CN106420060B - A kind of actuation end is equipped with the surgical instrument of cleft hand - Google Patents
A kind of actuation end is equipped with the surgical instrument of cleft hand Download PDFInfo
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- CN106420060B CN106420060B CN201610838398.5A CN201610838398A CN106420060B CN 106420060 B CN106420060 B CN 106420060B CN 201610838398 A CN201610838398 A CN 201610838398A CN 106420060 B CN106420060 B CN 106420060B
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Abstract
The invention discloses the surgical instruments that a kind of actuation end is equipped with cleft hand, including that can carry out the implement body of three-dimensional motion, the brake structure braked to the movement of implement body, the mechanical claw hand being mounted in implement body.The mechanical claw hand includes cleft hand rack, two pairs of cleft hands being hinged in cleft hand rack, is mounted in cleft hand rack for driving the cleft hand driving mechanism of two pairs of cleft hands movement；Under the driving of cleft hand driving mechanism, two pairs of cleft hands make gathering and expansion action.In operation, medical worker acts robot body, is in mechanical claw hand at item to get body；Later, mechanical claw hand takes out the intracorporal fifth wheel of sufferer, simple to operate.
Description
Technical field
The present invention relates to medical instruments, and the surgical instrument of cleft hand is equipped in particular to a kind of actuation end.
Background technique
During surgery, medical worker takes object out of doctors and patients body, such as cotton balls, gauze, other internal fifth wheels, commonly use hand,
Tweezers, scissors, such tool is not easy and inconvenience exhausts internal fifth wheel completely, alternatively, internal fifth wheel is exhausted ratio completely
It is cumbersome.
Summary of the invention
Technical problem solved by the invention: the medical worker in operation is not easy or inconvenience is complete by fifth wheel in patient
It exhausts.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of actuation end is equipped with the operation of cleft hand
Instrument including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, is mounted in large arm
Manipulator, the forearm being fixed in large arm, the mechanical claw hand that is mounted on forearm, the waist rotation member horizontal cross setting,
Waist rotation member is rotated around base body, and the large arm is vertically arranged, and the bottom end of large arm is articulated in the middle part of waist rotation member, the operation
Hand is mounted on the top of large arm, and the forearm is fixed on the middle part of large arm, and forearm is L-shaped, and the mechanical claw hand is mounted on forearm
Top；
The mechanical claw hand includes cleft hand rack, two pairs of cleft hands being hinged in cleft hand rack, is mounted in cleft hand rack
Cleft hand driving mechanism for driving two pairs of cleft hands to act；The cleft hand driving mechanism includes support body, the first locking body, second
Locking body；Gear wheel, the second middle gear, the first pinion gear, transmission shaft are articulated on the support body, the transmission shaft is set vertically
It sets and couples with the power device being mounted on support body, the gear wheel is fixed on transmission shaft, tooth in gear wheel and second
Wheel engagement, the second middle gear are engaged with the first pinion gear；First locking body includes the first stud of fixed setting, and described the
The centre of one pinion gear opens up the threaded hole being spirally connected with the first stud；Second locking body includes the second spiral shell of fixed setting
The centre of column, second middle gear opens up the threaded hole being spirally connected with the second stud；Support body is equipped with to the first locking body
The guide rod that lifting with the second locking body is oriented to；Two cleft hands or so in first pair of cleft hand in 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 bottom of hand opens up the first slide slot being obliquely installed, and the bottom of two cleft hands in second pair of cleft hand opens up be obliquely installed
Two slide slots, the top of first locking body are equipped with the first sliding pin being slidably matched with the first slide slot, the second locking body
Top is equipped with the second sliding pin being slidably matched with the second slide slot.
According to the above technical scheme, a kind of actuation end of the present invention is equipped with the working principle of the surgical instrument of cleft hand such as
Under: first, medical worker holds manipulation hand, rotates large arm or waist rotation member, the mechanical claw hand on forearm is made to be in item to get body
Place；Second, power device drives transmission shaft rotation, and transmission shaft drives gear wheel rotation, and the second middle gear of canine tooth wheel drive rotates,
Second middle gear drives the rotation of the first pinion gear；Second middle gear drives the second stud to rise, and the second stud drives second
Locking body rises, since the second slide slot is obliquely installed, the second sliding pin risen vertically, which can drive in second pair of cleft hand, appoints
One cleft hand is rotated around the hinged place of itself and cleft hand rack, and second pair of cleft hand is made to make opposite swing；The first pinion gear driving
The decline of first stud, the first stud drive the decline of the first locking body, since the first slide slot is obliquely installed (the first slide slot inclination
Direction and the second slide slot it is inclined contrary), therefore, the first sliding pin being vertically lowered drives any in first pair of cleft hand
Cleft hand is rotated around the hinged place of itself and cleft hand rack, and first pair of cleft hand is made to make opposite swing；So far, two pairs of cleft hands are in gathering
Shape, for grabbing object.
Through the above technical solutions, first pair of cleft hand connects the first locking body, second pair of cleft hand connects the second locking body, and
The first pinion gear for driving the first locking body to go up and down engages and with the second middle gear of driving the second locking body lifting by gear wheel
Driving, in this way, the present invention can make first pair of cleft hand simultaneously operation and motion amplitude is identical, can make second pair of cleft hand simultaneously operation and
Motion amplitude is identical, can make first pair of cleft hand and second pair of cleft hand simultaneously operation and motion amplitude is identical, so as to mechanical claw hand standard
Really and fully grab sufferer intrabody object.Above-mentioned mechanical claw hand cooperates rotatable waist rotation member and large arm, facilitates medical matters people
Member takes object out of patient.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack includes the cleft hand machine for being mounted on forearm front end
Frame bottom plate, the cleft hand rack support rod being vertically arranged on cleft hand framework soleplate, the pawl for being fixed on cleft hand rack support bar top
Handset mounting top plate；The cleft hand driving mechanism is mounted on the lower section on cleft hand framework soleplate and being located at cleft hand rack top plate, described
Four hinge holes are opened up on cleft hand rack top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.It presses
Above description is fixed with swivel pin in each hinge hole, and four cleft hands pass through swivel pin in a manner of one-to-one and are hinged on four
In hinge hole.The bottom end of any cleft hand is located at the lower section of hinge hole, that is, inclined first slide slot and the second slide slot are respectively positioned on
The lower section of hinge hole.The cleft hand rack is equipped with integrated camera and lighting device, the integrated camera and illumination
Device is located between two pairs of cleft hands.The camera is electrically connected with display, and under the illumination of lighting device, medical worker can be from
The object in front of mechanical claw hand is observed on display.
As the present invention to a kind of explanation of mechanical claw hand, the support body includes pedestal, supporting plate；The pedestal fixation is set
It sets in cleft hand rack, the guide rod is fixed on the base, and the supporting plate is horizontally fixed on the top of guide rod；The canine tooth
Wheel, the second middle gear, the first pinion gear are articulated on supporting plate, and the top of the transmission shaft is articulated on supporting plate, the bottom of transmission shaft
End is articulated on pedestal；First locking body includes the first lifting chassis, a pair of first latch segment, a pair of first concave block；
First lifting chassis opens up the first guiding slot port, and the first guiding slot port is slidably matched with guide rod；First stud
Quantity is two, and two the first studs are vertically arranged on the first lifting chassis, opens up a pair of of first through hole on the supporting plate, one
A pair of of first through hole is passed through to the first stud；The quantity of first pinion gear is two, and two the first pinion gears are with one-to-one
Mode be spirally connected with a pair of first stud；The pair of first latch segment is mounted on two the first studs in a manner of one-to-one
Top, a pair of first concave block are mounted on the top of a pair of first latch segment, the number of first sliding pin in a manner of one-to-one
Amount is two, and two the first sliding pins are mounted on the top of a pair of first concave block in a manner of one-to-one, two the first sliding pins with
One-to-one mode and the first slide slot of two cleft hands in first pair of cleft hand are slidably matched；Second locking body includes the
Two lifting chassis, locking plate, a pair of second concave block；Second lifting chassis opens up the second guiding slot port, the second guide groove
Mouth is slidably matched with guide rod；The quantity of second stud is two, and two the second studs are vertically arranged in the second lifting bottom
On disk, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second through-hole, the supporting plate
On open up third through-hole, two the second studs are upward through the second through-hole and third through-hole；The quantity of second middle gear is
Two, two the second middle gears are spirally connected with two the second studs in a manner of one-to-one, and two the second middle gears are and gear wheel
Engagement, two the second middle gears are engaged with two the first pinion gears in a manner of one-to-one；The locking plate is horizontally arranged at
The top of two studs, a pair of second concave block are mounted on locking plate, and the quantity of second sliding pin is two, two second cunnings
Pin is mounted on the top of a pair of second concave block in a manner of one-to-one, two the second sliding pins in a manner of one-to-one with second pair
Second slide slot of two cleft hands in cleft hand is slidably matched；Fourth hole is opened up on the locking plate, first stud is worn
Fourth hole is crossed, first latch segment is located at the top of locking plate.
As described above, the second middle gear of a pair that the canine tooth wheel drive is symmetrical set, a pair of second middle gear
Drive the first pinion gear of a pair being symmetrical set.The pair of second middle gear drives a pair of second stud to rise, a pair of
Second stud drives locking plate to rise, and locking plate drives a pair of of symmetrically arranged second concave block in front and back to rise, and a pair second is recessed
Shape block drives a pair of second sliding pin to rise vertically, and it is symmetrically arranged that a pair of second sliding pin passes through a pair of second slide slot driving front and back
Second pair of cleft hand is swung in opposite directions.The pair of first pinion gear drives a pair of first stud decline, and a pair of first stud drives one
First latch segment is declined, a pair of first latch segment drives a pair of the first concave block decline being symmetrical set, a pair first
Concave block drives a pair of first sliding pin to be vertically lowered, and a pair of first sliding pin passes through a pair of first slide slot driving and is symmetrical set
First pair of cleft hand swing in opposite directions.
As the present invention to a kind of explanation of mechanical claw hand, be vertically arranged on second lifting chassis the 4th stud,
6th stud, the 4th stud, the 6th stud are upward through the first lifting chassis and supporting plate, and the locking plate is mounted on the 4th spiral shell
The top of column, the 6th stud；The 4th middle gear, the 6th middle gear, the 4th middle gear, the 6th middle gear are articulated on the supporting plate
Between supporting plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear open up threaded hole,
4th stud is screwed onto the threaded hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel, and the 6th stud is screwed onto the 6th
In the threaded hole of middle gear, the 6th middle gear is engaged with gear wheel.As described above, gear wheel is driving a pair of second middle gear
While rotation, the 4th middle gear and the rotation of the 6th middle gear are driven, 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 drive locking plate to rise jointly with the second middle gear of a pair.
As the present invention to a kind of explanation of mechanical claw hand, the power device includes being mounted on the snail of transmission shaft bottom
Wheel, the worm screw engaged with worm gear, the first servo motor coupled with worm screw, worm screw is horizontally disposed, and worm screw is articulated on pedestal, the
One servo motor is mounted on the base.Since worm and gear has good self-locking function, two pairs of pawls of the present invention
Hand can steadily rest on any position in space during the swing.
As the present invention to a kind of explanation of mechanical claw hand, second middle gear includes second gear portion and the second tooth
The second pivoting portion of wheel portion coaxial arrangement；The centre of the second gear portion and second pivoting portion is equipped with perforation second gear portion
With the threaded hole of second pivoting portion；The second pivoting portion is articulated in the third through-hole of supporting plate.First pinion gear includes
First gear portion, the first pivoting portion with the coaxial arrangement of first gear portion；The center in the first gear portion and first pivoting portion
Place is equipped with the threaded hole in perforation first gear portion and first pivoting portion；The first pivoting portion is articulated in the first through hole of supporting plate
It is interior.
As the present invention to a kind of explanation of base body, the base body be equipped with symmetrical first level guide rail and
Second horizontal guide rail is sliding combined with first level sliding block on first level guide rail, is sliding combined on the second horizontal guide rail
The left and right ends of two horizontal sliders, the waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first level sliding block,
The right end of waist rotation member is articulated in the second horizontal slider.As described above, waist rotation member can be along first level guide rail and second
Horizontal guide rail is mobile, to increase the scope of activities of mechanical claw hand.
As the present invention to a kind of explanation of base body, the base body is equipped with brake structure, and brake structure includes solid
The brake rotation that a pair of of supporting plate for being scheduled on base body, the brake lever being articulated on a pair of of supporting plate, one end are fixedly connected with brake lever
Turn component, one end and the hinged brake connection component of the brake rotary components other end, hinged with the brake connection component other end
Lever assembly is hinged on supporting plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Described second is horizontal
Sliding block is equipped with brake plate, and brake plate is connect with the second horizontal slider by adjustable spring, and brake plate is located at waist rotation member right end
The side in face, the brake lever are close to brake plate.As described above, one end of medical worker's presses lever component, lever assembly
Around itself and supporting plate hinged place tilting, lever assembly drives brake rotary components rotation, brake rotation by brake connection component
The rotation of Component driver brake lever, the crest line of brake lever are against on brake plate towards a left side, are against waist transfer part in turn, on the left of brake plate
On part right side, waist rotation member is braked；When staff's presses lever component the other end and reset lever assembly
When, lever assembly drives brake rotary components to reversely rotate by brake connection component, and brake rotary components driving brake bar is anti-
To rotation, the crest line of brake lever leaves brake plate and no longer brake plate is driven to be moved to the left and brake waist rotation member.
In above-mentioned brake structure, the brake rotary components include the brake rotating seat being fixedly connected with brake lever and stop
The brake swingle that vehicle rotating seat is fixedly connected；The brake connection component includes that second brake hinged with brake swingle connects
Extension bar, the first brake connecting rod being fixedly connected with the second brake connecting rod；The lever assembly includes connecting with first brake
The hinged brake support of bar, the brake liner plate being fixedly connected with brake support, the brake support are hinged on supporting plate.
The base body is equipped with the second brake structure, and the second brake structure includes a pair second being fixed on base body
The second brake rotation that supporting plate, the second brake lever being articulated on a pair of second supporting plate, one end are fixedly connected with the second brake lever
Component, one end second brake connection component hinged with the second brake rotary components other end, the connection component that brakes with second are another
The second hinged lever assembly of one end is hinged on the second supporting plate in the middle part of the second lever assembly, the cross of second brake lever
Section is in regular hexagon；The first level sliding block is equipped with the second brake plate, and the second brake plate passes through with first level sliding block
The connection of second adjustable spring, the second brake plate are located at the side of waist rotation member left side, and second brake lever is close to the second system
Movable plate；The base body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, is combined with lever on third sliding pin, lever
Middle part opens up the bar shaped sliding slot being slidably matched with third sliding pin, and the lever assembly in the left end and brake structure of lever is hinged, thick stick
The right end of bar and the second lever assembly in the second brake structure are hinged.As described above, brake structure and the second brake structure
It is symmetrical set, the structure and function of the two is identical, and in operation, medical worker presses lever assembly, can be driven by lever
Dynamic second lever assembly linkage, similarly, medical worker presses the second lever assembly, can be joined by lever activation lever component
It is dynamic.The brake structure of linkage and the second brake structure simultaneously brake the right end of waist rotation member and left end.
Detailed description of the invention
Following further describes the present invention with reference to the drawings:
Fig. 1 is the structural schematic diagram for the surgical instrument that a kind of actuation end of the present invention is equipped with cleft hand；
Fig. 2 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 1；
Fig. 3 is the structural schematic diagram of brake structure 70 in Fig. 2；
Fig. 4 is the structural schematic diagram of mechanical claw hand 30 in Fig. 1；
Fig. 5 is sectional view along A-A in Fig. 4；
Fig. 6 is the structural schematic diagram of any cleft hand in first pair of cleft hand 51 in Fig. 4；
Fig. 7 is the structural schematic diagram of any cleft hand in second pair of cleft hand 52 in Fig. 4；
Fig. 8 is the structural schematic diagram of the first concave block 625 in Fig. 4；
Fig. 9 is that the second middle gear 612 is articulated in the structural schematic diagram on supporting plate 617 in Fig. 5.
Symbol description in figure:
10, base body；11, first level guide rail；12, the second horizontal guide rail；13, first level sliding block；130, the second system
Movable plate；14, the second horizontal slider；140, brake plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, mechanical claw hand；
40, cleft hand rack；41, cleft hand framework soleplate；42, cleft hand rack support rod；43, cleft hand rack top plate；44, it integrates
Camera and lighting device；
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
Hand；521, the second slide slot；522, the second hinge hole；
60, cleft hand driving mechanism；611, gear wheel；612, the second middle gear；6121, second gear portion；6122, the second pivot
Socket part；6123, threaded hole；613, the first pinion gear；614, transmission shaft；615, guide rod；616, pedestal；617, supporting 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 concave block；626, the first guiding slot port；631, the second stud；633, the second lifting chassis；634, it locks
Disk；635, the second concave block；636, the second guiding slot port；637, the 4th stud；638, the 6th stud；641, worm gear；642, snail
Bar；643, first servo motor；
70, brake structure；701, supporting plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, it stops
Vehicle swingle；73, brake connection component；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake support；742, brake liner plate；700, the second brake structure；75, upright bar；76, third sliding pin；77, lever.
Specific embodiment
Such as Fig. 1, a kind of actuation end is equipped with the surgical instrument of cleft hand, including base body 10, the waist being articulated on base body
Rotation member 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 being mounted in large arm, the forearm being fixed in large arm
24, the mechanical claw hand 30 being mounted on forearm, the waist rotation member horizontal cross setting, waist rotation member are rotated around base body, institute
It states large arm to be vertically arranged, the bottom end of large arm is articulated in the middle part of waist rotation member, and the manipulator is mounted on the top of large arm, described
Forearm is fixed on the middle part of large arm, and forearm is L-shaped, and the mechanical claw hand is mounted on the top of forearm.
In conjunction with Fig. 4 to Fig. 9, the mechanical claw hand include cleft hand rack 40, two pairs of cleft hands 50 being hinged in cleft hand rack,
It is mounted on the cleft hand driving mechanism 60 in cleft hand rack for driving two pairs of cleft hands to act.The cleft hand driving mechanism includes bracket
Body, the first locking body, the second locking body.Gear wheel 611, the second middle gear 612, the first pinion gear are articulated on the support body
613, transmission shaft 614, the transmission shaft are vertically arranged and couple with the power device being mounted on support body, and the gear wheel is solid
It is scheduled on transmission shaft, gear wheel is engaged with the second middle gear, and the second middle gear is engaged with the first pinion gear；First locking body
The first stud 621 including fixed setting, the centre of first pinion gear open up the threaded hole being spirally connected with the first stud；Institute
The second stud 631 that the second locking body includes fixed setting is stated, the centre of second middle gear opens up and the second stud spiral shell
The threaded hole connect；Support body is equipped with the guide rod 615 being oriented to the lifting of the first locking body and the second locking body.It is described
Two cleft hands in first pair of cleft hand 51 in two pairs of cleft hands are symmetrical set, in second pair of cleft hand 52 in two pairs of cleft hands
It being symmetrical arranged before and after two cleft hands, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot 511 being obliquely installed,
The bottom of two cleft hands in second pair of cleft hand opens up the second slide slot 521 being obliquely installed, the top of first locking body
Equipped with the first sliding pin 622 being slidably matched with the first slide slot, the top of the second locking body is equipped with matches with the sliding of the second slide slot
The second sliding pin closed.
In mechanical claw hand 30, the cleft hand rack 40 includes the cleft hand framework soleplate 41 for being mounted on forearm front end, sets vertically
The cleft hand rack top plate set the cleft hand rack support rod 42 on cleft hand framework soleplate, be fixed on cleft hand rack support bar top
43；The cleft hand driving mechanism 60 is mounted on the lower section on cleft hand framework soleplate and being located at cleft hand rack top plate, the cleft hand machine
Four hinge holes are opened up on frame top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；The cleft hand
Rack is equipped with integrated camera and lighting device 44, the integrated camera and lighting device be located at two pairs of cleft hands it
Between.
In mechanical claw hand 30, the support body includes pedestal 616, supporting plate 617；The pedestal is fixed at cleft hand rack
On 40, the guide rod 615 is fixed on the base, and the supporting plate is horizontally fixed on the top of guide rod；The gear wheel 611,
Second middle gear 612, the first pinion gear 613 are articulated on supporting plate, and the top of the transmission shaft 614 is articulated on supporting plate, transmission
The bottom end of axis is articulated on pedestal.First locking body includes the first lifting chassis 623, a pair of first latch segment 624, a pair
First concave block 625；First lifting chassis opens up the first guiding slot port 626, and the first guiding slot port is matched with guide rod sliding
It closes；The quantity of first stud 621 is two, and two the first studs are vertically arranged on the first lifting chassis, the supporting plate
On open up a pair of of first through hole, a pair of first stud passes through a pair of of first through hole；The quantity of first pinion gear be two, two
A first pinion gear is spirally connected with the first stud of a pair in a manner of one-to-one；The pair of first latch segment is in a manner of one-to-one
It is mounted on the top of two the first studs, a pair of first concave block is mounted on the top of a pair of first latch segment in a manner of one-to-one
Portion, the quantity of first sliding pin 622 are two, and two the first sliding pins are mounted on a pair of first concave block in a manner of one-to-one
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 a manner of one-to-one
Dynamic cooperation.Second locking body includes the second lifting chassis 633, locking plate 634, a pair of second concave block 635；Described second
Lifting chassis opens up the second guiding slot port 636, and the second guiding slot port is slidably matched with guide rod；The number of 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 located at the first lifting chassis
Lower section；First lifting chassis opens up the second through-hole, third through-hole is opened up on the supporting plate, two the second studs are upward through
Second through-hole and third through-hole；The quantity of second middle gear 612 is two, and two the second middle gears are in a manner of one-to-one
It is spirally connected with two the second studs, two the second middle gears are engaged with gear wheel, and two the second middle gears are in a manner of one-to-one
It is engaged with two the first pinion gears；The locking plate is horizontally arranged at the top of the second stud, and a pair of second concave block is mounted on
On locking plate, the quantity of second sliding pin is two, and it is recessed that two the second sliding pins are mounted on a pair second in a manner of one-to-one
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 a manner of one-to-one
Dynamic cooperation；Fourth hole is opened up on the locking plate, first stud passes through fourth hole, and first latch segment is located at lock
The top of tight disk.
In mechanical claw hand 30, second lifting is vertically arranged with the 4th stud 637, the 6th stud 638 on chassis 633,
4th stud, the 6th stud are upward through the first lifting chassis 623 and supporting plate 617, and the locking plate 634 is mounted on the 4th spiral shell
The top of column, the 6th stud.The 4th middle gear 618, the 6th middle gear 619, the 4th middle gear, the 6th are articulated on the supporting plate
Middle gear is located between supporting plate and the first lifting chassis, and the centre of the 4th middle gear, the centre of the 6th middle gear open up
Threaded hole, the 4th stud are screwed onto the threaded hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel 611, the 6th stud
It is screwed onto the threaded hole of the 6th middle gear, the 6th middle gear is engaged with gear wheel.
In mechanical claw hand 30, the power device includes the worm gear 641 for being mounted on 614 bottom of transmission shaft, engages with worm gear
Worm screw 642, the first servo motor 643 that couples with worm screw, worm screw is horizontally disposed, and worm screw is articulated on pedestal, the first servo
Motor is mounted on the base.
In mechanical claw hand 30, second middle gear 612 includes that second gear portion 6121 and second gear portion are coaxially disposed
Second pivoting portion 6122；The centre of the second gear portion and second pivoting portion is equipped with perforation second gear portion and the second pivot
The threaded hole 6123 of socket part；The second pivoting portion is articulated in the third through-hole of supporting plate 617；
First pinion gear 613 includes first gear portion, the first pivoting portion with the coaxial arrangement of first gear portion；It is described
The centre of first gear portion and first pivoting portion is equipped with the threaded hole in perforation first gear portion and first pivoting portion；Described first
Articulated section is articulated in the first through hole of supporting plate 617.
In conjunction with Fig. 1 to Fig. 3, the base body 10 is equipped with symmetrical first level guide rail 11 and the second horizontal guide rail
12, first level sliding block 13 is sliding combined on first level guide rail, and it is horizontal sliding that second is sliding combined on the second horizontal guide rail
The left and right ends of block 14, the waist rotation member 21 are cylindrical, and the left end of waist rotation member is articulated in first level sliding block, and waist turns
The right end of component is articulated in the second horizontal slider.
Above-mentioned base body 10 be equipped with brake structure 70, brake structure include a pair of of the supporting plate 701 being fixed on base body,
Brake rotary components 72, one end and the brake that the brake lever 71 that is articulated on a pair of of supporting plate, one end are fixedly connected with brake lever are revolved
Turn the hinged brake connection component 73 of the component other end, the lever assembly 74 hinged with the brake connection component other end, lever group
It is hinged on supporting plate in the middle part of part, the cross section of the brake lever is in regular hexagon；Second horizontal slider 14 is equipped with system
Movable plate 140, brake plate are connect with the second horizontal slider by adjustable spring, and brake plate is located at the side of 21 right side of waist rotation member
Side, the brake lever are close to brake plate.
In above-mentioned brake structure, the brake rotary components 72 include the brake rotating seat being fixedly connected with brake lever 71
721, the brake swingle 722 being fixedly connected with brake rotating seat；The brake connection component 73 includes and brake swingle is cut with scissors
The the second brake connecting rod 732 connect, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever group
The brake liner plate 742 that part 74 includes the brake support 741 hinged with first brake connecting rod, is fixedly connected with the support that brakes, institute
Brake support is stated to be hinged on supporting plate 701.
Above-mentioned base body 10 is equipped with the second brake structure 700, and the second brake structure includes being fixed on base body 10
A pair of second supporting plate, the second brake lever being articulated on a pair of second supporting plate, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake connection component hinged with the second brake rotary components other end and the second brake connect
The second hinged lever assembly of the connected components other end is hinged on the second supporting plate in the middle part of the second lever assembly, and described second stops
The cross section of vehicle bar is in regular hexagon；The first level sliding block 13 is equipped with the second brake plate 130, the second brake plate and first
Horizontal slider is connected by the second adjustable spring, and the second brake plate is located at the side of 21 left side of waist rotation member, and described second stops
Vehicle bar is close to the second brake plate.The base body is equipped with upright bar 75, and the top of upright bar is equipped with third sliding pin 76, on third sliding pin
It is combined with lever 77, the bar shaped sliding slot being slidably matched with third sliding pin, the left end of lever and brake structure are opened up in the middle part of lever
Lever assembly 74 in 70 is hinged, and the right end of lever and the second lever assembly in the second brake structure 700 are hinged.
In practical operation, a kind of workflow for the surgical instrument that actuation end is equipped with cleft hand of the present invention is as follows:
First, medical worker holds manipulation hand 23, rotates large arm 22 or waist rotation member 21, or makes waist rotation member 21 along the
One horizontal guide rail 11 and the translation of the second horizontal guide rail 12, make the mechanical claw hand 30 on forearm 24 close at item to get body.
Second, power device drives transmission shaft 614 to rotate, and transmission shaft drives gear wheel 611 to rotate, canine tooth wheel drive second
Middle gear 612 rotates, and the second middle gear drives the rotation of the first pinion gear 613；Second middle gear drives on the second stud 631
It rising, the second stud drives the second locking body to rise, since the second slide slot is obliquely installed, the second sliding pin risen vertically
Any cleft hand in second pair of cleft hand 52 can be driven to rotate around the hinged place of itself and cleft hand rack 40, make second pair of cleft hand opposite
It swings；First pinion gear 613 drives the decline of the first stud 621, and the first stud drives the decline of the first locking body, due to first
It slides 622 slots and is obliquely installed (the inclined direction of the first slide slot and the second slide slot are inclined contrary), therefore, under vertical
First sliding pin of drop drives any cleft hand in first pair of cleft hand to rotate around the hinged place of itself and cleft hand rack, makes first pair of cleft hand
Make opposite swing；So far, two pairs of cleft hands 50 are in shape is collapsed, for grabbing object.
The above content is only better embodiment of the invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (9)
1. a kind of actuation end is equipped with the surgical instrument of cleft hand, including base body (10), the waist rotation member being articulated on base body
(21), the large arm (22) that is articulated on waist rotation member, be mounted in large arm manipulator (23), the forearm that is fixed in large arm
(24), the mechanical claw hand (30) being mounted on forearm, the waist rotation member horizontal cross setting, waist rotation member turn around base body
Dynamic, the large arm is vertically arranged, and the bottom end of large arm is articulated in the middle part of waist rotation member, and the manipulator is mounted on the top of large arm
End, the forearm are fixed on the middle part of large arm, and forearm is L-shaped, and the mechanical claw hand is mounted on the top of forearm；Its feature exists
In:
The mechanical claw hand includes cleft hand rack (40), two pairs of cleft hands (50) being hinged in cleft hand rack, is mounted on cleft hand machine
Cleft hand driving mechanism (60) on frame for driving two pairs of cleft hands to act；The cleft hand driving mechanism includes support body, the first lock
Tight body, the second locking body；Gear wheel (611), the second middle gear (612), the first pinion gear are articulated on the support body
(613), transmission shaft (614), the transmission shaft are vertically arranged and couple with the power device being mounted on support body, the canine tooth
Wheel is fixed on transmission shaft, and gear wheel is engaged with the second middle gear, and the second middle gear is engaged with the first pinion gear；First lock
Tight body includes the first stud (621) of fixed setting, and the centre of first pinion gear opens up the spiral shell being spirally connected with the first stud
Pit；Second locking body includes the second stud (631) of fixed setting, and the centre of second middle gear opens up and the
The threaded hole that two studs are spirally connected；Support body is equipped with the guide rod being oriented to the lifting of the first locking body and the second locking body
(615)；
Two cleft hands in first pair of cleft hand (51) in two pairs of cleft hands are symmetrical set, second pair in two pairs of cleft hands
It is symmetrical arranged before and after two cleft hands in cleft hand (52), the bottom of two cleft hands in first pair of cleft hand opens up the be obliquely installed
The bottom of one slide slot (511), two cleft hands in second pair of cleft hand opens up the second slide slot (521) being obliquely installed, described
The top of first locking body is equipped with the first sliding pin (622) being slidably matched with the first slide slot, and the top of the second locking body is equipped with
The second sliding pin being slidably matched with the second slide slot；
The base body (10) is equipped with symmetrical first level guide rail (11) and the second horizontal guide rail (12), first level
It is sliding combined on guide rail first level sliding block (13), the second horizontal slider (14), institute is sliding combined on the second horizontal guide rail
The left and right ends for stating waist rotation member (21) are cylindrical, and the left end of waist rotation member is articulated in first level sliding block, waist rotation member
Right end be articulated in the second horizontal slider.
2. the surgical instrument that a kind of actuation end as described in claim 1 is equipped with cleft hand, it is characterised in that: mechanical claw hand (30)
In, the cleft hand rack (40) includes the cleft hand framework soleplate (41) for being mounted on forearm front end, is vertically arranged in cleft hand frame ground
Cleft hand rack support rod (42) on plate, the cleft hand rack top plate (43) for being fixed on cleft hand rack support bar top；The cleft hand
Driving mechanism (60) is mounted on the lower section on cleft hand framework soleplate and being located at cleft hand rack top plate, opens on the cleft hand rack top plate
If four hinge holes, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；The cleft hand rack is equipped with
Integrated camera and lighting device (44), the integrated camera and lighting device are located between two pairs of cleft hands.
3. the surgical instrument that a kind of actuation end as described in claim 1 is equipped with cleft hand, it is characterised in that: mechanical claw hand (30)
In, the support body includes pedestal (616), supporting plate (617)；The pedestal is fixed on cleft hand rack (40), described to lead
It is fixed on the base to bar (615), the supporting plate is horizontally fixed on the top of guide rod；The gear wheel (611), tooth in second
Wheel (612), the first pinion gear (613) are articulated on supporting plate, and the top of the transmission shaft (614) is articulated on supporting plate, transmission shaft
Bottom end be articulated on pedestal；
First locking body includes the first lifting chassis (623), a pair of first latch segment (624), a pair of first concave block
(625)；First lifting chassis opens up the first guiding slot port (626), and the first guiding slot port is slidably matched with guide rod；It is described
The quantity of first stud (621) is two, and two the first studs are vertically arranged on the first lifting chassis, are opened up on the supporting plate
A pair of of first through hole, a pair of first stud pass through a pair of of first through hole；The quantity of first pinion gear is two, two first
Pinion gear is spirally connected with the first stud of a pair in a manner of one-to-one；The pair of first latch segment is mounted in a manner of one-to-one
The top of two the first studs, a pair of first concave block are mounted on the top of a pair of first latch segment, institute in a manner of one-to-one
The quantity for stating the first sliding pin (622) is two, and two the first sliding pins are mounted on a pair of first concave block in a manner of one-to-one
Top, two the first sliding pins the first slide slot (511) with two cleft hands in first pair of cleft hand (51) in a manner of one-to-one
It is slidably matched；
Second locking body includes the second lifting chassis (633), locking plate (634), a pair of second concave block (635)；It is described
Second lifting chassis opens up the second guiding slot port (636), and the second guiding slot port is slidably matched with guide rod；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 located at first liter
The lower section on chassis drops；First lifting chassis opens up the second through-hole, and third through-hole, two the second studs are opened up on the supporting plate
It is upward through the second through-hole and third through-hole；The quantity of second middle gear (612) is two, and two the second middle gears are with one
It is spirally connected to one mode and two the second studs, two the second middle gears are engaged with gear wheel, and two the second middle gears are with one
One mode is engaged with two the first pinion gears；The locking plate is horizontally arranged at the top of the second stud, and a pair second is recessed
Shape block is mounted on locking plate, and the quantity of second sliding pin is two, and two the second sliding pins are mounted in a manner of one-to-one
The top of a pair of second concave block, two the second sliding pins in a manner of one-to-one with two cleft hands in second pair of cleft hand (52)
Second slide slot is slidably matched；Opening up fourth hole on the locking plate, first stud passes through fourth hole, and described first
Latch segment is located at the top of locking plate.
4. the surgical instrument that a kind of actuation end as claimed in claim 3 is equipped with cleft hand, it is characterised in that: mechanical claw hand (30)
In, the 4th stud (637), the 6th stud (638), the 4th stud, the 6th are vertically arranged in second lifting chassis (633)
Stud is upward through the first lifting chassis (623) and supporting plate (617), and the locking plate (634) is mounted on the 4th stud, the 6th spiral shell
The top of column；
The 4th middle gear (618), the 6th middle gear (619) are articulated on the supporting plate, the 4th middle gear, the 6th middle gear are located at
Between supporting plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear open up threaded hole, and the 4th
Stud is screwed onto the threaded hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel (611), and the 6th stud is screwed onto the 6th
In the threaded hole of middle gear, the 6th middle gear is engaged with gear wheel.
5. the surgical instrument that a kind of actuation end as claimed in claim 3 is equipped with cleft hand, it is characterised in that: mechanical claw hand (30)
In, the power device include be mounted on the worm gear (641) of transmission shaft (614) bottom, the worm screw (642) engaged with worm gear and
The first servo motor (643) of worm screw connection, worm screw is horizontally disposed, and worm screw is articulated on pedestal, and first servo motor is mounted on
On pedestal.
6. the surgical instrument that a kind of actuation end as claimed in claim 3 is equipped with cleft hand, it is characterised in that: mechanical claw hand (30)
In, second middle gear (612) includes second gear portion (6121), the second pivoting portion with the coaxial arrangement of second gear portion
(6122)；The centre of the second gear portion and second pivoting portion is equipped with the screw thread in perforation second gear portion and second pivoting portion
Hole (6123)；The second pivoting portion is articulated in the third through-hole of supporting plate (617)；
First pinion gear (613) includes first gear portion, the first pivoting portion with the coaxial arrangement of first gear portion；Described
The centre of one gear part and first pivoting portion is equipped with the threaded hole in perforation first gear portion and first pivoting portion；First pivot
Socket part is articulated in the first through hole of supporting plate (617).
7. the surgical instrument that a kind of actuation end as described in claim 1 is equipped with cleft hand, it is characterised in that: the base body
(10) be equipped with first brake structure (70), first brake structure include the first supporting plate of a pair (701) being fixed on base body,
The first brake rotation group that the first brake bar (71) that is articulated on a pair of first supporting plate, one end are fixedly connected with first brake bar
Part (72), one end and the hinged first brake connection component (73) of the first brake rotary components other end are connect with first brake
Hinged the first lever assembly (74) of the component other end is hinged on the first supporting plate in the middle part of the first lever assembly, described first
The cross section of brake lever is in regular hexagon；Second horizontal slider (14) is equipped with the first brake plate (140), the first brake plate
It is connect with the second horizontal slider by the first adjustable spring, the first brake plate is located at the side of waist rotation member (21) right side, institute
It states first brake bar and is close to the first brake plate.
8. the surgical instrument that a kind of actuation end as claimed in claim 7 is equipped with cleft hand, it is characterised in that: first brake structure
In, the first brake rotary components (72) include the brake rotating seat (721) being fixedly connected with first brake bar (71) and stop
The brake swingle (722) that vehicle rotating seat is fixedly connected；The first brake connection component (73) includes and brake swingle is cut with scissors
The second brake connecting rod (732) connect, the first brake connecting rod (731) being fixedly connected with the second brake connecting rod；Described
One lever assembly (74) include the brake support (741) hinged with first brake connecting rod, with the brake that is fixedly connected of brake support
Vehicle liner plate (742), the brake support are hinged on the first supporting plate (701).
9. the surgical instrument that a kind of actuation end as claimed in claim 7 is equipped with cleft hand, it is characterised in that: the base body
(10) be equipped with the second brake structure (700), the second brake structure include be fixed on base body (10) the second supporting plate of a pair,
The second brake lever for being articulated on a pair of second supporting plate, one end be fixedly connected with the second brake lever second brake rotary components,
One end second brake connection component hinged with the second brake rotary components other end and the second brake connection component other end hinge
The second lever assembly connect is hinged on the second supporting plate in the middle part of the second lever assembly, and the cross section of second brake lever is in
Regular hexagon；The first level sliding block (13) is equipped with the second brake plate (130), and the second brake plate and first level sliding block are logical
The connection of the second adjustable spring is crossed, the second brake plate is located at the side of waist rotation member (21) left side, and second brake lever is close to
Second brake plate；
The base body is equipped with upright bar (75), and the top of upright bar is equipped with third sliding pin (76), is combined with lever on third sliding pin
(77), the bar shaped sliding slot being slidably matched with third sliding pin is opened up in the middle part of lever, in the left end and brake structure (70) of lever
Hingedly, the right end of lever and the second lever assembly in the second brake structure (700) are hinged for lever assembly (74).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838398.5A CN106420060B (en) | 2016-09-21 | 2016-09-21 | A kind of actuation end is equipped with the surgical instrument of cleft hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838398.5A CN106420060B (en) | 2016-09-21 | 2016-09-21 | A kind of actuation end is equipped with the surgical instrument of cleft hand |
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| Publication Number | Publication Date |
|---|---|
| CN106420060A CN106420060A (en) | 2017-02-22 |
| CN106420060B true CN106420060B (en) | 2019-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838398.5A Active CN106420060B (en) | 2016-09-21 | 2016-09-21 | A kind of actuation end is equipped with the surgical instrument of cleft hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202838798U (en) * | 2012-07-05 | 2013-03-27 | 浙江天煌科技实业有限公司 | Five-freedom-degree manipulator training device |
| CN103158148A (en) * | 2013-03-23 | 2013-06-19 | 长源动力（北京）科技有限公司 | Mechanical arm |
| CN105881513A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with mechanical gripper on paired small arms |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105936043A (en) * | 2016-05-28 | 2016-09-14 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot used for grasping materials |
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2016
- 2016-09-21 CN CN201610838398.5A patent/CN106420060B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202838798U (en) * | 2012-07-05 | 2013-03-27 | 浙江天煌科技实业有限公司 | Five-freedom-degree manipulator training device |
| CN103158148A (en) * | 2013-03-23 | 2013-06-19 | 长源动力（北京）科技有限公司 | Mechanical arm |
| CN105881513A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with mechanical gripper on paired small arms |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105936043A (en) * | 2016-05-28 | 2016-09-14 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot used for grasping materials |
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| CN106420060A (en) | 2017-02-22 |
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Effective date of registration: 20181218 Address after: 237000 Lu'an fortieth economic and Technological Development Zone, Anhui. Applicant after: Lu'an Zhicheng Smart Technology Co. Ltd. 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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