CN102028548A - Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot - Google Patents
Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot Download PDFInfo
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- CN102028548A CN102028548A CN2011100076115A CN201110007611A CN102028548A CN 102028548 A CN102028548 A CN 102028548A CN 2011100076115 A CN2011100076115 A CN 2011100076115A CN 201110007611 A CN201110007611 A CN 201110007611A CN 102028548 A CN102028548 A CN 102028548A
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- 210000000683 abdominal cavity Anatomy 0.000 title claims abstract description 18
- 238000002324 minimally invasive surgery Methods 0.000 title abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 210
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 159
- 239000010959 steel Substances 0.000 claims abstract description 159
- 230000005540 biological transmission Effects 0.000 claims abstract description 104
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 20
- 210000003797 carpal joint Anatomy 0.000 claims description 184
- 210000000707 wrist Anatomy 0.000 claims description 131
- 239000011324 bead Substances 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 27
- 239000000203 mixture Substances 0.000 claims description 17
- 238000006396 nitration reaction Methods 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 239000000758 substrate Substances 0.000 claims description 14
- 238000004804 winding Methods 0.000 claims description 4
- 241000218158 Clematis Species 0.000 claims description 2
- 230000003187 abdominal effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention discloses a clamp-type surgical instrument for an abdominal cavity minimally invasive surgery robot, relates to the clamp-type surgical instrument for the abdominal cavity minimally invasive surgery robot and aims to solve the problem of easy tensile failure of a steel wire which drives left fingers and right fingers due to failed compensation of residual movement of the left fingers and the right fingers during rotating of wrist joints because the steel wire is driven to rotate an operating pipe, the wrist joints, the left fingers and the right fingers by a motor driving wire wheel in the clamp-type surgical instrument for the conventional abdominal cavity minimally invasive surgery robot. The surgical instrument is connected with an interface base and drives an operating pipe transmission mechanism, a left finger transmission mechanism, a right finger transmission mechanism and a wrist joint transmission mechanism on the surgical instrument respectively through four driving mechanisms on the interface base; and the wrist joints, the left fingers and the right fingers on a tail end actuating mechanism are driven to move by a left finger front driving steel wire, a left finger back driving steel wire, a right finger front driving steel wire, a right finger back driving steel wire, a wrist joint front driving steel wire and a wrist joint back driving steel wire. The clamp-type surgical instrument is applied to abdominal cavity minimally invasive surgery.
Description
Technical field
The present invention relates to a kind of abdominal cavity micro-wound operation robot clamp-type operating theater instruments.
Background technology
Minimally Invasive Surgery is meant the operation of being undertaken by a MIN little otch on human body, one is also referred to as the insertion type operation, the auxiliary Minimally Invasive Surgery of robot is by means of various visual pattern equipment and advanced dexterous operating theater instruments, enters human body through too small otch and treats or diagnose.Number of patent application is 200910073301.6, publication number is CN 101732093A, open day be that the application for a patent for invention on June 16th, 2010 discloses a kind of " abdominal cavity micro-wound operation robot clamp-type operating theater instruments ", this patent application is by motor-driven line wheel and then drives that steel wire is realized operation pipe, carpal joint, a left side refers to and the right side refers to rotate, though this patent has increased the flexibility ratio of surgical action, satisfied micro-surgical instrument in many-sided requirements such as volume, function and chucking powers; But when carpal joint rotated, a left side referred to and the right unnecessary motion that refers to can not get compensation, caused driving a left side and referred to easily break with the right steel wire that refers to.
Summary of the invention
The objective of the invention is for to solve existing abdominal cavity micro-wound operation robot be by motor-driven line wheel with the clamp-type operating theater instruments and then drive that steel wire is realized operation pipe, carpal joint, a left side refers to and the right side refers to rotation, when carpal joint rotates, a left side refers to and the right unnecessary motion that refers to can not get compensation, cause driving the problem that a left side refers to and the right steel wire that refers to is easily broken, a kind of abdominal cavity micro-wound operation robot clamp-type operating theater instruments is provided.
The present invention includes surgical instruments and interface pedestal, the interface pedestal by the operating tube drive mechanism, the left refers to the drive mechanism, the right finger drive mechanism, drive mechanism and the wrist base shell composition, the base has a first front face of the housing mounting hole, the second mounting hole, the third mounting hole and a fourth mounting hole, the first mounting hole and the third mounting hole in the base body symmetrically with the vertical centerline, the second mounting hole and the fourth mounting hole in the base symmetrically with the vertical centerline of the housing, and the second mounting hole is located below the first mounting hole, the fourth mounting hole in the bottom of the third mounting hole, the base housing has a rear end surface of the fifth mounting hole, the first six mounting holes, the mounting holes seventh and eighth mounting hole, the ninth mounting holes, the mounting holes tenth, eleventh and twelfth mounting hole mounting hole, the fifth mounting hole center line to the center of the first mounting hole line of sight, the center line of the sixth mounting hole of the second mounting hole is on the center line of the seventh mounting hole center line of the third mounting hole center line of sight, the center line of the eighth and fourth mounting holes is on the centerline of the mounting hole, the ninth and eleventh mounting holes in the base case mounting holes symmetrically vertical centerline of the mounting holes in the fifth and seventh holes outside, tenth and twelfth mounting holes mounting holes in the vertical center line of the base housing symmetrically disposed on the sixth and eighth holes outer mounting hole, the operating tube drive mechanism, the left refers to the drive mechanism, the right finger drive mechanism and wrist drive mechanism are mounted on the base shell body, and the operation of the interface tube drive mechanism disposed in the first clutch plate mounting hole, the operating tube drive mechanism rotatably mounted on the driven pulley in the fifth mounting holes on the left refers to the drive mechanism provided in the clutch disc interfaces the second mounting hole, the left finger drive mechanism rotatably mounted on the driven pulley in the sixth mounting holes on the right refers to the drive mechanism provided in the third clutch disc interface to the mounting hole, the drive mechanism on the right refer to the driven pulley rotatably mounted in the mounting hole in the seventh, the wrist joint interface on the drive mechanism disposed on the fourth clutch plate mounting hole, the drive mechanism on the wrist rotation of the driven pulley mounted on the eighth mounting hole, the operator tube drive mechanism ninth pulley rotatably mounted on the mounting hole, the left finger drive mechanism rotatably mounted on a pulley mounting holes in the tenth, the right finger drive mechanism rotatably mounted on a pulley mounting hole in the eleventh, wrist joint drive mechanism rotatably mounted on a pulley mounting hole in the twelfth, the surgical instrument by the first guide means and second guide means, the end of the actuator, the operating rod drive mechanism, the left refers to the transmission mechanism, the right drive means body, wrist drive mechanism, a first connecting shaft, a second connecting shaft, and the third connecting shaft, a first connection gear, a second connection gear, a third connection gear, a first coupling wheel on the left, second left-side coupling wheel The first round of the right connection, the second round of the right connection, the left front drive means wire, steel wire left rear drive means, the right means the front drive wire, right-pointing rear drive wire, steel wrist front drive, rear drive wire wrist , floor, front bezel and wrist resellers composition, bottom end face of a transmission rear bearing mounting hole, left rear bearing means mounting holes, the right rear bearing means mounting holes, wrist rear bearing mounting hole, the first guide shaft rear mounting holes and the second guide shaft rear mounting holes, drive mounting holes with the right rear bearing means mounting holes to the rear bearing plate arranged symmetrically vertical centerline, the left rear bearing means mounting holes and wrist after mounting holes in the base plate bearing setting the vertical center line of symmetry, after the drive bearing mounting hole center line and the center line of the first mounting hole is on the left refers to the centerline of the rear bearing mounting hole centerline of the second mounting hole is on the right refer to the latter bearing mounting hole center line and the third mounting hole center line of sight, after wrist bearing mounting hole center line of the fourth mounting hole center line of sight, the front bezel front end surface of the drive bearing mounting hole, Left front bearing means mounting holes, the right front bearing means mounting holes, wrist front bearing mounting hole, the first guide shaft front mounting holes and the second guide shaft front mounting holes, drive front bearing mounting hole centerline of the rear bearing installation and transmission centerline of the hole is on the left refers to the centerline of the front bearing mounting holes and drive the centerline of the rear bearing mounting hole is on the right represents the centerline of the front bearing mounting holes with the right means the centerline of the rear bearing mounting hole is right, wrist front bearing mounting hole centerline wrist rear bearing mounting hole is on the centerline of the first guide shaft front mounting holes after the first guide shaft centerline and the centerline of the mounting holes are right, the second guide shaft center line of the front mounting holes after the second guide shaft is on the centerline of the mounting hole, the operating tube drive transmission mechanism disposed on the rear bearing bearing mounting hole after the drive, the operator tube on the drive transmission mechanism disposed on the drive front bearing mounting holes in the front bearing, the operator tube bearing on the drive mechanism being attached to the bottom of the front face plate, the drive mechanism on the left represents the left rear bearing means disposed on the left refer to the latter bearing mounting hole, the left refers to the transmission mechanism The left-pointing finger of the left front bearing set front bearing mounting hole on the right refers to the transmission right-pointing finger in the right rear bearing set rear bearing mounting hole on the right refers to the transmission right-pointing in the right front wheel to set the pre bearing mounting hole, the drive mechanism on the wrist wrist wrist rear bearing disposed on the rear bearing mounting hole, the drive mechanism on the wrist wrist wrist front bearing disposed on the front bearing mounting hole, the first guide mechanism The first guide shaft front and rear ends respectively of the first guide shaft front mounting holes and the first guide shaft rear mounting holes, the second guide means on the second guide shaft front and rear ends, respectively, disposed in the second guide shaft front mounting holes and the second guide shaft rear mounting holes in the drive mechanism on the left represents the left-pointing outer gear teeth of the first connection, the first connection gear is mounted on the first connecting shaft, one end of first connecting shaft fixed to the front face of the base plate, the second connection gear while the first connection gear transmission mechanism and wrist Sec engages a gear shaft, a second gear mounted on the second connector connected to the shaft, a second end fixed to the connecting shaft the front face of the base plate, while the third connection gear drive mechanism and the right represents the right-pointing teeth and the outer transmission mechanism wrist Sec engages a gear shaft, the third connection gear is mounted on the third connecting shaft, a third One end of the connecting shaft fixed to the front face of the base plate, the end of the actuator on the wrist wrist runner mounted on the wrist resell, resale arm drive mechanism provided in the operation of the two tube wrist ears between the plates, and the wrist mounted on both ends of resellers and their corresponding ear panel wrist, wrist runner left side of the face and its corresponding finger wrist ear plates were fitted from the inside to the outside The first and second round of the left connection to connect the left wheel, wheel right wrist means its corresponding side face ear plate between the wrist from the inside to the outside in order to connect with the first round and second right Connect the right wheel, left front drive means wire fixed at one end on the left refers to the transmission mechanism refers to steel tank front left, left front drive refers to the other end of the wire refers to wire slot counterclockwise around the front left out then counterclockwise around sequentially after the first guide wheel drive mechanism through the operation pipe casing, the operator tube and a second through hole, from the first round of the front right side of the bypass connection, from a first end of the right side of the actuator finger guide around the rear wheel, around the end of the actuator into the left ring finger of the left refers to the wire with the left finger groove and an annular bead groove fixed, the left rear drive means fixed at one end of the wire drive mechanism on the left refers to the rear left refers to the wire slot, the left rear drive refers to the other end of the wire from the rear left refers to the wire clockwise around the tank and then counterclockwise around the first guide mechanism on the rear wheels turn through the second guide sleeve, operating tube and operating tube actuator on the fifth hole, connecting from the first round of the left rear side of bypass, from the end of the first on the left side of the actuator finger around the front side of the guide wheel out around into the left end of the actuator refers to the left refers to the groove and an annular bead wire and the annular groove means a fixed left and right front drive means fixed to one end of the wire drive mechanism on the right represents the right represents the first wire slot, the right represents the other end of the wire front drive clockwise wire groove around the front of the right-pointing clockwise around the second guide mechanism and then a fourth guide wheel turn after passing through a cannula, the operator tube and the operator tube drive mechanism a first through hole connecting the second right bypassing the front wheel from the end of the second right on the actuator finger around the rear guide wheel, around the end of the actuator into the right ring finger of the right finger and right finger wire groove and an annular bead groove fixed, the right rear drive means fixed to one end of the wire drive mechanism in the right represents the right-pointing steel tank rear, and right rear drive means the other end of the wire from the rear right-pointing counterclockwise around the wire groove and then clockwise around the second a fifth guide mechanism in order after passing through a cannula guide wheel, operator tube and operate the drive mechanism a fourth pipe through holes connected to the second round of the rear left around, from the end of the second actuator on the left front side of the finger guide wheel around out around the end of the actuator into the right-pointing finger of the right ring finger and right wire groove and an annular bead groove fixed, wrist front drive wire fixed at one end wrist actuator the former steel tank wrist, wrist the other end of the wire before driving past the wrist clockwise around the wire slot guide mechanism and then clockwise around the first guide wheel on the third turn after passing through a cannula, the operating tube transmission mechanism and operating tube into the hole on the third through the end of the wrist on the actuator with an annular bead groove and groove fixed annular bead wrist, wrist rear drive wire fixed at one end on the transmission mechanism wrist wrist after steel tank, wrist after driving counterclockwise from the other end of the wire after wire groove around the wrist and then clockwise around the first guide means on the guide wheel after the sixth through the casing in order to operate pipes and pipe operation a sixth transmission through hole on the actuator into the end of the annular bead wrist wrist annular groove and the groove fixation wire, the operator tube in the operation of the drive mechanism the operation of the clutch disc pipe tube interface with the operator tube drive mechanism projections of the two interfaces with the installation, the drive mechanism in the left refers to the clutch disc on the left represents the left refers to the interface means and the left drive mechanism of the two interfaces with the mounting projections, the right-pointing to the right in transmission clutch plate means right refers to interface with the drive mechanism on the right represents the two interfaces convex fitting installation, transmission mechanism wrist wrist wrist clutch plate on the interface with the drive mechanism on the wrist raised two interfaces with the installation....
The invention has the beneficial effects as follows: one, the present invention utilizes a left side to refer to drive mechanism 5 and the right planet circular system that refers in the drive mechanism 6, refer to that a front wheel driving steel wire 23 and a left side refer to that rear drive steel wire 24 drives that a left side in the terminal actuator 3 refers to that 3-3 rotates and a compensation left side refers to that a front wheel driving steel wire 23 and a left side refer to that rear drive steel wire 24 31 rotates the tension that produces or loosens trend because of carpal joint 3-1 ships and resell on another market around wrist by a left side, refer to front wheel driving steel wire 25 and rightly refer to that rear drive steel wire 26 drives that the right side in the terminal actuator 3 refers to that 3-4 rotates and right front wheel driving steel wire 25 and the right rear drive steel wire 26 that refers to of referring to of compensation 31 rotates the tension that produces or loosen trend because of carpal joint 3-1 ships and resell on another market around wrist by the right side, thereby when having solved existing operating theater instruments carpal joint and having rotated, a left side refers to and the right unnecessary motion that refers to can not get compensation, drives the problem that a left side refers to and the right steel wire that refers to is easily broken.Advantages such as two, the present invention has accurate positioning, work space is big, flexibility ratio is high, processing ease, so the present invention is installed in and is applied to Minimally Invasive Surgery on the mechanical arm and can effectively improves operation quality and efficient, alleviates doctor's working strength.Three, the present invention also has characteristics such as little, the in light weight and rigidity height of volume.
Description of drawings
Fig. 1 is overall structure front view of the present invention (removing baffle plate 30); Fig. 2 is the A-A cutaway view of Fig. 1; Fig. 3 is the structural perspective of interface pedestal N; Fig. 4 is the rearview of interface pedestal N; Fig. 5 is the front view of base housing 18; Fig. 6 is the rearview of base housing 18; Fig. 7 is the B-B revolved sectional view of Fig. 4; Fig. 8 is the rearview of operating theater instruments M; Fig. 9 is the front view of base plate 29; Figure 10 is the front view of front apron 30; Figure 11 is the structural perspective of operation pipe drive mechanism 4; Figure 12 is annexation master's cutaway view of wire wheel axis 4-1 after the transmission, transmission front wheel 4-2, transmission fore bearing 4-3, transmission rear bearing 4-4 and operation pipe clutch discs 4-5; Figure 13 is the structural perspective of carpal joint connector 4-12; Figure 14 is the C-C cutaway view of Fig. 1; Figure 15 is the D-D cutaway view of Fig. 1; Figure 16 is that a left side refers to drive mechanism 5 or the right exploded perspective view that refers to drive mechanism 6; Figure 17 is the exploded perspective view of carpal joint drive mechanism 7; Figure 18 is the axonometric chart (from left finger direction) of terminal actuator 3; Figure 19 is the axonometric chart (from right finger direction) of terminal actuator 3; Figure 20 is the structural front view of carpal joint 3-1; Figure 21 is the E-E cutaway view of Figure 20; Figure 22 is that a left side refers to 3-3 or the right structural front view that refers to 3-4; Figure 23 is the G-G cutaway view of Figure 22; Figure 24 is the F-F cutaway view of Figure 22; Figure 25 is the I partial enlarged drawing of Figure 14; Figure 26 is the II partial enlarged drawing of Fig. 1.
The specific embodiment
Specifically first embodiment: Figure 15 with Figure 1, Figure 18, Figure 19, Figure 25 and Figure 26 illustrates the present embodiment, the present embodiment includes a surgical instrument interface pedestal M and N, the interface pedestal N-tube drive mechanism by the operating 14, the left finger drive means 15, means the right drive mechanism 16, the drive mechanism 17 and the wrist housing 18 composed of the base, the base housing 18 has a front end surface of the first mounting hole 18-1, the second mounting hole 18 - 2, the third mounting hole 18-3 and the fourth mounting holes 18-4, the first mounting hole and the third mounting hole 18-1 to 18-3 of the vertical center line of the base housing 18 is disposed symmetrically, the second mounting hole 18-2 to 18-4 and the fourth mounting holes of the vertical center line of the base housing 18 are symmetrically disposed, and the second mounting hole 18-2 is located below the first mounting hole 18-1, 18-4 fourth mounting holes 18-3 is located below the third mounting hole, the rear end face of the base housing 18 has a mounting hole 18-5 fifth, sixth mounting holes 18-6, 18-7 mounting holes seventh, eighth mounting hole 18 -8, the ninth mounting holes 18-9, 18-10 mounting hole tenth, eleventh and twelfth mounting holes Mounting holes 18-12 18-11, 18-5 Fifth mounting hole centerline and the first the center line of the mounting hole 18-1 is on, the sixth center line of the mounting hole 18-6 18-2 of the second mounting hole is on the center line of the seventh mounting hole 18-7 and the third mounting hole centerline 18-3 is on the centerline of the eighth centerline mounting holes 18-8 and 18-4 fourth mounting hole centerline is right, ninth and eleventh mounting holes mounting holes 18-9 to 18-11 the vertical centerline of the base housing 18 are symmetrically disposed in the fifth and seventh holes 18-5 18-7 outer mounting hole, the tenth and twelfth mounting holes 18-10 18-12 mounting holes in the base case 18 symmetrically disposed on the vertical center line of the sixth and eighth mounting hole 18-6 18-8 outer mounting holes, the operating tube drive mechanism 14, the left finger drive means 15, means the right drive mechanism 16 and wrist drive mechanism 17 are mounted on the base housing 18, and the operation tube drive mechanism 14 interfaces clutch disc disposed between the first mounting hole 14-6 18-1, the operator tube 14 on a drive mechanism rotatably mounted on the driven pulley 14-5 fifth mounting hole 18-5, the left drive mechanism 15 refers to the interface on the clutch disc 14-6 18-2 provided in the second mounting hole, the drive mechanism 15 on the left represents the rotation of the driven pulley mounted on the first 14-5 six mounting holes 18-6, the right drive mechanism 16 refers to the interface on the clutch disc 14-6 18-3 provided in the third mounting hole, the drive mechanism 16 on the right refer to the passive pulley rotatably mounted in the seventh 14-5 mounting holes 18-7, wrist interface on the drive mechanism 17 clutch plate mounting holes 14-6 18-4 in the fourth set, the drive mechanism 17 on the wrist of the passive pulley rotatably mounted in the eighth Installation 14-5 hole 18-8, the operator tube drive mechanism on the drive pulley 14 rotatably mounted on the ninth 14-3 18-9 mounting hole, the left refers to the drive mechanism of the drive pulley 15 rotatably mounted in the tenth installation 14-3 holes 18-10, the right finger drive mechanism 16 rotatably mounted drive pulley 14-3 mounting holes 18-11 in the eleventh, the wrist mechanism 17 on the drive pulley rotatably mounted in the tenth 14-3 18-12 in the second mounting hole, the surgical instrument by the first guide means M 1, the second guide means 2, the end of the actuator 3, the operating rod drive mechanism 4, the left represents the transmission mechanism 5, the right-pointing transmission mechanism 6, wrist joint drive mechanism 7, the first connecting shaft 8, the second connecting shaft 9, the third connection shaft 10, the first connecting gear 11, the second connection gear 12, a third connection gear 13, a first left coupling wheel 19, Connect two left wheels 20, round of 21 first right connection, connect a second round 22 on the right, the left refers to the front drive wire 23, the left rear drive refers to the wire 24, the right-pointing front drive wire 25, the right-pointing rear drive wire 26 , front drive wire 27 wrist, wrist rear drive wire 28, bottom 29, front bezel 30 and 31 resellers wrist composition, plate 29 has a gear after the end face of the bearing mounting hole 29-1, the left rear bearing means mounting holes 29-2 and right rear bearing means mounting holes 29-3, wrist rear bearing mounting hole 29-4, the first guide shaft rear mounting holes 29-5 and the second guide shaft rear mounting holes 29-6, after transmission bearing means mounting holes 29-1 and right rear bearing plate 29 mounting holes 29-3 to set the vertical center line of symmetry, the left rear bearing means mounting holes 29-2 and wrist rear bearing plate mounting holes 29-4 to 29 setting the vertical center line of symmetry, the drive of the rear bearing mounting hole 29-1 18-1 centerline of the first mounting hole is on the center line, the left refer to the latter the center line of the bearing holes 29-2 and the second mounting hole 18 -2 centerline is on the right rear bearing mounting hole 29-3 refers to the centerline of the mounting holes 18-3 and the third is on the centerline of the wrist 29-4 rear bearing mounting hole centerline and the fourth installation centerline hole 18-4 is right, the end surface of the front bezel 30 has a drive front bearing mounting hole 30-1, the left front bearing means mounting holes 30-2 and right front bearing mounting hole 30-3 finger, wrist front bearing mounting hole 30-4, the first guide shaft front mounting holes 30-5 and the second guide shaft front mounting holes 30-6, 30-1 transmission front bearing mounting hole centerline and transmission rear bearing mounting hole 29-1 The centerline is right, the left front bearing mounting hole 30-2 refers to the centerline of the rear bearing and drive mounting hole 29-1 is on the centerline of the right front bearing mounting hole 30-3 refers to the centerline of the right rear bearing means mounting hole 29-3 is on the centerline of the wrist front bearing mounting hole centerline 30-4 wrist rear bearing mounting hole 29-4 is on the centerline of the first guide shaft front mounting hole 30-5 After the first guide shaft centerline and the mounting hole is on the center line of 29-5, the second guide shaft centerline of front mounting holes 30-6 and the second guide shaft centerline of rear mounting holes 29-6 is on, the operation Tube drive transmission mechanism 4 is disposed on the rear bearing 4-4 after the drive bearing mounting hole 29-1, the operation pipe 4 is a drive transmission mechanism before the bearing 4-3 is set in the drive before the bearing mounting hole 30-1, the operation Tube drive mechanism 4 on the bottom surface of the bearing seat 4-13 29 fixedly mounted on the front surface of the base plate, the drive mechanism 5 on the left represents the left rear bearing means disposed on the left refer to the latter 5-3 bearing mounting hole 29-2, Left means the transmission mechanism 5 on the left refers to the set of the left front bearing 5-8 refers to the front bearing mounting hole 30-2, six on the right refers to the transmission of the right-pointing in the right rear bearing set 6-3 refers to the rear bearing mounting hole 29 -3, and right finger actuator 6 on the right-pointing in the right front wheel 6-6 refers to the front bearing mounting hole 30-3, wrist transmission mechanism 7 wrist on the rear bearing set 7-3 after wrist bearing mounting hole 29-4, wrist transmission mechanism 7 on the front bearing 7-7 wrist wrist set in front bearing mounting hole 30-4, the first guide means on a first guide shaft 1-1 front and rear ends, respectively, disposed on the first guide shaft front mounting holes 30-5 and the first guide shaft rear mounting holes 29-5, a second guide means on the second guide shaft 2 to the front and rear ends 2-1 Set on the second guide shaft front mounting holes 30-6 and the second guide shaft rear mounting holes 29-6, the left refers to the drive mechanism 5 on the left means connecting the outer teeth 5-4-1 gear 11 meshing with the first, the first a connecting gear 11 is mounted on the first connecting shaft 8, the first end of the connecting shaft 8 is fixed to the front face of the base plate 29, the second connecting gear 12 simultaneously with the first connection gear 11 and wrist gear transmission mechanism 7 Sec 7-1-2 engagement shaft, a second connection gear 12 is mounted on the second connecting shaft 9, and a second end connected to the shaft 9 fixed to the front face of the base plate 29, while the third connection gear 13 and the right drive means mechanism 6 on the right represents the external teeth 6-4-1 and wrist gear transmission mechanism 7 on the shaft engages Sec 7-1-2, and the third connection gear 13 is mounted on the third connecting shaft 10, the third connecting shaft One end 10 of the base plate 29 fixed to the front end surface of the actuator end of the wrist 3 3-1 3-1-1 wrist mounted on the arm reseller runner 31, and arm 31 is disposed reseller Operation Pipe transmission mechanism 4 on two ear plate 4-12-7 between wrist and arm mounted on the ends of resale 31 and its corresponding ear plate 4-12-7 on the wrist, wrist runner 3-1-1 refers to the left side of the face and its corresponding wrist between the lug plate 4-12-7 from the inside to the outside in order to connect with a first round 19 left coupling wheel 20 and the second on the left wrist joint runner 3-1-1 right side of the face and its corresponding finger wrist between the lug plate 4-12-7 sequentially from the inside to the outside of the right connection with the first round of 21 and the second round of the right connections 22, the left front drive means fixed to one end of the wire 23 in the left drive mechanism 5 refers to the front left represents the wire groove 5-6-1, the left front drive refers to the other end of the wire 23 represents the wire clockwise from the front left channel 5-6 -1 then counterclockwise around the guide rollers 1-3 after bypassing the first turn through the operation pipe casing on the transmission mechanism 4 4-10, 4-11 and the second operator tube through hole 4-12-2, the right connection from the first round of 21 to bypass the front side, from the end of the first actuator 3 on the right rear side of the finger guide wheel around 3-9 out around the inlet end of the actuator 3 on the left represents 3-3 The left-pointing annular bead and groove 3-3-3 with the left inner annular bead groove 3-3-3 fixing means, the left rear drive means fixed to one end of the wire 24 on the left represents the transmission mechanism 5 refers to the rear left wire grooves 5 -5-4, the left rear drive refers to the other end of the wire 24 clockwise from back left finger around the wire in the groove 5-5-4 then counterclockwise around the first guide means on a second guide wheel 1-5 After sequentially passing through a cannula 4-10, 4-11 and operation pipe operator tube drive mechanism 4 4-12-5 the fifth through holes, the left side from the first wheel 19 connected to the rear side is bypassed, from the end- institutions on the first three fingers left front side of the guide wheel around 3-6 out around the end of the actuator 3 into the left refers to 3-3 on the left represents the inner annular bead groove 3-3-3 and with the left ring wire-shaped groove 3-3-3 fixed, the right front drive means fixed to one end of the wire 25 in the right drive mechanism means 6 refers to the front right wire groove 6-6-1, the right front drive means 25 the other end of the wire clockwise former right-pointing around the wire in the groove 6-6-1 then clockwise around the second guide means two guide rollers 2-4 on the fourth turn after passing through a cannula 4-10, 4-11 and operator tube pipe operation a first transmission mechanism 4 4-12-1 through hole, the second wheel 22 connected to the front right side of the bypass, the actuator 3 from the end of the second right fingers around the rear side of the guide wheel 3-10 out, around the inlet end of the actuator 3 on the right represents the right-pointing 3-4 3-4-3 annular groove within the wire and the wire with the right ring finger groove 3-4-3 fixed, the right rear drive means 26 is one end of the wire fixed transmission mechanism 6 in the right finger on the right refers to the wire after the trough 6-5-2, the right rear drive means the other end of the wire 26 counterclockwise from the rear right-pointing around the wire groove 6-5-2 in clockwise around again 2 through the second guide means on the guide wheel of the fifth order, after passing through a cannula 2-5 4-10, 4-11 and the operation pipe operator tube drive mechanism 4 4-12-4 fourth through hole from the first two on the left rear wheel 20 is connected to bypass, from the end of the second actuator 3 on the left side of the finger guide wheels around the front side of a 3-7, around the inlet end of the actuator 3 on the right-pointing 3-4 R 3-4-3 represents the inner annular bead and groove to the right represents the fixed annular wire groove 3-4-3, wrist front drive wire 27 is fixed to the wrist end of the transmission mechanism 7 on the front wrist wire grooves 7-5 - 1-1, wrist before driving the other end of the wire 27 wrist clockwise past the wire around the groove 7-5-1-1 in clockwise around first and then on the third guide means a guide wheel 1-3 After successively through the casing 4-10, 4-11 and operation operator tube tube actuator 4 third hole on the end of the actuator 3 4-12-3 into the wrist in an annular bead groove 3-1-4 and with the annular bead groove 3-1-4 wrist fixed rear drive wrist end of the wire 28 fixed to the wrist after the transmission mechanism 7 7-4-1-1 wrist in the wire grooves, rear drive wire wrist 28 counterclockwise from the other end of the wire slot 7-4-1-1 after wrist again in a clockwise direction around the first guide mechanism to bypass a guide wheel on the sixth turn after passing through a cannula 4-10 1-6 operation and operating tube tube 4-11 transmission mechanism 4 4-12-6 on the sixth hole into the end of the actuator 3 on the wrist in an annular bead groove 3-1-4 with an annular bead wrist slot 3 - 1-4 fixed transmission operation pipe 4 in the operation pipe operation on the clutch disc 4-5 4-5-1 nipple tube drive mechanism 14 and the operation of the two interfaces with the installation projections 14-6-3, Left means the transmission mechanism 5 in the left refers to the clutch disc on the left represents the interface 5-2 5-2-1 with the left refers to the drive mechanism 15 on the two interfaces projections 14-6-3 with the installation, right-pointing transmission mechanism 6 The 6-2 clutch disc on the right represents the right-pointing interface to 6-2-1 with the right finger drive mechanism 16 on the two interfaces projections 14-6-3 with the installation, wrist transmission mechanism 7 wrist clutch 7-2 on the plate interface is 7-2-1 with wrist wrist driving mechanism 17 on the two interfaces projections 14-6-3 with the installation....
The specific embodiment two: in conjunction with Fig. 2 and Fig. 7, Fig. 1 and Fig. 2 illustrate present embodiment, the operation pipe driving mechanism 14 of present embodiment, a left side refers to driving mechanism 15, the right side refers to that driving mechanism 16 and carpal joint driving mechanism 17 are by motor 14-1, connector 14-2, driving pulley 14-3, be with 14-4 synchronously, passive belt wheel 14-5, interface clutch discs 14-6 and spring 14-7 form, interface clutch discs 14-6 is made up of disk 14-6-1 that makes one and passive belt wheel shaft 14-6-2 from front to back, the front end end face of disk 14-6-1 is provided with two interface projection 14-6-3, spring 14-7 and passive belt wheel 14-5 are installed on the passive belt wheel shaft 14-6-2 from the inside to the outside, passive belt wheel 14-5 is connected with driving pulley 14-3 by being with 14-4 synchronously, driving pulley 14-3 is installed on the outfan of connector 14-2, and the input of connector 14-2 is connected with the outfan of motor 14-1.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 1, Figure 11, Figure 12 and Figure 13 illustrate present embodiment, the operation pipe drive mechanism 4 of present embodiment is by wire wheel axis 4-1 after the transmission, transmission front wheel 4-2, transmission fore bearing 4-3, transmission rear bearing 4-4, operation pipe clutch discs 4-5, traction back steel wire 4-6, steel wire 4-7 before the traction, the first screw 4-8, the second screw 4-9, sleeve pipe 4-10, operation pipe 4-11, carpal joint connector 4-12, bearing block 4-13, two Casing bearing 4-14 and three operation pipe jackscrew 4-15 form, wire wheel axis 4-1 is from front to back successively by one section 4-1-1 of the wire wheel axis of making one after the transmission, wire wheel axis two-stage nitration 4-1-2, three sections 4-1-3 of wire wheel axis, five sections 4-1-5 of four sections 4-1-4 of wire wheel axis and wire wheel axis form, three sections 4-1-3 of wire wheel axis are line wheel after the transmission, the outer surface of line wheel is provided with rear haulage steel wire trough 4-1-3-1 after the transmission, transmission front wheel 4-2 is installed on the wire wheel axis two-stage nitration 4-1-2, and the external diameter that line is taken turns after the external diameter of transmission front wheel 4-2 and the transmission equates, the outer surface of transmission front wheel 4-2 is provided with front haulage steel wire trough 4-2-1, transmission fore bearing 4-3 is installed on one section 4-1-1 of wire wheel axis, transmission rear bearing 4-4 is installed on four sections 4-1-4 of wire wheel axis, operation pipe clutch discs 4-5 and five sections 4-1-5 of wire wheel axis are interference fit, the axle center hole of operation pipe clutch discs 4-5 and the cross section of five sections 4-1-5 of wire wheel axis are the D font, the end face of operation pipe clutch discs 4-5 is provided with and operates two operation interface tube 4-5-1 that interfaces projection 14-6-3 matches that manage on the driving mechanism 14, take turns on the outer surface of 4-2 in three uniform transmission fronts that are arranged on of operation pipe jackscrew 4-15, the effect of operation pipe jackscrew 4-15: behind steel wire 4-6 pretension after the traction on the wire wheel axis 4-1 after steel wire 4-7 and the transmission before the traction on the wheel 4-2 of transmission front, screw three operation pipe jackscrew 4-15 to wire wheel axis two-stage nitration 4-1-2, make transmission front wheel 4-2 be fixed to after the transmission on the wire wheel axis 4-1; The end of traction back steel wire 4-6 is wrapped among the rear haulage steel wire trough 4-1-3-1, the other end of traction back steel wire 4-6 is gone up and is tied up on the first screw 4-8 around sleeve pipe 4-10, the end of steel wire 4-7 is wrapped among the front haulage steel wire trough 4-2-1 before the traction, the other end of steel wire 4-7 is gone up and is tied up on the second screw 4-9 around sleeve pipe 4-10 before the traction, winding direction before drawing the winding direction of back steel wire 4-6 in rear haulage steel wire trough 4-1-3-1 and drawing among the steel wire 4-7 pro-traction steel wire groove 4-2-1 is opposite, traction back steel wire 4-6 is opposite around the direction on the sleeve pipe 4-10 with the preceding steel wire 4-7 of traction, the first screw 4-8 and the second screw 4-9 axially setting gradually along sleeve pipe 4-10, and the first screw 4-8 and the second screw 4-9 all are fastened on the sleeve pipe 4-10, the upper end of sleeve pipe 4-10 and the lower end interference fit of operating pipe 4-11, the lower end of carpal joint connector 4-12 and the upper end interference fit of operating pipe 4-11, the upper end of carpal joint connector 4-12 is arranged with two carpal joint otic placode 4-12-7, carpal joint connector 4-12 is provided with six through holes that communicate with operation pipe 4-11 inner chamber vertically, these six through holes are respectively the first through hole 4-12-1, the second through hole 4-12-2, third through-hole 4-12-3, fourth hole 4-12-4, fifth hole 4-12-5 and clematis stem hole 4-12-6, two Casing bearing 4-14 all are sleeved on the sleeve pipe 4-10, and bearing block 4-13 is sleeved on two Casing bearing 4-14.Other composition and annexation are identical with the specific embodiment one or two.
The rotation of operation pipe 4-11 in the operation pipe drive mechanism 4: the motor 14-1 on the start-up operation pipe driving mechanism 14, its output shaft is rotated counterclockwise, by the connector 14-2 on the operation pipe driving mechanism 14, driving pulley 14-3, band 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6 synchronously, rotate counterclockwise by wire wheel axis 4-1 and transmission front wheel 4-2 after the operation pipe clutch discs 4-5 drive transmission, steel wire 4-6 is tightened up after the traction among the rear haulage steel wire trough 4-1-3-1 after the transmission on the wire wheel axis 4-1, steel wire 4-7 is loosened before the traction among the front haulage steel wire trough 4-2-1 on the wheel 4-2 of transmission front, at this moment, the direction of overlooking from operation pipe drive mechanism 4, operation pipe 4-11 rotates counterclockwise, and rotates counterclockwise thereby drive terminal actuator 3; Motor 14-1 on the start-up operation pipe driving mechanism 14, its output shaft is turned clockwise, by the connector 14-2 on the operation pipe driving mechanism 14, driving pulley 14-3, band 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6 synchronously, clockwise rotate by wire wheel axis 4-1 and transmission front wheel 4-2 after the operation pipe clutch discs 4-5 drive transmission, steel wire 4-6 is loosened after the traction among the rear haulage steel wire trough 4-1-3-1 after the transmission on the wire wheel axis 4-1, steel wire 4-7 is tightened up before the traction among the front haulage steel wire trough 4-2-1 on the wheel 4-2 of transmission front, at this moment, the direction of overlooking from operation pipe drive mechanism 4, operation pipe 4-11 clockwise rotates, and clockwise rotates thereby drive terminal actuator 3.
The specific embodiment four: present embodiment is described in conjunction with Figure 14 and Figure 16, the left side of present embodiment refers to that drive mechanism 5 refers to axle 5-1 by a left side, a left side refers to clutch discs 5-2, a left side refers to rear bearing 5-3, a left side refers to sun gear 5-4, a left side refers to back runner 5-5, a left side refers to front wheel 5-6, left side finger stop circle 5-7, a left side refers to fore bearing 5-8, three left sides refer to that planetary gear 5-9 and three left sides refer to that jackscrew 5-10 forms, a left side refers to that axle 5-1 is from front to back successively by one section 5-1-1 of the left axle of making one, left side axle two-stage nitration 5-1-2, three sections 5-1-3 of left side axle, five sections 5-1-5 of a left side four sections 5-1-4 of axle and left axle form, the outer surface of left side axle two-stage nitration 5-1-2 is provided with revolver tooth 5-1-2-1, a left side refers to that back runner 5-5 refers to back line wheel 5-5-1 by a left side of making one, a left side refers to that flange 5-5-2 and three left sides refer to that planet wheel spindle 5-5-3 forms, a left side refers to that flange 5-5-2 is arranged on the front end face that a left side refers to back line wheel 5-5-1, three left sides refer to that the uniform left side that is arranged on of planet wheel spindle 5-5-3 refers to that afterwards line is taken turns on the rear end face of 5-5-1, a left side refers to back runner 5-5, a left side finger stop circle 5-7 and a left side refer to that fore bearing 5-8 is by back extremely preceding being installed in successively on one section 5-1-1 of left axle, and a left side refers to that flange 5-5-2 is positioned at front end, a left side refers to that front wheel 5-6 is sleeved on a left side and refers on the flange 5-5-2, and a left side refers to that the external diameter of front wheel 5-6 refers to that with a left side external diameter of back line wheel 5-5-1 equates, a left side refers to that sun gear 5-4 is installed on three sections 5-1-3 of left axle, a left side refers to that rear bearing 5-3 is installed on four sections 5-1-4 of left axle, a left side refers to that clutch discs 5-2 is installed on five sections 5-1-5 of left axle, and a left side refers to that clutch discs 5-2 and five sections 5-1-5 of left axle are interference fit, a left side refers to that the axle center hole of clutch discs 5-2 and the cross section of five sections 5-1-5 of left axle are the D font, a left side refers to that the end face of clutch discs 5-2 is provided with and left two left finger mouth 5-2-1 that interfaces projection 14-6-3 matches that refer on the driving mechanism 15, a left side refers to that the outer surface of sun gear 5-4 is provided with a left side and refers to external tooth 5-4-1, a left side refers to that the inner surface of sun gear 5-4 is provided with a left side and refers to internal tooth 5-4-2, a left side refers to that the outer surface of front wheel 5-6 is provided with a preceding left side and refers to steel wire trough 5-6-1, a left side refers to that the outer surface of back line wheel 5-5-1 is provided with a left side, back and refers to steel wire trough 5-5-4, three left sides refer to that planet wheel spindle 5-5-3 is arranged in the inner chamber that a left side refers to internal tooth 5-4-2, each left side refers to be equipped with on the planet wheel spindle 5-5-3 left side and refers to planetary gear 5-9, three left sides refer to that planetary gear 5-9 all refers to that with a left side internal tooth 5-4-2 is meshed, and three left sides refer to that jackscrew 5-10 is uniform and are arranged on the outer surface that a left side refers to front wheel 5-6.A left side refers to the effect of jackscrew 5-10: after a left side refers to that a front wheel 5-6 and a left side refer to that back line wheel 5-5-1 goes up the steel wire pretension, screw three left sides and refer to that jackscrew 5-10 refers on the flange 5-5-2 to a left side, make a left side refer to that front wheel 5-6 is fixed to a left side and refers to that the back line takes turns on the 5-5-1.Other composition and annexation are identical with the specific embodiment three.
The specific embodiment five: in conjunction with seeing that Figure 15 and Figure 16 illustrate present embodiment, the right side of present embodiment refers to that drive mechanism 6 refers to axle 6-1 by the right side, the right side refers to clutch discs 6-2, the right side refers to rear bearing 6-3, the right side refers to sun gear 6-4, the right side refers to back runner 6-5, the right side refers to front wheel 6-6, right finger stop circle 6-7, the right side refers to fore bearing 6-8, three right sides refer to that planetary gear 6-9 and three right sides refer to that jackscrew 6-10 forms, the right side refers to that axle 6-1 is from front to back successively by one section 6-1-1 of the right axle of making one, right axle two-stage nitration 6-1-2, three sections 6-1-3 of right axle, five sections 6-1-5 of right four sections 6-1-4 of axle and right axle form, the outer surface of right axle two-stage nitration 6-1-2 is provided with right gear teeth 6-1-2-1, the right side refers to that back runner 6-5 refers to back line wheel 6-5-1 by the right side of making one, the right side refers to that flange 6-5-2 and three right sides refer to that planet wheel spindle 6-5-3 forms, the right side refers to that flange 6-5-2 is arranged on the front end face that the right side refers to back line wheel 6-5-1, three right sides refer to that the uniform right side that is arranged on of planet wheel spindle 6-5-3 refers to that afterwards line is taken turns on the rear end face of 6-5-1, the right side refers to back runner 6-5, the right finger stop circle 6-7 and the right side refer to that fore bearing 6-8 is by back extremely preceding being installed in successively on one section 6-1-1 of right axle, and the right side refers to that flange 6-5-2 is positioned at front end, the right side refers to that front wheel 6-6 is sleeved on the right side and refers on the flange 6-5-2, and the right external diameter of front wheel 6-6 that refers to equates with the right external diameter of back line wheel 6-5-1 that refers to, the right side refers to that sun gear 6-4 is installed on three sections 6-1-3 of right axle, the right side refers to that rear bearing 6-3 is installed on four sections 6-1-4 of right axle, the right side refers to that clutch discs 6-2 is installed on five sections 6-1-5 of right axle, and the right side refers to that clutch discs 6-2 and five sections 6-1-5 of right axle are interference fit, the right side refers to that the axle center hole of clutch discs 6-2 and the cross section of five sections 6-1-5 of right axle are the D font, the right side refers to that the end face of clutch discs 6-2 is provided with and right two right finger mouth 6-2-1 that interface projection 14-6-3 matches that refer on the driving mechanism 16, the right side refers to that the outer surface of sun gear 6-4 is provided with the right side and refers to external tooth 6-4-1, the right side refers to that the inner surface of sun gear 6-4 is provided with the right side and refers to internal tooth 6-4-2, the right side refers to that the outer surface of front wheel 6-6 is provided with the preceding right side and refers to steel wire trough 6-6-1, the right side refers to that the outer surface of back line wheel 6-5-1 is provided with the right side, back and refers to steel wire trough 6-5-4, three right sides refer to that planet wheel spindle 6-5-3 is arranged in the inner chamber that the right side refers to internal tooth 6-4-2, each right side refers to be equipped with on the planet wheel spindle 6-5-3 right side and refers to planetary gear 6-9, three right sides refer to that planetary gear 6-9 all refers to that with the right side internal tooth 6-4-2 is meshed, and three right sides refer to that jackscrew 6-10 is uniform and are arranged on the outer surface that the right side refers to front wheel 6-6.The right side refers to the effect of jackscrew 6-10: after the right side refers to that the front wheel 6-6 and the right side refer to that back line wheel 6-5-1 goes up the steel wire pretension, screw three right sides and refer to that jackscrew 6-10 refers on the flange 6-5-2 to the right side, make the right side refer to that front wheel 6-6 is fixed to the right side and refers to that the back line takes turns on the 6-5-1.Other composition and annexation are identical with the specific embodiment four.
The specific embodiment six: present embodiment is described in conjunction with Figure 14 and Figure 17, the carpal joint drive mechanism 7 of present embodiment is by carpal joint gear shaft 7-1, carpal joint clutch discs 7-2, carpal joint rear bearing 7-3, runner 7-4 behind the carpal joint, runner 7-5 before the carpal joint, carpal joint back-up ring 7-6, carpal joint fore bearing 7-7, line wheel jackscrew 7-8 and three carpal joint front wheel jackscrew 7-9 form behind three carpal joint, carpal joint gear shaft 7-1 is from front to back successively by one section 7-1-1 of the gear shaft of making one, gear shaft two-stage nitration 7-1-2, four sections 7-1-4 of three sections 7-1-3 of gear shaft and gear shaft form, the cylindrical of gear shaft two-stage nitration 7-1-2 is provided with carpal joint gear 7-1-2-1, runner 7-4 is made up of line wheel 7-4-1 behind back runner flange 7-4-2 that makes one and the carpal joint from front to back successively behind the carpal joint, the axle center of runner 7-4 is provided with one section installing hole 7-4-3 of gear shaft behind the carpal joint, runner 7-5 is made up of preceding runner boss 7-5-2 that makes one and carpal joint front wheel 7-5-1 from front to back successively before the carpal joint, the axle center of runner 7-5 is provided with back runner flange installing hole 7-5-3 before the carpal joint, carpal joint rear bearing 7-3 is installed on three sections 7-1-3 of gear shaft, carpal joint clutch discs 7-2 is installed on four sections 7-1-4 of gear shaft, and between four sections 7-1-4 of the axle center hole of carpal joint clutch discs 7-2 and gear shaft is interference fit, the cross section of the axle center hole of carpal joint clutch discs 7-2 and four sections 7-1-4 of gear shaft is the D font, the end face of carpal joint clutch discs 7-2 is provided with the carpal joint interface 7-2-1 that match with two interfaces projection 14-6-3 on the carpal joint driving mechanism 17, runner 7-4 behind the carpal joint, carpal joint back-up ring 7-6 and carpal joint fore bearing 7-7 are by back extremely preceding being installed in successively on one section 7-1-1 of gear shaft, and the back runner flange 7-4-2 behind the carpal joint on the runner 7-4 is positioned at front end, runner 7-5 is installed on the runner flange 7-4-2 of back before the carpal joint, and the wheel 7-5-1 of the carpal joint front before the carpal joint on the runner 7-5 is positioned at the rear end, the external diameter that line is taken turns 7-4-1 behind the external diameter of carpal joint front wheel 7-5-1 and the carpal joint equates, line wheel 7-4-1 is provided with back carpal joint steel wire trough 7-4-1-1 behind the carpal joint, carpal joint steel wire trough 7-5-1-1 before carpal joint front wheel 7-5-1 is provided with, behind three carpal joint on the uniform outer surface that is arranged on line wheel 7-4-1 behind the carpal joint of line wheel jackscrew 7-8, three carpal joint fronts wheel jackscrew 7-9 are uniform to be arranged on the outer surface of carpal joint front wheel 7-5-1.The effect of line wheel jackscrew 7-8 behind three carpal joint: when after behind the steel wire pretension among the carpal joint steel wire trough 7-4-1-1, screw behind three carpal joint line wheel jackscrew 7-8 to one section 7-1-1 of gear shaft, make that line wheel 7-4-1 is fixed on the carpal joint gear shaft 7-1 behind the carpal joint; The effect of three carpal joint front wheel jackscrew 7-9: behind the steel wire pretension among the current carpal joint steel wire trough 7-5-1-1, screw three carpal joint fronts wheel jackscrew 7-9 to the runner flange 7-4-2 of back, make before the carpal joint runner 7-5 be fixed to behind the carpal joint on the runner 7-4.Other composition and annexation are identical with the specific embodiment five.
The specific embodiment seven: present embodiment is described in conjunction with Figure 18～Figure 24, the terminal actuator 3 of present embodiment is by carpal joint 3-1, finger mounted axle 3-2, a left side refers to 3-3, the right side refers to 3-4, a left side refers to axis of guide 3-5, first left side finger directive wheel 3-6, second left side finger directive wheel 3-7, the right side refers to axis of guide 3-8, first right side finger directive wheel 3-9 and second right side finger directive wheel 3-10 form, carpal joint 3-1 is by carpal joint runner 3-1-1, carpal joint substrate 3-1-2 and two finger otic placode 3-1-3 form, carpal joint runner 3-1-1 radially is provided with carpal joint ring like steel wire groove 3-1-4, carpal joint runner 3-1-1 is positioned at the below of carpal joint substrate 3-1-2, two finger otic placode 3-1-3 are positioned at the top of carpal joint substrate 3-1-2, and two finger otic placode 3-1-3 are symmetricly set on the both sides of carpal joint substrate 3-1-2, carpal joint runner 3-1-1, carpal joint substrate 3-1-2 and two finger otic placode 3-1-3 make one, a left side refers to that 3-3 refers to that by a left pawl 3-3-1 and a left side runner 3-3-2 forms, a left side refers to that runner 3-3-2 radially is provided with left finger ring shape steel wire trough 3-3-3, a left side refers to that runner 3-3-2 is arranged on the below of left pawl 3-3-1, a left side refers to that runner 3-3-2 and left pawl 3-3-1 make one, the right side refers to that 3-4 refers to that by the right pawl 3-4-1 and the right side runner 3-4-2 forms, the right side refers to that runner 3-4-2 radially is provided with right finger ring shape steel wire trough 3-4-3, the right side refers to that runner 3-4-2 is arranged on the below of right pawl 3-4-1, the right side refers to that runner 3-4-2 and right pawl 3-4-1 make one, a left side refers to that the 3-3 and the right side refer to that 3-4 is symmetrical arranged, and a left side refers to that the runner 3-3-2 and the right side refer to that runner 3-4-2 is installed on the finger mounted axle 3-2, finger mounted axle 3-2 is arranged between two finger otic placode 3-1-3, and the two ends of finger mounted axle 3-2 are installed on the finger otic placode 3-1-3 corresponding with it, a left side refers to that the left side that axis of guide 3-5 is vertically set on the carpal joint substrate 3-1-2 refers on the end face of 3-3 one side, first left side finger directive wheel 3-6 and second left side finger directive wheel 3-7 are installed in a left side from the inside to the outside successively and refer on the axis of guide 3-5, the right side refers to that the right side that axis of guide 3-8 is vertically set on the carpal joint substrate 3-1-2 refers on the end face of 3-4 one side, and first right side finger directive wheel 3-9 and second right side finger directive wheel 3-10 are installed in the right side from the inside to the outside successively and refer on the axis of guide 3-8.Other composition and annexation are identical with the specific embodiment six.
The specific embodiment eight: present embodiment is described in conjunction with Figure 25, first guiding mechanism 1 of present embodiment is made up of first axis of guide 1-1, major axis cover 1-2, the first directive wheel 1-3, short sleeve 1-4 and the second directive wheel 1-5, and the second directive wheel 1-5, short sleeve 1-4, the first directive wheel 1-3 and major axis cover 1-2 are by back extremely preceding being installed in successively on first axis of guide 1-1.Other composition and annexation are identical with the specific embodiment seven.
The specific embodiment nine: present embodiment is described in conjunction with Figure 25, second guiding mechanism 2 of present embodiment is made up of second axis of guide 2-1, bottom bracket axle 2-2, the 3rd directive wheel 2-3, the 4th directive wheel 2-4, the 5th directive wheel 2-5 and the 6th directive wheel 2-6, and the 6th directive wheel 2-6, the 5th directive wheel 2-5, the 4th directive wheel 2-4, the 3rd directive wheel 2-3 and bottom bracket axle 2-2 are by back extremely preceding being installed in successively on second axis of guide 2-1.Other composition and annexation are identical with the specific embodiment eight.
Operation principle of the present invention:
(1), left side in the terminal actuator 3 refers to that the thorny finger installation shaft of 3-3 3-2 realizes clockwise rotating: start the left motor 14-1 that refers on the driving mechanism 15, its output shaft is turned clockwise, refer to connector 14-2 on the driving mechanism 15 by a left side, driving pulley 14-3, band 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6 synchronously, refer to that by a left side clutch discs 5-2 drives a left side and refers to that axle 5-1 clockwise rotates, at this moment, a left side refers to that sun gear 5-4 does not rotate, three left sides refer to that planetary gear 5-9 all refers to that with a left side revolver tooth 5-1-2-1 on the axle 5-1 meshes, each left side refers to that planetary gear 5-9 refers to around a left side that when self axis is rotated counterclockwise the axis of axle 5-1 turns clockwise, drive a left side and refer to that a back runner 5-5 and a left side refer to that front wheel 5-6 turns clockwise, a left side refers to that the preceding left side on the wheel 5-6 of front refers to that the left side among the steel wire trough 5-6-1 refers to that front wheel driving steel wire 23 is tightened up, a left side refers to that the back left side on the runner 5-5 of back refers to that the left side among the steel wire trough 5-5-4 refers to that rear drive steel wire 24 is loosened, thereby realizes that a left side refers to that front wheel driving steel wire 23 drives a left side and refers to that the thorny finger installation shaft of 3-3 3-2 clockwise rotates.
(2), left side in the terminal actuator 3 refers to that the thorny finger installation shaft of 3-3 3-2 realizes rotating counterclockwise: start the left motor 14-1 that refers on the driving mechanism 15, its output shaft is rotated counterclockwise, refer to connector 14-2 on the driving mechanism 15 by a left side, driving pulley 14-3, band 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6 synchronously, refer to that by a left side clutch discs 5-2 drives a left side and refers to that axle 5-1 rotates counterclockwise, at this moment, a left side refers to that sun gear 5-4 does not rotate, three left sides refer to that planetary gear 5-9 all refers to that with a left side revolver tooth 5-1-2-1 on the axle 5-1 meshes, each left side refers to that planetary gear 5-9 refers to around a left side that when self axis turns clockwise the axis of axle 5-1 is rotated counterclockwise, drive a left side and refer to that a back runner 5-5 and a left side refer to that front wheel 5-6 is rotated counterclockwise, a left side refers to that the preceding left side on the wheel 5-6 of front refers to that the left side among the steel wire trough 5-6-1 refers to that front wheel driving steel wire 23 is loosened, a left side refers to that the back left side on the runner 5-5 of back refers to that the left side among the steel wire trough 5-5-4 refers to that rear drive steel wire 24 is tightened up, thereby realizes that a left side refers to that rear drive steel wire 24 drives a left side and refers to that the thorny finger installation shaft of 3-3 3-2 rotates counterclockwise.
(3), the right side in the terminal actuator 3 refers to that the thorny finger installation shaft of 3-4 3-2 realizes clockwise rotating: start the right motor 14-1 that refers on the driving mechanism 16, its output shaft is rotated counterclockwise, refer to connector 14-2 on the driving mechanism 16 by the right side, driving pulley 14-3, band 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6 synchronously, refer to that by the right side clutch discs 6-2 drives the right side and refers to that axle 6-1 rotates counterclockwise, at this moment, the right side refers to that sun gear 6-4 does not rotate, three right sides refer to that planetary gear 6-9 all refers to that with right right gear teeth 6-1-2-1 on the axle 6-1 meshes, each right side refers to that planetary gear 6-9 refers to around the right side that when self axis turns clockwise the axis of axle 6-1 is rotated counterclockwise, drive the right side and refer to that the back runner 6-5 and the right side refer to that front wheel 6-6 is rotated counterclockwise, the right side refers to that the preceding right side on the wheel 6-6 of front refers to that the right side among the steel wire trough 6-6-1 refers to that front wheel driving steel wire 25 is tightened up, the right side refers to that the back right side on the runner 6-5 of back refers to that the right side among the steel wire trough 6-5-4 refers to that rear drive steel wire 26 is loosened, thereby realizes that the right side refers to that front wheel driving steel wire 25 drives the right side and refers to that the thorny finger installation shaft of 3-4 3-2 clockwise rotates.
(4), the right side in the terminal actuator 3 refers to that the thorny finger installation shaft of 3-4 3-2 realizes rotating counterclockwise: start the right motor 14-1 that refers on the driving mechanism 16, its output shaft is turned clockwise, refer to connector 14-2 on the driving mechanism 16 by the right side, driving pulley 14-3, band 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6 synchronously, refer to that by the right side clutch discs 6-2 drives the right side and refers to that axle 6-1 clockwise rotates, at this moment, the right side refers to that sun gear 6-4 does not rotate, three right sides refer to that planetary gear 6-9 all refers to that with right right gear teeth 6-1-2-1 on the axle 6-1 meshes, each right side refers to that planetary gear 6-9 refers to around the right side that when self axis is rotated counterclockwise the axis of axle 6-1 turns clockwise, drive the right side and refer to that the back runner 6-5 and the right side refer to that front wheel 6-6 turns clockwise, the right side refers to that the preceding right side on the wheel 6-6 of front refers to that the right side among the steel wire trough 6-6-1 refers to that front wheel driving steel wire 25 is loosened, the right side refers to that the back right side on the runner 6-5 of back refers to that the right side among the steel wire trough 6-5-4 refers to that rear drive steel wire 26 is tightened up, thereby realizes that the right side refers to that rear drive steel wire 26 drives the right side and refers to that the thorny finger installation shaft of 3-4 3-2 rotates counterclockwise.
(5), carpal joint 3-1 in the terminal actuator 3 ships and resell on another market around wrist and 31 realizes rotating forward: start the motor 14-1 on the carpal joint driving mechanism 17, its output shaft is rotated counterclockwise, by the connector 14-2 on the carpal joint driving mechanism 17, driving pulley 14-3, band 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6 synchronously, driving carpal joint gear shaft 7-1 by carpal joint clutch discs 7-2 rotates counterclockwise, the preceding runner 7-5 of runner 7-4 and carpal joint is rotated counterclockwise behind the drive carpal joint, carpal joint front wheel driving steel wire 27 among the preceding carpal joint steel wire trough 7-5-1-1 before the carpal joint on the runner 7-5 is loosened, carpal joint rear drive steel wire 28 among the back carpal joint steel wire trough 7-4-1-1 behind the carpal joint on the runner 7-4 is loosened, thereby realizes that carpal joint front wheel driving steel wire 27 drives carpal joint 3-1 and ships and resell on another market around wrist and 31 rotate forward; When carpal joint gear shaft 7-1 rotates counterclockwise, a left side refers to that the front wheel driving steel wire 23 and the right side refer to that front wheel driving steel wire 25 has the trend of loosening, a left side refers to that the rear drive steel wire 24 and the right side refer to that rear drive steel wire 26 has tension trend, at this moment, the carpal joint gear 7-1-2-1 on the carpal joint gear shaft 7-1 is connected gear 11 drive left sides by the second connection gear 12 and refers to that sun gear 5-4 clockwise rotates with first; Carpal joint gear 7-1-2-1 on the carpal joint gear shaft 7-1 connects the gear 13 drive right sides by the 3rd and refers to that sun gear 6-4 rotates counterclockwise; At this moment, because a left side refers to that axle 5-1 does not rotate, three left sides refer to that planetary gear 5-9 all refers to that with a left side left side on the sun gear 5-4 refers to internal tooth 5-4-2 engagement, each left side refers to that planetary gear 5-9 refers to around a left side that when self axis turns clockwise the axis of axle 5-1 turns clockwise, drive a left side and refer to that a back runner 5-5 and a left side refer to that front wheel 5-6 turns clockwise, a left side refers to that the preceding left side on the wheel 5-6 of front refers to that the left side among the steel wire trough 5-6-1 refers to that front wheel driving steel wire 23 is in tension trend, a left side refers to that the back left side on the runner 5-5 of back refers to that a left side among the steel wire trough 5-5-4 refers to that rear drive steel wire 24 is in and loosens trend, at this moment, a left side refers to that front wheel driving steel wire 23 refers to that with a left side rear drive steel wire 24 is relative constant with the position of left finger ring shape steel wire trough 3-3-3, and a left side refers to that 3-3 does not rotate relative to installation shaft 3-2; Equally, because the right side refers to that axle 6-1 does not rotate yet, three right sides refer to that planetary gear 6-9 all refers to that with right the right side on the sun gear 6-4 refers to internal tooth 6-4-2 engagement, each right side refers to that planetary gear 6-9 refers to around the right side that when self axis is rotated counterclockwise the axis of axle 6-1 is rotated counterclockwise, drive the right side and refer to that the back runner 6-5 and the right side refer to that front wheel 6-6 is rotated counterclockwise, the right side refers to that the preceding right side on the wheel 6-6 of front refers to that the right side among the steel wire trough 6-6-1 refers to that front wheel driving steel wire 25 is in tension trend, the right side refers to that the back right side on the runner 6-5 of back refers to that the right side among the steel wire trough 6-5-4 refers to that rear drive steel wire 26 is in and loosens trend, at this moment, the right side refers to that front wheel driving steel wire 25 refers to that with right rear drive steel wire 26 is relative constant with the position of right finger ring shape steel wire trough 3-4-3, and the right side refers to that 3-4 does not rotate relative to installation shaft 3-2.
(6), carpal joint 3-1 in the terminal actuator 3 ships and resell on another market around wrist and 31 realizes rotating backward: start the motor 14-1 on the carpal joint driving mechanism 17, its output shaft is turned clockwise, by the connector 14-2 on the carpal joint driving mechanism 17, driving pulley 14-3, band 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6 synchronously, driving carpal joint gear shaft 7-1 by carpal joint clutch discs 7-2 clockwise rotates, the preceding runner 7-5 of runner 7-4 and carpal joint turns clockwise behind the drive carpal joint, carpal joint front wheel driving steel wire 27 among the preceding carpal joint steel wire trough 7-5-1-1 before the carpal joint on the runner 7-5 is loosened, carpal joint rear drive steel wire 28 among the back carpal joint steel wire trough 7-4-1-1 behind the carpal joint on the runner 7-4 is tightened up, thereby realizes that carpal joint rear drive steel wire 28 drives carpal joint 3-1 and ships and resell on another market around wrist and 31 rotate backward; When carpal joint gear shaft 7-1 clockwise rotates, a left side refers to that the front wheel driving steel wire 23 and the right side refer to that front wheel driving steel wire 25 has tension trend, a left side refers to that the rear drive steel wire 24 and the right side refer to that rear drive steel wire 26 has the trend of loosening, at this moment, the carpal joint gear 7-1-2-1 on the carpal joint gear shaft 7-1 is connected gear 11 drive left sides by the second connection gear 12 and refers to that sun gear 5-4 rotates counterclockwise with first; Carpal joint gear 7-1-2-1 on the carpal joint gear shaft 7-1 connects the gear 13 drive right sides by the 3rd and refers to that sun gear 6-4 clockwise rotates; At this moment, because a left side refers to that axle 5-1 does not rotate, three left sides refer to that planetary gear 5-9 all refers to that with a left side left side on the sun gear 5-4 refers to internal tooth 5-4-2 engagement, each left side refers to that planetary gear 5-9 refers to around a left side that when self axis is rotated counterclockwise the axis of axle 5-1 is rotated counterclockwise, drive a left side and refer to that a back runner 5-5 and a left side refer to that front wheel 5-6 is rotated counterclockwise, a left side refers to that the preceding left side on the front wheel 5-6 refers to that a left side among the steel wire trough 5-6-1 refers to that front wheel driving steel wire 23 is in and loosens trend, a left side refers to that the back left side on the runner 5-5 of back refers to that the left side among the steel wire trough 5-5-4 refers to that rear drive steel wire 24 is in tension trend, at this moment, a left side refers to that front wheel driving steel wire 23 refers to that with a left side rear drive steel wire 24 is relative constant with the position of left finger ring shape steel wire trough 3-3-3, and a left side refers to that 3-3 does not rotate relative to installation shaft 3-2; Equally, because the right side refers to that axle 6-1 does not rotate yet, three right sides refer to that planetary gear 6-9 all refers to that with right the right side on the sun gear 6-4 refers to internal tooth 6-4-2 engagement, each right side refers to that planetary gear 6-9 refers to around the right side that when self axis turns clockwise the axis of axle 6-1 turns clockwise, drive the right side and refer to that the back runner 6-5 and the right side refer to that front wheel 6-6 turns clockwise, the right side refers to that the preceding right side on the front wheel 6-6 refers to that the right side among the steel wire trough 6-6-1 refers to that front wheel driving steel wire 25 is in and loosens trend, the right side refers to that the back right side on the runner 6-5 of back refers to that the right side among the steel wire trough 6-5-4 refers to that rear drive steel wire 26 is in tension trend, at this moment, the right side refers to that front wheel driving steel wire 25 refers to that with right rear drive steel wire 26 is relative constant with the position of right finger ring shape steel wire trough 3-4-3, and the right side refers to that 3-4 does not rotate relative to installation shaft 3-2.
Claims (9)
- A method of minimally invasive abdominal surgical robot with a clamp-type surgical instruments, characterized in that: the manipulator comprises surgical instrument (M) and the interface base (N), the interface base (N) by the operating tube drive mechanism (14 ), the left finger drive means (15), the right finger drive means (16), the wrist joint drive mechanism (17) and the base housing (18), with the base housing (18) has a front end surface of the first mounting hole (18-1), the second mounting hole (18-2), the third mounting hole (18-3) and a fourth mounting hole (18-4), a first mounting hole (18-1) and the third mounting hole (18-3) to the base housing (18) symmetrically with the vertical centerline, the second mounting hole (18-2) and fourth mounting holes (18-4) in the base housing (18) of the vertical central line symmetrically arranged, and the second mounting hole (18-2) in the first mounting hole (18-1) below, the fourth mounting hole (18-4) in the third mounting hole (18-3) below, the base housing (18) has a rear end surface of the fifth mounting hole (18-5), the sixth mounting hole (18-6), the seventh mounting hole (18-7), the eighth mounting hole (18-8) , the ninth mounting hole (18-9), tenth mounting holes (18-10), eleventh mounting holes (18-11) and the twelfth mounting holes (18-12), the fifth mounting holes (18 - 5) the center line of the first mounting hole (18-1) is on the center line of the sixth mounting hole (18-6) and the second mounting hole centerline (18-2) is on the center line, the first seven mounting hole (18-7) and the third mounting hole centerline (18-3) is on the center line of the eighth mounting hole (18-8) of the center line of the fourth mounting hole (18-4) of is on the center line of the ninth mounting holes (18-9) and the eleventh mounting holes (18-11) to the base housing (18) symmetrically disposed on the vertical center line of the fifth mounting hole (18-5) and seventh mounting hole (18-7) outside of the tenth mounting holes (18-10) and the twelfth mounting holes (18-12) to the base housing (18) symmetrically disposed on the vertical center line of the sixth mounting hole (18-6) and the eighth mounting hole (18-8) outside of the operator tube drive mechanism (14), the left finger drive means (15), the right finger drive means (16) and wrist driving mechanism (17) are mounted on the base housing (18), and the operation tube drive mechanism (14) on the clutch disc interfaces (14-6) disposed between the first mounting hole (18-1), the operating tube drive mechanism (14) The driven pulley (14-5) rotatably mounted in the fifth mounting hole (18-5), the left finger drive means (15) on the clutch disc interfaces (14-6) provided on the second mounting hole (18-2 ), the left finger drive means (15) on the driven pulley (14-5) rotatably mounted in the sixth mounting hole (18-6), the right finger drive means (16) on the interface, the clutch disc (14-6 ) provided in the third mounting hole (18-3), the right finger drive means (16) on the driven pulley (14-5) rotatably mounted on the seventh mounting hole (18-7), the wrist joint drive mechanism ( 17) on the clutch disc interfaces (14-6) disposed on the fourth mounting hole (18-4), the wrist joint drive mechanism (17) on the driven pulley (14-5) rotatably mounted on the eighth mounting hole ( 18-8), the operating tube drive mechanism (14) on the drive pulley (14-3) rotatably mounted on the ninth mounting hole (18-9), the left finger drive means (15) on the drive pulley ( 14-3) rotatably mounted in the tenth mounting holes (18-10), the right finger drive means (16) on the drive pulley (14-3) rotatably mounted in the eleventh mounting holes (18-11), the Wrist joint drive mechanism (17) on the drive pulley (14-3) rotatably mounted in the twelfth mounting holes (18-12), said surgical instrument (M) by the first guide means (1), the second guide means (2), the end actuator (3), the operating rod drive mechanism (4), the left actuator means (5), the right actuator means (6), wrist drive mechanism (7), a first connecting shaft ( 8), a second connecting shaft (9), a third connecting shaft (10), a first connection gear (11), the second connecting gear (12), a third connection gear (13), first left-side coupling wheel ( 19), the second round of the left connection (20), first right connections round (21), second right coupling wheel (22), left, referring to the former drive wire (23), the left rear drive means wire (24) and right front drive means wire (25), the right-pointing rear drive wire (26), wrist front drive wire (27), wrist rear drive wire (28), bottom (29), the front bezel (30) and wrist Write-off unit (31), with base plate (29) of the rear end surface of the drive bearing mounting hole (29-1), the left rear bearing means mounting hole (29-2), and right refer to the latter bearing mounting hole (29-3 ), wrist rear bearing mounting hole (29-4), the first guide shaft rear mounting holes (29-5) and the second guide shaft rear mounting holes (29-6), transmission rear bearing mounting hole (29-1) and right refer to the latter bearing mounting hole (29-3) with base plate (29) symmetrically with the vertical centerline, the left refer to the latter bearing mounting hole (29-2) and the rear bearing wrist mounting hole (29-4) with plate (29) symmetrically with the vertical center line of the drive after the bearing mounting hole (29-1) of the centerline of the first mounting hole (18-1) is on the center line, the left refer to the latter bearing mounting hole (29-2 ) and the second mounting hole centerline (18-2) is on the center line, and right refer to the latter bearing mounting hole (29-3) and the third mounting hole centerline (18-3) of the center line of sight, After wrist bearing mounting hole (29-4) of the center line of the fourth mounting hole (18-4) is on the center line of the front baffle (30) of the front end surface of the drive bearing mounting hole (30-1 ), the left front bearing means mounting holes (30-2), the right-pointing front bearing mounting hole (30-3), wrist front bearing mounting hole (30-4), the first guide shaft front mounting holes (30-5) and a second guide shaft front mounting holes (30-6), transmission front bearing mounting hole (30-1) with the centerline of the transmission rear bearing mounting hole (29-1) is on the centerline, the left front bearing means mounting holes (30-2) with the centerline of the transmission rear bearing mounting hole (29-1) is on the centerline of the right front bearing means mounting holes (30-3) refers to the right of the center line of the rear bearing mounting hole (29-3 ) is on the centerline of the wrist front bearing mounting hole (30-4) with the center line of wrist rear bearing mounting hole (29-4) is on the centerline of the first guide shaft front mounting hole (30-5 ) with the center line of the first guide shaft rear mounting holes (29-5) is on the centerline of the second guide shaft front mounting holes (30-6) and the second guide shaft centerline of rear mounting holes (29-6 ) of the center line of sight, the operator tube drive mechanism (4) after the drive bearings (4-4) is provided in the drive after the bearing mounting hole (29-1), the operator tube drive mechanism (4) on the drive front bearing (4-3) disposed in the drive before the bearing mounting hole (30-1), the operator tube drive mechanism (4) on a bearing (4-13) mounted on the bottom surface of the solid plate (29) of the front face, left refers to the transmission mechanism (5) on the left represents the rear bearing (5-3) is set in the left rear bearing means mounting hole (29-2), the left refers to the transmission mechanism (5) on the left refers to the front bearing (5-8) Set in the left front bearing means mounting holes (30-2, right-pointing transmission mechanism (6 on the right-pointing rear bearing (6-3 refers to setting the right rear bearing mounting hole (29-3), a right-pointing transmission mechanism ( 6) on the right front wheel means (6-6) disposed on the right refers to the front bearing mounting hole (30-3), the wrist joint transmission mechanism (7) on the rear bearing wrist (7-3) disposed in the wrist After the bearing mounting hole (29-4), the wrist joint transmission mechanism (7) on the wrist front bearing (7-7) disposed in the wrist front bearing mounting hole (30-4), the first guide means (1 ) a first guide shaft (1-1) of the front and rear ends, respectively, disposed on the first guide shaft front mounting holes (30-5) and a first guide shaft rear mounting holes (29-5), the second guide institutions (2) on the second guide shaft (2-1) of the front and rear respectively disposed on the second guide shaft front mounting holes (30-6) and the second guide shaft rear mounting holes (29-6), the L represents the transmission mechanism (5) on the left represents the external teeth (5-4-1) and the first connection gear (11) engages, the first connection gear (11) mounted on the first connecting shaft (8), the first connecting shaft (8) fixed to one end of the base plate (29) of the front face, the second connecting gear (12) connected to both the first gear (11) and wrist drive mechanism (7) on the gear shaft Sec (7 -1-2) engages, a second connection gear (12) mounted on the second connecting shaft (9), and a second connecting shaft (9) fixed to one end of the base plate (29) of the front face, the third connection gear ( 13) while the drive mechanism and the right-pointing (6) external teeth on the right-pointing (6-4-1) and wrist drive mechanism (7) on the gear shaft Sec (7-1-2) engages the third connector the gear (13) mounted on the third connecting shaft (10), the third connecting shaft (10) fixed to one end of the base plate (29) of the front face, the end of the actuator (3) of the wrist joint (3-1) turning on the wrist (3-1-1) mounted on the arm reseller (31), the wrist reseller (31) provided on the operation tube drive mechanism (4) the two wrist ear plate (4 -12-7) between the arm and the reseller (31) mounted on both ends of the wrist corresponding ear panels (4-12-7), the wrist joint runner (3-1-1) to the left refers to the side of the face and its corresponding wrist ear plate (4-12-7) from the inside to the outside between the first left turn with coupling wheel (19) and the second on the left coupling wheel (20), wrist Runner (3-1-1) in the right side of the end surface means corresponding to the wrist with the lug plate (4-12-7) from the inside to the outside between the first right turn with the coupling wheel (21) and the second two on the right coupling wheel (22), the left front drive means wire (23) has one end fixed in the left finger actuator (5) refers to the wire on the front left slot (5-6-1), the left front drive means wire ( 23) The other end of the wire clockwise from the front left channel means (5-6-1) and then counterclockwise around the around the first guide pulley (1-3) successively after transmission through the operation pipe (4) of the cap pipe (4-10), the operator tube (4-11) and the second through hole (4-12-2), the right side from the first coupling wheel (21) around the front side, from the end actuator (3) a first guide on the right side of the finger wheel (3-9) around the rear side out around into the actuator end (3) on the left-pointing (3-3) in the left-pointing annular bead groove (3-3-3 ) and in cooperation with the left-pointing annular bead groove (3-3-3) is fixed, the left rear drive wire means (24) has one end fixed on the left represents the transmission mechanism (5) on the rear left represents the wire groove (5-5-4 ), the left rear drive wire means (24) clockwise to the other end of the wire from the rear left-pointing groove (5-5-4) and then counterclockwise around the around the first guide means (1) a second guide wheel (1-5) after sequentially passing through a cannula (4-10), the operator tube (4-11) and the operator tube drive mechanism (4) a fifth through hole (4-12-5), from the first left side of the coupling wheel (19) of the rear side of the bypass, from the end of the actuator (3) on the first left finger guide wheel (3-6) around the front side, around the inlet end of the actuator (3) on the left means (3-3) in the left-pointing annular bead groove (3-3-3) and in cooperation with the left-pointing annular bead groove (3-3-3) is fixed, the right front drive wire means (25) has one end fixed in the right transmission means (6) on the front right-pointing wire groove (6-6-1), the right front drive wire means (25) clockwise to the other end of the wire from the front right-pointing grooves (6-6-1) in the unrolled then clockwise around the second guide means (2) a fourth guide wheel (2-4) after sequentially passing through a cannula (4-10), the operator tube (4-11) and the operator tube drive mechanism (4) a first through hole (4-12-1), the right side from the second coupling wheel (22) around the front side, from the end of the actuator (3) the second right finger guide wheels (3-10 ) around the rear side, around the actuator into the end (3) on the right-pointing (3-4) in the right-pointing annular bead groove (3-4-3) and in cooperation with the right-pointing annular bead groove (3-4 -3) fixed, the right rear drive wire means (26) has one end fixed on the right represents the transmission mechanism (6) on the rear right, the wire groove means (6-5-2), the right rear drive wire means (26) on the other clockwise from the rear end of the right-pointing wire groove (6-5-2) and then clockwise around the around the second guide means (2) a fifth guide wheel (2-5), after sequentially passing through a cannula (4 -10), the operator tube (4-11) and the operator tube drive mechanism (4) the fourth through-hole (4-12-4), the left side from the second coupling wheel (20) around the rear side, from end of the actuator (3) on the left side of the finger to the second guide wheel (3-7) around the front side, around the actuator into the end (3) on the right-pointing (3-4) in the right-pointing annular bead groove (3-4-3) and in cooperation with the right-pointing annular bead groove (3-4-3) is fixed, the wrist front drive wire (27) fixed to the wrist end of the drive mechanism (7) of the first wrist wire slot ( 7-5-1-1), the wrist front drive wire (27) clockwise to the other end of the wire wrist front groove (7-5-1-1) and then clockwise around the around the first guide means ( 1) a third guide wheel (1-3), after sequentially passing through a cannula (4-10), the operator tube (4-11) and the operator tube drive mechanism (4) the third through-hole (4-12 -3) into the end of the actuator (3) on the wrist annular bead groove (3-1-4) and with the wrist in an annular bead groove (3-1-4) fixed wrist rear drive wire (28) of the end fixed to the wrist drive mechanism (7) on the wrist, after the wire groove (7-4-1-1), the wrist rear drive wire (28) counter-clockwise from the other end of the wire after the wrist groove (7 - 4-1-1) and then clockwise around the around the first guide means (1) a sixth guide rollers (1-6), after sequentially passing through a cannula (4-10), the operator tube (4-11 ) and the operator tube drive mechanism (4) the sixth through hole (4-12-6) into the end of the actuator (3) an annular bead on the wrist groove (3-1-4) and associated with the annular bead wrist groove (3-1-4) is fixed, the operator tube drive mechanism (4) of the operator tube clutch disc (4-5) on the operation pipe interface (4-5-1) and the operator tube drive mechanism (14) on the two interfaces projections (14-6-3) with the installation, left finger drive mechanism (5) in the left finger clutch disc (5-2) on the left represents the interface (5-2-1) with the left refers to the drive mechanism (15) the two interfaces projections (14-6-3) with the installation, the right actuator means (6) refers to the right in the clutch plate (6-2) on the right of an interface (6-2-1) and right finger drive mechanism (16) on the two interfaces projections (14-6-3) with the installation, wrist drive mechanism (7) of the wrist clutch disc (7-2) connected to the wrist joint (7 -2-1) and the wrist joint drive mechanism (17) on the two interfaces projections (14-6-3) with the installation....
- 2. according to the described abdominal cavity of claim 1 micro-wound operation robot clamp-type operating theater instruments, it is characterized in that: described operation pipe driving mechanism (14), a left side refers to driving mechanism (15), the right side refers to that driving mechanism (16) and carpal joint driving mechanism (17) are by motor (14-1), connector (14-2), driving pulley (14-3), be with synchronously (14-4), passive belt wheel (14-5), interface clutch discs (14-6) and spring (14-7) are formed, interface clutch discs (14-6) is made up of the disk of making one (14-6-1) and passive belt wheel shaft (14-6-2) from front to back, the front end end face of disk (14-6-1) is provided with two interface projectioies (14-6-3), spring (14-7) and passive belt wheel (14-5) are installed on the passive belt wheel shaft (14-6-2) from the inside to the outside, passive belt wheel (14-5) is connected with driving pulley (14-3) by being with (14-4) synchronously, driving pulley (14-3) is installed on the outfan of connector (14-2), and the input of connector (14-2) is connected with the outfan of motor (14-1).
- 3. according to the described abdominal cavity of claim 1 micro-wound operation robot clamp-type operating theater instruments, it is characterized in that: described operation pipe drive mechanism (4) is by wire wheel axis after the transmission (4-1), transmission front wheel (4-2), transmission fore bearing (4-3), transmission rear bearing (4-4), operation pipe clutch discs (4-5), traction back steel wire (4-6), steel wire (4-7) before the traction, first screw (4-8), second screw (4-9), sleeve pipe (4-10), operation pipe (4-11), carpal joint connector (4-12), bearing block (4-13), two Casing bearings (4-14) and three operation pipe jackscrews (4-15) are formed, wire wheel axis after the transmission (4-1) is from front to back successively by one section of the wire wheel axis of making one (4-1-1), wire wheel axis two-stage nitration (4-1-2), three sections of wire wheel axis (4-1-3), wire wheel axis four sections (4-1-4) and five sections (4-1-5) compositions of wire wheel axis, wire wheel axis three sections (4-1-3) is line wheel after the transmission, the outer surface of line wheel is provided with rear haulage steel wire trough (4-1-3-1) after the transmission, transmission front wheel (4-2) is installed on the wire wheel axis two-stage nitration (4-1-2), and the external diameter that line is taken turns after the external diameter of transmission front wheel (4-2) and the transmission equates, the outer surface of transmission front wheel (4-2) is provided with front haulage steel wire trough (4-2-1), transmission fore bearing (4-3) is installed on the wire wheel axis one section (4-1-1), transmission rear bearing (4-4) is installed on the wire wheel axis four sections (4-1-4), operation pipe clutch discs (4-5) is an interference fit with wire wheel axis five sections (4-1-5), the axle center hole of operation pipe clutch discs (4-5) and the cross section of wire wheel axis five sections (4-1-5) are the D font, the end face of operation pipe clutch discs (4-5) be provided with operate pipe driving mechanism (14) on the operation interface tube (4-5-1) that matches of two interface projectioies (14-6-3), take turns on the outer surface of (4-2) in the uniform transmission front that is arranged on of three operation pipe jackscrews (4-15), one end of traction back steel wire (4-6) is wrapped in the rear haulage steel wire trough (4-1-3-1), the other end of traction back steel wire (4-6) is gone up and is tied up on first screw (4-8) around sleeve pipe (4-10), an end of steel wire (4-7) is wrapped in the front haulage steel wire trough (4-2-1) before the traction, the other end of steel wire (4-7) is gone up and is tied up on second screw (4-9) around sleeve pipe (4-10) before the traction, winding direction before drawing the winding direction of back steel wire (4-6) in rear haulage steel wire trough (4-1-3-1) and drawing in steel wire (4-7) the pro-traction steel wire groove (4-2-1) is opposite, traction back steel wire (4-6) is opposite around the direction on the sleeve pipe (4-10) with the preceding steel wire (4-7) of traction, first screw (4-8) and second screw (4-9) axially setting gradually along sleeve pipe (4-10), and first screw (4-8) and second screw (4-9) all are fastened on the sleeve pipe (4-10), the upper end of sleeve pipe (4-10) and the lower end interference fit of operating pipe (4-11), the lower end of carpal joint connector (4-12) and the upper end interference fit of operating pipe (4-11), the upper end of carpal joint connector (4-12) is arranged with two carpal joint otic placodes (4-12-7), carpal joint connector (4-12) is provided with six through holes that communicate with operation pipe (4-11) inner chamber vertically, these six through holes are respectively first through hole (4-12-1), second through hole (4-12-2), third through-hole (4-12-3), fourth hole (4-12-4), fifth hole (4-12-5) and clematis stem hole (4-12-6), two Casing bearings (4-14) all are sleeved on the sleeve pipe (4-10), and bearing block (4-13) is sleeved on two Casing bearings (4-14).
- 4. according to the described abdominal cavity of claim 1 micro-wound operation robot clamp-type operating theater instruments, it is characterized in that: a described left side refers to that drive mechanism (5) refers to axle (5-1) by a left side, a left side refers to clutch discs (5-2), a left side refers to rear bearing (5-3), a left side refers to sun gear (5-4), a left side refers to back runner (5-5), a left side refers to front wheel (5-6), left side finger stop circle (5-7), a left side refers to fore bearing (5-8), three left sides refer to that planetary gear (5-9) and three left sides refer to jackscrew (5-10) composition, a left side refers to that axle (5-1) is from front to back successively by one section of the left axle of making one (5-1-1), left side axle two-stage nitration (5-1-2), a left side three sections of axles (5-1-3), a left side four sections (5-1-4) of axle and left axle five sections (5-1-5) are formed, the outer surface of left side axle two-stage nitration (5-1-2) is provided with revolver tooth (5-1-2-1), a left side refers to that back runner (5-5) refers to back line wheel (5-5-1) by a left side of making one, a left side refers to that flange (5-5-2) and three left sides refer to planet wheel spindle (5-5-3) composition, a left side refers to that flange (5-5-2) is arranged on the front end face that a left side refers to back line wheel (5-5-1), three left sides refer to that the uniform left side that is arranged on of planet wheel spindle (5-5-3) refers to that afterwards line is taken turns on the rear end face of (5-5-1), a left side refers to back runner (5-5), a left side finger stop circle (5-7) and a left side refer to that fore bearing (5-8) is installed on the left axle one section (5-1-1) successively by the back is extremely preceding, and a left side refers to that flange (5-5-2) is positioned at front end, a left side refers to that front wheel (5-6) is sleeved on a left side and refers on the flange (5-5-2), and a left side refers to that the external diameter of front wheel (5-6) refers to that with a left side external diameter of back line wheel (5-5-1) equates, a left side refers to that sun gear (5-4) is installed on the left axle three sections (5-1-3), a left side refers to that rear bearing (5-3) is installed on the left axle four sections (5-1-4), a left side refers to that clutch discs (5-2) is installed on the left axle five sections (5-1-5), and a left side refers to that clutch discs (5-2) and left axle five sections (5-1-5) are interference fit, a left side refers to that the axle center hole of clutch discs (5-2) and the cross section of left axle five sections (5-1-5) are the D font, a left side refers to that the end face of clutch discs (5-2) is provided with a left side and refers to the left finger mouth (5-2-1) that two the interface projectioies (14-6-3) on the driving mechanism (15) match, a left side refers to that the outer surface of sun gear (5-4) is provided with a left side and refers to external tooth (5-4-1), a left side refers to that the inner surface of sun gear (5-4) is provided with a left side and refers to internal tooth (5-4-2), a left side refers to that the outer surface of front wheel (5-6) is provided with a preceding left side and refers to steel wire trough (5-6-1), a left side refers to that the outer surface of back line wheel (5-5-1) is provided with a left side, back and refers to steel wire trough (5-5-4), three left sides refer to that planet wheel spindle (5-5-3) is arranged in the inner chamber that a left side refers to internal tooth (5-4-2), each left side refers to be equipped with on the planet wheel spindle (5-5-3) left side and refers to planetary gear (5-9), three left sides refer to that planetary gear (5-9) all refers to that with a left side internal tooth (5-4-2) is meshed, and three left sides refer to that jackscrew (5-10) is uniform and are arranged on the outer surface that a left side refers to front wheel (5-6).
- 5. according to the described abdominal cavity of claim 1 micro-wound operation robot clamp-type operating theater instruments, it is characterized in that: the described right side refers to that drive mechanism (6) refers to axle (6-1) by the right side, the right side refers to clutch discs (6-2), the right side refers to rear bearing (6-3), the right side refers to sun gear (6-4), the right side refers to back runner (6-5), the right side refers to front wheel (6-6), right finger stop circle (6-7), the right side refers to fore bearing (6-8), three right sides refer to that planetary gear (6-9) and three right sides refer to jackscrew (6-10) composition, the right side refers to that axle (6-1) is from front to back successively by one section of the right axle of making one (6-1-1), right axle two-stage nitration (6-1-2), right three sections of axles (6-1-3), right four sections (6-1-4) of axle and right axle five sections (6-1-5) are formed, the outer surface of right axle two-stage nitration (6-1-2) is provided with the right gear teeth (6-1-2-1), the right side refers to that back runner (6-5) refers to back line wheel (6-5-1) by the right side of making one, the right side refers to that flange (6-5-2) and three right sides refer to planet wheel spindle (6-5-3) composition, the right side refers to that flange (6-5-2) is arranged on the front end face that the right side refers to back line wheel (6-5-1), three right sides refer to that the uniform right side that is arranged on of planet wheel spindle (6-5-3) refers to that afterwards line is taken turns on the rear end face of (6-5-1), the right side refers to back runner (6-5), the right finger stop circle (6-7) and the right side refer to that fore bearing (6-8) is installed on the right axle one section (6-1-1) successively by the back is extremely preceding, and the right side refers to that flange (6-5-2) is positioned at front end, the right side refers to that front wheel (6-6) is sleeved on the right side and refers on the flange (6-5-2), and the right side refers to that the external diameter of front wheel (6-6) refers to that with the right side external diameter of back line wheel (6-5-1) equates, the right side refers to that sun gear (6-4) is installed on the right axle three sections (6-1-3), the right side refers to that rear bearing (6-3) is installed on the right axle four sections (6-1-4), the right side refers to that clutch discs (6-2) is installed on the right axle five sections (6-1-5), and the right side refers to that clutch discs (6-2) and right axle five sections (6-1-5) are interference fit, the right side refers to that the axle center hole of clutch discs (6-2) and the cross section of right axle five sections (6-1-5) are the D font, the right side refers to that the end face of clutch discs (6-2) is provided with the right side and refers to the right finger mouth (6-2-1) that two the interface projectioies (14-6-3) on the driving mechanism (16) match, the right side refers to that the outer surface of sun gear (6-4) is provided with the right side and refers to external tooth (6-4-1), the right side refers to that the inner surface of sun gear (6-4) is provided with the right side and refers to internal tooth (6-4-2), the right side refers to that the outer surface of front wheel (6-6) is provided with the preceding right side and refers to steel wire trough (6-6-1), the right side refers to that the outer surface of back line wheel (6-5-1) is provided with the right side, back and refers to steel wire trough (6-5-4), three right sides refer to that planet wheel spindle (6-5-3) is arranged in the inner chamber that the right side refers to internal tooth (6-4-2), each right side refers to be equipped with on the planet wheel spindle (6-5-3) right side and refers to planetary gear (6-9), three right sides refer to that planetary gear (6-9) all refers to that with the right side internal tooth (6-4-2) is meshed, and three right sides refer to that jackscrew (6-10) is uniform and are arranged on the outer surface that the right side refers to front wheel (6-6).
- 6. according to the described abdominal cavity of claim 1 micro-wound operation robot clamp-type operating theater instruments, it is characterized in that: described carpal joint drive mechanism (7) is by carpal joint gear shaft (7-1), carpal joint clutch discs (7-2), carpal joint rear bearing (7-3), runner behind the carpal joint (7-4), runner (7-5) before the carpal joint, carpal joint back-up ring (7-6), carpal joint fore bearing (7-7), line wheel jackscrew (7-8) and three carpal joint front wheel jackscrews (7-9) are formed behind three carpal joint, carpal joint gear shaft (7-1) is from front to back successively by one section of the gear shaft of making one (7-1-1), gear shaft two-stage nitration (7-1-2), gear shaft three sections (7-1-3) and four sections (7-1-4) compositions of gear shaft, the cylindrical of gear shaft two-stage nitration (7-1-2) is provided with carpal joint gear (7-1-2-1), runner behind the carpal joint (7-4) is made up of line wheel (7-4-1) behind the back runner flange (7-4-2) of making one and the carpal joint from front to back successively, the axle center of runner behind the carpal joint (7-4) is provided with one section installing hole of gear shaft (7-4-3), runner (7-5) is made up of the preceding runner boss (7-5-2) of making one and carpal joint front wheel (7-5-1) from front to back successively before the carpal joint, the axle center of runner (7-5) is provided with back runner flange installing hole (7-5-3) before the carpal joint, carpal joint rear bearing (7-3) is installed on the gear shaft three sections (7-1-3), carpal joint clutch discs (7-2) is installed on the gear shaft four sections (7-1-4), and between the axle center hole of carpal joint clutch discs (7-2) and the gear shaft four sections (7-1-4) is interference fit, the cross section of the axle center hole of carpal joint clutch discs (7-2) and gear shaft four sections (7-1-4) is the D font, the end face of carpal joint clutch discs (7-2) is provided with the carpal joint interface (7-2-1) that matches with two interface projectioies (14-6-3) on the carpal joint driving mechanism (17), runner behind the carpal joint (7-4), carpal joint back-up ring (7-6) and carpal joint fore bearing (7-7) are installed on the gear shaft one section (7-1-1) to preceding successively by the back, and the back runner flange (7-4-2) on the runner behind the carpal joint (7-4) is positioned at front end, runner (7-5) is installed on the back runner flange (7-4-2) before the carpal joint, and the wheel of the carpal joint front before the carpal joint on the runner (7-5) (7-5-1) is positioned at the rear end, the external diameter that line is taken turns (7-4-1) behind the external diameter of carpal joint front wheel (7-5-1) and the carpal joint equates, line wheel (7-4-1) is provided with back carpal joint steel wire trough (7-4-1-1) behind the carpal joint, carpal joint steel wire trough (7-5-1-1) before carpal joint front wheel (7-5-1) is provided with, behind three carpal joint on the uniform outer surface that is arranged on line wheel (7-4-1) behind the carpal joint of line wheel jackscrew (7-8), three carpal joint fronts wheel jackscrews (7-9) are uniform to be arranged on the outer surface of carpal joint front wheel (7-5-1).
- 7. according to the described abdominal cavity of claim 1 micro-wound operation robot clamp-type operating theater instruments, it is characterized in that: described terminal actuator (3) is by carpal joint (3-1), finger mounted axle (3-2), a left side refers to (3-3), the right side refers to (3-4), a left side refers to the axis of guide (3-5), first left side finger directive wheel (3-6), second left side finger directive wheel (3-7), the right side refers to the axis of guide (3-8), first right side finger directive wheel (3-9) and second right side finger directive wheel (3-10) are formed, carpal joint (3-1) is by carpal joint runner (3-1-1), carpal joint substrate (3-1-2) and two finger otic placodes (3-1-3) are formed, carpal joint runner (3-1-1) radially is provided with carpal joint ring like steel wire groove (3-1-4), carpal joint runner (3-1-1) is positioned at the below of carpal joint substrate (3-1-2), two finger otic placodes (3-1-3) are positioned at the top of carpal joint substrate (3-1-2), and two finger otic placodes (3-1-3) are symmetricly set on the both sides of carpal joint substrate (3-1-2), carpal joint runner (3-1-1), carpal joint substrate (3-1-2) is made one with two finger otic placodes (3-1-3), a left side refers to that (3-3) refers to that by a left pawl (3-3-1) and a left side runner (3-3-2) forms, a left side refers to that runner (3-3-2) radially is provided with left finger ring shape steel wire trough (3-3-3), a left side refers to that runner (3-3-2) is arranged on the below of left pawl (3-3-1), a left side refers to that runner (3-3-2) and left pawl (3-3-1) make one, the right side refers to that (3-4) refers to that by the right pawl (3-4-1) and the right side runner (3-4-2) forms, the right side refers to that runner (3-4-2) radially is provided with right finger ring shape steel wire trough (3-4-3), the right side refers to that runner (3-4-2) is arranged on the below of right pawl (3-4-1), the right side refers to that runner (3-4-2) and right pawl (3-4-1) make one, a left side refers to that (3-3) and the right side refer to that (3-4) is symmetrical arranged, and a left side refers to that the runner (3-3-2) and the right side refer to that runner (3-4-2) is installed on the finger mounted axle (3-2), finger mounted axle (3-2) is arranged between two finger otic placodes (3-1-3), and the two ends of finger mounted axle (3-2) are installed on the finger otic placode (3-1-3) corresponding with it, a left side refers to that the left side that the axis of guide (3-5) is vertically set on the carpal joint substrate (3-1-2) refers on the end face of (3-3) side, first left side finger directive wheel (3-6) and second left side finger directive wheel (3-7) are installed in a left side from the inside to the outside successively and refer on the axis of guide (3-5), the right side refers to that the right side that the axis of guide (3-8) is vertically set on the carpal joint substrate (3-1-2) refers on the end face of (3-4) side, and first right side finger directive wheel (3-9) and second right side finger directive wheel (3-10) are installed in the right side from the inside to the outside successively and refer on the axis of guide (3-8).
- 8. according to the described abdominal cavity of claim 1 micro-wound operation robot clamp-type operating theater instruments, it is characterized in that: described first guiding mechanism (1) is made up of first axis of guide (1-1), major axis cover (1-2), first directive wheel (1-3), short sleeve (1-4) and second directive wheel (1-5), and second directive wheel (1-5), short sleeve (1-4), first directive wheel (1-3) and major axis cover (1-2) are by back extremely preceding being installed in successively on first axis of guide (1-1).
- 9. according to the described abdominal cavity of claim 1 micro-wound operation robot clamp-type operating theater instruments, it is characterized in that: described second guiding mechanism (2) is made up of second axis of guide (2-1), bottom bracket axle (2-2), the 3rd directive wheel (2-3), the 4th directive wheel (2-4), the 5th directive wheel (2-5) and the 6th directive wheel (2-6), and the 6th directive wheel (2-6), the 5th directive wheel (2-5), the 4th directive wheel (2-4), the 3rd directive wheel (2-3) and bottom bracket axle (2-2) are by back extremely preceding being installed in successively on second axis of guide (2-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100076115A CN102028548B (en) | 2011-01-14 | 2011-01-14 | Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100076115A CN102028548B (en) | 2011-01-14 | 2011-01-14 | Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot |
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| Publication Number | Publication Date |
|---|---|
| CN102028548A true CN102028548A (en) | 2011-04-27 |
| CN102028548B CN102028548B (en) | 2012-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100076115A Active CN102028548B (en) | 2011-01-14 | 2011-01-14 | Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot |
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| CN (1) | CN102028548B (en) |
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