CN109854691A - A kind of direction-changing drive mechanism - Google Patents
A kind of direction-changing drive mechanism Download PDFInfo
- Publication number
- CN109854691A CN109854691A CN201910001117.4A CN201910001117A CN109854691A CN 109854691 A CN109854691 A CN 109854691A CN 201910001117 A CN201910001117 A CN 201910001117A CN 109854691 A CN109854691 A CN 109854691A
- Authority
- CN
- China
- Prior art keywords
- wheel
- shaft
- inputting
- drive mechanism
- driving wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 210000000481 breast Anatomy 0.000 claims description 48
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000035939 shock Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract 1
- 230000009471 action Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010067268 Post procedural infection Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Landscapes
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of direction-changing drive mechanisms, belong to the field of medical instrument technology.It solves the problems, such as that the drive mechanism transmission efficiency of existing surgical instrument is low, at high cost, shock resistance is poor and noise is big.This direction-changing drive mechanism, including be set on motor output shaft wheel for inputting, with the relatively-stationary fixing seat one of motor, the shaft one that is arranged in fixing seat one and the output wheel in shaft one, the central axes of wheel for inputting and the central axes of shaft one are different surface beeline, driving wheel is coaxially fixed in shaft one, intermediate transmission structure is equipped between driving wheel and wheel for inputting, driving wheel, wheel for inputting and intermediate transmission structure three are sequentially connected by transmission belt.The present invention has many advantages, such as that at low cost, transmission efficiency is high, low noise, anti-impact force is strong and installation and maintenance is convenient.
Description
Technical field
The invention belongs to the field of medical instrument technology, are related to a kind of direction-changing drive mechanism, especially a kind of driving surgical device
The direction-changing drive mechanism of tool linear motion.
Background technique
With the application and development of robot technology, the especially development of computing technique, medical operation robot is in clinic
In effect be increasingly valued by people.Micro-wound operation robot can mitigate the physical strength labor of doctor in the course of surgery
It is dynamic, while reaching precisely operation purpose, make that patient's Micro trauma, blood loss are few, postoperative infection is few, post-operative recovery is fast.Minimally Invasive Surgery machine
Device people system is usually using master slave control mode: for operator when operating to main hand, hand exercise will drive main hand
It moves therewith, sensor can measure motion information at main swivel of hand, then be mapped the movement of main hand by master & slave control algorithm
Surgical instrument is driven to realize corresponding sports to from hand master arm from each joint passive movement of hand master arm.Micro-wound operation robot
Master arm key components mainly include remote centre of motion mechanism and surgical instrument, and the design superiority and inferiority of mechanical structure is direct
The performance of micro-wound operation robot is affected, the research and development and design of other component in system are also restrict.
Existing surgical instrument is set on travelling arm, generallys use motor, speed reducer, roller screw and rotating nuts, or
Person makes surgical instrument move along a straight line along travelling arm using the power transmission mode of motor, speed reducer, wirerope and wire rope pulley,
It is at high cost due to being equipped with speed reducer, but also there are structures to arrange that unreasonable, shock resistance is poor, transmission efficiency is low and noise
Big problem easily causes the interference between each arm of operating robot.
Summary of the invention
The purpose of the present invention is there is the above problem in view of the prior art, a kind of deflecting of reasonable structural arrangement is proposed
Transmission mechanism.
Object of the invention can be realized by the following technical scheme:
A kind of direction-changing drive mechanism, including the wheel for inputting being set on motor output shaft and the relatively-stationary fixing seat of motor
One, the shaft one in fixing seat one and the output wheel in shaft one are arranged in, which is characterized in that in the wheel for inputting
The central axes of axis and shaft one are different surface beeline, are coaxially fixed with driving wheel in the shaft one, the driving wheel with
Intermediate transmission structure is equipped between wheel for inputting, the driving wheel, wheel for inputting and intermediate transmission structure pass through transmission belt/steel wire
Transmission connection.
In a kind of above-mentioned direction-changing drive mechanism, the intermediate transmission structure includes the axis of central axes and wheel for inputting
The shaft three of the axis parallel of the parallel shaft two of line, central axes and driving wheel and the breast wheel one being sheathed in shaft two
With the breast wheel two being sheathed in shaft three, the transmission belt/steel wire successively bypasses wheel for inputting, centre after being drawn by driving wheel
Wraparound driving wheel is after wheel two and breast wheel one to realize torque drive.
Transmission belt/steel wire by driving wheel tangential direction draw after, the tangential direction through wheel for inputting around wheel for inputting and by
Another tangential direction of wheel for inputting is drawn, and the tangential direction through breast wheel two is cut around breast wheel two and by the another of breast wheel two
Line direction is drawn, and the tangential direction through breast wheel one is drawn by another tangential direction of breast wheel one together around breast wheel, warp
Another tangential direction of driving wheel bypasses driving wheel.
In a kind of above-mentioned direction-changing drive mechanism, the central axes of the wheel for inputting and the central axes antarafacial of shaft one hang down
Directly.
In a kind of above-mentioned direction-changing drive mechanism, the outer diameter of the driving wheel is greater than the outer diameter of wheel for inputting.It is passed in deflecting
Deceleration is realized during dynamic, increases output torque.
In a kind of above-mentioned direction-changing drive mechanism, the shaft two is set to and the relatively-stationary fixing seat of fixing seat one
On two.
In a kind of above-mentioned direction-changing drive mechanism, the shaft three is coaxial connected with shaft one.Shaft three can be made
For a part of shaft one, it is integrally formed with shaft one.
In a kind of above-mentioned direction-changing drive mechanism, bearing one is equipped between the breast wheel one and shaft two, it is described
Breast wheel two and shaft three between be equipped with bearing two, between the shaft one and fixing seat one be equipped with bearing three.
Shaft one is threaded through in fixing seat one, and shaft one can be rotated around own central axis line under the action of bearing three, intermediate
Wheel two is set in shaft three, and breast wheel two can be rotated around own central axis line under the action of bearing two, and breast wheel one is set in
In shaft two, breast wheel one can be rotated around own central axis line under the action of bearing one.The output shaft of wheel for inputting and motor is coaxial
It is connected, driving wheel is coaxial connected with shaft one by flat key, and output wheel is coaxial connected with shaft one.In order to guarantee transmission belt/steel
Silk will not be deviate from out of wheel for inputting, driving wheel, breast wheel one and breast wheel two, in wheel for inputting, driving wheel, breast wheel one and centre
The race of annular is set on wheel two, and transmission belt/steel wire cooperation is set in race.
Wherein, it is lazy can be but not limited to synchronous pulley, synchronous belt for wheel for inputting, driving wheel, breast wheel one and breast wheel two
Wheel, round belt wheel, wire rope pulley, transmission belt/steel wire can be but not limited to synchronous belt, round belt, wirerope.
When the output shaft work of motor, wheel for inputting rotation is driven, breast wheel two, breast wheel one, driving wheel and transmission are passed through
Band/steel wire realizes the intersection deflecting transmission of power, i.e. the center of rotation axis of wheel for inputting and driving wheel is not parallel, is in space
90 ° of angle distributions.The outer diameter of driving wheel is greater than the outer diameter of wheel for inputting, and deceleration is realized in deflecting transmission process, is increased simultaneously
Output torque.
Compared with prior art, this direction-changing drive mechanism has the advantage that
Can be by power in the 90 ° of deflectings in space transmission, while realizing decelerations, for because planform and outer dimension be limited without
The occasion of arrangement speed reducer is facilitated to provide a solution, and its structure is simple, transmission efficiency is high, low noise, shock resistance
Power is strong, low in cost, installation and easy to maintain.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment one provided by the invention.
Fig. 2 is the cross-sectional view in embodiment one provided by the invention at shaft one.
In figure, 1, wheel for inputting；2, fixing seat one；3, shaft one；4, output wheel；5, driving wheel；6, transmission belt；7, shaft
Two；8, shaft three；9, breast wheel one；10, breast wheel two；11, fixing seat two；12, bearing two；13, bearing three.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Embodiment one
Direction-changing drive mechanism as shown in Figure 1, including the wheel for inputting 1, relatively fixed with motor being set on motor output shaft
Fixing seat 1, the shaft 1 that is arranged in fixing seat 1 and the output wheel 4 in shaft 1, in wheel for inputting 1
The central axes of axis and shaft 1 are different surface beeline, are coaxially fixed with driving wheel 5 in shaft 1, driving wheel 5 and wheel for inputting 1 it
Between be equipped with intermediate transmission structure, driving wheel 5, wheel for inputting 1 and intermediate transmission structure three are sequentially connected by transmission belt 6.
As shown in Figure 1, intermediate transmission structure includes the shaft 27 of the axis parallel of central axes and wheel for inputting 1, central axes
With the shaft 38 of the axis parallel of driving wheel 5 and the breast wheel 1 being sheathed in shaft 27 and be sheathed in shaft 38
Breast wheel 2 10, transmission belt 6 drawn by driving wheel 5 after successively around after wheel for inputting 1, breast wheel 2 10 and breast wheel 1 around
Driving wheel 5 is returned to realize torque drive.
Specifically, the tangential direction through wheel for inputting 1 bypasses wheel for inputting after transmission belt 6 is drawn by the tangential direction of driving wheel 5
It 1 and is drawn by another tangential direction of wheel for inputting 1, the tangential direction through breast wheel 2 10 is around breast wheel 2 10 and by breast wheel
2 10 another tangential direction is drawn, and the tangential direction through breast wheel 1 is around breast wheel 1 and by the another of breast wheel 1
Tangential direction is drawn, and another tangential direction through driving wheel 5 bypasses driving wheel 5.
In this implementation, wheel for inputting 1, driving wheel 5, breast wheel 1 and breast wheel 2 10 are synchronous pulley, and transmission belt 6 is same
Walk band.
In the present embodiment, the central axes of wheel for inputting 1 and the central axes antarafacial of shaft 1 are vertical, i.e. the central axes of wheel for inputting 1
It is distributed in space in 90 ° of angles with the central axes of shaft 1.
As shown in Figure 1, the outer diameter of driving wheel 5 is greater than the outer diameter of wheel for inputting 1, deceleration is realized in deflecting transmission process,
Increase output torque.
As shown in Figure 1, shaft 27 be set to in the relatively-stationary fixing seat 2 11 of fixing seat 1.
As shown in Figure 1, shaft 38 is coaxial connected with shaft 1.In the present embodiment, by shaft 38 as shaft 1
A part is integrally formed with shaft 1.
Bearing one is equipped between breast wheel 1 and shaft 27, as shown in Fig. 2, setting between breast wheel 2 10 and shaft 38
There is bearing 2 12, bearing 3 13 is equipped between shaft 1 and fixing seat 1.
Shaft 1 is threaded through in fixing seat 1, and shaft 1 can be rotated around own central axis line under the action of bearing 3 13,
Breast wheel 2 10 is set in shaft 38, and breast wheel 2 10 can be rotated around own central axis line under the action of bearing 2 12, intermediate
It takes turns 1 to be set in shaft 27, breast wheel 1 can be rotated around own central axis line under the action of bearing one.Wheel for inputting 1 and electricity
The output shaft of machine is coaxially connected, and driving wheel 5 is coaxial connected with shaft 1 by flat key, and output wheel 4 is coaxial connected with shaft 1.
When the output shaft work of motor, drives wheel for inputting 1 to rotate, pass through breast wheel 2 10, breast wheel 1,5 and of driving wheel
Transmission belt 6 realizes the intersection deflecting transmission of power, i.e. wheel for inputting 1 and the center of rotation axis of driving wheel 5 is not parallel, in space
It is distributed in 90 ° of angles.The outer diameter of driving wheel 5 is greater than the outer diameter of wheel for inputting 1, deceleration is realized in deflecting transmission process, simultaneously
Increase output torque.
Embodiment two
The structural principle of the present embodiment and the structural principle of embodiment one are essentially identical, and different places are, will be driven
Band 6 replaces with steel wire.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (7)
1. a kind of direction-changing drive mechanism, including the wheel for inputting (1) being set on motor output shaft and the relatively-stationary fixing seat of motor
One (2), the shaft one (3) being arranged in fixing seat one (2) and the output wheel (4) being set in shaft one (3), feature exists
In the central axes of the wheel for inputting (1) and the central axes of shaft one (3) are different surface beeline, are coaxially consolidated in the shaft one (3)
Be connected with driving wheel (5), between the driving wheel (5) and wheel for inputting (1) be equipped with intermediate transmission structure, the driving wheel (5),
Wheel for inputting (1) and intermediate transmission structure are connected by transmission belt (6)/steel wire drive.
2. a kind of direction-changing drive mechanism according to claim 1, which is characterized in that during the intermediate transmission structure includes
The shaft three of the axis parallel of the shaft two (7) of axis and the axis parallel of wheel for inputting (1), central axes and driving wheel (5)
(8) and the breast wheel one (9) being sheathed in shaft two (7) and the breast wheel two (10) being sheathed in shaft three (8), described
Transmission belt (6)/steel wire drawn by driving wheel (5) after successively around wheel for inputting (1), breast wheel two (10) and breast wheel one (9) after
Wraparound driving wheel (5) is to realize torque drive.
3. a kind of direction-changing drive mechanism according to claim 1 or 2, which is characterized in that the central axes of the wheel for inputting (1)
It is vertical with the central axes antarafacial of shaft one (3).
4. a kind of direction-changing drive mechanism according to claim 1 or 2, which is characterized in that the outer diameter of the driving wheel (5) is big
Outer diameter in wheel for inputting (1).
5. a kind of direction-changing drive mechanism according to claim 2, which is characterized in that the shaft two (7) is set to and consolidates
On the relatively-stationary fixing seat two (11) of reservation one (2).
6. a kind of direction-changing drive mechanism according to claim 2, which is characterized in that the shaft three (8) and shaft one
(3) coaxial to be connected.
7. a kind of direction-changing drive mechanism according to claim 2 or 5 or 6, which is characterized in that the breast wheel one (9)
It is equipped with bearing one between shaft two (7), bearing two (12), institute are equipped between the breast wheel two (10) and shaft three (8)
Bearing three (13) is equipped between the shaft one (3) stated and fixing seat one (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910001117.4A CN109854691B (en) | 2019-01-02 | 2019-01-02 | Direction-changing transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910001117.4A CN109854691B (en) | 2019-01-02 | 2019-01-02 | Direction-changing transmission mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109854691A true CN109854691A (en) | 2019-06-07 |
| CN109854691B CN109854691B (en) | 2023-09-01 |
Family
ID=66893682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910001117.4A Active CN109854691B (en) | 2019-01-02 | 2019-01-02 | Direction-changing transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109854691B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217103A (en) * | 2019-07-02 | 2019-09-10 | 洛阳履坦智能科技有限公司 | A kind of mobile device |
| CN115153395A (en) * | 2022-08-18 | 2022-10-11 | 湖南省华芯医疗器械有限公司 | Reusable segment, operating handle and endoscope |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201487147U (en) * | 2009-08-18 | 2010-05-26 | 上海西门子医疗器械有限公司 | Synchronous belt steering linkage |
| CN203082139U (en) * | 2013-02-27 | 2013-07-24 | 曹玥 | Belt transmission device |
| CN104421387A (en) * | 2013-08-21 | 2015-03-18 | 天津市宝坻区东亚光大地毯厂 | Synchronous belt right-angle transmission device |
| CN105333074A (en) * | 2014-08-12 | 2016-02-17 | 浙江鼎玻自动化设备有限公司 | Tooth-shaped synchronous belt drive mechanism |
| CN206246615U (en) * | 2016-12-09 | 2017-06-13 | 洛阳北方玻璃技术股份有限公司 | A kind of fast disassembly type belt transmission structure |
-
2019
- 2019-01-02 CN CN201910001117.4A patent/CN109854691B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201487147U (en) * | 2009-08-18 | 2010-05-26 | 上海西门子医疗器械有限公司 | Synchronous belt steering linkage |
| CN203082139U (en) * | 2013-02-27 | 2013-07-24 | 曹玥 | Belt transmission device |
| CN104421387A (en) * | 2013-08-21 | 2015-03-18 | 天津市宝坻区东亚光大地毯厂 | Synchronous belt right-angle transmission device |
| CN105333074A (en) * | 2014-08-12 | 2016-02-17 | 浙江鼎玻自动化设备有限公司 | Tooth-shaped synchronous belt drive mechanism |
| CN206246615U (en) * | 2016-12-09 | 2017-06-13 | 洛阳北方玻璃技术股份有限公司 | A kind of fast disassembly type belt transmission structure |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217103A (en) * | 2019-07-02 | 2019-09-10 | 洛阳履坦智能科技有限公司 | A kind of mobile device |
| CN110217103B (en) * | 2019-07-02 | 2024-05-14 | 洛阳履坦智能科技有限公司 | Mobile device |
| CN115153395A (en) * | 2022-08-18 | 2022-10-11 | 湖南省华芯医疗器械有限公司 | Reusable segment, operating handle and endoscope |
| CN115153395B (en) * | 2022-08-18 | 2024-05-17 | 湖南省华芯医疗器械有限公司 | Reusable section, operating handle and endoscope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109854691B (en) | 2023-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101204815B (en) | Seven freedom-degree artificial man arm driven by air-powered artificial muscle | |
| CN105662782A (en) | Exoskeletal rehabilitation robot for upper limbs | |
| CN104224325B (en) | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot | |
| CN102672715B (en) | One is help the disabled/is helped the elderly by rope driving machine mechanical arm | |
| CN105662783A (en) | Exoskeletal rehabilitation robot for upper limbs | |
| CN105979919B (en) | The non-exoskeleton-type rehabilitation equipment of multi-activity axis | |
| CN104116547B (en) | The little inertia operating theater instruments of low friction for micro-wound operation robot | |
| CN109854691A (en) | A kind of direction-changing drive mechanism | |
| CN105291134B (en) | A kind of flexible bionic mechanical hand | |
| CN111166471B (en) | Three-axis intersection type active and passive hybrid surgical endoscope holding arm | |
| CN103536378A (en) | Differential motion joint mechanism of artificial limb | |
| CN110270991A (en) | A kind of six axis mechanisms | |
| CN105055111A (en) | Mechanical arm for exoskeleton rehabilitation training | |
| CN209661788U (en) | A kind of direction-changing drive mechanism of surgical instrument | |
| CN108724152A (en) | A kind of upper limb servomechanism for original place lifting load | |
| CN108544518A (en) | A kind of active double mode rope driving the five fingers flexible manipulator | |
| CN209661789U (en) | The surgical instrument mechanism of operating robot | |
| CN206727842U (en) | A kind of wire-management device of motor stator | |
| CN205714610U (en) | Electricity generation system and human power generation device | |
| CN109620363A (en) | Surgical instrument mechanism | |
| WO2023207344A1 (en) | Mechanical arm and robot | |
| CN202622804U (en) | Rope driven mechanical arm for helping the disabled or the old | |
| CN108126320A (en) | A kind of healing robot forearm rotary joint | |
| CN106015496B (en) | A kind of changement | |
| CN208481469U (en) | Surgical instrument sliding equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A variable direction transmission mechanism Granted publication date: 20230901 Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd. Pledgor: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Registration number: Y2024500000040 |