CN109771060A - For assisting the rotating device and auxiliary operation device of operation device - Google Patents
For assisting the rotating device and auxiliary operation device of operation device Download PDFInfo
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- CN109771060A CN109771060A CN201910201059.XA CN201910201059A CN109771060A CN 109771060 A CN109771060 A CN 109771060A CN 201910201059 A CN201910201059 A CN 201910201059A CN 109771060 A CN109771060 A CN 109771060A
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- revolving part
- manual actuation
- handwheel
- conversion mechanism
- rotary motion
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- 230000033001 locomotion Effects 0.000 claims abstract description 167
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 58
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- 230000008878 coupling Effects 0.000 claims description 54
- 238000010168 coupling process Methods 0.000 claims description 54
- 238000005859 coupling reaction Methods 0.000 claims description 54
- 230000001360 synchronised effect Effects 0.000 claims description 52
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 8
- 238000013461 design Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 16
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 206010052428 Wound Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The rotating device and auxiliary operation device that the present invention relates to a kind of for assisting operation device, wherein rotating device includes the first rotary components, it has the first pedestal, the first revolving part, the 4th manual actuation component, the 4th manual actuation component includes the 4th movement conversion mechanism, and the first rotary motion is converted to the rotary motion of first revolving part by the 4th movement conversion mechanism；And second rotary components, it has the second pedestal and the second revolving part, second revolving part is reciprocally swung by the 5th manual actuation Component driver relative to second pedestal, the 5th manual actuation component includes the 5th movement conversion mechanism, second rotary motion is converted to the reciprocally swinging of second revolving part by the 5th movement conversion mechanism, wherein the axis of second rotary motion and the axis of the rotary motion of first revolving part are parallel or identical.Above-mentioned auxiliary operation device design structure is simple, and saves space, reduces design cost.
Description
Technical field
The present invention relates to medical instruments fields, and in particular to a kind of for assisting the rotating device and nondominant hand of operation device
Art device.
Background technique
Medical operating mode is increasingly towards the lesser Minimally Invasive Surgery development of wound in recent years, such as in pedicle screw
Ligamentopexis, the implant surgery of vertebra bone nail, vertebroplasty, interverbebral disc/hole videoendoscopic surgery and pelvis, four limbs etc. other orthopaedics hands
Art.The advantages of Minimally Invasive Surgery includes the small healing of wound is fast, infection chance and blood loss are less etc..
It is more and more to assist operation device by hospital using implementation surgical procedure in Minimally Invasive Surgery.Traditional auxiliary
The rotating device design structure of operation device is complicated, not only occupied space, but also increases design cost.Therefore, it is necessary to obtain
Simplify the auxiliary operation device of structure, to save design space and reduce design cost.
Summary of the invention
The rotating device and auxiliary operation device that the purpose of the present invention is to provide a kind of for assisting operation device, energy
Enough drops save design space and reduce design cost.
To achieve the above object, technical approach scheme of the invention is:
It is a kind of for assisting the rotating device of operation device, comprising:
First rotary components have the first pedestal and the first revolving part, and first revolving part is by the 4th manual actuation
Component driver and make vertically relative to first pedestal to rotation, the 4th manual actuation component includes the 4th movement conversion
First rotary motion is converted to the rotary motion of first revolving part by mechanism, the 4th movement conversion mechanism；
Second rotary components are set on first revolving part and are in continuous action relation with first revolving part, and have
Have the second pedestal and the second revolving part, second pedestal is fixed on first revolving part, and second revolving part by
5th manual actuation Component driver and reciprocally swung relative to second pedestal, the 5th manual actuation component includes
Second rotary motion is converted to the reciprocal of second revolving part by the 5th movement conversion mechanism, the 5th movement conversion mechanism
It swings,
Wherein, the axis of second rotary motion is parallel with the axis of rotary motion of first revolving part or phase
Together.
Preferably, the 4th manual actuation component further includes the 4th handwheel, and the 4th movement conversion mechanism will be described
The rotary motion of 4th handwheel is converted to the rotary motion of first revolving part.
Preferably, the 4th movement conversion mechanism includes the first transmission shaft, shaft coupling and worm-gear speed reducer, described
4th handwheel is connected to first transmission shaft one end, and the first transmission shaft other end passes through the shaft coupling and the worm gear
Worm decelerating machine connection, the output axis connection of first revolving part and the worm-gear speed reducer.
Preferably, the 5th manual actuation component further includes the 5th handwheel, and the 5th movement conversion mechanism will be described
The rotary motion of 5th handwheel is converted to the reciprocally swinging of second revolving part.
Preferably, the 5th movement conversion mechanism includes the first synchronous pulley, synchronous belt, the second synchronous pulley, second
Transmission shaft, the first Hooks coupling universal coupling, the second Hooks coupling universal coupling, the 5th handwheel is connect with first synchronous pulley, described
First synchronous pulley is connect by the synchronous belt with second synchronous pulley, and described second driving shaft one end passes through described the
One Hooks coupling universal coupling is connect with second synchronous pulley, and second revolving part passes through the second Hooks coupling universal coupling and described second
The connection of the transmission shaft other end.
Preferably, the axis of the wheel shaft of second synchronous pulley and the output shaft of the worm-gear speed reducer 4323
Axis is consistent, and the wheel shaft of second synchronous pulley is passed through from the output shaft of the worm-gear speed reducer.
The present invention also provides a kind of auxiliary operation devices comprising rotating device as described in the above technical scheme.
Preferably, the auxiliary operation device further includes the first linear moving assembly, by manual actuation in opposite one
The transverse direction of bolster makees straight horizontal displacement；
Second linear movement component is set on the described first linear moving assembly, by manual actuation in relatively described
Bolster it is vertical to making straight-line displacement；
Third linear moving assembly is set on the second linear movement component, by manual actuation in relatively described
Make straight-line displacement in the longitudinal direction of bolster；
Described first is set on the third linear moving assembly, is moved by manual actuation around the relatively described third linear
The vertical first axle of dynamic component rotates；
Operation tool end is fixed on second rotary components.
Preferably, the operation tool end aseptic area that operates, and the operation tool end and the manual drive
It performs the operation between aseptic area and the region of the manual actuation where meeting the operation tool end in the distance between dynamic region
Form isolation.
Preferably, the third linear moving assembly is rotatably disposed on the second linear movement component.
Preferably, the third linear moving assembly is gone in the first state with the second linear movement component in length
Degree is parallel to each other on direction, and rotation is extremely mutually perpendicular to the second linear movement component in length direction in the second condition.
The beneficial effects of the present invention are:
The auxiliary operation device of the application, wherein rotating device includes the first rotary components, has the first pedestal and the
One revolving part, first revolving part are made relative to first pedestal vertically to rotation by the 4th manual actuation Component driver
Turn, the 4th manual actuation component includes the 4th movement conversion mechanism, and the 4th movement conversion mechanism transports the first rotation
Turn is changed to the rotary motion of first revolving part；And second rotary components, be set on first revolving part and with
First revolving part is in continuous action relation, and has the second pedestal and the second revolving part, and second pedestal is fixed on described the
On one revolving part, and second revolving part is made reciprocally by the 5th manual actuation Component driver relative to second pedestal
It swings, the 5th manual actuation component includes the 5th movement conversion mechanism, and the 5th movement conversion mechanism is rotated second
Movement is converted to the reciprocally swinging of second revolving part.Due to the wherein axis of second rotary motion and first rotation
The axis for turning the rotary motion of part is parallel or identical.Above-mentioned auxiliary operation device design structure is simple, and saves space, drop
Low design cost.
Detailed description of the invention
Fig. 1 a is the schematic diagram of the auxiliary operation device of the embodiment of the present invention；
Fig. 1 b is the D partial enlarged view of Fig. 1；
Fig. 2 is the schematic diagram of the first linear moving assembly of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the second linear movement component of the embodiment of the present invention；
Fig. 4 a is that the auxiliary operation of the embodiment of the present invention is installed on the schematic diagram of rotation locking state；
Fig. 4 b is the A partial enlargement diagram of Fig. 4 a；
Fig. 4 c is the A1 partial enlargement diagram of Fig. 4 b；
Fig. 5 a is that the auxiliary operation of the embodiment of the present invention is installed on the schematic diagram of rotation unlocked state；
Fig. 5 b is the B partial enlargement diagram of Fig. 5 a；
Fig. 6 is the schematic diagram of the third linear moving assembly of the embodiment of the present invention；
Fig. 7 a is the first rotary components of the embodiment of the present invention and the schematic diagram of the second rotary components；
Fig. 7 b is the first rotary components of the embodiment of the present invention and the another schematic diagram of the second rotary components；
Fig. 8 is the another schematic diagram of the auxiliary operation device of the embodiment of the present invention；
Fig. 9 a is the another schematic diagram of the auxiliary operation device of the embodiment of the present invention；
Fig. 9 b is the C partial enlargement diagram of Fig. 9 a；
Figure 10 a is the another schematic diagram of the auxiliary operation device of the embodiment of the present invention；
Figure 10 b is the E partial enlargement diagram of Figure 10 a.
Specific embodiment
The specific embodiment of the invention is described with reference to the accompanying drawing.
Embodiment one
It as shown in Figure 1a, is a kind of auxiliary operation device, the auxiliary operation device can be set on a bolster.It is described
Bolster the formula of being permanently fixed can be made, packaged type can also be made, such as operation trolley etc..
The auxiliary operation device includes the first linear moving assembly 100.
Transverse direction of the first linear moving assembly 100 by manual actuation and in the relatively described bolster makees straight horizontal position
It moves.Exemplarily only, the transverse direction of the bolster can be the direction a shown in Fig. 1 a.
As shown in Fig. 2, the first linear moving assembly 100 has the first orbital member 110 and the first sliding part 120,
Described in the first orbital member 110 transversely on the bolster, and wherein, first sliding part 120 is set to institute to horizontal arrangement
It states on the first orbital member 110 and mobile by manual actuation first orbital member 110 of postponing.
As shown in Figure 1a, first sliding part 120 is driven and first track of postponing by first manual driving assembly
Part 110 is mobile, and the first manual driving assembly includes the first handwheel 131 and the first movement conversion mechanism 132, first fortune
The rotary motion of first handwheel 131 is converted to the linear motion of first sliding part 120 by manual converting mechanism 132.Its
In, first movement conversion mechanism 132 includes the first lead screw 1321, and first handwheel 131 is connected to first screw rod
1321 one end, first lead screw 1321 are threadedly engaged with first sliding part 120.
The auxiliary operation device further includes the second linear movement component 200.
The second linear movement component 200 is set on the described first linear moving assembly 100, by manual actuation in phase
To the vertical to making straight-line displacement of the bolster.Exemplarily only, the bolster is vertical to can be the side b shown in Fig. 1 a
To.
The second linear movement component 200 be set to first sliding part 120 on, and with first sliding part 120
In continuous action relation.The second linear movement component 200 has the second orbital member 210 and the second sliding part 220, second rail
Road part 220 is perpendicular to be set on first sliding part 120 to ground, and wherein second sliding part 220 is set to described second
It is on orbital member 210 and mobile by postpone second orbital member 210 of manual actuation.
As shown in figure 3, second sliding part 220 is driven and second orbital member of postponing by the second manual driving assembly
210 is mobile.The second manual driving assembly includes the second handwheel 231 and the second movement conversion mechanism 232, second movement
The rotary motion of second handwheel 231 is converted to the linear motion of second sliding part 220 by switching mechanism 232.Wherein,
Second movement conversion mechanism 232 includes the second lead screw (not shown) and bevel gear, and second handwheel 231 passes through institute
It states bevel gear and is connected to described second screw rod, 2321 one end, second lead screw is threadedly engaged with second sliding part 220.Institute
Stating bevel gear quantity is two, respectively first bevel gear 2322 and first bevel gear 2323.Wherein first bevel gear 2322 and institute
It states 221 wheel shaft of the second handwheel to be fixedly connected, and is driven and rotated by second handwheel 221.The second bevel gear 2323 is fixed
It is connected to described second screw rod, 2321 one end.
The auxiliary operation device further includes third linear moving assembly 300.
The third linear moving assembly 300 is set on the second linear movement component 200, by manual actuation in phase
Straight-line displacement is made to the longitudinal direction of the bolster.Exemplarily only, the longitudinal direction of the bolster can be the direction c shown in Fig. 1 a.
The third linear moving assembly 300 be set to second sliding part 220 on, and with second sliding part 220
In continuous action relation.
In conjunction with shown in Fig. 4 a and Fig. 5 a, there is the third linear moving assembly 300 third orbital member 310 and third to slide
Part 320.The third sliding part 320 is set on second sliding part 220, and the third orbital member 310 is in longitudinally horizontal
Be configured on the third sliding part 320, the third orbital member 310 prolong its restriction direction c on by manual actuation with it is described
Third sliding part 320 relatively moves.
The third orbital member 310 prolongs on the direction c of its restriction by third manual actuation Component driver and in the third
The sliding of sliding part 320 is to generate relative movement with the third sliding part 320.The third manual actuation component includes third hand
Wheel 331 and third movement conversion mechanism 332, the third movement conversion mechanism 332 is by the rotary motion of the third handwheel 331
It is converted to the third orbital member 310 and prolongs linear relative movement with the third sliding part 320.
The third movement conversion mechanism 332 includes third lead screw 3321, and the third handwheel 331 is connected to the third
3321 one end of screw rod, the third lead screw 3321 are threadedly engaged with the third sliding part 320.
The auxiliary operation device further includes the first rotary components 400.
First rotary components 400 are set on the third linear moving assembly 300, by manual actuation around opposite
The vertical first axle 401 of the third linear moving assembly 300 rotates.Illustratively, first rotary components 400 can
To be rotated around first axle 401 along direction d.
First rotary components 400 are set on the third orbital member 310 and with the third orbital member 310 in gearing
Relationship.First rotary components 400 have the first pedestal 410 and the first revolving part 420, and first pedestal 410 is fixed on
On the third orbital member 310, and first revolving part 420 is rotatably disposed on first pedestal 410.
First revolving part 420 is made vertically by the 4th manual actuation Component driver relative to first pedestal 410
To rotation, the 4th manual actuation component includes the 4th handwheel 431 and the 4th movement conversion mechanism 432, the 4th movement
The rotary motion of 4th handwheel 431 is converted to the rotary motion of first revolving part 420 by switching mechanism 432.
Such as Fig. 6 is simultaneously combined shown in Fig. 1 a, and the 4th movement conversion mechanism 432 includes the first transmission shaft 4321, shaft coupling
4322 and worm-gear speed reducer 4323, the 4th handwheel 431 is connected to described first transmission shaft, 4321 one end, and described first
4321 other end of transmission shaft is connect by the shaft coupling 4322 with the worm-gear speed reducer 4323.First revolving part
420 with the output axis connection of the worm-gear speed reducer 4323.
The auxiliary operation device further includes the second rotary components 500.
Second rotary components 500 are set on first rotary components 400, by manual actuation around relatively described
The vertical second axis 501 of first rotary components 400 rotates.Illustratively, second rotary components 500 can be around the
Two axis 501 are rotated along direction e.
Second rotary components 500 are set on first revolving part 420 and with first revolving part 420 in gearing
Relationship.
As shown in Figure 1 b, second rotary components 500 have the second pedestal 510 and the second revolving part 520.Described second
Pedestal 510 is fixed on first revolving part 520, and second revolving part 520 is rotatably disposed within second pedestal
On 510.
Such as Fig. 6, in conjunction with shown in Fig. 1 a, Fig. 7 b, second revolving part 520 is opposite by the 5th manual actuation Component driver
It is reciprocally swung in second pedestal 510.The 5th manual actuation component includes that the 5th handwheel 531 and the 5th movement turn
It changes planes structure 532, the rotary motion of the 5th handwheel 531 is converted to second rotation by the 5th movement conversion mechanism 532
Turn the reciprocally swinging of part 520.
5th movement conversion mechanism 532 includes the first synchronous pulley 5321, synchronous belt 5322, the second synchronous pulley
5323, second driving shaft 5324, the first Hooks coupling universal coupling 5325, the second Hooks coupling universal coupling 5326, the 5th handwheel 531 and institute
The connection of the first synchronous pulley 5321 is stated, first synchronous pulley 5321 passes through the synchronous belt 5322 and second synchronous belt
5323 connection of wheel, described 5324 one end of second driving shaft pass through first Hooks coupling universal coupling 5325 and second synchronous pulley
5323 connections, second revolving part 420 are connected by the second Hooks coupling universal coupling 5326 with 5324 other end of second driving shaft
It connects.
Wherein, protractor is additionally provided between second revolving part 420 and second Hooks coupling universal coupling 5326.
The auxiliary operation device further includes operation tool end 600.
The operation tool end 600 is fixed on second rotary components 500.
The operation tool end 600 is equipped with lift the slide assembly, and locator is arranged on the lifting movable component.
As shown in figure 8, left side f1 is operation aseptic area using separator bar f as boundary, right side f2 is No operation aseptic area
Domain.The aseptic area that operates of operation tool end 600, and the area at the operation tool end 600 and the manual actuation
The distance between domain with perform the operation where the operation tool end 600 formed between aseptic area and the region of the manual actuation every
From.
Specifically, the operation tool end 600 can be located in the region f2 in operation aseptic area.
Wherein, the distance between the operation tool end 600 and first handwheel 131 meet the operation tool end
It is formed and is isolated between operation aseptic area and first handwheel 131 where 600.
Also, the distance between the operation tool end 600 and second handwheel 231 meet the operation tool end
It is formed and is isolated between operation aseptic area and second handwheel 231 where 600.
Also, the distance between the operation tool end 600 and the third handwheel 331 meet the operation tool end
It is formed and is isolated between operation aseptic area and the third handwheel 331 where 600.
Also, the distance between the operation tool end 600 and the 4th handwheel 431 meet the operation tool end
It is formed and is isolated between operation aseptic area and the third handwheel 431 where 600.
Also, the distance between the operation tool end 600 and the 5th handwheel 531 meet the operation tool end
It is formed and is isolated between operation aseptic area and the 5th handwheel 531 where 600.
Embodiment two
It is a kind of for assisting the mobile device of operation device as shown in Fig. 4 a and Fig. 5 a.
The mobile device includes the second linear movement component 200 and third linear moving assembly described in embodiment one
300。
Wherein, the second linear movement component 200 is made straight-line displacement to b in Relative vertical by manual actuation.It is described
Third linear moving assembly 300 is rotatably disposed on the second linear movement component 200, and by manual actuation and in opposite
Longitudinal c makees straight-line displacement.
As shown in figure 8, the third linear moving assembly 300 rotate in the first state to second linear movement
Component 200 is parallel to each other in the longitudinal direction.As shown in Fig. 4 a or Fig. 5 a, the third linear moving assembly 300 is in the second shape
State backspin, which is gone to, to be mutually perpendicular to the second linear movement component 200 in length direction.
The third linear moving assembly 300 has third orbital member 310 and third sliding part 320, the third sliding
Part 320 is rotatably arranged on the third linear moving assembly 300, the third orbital member 310 in longitudinally horizontal arrangement in
On the third sliding part 320, the third orbital member 320, which prolongs, to be slided on the direction of its restriction by manual actuation and the third
Part 310 relatively moves.The third sliding part 320 is rotated in the first state to making the third orbital member 320 and described the
Bilinear moving assembly 200 in the longitudinal direction generally vertically, rotate in the second condition to make the third orbital member 320 with
The second linear movement component 200 general parallel orientation in the longitudinal direction.
The second linear movement component 200 has the second orbital member 210 and the second sliding part 220, second sliding
Part 220 is set on second orbital member 210 and mobile by postpone second orbital member 210 of manual actuation.
The third sliding part 320 is rotatably arranged on second sliding part 220, and the third sliding part 320
It is locked in said first condition by a rotary locking mechanism 340.
As shown in Figure 1a, the locking mechanism 340 includes locked groove 341 and lock pin 342, the locked groove 341 and the lock pin
342 one of both are set on second sliding part 220, and both the locked groove 341 and the lock pin 342 be another to be set to described the
On three sliding parts 320, the lock pin 342 is inserted into the locked groove 341 and realizes that spin locking, the lock pin 342 are detached from the locked groove
341 realize rotation unlock.
The rotary locking mechanism 340 further includes elastic component 343, and the lock pin 341 overcomes 343 elastic force of elastic component
It is detached from locked groove, and is maintained in the locked groove 341 under the effect of the elastic restoring force of the elastic component 343.
As shown in Fig. 4 b, Fig. 4 c and Figure 10 a, the rotary locking mechanism 340 further includes unlock piece 344, the unlock piece
344 generally perpendicular to the lock pin 341 the direction of motion be arranged.There is inclined-plane 3441, the lock pin on the unlock piece 344
It is corresponding on 341 that there is cunning portion 3411, by the cooperation on the inclined-plane 3441 and the sliding portion 3411, by the unlock piece 344
Movement is converted into the lock pin 341 and this movement of movement generally vertically.
The quantity on the inclined-plane 3441 is set as two, forms recess 3442, the sliding portion between two inclined-planes 3441
It is two that 3411 quantity, which is correspondingly arranged,.The two sides of the lock pin 341 are arranged in the two sliding portions 3411 along its length, described in two
When inclined-plane 3441 and the two sliding portions 3411 respectively cooperate, the lock pin 341 is at least partially housed in the recess 3422.
The unlock piece 344 is fixed on the third orbital member 310, and is closed with the third orbital member 310 in gearing
System.
The third orbital member 310 prolongs sliding in the third by third manual actuation Component driver on the direction of its restriction
The sliding of moving part 320 is to generate relative movement with the third sliding part 320.The third manual actuation component includes third handwheel
331 and third movement conversion mechanism 332.The third movement conversion mechanism 332 turns the rotary motion of the third handwheel 331
It is changed to the third orbital member 310 and prolongs linear relative movement with the third sliding part 320.
The third movement conversion mechanism 332 includes third lead screw 3321, and the third handwheel 331 is connected to the third
3321 one end of screw rod, the third lead screw 3321 are threadedly engaged with the third sliding part 320.
The distance between the operation tool end 600 and the third handwheel 331 meet where the operation tool end 600
It is formed and is isolated between operation aseptic area and the third handwheel 331.
As shown in Fig. 4 b and Fig. 4 c, the third sliding part 320 third vertical around relatively described second sliding part 220
Axis 601 rotates.The third sliding part 320 is equipped with the 6th handwheel 631, the third sliding part 320 and the third
Orbital member 310 revolves under the driving force effect being applied on the 6th handwheel 631 around the third axis 601 together
Turn.
Wherein, the third axis 601 can with the centerline parallel of the 6th handwheel 631 or be overlapped.
As shown in Fig. 9 a and Figure 10 a, clutch is equipped between second sliding part 220 and the third sliding part 320
Structure 350.As shown in Fig. 9 b and Figure 10 b, the clutch 350 include the first matching piece 351 and the second matching piece 352, first
One of matching piece 351 and the second matching piece 352 are set on second sliding part 220, and the first matching piece 351 and second is matched
Component 352 is wherein another to be set on the third sliding part 320.First matching piece 351 and second matching piece 352 are equal
Equipped with tooth.As shown in Fig. 9 a and Fig. 9 b, in bonding station, the tooth of first matching piece 351 and second matching piece 352
It stores each other.
Wherein, in conjunction with shown in Fig. 4 b and Fig. 4 c, the center line of the clutch 350 is parallel with the third axis 601
Perhaps be overlapped and with the centerline parallel of the 6th handwheel 631 or be overlapped.
Embodiment three
The present embodiment provides a kind of auxiliary operation devices, with mobile device described in embodiment two.
The auxiliary operation device includes the first linear moving assembly 100.
Transverse direction of the first linear moving assembly 100 by manual actuation and in the relatively described bolster makees straight horizontal position
It moves.Exemplarily only, the transverse direction of the bolster can be the direction a shown in Fig. 1 a.
The first linear moving assembly 100 has the first orbital member 110 and the first sliding part 120, wherein described first
Transversely on the bolster, and wherein, first sliding part 120 is set to first track to horizontal arrangement to orbital member 110
It is on part 110 and mobile by postpone first orbital member 110 of manual actuation.
As shown in Fig. 2, first sliding part 120 is driven and first orbital member of postponing by first manual driving assembly
110 is mobile, and the first manual driving assembly includes the first handwheel 131 and the first movement conversion mechanism 132, first movement
The rotary motion of first handwheel 131 is converted to the linear motion of first sliding part 120 by switching mechanism 132.Wherein,
First movement conversion mechanism 132 includes the first lead screw 1321, and first handwheel 131 is connected to first screw rod 1321
One end, first lead screw 1321 are threadedly engaged with first sliding part 120.
The auxiliary operation device further includes the first rotary components 400.
First rotary components 400 are set on the third linear moving assembly 300, by manual actuation around opposite
The vertical first axle 401 of the third linear moving assembly 300 rotates.Illustratively, first rotary components 400 can
To be rotated around first axle 401 along direction d.
First rotary components 400 are set on the third orbital member 310 and with the third orbital member 310 in gearing
Relationship.First rotary components 400 have the first pedestal 410 and the first revolving part 420, and first pedestal 410 is fixed on
On the third orbital member 310, and first revolving part 420 is rotatably disposed on first pedestal 410.
First revolving part 420 is made vertically by the 4th manual actuation Component driver relative to first pedestal 410
To rotation, the 4th manual actuation component includes the 4th handwheel 431 and the 4th movement conversion mechanism 432, the 4th movement
The rotary motion of 4th handwheel 431 is converted to the rotary motion of first revolving part 420 by switching mechanism 432.
Such as Fig. 6 is simultaneously combined shown in Fig. 1 a, and the 4th movement conversion mechanism 432 includes the first transmission shaft 4321, shaft coupling
4322 and worm-gear speed reducer 4323, the 4th handwheel 431 is connected to described first transmission shaft, 4321 one end, and described first
4321 other end of transmission shaft is connect by the shaft coupling 4322 with the worm-gear speed reducer 4323.First revolving part
420 with the output axis connection of the worm-gear speed reducer 4323.
The auxiliary operation device further includes the second rotary components 500.
Second rotary components 500 are set on first rotary components 400, by manual actuation around relatively described
The vertical second axis 501 of first rotary components 400 rotates.Illustratively, second rotary components 500 can be around the
Two axis 501 are rotated along direction e.
Second rotary components 500 are set on first revolving part 420 and with first revolving part 420 in gearing
Relationship.
As shown in Figure 1 b, second rotary components 500 have the second pedestal 510 and the second revolving part 520.Described second
Pedestal 510 is fixed on first revolving part 520, and second revolving part 520 is rotatably disposed within second pedestal
On 510.
Such as Fig. 6, in conjunction with shown in Fig. 1 a, Fig. 7 b, second revolving part 520 is opposite by the 5th manual actuation Component driver
It is reciprocally swung in second pedestal 510.The 5th manual actuation component includes that the 5th handwheel 531 and the 5th movement turn
It changes planes structure 532, the rotary motion of the 5th handwheel 531 is converted to second rotation by the 5th movement conversion mechanism 532
Turn the reciprocally swinging of part 520.
5th movement conversion mechanism 532 includes the first synchronous pulley 5321, synchronous belt 5322, the second synchronous pulley
5323, second driving shaft 5324, the first Hooks coupling universal coupling 5325, the second Hooks coupling universal coupling 5326, the 5th handwheel 531 and institute
The connection of the first synchronous pulley 5321 is stated, first synchronous pulley 5321 passes through the synchronous belt 5322 and second synchronous belt
5323 connection of wheel, described 5324 one end of second driving shaft pass through first Hooks coupling universal coupling 5325 and second synchronous pulley
5323 connections, second revolving part 420 are connected by the second Hooks coupling universal coupling 5326 with 5324 other end of second driving shaft
It connects.
Wherein, protractor is additionally provided between second revolving part 420 and second Hooks coupling universal coupling 5326.
The auxiliary operation device further includes operation tool end 600.
The operation tool end 600 is fixed on second rotary components 500.
The operation tool end 600 is equipped with lift the slide assembly, and locator is arranged on the lifting movable component.
Example IV
It such as Fig. 1 a, and combines shown in Fig. 4 a, the present embodiment provides a kind of for assisting the rotating device of operation device.
The rotating device includes the first rotary components 400.
As shown in fig. 4 a, first rotary components 400 have the first pedestal 410 and the first revolving part 420, described first
Revolving part 420 is driven by the 4th manual actuation component (not shown) and is made vertically relative to first pedestal 410 to rotation
Turn.The 4th manual actuation component includes the 4th movement conversion mechanism 432, and the 4th movement conversion mechanism 432 is by first
Rotary motion is converted to the rotary motion of first revolving part 420.
Such as Fig. 6 is simultaneously combined shown in Fig. 1 a, and the 4th movement conversion mechanism 432 includes the first transmission shaft 4321, shaft coupling
4322 and worm-gear speed reducer 4323, the 4th handwheel 431 is connected to described first transmission shaft, 4321 one end, and described first
4321 other end of transmission shaft is connect by the shaft coupling 4322 with the worm-gear speed reducer 4323.First revolving part
420 with the output axis connection of the worm-gear speed reducer 4323.
In addition, the 4th manual actuation component can also include the 4th handwheel 431, the 4th movement conversion mechanism
432 are converted to the rotary motion of the 4th handwheel 431 rotary motion of first revolving part 420.In other words, described
One rotary motion can be the rotary motion of the 4th handwheel 431.
The rotating device further includes the second rotary components 500.
Such as Fig. 6, in conjunction with shown in Fig. 1 a, Fig. 7 b, second rotary components 500 are set on first revolving part 520 simultaneously
It is in continuous action relation with first revolving part 520.As shown in Figure 1 b, second rotary components 500 have the second pedestal 510 and
Second revolving part 520, second pedestal 510 are fixed on first revolving part 520, and second revolving part 520 by
5th manual actuation Component driver and reciprocally swung relative to second pedestal 510.The 5th manual actuation component
Including the 5th movement conversion mechanism 532, the second rotary motion is converted to second rotation by the 5th movement conversion mechanism 532
Turn the reciprocally swinging of part 520.
Wherein, the 5th movement conversion mechanism 532 is synchronous including the first synchronous pulley 5321, synchronous belt 5322, second
Belt wheel 5323, second driving shaft 5324, the first Hooks coupling universal coupling 5325, the second Hooks coupling universal coupling 5326, the 5th handwheel 531
It is connect with first synchronous pulley 5321, first synchronous pulley 5321 is same by the synchronous belt 5322 and described second
It walks belt wheel 5323 to connect, described 5324 one end of second driving shaft is synchronous with described second by first Hooks coupling universal coupling 5325
Belt wheel 5323 connects, and second revolving part 420 is another by the second Hooks coupling universal coupling 5326 and the second driving shaft 5324
End connection.
In addition, the 5th manual actuation component can also include the 5th handwheel 531, the 5th movement conversion mechanism
532 are converted to the rotary motion of the 5th handwheel 531 reciprocally swinging of second revolving part 520.In other words, described
Two rotary motions can be the rotary motion of the 5th handwheel 531；Due to the 5th handwheel 531 and first synchronous belt
5321 connection of wheel, first synchronous pulley 5321 are connect by the synchronous belt 5322 with second synchronous pulley 5323,
So as to so that second synchronous pulley 5323 carries out rotation fortune under the drive of the rotary motion of the 5th handwheel 531
Dynamic, therefore, second rotary motion can also be the rotary motion of second synchronous pulley 5323.
As shown in Figure 1a, described by taking second rotary motion can be the rotary motion of the 5th handwheel 531 as an example
The axis 502 of second rotary motion is parallel with the axis 401 of rotary motion of first revolving part 420.
By taking second rotary motion can be the rotary motion of second synchronous pulley 5323 as an example, second rotation
The dynamic axis 502 of transhipment is identical as the axis 401 of rotary motion of first revolving part 420.
As shown in Figure 7b, the axis of the wheel shaft 5300 of second synchronous pulley 5323 and the worm-gear speed reducer
The axis of 4323 output shaft 4300 is consistent, and the wheel shaft 5300 of second synchronous pulley 5323 slows down from the worm and gear
It is passed through in the output shaft 4300 of machine 4323.
Embodiment five
The present embodiment provides a kind of auxiliary operation devices comprising rotating device described in example IV.
The auxiliary operation device further includes the first linear moving assembly 100.
Transverse direction of the first linear moving assembly 100 by manual actuation and in the relatively described bolster makees straight horizontal position
It moves.Exemplarily only, the transverse direction of the bolster can be the direction a shown in Fig. 1 a.
The first linear moving assembly 100 has the first orbital member 110 and the first sliding part 120, wherein described first
Transversely on the bolster, and wherein, first sliding part 120 is set to first track to horizontal arrangement to orbital member 110
It is on part 110 and mobile by postpone first orbital member 110 of manual actuation.
As shown in Fig. 2, first sliding part 120 is driven and first orbital member of postponing by first manual driving assembly
110 is mobile, and the first manual driving assembly includes the first handwheel 131 and the first movement conversion mechanism 132, first movement
The rotary motion of first handwheel 131 is converted to the linear motion of first sliding part 120 by switching mechanism 132.Wherein,
First movement conversion mechanism 132 includes the first lead screw 1321, and first handwheel 131 is connected to first screw rod 1321
One end, first lead screw 1321 are threadedly engaged with first sliding part 120.
The auxiliary operation device further includes the second linear movement component 200.
The second linear movement component 200 is set on the described first linear moving assembly 100, by manual actuation in phase
To the vertical to making straight-line displacement of the bolster.Exemplarily only, the bolster is vertical to can be the side b shown in Fig. 1 a
To.
The second linear movement component 200 be set to first sliding part 120 on, and with first sliding part 120
In continuous action relation.The second linear movement component 200 has the second orbital member 210 and the second sliding part 220, second rail
Road part 220 is perpendicular to be set on first sliding part 120 to ground, and wherein second sliding part 220 is set to described second
It is on orbital member 210 and mobile by postpone second orbital member 210 of manual actuation.
As shown in figure 3, second sliding part 220 is driven and second orbital member of postponing by the second manual driving assembly
210 is mobile.The second manual driving assembly includes the second handwheel 231 and the second movement conversion mechanism 232, second movement
The rotary motion of second handwheel 231 is converted to the linear motion of second sliding part 220 by switching mechanism 232.Wherein,
Second movement conversion mechanism 232 includes the second lead screw (not shown) and bevel gear, and second handwheel 231 passes through institute
It states bevel gear and is connected to described second screw rod, 2321 one end, second lead screw is threadedly engaged with second sliding part 220.Institute
Stating bevel gear quantity is two, respectively first bevel gear 2322 and first bevel gear 2323.Wherein first bevel gear 2322 and institute
It states 221 wheel shaft of the second handwheel to be fixedly connected, and is driven and rotated by second handwheel 221.The second bevel gear 2323 is fixed
It is connected to described second screw rod, 2321 one end.
The auxiliary operation device further includes third linear moving assembly 300.
The third linear moving assembly 300 is set on the second linear movement component 200, by manual actuation in phase
Straight-line displacement is made to the longitudinal direction of the bolster.Exemplarily only, the longitudinal direction of the bolster can be the direction c shown in Fig. 1 a.
The third linear moving assembly 300 be set to second sliding part 220 on, and with second sliding part 220
In continuous action relation.
In conjunction with shown in Fig. 4 a and Fig. 5 a, there is the third linear moving assembly 300 third orbital member 310 and third to slide
Part 320.The third sliding part 320 is set on second sliding part 220, and the third orbital member 310 is in longitudinally horizontal
Be configured on the third sliding part 320, the third orbital member 310 prolong its restriction direction c on by manual actuation with it is described
Third sliding part 320 relatively moves.
The third orbital member 310 prolongs on the direction c of its restriction by third manual actuation Component driver and in the third
The sliding of sliding part 320 is to generate relative movement with the third sliding part 320.The third manual actuation component includes third hand
Wheel 331 and third movement conversion mechanism 332, the third movement conversion mechanism 332 is by the rotary motion of the third handwheel 331
It is converted to the third orbital member 310 and prolongs linear relative movement with the third sliding part 320.
The third movement conversion mechanism 332 includes third lead screw 3321, and the third handwheel 331 is connected to the third
3321 one end of screw rod, the third lead screw 3321 are threadedly engaged with the third sliding part 320.
The auxiliary operation device further includes operation tool end 600.
The operation tool end 600 is fixed on second rotary components 500.
The operation tool end 600 is equipped with lift the slide assembly, and locator is arranged on the lifting movable component.
As shown in figure 8, left side f1 is operation aseptic area using separator bar f as boundary, right side f2 is No operation aseptic area
Domain.The aseptic area that operates of operation tool end 600, and the area at the operation tool end 600 and the manual actuation
The distance between domain with perform the operation where the operation tool end 600 formed between aseptic area and the region of the manual actuation every
From.
Specifically, the operation tool end 600 can be located in the region f2 in operation aseptic area.
Wherein, the distance between the operation tool end 600 and first handwheel 131 meet the operation tool end
It is formed and is isolated between operation aseptic area and first handwheel 131 where 600.
Also, the distance between the operation tool end 600 and second handwheel 231 meet the operation tool end
It is formed and is isolated between operation aseptic area and second handwheel 231 where 600.
Also, the distance between the operation tool end 600 and the third handwheel 331 meet the operation tool end
It is formed and is isolated between operation aseptic area and the third handwheel 331 where 600.
Also, the distance between the operation tool end 600 and the 4th handwheel 431 meet the operation tool end
It is formed and is isolated between operation aseptic area and the third handwheel 431 where 600.
Also, the distance between the operation tool end 600 and the 5th handwheel 531 meet the operation tool end
It is formed and is isolated between operation aseptic area and the 5th handwheel 531 where 600.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of for assisting the rotating device of operation device characterized by comprising
First rotary components have the first pedestal and the first revolving part, and first revolving part is by the 4th manual actuation component
It drives and makees vertically relative to first pedestal to rotation, the 4th manual actuation component includes the 4th movement interpreter
First rotary motion is converted to the rotary motion of first revolving part by structure, the 4th movement conversion mechanism；
Second rotary components are set on first revolving part and are in continuous action relation with first revolving part, and have the
Two pedestals and the second revolving part, second pedestal is fixed on first revolving part, and second revolving part is by the 5th
Manual actuation Component driver and reciprocally swung relative to second pedestal, the 5th manual actuation component include the 5th
Second rotary motion is converted to the past physical pendulum of second revolving part by movement conversion mechanism, the 5th movement conversion mechanism
It is dynamic,
Wherein, the axis of second rotary motion and the axis of the rotary motion of first revolving part are parallel or identical.
2. rotating device according to claim 1, which is characterized in that
The 4th manual actuation component further includes the 4th handwheel, and the 4th movement conversion mechanism is by the rotation of the 4th handwheel
Transhipment turn is changed to the rotary motion of first revolving part.
3. rotating device according to claim 2, which is characterized in that
4th movement conversion mechanism includes the first transmission shaft, shaft coupling and worm-gear speed reducer, and the 4th handwheel connects
It is connected to first transmission shaft one end, the first transmission shaft other end passes through the shaft coupling and the worm-gear speed reducer
Connection, the output axis connection of first revolving part and the worm-gear speed reducer.
4. rotating device according to claim 3, it is characterised in that:
The 5th manual actuation component further includes the 5th handwheel, and the 5th movement conversion mechanism is by the rotation of the 5th handwheel
Transhipment turn is changed to the reciprocally swinging of second revolving part.
5. rotating device according to claim 4, which is characterized in that the 5th movement conversion mechanism includes first synchronous
Belt wheel, synchronous belt, the second synchronous pulley, second driving shaft, the first Hooks coupling universal coupling, the second Hooks coupling universal coupling, the 5th hand
Wheel is connect with first synchronous pulley, and first synchronous pulley is connected by the synchronous belt and second synchronous pulley
It connects, described second driving shaft one end is connect by first Hooks coupling universal coupling with second synchronous pulley, second rotation
Turn part to connect by the second Hooks coupling universal coupling with the second driving shaft other end.
6. rotating device according to claim 5, which is characterized in that
The axis of the wheel shaft of second synchronous pulley is consistent with the axis of output shaft of the worm-gear speed reducer 4323, and
The wheel shaft of second synchronous pulley is passed through from the output shaft of the worm-gear speed reducer.
7. a kind of auxiliary operation device, which is characterized in that including rotating device described in any one of claims 1-6.
8. a kind of auxiliary operation device according to claim 7, which is characterized in that
Further include the first linear moving assembly, is made straight horizontal displacement in the transverse direction of an opposite bolster by manual actuation；
Second linear movement component is set on the described first linear moving assembly, by manual actuation in the relatively described bolster
It is vertical to making straight-line displacement；
Third linear moving assembly is set on the second linear movement component, by manual actuation in the relatively described bolster
Longitudinal direction make straight-line displacement；
Described first is set on the third linear moving assembly, by manual actuation around relative to the mobile group of the third linear
The vertical first axle of part rotates；
Operation tool end is fixed on second rotary components.
9. auxiliary operation device according to claim 8, which is characterized in that the operation tool end aseptic area that operates
Domain, and the operation tool end and the distance between the region of the manual actuation meet operation where the operation tool end
It is formed and is isolated between aseptic area and the region of the manual actuation.
10. auxiliary operation device according to claim 8, which is characterized in that the third linear moving assembly is rotatable
Ground is set on the second linear movement component.
11. auxiliary operation device according to claim 10, it is characterised in that:
The third linear moving assembly is gone to and the second linear movement component phase in the longitudinal direction in the first state
Mutually parallel, rotation is extremely mutually perpendicular to the second linear movement component in length direction in the second condition.
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| CN2018110592583 | 2018-09-12 | ||
| CN201811059258 | 2018-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920319179.5U Active CN210384059U (en) | 2018-09-12 | 2019-03-14 | Auxiliary operation device |
| CN201910184035.8A Active CN109806011B (en) | 2018-09-12 | 2019-03-14 | Auxiliary operation device |
| CN201920337118.1U Active CN210384069U (en) | 2018-09-12 | 2019-03-18 | Rotation device for auxiliary operation device and auxiliary operation device |
| CN201910201059.XA Active CN109771060B (en) | 2018-09-12 | 2019-03-18 | Rotary device for auxiliary operation device and auxiliary operation device |
| CN201910201060.2A Pending CN109771056A (en) | 2018-09-12 | 2019-03-18 | For assisting the mobile device and auxiliary operation device of operation device |
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| CN201910184035.8A Active CN109806011B (en) | 2018-09-12 | 2019-03-14 | Auxiliary operation device |
| CN201920337118.1U Active CN210384069U (en) | 2018-09-12 | 2019-03-18 | Rotation device for auxiliary operation device and auxiliary operation device |
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| CN210384059U (en) * | 2018-09-12 | 2020-04-24 | 苏州铸正机器人有限公司 | Auxiliary operation device |
| CN111035452B (en) * | 2019-12-27 | 2021-07-02 | 苏州微创畅行机器人有限公司 | Positioning tool, mechanical arm system, surgical system and registration method |
| CN113288441A (en) * | 2021-05-13 | 2021-08-24 | 北京铸正机器人有限公司 | Active and passive moving device for auxiliary operation |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN210384059U (en) | 2020-04-24 |
| CN109806011B (en) | 2024-01-12 |
| CN109806011A (en) | 2019-05-28 |
| CN109771056A (en) | 2019-05-21 |
| CN109771060B (en) | 2024-01-12 |
| CN210384069U (en) | 2020-04-24 |
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