presses lever assembly, lever assembly
Around it with support plate hinged place tilting, lever assembly connects assembly by brake and drives brake rotary components to rotate, and brake rotates
Component driver brake lever rotates, and the crest line of brake lever is against on keep plate towards a left side, and then, the left side of keep plate is against waist transfer part
On part right side, waist rotation member is braked；Lever assembly is made to reset when the other end of staff's presses lever assembly
Time, lever assembly connects assembly by brake and drives brake rotary components to reversely rotate, and brake rotary components driving brake bar is anti-
To rotation, the crest line of brake lever leaves keep plate and no longer orders about keep plate and be moved to the left and brake waist rotation member.
In above-mentioned brake structure, described brake rotary components includes fixing with brake lever the brake rotating seat that is connected and stops
Car rotating seat fixes the brake swingle of connection；Described brake connects assembly and includes second brake hinged with brake swingle even
Extension bar and the second brake connecting rod fix the first brake connecting rod of connection；Described lever assembly includes being connected with first brake
Bar hinged brake bearing with brake bearing fix the brake liner plate being connected, described brake bearing is hinged on support plate.
Described base body is provided with the second brake structure, and the second brake structure includes a pair second be fixed on base body
Support plate, the second brake lever being articulated on a pair second support plates, one end are fixed the second brake being connected and are rotated with the second brake lever
Assembly, one end with second brake the rotary components other end hinged second brake is connected assembly and second brake connection assembly another
The second lever assembly that one end is hinged, the middle part of the second lever assembly is hinged on the second support plate, the horizontal stroke of described second brake lever
Cross section is regular hexagon；Described first cross sliding clock is provided with the second keep plate, the second keep plate and the first cross sliding clock to be passed through
Second coil tension spring connects, and the second keep plate is positioned at the side of waist rotation member left side, and described second brake lever is close to the second system
Dynamic plate；Described base body is provided with vertical rod, and the top of vertical rod is provided with the 3rd sliding pin, and the 3rd sliding pin is combined with lever, lever
The bar shaped chute being slidably matched with the 3rd sliding pin is offered at middle part, and the left end of lever is hinged with the lever assembly in brake structure, thick stick
The second lever assembly in the right-hand member of bar and the second brake structure is hinged.As described above, brake structure and the second brake structure
Being symmetrical set, both 26S Proteasome Structure and Functions are identical, and in operation, medical worker presses lever assembly, can be driven by lever
Dynamic second lever assembly linkage, in like manner, medical worker presses the second lever assembly, can be joined by lever actuated lever assembly
Dynamic.The brake structure of linkage and the second brake structure right-hand member and left end to waist rotation member simultaneously is braked.
As the present invention a kind of explanation to forearm with swing arm annexation, the front end of described forearm is offered a spill and is slitted
Mouthful, described swing arm is articulated in spill gap.As described above, described swing arm swings in the spill gap of forearm.
As the present invention a kind of explanation to the first driver element, described first driver element includes being arranged on forearm
First motor, couple the first gear unit of the first motor and swing arm；Described first gear unit includes being articulated on forearm
And the second gear of being coaxially disposed and the 3rd gear, the 4th gear being articulated on forearm and being coaxially disposed and the first Timing Belt
The 3rd axle take turns, being articulated on forearm, the second synchronous pulley being fixedly mounted on the 3rd axle；The output shaft of described first motor
On the first gear is installed, the first gear and the engagement of the second gear, the 3rd gear engages with the 4th gear, and the first synchronous pulley is logical
Crossing Timing Belt and the second synchronous pulley couples, the 3rd axle is fixing with swing arm to be connected.As described above, power is depended on by the first motor
Secondary pass to the 3rd axle through the first gear, the second gear, the 3rd gear, the 4th gear, the first Timing Belt, the second Timing Belt,
Three-axis drive swing arm swings.
As the present invention a kind of explanation to the second driver element, described second driver element includes installing on a swing arm
The second motor, couple the second gear unit of the second motor and mechanical claw hand；Described second gear unit includes and the second electricity
The rotating disk that the decelerator that machine output shaft couples is connected with decelerator outfan, mechanical claw hand is installed on the rotating pan.
As the present invention to a kind of explanation of relation between waist rotation member and large arm, described waist rotation member is provided with large arm and stops
Bassinet structure, described large arm brake structure includes the basal disc being fixedly installed on waist rotation member, a pair braking being arranged on basal disc
Sheet, the solution lock slide being slidably arranged on basal disc；Being fixed with brake disc in described large arm, a pair brake(-holder) block is symmetrical set
The periphery of brake disc, one end of a pair brake(-holder) block is hinged and other end elasticity connects；Described solution lock slide elasticity is connected to basal disc
On, solve lock slide be provided with translatable enter a pair brake(-holder) block elasticity connect one end to open the wedge of a pair brake(-holder) block.By upper
Stating bright, in operation, four finger gripping in medical worker's proficiency live in manipulator, and residue one finger can press wedge, promote and unlock
Slide block to the center translation of basal disc, travel in one end that a pair brake(-holder) block elasticity connects of wedge to open a pair brake(-holder) block, as
This, large arm is changed into rotatable state by the initial state by a pair brake(-holder) block frictional damping.
About above-mentioned large arm brake structure, described basal disc is fixed on waist rotation member by support column；On described support column
It is provided with swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side, first
The left end of brake(-holder) block and the left end of the second brake(-holder) block are hinged on swivel pin, the right-hand member of the first brake(-holder) block and the right side of the second brake(-holder) block
Hold and connected by the first coil tension spring elasticity；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with
Second fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are positioned at the first coil tension spring；Described
First brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above,
First coil tension spring has the trend making the first brake(-holder) block and the second brake(-holder) block close up, and the first fore-set and the setting of the second fore-set
Then there is the effect stopping this kind of trend.
About above-mentioned large arm brake structure, described solution lock slide is provided with a pair alignment pin, a pair alignment pin and wedge
Front and back it is arranged on solution lock slide；The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set,
The right-hand member of described first brake(-holder) block is provided with the first hole, location, and the right-hand member of the second brake(-holder) block is provided with the second hole, location, stretches first
Under the elastic force of spring, when the first fore-set and the second fore-set offset, first alignment pin solved on lock slide of translation and second is determined
Position pin can correspondingly insert in the first hole, location and the second hole, location.As described above, when medical worker promote solution lock slide to
During the center translation of basal disc, the first alignment pin and the second alignment pin depart from the first hole, location and the second hole, location, meanwhile, wedge
Stretch between the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, and opened；After medical worker discharges solution lock slide, solve
Lock slide resets, and wedge leaves the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, meanwhile, the first alignment pin and the second location
Pin correspondingly inserts the first hole, location and the second hole, location, to lock a pair brake(-holder) block.
About above-mentioned large arm brake structure, described basal disc is provided with setting block, erects block and is provided with the second coil tension spring, the
One end of two coil tension springs connects erects block, and the other end of the second coil tension spring connects solution lock slide.
Accompanying drawing explanation
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of the swingable operating theater instruments of a kind of cleft hand of the present invention；
Fig. 2 is the combinative structure schematic diagram of brake structure the 70, second brake structure 700 in Fig. 1；
Fig. 3 is the structural representation of brake structure 70 in Fig. 2；
Fig. 4 is the combinative structure schematic diagram of forearm 24 in Fig. 1, swing arm 80, mechanical claw hand 30；
Fig. 5 is the structural representation of mechanical claw hand 30 in Fig. 4；
Fig. 6 be in Fig. 5 A-A to sectional view；
Fig. 7 is the structural representation of arbitrary cleft hand in first pair of cleft hand 51 in Fig. 5；
Fig. 8 is the structural representation of arbitrary cleft hand in second pair of cleft hand 52 in Fig. 5；
Fig. 9 is the structural representation of the first spill block 625 in Fig. 5；
Figure 10 is that in Fig. 6, the second middle gear 612 is articulated in the structural representation on support plate 617；
Figure 11 is the structural representation of large arm brake structure 90 in Fig. 1；
Figure 12 is the structural representation solving lock slide 923 in Figure 11.
Symbol description in figure:
10, base body；11, the first horizontal guide rail；12, the second horizontal guide rail；13, the first cross sliding clock；130, the second system
Dynamic plate；14, the second cross sliding clock；140, keep plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, mechanical claw hand；
40, cleft hand frame；41, cleft hand framework soleplate；42, cleft hand frame support bar；43, cleft hand frame top board；44, integrated
Photographic head and illuminator；
50, two pairs of cleft hands；51, first pair of cleft hand；511, the first slide slot；512, the first hinge hole；52, second pair of pawl
Hands；521, the second slide slot；522, the second hinge hole；
60, cleft hand drive mechanism；611, gear wheel；612, the second middle gear；6121, the second gear part；6122, the second pivot
Meet portion；6123, screwed hole；613, the first little gear；614, power transmission shaft；615, guide post；616, base；617, support plate；618、
4th middle gear；619, the 6th middle gear；621, the first stud；622, the first sliding pin；623, the first lifting chassis；624, first
Latch segment；625, the first spill block；626, the first guiding slot port；631, the second stud；633, the second lifting chassis；634, locking
Dish；635, the second spill block；636, the second guiding slot port；637, the 4th stud；638, the 6th stud；641, worm gear；642, snail
Bar；643, the first servomotor；
70, brake structure；701, support plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, stop
Car swingle；73, brake connects assembly；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake bearing；742, brake liner plate；700, the second brake structure；75, vertical rod；76, the 3rd sliding pin；77, lever；
80, swing arm；81, the first gear；82, the second gear；84, the 4th gear；85, the first synchronous pulley；86, the 3rd
Axle；87, the second synchronous pulley；88, Timing Belt；89, rotating disk；
90, large arm brake structure；912, brake disc；921, basal disc；922, brake(-holder) block；9221, the first coil tension spring；
9222, hole, location；923, lock slide is solved；924, wedge；925, support column；927, alignment pin；928, block is erect；9281,
Two coil tension springs.
Detailed description of the invention
Such as Fig. 1, the operating theater instruments that a kind of cleft hand is swingable, including base body 10, the waist rotation member that is articulated on base body
21, the large arm 22 being articulated on waist rotation member, the manipulator 23 being arranged in large arm, the forearm 24 being fixed in large arm, pivot joint
Swing arm 80 in forearm front end, drive the first driver element that swing arm swings, the mechanical claw hand being arranged on swing arm front end
30, the second driver element that mechanical claw hand rotates is driven；Central axis when described swing arm swings is in the rotation of mechanical claw hand
Turning centrage, described waist rotation member horizontal cross is arranged, and waist rotation member rotates around base body, and described large arm is vertically arranged, large arm
Bottom be articulated in the middle part of waist rotation member, described manipulator is arranged on the top of large arm, and described forearm is fixed in large arm
Portion.
Such as Fig. 4, a spill gap is offered in the front end of described forearm 24, and described swing arm 80 is articulated in spill gap.Institute
State the first driver element to include the first motor being arranged on forearm 24, couple first motor the first transmission list with swing arm
Unit；Described first gear unit include the second gear 82 being articulated on forearm and being coaxially disposed and the 3rd gear, be articulated in little
On arm and be coaxially disposed the 4th gear 84 and the first synchronous pulley 85, the 3rd axle 86 being articulated on forearm, be fixedly mounted on
The second synchronous pulley 87 on 3rd axle；First gear 81, the first gear and are installed on the output shaft of described first motor
Two gear engagements, the 3rd gear and the engagement of the 4th gear, the first synchronous pulley is coupled with the second synchronous pulley by Timing Belt 88,
3rd axle is fixing with swing arm to be connected.Described second driver element includes installing the second motor on a swing arm, the second transmission
Unit；Described second gear unit includes the rotation that the decelerator coupled with the second motor output shaft is connected with decelerator outfan
Rotating disk 89, mechanical claw hand 30 is installed on the rotating pan.
In conjunction with Fig. 5 to Figure 10, two pairs of cleft hands that described mechanical claw hand includes cleft hand frame 40, is hinged in cleft hand frame
50, it is arranged in cleft hand frame for driving the two cleft hand drive mechanisms 60 to cleft hand action.Described cleft hand drive mechanism includes
Stake body, the first locking body, the second locking body.Gear wheel the 611, second middle gear 612, first it is articulated with little on described stake body
Gear 613, power transmission shaft 614, described power transmission shaft is vertically arranged and couples with the power set being arranged on stake body, described canine tooth
Wheel is fixed on power transmission shaft, gear wheel and the engagement of the second middle gear, the second middle gear and the engagement of the first little gear；Described first lock
Tight body includes the first stud 621 being fixedly installed, and the centre of described first little gear offers the screw thread being spirally connected with the first stud
Hole；Described second locking body includes the second stud 631 being fixedly installed, and the centre of described second middle gear is offered and the second spiral shell
The screwed hole that post is spirally connected；Stake body is provided with the guide post 615 that the lifting to the first locking body and the second locking body guides.
Two cleft hands in first pair of cleft hand 51 in described two pairs of cleft hands are symmetrical set, second pair of cleft hand 52 in two pairs of cleft hands
In two cleft hands before and after be symmetrical arranged, the first slide slot being obliquely installed is offered in the bottom of two cleft hands in first pair of cleft hand
511, the second slide slot 521 being obliquely installed is offered in the bottom of two cleft hands in second pair of cleft hand, described first locking body
Top is provided with the first sliding pin 622 being slidably matched with the first slide slot, and the top of the second locking body is provided with sliding with the second slide slot
Dynamic the second sliding pin coordinated.
In mechanical claw hand 30, described cleft hand frame 40 includes being arranged on the cleft hand framework soleplate 41 of swing arm 80 front end, erecting
The cleft hand frame support bar 42 being directly arranged on cleft hand framework soleplate, the cleft hand frame top being fixed on cleft hand frame support bar top
Plate 43；Described cleft hand drive mechanism 60 is arranged on cleft hand framework soleplate and is positioned at the lower section of cleft hand frame top board, described cleft hand
Offering four hinge holes on frame top board, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；Described pawl
Handset mounting is provided with integrated photographic head and illuminator 44, described integrated photographic head and illuminator be positioned at two pairs of cleft hands it
Between.
In mechanical claw hand 30, described stake body includes base 616, support plate 617；Described base is fixedly installed on cleft hand frame
On 40, described guide post 615 is fixed on base, and described support plate is horizontally fixed on the top of guide post；Described gear wheel 611,
Second middle gear the 612, first little gear 613 is articulated on support plate, and the top of described power transmission shaft 614 is articulated on support plate, transmission
The bottom of axle is articulated on base.Described first locking body include the first lifting chassis 623, a pair first latch segments 624, a pair
First spill block 625；The first guiding slot port 626 is offered on described first lifting chassis, and the first guiding slot port slides with guide post and joins
Close；The quantity of described first stud 621 is two, and two the first studs are vertically arranged on the first lifting chassis, described support plate
On offer a pair first through holes, a pair first studs are through a pair first through holes；The quantity of described first little gear is two, two
Individual first little gear is spirally connected with a pair first studs in man-to-man mode；The pair of first latch segment is in man-to-man mode
Being arranged on the top of two the first studs, a pair first spill blocks are arranged on the top of a pair first latch segments in man-to-man mode
Portion, the quantity of described first sliding pin 622 is two, and two the first sliding pins are arranged on a pair first spill blocks in man-to-man mode
Top, two the first sliding pins are sliding with the first slide slot 511 of two cleft hands in first pair of cleft hand 51 in man-to-man mode
Dynamic cooperation.Described second locking body includes the second lifting chassis 633, locking plate 634, a pair second spill blocks 635；Described second
The second guiding slot port 636 is offered on lifting chassis, and the second guiding slot port is slidably matched with guide post；The number of described second stud 631
Amount is two, and two the second studs are vertically arranged on the second lifting chassis, and the second lifting chassis is positioned at the first lifting chassis
Lower section；The second through hole is offered on described first lifting chassis, and described support plate offers third through-hole, and two the second studs are upward through
Second through hole and third through-hole；The quantity of described second middle gear 612 is two, and two the second middle gears are in man-to-man mode
Being spirally connected with two the second studs, two the second middle gears all engage with gear wheel, and two the second middle gears are in man-to-man mode
Engage with two the first little gears；Described locking plate is horizontally arranged at the top of the second stud, and a pair second spill blocks are arranged on
On locking plate, the quantity of described second sliding pin is two, two the second sliding pins with man-to-man mode be arranged on a pair second recessed
The top of shape block, two the second sliding pins are sliding with the second slide slot of two cleft hands in second pair of cleft hand 52 in man-to-man mode
Dynamic cooperation；Offering fourth hole on described locking plate, described first stud passes fourth hole, and described first latch segment is positioned at lock
The top of tight dish.
In mechanical claw hand 30, described second lifting chassis 633 is vertically arranged with the 4th stud the 637, the 6th stud 638,
4th stud, the 6th stud are upward through the first lifting chassis 623 and support plate 617, and described locking plate 634 is arranged on the 4th spiral shell
Post, the top of the 6th stud.The 4th middle gear the 618, the 6th middle gear 619 it is articulated with, the 4th middle gear, the 6th on described support plate
Middle gear is between support plate and the first lifting chassis, and the centre of the 4th middle gear, the centre of the 6th middle gear are all offered
Screwed hole, the 4th stud is screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear engages with gear wheel 611, the 6th stud
Being screwed onto in the screwed hole of the 6th middle gear, the 6th middle gear engages with gear wheel.
In mechanical claw hand 30, described power set include that being arranged on the worm gear 641 bottom power transmission shaft 614 engages with worm gear
The first servomotor 643 of coupling with worm screw of worm screw 642, worm screw is horizontally disposed with, and worm screw is articulated on base, the first servo
Motor is arranged on base.
In mechanical claw hand 30, described second middle gear 612 includes that the second gear part 6121 is coaxially disposed with the second gear part
The second articulated section 6122；The centre of described second gear part and the second articulated section is provided with through second gear part and the second pivot
Connect the screwed hole 6123 in portion；Described second articulated section is articulated in the third through-hole of support plate 617；Described first little gear 613 wraps
Include the first articulated section that the first gear part is coaxially disposed with the first gear part；In described first gear part and the first articulated section
Through first gear part and the screwed hole of the first articulated section it is provided with at centre；Described first articulated section is articulated in the first of support plate 617
In through hole.
In conjunction with Fig. 1 to Fig. 3, described base body 10 is provided with symmetrical first horizontal guide rail 11 and the second horizontal guide rail
12, the first horizontal guide rail is sliding combined with the first cross sliding clock 13, the second horizontal guide rail is sliding combined with the second level sliding
Block 14, the two ends, left and right of described waist rotation member 21 are cylindrical, and the left end of waist rotation member is articulated in the first cross sliding clock, and waist turns
The right-hand member of parts is articulated in the second cross sliding clock.
Above-mentioned base body 10 is provided with brake structure 70, a pair support plate 701 that brake structure includes being fixed on base body,
Brake rotary components 72, one end and the brake rotation being connected is fixed in brake lever 71, one end of being articulated on a pair support plate with brake lever
The brake connection assembly 73 turning the assembly other end hinged is connected the hinged lever assembly of the assembly other end 74, lever group with brake
The middle part of part is hinged on support plate, and the cross section of described brake lever is regular hexagon；Described second cross sliding clock 14 is provided with system
Moving plate 140, keep plate and the second cross sliding clock are connected by coil tension spring, and keep plate is positioned at the side of waist rotation member 21 right side
Side, described brake lever is close to keep plate.
In above-mentioned brake structure, described brake rotary components 72 includes the brake rotating seat that be connected fixing with brake lever 71
721 fix, with brake rotating seat, the brake swingle 722 being connected；Described brake connects assembly 73 and includes and brake swingle hinge
The the second brake connecting rod 732 connect fixes, with the second brake connecting rod, the first brake connecting rod 731 being connected；Described lever group
Part 74 includes that the brake bearing 741 hinged with first brake connecting rod fixes the brake liner plate 742 being connected, institute with brake bearing
State brake bearing to be hinged on support plate 701.
Above-mentioned base body 10 is provided with the second brake structure 700, and the second brake structure includes being fixed on base body 10
Second be connected is fixed, with the second brake lever, in a pair second support plates, the second brake lever being articulated on a pair second support plates, one end
Brake rotary components, one end with second brake the rotary components other end hinged second brake is connected assembly and second brake company
The second lever assembly that the connected components other end is hinged, the middle part of the second lever assembly is hinged on the second support plate, and described second stops
The cross section of car bar is regular hexagon；Described first cross sliding clock 13 is provided with the second keep plate 130, the second keep plate and first
Cross sliding clock is connected by the second coil tension spring, and the second keep plate is positioned at the side of waist rotation member 21 left side, and described second stops
The second keep plate is close to by car bar.Described base body is provided with vertical rod 75, and the top of vertical rod is provided with the 3rd sliding pin 76, on the 3rd sliding pin
Being combined with lever 77, the bar shaped chute being slidably matched with the 3rd sliding pin is offered at the middle part of lever, the left end of lever and brake structure
Lever assembly 74 in 70 is hinged, and the second lever assembly in the right-hand member of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 1, Figure 11, Figure 12, described waist rotation member 21 is provided with large arm brake structure 90, described large arm brake structure
Including the basal disc 921 being fixedly installed on waist rotation member, a pair brake(-holder) block 922 being arranged on basal disc, it is slidably arranged in basal disc
On solution lock slide 923；Being fixed with brake disc in described large arm, a pair brake(-holder) block is symmetrical set the periphery in brake disc,
One end of a pair brake(-holder) block is hinged and other end elasticity connects；Described solution lock slide elasticity is connected on basal disc, solves on lock slide
Be provided with translatable enter a pair brake(-holder) block elasticity connect one end to open the wedge 924 of a pair brake(-holder) block.
In above-mentioned large arm brake structure 90, described basal disc is fixed on waist rotation member by support column 925；Set on support column
There is swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side, the first system
The left end of moving plate and the left end of the second brake(-holder) block are hinged on swivel pin, the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block
Connected by the first coil tension spring elastic 9221；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block sets
Having the second fore-set, the first fore-set and the second fore-set to be oppositely arranged, the first fore-set and the second fore-set are positioned at the first coil tension spring；Institute
State the first brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block and surround brake disc 912.
In above-mentioned large arm brake structure 90, described solution lock slide is provided with a pair alignment pin 927, a pair alignment pin and wedge shape
It is arranged on before and after block on solution lock slide；The pair of alignment pin includes the first alignment pin and the second location being symmetrical set
Pin, the right-hand member of described first brake(-holder) block is provided with the first hole, location 9222, and the right-hand member of the second brake(-holder) block is provided with the second hole, location, the
Under the elastic force of one coil tension spring, when the first fore-set and the second fore-set offset, first alignment pin solved on lock slide of translation and
Second alignment pin can correspondingly insert in the first hole, location and the second hole, location.
In above-mentioned large arm brake structure 90, described basal disc is provided with setting block 928, erects block and is provided with the second coil tension spring
9281, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide.
In practical operation, the workflow of the operating theater instruments that a kind of cleft hand of the present invention is swingable is as follows:
First, medical worker holds manipulation hands 23, unties the large arm brake structure 90 locking to large arm 22, and brake knot
Structure 70 and second brake structure 700 locking to waist rotation member 21, rotate large arm 22 or waist rotation member 21, or make waist rotation member
21 translate along the first horizontal guide rail 11 and the second horizontal guide rail 12, make the mechanical claw hand 30 on swing arm 80 close to object to be taken
Place.
Second, under the driving of the first driver element, the swing of swing arm 80 can drive mechanical claw hand 30 thereon to swing,
Under the driving of the second driver element, mechanical claw hand 30 is rotatable.
3rd, in mechanical claw hand 30, power set drive power transmission shaft 614 to rotate, and power transmission shaft drives gear wheel 611 to rotate,
Gear wheel drives the second middle gear 612 to rotate, and the second middle gear drives the first little gear 613 to rotate；Described second middle gear drives
Dynamic second stud 631 rises, and the second stud drives the second locking body to rise, owing to the second slide slot is obliquely installed, therefore, vertically
The second sliding pin risen can order about arbitrary cleft hand in second pair of cleft hand 52 and rotate with the hinged place of cleft hand frame 40 around it, makes the
Two pairs of cleft hands swing in opposite directions；Described first little gear 613 drives the first stud 621 to decline, and the first stud drives the first locking
Body declines, owing to first slides 622 grooves and be obliquely installed (the direction phase that tilts with the second slide slot of direction that the first slide slot tilts
Instead), therefore, the first sliding pin being vertically lowered orders about arbitrary cleft hand in first pair of cleft hand and revolves with the hinged place of cleft hand frame around it
Turn, make first pair of cleft hand swing in opposite directions；So far, two pairs of cleft hands 50, in drawing shape in, are used for capturing object.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, the most all will change, this specification content should not be construed as this
Bright restriction.
Claims (9)
1. the operating theater instruments that cleft hand is swingable, the waist rotation member (21) including base body (10), being articulated on base body, pivot
The manipulator (23) be connected on the large arm on waist rotation member (22), being arranged in large arm, the forearm (24) being fixed in large arm, pivot joint
Swing arm (80) in forearm front end, drive the first driver element that swing arm swings, the gripper being arranged on swing arm front end
The second driver element that hands (30), driving mechanical claw hand rotate；Central axis when described swing arm swings is in mechanical claw hand
Rotation centerline, described waist rotation member horizontal cross arrange, waist rotation member around base body rotate, described large arm is vertically arranged,
The bottom of large arm is articulated in the middle part of waist rotation member, and described manipulator is arranged on the top of large arm, and described forearm is fixed on large arm
Middle part；It is characterized in that:
Described mechanical claw hand includes cleft hand frame (40), be hinged in cleft hand frame two pairs of cleft hands (50), it is arranged on cleft hand machine
For driving the two cleft hand drive mechanisms (60) to cleft hand action on frame；Described cleft hand drive mechanism includes stake body, the first lock
Tight body, the second locking body；Gear wheel (611), the second middle gear (612), the first little gear it is articulated with on described stake body
(613), power transmission shaft (614), described power transmission shaft is vertically arranged and couples with the power set being arranged on stake body, described canine tooth
Wheel is fixed on power transmission shaft, gear wheel and the engagement of the second middle gear, the second middle gear and the engagement of the first little gear；Described first lock
Tight body includes the first stud (621) being fixedly installed, and the centre of described first little gear offers the spiral shell being spirally connected with the first stud
Pit；Described second locking body includes the second stud (631) being fixedly installed, and the centre of described second middle gear is offered and the
The screwed hole that two studs are spirally connected；Stake body is provided with the guide post that the lifting to the first locking body and the second locking body guides
(615)；
Two cleft hands in first pair of cleft hand (51) in described two pairs of cleft hands are symmetrical set, the second couple in two pairs of cleft hands
Being symmetrical arranged before and after two cleft hands in cleft hand (52), be obliquely installed is offered in the bottom of two cleft hands in first pair of cleft hand
One slide slot (511), the second slide slot (521) being obliquely installed is offered in the bottom of two cleft hands in second pair of cleft hand, described
The top of the first locking body is provided with the first sliding pin (622) being slidably matched with the first slide slot, and the top of the second locking body is provided with
The second sliding pin being slidably matched with the second slide slot.
The operating theater instruments that a kind of cleft hand the most as claimed in claim 1 is swingable, it is characterised in that: in mechanical claw hand (30), institute
State cleft hand frame (40) to include being arranged on the cleft hand framework soleplate (41) of swing arm front end, be vertically arranged on cleft hand framework soleplate
Cleft hand frame support bar (42), be fixed on cleft hand frame top board (43) of cleft hand frame support bar top；Described cleft hand drives
Mechanism (60) is arranged on cleft hand framework soleplate and is positioned at the lower section of cleft hand frame top board, and described cleft hand frame top board offers four
Individual hinge hole, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；Described cleft hand frame is provided with integrated
Photographic head and illuminator (44), described integrated photographic head and illuminator are between two pairs of cleft hands.
The operating theater instruments that a kind of cleft hand the most as claimed in claim 1 is swingable, it is characterised in that: in mechanical claw hand (30), institute
State stake body and include base (616), support plate (617)；Described base is fixedly installed in cleft hand frame (40), described guide post
(615) being fixed on base, described support plate is horizontally fixed on the top of guide post；Described gear wheel (611), the second middle gear
(612), the first little gear (613) be articulated on support plate, the top of described power transmission shaft (614) is articulated on support plate, power transmission shaft
Bottom is articulated on base；
Described first locking body includes the first lifting chassis (623), a pair first latch segments (624), a pair first spill blocks
(625)；The first guiding slot port (626) is offered on described first lifting chassis, and the first guiding slot port is slidably matched with guide post；Described
The quantity of the first stud (621) is two, and two the first studs are vertically arranged on the first lifting chassis, and described support plate is offered
A pair first through holes, a pair first studs are through a pair first through holes；The quantity of described first little gear is two, two first
Little gear is spirally connected with a pair first studs in man-to-man mode；The pair of first latch segment is arranged in man-to-man mode
The top of two the first studs, a pair first spill blocks are arranged on the top of a pair first latch segments, institute in man-to-man mode
The quantity stating the first sliding pin (622) is two, and two the first sliding pins are arranged on a pair first spill blocks in man-to-man mode
Top, two the first sliding pins are with first slide slot (511) of man-to-man mode with two cleft hands in first pair of cleft hand (51)
It is slidably matched；
Described second locking body includes the second lifting chassis (633), locking plate (634), a pair second spill blocks (635)；Described
The second guiding slot port (636) is offered on second lifting chassis, and the second guiding slot port is slidably matched with guide post；Described second stud
(631) quantity is two, and two the second studs are vertically arranged on the second lifting chassis, and the second lifting chassis is positioned at first liter
The lower section on fall chassis；The second through hole is offered on described first lifting chassis, described support plate offers third through-hole, two the second studs
It is upward through the second through hole and third through-hole；The quantity of described second middle gear (612) is two, and two the second middle gears are with one
Mode to one is spirally connected with two the second studs, and two the second middle gears all engage with gear wheel, and two the second middle gears are with one
Mode to one engages with two the first little gears；Described locking plate is horizontally arranged at the top of the second stud, and a pair second recessed
Shape block is arranged on locking plate, and the quantity of described second sliding pin is two, and two the second sliding pins are arranged in man-to-man mode
The top of a pair second spill blocks, two the second sliding pins are with man-to-man mode and two cleft hands in second pair of cleft hand (52)
Second slide slot is slidably matched；Offer fourth hole on described locking plate, described first stud pass fourth hole, described first
Latch segment is positioned at the top of locking plate；
In mechanical claw hand (30), described second lifting chassis (633) is vertically arranged with the 4th stud (637), the 6th stud
(638), the 4th stud, the 6th stud are upward through the first lifting chassis (623) and support plate (617), and described locking plate (634) is pacified
It is contained in the 4th stud, the top of the 6th stud；
Being articulated with the 4th middle gear (618), the 6th middle gear (619) on described support plate, the 4th middle gear, the 6th middle gear are positioned at
Between support plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear all offer screwed hole, and the 4th
Stud is screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear engages with gear wheel (611), and the 6th stud is screwed onto the 6th
In the screwed hole of middle gear, the 6th middle gear engages with gear wheel；
In mechanical claw hand (30), described power set include that the worm gear (641) being arranged on power transmission shaft (614) bottom is nibbled with worm gear
The first servomotor (643) that the worm screw (642) closed couples with worm screw, worm screw is horizontally disposed with, and worm screw is articulated on base, the
One servomotor is arranged on base.
The operating theater instruments that a kind of cleft hand the most as claimed in claim 3 is swingable, it is characterised in that: in mechanical claw hand (30), institute
State the second articulated section (6122) that the second middle gear (612) includes that the second gear part (6121) and the second gear part are coaxially disposed；
The centre of described second gear part and the second articulated section is provided with through second gear part and the screwed hole of the second articulated section
(6123)；Described second articulated section is articulated in the third through-hole of support plate (617)；
Described first little gear (613) includes the first articulated section that the first gear part and the first gear part are coaxially disposed；Described
The centre of one gear part and the first articulated section is provided with through first gear part and the screwed hole of the first articulated section；Described first pivot
The portion of connecing is articulated in the first through hole of support plate (617).
The operating theater instruments that a kind of cleft hand the most as claimed in claim 1 is swingable, it is characterised in that: described base body sets on (10)
There are symmetrical first horizontal guide rail (11) and the second horizontal guide rail (12), the first horizontal guide rail is sliding combined with the first water
Smooth block (13), the second horizontal guide rail is sliding combined with the second cross sliding clock (14), the left and right two of described waist rotation member (21)
Holding cylindrical, the left end of waist rotation member is articulated in the first cross sliding clock, and it is sliding that the right-hand member of waist rotation member is articulated in the second level
In block.
The operating theater instruments that a kind of cleft hand the most as claimed in claim 5 is swingable, it is characterised in that: described base body sets on (10)
Having brake structure (70), brake structure includes a pair support plate (701) being fixed on base body, is articulated in stopping on a pair support plate
It is hinged with the brake rotary components other end that the brake rotary components (72) that is connected, one end are fixed in car bar (71), one end with brake lever
Brake connect assembly (73) with brake be connected the hinged lever assembly of the assembly other end (74), the middle part of lever assembly is hinged
On support plate, the cross section of described brake lever is regular hexagon；Described second cross sliding clock (14) is provided with keep plate (140),
Keep plate and the second cross sliding clock are connected by coil tension spring, and keep plate is positioned at the side of waist rotation member (21) right side, described
Brake lever is close to keep plate；
In brake structure, described brake rotary components (72) include fixing with brake lever (71) be connected brake rotating seat (721),
The brake swingle (722) being connected is fixed with brake rotating seat；Described brake connects assembly (73) and includes and brake swingle hinge
The second brake connecting rod (732) connect fixes, with the second brake connecting rod, the first brake connecting rod (731) being connected；Described thick stick
Bar assembly (74) includes that the brake lining being connected is fixed in brake bearing (741) hinged with first brake connecting rod with brake bearing
Plate (742), described brake bearing is hinged on support plate (701).
The operating theater instruments that a kind of cleft hand the most as claimed in claim 6 is swingable, it is characterised in that: described base body sets on (10)
Having the second brake structure (700), the second brake structure includes a pair second support plates being fixed on base body (10), is articulated in one
The second brake lever on second support plate, one end are fixed with the second brake lever the second brake rotary components, the one end and the being connected
Two brake the rotary components other ends hinged second brake connect assembly and second brake connect the assembly other end hinged second
Lever assembly, the middle part of the second lever assembly is hinged on the second support plate, and the cross section of described second brake lever is regular hexagon；
Described first cross sliding clock (13) is provided with the second keep plate (130), the second keep plate and the first cross sliding clock and stretches by second
Contracting spring connects, and the second keep plate is positioned at the side of waist rotation member (21) left side, and described second brake lever is close to the second braking
Plate；
Described base body is provided with vertical rod (75), and the top of vertical rod is provided with the 3rd sliding pin (76), and the 3rd sliding pin is combined with lever
(77), the bar shaped chute being slidably matched with the 3rd sliding pin is offered at the middle part of lever, in the left end of lever and brake structure (70)
Lever assembly (74) is hinged, and the second lever assembly in the right-hand member of lever and the second brake structure (700) is hinged.
The operating theater instruments that a kind of cleft hand the most as claimed in claim 1 is swingable, it is characterised in that: the front end of described forearm (24)
Offering a spill gap, described swing arm (80) is articulated in spill gap；
Described first driver element includes the first motor being arranged on forearm (24), couples the first motor and the first of swing arm
Gear unit；Described first gear unit include the second gear (82) of being articulated on forearm and being coaxially disposed and the 3rd gear,
The 4th gear (84) being articulated on forearm and being coaxially disposed and the first synchronous pulley (85), the 3rd axle being articulated on forearm
(86) the second synchronous pulley (87), being fixedly mounted on the 3rd axle；On the output shaft of described first motor, the first tooth is installed
Wheel (81), the first gear and the engagement of the second gear, the 3rd gear and the engagement of the 4th gear, the first synchronous pulley passes through Timing Belt
(88) coupling with the second synchronous pulley, the 3rd axle is fixing with swing arm to be connected；
Described second driver element includes installing the second motor on a swing arm, the second gear unit；Described second transmission list
Unit includes the rotating disk (89) that the decelerator coupled with the second motor output shaft is connected, mechanical claw hand with decelerator outfan
(30) install on the rotating pan.
The operating theater instruments that a kind of cleft hand the most as claimed in claim 1 is swingable, it is characterised in that: on described waist rotation member (21)
Being provided with large arm brake structure (90), described large arm brake structure includes the basal disc (921) being fixedly installed on waist rotation member, installs
A pair brake(-holder) block (922) on basal disc, the solution lock slide (923) being slidably arranged on basal disc；It is fixed with system in described large arm
Moving plate, a pair brake(-holder) block is symmetrical set the periphery in brake disc, and one end of a pair brake(-holder) block is hinged and other end elasticity connects
Connect；Described solution lock slide elasticity is connected on basal disc, solve lock slide be provided with translatable enter a pair brake(-holder) block elasticity connect one end
To open the wedge (924) of a pair brake(-holder) block；
Described basal disc is fixed on waist rotation member by support column (925)；Support column is provided with swivel pin；The pair of brake(-holder) block
Including being positioned at first brake(-holder) block in left side and being positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block and the second brake(-holder) block
Left end is hinged on swivel pin, and the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block are elastic by the first coil tension spring
(9221) connect；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, the first fore-set
Being oppositely arranged with the second fore-set, the first fore-set and the second fore-set are positioned at the first coil tension spring；Described first brake(-holder) block and second
The equal semicircular in shape of brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (912)；
Described solution lock slide is provided with a pair alignment pin (927), and a pair alignment pin is arranged on solution lock slide before and after wedge；
The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set, and the right-hand member of described first brake(-holder) block sets
Having the first hole, location (9222), the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring, when
When one fore-set and the second fore-set offset, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the
In one hole, location and the second hole, location；
Described basal disc is provided with setting block (928), erects block and is provided with the second coil tension spring (9281), the one of the second coil tension spring
End connects erects block, and the other end of the second coil tension spring connects solution lock slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838380.5A CN106236275B (en) | 2016-09-21 | 2016-09-21 | A kind of surgical instrument that cleft hand is swingable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838380.5A CN106236275B (en) | 2016-09-21 | 2016-09-21 | A kind of surgical instrument that cleft hand is swingable |
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| CN106236275B CN106236275B (en) | 2018-10-23 |
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| CN109124578A (en) * | 2018-07-13 | 2019-01-04 | 芜湖圣美孚科技有限公司 | A kind of position convenient regulating type lingual surface instrument |
| CN114191090A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Obliquely-adjustable slave end supporting device of interventional surgical robot |
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Inventor after: Liu Qingyu Inventor after: Ai Wei Inventor after: Gao Yandong Inventor after: Wang Wenqing Inventor before: Wang Wenqing |
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Effective date of registration: 20180911 Address after: 719000 Yulin First Hospital, Yulin, Shaanxi, 93 Yuxi Road, Yulin First Hospital Applicant after: Liu Qingyu Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
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