CN106420060A - Surgical instrument with claw arranged at actuating end - Google Patents
Surgical instrument with claw arranged at actuating end Download PDFInfo
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- CN106420060A CN106420060A CN201610838398.5A CN201610838398A CN106420060A CN 106420060 A CN106420060 A CN 106420060A CN 201610838398 A CN201610838398 A CN 201610838398A CN 106420060 A CN106420060 A CN 106420060A
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- brake
- pair
- gear
- cleft
- cleft hand
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Abstract
The invention discloses a surgical instrument with a claw arranged at the actuating end. The surgical instrument comprises an instrument body capable of doing three-dimensional motion, a braking structure conducting braking on the motion of the instrument body and the mechanical claw installed on the instrument body. The mechanical claw comprises a claw rack, two pairs of claw parts hinged to the claw rack and a claw driving mechanism installed on the claw rack and used for driving the two pairs of claw parts to act. Under driving of the claw driving mechanism, the two pairs of claw parts are closed or opened. During operation, a medical worker actuates a robot body to make the mechanical claw located at the position of an object to be taken out; then, the mechanical claw takes out redundancy in a patient; operation is easy and convenient.
Description
Technical field
The present invention relates to medical apparatus and instruments, are provided with the operating theater instruments of cleft hand in particular to a kind of actuation end.
Background technology
In operation, medical worker takes object, such as cotton balls, gauze, other internal fifth wheels from doctors and patients' body, conventional handss,
Tweezers, shears, such instrument is difficult and internal fifth wheel is exhausted by inconvenience completely, or, internal fifth wheel is exhausted ratio completely
Cumbersome.
Content of the invention
Technical problem solved by the invention：Medical worker in operation is difficult or inconvenience will be complete for fifth wheel in sufferer body
Exhaust.
For solving above-mentioned technical problem, the present invention provides following technical scheme：A kind of actuation end is provided with the operation of cleft hand
Apparatus, including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, in large arm
Manipulator, the forearm being fixed in large arm, the mechanical claw hand on the forearm, the waist rotation member horizontal cross arranges,
Waist rotation member is rotated around base body, and the large arm is vertically arranged, and the bottom of large arm is articulated in the middle part of waist rotation member, the operation
Handss are fixed on the middle part of large arm installed in the top of large arm, the forearm, and forearm is L-shaped, and the mechanical claw hand is arranged on forearm
Top；
The mechanical claw hand includes cleft hand frame, two pairs of cleft hands being hinged in cleft hand frame, is arranged in cleft hand frame
For driving the cleft hand drive mechanism of two pairs of cleft hand actions；The cleft hand drive mechanism include stake body, the first locking body, second
Locking body；Gear wheel, the second middle gear, the first little gear, power transmission shaft is articulated with the stake body, and the power transmission shaft vertically sets
Put and couple with the power set on stake body, the gear wheel is fixed on power transmission shaft, tooth in gear wheel and second
Wheel engagement, the second middle gear is engaged with the first little gear；First locking body includes the first stud being fixedly installed, described
The centre of one little gear opens up the screwed hole being spirally connected with the first stud；Second locking body includes the second spiral shell being fixedly installed
Post, the centre of second middle gear opens up the screwed hole being spirally connected with the second stud；Stake body is provided with to the first locking body
The guide post is oriented to by lifting with the second locking body；Two cleft hands in first pair of cleft hand in two pairs of cleft hands or so
It is symmetrical arranged, is symmetrical arranged before and after two cleft hands in second pair of cleft hand in two pairs of cleft hands, two pawls in first pair of cleft hand
The bottom of handss opens up the first slide slot being obliquely installed, and the bottom of two cleft hands in second pair of cleft hand opens up for being obliquely installed
Two slide slots, the top of first locking body is provided with the first sliding pin being slidably matched with the first slide slot, the second locking body
Top is provided with the second sliding pin being slidably matched with the second slide slot.
By technique scheme, a kind of actuation end of the present invention is provided with the operation principle of the operating theater instruments of cleft hand such as
Under：First, medical worker holds and manipulates handss, rotates large arm or waist rotation member, makes the mechanical claw hand on forearm in object to be taken
Place；Second, power set drive power transmission shaft rotation, and power transmission shaft drives gear wheel rotation, and the second middle gear of canine tooth wheel drive rotates,
Second middle gear drives the rotation of the first little gear；Second middle gear drives the rising of the second stud, and the second stud drives second
Locking body rises, and as the second slide slot is obliquely installed, therefore, vertically the second sliding pin of rising can be ordered about in second pair of cleft hand and be appointed
One cleft hand is rotated around its hinged place with cleft hand frame, makes second pair of cleft hand make opposite swing；First little gear drives
First stud declines, and the first stud drives the decline of the first locking body, and as the first slide slot is obliquely installed, (the first slide slot is inclined
Direction in opposite direction with what the second slide slot was inclined), therefore, the first sliding pin for being vertically lowered orders about arbitrary in first pair of cleft hand
Cleft hand is rotated around its hinged place with cleft hand frame, makes first pair of cleft hand make opposite swing；So far, two pairs of cleft hands are in gathering
Shape, for capturing object.
By technique scheme, first pair of cleft hand connects the first locking body, and second pair of cleft hand connects the second locking body, and
The first little gear of the first locking body lifting is driven to engage and by gear wheel with the second middle gear for driving the lifting of the second locking body
Drive, in this way, the present invention can make first pair of cleft hand while action and motion amplitude is identical, second pair of cleft hand can be made at the same action and
Motion amplitude is identical, can make first pair of cleft hand and second pair of cleft hand while action and motion amplitude is identical, so as to mechanical claw hand standard
Sufferer intrabody object really and is fully captured.Above-mentioned mechanical claw hand coordinates rotatable waist rotation member and large arm, facilitates medical matters people
Member takes thing from sufferer body.
Used as one kind explanation of the present invention to mechanical claw hand, the cleft hand frame includes the cleft hand machine installed in forearm front end
Frame base plate, the cleft hand frame support bar being vertically arranged on cleft hand framework soleplate, the pawl for being fixed on cleft hand frame support bar top
Handset mounting top board；Lower section of the cleft hand drive mechanism on the cleft hand framework soleplate and positioned at cleft hand frame top board, described
Four hinge holes are opened up on cleft hand frame top board, and four cleft hands in two pairs of cleft hands are correspondingly hinged on four hinged in the holes.Press
Described above, each hinged in the hole is fixed with swivel pin, and four cleft hands are hinged on four in man-to-man mode by swivel pin
Hinged in the hole.The bottom of arbitrary cleft hand is located at the lower section of hinge hole, i.e. the first slide slot of inclination and the second slide slot are respectively positioned on
The lower section of hinge hole.The cleft hand frame is provided with integrated photographic head and illuminator, the integrated photographic head and illumination
Device is Wei Yu two pairs of cleft hands between.The photographic head is electrically connected with display, and under the illumination of illuminator, medical worker can be from
The object in front of mechanical claw hand is observed on display.
Used as one kind explanation of the present invention to mechanical claw hand, the stake body includes base, support plate；The base is fixed and is set
Put in cleft hand frame, the guide post is fixed on base, the support plate is horizontally fixed on the top of guide post；The canine tooth
Wheel, the second middle gear, the first little gear are articulated on support plate, and the top of the power transmission shaft is articulated on support plate, the bottom of power transmission shaft
End is articulated on base；First locking body includes the first lifting chassis, a pair first latch segments, a pair first spill blocks；
The first lifting chassis opens up the first guiding slot port, and the first guiding slot port is slidably matched with guide post；First stud
Quantity is two, and two the first studs are vertically arranged on the first lifting chassis, opens up a pair of first through hole on the support plate, one
A pair of first through hole is passed through to the first stud；The quantity of first little gear is two, and two the first little gears are with one-to-one
Mode be spirally connected with a pair first studs；The pair of first latch segment is in man-to-man mode installed in two the first studs
Top, a pair first spill blocks are in man-to-man mode installed in the top of a pair first latch segments, the number of first sliding pin
Measure as two, two the first sliding pins in man-to-man mode installed in the top of a pair first spill blocks, two the first sliding pins with
First slide slot of two cleft hands in man-to-man mode and first pair of cleft hand is slidably matched；Second locking body includes
Two lifting chassis, locking plate, a pair second spill blocks；The second lifting chassis opens up the second guiding slot port, the second gathering sill
Mouth is slidably matched with guide post；The quantity of second stud is two, and two the second studs are vertically arranged in the second lifting bottom
On disk, the second lifting chassis is located at the lower section on the first lifting chassis；The first lifting chassis opens up the second through hole, the support plate
On open up third through-hole, two the second studs are upward through the second through hole and third through-hole；The quantity of second middle gear is
Two, two the second middle gears are spirally connected with two the second studs in man-to-man mode, and two the second middle gears are all and gear wheel
Engagement, two the second middle gears are engaged with two the first little gears in man-to-man mode；The locking plate is horizontally arranged at
The top of two studs, a pair second spill blocks are on locking plate, and the quantity of second sliding pin is two, two second cunnings
Sell with man-to-man mode installed in a pair second spill blocks top, two the second sliding pins with man-to-man mode with second pair
Second slide slot of two cleft hands in cleft hand is slidably matched；Fourth hole is opened up on the locking plate, first stud is worn
Fourth hole is crossed, first latch segment is located at the top of locking plate.
As described above, a pair second middle gears that the canine tooth wheel drive is symmetrical set, a pair second middle gears
Drive a pair first little gears being symmetrical set.The pair of second middle gear drives a pair second studs to rise, a pair
Second stud drives locking plate rising, and before and after locking plate drives a pair, symmetrically arranged second spill block rises, and a pair second recessed
Shape block drives a pair second sliding pins vertically to rise, and a pair second sliding pins are symmetrically arranged before and after being driven by a pair second slide slots
The opposite swing of the second pair of cleft hand.The pair of first little gear drives a pair first studs to decline, and a pair first studs drive one
First latch segment is declined, a pair first latch segments drive the first spill block being symmetrical set for a pair to decline, a pair first
Spill block drives a pair first sliding pins to be vertically lowered, and a pair first sliding pins are driven by a pair first slide slots and are symmetrical set
The opposite swing of first pair of cleft hand.
As the present invention to mechanical claw hand one kind explanation, described second lifting chassis on be vertically arranged with the 4th stud,
6th stud, the 4th stud, the 6th stud are upward through the first lifting chassis and support plate, and the locking plate is arranged on the 4th spiral shell
Post, the top of the 6th stud；The 4th middle gear, the 6th middle gear, the 4th middle gear, the 6th middle gear is articulated with the support plate
Between support plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear all open up screwed hole,
4th stud is screwed onto the screw thread in the hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel, and the 6th stud is screwed onto the 6th
The screw thread in the hole of middle gear, the 6th middle gear is engaged with gear wheel.As described above, gear wheel is driving a pair second middle gears
While rotation, the 4th middle gear and the rotation of the 6th middle gear is driven, the 4th middle gear and the 6th middle gear correspondingly drive the
Four studs and the 6th stud rise, and the 4th stud and the 6th stud and a pair second middle gears drive locking plate to rise jointly.
Used as one kind explanation of the present invention to mechanical claw hand, the power set include the snail installed in power transmission shaft bottom
The first servomotor that the worm screw that wheel is engaged with worm gear is coupled with worm screw, worm screw is horizontally disposed with, and worm screw is articulated on base, the
One servomotor is on base.As worm and gear has good auto-lock function, therefore, two pairs of pawls of the present invention
Handss can stably rest on the optional position in space in swing process.
Used as one kind explanation of the present invention to mechanical claw hand, second middle gear includes second gear portion and the second tooth
The second articulated section that wheel portion is coaxially disposed；The centre of the second gear portion and the second articulated section is provided with insertion second gear portion
Screwed hole with the second articulated section；Second articulated section is articulated in the third through-hole of support plate.First little gear includes
The first articulated section that first gear portion and first gear portion are coaxially disposed；The first gear portion and the central authorities of the first articulated section
Place is provided with the screwed hole of insertion first gear portion and the first articulated section；First articulated section is articulated in the first through hole of support plate
Interior.
As the present invention to base body one kind explanation, the base body be provided with symmetrical first level guide rail and
Second horizontal guide rail, is sliding combined with first level slide block on first level guide rail, be sliding combined with the second horizontal guide rail
Two cross sliding clocks, the left and right two ends of the waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first level slide block,
The right-hand member of waist rotation member is articulated in the second cross sliding clock.As described above, waist rotation member can be along first level guide rail and second
Horizontal guide rail is moved, to increase the range of activity of mechanical claw hand.
Used as one kind explanation of the present invention to base body, the base body is provided with brake structure, and brake structure includes solid
The brake rotation that a pair of support plate being scheduled on base body, the brake lever being articulated on a pair of support plate, one end are fixedly connected with brake lever
Turn component, one end and the hinged brake coupling assembly of the brake rotary components other end and the coupling assembly other end that brakes hinged
Lever assembly, the middle part of lever assembly is hinged on support plate, and the cross section of the brake lever is in regular hexagon；Second level
Slide block is provided with keep plate, and keep plate is connected by coil tension spring with the second cross sliding clock, and keep plate is located at waist rotation member right-hand member
The side in face, the brake lever is close to keep plate.As described above, one end of medical worker's presses lever component, lever assembly
Around itself and support plate hinged place tilting, lever assembly drives brake rotary components rotation, brake rotation by coupling assembly of braking
Component driver brake lever rotates, and the crest line of brake lever is against on keep plate towards a left side, and then, the left side of keep plate is against waist transfer part
On part right side, waist rotation member is braked；When the other end of staff's presses lever component makes lever assembly reset
When, lever assembly drives brake rotary components reverse rotation by coupling assembly of braking, and brake rotary components driving brake bar is anti-
To rotation, the crest line of brake lever leaves keep plate and no longer orders about keep plate and be moved to the left and brake waist rotation member.
In above-mentioned brake structure, the brake rotary components are included the brake rotating seat being fixedly connected with brake lever and stop
The brake swingle that car rotating seat is fixedly connected；The brake coupling assembly includes second brake hinged with brake swingle even
The first brake connecting rod that extension bar is fixedly connected with the second brake connecting rod；The lever assembly includes to be connected with first brake
The brake liner plate that the hinged brake bearing of bar is fixedly connected with brake bearing, the brake bearing is hinged on support plate.
The base body is provided with the second brake structure, and the second brake structure includes a pair second for being fixed on base body
The second brake rotation that support plate, the second brake lever being articulated on a pair second support plates, one end are fixedly connected with the second brake lever
Component, one end second brake coupling assembly hinged with the second brake rotary components other end is another with the second brake coupling assembly
The second hinged lever assembly of one end, the middle part of the second lever assembly is hinged on the second support plate, the horizontal stroke of second brake lever
Section is in regular hexagon；The first level slide block is provided with the second keep plate, and the second keep plate is passed through with first level slide block
Second coil tension spring connects, and the second keep plate is located at the side of waist rotation member left side, and second brake lever is close to the second system
Dynamic plate；The base body is provided with vertical rod, and the top of vertical rod is provided with the 3rd sliding pin, is combined with lever on the 3rd sliding pin, lever
Middle part opens up the bar shaped chute being slidably matched with the 3rd sliding pin, and the left end of lever is hinged with lever assembly in brake structure, thick stick
The right-hand member of bar is hinged with the second lever assembly in the second brake structure.As described above, brake structure and the second brake structure
It is symmetrical set, both 26S Proteasome Structure and Functions are identical, in operation, medical worker presses lever assembly, you can driven by lever
The linkage of the second lever assembly is moved, in the same manner, medical worker presses the second lever assembly, you can join by lever actuated lever assembly
Dynamic.The brake structure of linkage and the second brake structure are while be braked to the right-hand member and left end of waist rotation member.
Description of the drawings
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is provided with the structural representation of the operating theater instruments of cleft hand for a kind of actuation end of the present invention；
Fig. 2 is brake structure 70, the combining structure schematic diagram of the second brake structure 700 in Fig. 1；
Fig. 3 is the structural representation of brake structure 70 in Fig. 2；
Fig. 4 is the structural representation of mechanical claw hand 30 in Fig. 1；
Fig. 5 is for A-A in Fig. 4 to sectional view；
Fig. 6 is the structural representation of arbitrary cleft hand in first pair of cleft hand 51 in Fig. 4；
Fig. 7 is the structural representation of arbitrary cleft hand in second pair of cleft hand 52 in Fig. 4；
Fig. 8 is the structural representation of the first spill block 625 in Fig. 4；
Fig. 9 is that in Fig. 5, the second middle gear 612 is articulated in the structural representation on support plate 617.
In figure symbol description：
10th, base body；11st, first level guide rail；12nd, the second horizontal guide rail；13rd, first level slide block；130th, the second system
Dynamic plate；14th, the second cross sliding clock；140th, keep plate；
21st, waist rotation member；22nd, large arm；23rd, manipulator；24th, forearm；
30th, mechanical claw hand；
40th, cleft hand frame；41st, cleft hand framework soleplate；42nd, cleft hand frame support bar；43rd, cleft hand frame top board；44th, integrated
Photographic head and illuminator；
50th, two pairs of cleft hands；51st, first pair of cleft hand；511st, the first slide slot；512nd, the first hinge hole；52nd, second pair of pawl
Handss；521st, the second slide slot；522nd, the second hinge hole；
60th, cleft hand drive mechanism；611st, gear wheel；612nd, the second middle gear；6121st, second gear portion；6122nd, the second pivot
Socket part；6123rd, screwed hole；613rd, the first little gear；614th, power transmission shaft；615th, guide post；616th, base；617th, support plate；618、
4th middle gear；619th, the 6th middle gear；621st, the first stud；622nd, the first sliding pin；623rd, the first lifting chassis；624th, first
Latch segment；625th, the first spill block；626th, the first guiding slot port；631st, the second stud；633rd, the second lifting chassis；634th, lock
Disk；635th, the second spill block；636th, the second guiding slot port；637th, the 4th stud；638th, the 6th stud；641st, worm gear；642nd, snail
Bar；643rd, the first servomotor；
70th, brake structure；701st, support plate；71st, brake lever；72nd, brake rotary components；721st, brake rotating seat；722nd, stop
Car swingle；73rd, brake coupling assembly；731st, first brake connecting rod；732nd, the second brake connecting rod；74th, lever assembly；
741st, brake bearing；742nd, brake liner plate；700th, the second brake structure；75th, vertical rod；76th, the 3rd sliding pin；77th, lever.
Specific embodiment
As Fig. 1, a kind of actuation end is provided with the operating theater instruments of cleft hand, including base body 10, the waist being articulated on base body
Rotation member 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 in large arm, the forearm being fixed in large arm
24th, the mechanical claw hand 30 on forearm, the waist rotation member horizontal cross is arranged, and waist rotation member is rotated around base body, institute
State large arm to be vertically arranged, the bottom of large arm is articulated in the middle part of waist rotation member, the manipulator is installed in the top of large arm, described
Forearm is fixed on the middle part of large arm, and forearm is L-shaped, and the mechanical claw hand is installed in the top of forearm.
In conjunction with Fig. 4 to Fig. 9, the mechanical claw hand include cleft hand frame 40, two pairs of cleft hands 50 being hinged in cleft hand frame,
For driving the cleft hand drive mechanism 60 of two pairs of cleft hand actions in cleft hand frame.The cleft hand drive mechanism includes support
Body, the first locking body, the second locking body.Gear wheel 611, the second middle gear 612, the first little gear is articulated with the stake body
613rd, power transmission shaft 614, the power transmission shaft is vertically arranged and is coupled with the power set on stake body, and the gear wheel is solid
It is scheduled on power transmission shaft, gear wheel is engaged with the second middle gear, the second middle gear is engaged with the first little gear；First locking body
Including the first stud 621 being fixedly installed, the centre of first little gear opens up the screwed hole being spirally connected with the first stud；Institute
The second stud 631 that the second locking body includes to be fixedly installed is stated, the centre of second middle gear is opened up and the second stud spiral shell
The screwed hole for connecing；Stake body is provided with the guide post 615 is oriented to by the lifting to the first locking body and the second locking body.Described
Two cleft hands in first pair of cleft hand 51 in two pairs of cleft hands are symmetrical set, in second pair of cleft hand 52 in two pairs of cleft hands
It is symmetrical arranged before and after two cleft hands, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot 511 being obliquely installed,
The bottom of two cleft hands in second pair of cleft hand opens up the second slide slot 521 being obliquely installed, the top of first locking body
The first sliding pin 622 being slidably matched with the first slide slot is provided with, the top of the second locking body is provided with to slide with the second slide slot joins
The second sliding pin for closing.
In mechanical claw hand 30, the cleft hand frame 40 includes cleft hand framework soleplate 41 installed in forearm front end, vertically sets
Put the cleft hand frame support bar 42 on cleft hand framework soleplate, be fixed on the cleft hand frame top board of cleft hand frame support bar top
43；Lower section of the cleft hand drive mechanism 60 on the cleft hand framework soleplate and positioned at cleft hand frame top board, the cleft hand machine
Four hinge holes are opened up on frame top board, and four cleft hands in two pairs of cleft hands are correspondingly hinged on four hinged in the holes；The cleft hand
Frame is provided with integrated photographic head and illuminator 44, the integrated photographic head and illuminator be located at two pairs of cleft hands it
Between.
In mechanical claw hand 30, the stake body includes base 616, support plate 617；The base is fixedly installed on cleft hand frame
On 40, the guide post 615 is fixed on base, and the support plate is horizontally fixed on the top of guide post；The gear wheel 611,
Second middle gear 612, the first little gear 613 are articulated on support plate, and the top of the power transmission shaft 614 is articulated on support plate, transmission
The bottom of axle is articulated on base.First locking body include the first lifting chassis 623, a pair first latch segments 624, a pair
First spill block 625；The first lifting chassis opens up the first guiding slot port 626, and the first guiding slot port is slided with guide post and joins
Close；The quantity of first stud 621 is two, and two the first studs are vertically arranged on the first lifting chassis, the support plate
On open up a pair of first through hole, a pair first studs pass through a pair of first through hole；The quantity of first little gear is two, two
Individual first little gear is spirally connected with a pair first studs in man-to-man mode；The pair of first latch segment is in man-to-man mode
Installed in the top of two the first studs, a pair first spill blocks are in man-to-man mode installed in the top of a pair first latch segments
Portion, the quantity of first sliding pin 622 is two, and two the first sliding pins are arranged on a pair first spill blocks in man-to-man mode
Top, two the first sliding pins are slided with the first slide slot 511 of two cleft hands in man-to-man mode and first pair of cleft hand 51
Dynamic cooperation.Second locking body includes the second lifting chassis 633, locking plate 634, a pair second spill blocks 635；Described second
Lifting chassis opens up the second guiding slot port 636, and the second guiding slot port is slidably matched with guide post；The number of second stud 631
Measure as two, two the second studs are vertically arranged on the second lifting chassis, the second lifting chassis is located at the first lifting chassis
Lower section；The first lifting chassis opens up the second through hole, opens up third through-hole on the support plate, and two the second studs are upward through
Second through hole and third through-hole；The quantity of second middle gear 612 is two, and two the second middle gears are in man-to-man mode
It is spirally connected with two the second studs, two the second middle gears are all engaged with gear wheel, two the second middle gears are in man-to-man mode
Engage with two the first little gears；The locking plate is horizontally arranged at the top of the second stud, and a pair second spill blocks are arranged on
On locking plate, it is second recessed installed in a pair in man-to-man mode that the quantity of second sliding pin is two, two the second sliding pins
The top of shape block, two the second sliding pins are slided with the second slide slot of two cleft hands in man-to-man mode and second pair of cleft hand 52
Dynamic cooperation；Fourth hole is opened up on the locking plate, first stud passes through fourth hole, first latch segment is located at lock
The top of tight disk.
In mechanical claw hand 30, on the second lifting chassis 633, the 4th stud 637, the 6th stud 638 is vertically arranged with,
4th stud, the 6th stud are upward through the first lifting chassis 623 and support plate 617, and the locking plate 634 is arranged on the 4th spiral shell
Post, the top of the 6th stud.It is articulated with the 4th middle gear 618, the 6th middle gear 619 on the support plate, the 4th middle gear, the 6th
Middle gear is located between support plate and the first lifting chassis, and the centre of the 4th middle gear, the centre of the 6th middle gear are all opened up
Screwed hole, the 4th stud is screwed onto the screw thread in the hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel 611, the 6th stud
The screw thread in the hole of the 6th middle gear is screwed onto, the 6th middle gear is engaged with gear wheel.
In mechanical claw hand 30, the power set include that the worm gear 641 installed in 614 bottom of power transmission shaft is engaged with worm gear
The first servomotor 643 that couples with worm screw of worm screw 642, worm screw is horizontally disposed with, and worm screw is articulated on base, the first servo
Motor is on base.
In mechanical claw hand 30, second middle gear 612 includes that second gear portion 6121 is coaxially disposed with second gear portion
The second articulated section 6122；The centre of the second gear portion and the second articulated section is provided with insertion second gear portion and the second pivot
The screwed hole 6123 of socket part；Second articulated section is articulated in the third through-hole of support plate 617；
First little gear 613 includes the first articulated section that first gear portion and first gear portion are coaxially disposed；Described
The centre of first gear portion and the first articulated section is provided with the screwed hole of insertion first gear portion and the first articulated section；Described first
Articulated section is articulated in the first through hole of support plate 617.
In conjunction with Fig. 1 to Fig. 3, the base body 10 is provided with symmetrical first level guide rail 11 and the second horizontal guide rail
12, first level slide block 13 is sliding combined with first level guide rail, is sliding combined with the second level cunning on the second horizontal guide rail
Block 14, the left and right two ends of the waist rotation member 21 are cylindrical, and the left end of waist rotation member is articulated in first level slide block, and waist turns
The right-hand member of part is articulated in the second cross sliding clock.
Above-mentioned base body 10 is provided with brake structure 70, a pair of support plate 701 that brake structure includes to be fixed on base body,
The brake rotary components 72, one end that the brake lever 71, one end being articulated on a pair of support plate is fixedly connected with brake lever and brake rotation
Turn the hinged lever assembly 74 of the hinged brake coupling assembly 73 of the component other end and the brake coupling assembly other end, lever group
The middle part of part is hinged on support plate, and the cross section of the brake lever is in regular hexagon；Second cross sliding clock 14 is provided with system
Dynamic plate 140, keep plate is connected by coil tension spring with the second cross sliding clock, and keep plate is located at the side of 21 right side of waist rotation member
Side, the brake lever is close to keep plate.
In above-mentioned brake structure, the brake rotary components 72 include the brake rotating seat being fixedly connected with brake lever 71
The 721 brake swingles 722 being fixedly connected with brake rotating seat；The brake coupling assembly 73 includes and brake swingle hinge
The first brake connecting rod 731 that the second brake connecting rod 732 for connecing is fixedly connected with the second brake connecting rod；The lever group
Part 74 includes the brake liner plate 742 that the brake bearing 741 hinged with first brake connecting rod is fixedly connected, institute with brake bearing
State brake bearing to be hinged on support plate 701.
Above-mentioned base body 10 is provided with the second brake structure 700, and the second brake structure includes to be fixed on base body 10
A pair second support plates, the second brake lever being articulated on a pair second support plates, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake coupling assembly hinged with the second brake rotary components other end and the second brake are even
The second hinged lever assembly of the connected components other end, the middle part of the second lever assembly is hinged on the second support plate, and described second stops
The cross section of car bar is in regular hexagon；The first level slide block 13 is provided with the second keep plate 130, the second keep plate and first
Cross sliding clock is connected by the second coil tension spring, and the second keep plate is located at the side of 21 left side of waist rotation member, and described second stops
The second keep plate is close to by car bar.The base body is provided with vertical rod 75, and the top of vertical rod is provided with the 3rd sliding pin 76, on the 3rd sliding pin
Lever 77 is combined with, the middle part of lever opens up the bar shaped chute being slidably matched with the 3rd sliding pin, left end and the brake structure of lever
Lever assembly 74 in 70 is hinged, and the right-hand member of lever is hinged with the second lever assembly in the second brake structure 700.
In practical operation, the workflow of the operating theater instruments that a kind of actuation end of the present invention is provided with cleft hand is as follows：
First, medical worker holds and manipulates handss 23, rotation large arm 22 or waist rotation member 21, or makes waist rotation member 21 along the
One horizontal guide rail 11 and the second horizontal guide rail 12 are translated, and so that the mechanical claw hand 30 on forearm 24 is close at object to be taken.
Second, power set drive power transmission shaft 614 to rotate, and power transmission shaft drives gear wheel 611 to rotate, canine tooth wheel drive second
Middle gear 612 rotates, and the second middle gear drives the first little gear 613 to rotate；Second middle gear is driven on the second stud 631
Rise, the second stud drives the rising of the second locking body, as the second slide slot is obliquely installed, therefore, vertical the second sliding pin for rising
Arbitrary cleft hand in second pair of cleft hand 52 can be ordered about rotate around its hinged place with cleft hand frame 40, make second pair of cleft hand opposite
Swing；First little gear 613 drives the first stud 621 to decline, and the first stud drives the decline of the first locking body, due to first
Slide 622 grooves and be obliquely installed (the first slide slot incline direction in opposite direction with what the second slide slot was inclined), therefore, vertical under
First sliding pin of drop orders about arbitrary cleft hand in first pair of cleft hand and rotates around its hinged place with cleft hand frame, makes first pair of cleft hand
Make opposite swing；So far, two pairs of cleft hands 50 are in draw shape in, for capturing object.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, all will change in specific embodiments and applications, this specification content is should not be construed as to this
Bright restriction.
Claims (10)
1. a kind of actuation end is provided with the operating theater instruments of cleft hand, including base body (10), the waist rotation member being articulated on base body
(21) large arm (22), being articulated on waist rotation member, the manipulator (23) being arranged in large arm, the forearm being fixed in large arm
(24), the mechanical claw hand (30) on forearm, the waist rotation member horizontal cross is arranged, and waist rotation member turns around base body
Dynamic, the large arm is vertically arranged, and the bottom of large arm is articulated in the middle part of waist rotation member, and the manipulator is installed in the top of large arm
End, the forearm is fixed on the middle part of large arm, and forearm is L-shaped, and the mechanical claw hand is installed in the top of forearm；Its feature exists
In：
The mechanical claw hand includes cleft hand frame (40), two pairs of cleft hands (50) being hinged in cleft hand frame, is arranged on cleft hand machine
For driving the cleft hand drive mechanism (60) of two pairs of cleft hand actions on frame；The cleft hand drive mechanism includes stake body, the first lock
Tight body, the second locking body；Gear wheel (611), the second middle gear (612), the first little gear is articulated with the stake body
(613), power transmission shaft (614), the power transmission shaft is vertically arranged and is coupled with the power set on stake body, the canine tooth
Wheel is fixed on power transmission shaft, and gear wheel is engaged with the second middle gear, and the second middle gear is engaged with the first little gear；First lock
Tight body includes the first stud (621) being fixedly installed, and the centre of first little gear opens up the spiral shell being spirally connected with the first stud
Pit；Second locking body includes the second stud (631) being fixedly installed, and the centre of second middle gear is opened up and
The screwed hole that two studs are spirally connected；Stake body is provided with the guide post is oriented to by the lifting to the first locking body and the second locking body
(615)；
Two cleft hands in first pair of cleft hand (51) in two pairs of cleft hands are symmetrical set, the second couple in two pairs of cleft hands
It is symmetrical arranged before and after two cleft hands in cleft hand (52), the bottom of two cleft hands in first pair of cleft hand opens up for being obliquely installed
One slide slot (511), the bottom of two cleft hands in second pair of cleft hand opens up the second slide slot (521) being obliquely installed, described
The top of the first locking body is provided with the first sliding pin (622) being slidably matched with the first slide slot, and the top of the second locking body is provided with
The second sliding pin being slidably matched with the second slide slot.
2. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 1, it is characterised in that：Mechanical claw hand (30)
In, cleft hand frame (40) include cleft hand framework soleplate (41) installed in forearm front end, are vertically arranged in cleft hand frame ground
Cleft hand frame support bar (42) on plate, it is fixed on cleft hand frame top board (43) of cleft hand frame support bar top；The cleft hand
Lower section of the drive mechanism (60) on the cleft hand framework soleplate and positioned at cleft hand frame top board, opens on the cleft hand frame top board
If four hinge holes, four cleft hands in two pairs of cleft hands are correspondingly hinged on four hinged in the holes；The cleft hand frame is provided with
Integrated photographic head and illuminator (44), the integrated photographic head and illuminator are Wei Yu two pairs of cleft hands between.
3. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 1, it is characterised in that：Mechanical claw hand (30)
In, the stake body includes base (616), support plate (617)；The base is fixedly installed in cleft hand frame (40), described is led
It is fixed on base to bar (615), the support plate is horizontally fixed on the top of guide post；Gear wheel (611), tooth in second
Wheel (612), the first little gear (613) are articulated on support plate, and the top of power transmission shaft (614) is articulated on support plate, power transmission shaft
Bottom be articulated on base；
First locking body includes the first lifting chassis (623), a pair first latch segments (624), a pair first spill blocks
(625)；The first lifting chassis opens up the first guiding slot port (626), and the first guiding slot port is slidably matched with guide post；Described
The quantity of the first stud (621) is two, and two the first studs are vertically arranged on the first lifting chassis, are opened up on the support plate
A pair of first through hole, a pair first studs pass through a pair of first through hole；The quantity of first little gear is two, two first
Little gear is spirally connected with a pair first studs in man-to-man mode；The pair of first latch segment is arranged in man-to-man mode
The top of two the first studs, a pair first spill blocks are in man-to-man mode installed in the top of a pair first latch segments, institute
The quantity for stating the first sliding pin (622) is two, and two the first sliding pins are in man-to-man mode installed in a pair first spill blocks
Top, two the first sliding pins are with first slide slot (511) of two cleft hands in man-to-man mode and first pair of cleft hand (51)
It is slidably matched；
Second locking body includes the second lifting chassis (633), locking plate (634), a pair second spill blocks (635)；Described
Second lifting chassis opens up the second guiding slot port (636), and the second guiding slot port is slidably matched with guide post；Second stud
(631) quantity is two, and two the second studs are vertically arranged on the second lifting chassis, and the second lifting chassis is located at first liter
The lower section on drop chassis；The first lifting chassis opens up the second through hole, opens up third through-hole, two the second studs on the support plate
It is upward through the second through hole and third through-hole；The quantity of the second middle gear (612) is two, and two the second middle gears are with one
Mode to one is spirally connected with two the second studs, and two the second middle gears are all engaged with gear wheel, and two the second middle gears are with one
Mode to one is engaged with two the first little gears；The locking plate is horizontally arranged at the top of the second stud, and a pair second recessed
Shape block is on locking plate, and the quantity of second sliding pin is two, and two the second sliding pins are arranged in man-to-man mode
The top of a pair second spill blocks, two the second sliding pins are with two cleft hands in man-to-man mode and second pair of cleft hand (52)
Second slide slot is slidably matched；Fourth hole is opened up on the locking plate, first stud pass through fourth hole, described first
Latch segment is located at the top of locking plate.
4. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 3, it is characterised in that：Mechanical claw hand (30)
In, it is vertically arranged with the 4th stud (637), the 6th stud (638) in second lifting chassis (633), the 4th stud, the 6th
Stud is upward through the first lifting chassis (623) and support plate (617), and described locking plate (634) are arranged on the 4th stud, the 6th spiral shell
The top of post；
The 4th middle gear (618), the 6th middle gear (619) is articulated with the support plate, and the 4th middle gear, the 6th middle gear are located at
Between support plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear all open up screwed hole, and the 4th
Stud is screwed onto the screw thread in the hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel (611), and the 6th stud is screwed onto the 6th
The screw thread in the hole of middle gear, the 6th middle gear is engaged with gear wheel.
5. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 3, it is characterised in that：Mechanical claw hand (30)
In, the power set include the worm screw (642) that the worm gear (641) installed in power transmission shaft (614) bottom engaged with worm gear and
First servomotor (643) of worm screw connection, worm screw is horizontally disposed with, and worm screw is articulated on base, and the first servomotor is arranged on
On base.
6. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 3, it is characterised in that：Mechanical claw hand (30)
In, the second articulated section that described second middle gear (612) are coaxially disposed including second gear portion (6121) and second gear portion
(6122)；The centre of the second gear portion and the second articulated section is provided with the screw thread of insertion second gear portion and the second articulated section
Hole (6123)；Second articulated section is articulated in the third through-hole of support plate (617)；
The first articulated section that described first little gear (613) are coaxially disposed including first gear portion and first gear portion；Described
The centre of one gear part and the first articulated section is provided with the screwed hole of insertion first gear portion and the first articulated section；First pivot
Socket part is articulated in the first through hole of support plate (617).
7. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 1, it is characterised in that：The base body
(10) symmetrical first level guide rail (11) and the second horizontal guide rail (12) is provided with, is slidably matched on first level guide rail
There is first level slide block (13), on the second horizontal guide rail, be sliding combined with the second cross sliding clock (14), waist rotation member (21)
Left and right two ends cylindrical, the left end of waist rotation member is articulated in first level slide block, and the right-hand member of waist rotation member is articulated in
In two cross sliding clocks.
8. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 7, it is characterised in that：The base body
(10) brake structure (70) is provided with, and brake structure includes a pair of the support plate (701) being fixed on base body, is articulated in a pair
The brake rotary components (72) that brake lever (71) on plate, one end are fixedly connected with brake lever, one end are another with brake rotary components
The hinged lever assembly (74) of the hinged brake coupling assembly (73) in one end and the brake coupling assembly other end, lever assembly
Middle part is hinged on support plate, and the cross section of the brake lever is in regular hexagon；Second cross sliding clock (14) are provided with braking
Plate (140), keep plate is connected by coil tension spring with the second cross sliding clock, and keep plate is located at the side of waist rotation member (21) right side
Side, the brake lever is close to keep plate.
9. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 8, it is characterised in that：In brake structure,
Brake rotary components (72) includes that the brake rotating seat (721) being fixedly connected with brake lever (71) and brake rotating seat are solid
The brake swingle (722) of fixed connection；Brake coupling assembly (73) includes second brake hinged with brake swingle even
The first brake connecting rod (731) that extension bar (732) is fixedly connected with the second brake connecting rod；Lever assembly (74) include
Brake bearing (741) hinged with first brake connecting rod and the brake brake liner plate (742) that is fixedly connected of bearing, described stop
Car bearing is hinged on support plate (701).
10. a kind of actuation end is provided with the operating theater instruments of cleft hand as claimed in claim 8, it is characterised in that：The base body
(10) the second brake structure (700) is provided with, a pair second support plates that the second brake structure includes to be fixed on base body (10),
The second brake rotary components that the second brake lever for being articulated on a pair second support plates, one end are fixedly connected with the second brake lever,
One end second brake coupling assembly hinged with the second brake rotary components other end and the second brake coupling assembly other end hinge
The second lever assembly for connecing, the middle part of the second lever assembly is hinged on the second support plate, and the cross section of second brake lever is in
Regular hexagon；First level slide block (13) are provided with the second keep plate (130), and the second keep plate is logical with first level slide block
The connection of the second coil tension spring is crossed, the second keep plate is located at the side of waist rotation member (21) left side, and second brake lever is close to
Second keep plate；
The base body is provided with vertical rod (75), and the top of vertical rod is provided with the 3rd sliding pin (76), is combined with lever on the 3rd sliding pin
(77), the middle part of lever opens up the bar shaped chute being slidably matched with the 3rd sliding pin, in the left end of lever and brake structure (70)
Lever assembly (74) is hinged, and the right-hand member of lever is hinged with the second lever assembly in the second brake structure (700).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838398.5A CN106420060B (en) | 2016-09-21 | 2016-09-21 | A kind of actuation end is equipped with the surgical instrument of cleft hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838398.5A CN106420060B (en) | 2016-09-21 | 2016-09-21 | A kind of actuation end is equipped with the surgical instrument of cleft hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106420060A true CN106420060A (en) | 2017-02-22 |
| CN106420060B CN106420060B (en) | 2019-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838398.5A Active CN106420060B (en) | 2016-09-21 | 2016-09-21 | A kind of actuation end is equipped with the surgical instrument of cleft hand |
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| CN202838798U (en) * | 2012-07-05 | 2013-03-27 | 浙江天煌科技实业有限公司 | Five-freedom-degree manipulator training device |
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| CN105881513A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with mechanical gripper on paired small arms |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105936043A (en) * | 2016-05-28 | 2016-09-14 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot used for grasping materials |
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2016
- 2016-09-21 CN CN201610838398.5A patent/CN106420060B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202838798U (en) * | 2012-07-05 | 2013-03-27 | 浙江天煌科技实业有限公司 | Five-freedom-degree manipulator training device |
| CN103158148A (en) * | 2013-03-23 | 2013-06-19 | 长源动力（北京）科技有限公司 | Mechanical arm |
| CN105881513A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with mechanical gripper on paired small arms |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
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| CN106420060B (en) | 2019-02-01 |
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Effective date of registration: 20181218 Address after: 237000 Lu'an fortieth economic and Technological Development Zone, Anhui. Applicant after: Lu'an Zhicheng Smart Technology Co. Ltd. Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
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