CN110186790A - A kind of surgical instrument wirerope performance testing device and method - Google Patents
A kind of surgical instrument wirerope performance testing device and method Download PDFInfo
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- CN110186790A CN110186790A CN201910433785.4A CN201910433785A CN110186790A CN 110186790 A CN110186790 A CN 110186790A CN 201910433785 A CN201910433785 A CN 201910433785A CN 110186790 A CN110186790 A CN 110186790A
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- wirerope
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- electromagnetic damper
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- 238000012360 testing method Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 238000004804 winding Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 238000010998 test method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009661 fatigue test Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
- G01N3/06—Special adaptations of indicating or recording means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
- G01N3/38—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces generated by electromagnetic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0001—Type of application of the stress
- G01N2203/0005—Repeated or cyclic
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0016—Tensile or compressive
- G01N2203/0017—Tensile
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/005—Electromagnetic means
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Electromagnetism (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of surgical instrument wirerope performance testing devices and method.Apparatus of the present invention include wirerope, DC servo decelerating motor, motor driving wheel, the jackshaft of reducing, three pulley tension sensors, electromagnetic damper, reverse wheel, hand straight line slide unit, support frame.Wirerope to be measured is fixed to on porose driving wheel, three pulleys of three pulley tension sensors are passed sequentially through further around the jackshaft that can change diameter is crossed around several circles along helicla flute, it realizes and commutates around reverse wheel, the other end of wirerope is fixed on the drive wheel.In the present invention, electromagnetic damper provides load, and straight line slide unit adjusts wirerope initial tension, the motion conditions of wirerope under real conditions can be simulated, failure cause is found out, the diameter for adjusting jackshaft can be found that influence of the diameter of pulley to wirerope performance, provides foundation for surgical instrument design.
Description
Technical field
The present invention relates to surgical instrument field of material technology, particularly relate to a kind of surgical instrument wirerope performance survey
Try device and method.
Background technique
In endoscope-assistant surgery, surgical instrument is the main tool that doctor completes various surgical tasks.Endoscope-assistant surgery instrument is logical
It crosses wirerope and transfers power to surgical procedure end, wirerope is the most critical component for influencing surgical instrument reliability.Operation
If middle driving wirerope breaks down, it may result in operative failure or even endanger patient vitals.In addition, operation is to operation precision
It is required that very high, wirerope is the component for directly affecting operation precision.Therefore, detection driving silk performance is safe to surgical instrument is guaranteed
Reliably it is of great significance.
It is existing to be concentrated mainly on the fields such as lifting traction, application number CN 108956309A about wirerope test device
A kind of friction drive hoist wirerope load-carrying properties test device is disclosed, which tests holding for wirerope by changing cornerite
Loading capability.105300806 A of patent No. CN discloses a kind of wirerope fatigue test device, which can change automatically opens
Clamp force.But these test devices are mainly for the wirerope low in major diameter large bearing capacity required precision, it is multiple for being laid out
Miscellaneous, the small wirerope of bending radius is not applicable, in addition, these devices are unable to real-time monitoring tension variation, cannot change accurate
Change payload size, does not meet requirement of the surgical instrument to precision.Thus, it is necessary to it researches and develops a kind of suitable for detection surgical instrument
With wirerope test device, its performance characteristics is fully understood before the mounting, guarantees the reliability of surgical instrument.
Summary of the invention
The present invention in view of the deficienciess of the prior art, propose a kind of surgical instrument wirerope performance testing device and
Method, can real-time detection diameter of pulley and tensile force to driving silk performance and service life.
To reach this purpose, the invention adopts the following technical scheme:
A kind of surgical instrument wirerope performance testing device, the direct current including setting gradually from left to right on support frame are watched
Take decelerating motor, jackshaft, three pulley tension sensors, electromagnetic damper；DC servo decelerating motor is connected with electric machine support
It connects, electric machine support is fixed on the support frame, and DC servo deceleration motor shaft is connect by shaft coupling one with driving wheel, driving wheel
Shaft end connects shaft coupling one by being mounted on the bearing of support frame, and jackshaft is fixed on the support frame by bearing, on jackshaft
Sleeve is installed, three pulley tension sensors are fixed on the support frame, and electromagnetic damper is fixed with electromagnetic damper bracket, electromagnetism
The axis that damper stretches out connects reverse wheel by shaft coupling two, and electromagnetic damper bracket base is fixed with hand straight line slide unit, hand
It is fixed on the support frame to shake straight line slide unit.
Described wirerope one end is fixed to by screw thread on porose driving wheel, along helicla flute around several circles, then
Around jackshaft, pass sequentially through three pulleys of three pulley tension sensors, around reverse wheel realize commutation, wirerope it is another
End is fixed on the drive wheel.
Helicla flute is carved on the driving wheel for winding wire ropes.
The sleeve installed on the jackshaft can be replaced, and the specification of sleeve is that internal diameter same outer diameter is sequentially increased, intermediate
Axis one end is fixed on the bearing of support frame by retaining ring for shaft shoulder, and the jackshaft other end has the screw thread of processing, and screw thread is used to screw
Nut closing sleeve.
The hand straight line slide unit include position fixing handle, support plate, bottom plate, sliding rail, lead screw, feed screw nut, for fixing
The latch segment of feed screw nut position, mobile sliding block, bottom plate both ends are respectively fixed with support plate, and lead screw both ends connect with support plate respectively
It connects, lead screw two sides are respectively arranged with sliding rail, and one end and the position fixing handle of lead screw are fixed, and the both ends of sliding rail are solid with support plate respectively
Fixed, the feed screw nut connecting with threads of lead screw is fixed with mobile sliding block, and mobile sliding block is fixed with electromagnetic damper bracket base.
The invention also provides a kind of surgical instrument detection methods of wirerope performance, include the following steps:
(1) motor support frame is connected on support frame, DC servo decelerating motor, driving is installed on motor support frame
The shaft end of wheel passes through the support frame aperture for being equipped with bearing, is connected DC servo deceleration motor shaft with drive shaft with shaft coupling one
To together, jackshaft is passed through to the support frame aperture for being equipped with bearing, on the sleeve installation jackshaft for selecting a kind of outer diameter, uses nut
It tightens, three pulley tension sensors is installed on support frame, straight line slide unit is fixed on the bottom plate of support frame, on straight line slide unit
Mobile sliding block connect electromagnetic damper bracket；
(2) it first measures the length of wire rope and records, wirerope is fixed on driving wheel, 3 circle of winding passes sequentially through centre
Axis, three pulley tension sensors pass through reverse wheel wraparound, then are fixed on driving wheel；
(3) three pulley tension sensors are run, by real-time data transmission into computer, observation initial tension reading is shaken
Straight line slide unit handle sets initial tension；
(4) input voltage of electromagnetic damper, given load value are adjusted；
(5) start DC servo decelerating motor, allow it to rotate forward 3 circles, then invert 3 circles, then commutate 3 circle of rotating forward again, repeats
Above procedure；
(6) pulling force is provided until three pulley tension sensor institute's measured values are lower than, shut down DC servo decelerating motor, stop three
Pulley tension sensor and electromagnetic damper work；
(7) wirerope is removed, variation is measured the length of wire rope；
(8) intermediate wheel diameter and initial tension is varied multiple times, repeats above procedure, obtains intermediate wheel diameter and initial tension
To the relationship of rope stretch amount and service life.
Detailed description of the invention
Fig. 1 is apparatus structure schematic diagram provided by the invention；
Fig. 2 is driving wheel structure schematic diagram provided by the invention；
Fig. 3 is jackshaft assembling structure schematic diagram；
Fig. 4 is initial tension and damping control apparatus schematic diagram provided by the invention.
In figure: 1- DC servo decelerating motor, 2- electric machine support, 3- shaft coupling one, tri- pulley tension sensor of 4-, 5- electricity
Magnetic damper, 6- reverse wheel, the hand straight line slide unit of 7-, 8- device support stand, 9- wirerope, 10- jackshaft, 11- driving wheel,
12- sleeve, 13- nut, 14- electromagnetic damper bracket, 15- shaft coupling two, 16- retaining ring for shaft shoulder.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing and by specific
Embodiment to further illustrate the technical scheme of the present invention.
As shown in Figure 1, surgical instrument of the invention wirerope device for detecting performance, mainly includes DC servo deceleration electricity
Machine 1, driving wheel 11, jackshaft 10, three pulley tension sensors 4, electromagnetic damper 5, reverse wheel 6, hand straight line slide unit 7, branch
Support 8, wirerope 9, DC servo decelerating motor 1 are connected with electric machine support 2, and electric machine support 2 is fixed on support frame 8, directly
Stream servo deceleration motor shaft is connect by shaft coupling 1 with driving wheel 11, and jackshaft 10 is fixed on support frame 8 by bearing,
Electromagnetic damper 5 is bolted on straight line slide unit 7, the axis connection reverse wheel 6 that electromagnetic damper stretches out.
Wirerope one end is fixed to by screw thread on porose driving wheel 11, along helicla flute around several circles, further around mistake
Jackshaft 10 passes sequentially through three pulleys of three pulley tension sensors 4, around reverse wheel 6 realize commutation, wirerope it is another
End is fixed on the drive wheel.
The driving wheel 11, sleeve 12, three pulleys of three pulley tension sensors 4, reverse wheel are same vertical flat
On face.
As shown in Fig. 2, being carved with helicla flute on the driving wheel for winding wire ropes, the shaft end of driving wheel passes through installation
Shaft coupling 1 is connected in the bearing of support frame 8.
As shown in figure 3, being equipped with sleeve 12 on the jackshaft 10, sleeve 12 can be replaced, and specification is internal diameter phase
It is sequentially increased with outer diameter.Jackshaft one end is fixed on the bearing of support frame 8 by retaining ring for shaft shoulder 16, and the other end has the spiral shell of processing
Line can screw 13 closing sleeve of nut.
As shown in figure 4, the electromagnetic damper 5 is connected by electromagnetic damper bracket 14, the axis connection shaft coupling of stretching
Device 2 15,14 pedestal of electromagnetic damper bracket connect hand straight line slide unit 7.
The hand straight line slide unit 7 includes position fixing handle, support plate, bottom plate, sliding rail, lead screw, feed screw nut, is used for admittedly
The latch segment of fixed thread thick stick nut location, mobile sliding block.
Using above-mentioned surgical instrument wirerope device for detecting performance, include the following steps:
(1) electric machine support 2 is connected on support frame 8, motor 1, the shaft end of driving wheel 11 is installed on motor support frame 8
Across the support frame aperture for being equipped with bearing, motor shaft is connected together with drive shaft with shaft coupling 1.Jackshaft 10 is worn
Cross the support frame aperture for being equipped with bearing, a kind of sleeve 12 of outer diameter is installed on jackshaft 10, is tightened with nut 13.By three pulleys
Force snesor 4 is installed on support frame 8, and straight line slide unit 7 is fixed on the bottom plate of support frame 8,7 top shoe of straight line slide unit connection electricity
Magnetic damper bracket 14.
(2) it first measures the length of wire rope and records.Wirerope 9 is fixed on driving wheel 11,3 circle of winding passes sequentially through
Jackshaft 10, three pulley tension sensors 4, reverse wheel 6 further around return be fixed to driving wheel 11 on.
(3) three pulley tension sensors 4 are run, by real-time data transmission into computer, observation tensile force reading is shaken straight
7 handle of line slide unit sets initial tension.
(4) input voltage for adjusting electromagnetic damper 5, gives damping value.
(5) start DC servo decelerating motor, allow it to rotate forward 3 circles, then invert 3 circles, then commutate 3 circle of rotating forward again, repeats
Above procedure.
(6) pulling force is provided until three pulley tension sensors, 4 measured values are lower than, shut down DC servo decelerating motor 1, stop
Three pulley tension sensors 4 and electromagnetic damper 5 work.
(7) wirerope is removed, variation is measured the length of wire rope.
(8) it is varied multiple times intermediate pulley diameter and initial tension, repeats above procedure, obtain intermediate pulley diameter and initial
Relationship of the tension to rope stretch amount and service life.
Claims (5)
1. a kind of surgical instrument wirerope performance testing device, it is characterised in that: including successively being set from left to right on support frame
DC servo decelerating motor, jackshaft, the three pulley tension sensors, electromagnetic damper set；DC servo decelerating motor and electricity
Machine support is connected, and electric machine support is fixed on the support frame, and DC servo deceleration motor shaft is connected by shaft coupling one and driving wheel
It connects, the shaft end of driving wheel connects shaft coupling one by being mounted on the bearing of support frame, and jackshaft is fixed on support frame by bearing
On, sleeve is installed, three pulley tension sensors are fixed on the support frame, electromagnetic damper and electromagnetic damper branch on jackshaft
Frame is fixed, and the axis that electromagnetic damper stretches out connects reverse wheel, electromagnetic damper bracket base and hand straight line by shaft coupling two
Slide unit is fixed, and hand straight line slide unit is fixed on the support frame.
2. surgical instrument according to claim 1 wirerope performance testing device, which is characterized in that the motor driven
Helicla flute is carved on wheel for winding wire ropes.
3. surgical instrument according to claim 1 wirerope performance testing device, which is characterized in that on the jackshaft
The sleeve of installation can be replaced, and the specification of sleeve is that internal diameter same outer diameter is sequentially increased, and jackshaft one end is solid by retaining ring for shaft shoulder
It is scheduled on the bearing of support frame, the jackshaft other end has the screw thread of processing, and screw thread is used to screw nut closing sleeve.
4. surgical instrument according to claim 1 wirerope performance testing device, which is characterized in that the hand straight line
Slide unit include position fixing handle, support plate, bottom plate, sliding rail, lead screw, feed screw nut, the latch segment for fixing lead screw nut location,
Mobile sliding block, bottom plate both ends are respectively fixed with support plate, and lead screw both ends are connect with support plate respectively, and lead screw two sides are respectively arranged with
Sliding rail, one end and the position fixing handle of lead screw are fixed, and the both ends of sliding rail are fixed with support plate respectively, the lead screw connecting with threads of lead screw
Nut is fixed with mobile sliding block, and mobile sliding block is fixed with electromagnetic damper bracket base.
5. a kind of test method of the surgical instrument wirerope device for detecting performance using one of claim 1-4,
It is characterized by comprising the following steps:
(1) motor support frame is connected on support frame, DC servo decelerating motor is installed on motor support frame, driving wheel
Shaft end passes through the support frame aperture for being equipped with bearing, and DC servo deceleration motor shaft and drive shaft are connected to one with shaft coupling one
It rises, jackshaft is passed through to the support frame aperture for being equipped with bearing, on the sleeve installation jackshaft for selecting a kind of outer diameter, twisted with nut
Tightly, three pulley tension sensors are installed on support frame, straight line slide unit is fixed on the bottom plate of support frame, on straight line slide unit
Mobile sliding block connects electromagnetic damper bracket；
(2) first measure the length of wire rope and record, by wirerope be fixed to driving wheel on, winding 3 circle, pass sequentially through jackshaft,
Three pulley tension sensors pass through reverse wheel wraparound, then are fixed on driving wheel；
(3) three pulley tension sensors are run, by real-time data transmission into computer, observation initial tension reading shakes straight line
Slide unit handle sets initial tension；
(4) input voltage of electromagnetic damper, given load value are adjusted；
(5) starting DC servo decelerating motor allows it to rotate forward 3 circles, then inverts 3 circles, and then commutate 3 circle of rotating forward again, more than repetition
Process；
(6) pulling force is provided until three pulley tension sensor institute's measured values are lower than, shut down DC servo decelerating motor, stop three pulleys
Tension sensor and electromagnetic damper work；
(7) wirerope is removed, variation is measured the length of wire rope；
(8) intermediate wheel diameter and initial tension is varied multiple times, repeats above procedure, obtains intermediate wheel diameter and initial tension to steel
The relationship of cord elongation and service life.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910433785.4A CN110186790A (en) | 2019-05-23 | 2019-05-23 | A kind of surgical instrument wirerope performance testing device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910433785.4A CN110186790A (en) | 2019-05-23 | 2019-05-23 | A kind of surgical instrument wirerope performance testing device and method |
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| CN201910433785.4A Pending CN110186790A (en) | 2019-05-23 | 2019-05-23 | A kind of surgical instrument wirerope performance testing device and method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111220547A (en) * | 2020-03-31 | 2020-06-02 | 江苏善果缘智能科技有限公司 | Steel wire rope transmission device for cloth monitoring, scanning and sampling equipment and assembling method |
| CN112147005A (en) * | 2020-09-15 | 2020-12-29 | 苏州法兰克曼医疗器械有限公司 | Channel testing machine and method for endoscopic surgery |
| CN112268798A (en) * | 2020-10-15 | 2021-01-26 | 合肥工业大学 | Steel wire rope performance testing device for flexible cable driven rehabilitation robot and testing method thereof |
| CN112924292A (en) * | 2021-03-12 | 2021-06-08 | 河南中烟工业有限责任公司 | Detection device and method for detecting quality of silk suction belt and cloth belt by using detection device |
| CN113029721A (en) * | 2021-03-12 | 2021-06-25 | 莱州市电子仪器有限公司 | Fiber combustion sample preparation machine |
| CN113930989A (en) * | 2020-06-29 | 2022-01-14 | 沈阳新松机器人自动化股份有限公司 | Steel wire rope pre-stretching device |
| CN113984383A (en) * | 2021-10-26 | 2022-01-28 | 天津大学 | Platform and method for testing reliability of wire transmission structure of surgical instrument with different degrees of freedom of motion |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112147005B (en) * | 2020-09-15 | 2024-04-26 | 苏州法兰克曼医疗器械有限公司 | Channel testing machine and method for endoscopic surgery |
| CN112268798A (en) * | 2020-10-15 | 2021-01-26 | 合肥工业大学 | Steel wire rope performance testing device for flexible cable driven rehabilitation robot and testing method thereof |
| CN112268798B (en) * | 2020-10-15 | 2022-10-04 | 合肥工业大学 | Steel wire rope performance testing device for flexible cable driven rehabilitation robot and testing method thereof |
| CN112924292A (en) * | 2021-03-12 | 2021-06-08 | 河南中烟工业有限责任公司 | Detection device and method for detecting quality of silk suction belt and cloth belt by using detection device |
| CN113029721A (en) * | 2021-03-12 | 2021-06-25 | 莱州市电子仪器有限公司 | Fiber combustion sample preparation machine |
| CN113984383A (en) * | 2021-10-26 | 2022-01-28 | 天津大学 | Platform and method for testing reliability of wire transmission structure of surgical instrument with different degrees of freedom of motion |
| CN113984383B (en) * | 2021-10-26 | 2024-08-09 | 天津大学 | Reliability test platform and method for wire transmission structure with different degrees of freedom of movement of surgical instrument |
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