CN107374735A - Transmission component, the operating theater instruments of operating robot and operating robot - Google Patents
Transmission component, the operating theater instruments of operating robot and operating robot Download PDFInfo
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- CN107374735A CN107374735A CN201710646055.3A CN201710646055A CN107374735A CN 107374735 A CN107374735 A CN 107374735A CN 201710646055 A CN201710646055 A CN 201710646055A CN 107374735 A CN107374735 A CN 107374735A
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- drive link
- drive
- sliding block
- transmission component
- connecting shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of transmission component, and for the operating theater instruments of operating robot, the operating theater instruments of operating robot includes drive device and operation enforcement division, and transmission component includes：First drive link, sliding block and the second drive link；One end of first drive link is connected with drive device, is provided with the outer wall of the first drive link along the first driving section of the axial screw extension of the first drive link；Sliding block is provided with first through hole, and the inwall of first through hole is provided with along the second driving section of the axial screw extension of first through hole；Wherein, on the first drive link, the first driving section is adapted slide block set with the second driving section；One end of second drive link is connected with sliding block, and the other end of the second drive link is connected with operation enforcement division；Wherein, drive device drives the first drive rod rotation, and sliding block moves reciprocatingly with the rotation of the first drive link along the axial direction of the first drive link, and then drives the second drive link to move reciprocatingly vertically, to drive operation enforcement division.
Description
Technical field
The present invention relates to Medical robot technical field, in particular to a kind of transmission component, the hand of operating robot
Art apparatus and operating robot.
Background technology
At present, in the related art, robot assisted micro-wound surgical operation is increasingly becoming the development of micro-wound surgical operation and become
Gesture, due to micro-wound surgical operation own characteristic, the operating theater instruments of operating robot need to work in human body, therefore to surgical machine
The control accuracy of the operating theater instruments of people has high requirement, if any deviation, can not only influence the process of operation, also can be in human body
Other organs cause damage, and in order to ensure the success rate of operation, the accurate transmission of the operating theater instruments of operating robot is very must
Want, this is that is, the operating theater instruments for how designing a operating robot that can be accurately driven is very necessary.
The content of the invention
It is contemplated that at least solves one of technical problem present in prior art or correlation technique.
Therefore, one side of the invention proposes a kind of transmission component.
The second aspect of the invention proposes a kind of operating theater instruments of operating robot.
The second aspect of the invention proposes a kind of operating robot.
In view of this, first aspect present invention provides a kind of transmission component, for the operating theater instruments of operating robot, hand
The operating theater instruments of art robot includes drive device and operation enforcement division, and transmission component includes：First drive link, sliding block and second
Drive link；One end of first drive link is connected with drive device, is provided with the outer wall of the first drive link along the first drive link
Axial screw extension the first driving section；Sliding block is provided with first through hole, and the inwall of first through hole is provided with along first through hole
Axial screw extension the second driving section；Wherein, slide block set is on the first drive link, the first driving section and the second driving section
It is adapted；One end of second drive link is connected with sliding block, and the other end of the second drive link is connected with operation enforcement division；Its
In, drive device drives the first drive rod rotation, and sliding block is done past with the rotation of the first drive link along the axial direction of the first drive link
Multiple motion, and then drive the second drive link to move reciprocatingly vertically, to drive operation enforcement division.
Transmission component provided by the present invention, first, by being connected with drive device for one end of the first drive link, so
Afterwards, be connected by the first driving section and the second driving section, realize by sliding block be arranged with the first drive link, wherein, first
Driving section is arranged on the outer wall of the first drive link, and is extended along the first drive link axial screw, and the second driving section is arranged on cunning
On block on first through hole inwall, and extend along the axial screw of first through hole；Finally, one end by the second drive link and sliding block
It is connected, and is connected by the other end of the second drive link with operation enforcement division, realizes that drive device drives the first drive link
Rotate, so as to drive axial direction of the sliding block coordinated with the first drive link along the first drive link to move reciprocatingly, and then drive second
Drive link moves reciprocatingly vertically, to realize the driving to enforcement division of performing the operation.Because the first drive link and sliding block pass through first
Driving section and the second driving section are connected, wherein, axial screw extension of first driving section along the first drive link, the second transmission
Axial screw extension of the portion along first through hole, to realize that sliding block is done with the rotation of the first drive link along the axial direction of the first drive link
Move back and forth, therefore work as the first drive rod rotation one week, sliding block only moves the distance of a pitch, and this also causes the fortune to sliding block
Dynamic control is more accurate, so that it is guaranteed that to perform the operation enforcement division control accuracy, and then effectively improve operation into
Power.
In addition, the transmission component in above-mentioned technical proposal provided by the invention can also have following additional technical feature：
In the above-mentioned technical solutions, it is preferable that the transmission component also includes：Bearing and connecting shaft；Bearing is embedded in sliding block
In bearing chamber；Connecting shaft is connected in the inner ring of bearing with the second drive link.
In the technical scheme, first, by bearing in the bearing chamber of sliding block；Then, will be connected with the second biography work(bar
The connecting shaft connect is embedded in the inner ring of bearing, to realize that sliding block drives the second drive link to move reciprocatingly.Connecting shaft is embedded in bearing
Inner ring, first, bearing provides fulcrum for connecting shaft, serves the effect of support to connecting shaft, while the bearing also company of caning absorb
Caused vibration when spindle is driven, and then ensure the stability of transmission component transmission；Secondly, bearing can reduce connecting shaft biography
Dynamic coefficient of friction, and ensure its rotating accuracy, so as to improve the accuracy of transmission, and then improve to operation enforcement division
The accuracy of control.
In the above-mentioned technical solutions, it is preferable that one end that the second drive link is connected with connecting shaft is provided with ball-type and is connected
Portion；Connecting shaft has been disposed radially the second through hole, and axially disposed fluted, and groove is from the inwall of the second through hole to connection
One end extension of axle；Wherein, the diameter of connecting portion is more than the diameter of the second drive link, and connecting portion is embedded in the second through hole, and second
Drive link is embedded in groove, so that the second drive link is connected in connecting shaft.
In the technical scheme, first, by setting ball-type to be connected in one end that the second drive link is connected with connecting shaft
Portion, and the connecting portion is realized the second drive link being fixed on connection in the second radially set through hole of connecting shaft
In axle；Then, by the axially disposed groove of connecting shaft, making groove be prolonged from the inwall of the second through hole to one end of connecting shaft
Stretch, while the second drive link is embedded in groove, the second drive link is connected in connecting shaft with realizing；It is straight due to connecting portion
Footpath is more than the diameter of the second drive link, and the thus axial movement to the second drive link carried out spacing, avoid connecting shaft with
The relative movement of second drive link vertically, and then the stability of transmission is ensure that, further improve to enforcement division of performing the operation
Control accuracy.
In the above-mentioned technical solutions, it is preferable that the transmission component also includes：Guide rod and guide sleeve；Guide rod and first
Drive link be arranged in parallel；Guide sleeve is sheathed on guide rod in the pilot hole of sliding block.
In the technical scheme, first, guide rod is set on transmission component, wherein guide rod is put down with the first drive link
OK；Secondly, pilot hole is set on sliding block, and is directed to set and is embedded in pilot hole；Finally, it is directed to set and is sheathed on guide rod
On, to realize guide effect to the first drive link, to prevent the first drive link from occurring gliding and offseting when rotating, avoid the
One drive link shakes, so as to improve the stability of transmission, and then the accuracy for improving the control to enforcement division of performing the operation,
Effectively further improve the success rate of operation.
In the above-mentioned technical solutions, it is preferable that the annular along the circumferentially extending of guide sleeve is provided with the outer wall of guide sleeve
Neck；Neck is two, is embedded with back-up ring respectively in two necks, is fixed on being directed to set on sliding block.
In the technical scheme, two annular slots along its circumferentially extending are set first on guide sleeve outer wall；Secondly,
Respectively by embedded back-up ring in two necks, it is fixed on being directed to set on sliding block.By the cooperation of neck and back-up ring, realize pair
Guide sleeve is axially moveable spacing, is avoided and is relatively moved vertically between guide sleeve and sliding block, it is achieved thereby that right
The guide effect of first drive link, and then the stability of transmission is ensure that, further improve the control to enforcement division of performing the operation
Accuracy.
In the above-mentioned technical solutions, it is preferable that the second drive link is connected by connecting rod with operation enforcement division.
In the technical scheme, the second drive link is connected by connecting rod with operation enforcement division, realizes the second transmission
Driving of the bar to enforcement division of performing the operation.
In the above-mentioned technical solutions, it is preferable that when enforcement division of performing the operation is folding apparatus, folding apparatus includes the first noumenon
With the second body, the first noumenon and the second body are arranged in a crossed manner, and the infall of the first noumenon and the second body is rotated by bearing pin
Connection；Transmission component also includes：First Transition bar and the second transiting rod, one end and connection of First Transition bar and the second transiting rod
Bar is rotatablely connected, and the other end and the first noumenon of First Transition bar are rotatablely connected, the other end of the second transiting rod and the second body
Rotation connection；Wherein, folding apparatus opens or closes with the reciprocating motion of the second drive link.
In the technical scheme, when enforcement division of performing the operation is folding apparatus, first, the first noumenon and the second body are intersected
Set；And bearing pin is inserted in the first noumenon and the second body infall, the first noumenon is rotatably connected with the second body；So
Afterwards, one end of First Transition bar and the second transiting rod is rotatablely connected with connecting rod respectively；Finally, by the another of First Transition bar
End is rotatablely connected with the first noumenon, meanwhile, the other end of the second transiting rod and the second body are rotatablely connected.Due to the second transmission
Bar is connected by connecting rod with folding apparatus, therefore, when the second drive link moves back and forth, drives coupled connection
Bar moves reciprocatingly, and so as to drive the First Transition bar of connecting rod rotation connection and the second transiting rod to rotate, and then drives difference
The first noumenon and the second body being rotatablely connected with First Transition bar and the second transiting rod rotate, and finally realize beating for folding apparatus
It is open and close.Because one end of First Transition bar and the second transiting rod and connecting shaft are rotatablely connected, its other end is respectively with first
Body and the rotation connection of the second body, which achieves connecting rod and the first noumenon and the second body to be indirectly connected and connect；Meanwhile by
In the presence of First Transition bar and the second transiting rod, connecting shaft need to only move the opening that shorter distance achieves that folding apparatus
And closing, the applicability of product is enhanced, improves the use range of product.
In the above-mentioned technical solutions, it is preferable that the transmission component also includes：Support；Support is U-shaped；First drive link
One side wall of one end and support is rotatablely connected, and the other end is connected after passing through another side wall of support with drive device.
In the technical scheme, by the way that the side wall of one end of the first drive link and support is rotatablely connected, meanwhile, by the
The other end of one drive link is connected after passing through another side wall of support with drive device, realizes and the first drive link is consolidated
It is fixed, the stability of the first drive link is improved, avoids the first drive link from being produced because of rotation and rocks, and then ensure the transmission component
The stability of transmission, further improve the accuracy of the control to enforcement division of performing the operation.
Second aspect of the present invention provides a kind of operating theater instruments of operating robot, including any technical scheme institute as described above
The transmission component stated, therefore, the operating theater instruments of the operating robot include the transmission component described in any of the above-described technical scheme
Whole beneficial effects.
Third aspect present invention provides a kind of operating robot, including the operating robot as described in above-mentioned technical scheme
Operating theater instruments, therefore, the operating theater instruments of the operating robot includes the operation of the operating robot described in above-mentioned technical proposal
Whole beneficial effects of apparatus.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 shows the structural representation of the operating theater instruments of operating robot according to an embodiment of the invention；
Fig. 2 is section view of the operating theater instruments of the operating robot according to an embodiment of the invention shown in Fig. 1 along A-A
Figure；
Fig. 3 is part of the operating theater instruments of the operating robot according to an embodiment of the invention shown in Fig. 2 at B
Enlarged drawing；
Fig. 4 shows the structural representation of connecting shaft according to an embodiment of the invention；
Fig. 5 shows the operating theater instruments structural representation of operating robot according to another embodiment of the invention；
Fig. 6 shows the structural representation of guide sleeve according to an embodiment of the invention；
Fig. 7 shows the operating theater instruments structural representation of operating robot according to still a further embodiment；
Fig. 8 is office of the operating theater instruments of the operating robot according to still a further embodiment shown in Fig. 7 at C
Portion's enlarged drawing；
Wherein, the corresponding relation between the reference in Fig. 1 to Fig. 8 and component names is：
102 first drive links, 104 sliding blocks, 106 second drive links, 1062 connecting portions, 108 bearings, 110 connecting shafts, 1102
Second through hole, 1104 grooves, 112 guide rods, 114 guide sleeves, 1142 necks, 116 First Transition bars, 118 second transiting rods,
120 supports, 20 drive devices, 30 operation enforcement divisions, 302 the first noumenons, 304 second bodies,
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be different from other modes described here using other to implement, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The operation of described according to some embodiments of the invention transmission component, operating robot is described referring to Fig. 1 to Fig. 8
Apparatus and operating robot.
In first aspect present invention embodiment, as shown in Figure 1 to Figure 3, the invention provides a kind of transmission component, it is used for
The operating theater instruments of operating robot, the operating theater instruments of operating robot include drive device 20 and operation enforcement division 30, transmission group
Part includes：First drive link 102, the drive link 106 of sliding block 104 and second；One end of first drive link 102 and the phase of drive device 20
Connect, be provided with the outer wall of the first drive link 102 along the first driving section of the axial screw extension of the first drive link 102；It is sliding
Block 104 is provided with first through hole, and the inwall of first through hole is provided with along the second driving section of the axial screw extension of first through hole；
Wherein, sliding block 104 is sheathed on the first drive link 102, and the first driving section is adapted with the second driving section；Second drive link 106
One end be connected with sliding block 104, the other end of the second drive link 106 is connected with operation enforcement division 30；Wherein, drive device
20 the first drive links 102 of drive are rotated, and sliding block 104 is done with the rotation of the first drive link 102 along the axial direction of the first drive link 102
Move back and forth, and then drive the second drive link 106 to move reciprocatingly vertically, with driving operation enforcement division 30.
In this embodiment, first, being connected with drive device 20 by one end of the first drive link 102；Then, lead to
The first driving section and the second driving section is crossed to be connected, realize by sliding block 104 be arranged with the first drive link 102, wherein, first
Driving section is arranged on the outer wall of the first drive link 102, and is extended along the axial screw of the first drive link 102, and the second driving section is set
Put on sliding block 104 on first through hole inwall, and extend along the axial screw of first through hole；Finally, the second drive link 106 is passed through
One end be connected with sliding block 104, and be connected by another section of the second drive link 106 with operation enforcement division 30, realize and drive
Dynamic device 20 drives the first drive link 102 to rotate, and is driven so as to drive with the sliding block 104 that the first drive link 102 coordinates along first
The axial direction of bar 102 is moved reciprocatingly, and then drives the second drive link 106 to move reciprocatingly vertically, and operation is performed with realizing
The driving in portion 30.Due to the first drive link 102 with sliding block 104 by the first driving section and the mating connection of the second driving section, wherein,
Axial screw extension of first driving section along the first drive link 102, axial screw extension of second driving section along first through hole, with
Realize that sliding block 104 moves reciprocatingly with the rotation of the first drive link 102 along the axial direction of the first drive link 102, therefore when first
Drive link 102 rotates one week, and the distance of sliding block 104 movements, one pitch, this also causes the control of the motion to sliding block 104 more
Add accurately, so that it is guaranteed that the accuracy of the control to enforcement division 30 of performing the operation, and then effectively improve the success rate of operation.
In one embodiment of the invention, it is preferable that as shown in figure 3, the transmission component also includes：Bearing 108 and company
Spindle 110；Bearing 108 is in the Room of bearing 108 of sliding block 104；Connecting shaft 110 is in the inner ring of bearing 108, and with second
Drive link 106 is connected.
In this embodiment, first, by bearing 108 in the Room of bearing 108 of sliding block 104；Then, work(will be passed with second
The connecting shaft 110 that bar is connected is embedded in the inner ring of bearing 108, to realize that sliding block 104 drives the second drive link 106 to do reciprocal fortune
It is dynamic.Connecting shaft 110 is embedded in the inner ring of bearing 108, first, bearing 108 is that connecting shaft 110 provides fulcrum, and connecting shaft 110 is risen
The effect of support has been arrived, while bearing 108 also can absorb caused vibration when connecting shaft 110 is driven, and then ensure the transmission
The stability of component transmission；Secondly, bearing 108 can reduce the coefficient of friction of the transmission of connecting shaft 110, and ensure its rotating accuracy,
So as to improve the accuracy of transmission, so the accuracy for improving the control to enforcement division 30 of performing the operation.
In one embodiment of the invention, it is preferable that as shown in figure 4, the second drive link 106 is connected with connecting shaft 110
The one end connect is provided with ball-type connecting portion 1062；Connecting shaft 110 has been disposed radially the second through hole 1102, and axially disposed
Fluted 1104, groove 1104 is extended from the inwall of the second through hole 1102 to one end of connecting shaft 110；Wherein, connecting portion 1062
Diameter be more than the second drive link 106 diameter, connecting portion 1062 be embedded in the second through hole 1102 in, the second drive link 106 is embedded in
In groove 1104, so that the second drive link 106 is connected in connecting shaft 110.
In this embodiment, first, by setting ball-type in one end that the second drive link 106 is connected with connecting shaft 110
Connecting portion 1062, and by the connecting portion 1062 in radially set the second through hole 1102 of connecting shaft 110, realize the
Two drive links 106 are fixed in connecting shaft 110；Then, by the axially disposed groove 1104 of connecting shaft 110, making groove
1104 are extended from the inwall of the second through hole 1102 to one end of connecting shaft 110, while the second drive link 106 is embedded in into groove 1104
In, the second drive link 106 is connected in connecting shaft 110 with realizing；Because the diameter of connecting portion 1062 is more than the second drive link
106 diameter, the thus axial movement to the second drive link 106 have been carried out spacing, avoid the transmission of connecting shaft 110 and second
The relative movement of bar 106 vertically, and then the stability of transmission is ensure that, further improve the control to enforcement division 30 of performing the operation
The accuracy of system.
In one embodiment of the invention, it is preferable that as shown in figure 5, the transmission component also includes：The He of guide rod 112
Guide sleeve 114；Guide rod 112 be arranged in parallel with the first drive link 102；Guide sleeve 114 is embedded in the pilot hole of sliding block 104, and
It is sheathed on guide rod 112.
In this embodiment, first, guide rod 112, the wherein drive link of guide rod 112 and first are set on transmission component
102 is parallel；Secondly, pilot hole is set on sliding block 104, and is directed to set 114 and is embedded in pilot hole；Finally, it is directed to set 114
It is sheathed on guide rod 112, to realize the guide effect to the first drive link 102, to prevent the first drive link 102 when rotating
Appearance is glided and offset, and avoids the first drive link 102 from shaking, so as to improve the stability of transmission, and then improve pair
The accuracy of the control for enforcement division 30 of performing the operation, effectively further improve the success rate of operation.
In one embodiment of the invention, it is preferable that as shown in fig. 6, being provided with the outer wall of guide sleeve 114 along guiding
The annular slot 1142 of the circumferentially extending of set 114；Neck 1142 is two, and back-up ring is embedded with respectively in two necks 1142, will
Guide sleeve 114 is fixed on sliding block 104.
In this embodiment, two annular slots 1142 along its circumferentially extending are set first on the outer wall of guide sleeve 114；
Secondly, embedded back-up ring in two necks 1142 is fixed on sliding block 104 with being directed to set 114 respectively.By neck 1142 with
The cooperation of back-up ring, realize and guide sleeve 114 is axially moveable spacing, avoid between guide sleeve 114 and sliding block 104 along axle
To relatively moving, it is achieved thereby that the guide effect to the first drive link 102, and then the stability of transmission is ensure that, enter
The accuracy for improving the control to enforcement division 30 of performing the operation of one step.
In one embodiment of the invention, it is preferable that as shown in Figure 7 and Figure 8, the second drive link 106 passes through connecting rod
It is connected with operation enforcement division 30.
In this embodiment, the second drive link 106 is connected by connecting rod with operation enforcement division 30, realizes the second biography
Driving of the lever 106 to enforcement division 30 of performing the operation.
In one embodiment of the invention, it is preferable that as shown in Figure 7 and Figure 8, when operation enforcement division 30 is folding apparatus
When, folding apparatus includes the body 304 of the first noumenon 302 and second, and the first noumenon 302 and the second body 304 are arranged in a crossed manner, and first
The infall of body 302 and the second body 304 is rotatablely connected by bearing pin；Transmission component also includes：First Transition bar 116 and
Two transiting rods 118, one end and the connecting rod of the transiting rod 118 of First Transition bar 116 and second are rotatablely connected, First Transition bar 116
The other end be rotatablely connected with the first noumenon 302, the other end of the second transiting rod 118 is rotatablely connected with the second body 304；Its
In, folding apparatus opens or closes with the reciprocating motion of the second drive link 106.
In this embodiment, when enforcement division 30 of performing the operation is folding apparatus, first, by the body of the first noumenon 302 and second
304 is arranged in a crossed manner；And bearing pin is inserted in the infall of 302 and second body of the first noumenon 304, make the first noumenon 302 and second
Body 304 is rotatably connected；Then, one end of the transiting rod 118 of First Transition bar 116 and second is rotated with connecting rod respectively and connected
Connect；Finally, the other end of First Transition bar 116 and the first noumenon 302 are rotatablely connected, meanwhile, by the another of the second transiting rod 118
One end is rotatablely connected with the second body 304.Because the second drive link 106 is connected by connecting rod with folding apparatus, therefore, when
When second drive link 106 moves back and forth, drive coupled connecting rod to move reciprocatingly, connect so as to drive connecting rod to rotate
The transiting rod 118 of First Transition bar 116 and second connect rotates, so drive respectively with the transiting rod of First Transition bar 116 and second
The body 304 of the first noumenon 302 and second of 118 rotation connections rotates, and finally realizes the opening and closing of folding apparatus.Due to
One end of one transiting rod 116 and the second transiting rod 118 is rotatablely connected with connecting shaft 110, its other end respectively with the first noumenon 302
It is rotatablely connected with the second body 304, is indirectly connected and connects with the body 304 of the first noumenon 302 and second which achieves connecting rod；Together
When, due to the presence of the transiting rod 118 of First Transition bar 116 and second, connecting shaft 110 need to move shorter distance and achieve that
The opening and closing of folding apparatus, the applicability of product is enhanced, improve the use range of product.
In one embodiment of the invention, it is preferable that as shown in figure 5, the transmission component also includes：Support 120；Support
120 be U-shaped；One end of first drive link 102 is rotatablely connected with a side wall of support 120, and the other end is another through support 120
It is connected after one side wall with drive device 20.
In this embodiment, by the way that a side wall of one end of the first drive link 102 and support 120 is rotatablely connected, meanwhile,
By the other end of the first drive link 102 through being connected with drive device 20 after another side wall of support 120, realize to the
The fixation of one drive link 102, the stability of the first drive link 102 is improved, avoid the first drive link 102 from producing rolling because of rotation
It is dynamic, and then ensure the stability of transmission component transmission, further improve the accuracy of the control to enforcement division 30 of performing the operation.
In one embodiment of the invention, first, drive device 20 provides power the first drive link 102 of drive and rotated.
Secondly as sliding block 104 is set on the first biography work(bar, and the drive link 102 of sliding block 104 and first coordinates company by screw thread
Connect, so when the first drive link 102 rotates, sliding block 104 moves reciprocatingly along the first drive link 102；Meanwhile by sliding block
104 are set on guide rod 112 by guide sleeve 114, wherein, guide rod 112 be arranged in parallel with the first drive link 102, so
When sliding block 104 moves reciprocatingly along the first drive link 102, sliding block 104 is by the first drive link 102 and the two of guide rod 112
Point support, it is more steady that this just moves sliding block 104.Again, the second drive link 106 passes through connecting shaft 110 and the phase of sliding block 104
Connection；Specifically connected mode is：Connecting shaft 110 is embedded in the inner ring of bearing 108 in the Room of 104 bearing of sliding block 108, then will
The ball-type connecting portion 1062 of second drive link 106 is in the second through hole 1102 of connecting shaft 110, while by the second drive link
106 in the groove 1104 of connecting shaft 110；Because the diameter of connecting portion 1062 is more than the diameter of the second drive link 106, simultaneously
The diameter of groove 1104 is less than the diameter of connecting portion 1062, therefore the free degree that connecting shaft 110 is axially moveable is just by the institute of groove 1104
Limitation, and then realize sliding block 104 and drive the second drive link 106 to move reciprocatingly.Finally, the second drive link 106 passes through connection
Bar is connected with operation enforcement division 30；When enforcement division 30 of performing the operation is folding apparatus, specific connected mode is：First Transition bar
116 and second transiting rod 118 one end by a fixed pivot in connecting shaft 110, the transition of First Transition bar 116 and second
The other end of bar 118 is respectively by a fixed pivot on the body 304 of the first noumenon 302 and second；When connecting shaft 110 is along axle
To when moving reciprocatingly, due to the transiting rod 118 of First Transition bar 116 and second by a fixed pivot in connecting shaft 110,
That is one end stress of the transiting rod 118 of First Transition bar 116 and second, and the other end distinguishes freely-supported in the first noumenon 302 and second
On body 304, its both ends unbalance stress, and then the transiting rod 118 of First Transition bar 116 and second is realized relative to connecting shaft
110 rotate；When the transiting rod 118 of First Transition bar 116 and second rotates relative to connecting shaft 110, can also drive coupled
The folding of 302 and second body of the first noumenon 304 connect, it is final to realize, folding apparatus with the reciprocating motion of the second drive link 106 and
Open or close.
In second aspect of the present invention embodiment, the invention provides a kind of operating theater instruments of operating robot, including such as
Transmission component described in any of the above-described embodiment, therefore, the operating theater instruments of the operating robot include any of the above-described embodiment institute
The whole beneficial effects for the transmission component stated.
In third aspect present invention embodiment, the invention provides a kind of operating robot, including such as above-mentioned embodiment
The operating theater instruments of described operating robot, therefore, the operating theater instruments of the operating robot include the hand described in above-described embodiment
Whole beneficial effects of the operating theater instruments of art robot.
In the description of the invention, term " multiple " then refers to two or more, is limited unless otherwise clear and definite, term
The orientation or position relationship of instructions such as " on ", " under " are based on orientation shown in the drawings or position relationship, are for only for ease of and retouch
State the present invention and simplify description, rather than indicate or imply that signified device or element there must be specific orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. all should
It is interpreted broadly, for example, " connection " can be fixedly connected or be detachably connected, or is integrally connected；Can be straight
Connect connected, can also be indirectly connected by intermediary.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the invention, the description meaning of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Refer at least one implementation that the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example describe
In example or example.In the present invention, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.And
And specific features, structure, material or the feature of description can be in any one or more embodiments or example with suitable
Mode combines.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of transmission component, for the operating theater instruments of operating robot, the operating theater instruments of the operating robot includes driving
Device and operation enforcement division, it is characterised in that the transmission component includes：
First drive link, one end of first drive link are connected with the drive device, the outer wall of first drive link
On be provided with along first drive link axial screw extension the first driving section；
Sliding block, the sliding block are provided with first through hole, and the inwall of the first through hole is provided with along the axial direction of the first through hole
The second driving section extended spirally；
Wherein, on first drive link, first driving section is adapted the slide block set with second driving section；
Second drive link, one end of second drive link are connected with the sliding block, the other end of second drive link with
The operation enforcement division is connected；
Wherein, the drive device drives first drive rod rotation, the sliding block with the rotation of first drive link and
Moved reciprocatingly along the axial direction of first drive link, and then drive second drive link to move reciprocatingly vertically, to drive
Move the operation enforcement division.
2. transmission component according to claim 1, it is characterised in that also include：
Bearing, the bearing is in the bearing chamber of the sliding block；
Connecting shaft, the connecting shaft are connected in the inner ring of the bearing with second drive link.
3. transmission component according to claim 2, it is characterised in that
Second drive link is provided with ball-type connecting portion with one end that the connecting shaft is connected；
The connecting shaft has been disposed radially the second through hole, and axially disposed fluted, and the groove is led to by described second
The inwall in hole extends to one end of the connecting shaft；
Wherein, the diameter of the connecting portion is more than the diameter of second drive link, and the connecting portion is embedded in second through hole
In, second drive link is embedded in the groove, so that second drive link is connected in the connecting shaft.
4. transmission component according to claim 1, it is characterised in that also include：
Guide rod, the guide rod be arranged in parallel with first drive link；
Guide sleeve, the guide sleeve are sheathed on the guide rod in the pilot hole of the sliding block.
5. transmission component according to claim 4, it is characterised in that
The annular slot of the circumferentially extending along the guide sleeve is provided with the outer wall of the guide sleeve；
The neck is two, is embedded with back-up ring respectively in two necks, the guide sleeve is fixed on the sliding block.
6. transmission component according to any one of claim 1 to 5, it is characterised in that second drive link passes through company
Extension bar is connected with the operation enforcement division.
7. transmission component according to claim 6, it is characterised in that
When the operation enforcement division is folding apparatus, the folding apparatus includes the first noumenon and the second body, and described first
Body and second body are arranged in a crossed manner, and the infall of the first noumenon and second body is rotated by bearing pin to be connected
Connect；
The transmission component also includes：First Transition bar and the second transiting rod, the First Transition bar and second transiting rod
One end and the connecting rod be rotatablely connected, the other end and the first noumenon of the First Transition bar are rotatablely connected, described
The other end of second transiting rod is rotatablely connected with second body；
Wherein, the folding apparatus opens or closes with the reciprocating motion of second drive link.
8. transmission component according to any one of claim 1 to 5, it is characterised in that also include：
Support, the support are U-shaped；
One end of first drive link is rotatablely connected with a side wall of the support, and the other end is another through the support
It is connected after individual side wall with the drive device.
9. a kind of operating theater instruments of operating robot, it is characterised in that including the biography as any one of claim 1 to 8
Dynamic component.
10. a kind of operating robot, it is characterised in that include the operating theater instruments of operating robot as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646055.3A CN107374735B (en) | 2017-07-31 | 2017-07-31 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646055.3A CN107374735B (en) | 2017-07-31 | 2017-07-31 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107374735A true CN107374735A (en) | 2017-11-24 |
| CN107374735B CN107374735B (en) | 2021-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710646055.3A Active CN107374735B (en) | 2017-07-31 | 2017-07-31 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
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| Country | Link |
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| CN (1) | CN107374735B (en) |
Cited By (1)
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| CN113251130A (en) * | 2021-06-16 | 2021-08-13 | 成都博恩思医学机器人有限公司 | Quick-release instrument |
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| Publication number | Publication date |
|---|---|
| CN107374735B (en) | 2021-07-20 |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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Denomination of invention: Transmission components, surgical instruments for surgical robots, and surgical robots Effective date of registration: 20230814 Granted publication date: 20210720 Pledgee: Industrial Bank Limited by Share Ltd. Chengdu branch Pledgor: CHENGDU BORNS MEDICAL ROBOTICS Inc. Registration number: Y2023510000193 |
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