CN102028548B - 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 PDF

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Publication number
CN102028548B
CN102028548B CN2011100076115A CN201110007611A CN102028548B CN 102028548 B CN102028548 B CN 102028548B CN 2011100076115 A CN2011100076115 A CN 2011100076115A CN 201110007611 A CN201110007611 A CN 201110007611A CN 102028548 B CN102028548 B CN 102028548B
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CN
China
Prior art keywords
finger
mounting hole
wrist joint
wheel
steel wire
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CN2011100076115A
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Chinese (zh)
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CN102028548A (en
Inventor
王树国
冯美
曹校铭
潘博
刘昶
付宜利
Original Assignee
哈尔滨工业大学
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Priority to CN2011100076115A priority Critical patent/CN102028548B/en
Publication of CN102028548A publication Critical patent/CN102028548A/en
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Publication of CN102028548B publication Critical patent/CN102028548B/en

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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 actuating mechanism 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 actuating mechanism 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

Abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments
Technical field
The present invention relates to a kind of abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments.
Background technology
Minimally Invasive Surgery refers to the operation carried out on human body by the small otch of a bottom line, also commonly referred to as insertion type is performed the operation, robot assisted Minimally Invasive Surgery is treated or diagnosed into human body through too small otch by means of various visual pattern equipment and advanced dexterous operating theater instruments.The application for a patent for invention that number of patent application is 200910073301.6, Publication No. CN 101732093A, publication date is on June 16th, 2010 discloses one kind《Abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments》The patent application is to drive line wheel by motor and then drive steel wire to realize that operation pipe, wrist joint, left finger and right finger are rotated, although the patent adds the flexibility ratio of surgical action, meets micro-surgical instrument in many requirements such as volume, function and chucking power;But, when wrist joint is rotated, the unwanted motion of left finger and right finger cannot be compensated, and cause to drive the steel wire of left finger and right finger easily to break.
The content of the invention
The purpose of the present invention is by motor driving line wheel with clamp-type operating theater instruments and then drives steel wire to realize that operation pipe, wrist joint, left finger and right finger are rotated to solve existing abdominal-cavity minimal-invasion surgery robot, when wrist joint is rotated, the unwanted motion of left finger and right finger cannot be compensated, causing to drive the problem of steel wire of left finger and right finger is easily broken, there is provided a kind of abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments.
The present invention includes operating theater instruments executing agency and interface pedestal, the interface pedestal is by operation pipe drive mechanism, left finger drive mechanism, right finger drive mechanism, wrist joint drive mechanism and base housing composition, the front end face of base housing is provided with the first mounting hole, second mounting hole, 3rd mounting hole and the 4th mounting hole, first mounting hole is symmetrical arranged with the 3rd mounting hole with the vertical center line of base housing, second mounting hole is symmetrical arranged with the 4th mounting hole with the vertical center line of base housing, and second mounting hole site in the lower section of the first mounting hole, 4th mounting hole site is in the lower section of the 3rd mounting hole, the rear end face of base housing is provided with the 5th mounting hole, 6th mounting hole, 7th mounting hole, 8th mounting hole, 9th mounting hole, tenth mounting hole, 11st mounting hole and the 12nd mounting hole, the center line of 5th mounting hole and the center line of the first mounting hole are just right, the center line of 6th mounting hole and the center line of the second mounting hole are just right, the center line of the center line and the 3rd mounting hole of 7th mounting hole is just right, the center line of the center line and the 4th mounting hole of 8th mounting hole is just right, 9th mounting hole and the 11st mounting hole are symmetricly set on the outside of the 5th mounting hole and the 7th mounting hole with the vertical center line of base housing, tenth mounting hole and the 12nd mounting hole are symmetricly set on the outside of the 6th mounting hole and the 8th mounting hole with the vertical center line of base housing, operation pipe drive mechanism, left finger drive mechanism, right finger drive mechanism and wrist joint drive mechanism are installed in base housing, and the interface clutch discs in operation pipe drive mechanism are arranged in the first mounting hole, passive belt wheel in operation pipe drive mechanism is rotatably installed in the 5th In mounting hole,Interface clutch discs in left finger drive mechanism are arranged in the second mounting hole,Passive belt wheel in left finger drive mechanism is rotatably installed in the 6th mounting hole,Interface clutch discs in right finger drive mechanism are arranged in the 3rd mounting hole,Passive belt wheel in right finger drive mechanism is rotatably installed in the 7th mounting hole,Interface clutch discs in wrist joint drive mechanism are arranged in the 4th mounting hole,Passive belt wheel in wrist joint drive mechanism is rotatably installed in the 8th mounting hole,Driving pulley in operation pipe drive mechanism is rotatably installed in the 9th mounting hole,Driving pulley in left finger drive mechanism is rotatably installed in the tenth mounting hole,Driving pulley in right finger drive mechanism is rotatably installed in the 11st mounting hole,Driving pulley in wrist joint drive mechanism is rotatably installed in the 12nd mounting hole,The operating theater instruments executing agency is by the first guiding mechanism,Second guiding mechanism,End effector mechanism,Action bars transmission mechanism,Left finger transmission mechanism,Right finger transmission mechanism,Wrist joint transmission mechanism,First connecting shaft,Second connecting shaft,3rd connecting shaft,First connection gear,Second connection gear,3rd connection gear,First left side fifth wheel,Second left side fifth wheel,First right side fifth wheel,Second right side fifth wheel,Zuo Zhiqian drives steel wire,Steel wire is driven after left finger,Steel wire is driven before right finger,Steel wire is driven after right finger,Steel wire is driven before wrist joint,Steel wire is driven after wrist joint,Base plate,Front apron and wrist are shipped and resell on another market composition,The end face of base plate holds mounting hole provided with driven rear axle,Bearing mounting hole after left finger,Bearing mounting hole after right finger,Bearing mounting hole after wrist joint,Mounting hole after mounting hole and second axis of guide after first axis of guide,Driven rear axle is held mounting hole and is symmetrical arranged with bearing mounting hole after right finger with the vertical center line of base plate,Bearing mounting hole is symmetrical arranged with bearing mounting hole after wrist joint with the vertical center line of base plate after left finger,The center line that driven rear axle holds the center line and the first mounting hole of mounting hole is just right,The center line of the center line of bearing mounting hole and the second mounting hole is just right after left finger,The center line of the center line of bearing mounting hole and the 3rd mounting hole is just right after right finger,The center line of the center line of bearing mounting hole and the 4th mounting hole is just right after wrist joint,The end face of front apron is provided with transmission fore bearing mounting hole,Left finger fore bearing mounting hole,Right finger fore bearing mounting hole,Wrist joint fore bearing mounting hole,Mounting hole before mounting hole and second axis of guide before first axis of guide,The center line of transmission fore bearing mounting hole and the center line that driven rear axle holds mounting hole are just right,The center line of the left center line and bearing mounting hole after left finger for referring to fore bearing mounting hole is just right,The center line of the right center line and bearing mounting hole after right finger for referring to fore bearing mounting hole is just right,The center line of bearing mounting hole is just right after the center line and wrist joint of wrist joint fore bearing mounting hole,The center line of the center line of mounting hole and mounting hole after first axis of guide is just right before first axis of guide,The center line of the center line of mounting hole and mounting hole after second axis of guide is just right before second axis of guide,Driven rear axle on operation pipe transmission mechanism, which is held, to be arranged on driven rear axle and holds in mounting hole,Transmission fore bearing on operation pipe transmission mechanism is arranged in transmission fore bearing mounting hole,The bottom surface of bearing block on operation pipe transmission mechanism is packed on the front end face of base plate,Bearing is arranged on after left finger in bearing mounting hole after left finger on left finger transmission mechanism,Left finger fore bearing on left finger transmission mechanism is arranged in left finger fore bearing mounting hole,Bearing is arranged on after right finger in bearing mounting hole after right finger on right finger transmission mechanism,Line wheel is arranged in right finger fore bearing mounting hole before right finger on right finger transmission mechanism,Bearing is arranged on after wrist joint in bearing mounting hole after wrist joint on wrist joint transmission mechanism,Wrist joint fore bearing on wrist joint transmission mechanism is arranged in wrist joint fore bearing mounting hole,The front-end and back-end of first axis of guide on first guiding mechanism are separately positioned on before first axis of guide after mounting hole and first axis of guide in mounting hole,On second guiding mechanism The front-end and back-end of second axis of guide are separately positioned on before second axis of guide after mounting hole and second axis of guide in mounting hole,Left finger external tooth on left finger transmission mechanism is connected gear engagement with first,First connection gear is arranged in the first connecting shaft,One end of first connecting shaft is fixed on the front end face of base plate,Second connection gear is connected two sections of engagements of gear shaft on gear and wrist joint transmission mechanism with first simultaneously,Second connection gear is arranged in the second connecting shaft,One end of second connecting shaft is fixed on the front end face of base plate,3rd connection gear is engaged with two sections of gear shaft on the right finger external tooth and wrist joint transmission mechanism on right finger transmission mechanism simultaneously,3rd connection gear is arranged in the 3rd connecting shaft,One end of 3rd connecting shaft is fixed on the front end face of base plate,On wrist joint runner on wrist joint in end effector mechanism is shipped and resell on another market installed in wrist,Wrist is shipped and resell on another market between two wrist joint otic placodes being arranged on operation pipe transmission mechanism,And the two ends that wrist is shipped and resell on another market are arranged on corresponding wrist joint otic placode,The first left side fifth wheel and the second left side fifth wheel are sequentially arranged with from the inside to the outside between the corresponding wrist joint otic placode of the end face of the left finger side of wrist joint runner,The first right side fifth wheel and the second right side fifth wheel are sequentially arranged with from the inside to the outside between the corresponding wrist joint otic placode of the end face of the right finger side of wrist joint runner,The front left that one end of Zuo Zhiqian driving steel wires is fixed on left finger transmission mechanism refers in steel wire trough,The other end of Zuo Zhiqian driving steel wires counterclockwise from front left refer to steel wire trough in lay out the sleeve pipe that bypasses sequentially passed through after the first directive wheel on operation pipe transmission mechanism counterclockwise again,Operation pipe and the second through hole,Bypassed on front side of the first right side fifth wheel,Laid out on rear side of the first right side finger directive wheel on end effector mechanism,Fix in the left finger ring shape steel wire trough moved into the left finger on end effector mechanism and with left finger ring shape steel wire trough,The rear left for driving one end of steel wire to be fixed on left finger transmission mechanism after left finger refers in steel wire trough,After left finger drive steel wire the other end clockwise from rear left refer to steel wire trough in lay out the second directive wheel bypassed counterclockwise again on the first guiding mechanism after sequentially pass through sleeve pipe,Fifth hole on operation pipe and operation pipe transmission mechanism,Bypassed on rear side of the first left side fifth wheel,Laid out on front side of the first left side finger directive wheel on end effector mechanism,Fix in the left finger ring shape steel wire trough moved into the left finger on end effector mechanism and with left finger ring shape steel wire trough,The front right for driving one end of steel wire to be fixed on right finger transmission mechanism before right finger refers in steel wire trough,Before right finger drive steel wire the other end clockwise from front right refer to steel wire trough in lay out the 4th directive wheel bypassed clockwise again on the second guiding mechanism after sequentially pass through sleeve pipe,First through hole on operation pipe and operation pipe transmission mechanism,Bypassed on front side of the second right side fifth wheel,Laid out on rear side of the second right side finger directive wheel on end effector mechanism,Fix in the right finger ring shape steel wire trough moved into the right finger on end effector mechanism and with right finger ring shape steel wire trough,The rear right for driving one end of steel wire to be fixed on right finger transmission mechanism after right finger refers in steel wire trough,After right finger drive steel wire the other end counterclockwise from rear right refer to steel wire trough in lay out the 5th directive wheel bypassed clockwise again on the second guiding mechanism after sequentially pass through sleeve pipe,Fourth hole on operation pipe and operation pipe transmission mechanism,Bypassed on rear side of the second left side fifth wheel,Laid out on front side of the second left side finger directive wheel on end effector mechanism,Fix in the right finger ring shape steel wire trough moved into the right finger on end effector mechanism and with right finger ring shape steel wire trough,One end of steel wire is driven to be fixed in the preceding wrist joint steel wire trough on wrist joint transmission mechanism before wrist joint,The other end of steel wire is driven to sequentially pass through sleeve pipe after laying out the 3rd directive wheel bypassed clockwise again on the first guiding mechanism from preceding wrist joint steel wire trough clockwise before wrist joint,Third through-hole on operation pipe and operation pipe transmission mechanism enters in the wrist joint ring like steel wire groove on end effector mechanism and and wrist Joint ring like steel wire groove is fixed, one end of steel wire is driven to be fixed in the rear wrist joint steel wire trough on wrist joint transmission mechanism after wrist joint, the other end of steel wire is driven to sequentially pass through sleeve pipe after laying out the 6th directive wheel bypassed clockwise again on the first guiding mechanism from rear wrist joint steel wire trough counterclockwise after wrist joint, the 6th through hole on operation pipe and operation pipe transmission mechanism enters in the wrist joint ring like steel wire groove on end effector mechanism and fixed with wrist joint ring like steel wire groove, operation interface tube in operation pipe clutch discs in operation pipe transmission mechanism is installed with two interface male cooperations in operation pipe drive mechanism, the left finger interface in left finger clutch discs in left finger transmission mechanism is installed with two interface male cooperations in left finger drive mechanism, the right finger interface in right finger clutch discs in right finger transmission mechanism is installed with two interface male cooperations in right finger drive mechanism, the wrist joint interface in wrist joint clutch discs in wrist joint transmission mechanism is installed with two interface male cooperations in wrist joint drive mechanism.
The beneficial effects of the invention are as follows:One, the present invention utilizes left finger transmission mechanism 5 and the right planet circular system referred in transmission mechanism 6, the tension or loosen trend that driving steel wire 24 is produced because wrist joint 3-1 ships and resell on another market 31 rotations around wrist after steel wire 23 and left finger are driven before left finger by driving the left finger 3-3 after steel wire 23 and left finger on driving steel wire 24 driving end effector mechanism 3 to rotate before left finger and compensating, the tension or loosen trend that driving steel wire 26 is produced because wrist joint 3-1 ships and resell on another market 31 rotations around wrist after steel wire 25 and right finger are driven before right finger by driving the right finger 3-4 after steel wire 25 and right finger on driving steel wire 26 driving end effector mechanism 3 to rotate before right finger and compensating, when being rotated so as to solve existing operating theater instruments wrist joint, the unwanted motion of left finger and right finger cannot be compensated, the problem of steel wire of the left finger of driving and right finger is easily broken.2nd, the present invention has the advantages that accurate positioning, working space are big, flexibility ratio is high, operation is easy, therefore present invention installation can effectively improve surgical quality and efficiency applied to Minimally Invasive Surgery on the robotic arm, mitigate the working strength of doctor.3rd, the features such as present invention also has small volume, lightweight and high rigidity.
Brief description of the drawings
Fig. 1 is the overall structure front view (removing baffle plate 30) of the present invention;Fig. 2 is Fig. 1 A-A sectional views;Fig. 3 is interface pedestal N structural perspective;Fig. 4 is interface pedestal N rearview;Fig. 5 is the front view of base housing 18;Fig. 6 is the rearview of base housing 18;Fig. 7 is Fig. 4 B-B revolved sectional views;Fig. 8 is operating theater instruments executing agency M rearview;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 transmission mechanism 4;The annexation main sectional view that Figure 12 is wire wheel axis 4-1 after being driven, line wheel 4-2, transmission fore bearing 4-3, driven rear axle hold 4-4 and operation pipe clutch discs 4-5 before transmission;Figure 13 is wrist joint connector 4-12 structural perspective;Figure 14 is Fig. 1 C-C sectional views;Figure 15 is Fig. 1 D-D sectional views;Figure 16 is left finger transmission mechanism 5 or the right exploded perspective view for referring to transmission mechanism 6;Figure 17 is the exploded perspective view of wrist joint transmission mechanism 7;Figure 18 is the stereogram of end effector mechanism 3 (in terms of left finger direction);Figure 19 is the stereogram of end effector mechanism 3 (in terms of right finger direction);Figure 20 is wrist joint 3-1 structural front view;Figure 21 is Figure 20 E-E sectional views;Figure 22 is left finger 3-3 or right fingers 3-4 structural front view;Figure 23 is Figure 22 G-G sectional views;Figure 24 is Figure 22 F-F sectional views;Figure 25 is Figure 14 I partial enlarged drawings;Figure 26 is Fig. 1 II partial enlarged drawings.
Embodiment
Embodiment one:With reference to Fig. 1~Figure 15,Figure 18,Figure 19,Figure 25 and Figure 26 illustrate present embodiment,Present embodiment includes operating theater instruments executing agency M and interface pedestal N,The interface pedestal N is by operation pipe drive mechanism 14,Left finger drive mechanism 15,Right finger drive mechanism 16,Wrist joint drive mechanism 17 and base housing 18 are constituted,The front end face of base housing 18 is provided with the first mounting hole 18-1,Second mounting hole 18-2,3rd mounting hole 18-3 and the 4th mounting hole 18-4,First mounting hole 18-1 and the 3rd mounting hole 18-3 is symmetrical arranged with the vertical center line of base housing 18,Second mounting hole 18-2 and the 4th mounting hole 18-4 is symmetrical arranged with the vertical center line of base housing 18,And second mounting hole 18-2 be located at the first mounting hole 18-1 lower section,4th mounting hole 18-4 is located at the 3rd mounting hole 18-3 lower section,The rear end face of base housing 18 is provided with the 5th mounting hole 18-5,6th mounting hole 18-6,7th mounting hole 18-7,8th mounting hole 18-8,9th mounting hole 18-9,Tenth mounting hole 18-10,11st mounting hole 18-11 and the 12nd mounting hole 18-12,The center line of 5th mounting hole 18-5 center line and the first mounting hole 18-1 is just right,The center line of 6th mounting hole 18-6 center line and the second mounting hole 18-2 is just right,The center line of 7th mounting hole 18-7 center line and the 3rd mounting hole 18-3 is just right,The center line of 8th mounting hole 18-8 center line and the 4th mounting hole 18-4 is just right,9th mounting hole 18-9 and the 11st mounting hole 18-11 are symmetricly set on the 5th mounting hole 18-5 and the 7th mounting hole 18-7 outside with the vertical center line of base housing 18,Tenth mounting hole 18-10 and the 12nd mounting hole 18-12 are symmetricly set on the 6th mounting hole 18-6 and the 8th mounting hole 18-8 outside with the vertical center line of base housing 18,Operation pipe drive mechanism 14,Left finger drive mechanism 15,Right finger drive mechanism 16 and wrist joint drive mechanism 17 are installed in base housing 18,And the interface clutch discs 14-6 in operation pipe drive mechanism 14 is arranged in the first mounting hole 18-1,Passive belt wheel 14-5 in operation pipe drive mechanism 14 is rotatably installed in the 5th mounting hole 18-5,The left interface clutch discs 14-6 referred in drive mechanism 15 is arranged in the second mounting hole 18-2,The left passive belt wheel 14-5 referred in drive mechanism 15 is rotatably installed in the 6th mounting hole 18-6,The right interface clutch discs 14-6 referred in drive mechanism 16 is arranged in the 3rd mounting hole 18-3,The right passive belt wheel 14-5 referred in drive mechanism 16 is rotatably installed in the 7th mounting hole 18-7,Interface clutch discs 14-6 in wrist joint drive mechanism 17 is arranged in the 4th mounting hole 18-4,Passive belt wheel 14-5 in wrist joint drive mechanism 17 is rotatably installed in the 8th mounting hole 18-8,Driving pulley 14-3 in operation pipe drive mechanism 14 is rotatably installed in the 9th mounting hole 18-9,The left driving pulley 14-3 referred in drive mechanism 15 is rotatably installed in the tenth mounting hole 18-10,The right driving pulley 14-3 referred in drive mechanism 16 is rotatably installed in the 11st mounting hole 18-11,Driving pulley 14-3 in wrist joint drive mechanism 17 is rotatably installed in the 12nd mounting hole 18-12,The operating theater instruments executing agency M is by the first guiding mechanism 1,Second guiding mechanism 2,End effector mechanism 3,Action bars transmission mechanism 4,Left finger transmission mechanism 5,Right finger transmission mechanism 6,Wrist joint transmission mechanism 7,First connecting shaft 8,Second connecting shaft 9,3rd connecting shaft 10,First connection gear 11,Second connection gear 12,3rd connection gear 13,First left side fifth wheel 19,Second left side fifth wheel 20,First right side fifth wheel 21,Second right side fifth wheel 22,Zuo Zhiqian drives steel wire 23,Steel wire 24 is driven after left finger,Steel wire 25 is driven before right finger,After right finger Drive steel wire 26,Steel wire 27 is driven before wrist joint,Steel wire 28 is driven after wrist joint,Base plate 29,Front apron 30 and wrist are shipped and resell on another market 31 compositions,The end face of base plate 29 holds mounting hole 29-1 provided with driven rear axle,Bearing mounting hole 29-2 after left finger,Bearing mounting hole 29-3 after right finger,Bearing mounting hole 29-4 after wrist joint,Mounting hole 29-6 after mounting hole 29-5 and second axis of guide after first axis of guide,Driven rear axle is held mounting hole 29-1 and bearing mounting hole 29-3 after right finger and is symmetrical arranged with the vertical center line of base plate 29,Bearing mounting hole 29-2 and bearing mounting hole 29-4 after wrist joint is symmetrical arranged with the vertical center line of base plate 29 after left finger,The center line that driven rear axle holds mounting hole 29-1 center line and the first mounting hole 18-1 is just right,The center line of bearing mounting hole 29-2 center line and the second mounting hole 18-2 is just right after left finger,The center line of bearing mounting hole 29-3 center line and the 3rd mounting hole 18-3 is just right after right finger,The center line of bearing mounting hole 29-4 center line and the 4th mounting hole 18-4 is just right after wrist joint,The end face of front apron 30 is provided with transmission fore bearing mounting hole 30-1,Left finger fore bearing mounting hole 30-2,Right finger fore bearing mounting hole 30-3,Wrist joint fore bearing mounting hole 30-4,Mounting hole 30-6 before mounting hole 30-5 and second axis of guide before first axis of guide,Transmission fore bearing mounting hole 30-1 center line and the center line that driven rear axle holds mounting hole 29-1 are just right,The center line of the left center line and bearing mounting hole 29-2 after left finger for referring to fore bearing mounting hole 30-2 is just right,The center line of the right center line and bearing mounting hole 29-3 after right finger for referring to fore bearing mounting hole 30-3 is just right,Bearing mounting hole 29-4 center line is just right after wrist joint fore bearing mounting hole 30-4 center line and wrist joint,The center line of mounting hole 30-5 center line and mounting hole 29-5 after first axis of guide is just right before first axis of guide,The center line of mounting hole 30-6 center line and mounting hole 29-6 after second axis of guide is just right before second axis of guide,Driven rear axle on operation pipe transmission mechanism 4, which holds 4-4 and is arranged on driven rear axle, to be held in mounting hole 29-1,Transmission fore bearing 4-3 on operation pipe transmission mechanism 4 is arranged in transmission fore bearing mounting hole 30-1,The bottom surface of bearing block 4-13 on operation pipe transmission mechanism 4 is packed on the front end face of base plate 29,Bearing 5-3 is arranged on after left finger in bearing mounting hole 29-2 after the left left finger referred on transmission mechanism 5,The left left finger fore bearing 5-8 referred on transmission mechanism 5 is arranged in left finger fore bearing mounting hole 30-2,Bearing 6-3 is arranged on after right finger in bearing mounting hole 29-3 after the right right finger referred on transmission mechanism 6,Line wheel 6-6 is arranged in right finger fore bearing mounting hole 30-3 before the right right finger referred on transmission mechanism 6,Bearing 7-3 is arranged on after wrist joint in bearing mounting hole 29-4 after wrist joint on wrist joint transmission mechanism 7,Wrist joint fore bearing 7-7 on wrist joint transmission mechanism 7 is arranged in wrist joint fore bearing mounting hole 30-4,The front-end and back-end of the first axis of guide 1-1 on first guiding mechanism 1 are separately positioned on before first axis of guide after mounting hole 30-5 and first axis of guide in mounting hole 29-5,The front-end and back-end of the second axis of guide 2-1 on second guiding mechanism 2 are separately positioned on before second axis of guide after mounting hole 30-6 and second axis of guide in mounting hole 29-6,The left left finger external tooth 5-4-1 referred on transmission mechanism 5 is connected gear 11 with first and engaged,First connection gear 11 is arranged in the first connecting shaft 8,One end of first connecting shaft 8 is fixed on the front end face of base plate 29,Second connection gear 12 is connected two sections of 7-1-2 engagements of gear shaft on gear 11 and wrist joint transmission mechanism 7 with first simultaneously,Second connection gear 12 is arranged in the second connecting shaft 9,One end of second connecting shaft 9 is fixed on the front end face of base plate 29,3rd connection gear 13 is engaged with two sections of 7-1-2 of gear shaft on the right finger external tooth 6-4-1 and wrist joint transmission mechanism 7 on right finger transmission mechanism 6 simultaneously,3rd connection gear 13 are arranged in the 3rd connecting shaft 10,One end of 3rd connecting shaft 10 is fixed on the front end face of base plate 29,The wrist joint runner 3-1-1 on wrist joint 3-1 in end effector mechanism 3 ships and resell on another market on 31 installed in wrist,Wrist is shipped and resell on another market between 31 two wrist joint otic placode 4-12-7 being arranged on operation pipe transmission mechanism 4,And wrist ship and resell on another market 31 two ends be arranged on corresponding wrist joint otic placode 4-12-7 on,The first left side fifth wheel 19 and the second left side fifth wheel 20 are sequentially arranged with from the inside to the outside between the corresponding wrist joint otic placode 4-12-7 of the end face of wrist joint runner 3-1-1 left finger side,The first right side fifth wheel 21 and the second right side fifth wheel 22 are sequentially arranged with from the inside to the outside between the corresponding wrist joint otic placode 4-12-7 of the end face of wrist joint runner 3-1-1 right finger side,The front left that one end of Zuo Zhiqian driving steel wires 23 is fixed on left finger transmission mechanism 5 refers in steel wire trough 5-6-1,The other end of Zuo Zhiqian driving steel wires 23 counterclockwise from front left refer to steel wire trough 5-6-1 in lay out the sleeve pipe 4-10 that bypasses sequentially passed through after the first directive wheel 1-3 on operation pipe transmission mechanism 4 counterclockwise again,Operation pipe 4-11 and the second through hole 4-12-2,Bypassed from the front side of the first right side fifth wheel 21,Laid out on rear side of the first right side finger directive wheel 3-9 on end effector mechanism 3,Fix in the left finger ring shape steel wire trough 3-3-3 moved into the left finger 3-3 on end effector mechanism 3 and with left finger ring shape steel wire trough 3-3-3,The rear left for driving one end of steel wire 24 to be fixed on left finger transmission mechanism 5 after left finger refers in steel wire trough 5-5-4,After left finger drive steel wire 24 the other end clockwise from rear left refer to steel wire trough 5-5-4 in lay out the second directive wheel 1-5 bypassed counterclockwise again on the first guiding mechanism 1 after sequentially pass through sleeve pipe 4-10,Fifth hole 4-12-5 on operation pipe 4-11 and operation pipe transmission mechanism 4,Bypassed from the rear side of the first left side fifth wheel 19,Laid out on front side of the first left side finger directive wheel 3-6 on end effector mechanism 3,Fix in the left finger ring shape steel wire trough 3-3-3 moved into the left finger 3-3 on end effector mechanism 3 and with left finger ring shape steel wire trough 3-3-3,The front right for driving one end of steel wire 25 to be fixed on right finger transmission mechanism 6 before right finger refers in steel wire trough 6-6-1,Before right finger drive steel wire 25 the other end clockwise from front right refer to steel wire trough 6-6-1 in lay out the 4th directive wheel 2-4 bypassed clockwise again on the second guiding mechanism 2 after sequentially pass through sleeve pipe 4-10,First through hole 4-12-1 on operation pipe 4-11 and operation pipe transmission mechanism 4,Bypassed from the front side of the second right side fifth wheel 22,Laid out on rear side of the second right side finger directive wheel 3-10 on end effector mechanism 3,Fix in the right finger ring shape steel wire trough 3-4-3 moved into the right finger 3-4 on end effector mechanism 3 and with right finger ring shape steel wire trough 3-4-3,The rear right for driving one end of steel wire 26 to be fixed on right finger transmission mechanism 6 after right finger refers in steel wire trough 6-5-2,After right finger drive steel wire 26 the other end counterclockwise from rear right refer to steel wire trough 6-5-2 in lay out the 5th directive wheel 2-5 bypassed clockwise again on the second guiding mechanism 2 after sequentially pass through sleeve pipe 4-10,Fourth hole 4-12-4 on operation pipe 4-11 and operation pipe transmission mechanism 4,Bypassed from the rear side of the second left side fifth wheel 20,Laid out on front side of the second left side finger directive wheel 3-7 on end effector mechanism 3,Fix in the right finger ring shape steel wire trough 3-4-3 moved into the right finger 3-4 on end effector mechanism 3 and with right finger ring shape steel wire trough 3-4-3,One end of steel wire 27 is driven to be fixed in the preceding wrist joint steel wire trough 7-5-1-1 on wrist joint transmission mechanism 7 before wrist joint,The other end of steel wire 27 is driven to sequentially pass through sleeve pipe 4-10 after laying out the 3rd directive wheel 1-3 bypassed clockwise again on the first guiding mechanism 1 from preceding wrist joint steel wire trough 7-5-1-1 clockwise before wrist joint,The wrist joint ring like steel wire groove 3-1-4 that third through-hole 4-12-3 on operation pipe 4-11 and operation pipe transmission mechanism 4 enters on end effector mechanism 3 In and fixed with wrist joint ring like steel wire groove 3-1-4, one end of steel wire 28 is driven to be fixed in the rear wrist joint steel wire trough 7-4-1-1 on wrist joint transmission mechanism 7 after wrist joint, the other end of steel wire 28 is driven to sequentially pass through sleeve pipe 4-10 after laying out the 6th directive wheel 1-6 bypassed clockwise again on the first guiding mechanism 1 from rear wrist joint steel wire trough 7-4-1-1 counterclockwise after wrist joint, the 6th through hole 4-12-6 on operation pipe 4-11 and operation pipe transmission mechanism 4 enters in the wrist joint ring like steel wire groove 3-1-4 on end effector mechanism 3 and fixed with wrist joint ring like steel wire groove 3-1-4, operation interface tube 4-5-1 on operation pipe clutch discs 4-5 in operation pipe transmission mechanism 4 coordinates with two interface projection 14-6-3 in operation pipe drive mechanism 14 to be installed, left finger interface 5-2-1 on the left left finger clutch discs 5-2 referred in transmission mechanism 5 coordinates with two interface projection 14-6-3 in left finger drive mechanism 15 to be installed, right finger interface 6-2-1 on the right right finger clutch discs 6-2 referred in transmission mechanism 6 coordinates with two interface projection 14-6-3 in right finger drive mechanism 16 to be installed, the wrist joint interface 7-2-1 on wrist joint clutch discs 7-2 in wrist joint transmission mechanism 7 coordinates with two interface projection 14-6-3 in wrist joint drive mechanism 17 to be installed.
Embodiment two:With reference to Fig. 2 and Fig. 7, Fig. 1 and Fig. 2 illustrate present embodiment, the operation pipe drive mechanism 14 of present embodiment, left finger drive mechanism 15, right finger drive mechanism 16 and wrist joint drive mechanism 17 are by motor 14-1, connector 14-2, driving pulley 14-3, Timing Belt 14-4, passive belt wheel 14-5, interface clutch discs 14-6 and spring 14-7 compositions, interface clutch discs 14-6 is made up of the disk 14-6-1 and passive belt shaft 14-6-2 that are formed integrally from front to back, disk 14-6-1 front end surface is provided with two interface projection 14-6-3, spring 14-7 and passive belt wheel 14-5 are arranged on passive belt shaft 14-6-2 from the inside to the outside, passive belt wheel 14-5 is connected by Timing Belt 14-4 with driving pulley 14-3, driving pulley 14-3 is arranged in connector 14-2 output end, connector 14-2 input is connected with motor 14-1 output end.Other compositions and annexation are identical with embodiment one.
Embodiment three:With reference to Fig. 1,Figure 11,Figure 12 and Figure 13 illustrate present embodiment,The operation pipe transmission mechanism 4 of present embodiment by being driven after wire wheel axis 4-1,Line wheel 4-2 before transmission,It is driven fore bearing 4-3,Driven rear axle holds 4-4,Operation pipe clutch discs 4-5,Steel wire 4-6 after traction,Steel wire 4-7 before traction,First screw 4-8,Second screw 4-9,Sleeve pipe 4-10,Operation pipe 4-11,Wrist joint connector 4-12,Bearing block 4-13,Two Casing bearing 4-14 and three operation pipe jackscrew 4-15 compositions,The one section of 4-1-1 of wire wheel axis of wire wheel axis 4-1 from front to back successively by being formed integrally after transmission,Two sections of 4-1-2 of wire wheel axis,Three sections of 4-1-3 of wire wheel axis,Five sections of 4-1-5 compositions of four sections of 4-1-4 of wire wheel axis and wire wheel axis,Three sections of 4-1-3 of wire wheel axis are line wheel after transmission,The outer surface of line wheel is provided with rear haulage steel wire trough 4-1-3-1 after transmission,Line wheel 4-2 is arranged on two sections of 4-1-2 of wire wheel axis before transmission,And the preceding line wheel 4-2 of transmission external diameter is equal with the external diameter of line wheel after transmission,Line wheel 4-2 outer surface is provided with front haulage steel wire trough 4-2-1 before transmission,Fore bearing 4-3 is driven to be arranged on one section of 4-1-1 of wire wheel axis,Driven rear axle holds 4-4 on four sections of 4-1-4 of wire wheel axis,Operation pipe clutch discs 4-5 and five sections of 4-1-5 of wire wheel axis are interference fit,Operation pipe clutch discs 4-5 five sections of 4-1-5 of axle center hole and wire wheel axis cross section is D fonts,Operation pipe clutch discs 4-5 end face is provided with the operation interface tube 4-5-1 being engaged with two interface projection 14-6-3 in operation pipe drive mechanism 14,Three operation pipe jackscrew 4-15 are uniformly arranged before transmission on line wheel 4-2 outer surface,Operation pipe jackscrew 4-15's Effect:After traction after steel wire 4-7 before the traction before transmission on line wheel 4-2 and transmission on wire wheel axis 4-1 after steel wire 4-6 pretensions, three operation pipe jackscrew 4-15 are screwed to two sections of 4-1-2 of wire wheel axis so that line wheel 4-2 is fixed to after transmission on wire wheel axis 4-1 before transmission;Steel wire 4-6 one ends wound is in rear haulage steel wire trough 4-1-3-1 after traction, the steel wire 4-6 other end is wound on sleeve pipe 4-10 and tied up on the first screw 4-8 after traction, steel wire 4-7 one ends wound is in front haulage steel wire trough 4-2-1 before traction, the steel wire 4-7 other end is wound on sleeve pipe 4-10 and tied up on the second screw 4-9 before traction, winding directions of the steel wire 4-6 in rear haulage steel wire trough 4-1-3-1 is opposite with winding directions of the steel wire 4-7 in front haulage steel wire trough 4-2-1 before traction after traction, steel wire 4-6 and steel wire 4-7 before traction is wound in opposite direction on sleeve pipe 4-10 after traction, the axial direction of first screw 4-8 and the second screw 4-9 along sleeve pipe 4-10 is set gradually, and first screw 4-8 and the second screw 4-9 be fastened on sleeve pipe 4-10, sleeve pipe 4-10 upper end is interference fitted with operation pipe 4-11 lower end, wrist joint connector 4-12 lower end is interference fitted with operation pipe 4-11 upper end, wrist joint connector 4-12 upper end is arranged with two wrist joint otic placode 4-12-7, wrist joint connector 4-12 is vertically provided with six through holes communicated with operation pipe 4-11 inner chambers, 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 the 6th through hole 4-12-6, two Casing bearing 4-14 are sleeved on sleeve pipe 4-10, bearing block 4-13 is sleeved on two Casing bearing 4-14.Other compositions and annexation are identical with embodiment one or two.
The rotation of operation pipe 4-11 in operation pipe transmission mechanism 4:Motor 14-1 in start-up operation pipe drive mechanism 14, make its output shaft rotate counterclockwise, pass through the connector 14-2 in operation pipe drive mechanism 14, driving pulley 14-3, Timing Belt 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6, wire wheel axis 4-1 and the preceding line wheel 4-2 of transmission after transmission is driven to rotate counterclockwise by operation pipe clutch discs 4-5, steel wire 4-6 is tightened up after the traction in rear haulage steel wire trough 4-1-3-1 after transmission on wire wheel axis 4-1, steel wire 4-7 is relaxed before the traction in front haulage steel wire trough 4-2-1 before transmission on line wheel 4-2, at this moment, in terms of the overlook direction of operation pipe transmission mechanism 4, operation pipe 4-11 is rotated counterclockwise, so as to drive end effector mechanism 3 to rotate counterclockwise;Motor 14-1 in start-up operation pipe drive mechanism 14, its output shaft is set to turn clockwise, pass through the connector 14-2 in operation pipe drive mechanism 14, driving pulley 14-3, Timing Belt 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6, wire wheel axis 4-1 and the preceding line wheel 4-2 of transmission after transmission is driven to rotate clockwise by operation pipe clutch discs 4-5, steel wire 4-6 is relaxed after the traction in rear haulage steel wire trough 4-1-3-1 after transmission on wire wheel axis 4-1, steel wire 4-7 is tightened up before the traction in front haulage steel wire trough 4-2-1 before transmission on line wheel 4-2, at this moment, in terms of the overlook direction of operation pipe transmission mechanism 4, operation pipe 4-11 is rotated clockwise, so as to drive end effector mechanism 3 to rotate clockwise.
Embodiment four:Illustrate present embodiment with reference to Figure 14 and Figure 16, the left finger transmission mechanism 5 of present embodiment is by left finger heart axle 5-1, left finger clutch discs 5-2, bearing 5-3 after left finger, left finger sun gear 5-4, runner 5-5 after left finger, line wheel 5-6 before left finger, left finger stop circle 5-7, left finger fore bearing 5-8, three left finger planetary gear 5-9 and three left jackscrew 5-10 that refer to are constituted, it is left to refer to the one section of 5-1-1 of left heart axle of heart axle 5-1 from front to back successively by being formed integrally, left two sections of 5-1-2 of heart axle, left three sections of 5-1-3 of heart axle, five sections of 5-1-5 compositions of left four sections of 5-1-4 of heart axle and left heart axle, left two sections of 5-1-2 of heart axle outer surface Provided with revolver tooth 5-1-2-1,Runner 5-5 is by line wheel 5-5-1 after the left finger that is formed integrally after left finger,Left finger flange 5-5-2 and three left planet wheel spindle 5-5-3 that refer to are constituted,Left finger flange 5-5-2 is arranged on the front end face of line wheel 5-5-1 after left finger,Three left finger planet wheel spindle 5-5-3 are uniformly arranged after left finger on line wheel 5-5-1 rear end face,Runner 5-5 after left finger,Left finger stop circle 5-7 and left finger fore bearing 5-8 is extremely before sequentially arranged on left one section of 5-1-1 of heart axle by rear,And left finger flange 5-5-2 is located at front end,Line wheel 5-6 is sleeved on left finger flange 5-5-2 before left finger,And line wheel 5-6 external diameter is equal with the external diameter of line wheel 5-5-1 after left finger before left finger,Left finger sun gear 5-4 is arranged on left three sections of 5-1-3 of heart axle,Bearing 5-3 is arranged on left four sections of 5-1-4 of heart axle after left finger,Left finger clutch discs 5-2 is arranged on left five sections of 5-1-5 of heart axle,And left finger clutch discs 5-2 and left five sections of 5-1-5 of heart axle are interference fit,The left axle center hole for referring to clutch discs 5-2 and left five sections of 5-1-5 of the heart axle cross section are D fonts,The left end face for referring to clutch discs 5-2 is provided with the left finger interface 5-2-1 being engaged with two interface projection 14-6-3 in left finger drive mechanism 15,The left outer surface for referring to sun gear 5-4 is provided with left finger external tooth 5-4-1,The left inner surface for referring to sun gear 5-4 is provided with left finger internal tooth 5-4-2,Line wheel 5-6 outer surface refers to steel wire trough 5-6-1 provided with front left before left finger,Line wheel 5-5-1 outer surface refers to steel wire trough 5-5-4 provided with rear left after left finger,Three left planet wheel spindle 5-5-3 that refer to are located in left finger internal tooth 5-4-2 inner chamber,Equipped with a left finger planetary gear 5-9 on each left finger planet wheel spindle 5-5-3,Three left finger planetary gear 5-9 are meshed with left finger internal tooth 5-4-2,Three left finger jackscrew 5-10 are uniformly arranged before left finger on line wheel 5-6 outer surface.The left effect for referring to jackscrew 5-10:After line wheel 5-6 before left finger and left finger on line wheel 5-5-1 after steel wire pretension, three left finger jackscrew 5-10 are screwed to left finger flange 5-5-2 so that line wheel 5-6 is fixed to after left finger on line wheel 5-5-1 before left finger.Other compositions and annexation are identical with embodiment three.
Embodiment five:With reference to seeing that Figure 15 and Figure 16 illustrate present embodiment,The right finger transmission mechanism 6 of present embodiment is by right finger heart axle 6-1,Right finger clutch discs 6-2,Bearing 6-3 after right finger,Right finger sun gear 6-4,Runner 6-5 after right finger,Line wheel 6-6 before right finger,Right finger stop circle 6-7,Right finger fore bearing 6-8,Three right finger planetary gear 6-9 and three right jackscrew 6-10 that refer to are constituted,It is right to refer to the one section of 6-1-1 of right heart axle of heart axle 6-1 from front to back successively by being formed integrally,Right two sections of 6-1-2 of heart axle,Right three sections of 6-1-3 of heart axle,Five sections of 6-1-5 compositions of right four sections of 6-1-4 of heart axle and right heart axle,Right two sections of 6-1-2 of heart axle outer surface is provided with right wheel tooth 6-1-2-1,Runner 6-5 is by line wheel 6-5-1 after the right finger that is formed integrally after right finger,Right finger flange 6-5-2 and three right planet wheel spindle 6-5-3 that refer to are constituted,Right finger flange 6-5-2 is arranged on the front end face of line wheel 6-5-1 after right finger,Three right finger planet wheel spindle 6-5-3 are uniformly arranged after right finger on line wheel 6-5-1 rear end face,Runner 6-5 after right finger,Right finger stop circle 6-7 and right finger fore bearing 6-8 is extremely before sequentially arranged on right one section of 6-1-1 of heart axle by rear,And right finger flange 6-5-2 is located at front end,Line wheel 6-6 is sleeved on right finger flange 6-5-2 before right finger,And line wheel 6-6 external diameter is equal with the external diameter of line wheel 6-5-1 after right finger before right finger,Right finger sun gear 6-4 is arranged on right three sections of 6-1-3 of heart axle,Bearing 6-3 is arranged on right four sections of 6-1-4 of heart axle after right finger,Right finger clutch discs 6-2 is arranged on right five sections of 6-1-5 of heart axle,And right finger clutch discs 6-2 and right five sections of 6-1-5 of heart axle are interference fit,The right axle center hole for referring to clutch discs 6-2 and right five sections of 6-1-5 of the heart axle cross section are D fonts,The right end face for referring to clutch discs 6-2 is provided with the right finger being engaged with two interface projection 14-6-3 in right finger drive mechanism 16 Interface 6-2-1, the right outer surface for referring to sun gear 6-4 is provided with right finger external tooth 6-4-1, the right inner surface for referring to sun gear 6-4 is provided with right finger internal tooth 6-4-2, line wheel 6-6 outer surface refers to steel wire trough 6-6-1 provided with front right before right finger, line wheel 6-5-1 outer surface refers to steel wire trough 6-5-4 provided with rear right after right finger, three right planet wheel spindle 6-5-3 that refer to are located in right finger internal tooth 6-4-2 inner chamber, equipped with a right finger planetary gear 6-9 on each right finger planet wheel spindle 6-5-3, three right finger planetary gear 6-9 are meshed with right finger internal tooth 6-4-2, three right finger jackscrew 6-10 are uniformly arranged before right finger on line wheel 6-6 outer surface.The right effect for referring to jackscrew 6-10:After line wheel 6-6 before right finger and right finger on line wheel 6-5-1 after steel wire pretension, three right finger jackscrew 6-10 are screwed to right finger flange 6-5-2 so that line wheel 6-6 is fixed to after right finger on line wheel 6-5-1 before right finger.Other compositions and annexation are identical with embodiment four.
Embodiment six:Illustrate present embodiment with reference to Figure 14 and Figure 17,The wrist joint transmission mechanism 7 of present embodiment is by wrist joint gear shaft 7-1,Wrist joint clutch discs 7-2,Bearing 7-3 after wrist joint,Runner 7-4 after wrist joint,Runner 7-5 before wrist joint,Wrist joint back-up ring 7-6,Wrist joint fore bearing 7-7,Line wheel jackscrew 7-9 is constituted before line wheel jackscrew 7-8 and three wrist joints after three wrist joints,The one section of 7-1-1 of gear shaft of wrist joint gear shaft 7-1 from front to back successively by being formed integrally,Two sections of 7-1-2 of gear shaft,Four sections of 7-1-4 compositions of three sections of 7-1-3 of gear shaft and gear shaft,The cylindrical of two sections of 7-1-2 of gear shaft is provided with wrist joint gear 7-1-2-1,Runner 7-4 is made up of line wheel 7-4-1 after the rear runner flange 7-4-2 and wrist joint that are formed integrally successively from front to back after wrist joint,Runner 7-4 axle center is provided with one section of mounting hole 7-4-3 of gear shaft after wrist joint,Runner 7-5 is made up of line wheel 7-5-1 before the preceding runner boss 7-5-2 and wrist joint that are formed integrally successively from front to back before wrist joint,The preceding runner 7-5 of wrist joint axle center is provided with rear runner flange mounting hole 7-5-3,Bearing 7-3 is arranged on three sections of 7-1-3 of gear shaft after wrist joint,Wrist joint clutch discs 7-2 is arranged on four sections of 7-1-4 of gear shaft,And be interference fit between wrist joint clutch discs 7-2 four sections of 7-1-4 of axle center hole and gear shaft,Wrist joint clutch discs 7-2 four sections of 7-1-4 of axle center hole and gear shaft cross section is D fonts,Wrist joint clutch discs 7-2 end face is provided with the wrist joint interface 7-2-1 being engaged with two interface projection 14-6-3 in wrist joint drive mechanism 17,Runner 7-4 after wrist joint,Wrist joint back-up ring 7-6 and wrist joint fore bearing 7-7 is extremely before sequentially arranged on one section of 7-1-1 of gear shaft by rear,And the rear runner flange 7-4-2 after wrist joint on runner 7-4 is located at front end,The preceding runner 7-5 of wrist joint is arranged on rear runner flange 7-4-2,And line wheel 7-5-1 is located at rear end before the wrist joint before wrist joint on runner 7-5,Line wheel 7-5-1 external diameter is equal with the external diameter of line wheel 7-4-1 after wrist joint before wrist joint,Line wheel 7-4-1 is provided with rear wrist joint steel wire trough 7-4-1-1 after wrist joint,Line wheel 7-5-1 is provided with preceding wrist joint steel wire trough 7-5-1-1 before wrist joint,Line wheel jackscrew 7-8 is uniformly arranged after wrist joint on line wheel 7-4-1 outer surface after three wrist joints,Line wheel jackscrew 7-9 is uniformly arranged before wrist joint on line wheel 7-5-1 outer surface before three wrist joints.Line wheel jackscrew 7-8 effect after three wrist joints:When after wrist joint steel wire trough 7-4-1-1 in steel wire pretension after, screw after three wrist joints on line wheel jackscrew 7-8 to one section of 7-1-1 of gear shaft so that line wheel 7-4-1 is fixed on wrist joint gear shaft 7-1 after wrist joint;Line wheel jackscrew 7-9 effect before three wrist joints:After steel wire pretension in current wrist joint steel wire trough 7-5-1-1, the preceding line wheel jackscrew 7-9 of three wrist joints is screwed to rear runner flange 7-4-2 so that runner 7-5 is closed fixed to wrist before wrist joint After section on runner 7-4.Other compositions and annexation are identical with embodiment five.
Embodiment seven:Illustrate present embodiment with reference to Figure 18~Figure 24,The end effector mechanism 3 of present embodiment is by wrist joint 3-1,Finger mounted axle 3-2,Left finger 3-3,Right finger 3-4,Left finger axis of guide 3-5,First left side finger directive wheel 3-6,Second left side finger directive wheel 3-7,Right finger axis of guide 3-8,First right side finger directive wheel 3-9 and the second right side finger directive wheel 3-10 compositions,Wrist joint 3-1 is by wrist joint runner 3-1-1,Wrist joint substrate 3-1-2 and two finger otic placode 3-1-3 compositions,Wrist joint runner 3-1-1 is radially provided with wrist joint ring like steel wire groove 3-1-4,Wrist joint runner 3-1-1 is located at wrist joint substrate 3-1-2 lower section,Two finger otic placode 3-1-3 are located at wrist joint substrate 3-1-2 top,And two finger otic placode 3-1-3 are symmetricly set on wrist joint substrate 3-1-2 both sides,Wrist joint runner 3-1-1,Wrist joint substrate 3-1-2 is formed integrally with two finger otic placode 3-1-3,Left finger 3-3 is made up of left claw 3-3-1 and left finger runner 3-3-2,Left finger runner 3-3-2 is radially provided with left finger ring shape steel wire trough 3-3-3,Left finger runner 3-3-2 is arranged on left claw 3-3-1 lower section,Left finger runner 3-3-2 and left claw 3-3-1 is formed integrally,Right finger 3-4 is made up of right pawl 3-4-1 and right finger runner 3-4-2,Right finger runner 3-4-2 is radially provided with right finger ring shape steel wire trough 3-4-3,Right finger runner 3-4-2 is arranged on right pawl 3-4-1 lower section,Right finger runner 3-4-2 and right pawl 3-4-1 is formed integrally,Left finger 3-3 and right finger 3-4 are symmetrical arranged,And left finger runner 3-3-2 and right finger runner 3-4-2 is arranged on finger mounted axle 3-2,Finger mounted axle 3-2 is arranged between two finger otic placode 3-1-3,And finger mounted axle 3-2 two ends are arranged on corresponding finger otic placode 3-1-3,Left finger axis of guide 3-5 is vertically set on the end face of the left finger 3-3 sides on wrist joint substrate 3-1-2,First left side finger directive wheel 3-6 and the second left side finger directive wheel 3-7 are sequentially arranged on left finger axis of guide 3-5 from the inside to the outside,Right finger axis of guide 3-8 is vertically set on the end face of the right finger 3-4 sides on wrist joint substrate 3-1-2,First right side finger directive wheel 3-9 and the second right side finger directive wheel 3-10 are sequentially arranged on right finger axis of guide 3-8 from the inside to the outside.Other compositions and annexation are identical with embodiment six.
Embodiment eight:Illustrate present embodiment with reference to Figure 25, first guiding mechanism 1 of present embodiment is made up of the first axis of guide 1-1, long axle sleeve 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 long axle sleeve 1-2 are extremely before sequentially arranged on the first axis of guide 1-1 by rear.Other compositions and annexation are identical with embodiment seven.
Embodiment nine:Illustrate present embodiment with reference to Figure 25, second guiding mechanism 2 of present embodiment is made up of the 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 extremely before sequentially arranged on the second axis of guide 2-1 by rear.Other compositions and annexation are identical with embodiment eight.
The operation principle of the present invention:
(1), the left finger 3-3 in end effector mechanism 3 is realized around finger installation axle 3-2 and rotated clockwise:Start left refer to drive Motor 14-1 in mechanism 15, its output shaft is set to turn clockwise, pass through the connector 14-2 in left finger drive mechanism 15, driving pulley 14-3, Timing Belt 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6, left finger heart axle 5-1 is driven to rotate clockwise by left finger clutch discs 5-2, now, left finger sun gear 5-4 is not rotated, three left planetary gear 5-9 that refer to are engaged with the revolver tooth 5-1-2-1 on left finger heart axle 5-1, around the left finger heart axle 5-1 axis both clockwise rotation while each left finger planetary gear 5-9 is around own axes rotate counterclockwise, drive after left finger that line wheel 5-6 turns clockwise before runner 5-5 and left finger, front left before left finger on line wheel 5-6 refers to driving steel wire 23 before the left finger in steel wire trough 5-6-1 and is tightened up, rear left after left finger on runner 5-5 refers to driving steel wire 24 after the left finger in steel wire trough 5-5-4 and is relaxed, it driven before left finger that steel wire 23 drives left finger 3-3 to be rotated clockwise around finger installation axle 3-2 so as to realize.
(2), the left finger 3-3 in end effector mechanism 3 is realized around finger installation axle 3-2 and rotated counterclockwise:Start the left motor 14-1 referred in drive mechanism 15, make its output shaft rotate counterclockwise, pass through the connector 14-2 in left finger drive mechanism 15, driving pulley 14-3, Timing Belt 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6, left finger heart axle 5-1 is driven to rotate counterclockwise by left finger clutch discs 5-2, now, left finger sun gear 5-4 is not rotated, three left planetary gear 5-9 that refer to are engaged with the revolver tooth 5-1-2-1 on left finger heart axle 5-1, each left fingers planetary gear 5-9 around own axes turn clockwise while around the left axis rotate counterclockwise for referring to heart axle 5-1, drive after left finger line wheel 5-6 rotate counterclockwises before runner 5-5 and left finger, front left before left finger on line wheel 5-6 refers to driving steel wire 23 before the left finger in steel wire trough 5-6-1 and is relaxed, rear left after left finger on runner 5-5 refers to driving steel wire 24 after the left finger in steel wire trough 5-5-4 and is tightened up, it driven after left finger that steel wire 24 drives left finger 3-3 to be rotated counterclockwise around finger installation axle 3-2 so as to realize.
(3), the right finger 3-4 in end effector mechanism 3 is realized around finger installation axle 3-2 and rotated clockwise:Start the right motor 14-1 referred in drive mechanism 16, make its output shaft rotate counterclockwise, pass through the connector 14-2 in right finger drive mechanism 16, driving pulley 14-3, Timing Belt 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6, right finger heart axle 6-1 is driven to rotate counterclockwise by right finger clutch discs 6-2, now, right finger sun gear 6-4 is not rotated, three right planetary gear 6-9 that refer to are engaged with the right wheel tooth 6-1-2-1 on right finger heart axle 6-1, each right fingers planetary gear 6-9 around own axes turn clockwise while around the right axis rotate counterclockwise for referring to heart axle 6-1, drive after right finger line wheel 6-6 rotate counterclockwises before runner 6-5 and right finger, front right before right finger on line wheel 6-6 refers to driving steel wire 25 before the right finger in steel wire trough 6-6-1 and is tightened up, rear right after right finger on runner 6-5 refers to driving steel wire 26 after the right finger in steel wire trough 6-5-4 and is relaxed, it driven before right finger that steel wire 25 drives right finger 3-4 to be rotated clockwise around finger installation axle 3-2 so as to realize.
(4), the right finger 3-4 in end effector mechanism 3 is realized around finger installation axle 3-2 and rotated counterclockwise:Start the right motor 14-1 referred in drive mechanism 16, its output shaft is set to turn clockwise, interface clutch discs 14-6 is rotated by connector 14-2, driving pulley 14-3, Timing Belt 14-4 and the passive belt wheel 14-5 in right finger drive mechanism 16, right finger heart axle 6-1 is driven to rotate clockwise by right finger clutch discs 6-2, now, right finger sun gear 6-4 is not rotated, three right planetary gear 6-9 that refer to are engaged with the right wheel tooth 6-1-2-1 on right finger heart axle 6-1, and each right finger planetary gear 6-9 is around own axes rotate counterclockwise While around right finger heart axle 6-1 axis both clockwise rotation, drive after right finger that line wheel 6-6 turns clockwise before runner 6-5 and right finger, front right before right finger on line wheel 6-6 refers to driving steel wire 25 before the right finger in steel wire trough 6-6-1 and is relaxed, rear right after right finger on runner 6-5 refers to driving steel wire 26 after the right finger in steel wire trough 6-5-4 and is tightened up, and driven after right finger that steel wire 26 drives right finger 3-4 to be rotated counterclockwise around finger installation axle 3-2 so as to realize.
(5), the wrist joint 3-1 in end effector mechanism 3 is rotated forward around wrist 31 realizations of shipping and reselling on another market:Start the motor 14-1 in wrist joint drive mechanism 17, make its output shaft rotate counterclockwise, pass through the connector 14-2 in wrist joint drive mechanism 17, driving pulley 14-3, Timing Belt 14-4 and passive belt wheel 14-5 rotate interface clutch discs 14-6, wrist joint gear shaft 7-1 is driven to rotate counterclockwise by wrist joint clutch discs 7-2, drive after wrist joint runner 7-5 rotate counterclockwises before runner 7-4 and wrist joint, steel wire 27 is driven to be relaxed before the wrist joint in preceding wrist joint steel wire trough 7-5-1-1 before wrist joint on runner 7-5, steel wire 28 is driven to be relaxed after the wrist joint in rear wrist joint steel wire trough 7-4-1-1 after wrist joint on runner 7-4, it driven before wrist joint that steel wire 27 drives wrist joint 3-1 to be shipped and resell on another market around wrist and 31 rotated forward so as to realize;While wrist joint gear shaft 7-1 is rotated counterclockwise, there being driving steel wire 25 before Zuo Zhiqian driving steel wires 23 and right finger loosens trend, driving steel wire 26 after steel wire 24 and right finger is driven after left finger tension trend, now, the wrist joint gear 7-1-2-1 on wrist joint gear shaft 7-1 drives left finger sun gear 5-4 to rotate clockwise by the second connection connection gear 11 of gear 12 and first;Wrist joint gear 7-1-2-1 on wrist joint gear shaft 7-1 drives right finger sun gear 6-4 to rotate counterclockwise by the 3rd connection gear 13;At this moment, because left finger heart axle 5-1 is not rotated, three left planetary gear 5-9 that refer to are engaged with the left finger internal tooth 5-4-2 on left finger sun gear 5-4, each left fingers planetary gear 5-9 around own axes turn clockwise while rotated around left finger heart axle 5-1 axis both clockwise, drive after left finger that line wheel 5-6 turns clockwise before runner 5-5 and left finger, front left before left finger on line wheel 5-6, which refers to, driven before the left finger in steel wire trough 5-6-1 steel wire 23 in tension trend, rear left after left finger on runner 5-5 refer to after the left finger in steel wire trough 5-5-4 drive steel wire 24 be in loosen trend, at this moment, Zuo Zhiqian drives driving steel wire 24 and left finger ring shape steel wire trough 3-3-3 position after steel wire 23 and left finger relative constant, left finger 3-3 is mounted opposite axle 3-2 and not rotated;Equally, because right finger heart axle 6-1 is also not rotate, three right planetary gear 6-9 that refer to are engaged with the right finger internal tooth 6-4-2 on right finger sun gear 6-4, around the right finger heart axle 6-1 axis rotate counterclockwise while each right finger planetary gear 6-9 is around own axes rotate counterclockwise, drive after right finger line wheel 6-6 rotate counterclockwises before runner 6-5 and right finger, front right before right finger on line wheel 6-6, which refers to, driven before the right finger in steel wire trough 6-6-1 steel wire 25 in tension trend, rear right after right finger on runner 6-5 refer to after the right finger in steel wire trough 6-5-4 drive steel wire 26 be in loosen trend, at this moment, drive driving steel wire 26 and right finger ring shape steel wire trough 3-4-3 position after steel wire 25 and right finger relative constant before right finger, right finger 3-4 is mounted opposite axle 3-2 and not rotated.
(6), the wrist joint 3-1 in end effector mechanism 3 rotates backward around wrist 31 realizations of shipping and reselling on another market:Start the motor 14-1 in wrist joint drive mechanism 17, its output shaft is set to turn clockwise, interface clutch discs 14-6 is rotated by the connector 14-2 in wrist joint drive mechanism 17, driving pulley 14-3, Timing Belt 14-4 and passive belt wheel 14-5, drive wrist joint gear shaft 7-1 to rotate clockwise by wrist joint clutch discs 7-2, drive after wrist joint that runner 7-5 is suitable before runner 7-4 and wrist joint Hour hands rotate, steel wire 27 is driven to be relaxed before the wrist joint in preceding wrist joint steel wire trough 7-5-1-1 before wrist joint on runner 7-5, drive steel wire 28 to be tightened up after the wrist joint in rear wrist joint steel wire trough 7-4-1-1 after wrist joint on runner 7-4, driven after wrist joint that steel wire 28 drives wrist joint 3-1 to be shipped and resell on another market around wrist and 31 rotated backward so as to realize;While wrist joint gear shaft 7-1 is rotated clockwise, driving steel wire 25 has tension trend before Zuo Zhiqian driving steel wires 23 and right finger, drive after steel wire 24 and right finger driving steel wire 26 to have after left finger and loosen trend, now, the wrist joint gear 7-1-2-1 on wrist joint gear shaft 7-1 drives left finger sun gear 5-4 to rotate counterclockwise by the second connection connection gear 11 of gear 12 and first;Wrist joint gear 7-1-2-1 on wrist joint gear shaft 7-1 drives right finger sun gear 6-4 to rotate clockwise by the 3rd connection gear 13;At this moment, because left finger heart axle 5-1 is not rotated, three left planetary gear 5-9 that refer to are engaged with the left finger internal tooth 5-4-2 on left finger sun gear 5-4, around the left finger heart axle 5-1 axis rotate counterclockwise while each left finger planetary gear 5-9 is around own axes rotate counterclockwise, drive after left finger line wheel 5-6 rotate counterclockwises before runner 5-5 and left finger, front left before left finger on line wheel 5-6 refer to before the left finger in steel wire trough 5-6-1 drive steel wire 23 be in loosen trend, rear left after left finger on runner 5-5, which refers to, driven after the left finger in steel wire trough 5-5-4 steel wire 24 in tension trend, at this moment, Zuo Zhiqian drives driving steel wire 24 and left finger ring shape steel wire trough 3-3-3 position after steel wire 23 and left finger relative constant, left finger 3-3 is mounted opposite axle 3-2 and not rotated;Equally, because right finger heart axle 6-1 is also not rotate, three right planetary gear 6-9 that refer to are engaged with the right finger internal tooth 6-4-2 on right finger sun gear 6-4, each right fingers planetary gear 6-9 around own axes turn clockwise while rotated around right finger heart axle 6-1 axis both clockwise, drive after right finger that line wheel 6-6 turns clockwise before runner 6-5 and right finger, front right before right finger on line wheel 6-6 refer to before the right finger in steel wire trough 6-6-1 drive steel wire 25 be in loosen trend, rear right after right finger on runner 6-5, which refers to, driven after the right finger in steel wire trough 6-5-4 steel wire 26 in tension trend, at this moment, drive driving steel wire 26 and right finger ring shape steel wire trough 3-4-3 position after steel wire 25 and right finger relative constant before right finger, right finger 3-4 is mounted opposite axle 3-2 and not rotated.

Claims (9)

1. a kind of abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments, it is characterised in that:The clamp-type operating theater instruments includes operating theater instruments executing agency (M) and interface pedestal (N),The interface pedestal (N) is by operation pipe drive mechanism (14),Left finger drive mechanism (15),Right finger drive mechanism (16),Wrist joint drive mechanism (17) and base housing (18) composition,The front end face of base housing (18) is provided with the first mounting hole (18-1),Second mounting hole (18-2),3rd mounting hole (18-3) and the 4th mounting hole (18-4),First mounting hole (18-1) is symmetrical arranged with the 3rd mounting hole (18-3) with the vertical center line of base housing (18),Second mounting hole (18-2) is symmetrical arranged with the 4th mounting hole (18-4) with the vertical center line of base housing (18),And second mounting hole (18-2) be located at the first mounting hole (18-1) lower section,4th mounting hole (18-4) is located at the lower section of the 3rd mounting hole (18-3),The rear end face of base housing (18) is provided with the 5th mounting hole (18-5),6th mounting hole (18-6),7th mounting hole (18-7),8th mounting hole (18-8),9th mounting hole (18-9),Tenth mounting hole (18-10),11st mounting hole (18-11) and the 12nd mounting hole (18-12),The center line of the center line and the first mounting hole (18-1) of 5th mounting hole (18-5) is just right,The center line of the center line and the second mounting hole (18-2) of 6th mounting hole (18-6) is just right,The center line of the center line and the 3rd mounting hole (18-3) of 7th mounting hole (18-7) is just right,The center line of the center line and the 4th mounting hole (18-4) of 8th mounting hole (18-8) is just right,9th mounting hole (18-9) and the 11st mounting hole (18-11) are symmetricly set on the outside of the 5th mounting hole (18-5) and the 7th mounting hole (18-7) with the vertical center line of base housing (18),Tenth mounting hole (18-10) and the 12nd mounting hole (18-12) are symmetricly set on the outside of the 6th mounting hole (18-6) and the 8th mounting hole (18-8) with the vertical center line of base housing (18),Operation pipe drive mechanism (14),Left finger drive mechanism (15),Right finger drive mechanism (16) and wrist joint drive mechanism (17) are installed in base housing (18),And the interface clutch discs (14-6) in operation pipe drive mechanism (14) are arranged in the first mounting hole (18-1),Passive belt wheel (14-5) in operation pipe drive mechanism (14) is rotatably installed in the 5th mounting hole (18-5),The left interface clutch discs (14-6) referred in drive mechanism (15) are arranged in the second mounting hole (18-2),The left passive belt wheel (14-5) referred in drive mechanism (15) is rotatably installed in the 6th mounting hole (18-6),The right interface clutch discs (14-6) referred in drive mechanism (16) are arranged in the 3rd mounting hole (18-3),The right passive belt wheel (14-5) referred in drive mechanism (16) is rotatably installed in the 7th mounting hole (18-7),Interface clutch discs (14-6) in wrist joint drive mechanism (17) are arranged in the 4th mounting hole (18-4),Passive belt wheel (14-5) in wrist joint drive mechanism (17) is rotatably installed in the 8th mounting hole (18-8),Driving pulley (14-3) in operation pipe drive mechanism (14) is rotatably installed in the 9th mounting hole (18-9),The left driving pulley (14-3) referred in drive mechanism (15) is rotatably installed in the tenth mounting hole (18-10),The right driving pulley (14-3) referred in drive mechanism (16) is rotatably installed in the 11st mounting hole (18-11),Driving pulley (14-3) in wrist joint drive mechanism (17) is rotatably installed in the 12nd mounting hole (18-12),The operating theater instruments executing agency (M) is by the first guiding mechanism (1),Second guiding mechanism (2),End effector mechanism (3),Action bars transmission mechanism (4),Left finger transmission mechanism (5),Right finger transmission mechanism (6),Wrist joint transmission mechanism (7),First connecting shaft (8), Second connecting shaft (9),3rd connecting shaft (10),First connection gear (11),Second connection gear (12),3rd connection gear (13),First left side fifth wheel (19),Second left side fifth wheel (20),First right side fifth wheel (21),Second right side fifth wheel (22),Zuo Zhiqian driving steel wires (23),Steel wire (24) is driven after left finger,Steel wire (25) is driven before right finger,Steel wire (26) is driven after right finger,Steel wire (27) is driven before wrist joint,Steel wire (28) is driven after wrist joint,Base plate (29),Front apron (30) and wrist ship and resell on another market (31) composition,The end face of base plate (29) holds mounting hole (29-1) provided with driven rear axle,Bearing mounting hole (29-2) after left finger,Bearing mounting hole (29-3) after right finger,Bearing mounting hole (29-4) after wrist joint,Mounting hole (29-6) after mounting hole (29-5) and second axis of guide after first axis of guide,Driven rear axle is held mounting hole (29-1) and is symmetrical arranged with bearing mounting hole (29-3) after right finger with the vertical center line of base plate (29),Bearing mounting hole (29-2) is symmetrical arranged with bearing mounting hole after wrist joint (29-4) with the vertical center line of base plate (29) after left finger,The center line that driven rear axle holds the center line and the first mounting hole (18-1) of mounting hole (29-1) is just right,The center line of the center line of bearing mounting hole (29-2) and the second mounting hole (18-2) is just right after left finger,The center line of the center line of bearing mounting hole (29-3) and the 3rd mounting hole (18-3) is just right after right finger,The center line of the center line of bearing mounting hole (29-4) and the 4th mounting hole (18-4) is just right after wrist joint,The end face of front apron (30) is provided with transmission fore bearing mounting hole (30-1),Left finger fore bearing mounting hole (30-2),Right finger fore bearing mounting hole (30-3),Wrist joint fore bearing mounting hole (30-4),Mounting hole (30-6) before mounting hole (30-5) and second axis of guide before first axis of guide,The center line of transmission fore bearing mounting hole (30-1) and the center line that driven rear axle holds mounting hole (29-1) are just right,The center line of the left center line and bearing mounting hole (29-2) after left finger for referring to fore bearing mounting hole (30-2) is just right,The center line of the right center line and bearing mounting hole (29-3) after right finger for referring to fore bearing mounting hole (30-3) is just right,The center line of bearing mounting hole (29-4) is just right after the center line and wrist joint of wrist joint fore bearing mounting hole (30-4),The center line of the center line of mounting hole (30-5) and mounting hole (29-5) after first axis of guide is just right before first axis of guide,The center line of the center line of mounting hole (30-6) and mounting hole (29-6) after second axis of guide is just right before second axis of guide,Driven rear axle on operation pipe transmission mechanism (4), which holds (4-4) and is arranged on driven rear axle, to be held in mounting hole (29-1),Transmission fore bearing (4-3) on operation pipe transmission mechanism (4) is arranged in transmission fore bearing mounting hole (30-1),The bottom surface of bearing block (4-13) on operation pipe transmission mechanism (4) is packed on the front end face of base plate (29),Bearing (5-3) is arranged on after left finger in bearing mounting hole (29-2) after the left left finger referred on transmission mechanism (5),The left left finger fore bearing (5-8) referred on transmission mechanism (5) is arranged in left finger fore bearing mounting hole (30-2),Bearing (6-3) is arranged on after right finger in bearing mounting hole (29-3) after the right right finger referred on transmission mechanism (6),Line wheel (6-6) is arranged in right finger fore bearing mounting hole (30-3) before the right right finger referred on transmission mechanism (6),Bearing (7-3) is arranged in bearing mounting hole after wrist joint (29-4) after wrist joint on wrist joint transmission mechanism (7),Wrist joint fore bearing (7-7) on wrist joint transmission mechanism (7) is arranged in wrist joint fore bearing mounting hole (30-4),The front-end and back-end of first axis of guide (1-1) on first guiding mechanism (1) are separately positioned on before first axis of guide after mounting hole (30-5) and first axis of guide in mounting hole (29-5),The front end of second axis of guide (2-1) on second guiding mechanism (2) is with after End is separately positioned on before second axis of guide after mounting hole (30-6) and second axis of guide in mounting hole (29-6),The left left finger external tooth (5-4-1) referred on transmission mechanism (5) is connected gear (11) engagement with first,First connection gear (11) is arranged in the first connecting shaft (8),One end of first connecting shaft (8) is fixed on the front end face of base plate (29),Second connection gear (12) is while two sections of the gear shaft being connected with first on gear (11) and wrist joint transmission mechanism (7) (7-1-2) is engaged,Second connection gear (12) is arranged in the second connecting shaft (9),One end of second connecting shaft (9) is fixed on the front end face of base plate (29),3rd connection gear (13) with the gear shaft two sections (7-1-2) on the right finger external tooth (6-4-1) and wrist joint transmission mechanism (7) on right finger transmission mechanism (6) while engage,3rd connection gear (13) is arranged in the 3rd connecting shaft (10),One end of 3rd connecting shaft (10) is fixed on the front end face of base plate (29),The wrist joint runner (3-1-1) on wrist joint (3-1) in end effector mechanism (3) is shipped and resell on another market on (31) installed in wrist,Wrist is shipped and resell on another market between two wrist joint otic placodes (4-12-7) that (31) are arranged on operation pipe transmission mechanism (4),And wrist ship and resell on another market (31) two ends be arranged on corresponding wrist joint otic placode (4-12-7) on,The first left side fifth wheel (19) and the second left side fifth wheel (20) are sequentially arranged with from the inside to the outside between the corresponding wrist joint otic placode (4-12-7) of the end face of the left finger side of wrist joint runner (3-1-1),The first right side fifth wheel (21) and the second right side fifth wheel (22) are sequentially arranged with from the inside to the outside between the corresponding wrist joint otic placode (4-12-7) of the end face of the right finger side of wrist joint runner (3-1-1),The front left that one end of Zuo Zhiqian driving steel wires (23) is fixed on left finger transmission mechanism (5) refers in steel wire trough (5-6-1),The other end of Zuo Zhiqian driving steel wires (23) refers to the sleeve pipe (4-10) for being laid out in steel wire trough (5-6-1) and bypassing sequentially passed through after the first directive wheel (1-3) on operation pipe transmission mechanism (4) counterclockwise again from front left counterclockwise,Operation pipe (4-11) and the second through hole (4-12-2),Bypassed on front side of the first right side fifth wheel (21),Laid out on rear side of the first right side finger directive wheel (3-9) on end effector mechanism (3),It is in the left finger ring shape steel wire trough (3-3-3) moved into the left finger (3-3) on end effector mechanism (3) and fixed with left finger ring shape steel wire trough (3-3-3),The rear left for driving one end of steel wire (24) to be fixed on left finger transmission mechanism (5) after left finger refers in steel wire trough (5-5-4),The other end of steel wire (24) is driven to sequentially pass through sleeve pipe (4-10) after referring to the second directive wheel (1-5) for laying out and being bypassed counterclockwise again on the first guiding mechanism (1) in steel wire trough (5-5-4) from rear left clockwise after left finger,Fifth hole (4-12-5) on operation pipe (4-11) and operation pipe transmission mechanism (4),Bypassed on rear side of the first left side fifth wheel (19),Laid out on front side of the first left side finger directive wheel (3-6) on end effector mechanism (3),It is in the left finger ring shape steel wire trough (3-3-3) moved into the left finger (3-3) on end effector mechanism (3) and fixed with left finger ring shape steel wire trough (3-3-3),The front right for driving one end of steel wire (25) to be fixed on right finger transmission mechanism (6) before right finger refers in steel wire trough (6-6-1),The other end of steel wire (25) is driven to sequentially pass through sleeve pipe (4-10) after referring to the 4th directive wheel (2-4) for laying out and being bypassed clockwise again on the second guiding mechanism (2) in steel wire trough (6-6-1) from front right clockwise before right finger,First through hole (4-12-1) on operation pipe (4-11) and operation pipe transmission mechanism (4),Bypassed on front side of the second right side fifth wheel (22),Laid out on rear side of the second right side finger directive wheel (3-10) on end effector mechanism (3),The right side moved into the right finger (3-4) on end effector mechanism (3) It is in finger ring shape steel wire trough (3-4-3) and fixed with right finger ring shape steel wire trough (3-4-3),The rear right for driving one end of steel wire (26) to be fixed on right finger transmission mechanism (6) after right finger refers in steel wire trough (6-5-2),The other end of steel wire (26) is driven to sequentially pass through sleeve pipe (4-10) after referring to the 5th directive wheel (2-5) for laying out and being bypassed clockwise again on the second guiding mechanism (2) in steel wire trough (6-5-2) from rear right counterclockwise after right finger,Fourth hole (4-12-4) on operation pipe (4-11) and operation pipe transmission mechanism (4),Bypassed on rear side of the second left side fifth wheel (20),Laid out on front side of the second left side finger directive wheel (3-7) on end effector mechanism (3),It is in the right finger ring shape steel wire trough (3-4-3) moved into the right finger (3-4) on end effector mechanism (3) and fixed with right finger ring shape steel wire trough (3-4-3),One end of steel wire (27) is driven to be fixed in the preceding wrist joint steel wire trough (7-5-1-1) on wrist joint transmission mechanism (7) before wrist joint,The other end of steel wire (27) is driven to sequentially pass through sleeve pipe (4-10) after laying out the 3rd directive wheel (1-3) bypassed clockwise again on the first guiding mechanism (1) from preceding wrist joint steel wire trough (7-5-1-1) clockwise before wrist joint,Third through-hole (4-12-3) on operation pipe (4-11) and operation pipe transmission mechanism (4) enters in the wrist joint ring like steel wire groove (3-1-4) on end effector mechanism (3) and fixed with wrist joint ring like steel wire groove (3-1-4),One end of steel wire (28) is driven to be fixed in the rear wrist joint steel wire trough (7-4-1-1) on wrist joint transmission mechanism (7) after wrist joint,The other end of steel wire (28) is driven to sequentially pass through sleeve pipe (4-10) after laying out the 6th directive wheel (1-6) bypassed clockwise again on the first guiding mechanism (1) from rear wrist joint steel wire trough (7-4-1-1) counterclockwise after wrist joint,The 6th through hole (4-12-6) on operation pipe (4-11) and operation pipe transmission mechanism (4) enters in the wrist joint ring like steel wire groove (3-1-4) on end effector mechanism (3) and fixed with wrist joint ring like steel wire groove (3-1-4),The operation interface tube (4-5-1) in operation pipe clutch discs (4-5) in operation pipe transmission mechanism (4) coordinates with two interface projections (14-6-3) in operation pipe drive mechanism (14) to be installed,Left finger interface (5-2-1) on the left left finger clutch discs (5-2) referred in transmission mechanism (5) coordinates with two interface projections (14-6-3) on left finger drive mechanism (15) installs,Right finger interface (6-2-1) on the right right finger clutch discs (6-2) referred in transmission mechanism (6) coordinates with two interface projections (14-6-3) on right finger drive mechanism (16) installs,The wrist joint interface (7-2-1) in wrist joint clutch discs (7-2) in wrist joint transmission mechanism (7) coordinates with two interface projections (14-6-3) in wrist joint drive mechanism (17) to be installed.
2. abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments according to claim 1, it is characterised in that:The operation pipe drive mechanism (14), left finger drive mechanism (15), right finger drive mechanism (16) and wrist joint drive mechanism (17) are by motor (14-1), connector (14-2), driving pulley (14-3), Timing Belt (14-4), passive belt wheel (14-5), interface clutch discs (14-6) and spring (14-7) composition, interface clutch discs (14-6) are made up of the disk (14-6-1) and passive belt shaft (14-6-2) that are formed integrally from front to back, the front end surface of disk (14-6-1) is provided with two interface projections (14-6-3), spring (14-7) and passive belt wheel (14-5) are arranged on passive belt shaft (14-6-2) from the inside to the outside, passive belt wheel (14-5) is connected by Timing Belt (14-4) with driving pulley (14-3), driving pulley (14-3) is arranged in the output end of connector (14-2), the input of connector (14-2) is connected with the output end of motor (14-1).
3. abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments according to claim 1, it is characterised in that:The operation pipe transmission mechanism (4) by being driven after wire wheel axis (4-1),Line wheel (4-2) before transmission,It is driven fore bearing (4-3),Driven rear axle is held (4-4),Operation pipe clutch discs (4-5),Steel wire (4-6) after traction,Steel wire (4-7) before traction,First screw (4-8),Second screw (4-9),Sleeve pipe (4-10),Operation pipe (4-11),Wrist joint connector (4-12),Bearing block (4-13),Two Casing bearings (4-14) and three operation pipe jackscrew (4-15) compositions,One section of the wire wheel axis (4-1-1) of wire wheel axis (4-1) from front to back successively by being formed integrally after transmission,Two sections of wire wheel axis (4-1-2),Three sections of wire wheel axis (4-1-3),Wire wheel axis four sections (4-1-4) and five sections of wire wheel axis (4-1-5) composition,Three sections of wire wheel axis (4-1-3) is line wheel after transmission,The outer surface of line wheel is provided with rear haulage steel wire trough (4-1-3-1) after transmission,Line wheel (4-2) is arranged on two sections of wire wheel axis (4-1-2) before transmission,And the external diameter of the preceding line wheel (4-2) of transmission is equal with the external diameter of line wheel after transmission,The outer surface of line wheel (4-2) is provided with front haulage steel wire trough (4-2-1) before transmission,Fore bearing (4-3) is driven to be arranged on one section of wire wheel axis (4-1-1),Driven rear axle holds (4-4) on four sections of wire wheel axis (4-1-4),Operation pipe clutch discs (4-5) are interference fit with five sections of wire wheel axis (4-1-5),The cross section of the axle center hole and wire wheel axis five sections (4-1-5) of operation pipe clutch discs (4-5) is D fonts,The end face of operation pipe clutch discs (4-5) is provided with the operation interface tube (4-5-1) being engaged with two interface projections (14-6-3) in operation pipe drive mechanism (14),Three operation pipe jackscrews (4-15) are uniformly arranged before transmission on the outer surface of line wheel (4-2),The one ends wound of steel wire (4-6) is in rear haulage steel wire trough (4-1-3-1) after traction,The other end of steel wire (4-6) is wound on sleeve pipe (4-10) and ties up to the first screw (4-8) after traction,The one ends wound of steel wire (4-7) is in front haulage steel wire trough (4-2-1) before traction,The other end of steel wire (4-7) is wound on sleeve pipe (4-10) and tied up on the second screw (4-9) before traction,Winding direction of the steel wire (4-6) in rear haulage steel wire trough (4-1-3-1) is opposite with winding direction of the steel wire (4-7) in front haulage steel wire trough (4-2-1) before traction after traction,Steel wire (4-6) is wound in opposite direction on sleeve pipe (4-10) with steel wire (4-7) before traction after traction,The axial direction of first screw (4-8) and the second screw (4-9) along sleeve pipe (4-10) is set gradually,And first screw (4-8) and the second screw (4-9) be fastened on sleeve pipe (4-10),The upper end of sleeve pipe (4-10) is interference fitted with the lower end of operation pipe (4-11),The lower end of wrist joint connector (4-12) is interference fitted with the upper end of operation pipe (4-11),The upper end of wrist joint connector (4-12) is arranged with two wrist joint otic placodes (4-12-7),Wrist joint connector (4-12) is vertically provided with six through holes communicated with operation pipe (4-11) inner chamber,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 the 6th through hole (4-12-6),Two Casing bearings (4-14) are sleeved on sleeve pipe (4-10),Bearing block (4-13) is sleeved on two Casing bearings (4-14).
4. abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments according to claim 1, it is characterised in that:The left finger transmission mechanism (5) is by line wheel (5-6), left finger stop circle (5-7), left finger fore bearing (5-8), three before runner (5-5), left finger after bearing (5-3), left finger sun gear (5-4), left finger after left finger heart axle (5-1), left finger clutch discs (5-2), left finger Individual left finger planetary gear (5-9) and three left jackscrews (5-10) that refer to are constituted,It is left to refer to one section of the left heart axle (5-1-1) of heart axle (5-1) from front to back successively by being formed integrally,Left two sections of heart axle (5-1-2),Left three sections of heart axle (5-1-3),Left heart axle four sections (5-1-4) and five sections of left heart axle (5-1-5) composition,The outer surface of left heart axle two sections (5-1-2) is provided with revolver tooth (5-1-2-1),Runner (5-5) is by line wheel (5-5-1) after the left finger that is formed integrally after left finger,Left finger flange (5-5-2) and three left planet wheel spindles (5-5-3) that refer to are constituted,It is left to refer to the front end face that flange (5-5-2) is arranged on line wheel (5-5-1) after left finger,Three left planet wheel spindles (5-5-3) that refer to are uniformly arranged after left finger on the rear end face of line wheel (5-5-1),Runner (5-5) after left finger,Left finger stop circle (5-7) and left finger fore bearing (5-8) are extremely before sequentially arranged on left one section of heart axle (5-1-1) by rear,And left finger flange (5-5-2) is located at front end,Line wheel (5-6) is sleeved on left finger flange (5-5-2) before left finger,And the external diameter of line wheel (5-6) is equal with the external diameter of line wheel (5-5-1) after left finger before left finger,Left finger sun gear (5-4) is arranged on left three sections of heart axle (5-1-3),Bearing (5-3) is arranged on left four sections of heart axle (5-1-4) after left finger,Left finger clutch discs (5-2) are arranged on left five sections of heart axle (5-1-5),And left finger clutch discs (5-2) and left five sections of heart axle (5-1-5) are interference fit,The cross section of the left axle center hole for referring to clutch discs (5-2) and left heart axle five sections (5-1-5) is D fonts,The left end face for referring to clutch discs (5-2) is provided with the left finger interface (5-2-1) being engaged with two interface projections (14-6-3) on left finger drive mechanism (15),The left outer surface for referring to sun gear (5-4) is provided with left finger external tooth (5-4-1),The left inner surface for referring to sun gear (5-4) is provided with left finger internal tooth (5-4-2),The outer surface of line wheel (5-6) refers to steel wire trough (5-6-1) provided with front left before left finger,The outer surface of line wheel (5-5-1) refers to steel wire trough (5-5-4) provided with rear left after left finger,Three left planet wheel spindles (5-5-3) that refer to are located in the inner chamber of left finger internal tooth (5-4-2),Equipped with a left finger planetary gear (5-9) on each left finger planet wheel spindle (5-5-3),Three left planetary gears (5-9) that refer to are meshed with left finger internal tooth (5-4-2),Three left jackscrews (5-10) that refer to are uniformly arranged before left finger on the outer surface of line wheel (5-6).
5. abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments according to claim 1, it is characterised in that:The right finger transmission mechanism (6) is by right finger heart axle (6-1),Right finger clutch discs (6-2),Bearing (6-3) after right finger,Right finger sun gear (6-4),Runner (6-5) after right finger,Line wheel (6-6) before right finger,Right finger stop circle (6-7),Right finger fore bearing (6-8),Three right finger planetary gears (6-9) and three right jackscrews (6-10) that refer to are constituted,It is right to refer to one section of the right heart axle (6-1-1) of heart axle (6-1) from front to back successively by being formed integrally,Right two sections of heart axle (6-1-2),Right three sections of heart axle (6-1-3),Right heart axle four sections (6-1-4) and five sections of right heart axle (6-1-5) composition,The outer surface of right heart axle two sections (6-1-2) is provided with right wheel tooth (6-1-2-1),Runner (6-5) is by line wheel (6-5-1) after the right finger that is formed integrally after right finger,Right finger flange (6-5-2) and three right planet wheel spindles (6-5-3) that refer to are constituted,It is right to refer to the front end face that flange (6-5-2) is arranged on line wheel (6-5-1) after right finger,Three right planet wheel spindles (6-5-3) that refer to are uniformly arranged after right finger on the rear end face of line wheel (6-5-1),Runner (6-5) after right finger,Right finger stop circle (6-7) and right finger fore bearing (6-8) are extremely before sequentially arranged on right one section of heart axle (6-1-1) by rear,And right finger flange (6-5-2) is located at front end,Line wheel (6-6) is sleeved on right finger flange (6-5-2) before right finger,And the external diameter of line wheel (6-6) is equal with the external diameter of line wheel (6-5-1) after right finger before right finger,Right finger sun gear (6-4) is arranged on right three sections of heart axle (6-1-3),It is right to refer to Bearing (6-3) is arranged on right four sections of heart axle (6-1-4) afterwards, right finger clutch discs (6-2) are arranged on right five sections of heart axle (6-1-5), and right finger clutch discs (6-2) and right five sections of heart axle (6-1-5) are interference fit, the cross section of the right axle center hole for referring to clutch discs (6-2) and right heart axle five sections (6-1-5) is D fonts, the right end face for referring to clutch discs (6-2) is provided with the right finger interface (6-2-1) being engaged with two interface projections (14-6-3) on right finger drive mechanism (16), the right outer surface for referring to sun gear (6-4) is provided with right finger external tooth (6-4-1), the right inner surface for referring to sun gear (6-4) is provided with right finger internal tooth (6-4-2), the outer surface of line wheel (6-6) refers to steel wire trough (6-6-1) provided with front right before right finger, the outer surface of line wheel (6-5-1) refers to steel wire trough (6-5-4) provided with rear right after right finger, three right planet wheel spindles (6-5-3) that refer to are located in the inner chamber of right finger internal tooth (6-4-2), each right finger planet wheel spindle (6-5-3) is equipped with a right finger planetary gear (6-9), three right planetary gears (6-9) that refer to are meshed with right finger internal tooth (6-4-2), three right jackscrews (6-10) that refer to are uniformly arranged before right finger on the outer surface of line wheel (6-6).
6. abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments according to claim 1, it is characterised in that:The wrist joint transmission mechanism (7) is by wrist joint gear shaft (7-1),Wrist joint clutch discs (7-2),Bearing (7-3) after wrist joint,Runner (7-4) after wrist joint,Runner (7-5) before wrist joint,Wrist joint back-up ring (7-6),Wrist joint fore bearing (7-7),Line wheel jackscrew (7-9) is constituted before line wheel jackscrew (7-8) and three wrist joints after three wrist joints,One section of the gear shaft (7-1-1) of wrist joint gear shaft (7-1) from front to back successively by being formed integrally,Two sections of gear shaft (7-1-2),Gear shaft three sections (7-1-3) and four sections of gear shaft (7-1-4) composition,The cylindrical of two sections of gear shaft (7-1-2) is provided with wrist joint gear (7-1-2-1),Runner (7-4) is made up of line wheel (7-4-1) after the rear runner flange (7-4-2) being formed integrally and wrist joint successively from front to back after wrist joint,The axle center of runner (7-4) is provided with one section of mounting hole (7-4-3) of gear shaft after wrist joint,Runner (7-5) is made up of line wheel (7-5-1) before the preceding runner boss (7-5-2) being formed integrally and wrist joint successively from front to back before wrist joint,The axle center of the preceding runner of wrist joint (7-5) is provided with rear runner flange mounting hole (7-5-3),Bearing (7-3) is arranged on three sections of gear shaft (7-1-3) after wrist joint,Wrist joint clutch discs (7-2) are arranged on four sections of gear shaft (7-1-4),And be interference fit between the axle center hole and four sections of gear shaft (7-1-4) of wrist joint clutch discs (7-2),The cross section of the axle center hole and gear shaft four sections (7-1-4) of wrist joint clutch discs (7-2) is D fonts,The end face of wrist joint clutch discs (7-2) is provided with the wrist joint interface (7-2-1) being engaged with two interface projections (14-6-3) in wrist joint drive mechanism (17),Runner (7-4) after wrist joint,Wrist joint back-up ring (7-6) and wrist joint fore bearing (7-7) are extremely before sequentially arranged on one section of gear shaft (7-1-1) by rear,And the rear runner flange (7-4-2) after wrist joint on runner (7-4) is located at front end,The preceding runner of wrist joint (7-5) is arranged on rear runner flange (7-4-2),And line wheel (7-5-1) is located at rear end before the wrist joint before wrist joint on runner (7-5),The external diameter of line wheel (7-5-1) is equal with the external diameter of line wheel after wrist joint (7-4-1) before wrist joint,Line wheel (7-4-1) is provided with rear wrist joint steel wire trough (7-4-1-1) after wrist joint,Line wheel (7-5-1) is provided with preceding wrist joint steel wire trough (7-5-1-1) before wrist joint,Line wheel jackscrew (7-8) is uniformly arranged after wrist joint on the outer surface of line wheel (7-4-1) after three wrist joints,Line wheel jackscrew (7-9) is uniformly arranged before wrist joint on the outer surface of line wheel (7-5-1) before three wrist joints.
7. abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments according to claim 1, it is characterised in that:The end effector mechanism (3) is by wrist joint (3-1),Finger mounted axle (3-2),It is left to refer to (3-3),It is right to refer to (3-4),The left finger axis of guide (3-5),First left side finger directive wheel (3-6),Second left side finger directive wheel (3-7),The right finger axis of guide (3-8),First right side finger directive wheel (3-9) and the second right side finger directive wheel (3-10) composition,Wrist joint (3-1) is by wrist joint runner (3-1-1),Wrist joint substrate (3-1-2) and two finger otic placode (3-1-3) compositions,Wrist joint runner (3-1-1) is radially provided with wrist joint ring like steel wire groove (3-1-4),Wrist joint runner (3-1-1) is located at the lower section of wrist joint substrate (3-1-2),Two finger otic placodes (3-1-3) are located at the top of wrist joint substrate (3-1-2),And two finger otic placodes (3-1-3) are symmetricly set on wrist joint substrate (3-1-2) both sides,Wrist joint runner (3-1-1),Wrist joint substrate (3-1-2) is formed integrally with two finger otic placodes (3-1-3),Left refer to (3-3) is made up of left claw (3-3-1) and left finger runner (3-3-2),Left finger runner (3-3-2) is radially provided with left finger ring shape steel wire trough (3-3-3),It is left to refer to the lower section that runner (3-3-2) is arranged on left claw (3-3-1),Left finger runner (3-3-2) is formed integrally with left claw (3-3-1),Right refer to (3-4) is made up of right pawl (3-4-1) and right finger runner (3-4-2),Right finger runner (3-4-2) is radially provided with right finger ring shape steel wire trough (3-4-3),It is right to refer to the lower section that runner (3-4-2) is arranged on right pawl (3-4-1),Right finger runner (3-4-2) is formed integrally with right pawl (3-4-1),Left finger (3-3) and right refer to (3-4) are symmetrical arranged,And left finger runner (3-3-2) and right finger runner (3-4-2) are arranged on 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 arranged on corresponding finger otic placode (3-1-3),The left finger axis of guide (3-5) is vertically set on the end face of left finger (3-3) side on wrist joint substrate (3-1-2),First left side finger directive wheel (3-6) and the second left side finger directive wheel (3-7) are sequentially arranged on the left finger axis of guide (3-5) from the inside to the outside,The right finger axis of guide (3-8) is vertically set on the end face of right finger (3-4) side on wrist joint substrate (3-1-2),First right side finger directive wheel (3-9) and the second right side finger directive wheel (3-10) are sequentially arranged on the right finger axis of guide (3-8) from the inside to the outside.
8. abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments according to claim 1, it is characterised in that:First guiding mechanism (1) is made up of first axis of guide (1-1), long axle sleeve (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 long axle sleeve (1-2) are extremely before sequentially arranged on first axis of guide (1-1) by rear.
9. abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments according to claim 1, it is characterised in that: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 extremely before sequentially arranged on second axis of guide (2-1) by rear.
CN2011100076115A 2011-01-14 2011-01-14 Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot CN102028548B (en)

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