CN109875724A - Two axle drive closes clamping device - Google Patents
Two axle drive closes clamping device Download PDFInfo
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- CN109875724A CN109875724A CN201910248094.7A CN201910248094A CN109875724A CN 109875724 A CN109875724 A CN 109875724A CN 201910248094 A CN201910248094 A CN 201910248094A CN 109875724 A CN109875724 A CN 109875724A
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Abstract
A kind of Two axle drive closing clamping device, comprising: tricyclic self-clamping module, Two-shaft drive mechanism and the power device of enclosed construction, power device are connected with Two-shaft drive mechanism, and Two-shaft drive mechanism is connected with tricyclic self-clamping module；Two-shaft drive mechanism includes: upper backup pad, lower supporting plate, the first rotation axis, the second rotation axis and gear assembly, gear assembly is set on upper backup pad and is connected with power device, and the first rotation axis and the second rotation axis are set between upper and lower support plate and are connected with gear assembly.Gear assembly includes: driving gear, the first driven gear and the second driven gear；Tricyclic self-clamping module includes: three motion arms being successively oppositely arranged from top to bottom.The present invention uses Two axle drive, and clamping process makes enteron aisle stress more evenly；Using closing tricyclic structure, it is ensured that enteron aisle position is relatively fixed, effectively prevent the bring security risk that misplaces because of enteron aisle, improves the reliability of tricyclic self-clamping module.
Description
Technical field
It is specifically a kind of to be included for implantable artificial anus in situ the present invention relates to a kind of technology of medical instruments field
About the Two axle drive of flesh prosthese closes clamping device.
Background technique
Artificial anal sphincter prosthese simulates the physiological function of normal external sphincter muscle of anus, straight by pressure sensor senses
Intestines pressure realizes rectal sensation remodeling in conjunction with control system, autonomous control defecation is realized, to treat incontinence of faces.
Existing implantation biomimetic prosthetic anal sphincter prosthese in situ is often due to structure design limitation, carries out to rectum
Enteron aisle discontinuity when clamping action, be easy to cause intestinal tissue injury；During stool control mode, enteron aisle due to viscous-elastic behaviour,
It is easy to appear displacement, the problems such as there are security risks when clamping.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of Two axle drive closing clamping device, by double
Axis driving, clamping process make enteron aisle stress more evenly；Using closing tricyclic structure, during stool control mode, it is ensured that the phase of enteron aisle position
To fixation, it is effectively prevent the bring security risk that misplaces because of enteron aisle, improves the reliability of tricyclic self-clamping module.
The present invention is achieved by the following technical solutions:
The present invention includes: tricyclic self-clamping module, Two-shaft drive mechanism and the power device of enclosed construction, in which: power dress
It sets and is connected with Two-shaft drive mechanism, Two-shaft drive mechanism is connected with tricyclic self-clamping module.
The Two-shaft drive mechanism includes: upper backup pad, lower supporting plate, the first rotation axis, the second rotation axis and gear
Component, in which: gear assembly is set on upper backup pad and is connected with power device, the first rotation axis and the setting of the second rotation axis
It is connected between upper and lower support plate and respectively with tricyclic self-clamping module.
The gear assembly includes: driving gear, the first driven gear and the second driven gear, in which: first is driven
Gear is engaged with driving gear and the second driven gear respectively, and driving gear is connected with power device, the first driven gear and
One rotation axis is connected, and the second driven gear and the second rotation axis are connected.
Different height cylindrical projection structure is provided in first rotation axis and the second rotation axis.
The tricyclic self-clamping module includes: three motion arms being successively oppositely arranged from top to bottom, in which: each operation
Arm one end is fixedly connected, and the other end is connected with the first rotation axis or the second rotation axis to form enclosure space.
The motion arm includes: the driving lever and follower lever of flexible connection, in which: driving lever and the first rotation axis or
Two rotation axis are connected.
The power device includes: planetary reducer and motor, in which: planetary reducer is set to motor
Above and with gear assembly it is connected, planetary reducer is set on upper backup pad.
Technical effect
Compared with prior art, the present invention uses Two axle drive, and clamping process makes enteron aisle stress more evenly；Using closing three
Ring structure, during stool control mode, it is ensured that enteron aisle position is relatively fixed, effectively prevent the bring security risk that misplaces because of enteron aisle, mentions
The high reliability of tricyclic self-clamping module.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is present invention expansion and contraction state schematic diagram；
Fig. 3 is Two-shaft drive mechanism structural schematic diagram of the present invention；
Fig. 4 is powerplant configuration schematic diagram of the present invention；
In figure: tricyclic self-clamping module 1, Two-shaft drive mechanism 2, power device 3, upper backup pad 4,5, first turns of lower supporting plate
Moving axis 6, the second rotation axis 7, gear assembly 8, driving gear 9, the first driven gear 10, the second driven gear 11, upper motion arm
12, middle motion arm 13, lower motion arm 14, the first driving lever 15, the first follower lever 16, the second follower lever 17, the second driving lever 18,
Third follower lever 19, third driving lever 20, hinge 21, planetary reducer 22, motor 23, D type hole 24, cylindrical projection structure
25, tricyclic fixing axle 26.
Specific embodiment
As shown in Figure 1, for a kind of Two axle drive tricyclic self-clamping module that the present embodiment is related to, wherein including: tricyclic clamping
Module 1, Two-shaft drive mechanism 2 and power device 3, in which: the output shaft of power device 3 and the driving tooth of Two-shaft drive mechanism 2
Wheel 9 is connected, and Two-shaft drive mechanism 2 is connected with tricyclic self-clamping module 1.
The Two-shaft drive mechanism 2 includes: upper backup pad 4, lower supporting plate 5, the first rotation axis 6,7 and of the second rotation axis
Gear assembly 8, in which: gear assembly 8 is set on upper backup pad 4 and is connected with power device 3, the first rotation axis 6 and second
Rotation axis 7 is set between upper backup pad 4, lower supporting plate 5 by boss and is connected with gear assembly 8.
The gear assembly 8 includes: driving gear 9, the first driven gear 10 and the second driven gear 11, in which: main
Moving gear 9 is connected with planetary reducer 22 and engages transmission force and torque, the first driven tooth with the first driven gear 10
Wheel 10 is engaged with the second driven gear 11 and constant speed rotates backward, and the first driven gear 10 passes through D type hole 24 and the first rotation
Axis 7 is connected, and the second driven gear 11 is connected by D type hole 24 with the second rotation axis 7.
Different height cylindrical projection structure 25 is provided in first rotation axis 6 and the second rotation axis 7.
The tricyclic self-clamping module 1 include: the upper motion arm 12 being successively oppositely arranged from top to bottom, middle motion arm 13,
Lower motion arm 14, in which: upper, middle and lower motion arm one end is fixedly connected and free to rotate by tricyclic fixing axle 26, on
12, lower motion arm 14 is connected with the first rotation axis 6 respectively, and middle motion arm 13 is connected with the second rotation axis 7.
The upper motion arm 12 includes: the first driving lever 15 and the first follower lever 16 being flexibly connected by hinge 21,
Wherein: the first follower lever 16 is connected with the first rotation axis 6.
The middle motion arm 13 includes: the second driving lever 18 and the second follower lever 17 being flexibly connected by hinge 21,
Wherein: the second driving lever 18 is connected with the second rotation axis 7.
The lower motion arm 14 includes: the third driving lever 20 and third follower lever 19 being flexibly connected by hinge 21,
Wherein: third driving lever 20 is connected with the first rotation axis 6.
The power device 3 includes: planetary reducer 22 and motor 23, in which: planetary reducer 22 is set
It is placed on motor 23 and output shaft is connected with driving gear 9, planetary reducer 22 is set on upper backup pad 4.
Working principle: the output of motor is slowed down by planetary reducer and increases torque, driving driving tooth rotation
Dynamic, driving gear drives the second driven gear to rotate by engage with the first driven gear, thus power and torque are passed to and
The first, second rotation axis disposed in parallel of second driven gear connection, by driving the first, second rotation axis, to drive
The movement of tricyclic self-clamping module is closed, realize the expansion (defecation) of tricyclic self-clamping module and shrinks (stool control mode).
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (5)
1. a kind of Two axle drive closes clamping device characterized by comprising the tricyclic self-clamping module of enclosed construction, twin shaft drive
Motivation structure and power device, in which: power device is connected with Two-shaft drive mechanism, Two-shaft drive mechanism and tricyclic self-clamping module phase
Even；
The Two-shaft drive mechanism includes: upper backup pad, lower supporting plate, the first rotation axis, the second rotation axis and gear assembly,
Wherein: gear assembly is set on upper backup pad and is connected with power device, the first rotation axis and the second rotation axis be set to,
It is connected between lower supporting plate and with tricyclic self-clamping module；
The tricyclic self-clamping module includes: three motion arms being successively oppositely arranged from top to bottom, in which: each motion arm one
End is fixedly connected, and upper and lower motion arm is connected with the first rotation axis respectively, and middle motion arm is connected with the second rotation axis.
2. Two axle drive according to claim 1 closes clamping device, characterized in that the gear assembly includes: master
Moving gear, the first driven gear and the second driven gear, in which: the first driven gear respectively with driving gear and the second driven tooth
Wheel engagement, driving gear are connected with power device, and the first driven gear and the first rotation axis are connected, the second driven gear and second
Rotation axis is connected.
3. Two axle drive according to claim 1 closes clamping device, characterized in that first rotation axis and second
Different height cylindrical projection structure is provided in rotation axis.
4. Two axle drive according to claim 1 closes clamping device, characterized in that the motion arm includes: activity
The driving lever and follower lever of connection, in which: driving lever is connected with the first rotation axis or the second rotation axis.
5. Two axle drive according to claim 1 closes clamping device, characterized in that the power device includes: row
Star gear reduction unit and motor, in which: planetary reducer is set on motor and is connected with gear assembly, planetary gear reduction
Fast device is set on upper backup pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910248094.7A CN109875724B (en) | 2019-03-29 | 2019-03-29 | Double-shaft driving closed clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910248094.7A CN109875724B (en) | 2019-03-29 | 2019-03-29 | Double-shaft driving closed clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109875724A true CN109875724A (en) | 2019-06-14 |
| CN109875724B CN109875724B (en) | 2021-06-22 |
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ID=66935147
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910248094.7A Active CN109875724B (en) | 2019-03-29 | 2019-03-29 | Double-shaft driving closed clamping device |
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| Country | Link |
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| CN (1) | CN109875724B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112169171A (en) * | 2020-10-27 | 2021-01-05 | 上海交通大学 | Bionic anal sphincter system implanted in situ based on defecation function reconstruction |
| CN113262076A (en) * | 2021-05-14 | 2021-08-17 | 上海理工大学 | But artifical anal sphincter device of radial contraction formula of constant force centre gripping |
| CN113855347A (en) * | 2021-09-27 | 2021-12-31 | 上海理工大学 | Double-section type artificial anal sphincter device with constant force clamping |
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| CN104887169A (en) * | 2015-04-16 | 2015-09-09 | 上海交通大学 | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof |
| CN107928840A (en) * | 2017-12-05 | 2018-04-20 | 上海交通大学 | Implantation biomimetic prosthetic anal sphincter prosthese in situ with independent swing arm structure |
| CN108283482A (en) * | 2018-01-23 | 2018-07-17 | 上海交通大学 | Radial dilatation device for gastrointestinal tract microrobot |
| CN108814538A (en) * | 2018-04-10 | 2018-11-16 | 上海交通大学 | The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula |
| CN109223251A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | For imitating the precision speed reduction device of pubis artificial anal sphincter prosthese |
| CN109223252A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | Imitative pubis artificial anal sphincter prosthese power transmission and limiting device |
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2019
- 2019-03-29 CN CN201910248094.7A patent/CN109875724B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104887169A (en) * | 2015-04-16 | 2015-09-09 | 上海交通大学 | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof |
| CN107928840A (en) * | 2017-12-05 | 2018-04-20 | 上海交通大学 | Implantation biomimetic prosthetic anal sphincter prosthese in situ with independent swing arm structure |
| CN108283482A (en) * | 2018-01-23 | 2018-07-17 | 上海交通大学 | Radial dilatation device for gastrointestinal tract microrobot |
| CN108814538A (en) * | 2018-04-10 | 2018-11-16 | 上海交通大学 | The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula |
| CN109223251A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | For imitating the precision speed reduction device of pubis artificial anal sphincter prosthese |
| CN109223252A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | Imitative pubis artificial anal sphincter prosthese power transmission and limiting device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112169171A (en) * | 2020-10-27 | 2021-01-05 | 上海交通大学 | Bionic anal sphincter system implanted in situ based on defecation function reconstruction |
| CN113262076A (en) * | 2021-05-14 | 2021-08-17 | 上海理工大学 | But artifical anal sphincter device of radial contraction formula of constant force centre gripping |
| CN113262076B (en) * | 2021-05-14 | 2023-06-02 | 上海理工大学 | Radial contraction type artificial anal sphincter device capable of being clamped under constant force |
| CN113855347A (en) * | 2021-09-27 | 2021-12-31 | 上海理工大学 | Double-section type artificial anal sphincter device with constant force clamping |
| CN113855347B (en) * | 2021-09-27 | 2023-06-02 | 上海理工大学 | Dual-joint artificial anal sphincter device with constant force clamping function |
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| Publication number | Publication date |
|---|---|
| CN109875724B (en) | 2021-06-22 |
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