CN114052834A

CN114052834A - Hand-held electric appliance

Info

Publication number: CN114052834A
Application number: CN202111403506.3A
Authority: CN
Inventors: 薛人峰; 张旭波
Original assignee: Suzhou Ouchang Medical Technology Co ltd
Current assignee: Suzhou Ouchang Medical Technology Co ltd
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2022-02-18

Abstract

The invention discloses a handheld electric appliance, and belongs to the technical field of medical appliances. The handheld electric instrument comprises a handheld frame body, wherein an actuator, a clamping unit, a rotation unit, a deflection unit and a power supply battery are arranged on the handheld frame body; the clamping unit can drive the two clamp heads to close or open; the rotary unit can drive the clamp assembly to rotate relative to the flexible rod; the deflection unit can drive the flexible rod to bend so as to drive the two tong heads to swing simultaneously; and the power supply battery is used for supplying power to the rotation unit and the deflection unit. The handheld electric instrument has the advantages of simple structure, small volume, light weight and low cost, can enable the tail end instrument to move in multiple degrees of freedom through electric control, and is convenient to use.

Description

Hand-held electric appliance

Technical Field

The invention relates to the technical field of medical instruments, in particular to a handheld electric instrument.

Background

Currently, the surgeon chooses to apply a surgical robot or a conventional surgical instrument to perform the surgery. For the operation robot, its convenient to use can realize more complicated operation, however its structure is complicated to lead to there being the following problem in the use: firstly, the size is large, the occupied area is large, the operation needs to be carried out in a large operating room when the operation is carried out, the weight is large, the robot is difficult to move, and the robot basically needs to be placed in a fixed operating room for use; secondly, the cost is high, the selling price of one surgical robot is 2000-3000 ten thousand yuan, the material consumption and maintenance cost of surgical instruments are high, the equipment is difficult to introduce in most hospitals, and the operation cost is too high and difficult to burden for patients.

For a conventional surgical instrument, the structure is simple, the cost is low, however, the structure has the following problems that firstly, the tail end of the surgical instrument is of a straight rod structure, the flexibility is poor, the angle of the tail end instrument cannot be adjusted in the using process, the working range is limited, and meanwhile, in the surgical process, the tail end instrument is easily shielded by other instruments which work simultaneously such as an endoscope and the like, so that the surgical process is influenced; the rotary motion needs the cooperation of an assistant to be realized, and has higher requirements on the tacit of a doctor and the assistant; secondly, when in use, the doctor is easy to fatigue.

Disclosure of Invention

The invention aims to provide a handheld electric instrument which is simple in structure, small in size, light in weight, low in cost, capable of enabling a tail end instrument to move in multiple degrees of freedom through electric control and convenient to use.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a hand-held type electric instrument, includes handheld support body, be provided with on the handheld support body:

the actuator comprises a rigid rod, a flexible rod and a clamp assembly, wherein one end of the rigid rod is fixed on the handheld frame body, the flexible rod is connected to the other end of the rigid rod, the clamp assembly is rotatably connected to one end, away from the rigid rod, of the flexible rod, and the clamp assembly comprises two clamp heads;

the clamping unit can drive the two clamp heads to close or open;

a swivel unit capable of driving the jaw assembly to swivel relative to the flexible rod;

the deflection unit can drive the flexible rod to bend so as to drive the two forceps heads to swing simultaneously;

and the power supply battery is used for supplying power to the rotary unit and the deflection unit.

Optionally, the handheld stand body comprises a first mounting frame and a second mounting frame, and the swiveling unit comprises:

the rotary motor is arranged on the second mounting frame;

middle pivot, one end rotate connect in first mounting bracket, middle pivot wear to locate rigid rod, the other end connect in the flexible rod, rotary motor can drive connect in the other end of middle pivot.

Optionally, the revolving unit further comprises a first transmission assembly arranged on the first mounting frame, the revolving motor can drive the input end of the first transmission assembly, and the output end of the first transmission assembly can drive the middle rotating shaft to rotate.

Optionally, the yaw unit includes:

the deflection motor is arranged on the second mounting frame;

the wire fixing wheel is rotationally connected to the first mounting frame, and the deflection motor can drive the wire fixing wheel to rotate;

when the wire fixing wheel rotates towards the other direction, the first deflection transmission rope is released, and the second deflection transmission rope is wound on the wire fixing wheel.

Optionally, the deflection unit further comprises a second transmission assembly arranged on the first mounting frame, the deflection motor can drive the input end of the second transmission assembly, and the output end of the second transmission assembly can drive the wire fixing wheel to rotate.

Optionally, the deflection unit further comprises a transition wheel fixed on the first mounting frame, and the deflection transmission rope is connected to the flexible rod through the transition wheel.

Optionally, the clamping assembly further includes a fixing frame, the binding clip is rotatably connected to the fixing frame, and the clamping unit includes:

the clamping driving piece is arranged on the first mounting frame;

the clamping driving piece is connected to one end of the clamping driving rope, the other end of the clamping driving rope is fixed to one of the binding clip, and the clamping driving rope penetrates through the rigid rod and the flexible rod.

Optionally, the clamping unit includes a plurality of guide wheels, a plurality of the guide wheels are rotatably connected to the first mounting frame, and the clamping transmission rope is rotatably connected to the guide wheels.

Optionally, the handheld holder further comprises a housing for fixing the first mounting frame and the second mounting frame;

the clamping driving piece is a wrench, the clamping driving rope is fixed at one end of the wrench arranged in the shell, the wrench is rotationally connected to the first mounting frame, and the other end of the wrench is arranged outside the shell;

the rotary unit and the deflection unit are arranged in the shell, the shell is provided with an operation and control assembly, and the operation and control assembly can control the rotary unit and the deflection unit to act.

Optionally, the first mounting bracket and the second mounting bracket are detachably connected.

The invention has the beneficial effects that:

according to the handheld electric instrument provided by the invention, the actuator is provided with the flexible rod, the clamp assembly is arranged on the flexible rod, and the flexible rod is controlled to deflect and rotate through the deflection unit and the rotation unit, so that the clamp assembly can be driven to deflect and rotate, and specifically, the clamp assembly can deflect left and right and rotate clockwise and anticlockwise; simultaneously, can also carry out the centre gripping action to can realize not needing under the condition of assistant's cooperation, the doctor operates handheld electric instrument alone and carries out a plurality of degrees of freedom actions, convenient to use. Through the action of multiple degrees of freedom, the motion range of the execution end is expanded, the flexibility of the operation is increased, the actuator can reach the affected part more quickly and accurately, and the operation can be performed more quickly and smoothly; in addition, the problem of instrument shielding in the operation process is avoided, and the success rate of the operation is improved; the battery supplies power to enable the rotation unit and the deflection unit to perform rotation and deflection movement through electric control, so that physical consumption of doctors is reduced; the actuator, the clamping unit, the rotary unit, the deflection unit and the power supply battery are all arranged on the handheld frame body and are powered by the battery, the structure is small and portable, the whole instrument can be taken along with the instrument, and the operation site is convenient to switch; compared with a large-scale surgical robot, the robot has the advantages of simple structure and low cost, further reduces the surgical cost, and is more easily accepted by hospitals and patients.

Drawings

FIG. 1 is a schematic diagram of a hand-held power instrument having a first steering assembly in a clamped and pivoted configuration in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a handheld power tool according to an embodiment of the present invention in a deflected state;

FIG. 3 is a schematic structural diagram of a rotation unit according to a first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a deflection unit according to a first embodiment of the present invention;

FIG. 5 is a cross-sectional view of a rigid rod and a flexible rod provided in accordance with one embodiment of the present invention;

FIG. 6 is a schematic diagram of an actuator according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a clamping unit according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a second manipulating assembly according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a third manipulating assembly according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a revolving unit according to a second embodiment of the present invention;

fig. 11 is a schematic structural diagram of a deflection unit according to a second embodiment of the present invention;

fig. 12 is a schematic structural diagram of a clamping unit according to a second embodiment of the present invention.

In the figure:

1. a holder body is held by hand; 11. a first mounting bracket; 12. a second mounting bracket; 13. a housing; 14. a housing connector;

2. an actuator; 21. a rigid rod; 22. a flexible rod; 221. a connecting rod; 222. a universal shaft assembly; 23. a clamp assembly; 231. a binding clip; 232. a fixed mount;

3. a rotation unit; 31. a rotary motor; 32. an intermediate rotating shaft; 331. a first drive gear; 332. a first driven gear; 341. a third drive bevel gear; 342. a third driven bevel gear; 35. a second coupling; 361. a second driving gear; 362. a second driven gear;

4. a deflection unit; 41. a yaw motor; 42. a wire fixing wheel; 43. a yaw drive rope; 44. a second transmission assembly; 441. a first drive bevel gear; 442. a first driven bevel gear; 45. a transition wheel; 461. a second drive bevel gear; 462. a second driven bevel gear; 47. a first coupling; 481. a fourth drive bevel gear; 482. a fourth driven bevel gear;

5. a clamping unit; 51. clamping the driving member; 52. a guide wheel;

6. a manipulation component; 61. a toggle button is pushed; 62. an electric control board.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example one

The embodiment provides a handheld electric instrument, as shown in fig. 1 and fig. 2, which includes a handheld frame body 1, wherein an actuator 2, a clamping unit 5, a rotation unit 3, a deflection unit 4, and a power supply battery are disposed on the handheld frame body 1, specifically, the actuator 2 includes a rigid rod 21 having one end fixed on the handheld frame body 1, a flexible rod 22 connected to the other end of the rigid rod 21, and a clamp assembly 23 rotatably connected to one end of the flexible rod 22 away from the rigid rod 21, and the clamp assembly 23 includes two clamp heads 231; the clamping unit 5 can drive the two forceps heads 231 to close or open; the swiveling unit 3 can drive the clamp assembly 23 to swivel relative to the flexible rod 22; the deflection unit 4 can drive the flexible rod 22 to bend so as to drive the two forceps heads 231 to swing simultaneously; the power supply battery is used for supplying power to the slewing unit 3 and the yawing unit 4.

Because the actuator 2 is provided with the flexible rod 22, the clamp assembly 23 is arranged on the flexible rod 22, and the flexible rod 22 is controlled to swing and rotate through the swing unit 4 and the rotation unit 3, the clamp assembly 23 can be driven to swing and rotate, and specifically, the clamp assembly can swing left and right and rotate clockwise and anticlockwise; simultaneously, can also carry out the centre gripping action to can realize not needing under the condition of assistant's cooperation, the doctor operates handheld electric instrument alone and carries out a plurality of degrees of freedom actions, convenient to use. Through the action of multiple degrees of freedom, the motion range of the execution end is expanded, the flexibility of the operation is increased, the actuator 2 can reach the affected part more quickly and accurately, and the operation can be performed more quickly and smoothly; in addition, the problem of instrument shielding in the operation process is avoided, and the success rate of the operation is improved; the battery supplies power to enable the rotary unit 3 and the deflection unit 4 to perform rotary and deflection motions through electric control, so that physical consumption of doctors is reduced; the actuator 2, the clamping unit 5, the rotary unit 3, the deflection unit 4 and the power supply battery are all arranged on the handheld frame body 1, and power is supplied through the battery, so that the structure is small and portable, the whole instrument can be taken along with the instrument, and the operation site is convenient to switch; compared with a large-scale surgical robot, the robot has the advantages of simple structure and low cost, further reduces the surgical cost, and is more easily accepted by hospitals and patients.

Optionally, the hand-held frame body 1 comprises a first mounting frame 11 and a second mounting frame 12 for providing structural support, and particularly, the first mounting frame 11 may be an integral structure or a separate structure.

Specifically, as shown in fig. 3, the revolving unit 3 includes a revolving motor 31 and an intermediate rotating shaft 32, the revolving motor 31 is disposed on the second mounting frame 12; middle pivot 32 one end is rotated and is connected in first mounting bracket 11, and rigid rod 21 is worn to locate by middle pivot 32, and the other end is connected in flexible pole 22, and rotating electrical machines 31 can drive the other end of connecting in middle pivot 32, and when rotating electrical machines 31 drive middle pivot 32 rotated, middle pivot 32 drove flexible pole 22 and rotates, and flexible pole 22 drove clamp assembly 23 and rotates to clamp assembly 23's gyration has been realized.

Optionally, the revolving unit 3 further includes a first transmission assembly disposed on the first mounting frame 11, the revolving motor 31 can drive an input end of the first transmission assembly, and an output end of the first transmission assembly can drive the intermediate rotating shaft 32 to rotate; specifically, the first transmission assembly may be a gear transmission, a belt transmission or other transmission structure without limitation; in this embodiment, adopt gear drive, compact structure, small in size. Specifically, the first transmission assembly includes a first driving gear 331 and a first driven gear 332 engaged therewith, a mounting shaft of the first driving gear 331 is drivingly connected to the rotary motor 31, and a mounting shaft of the first driven gear 332 is connected to the intermediate rotating shaft 32.

Further, in this embodiment, for reducing overall structure length, the output shaft of rotary motor 31 is perpendicular setting with middle pivot 32, and rotary motor 31 sets up in the handle department of gripping of handheld support body 1, is convenient for grip, and make full use of structure space. Specifically, the driving device further comprises a third driving bevel gear 341 and a third driven bevel gear 342 engaged with the third driving bevel gear 341, wherein a mounting shaft of the third driving bevel gear 341 is connected with an output shaft of the rotary motor 31 through a second coupler 35, and the third driven bevel gear 342 and the first driving gear 331 are arranged on the same mounting shaft, so that transmission between the rotary motor 31 and the first driving gear 331 is realized.

Specifically, as shown in fig. 6, the flexible rod 22 includes a plurality of connecting rods 221 hinged to each other, and the active center lines of the respective connecting rods 221 are arranged in parallel, thereby enabling the connecting rods 221 to be bent. Specifically, a universal shaft assembly 222 is arranged inside the connecting rod 221, the clamp assembly 23 is mounted on the universal shaft assembly 222, and the middle rotating shaft 32 drives the clamp assembly 23 to rotate through the universal shaft assembly 222; specifically, the universal shaft assembly 222 is prior art and will not be described in detail.

Optionally, first mounting bracket 11 and second mounting bracket 12 can be dismantled the connection, make whole apparatus can be unpack apart in the centre, actuating mechanism separates with drive mechanism, all install rotating electrical machines 31 and beat motor 41 on second mounting bracket 12, rotating electrical machines 3 and beat unit 4's transmission structure etc. all install on first mounting bracket 11, because at the operation in-process, the apparatus front end is infected the bacterium with the focus contact is easy, and the actuating mechanism of apparatus rear end is difficult for infecting the bacterium, during the disinfection, unpack first mounting bracket 11 and second mounting bracket 12 apart, drive mechanism separates with power drive part, make two parts can part disinfection and sterilization, the problem of the not good high temperature disinfection of carrying out of actuating motor has been solved.

Alternatively, as shown in fig. 4 and 5, the yaw unit 4 includes a yaw motor 41, a wire fixing wheel 42 and two yaw transmission ropes 43, specifically, the yaw motor 41 is disposed on the second mounting frame 12; the wire fixing wheel 42 is rotationally connected to the first mounting frame 11, and the deflection motor 41 can drive the wire fixing wheel 42 to rotate; the fixed and winding in solidus wheel 42 of beat driving rope 43 one end, the beat driving rope 43 wears to locate rigid rod 21, and the other end is fixed to be set up in flexible pole 22, and when solidus wheel 42 rotated to one direction, first beat driving rope 43 twined in solidus wheel 42, and second beat driving rope 43 is released, and when solidus wheel 42 rotated to another direction, first beat driving rope 43 was released, and second beat driving rope 43 twines in solidus wheel 42. The two deflection transmission ropes 43 are extended and shortened one by one, so that the first deflection transmission rope 43 and the second deflection transmission rope 43 respectively drive the connecting rod 221 to deflect leftwards and rightwards, and drive the universal shaft assembly 222 to move, and further drive the clamp assembly 23 to correspondingly deflect.

Optionally, the yaw unit 4 further includes a second transmission assembly 44 disposed on the first mounting frame 11, the yaw motor 41 can drive an input end of the second transmission assembly 44, and an output end of the second transmission assembly 44 can drive the wire fixing wheel 42 to rotate. Specifically, the second transmission assembly 44 may be a gear transmission, a belt transmission, or the like, and in this embodiment, the second transmission assembly 44 includes a first driving bevel gear 441 and a first driven bevel gear 442 engaged with the first driving bevel gear, and a mounting shaft of the fixed wheel is disposed perpendicular to an output shaft of the yaw motor 41, so as to achieve power transmission. Optionally, the deflection unit 4 further includes a transition wheel 45 fixed on the first mounting frame 11, and the deflection transmission rope 43 is connected to the flexible rod 22 through the transition wheel 45, so that the transmission stability of the deflection transmission rope 43 is improved. Specifically, the transition wheel 45 and the wire fixing wheel 42 are disposed on both sides of the first mounting bracket 11, and the transition wheel 45 is disposed on a side close to the actuator 2.

Further, in this embodiment, in order to reduce overall structure length, the output shaft of the yaw motor 41 is perpendicular to the middle rotating shaft 32, and the yaw motor 41 is disposed at the holding handle of the handheld frame body 1, so as to facilitate holding and fully utilize the structural space. Specifically, the swing mechanism further comprises a second driving bevel gear 461 and a second driven bevel gear 462 meshed with the second driving bevel gear 461, wherein a mounting shaft of the second driving bevel gear 461 is connected with an output shaft of the swing motor 41 through a first coupler 47, and the second driven bevel gear 462 and the first driving bevel gear 441 are arranged on the same mounting shaft, so that transmission between the swing motor 41 and the first driving bevel gear 441 is realized.

Optionally, as shown in fig. 6 and 7, the clamp assembly 23 further includes a fixing frame 232, and the clamp head 231 is rotatably connected to the fixing frame 232 and can be opened or closed; the clamping unit 5 comprises a clamping driving piece 51 and a clamping transmission rope, wherein the clamping driving piece 51 is arranged on the first mounting frame 11; centre gripping driving piece 51 is connected in the one end of centre gripping driving rope, and the other end of centre gripping driving rope is fixed in a binding clip 231, and rigid rod 21 and flexible pole 22 are worn to locate by the centre gripping driving rope, and the extension through centre gripping driving rope realizes that binding clip 231 rotates, realizes opening or closing of two binding clips 231.

In this embodiment, the middle rotating shaft 32 is a hollow structure, and the clamping transmission rope is inserted into the hollow rotating shaft to prevent being wound. In this embodiment, the clamping transmission rope and the deflection transmission rope 43 are both steel wires.

Optionally, the clamping unit 5 includes a plurality of guide wheels 52, the plurality of guide wheels 52 are rotatably connected to the first mounting frame 11, and the clamping driving rope is rotatably connected to the guide wheels 52, so that the clamping driving rope is driven more stably, and friction between the clamping driving rope and other structures is reduced.

In this embodiment, the clamping driving member 51 is a wrench, the wrench is rotatably connected to the first mounting frame 11, and the other end of the wrench is disposed outside the housing 13; as shown in fig. 1; the doctor's index finger pulls the wrench, the end effector 2 performs the clamping action, and the two bits 231 perform the closing action.

Optionally, the hand-held frame body 1 further comprises a housing 13 for fixing the first mounting frame 11 and the second mounting frame 12; optionally, the clamping transmission rope is fixed at one end of the wrench arranged in the housing 13, and the other end is arranged outside the housing 13. Optionally, the revolving unit 3 and the yawing unit 4 are both arranged in the housing 13 for protection; the shell 13 is provided with a control assembly 6, and the control assembly 6 can control the rotation unit 3 and the deflection unit 4 to move. Specifically, the control assembly 6 includes a dial button 61 and an electric control board 62, the electric control board 62 is electrically connected to the rotary unit 3 and the yaw unit 4, and the dial button 61 is configured to send a corresponding command to the electric control board 62 to control the forward rotation and the reverse rotation of the rotary motor 31 and the yaw motor 41. As shown in fig. 1, 8 and 9, there are three kinds of toggle buttons 61, and when the toggle buttons are toggled to different directions, corresponding instructions can be sent; specifically, the structure of the dial button 61 adopts the existing structure, and is not described in detail. Optionally, the dial button 61 may also be replaced by a display panel, which is referred to in the prior art and is not described in detail. Specifically, the housing 13 is divided into two parts, and the two parts are connected by the housing connecting member 14, and when the sterilization is performed, the connectable member is disassembled first, and then the first mounting frame 11 and the second mounting frame 12 are disassembled for sterilization.

As shown in fig. 1 and 2, when the dial button 61 is dialed down or the lower button is turned on, the dial button is turned in the direction indicated by the arrow, and when the dial button 61 is dialed up or the upper button is turned on, the dial button is turned in the opposite direction; when the toggle button 61 is toggled leftwards or the left button is opened, the direction is deflected according to the arrow indication, and when the toggle button 61 is toggled rightwards or the right button is opened, the direction is deflected to the opposite direction. In other embodiments, the toggle direction of the toggle button 61 can be customized to indicate the corresponding action, and is not limited.

In this embodiment, the rotary motor 31 and the yaw motor 41 are both micro motors to reduce the overall size, thereby facilitating handheld use. In this embodiment, the rotary motor 31 and the yaw motor 41 are disposed side by side on one side of the second mounting frame 12, and the electric control board 62 is disposed on the other side of the second mounting frame 12, so that the structure is neat, the size is reduced, and the use is convenient. In particular, the toggle button 61 is arranged at the rear end of the instrument for easy operation.

Specifically, the mounting shaft of the first driving gear 331 and the mounting shaft of the third driven bevel gear 342 are of a split design and are mounted on the first mounting frame 11 and the second mounting frame 12, respectively, so as to be conveniently disassembled and assembled.

Specifically, the mounting shaft of the first driving bevel gear 441 and the mounting shaft of the second driven bevel gear 462 are of a split design and are mounted on the first mounting frame 11 and the second mounting frame 12, respectively, so as to be conveniently disassembled and assembled.

Example two

The present embodiment is different from the first embodiment in that the direction of the deflection motor and the rotation motor 31 is different, the deflection motor and the rotation motor 31 are arranged side by side in parallel, and the output shafts thereof are parallel to the middle rotating shaft 32.

Specifically, as shown in fig. 10, the rotation unit 3 includes a second driving gear 361 and a second driven gear 362 engaged with the second driving gear 361, the rotation motor 31 is connected to a mounting shaft on which the second driving gear 361 is mounted through a second coupling 35, and the second driven gear 362 drives the intermediate rotating shaft 32 to rotate.

Specifically, as shown in fig. 11, the deflecting unit includes a fourth driving bevel gear 481 and a fourth driven bevel gear 482 engaged therewith, the yaw motor 41 is connected to a mounting shaft of the fourth driving bevel gear 481 through a first coupling 47, and the wire fixing wheel 42 is mounted on the mounting shaft of the fourth driven bevel gear 482.

Specifically, as shown in fig. 12, the clamp driving member 51 is a wrench, and the wrench is disposed between the yaw motor 41 and the rotation motor 31.

Specifically, the first mounting bracket 11 and the second mounting bracket 12 may be an integral structure, and are not limited.

Specifically, the electric control board 62 and the toggle button 61 are simultaneously arranged on the upper side of the second mounting frame 12, which is far away from the yaw motor 41 and the rotary motor 31, so that the size in the length direction is reduced.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a hand-held type electric instrument, its characterized in that, includes handheld support body (1), be provided with on handheld support body (1):

the actuator (2) comprises a rigid rod (21) with one end fixed on the handheld frame body (1), a flexible rod (22) connected to the other end of the rigid rod (21), and a clamp assembly (23) rotatably connected to one end, away from the rigid rod (21), of the flexible rod (22), wherein the clamp assembly (23) comprises two clamp heads (231);

the clamping unit (5) can drive the two clamp heads (231) to close or open;

a swiveling unit (3) capable of driving the clamp assembly (23) to swivel with respect to the flexible rod (22);

the deflection unit (4) can drive the flexible rod (22) to bend so as to drive the two forceps heads (231) to swing simultaneously;

and the power supply battery is used for supplying power to the rotary unit (3) and the deflection unit (4).

2. The hand-held electrical instrument according to claim 1, wherein the hand-held frame (1) comprises a first mounting frame (11) and a second mounting frame (12), the swivel unit (3) comprising:

a rotary motor (31) arranged on the second mounting frame (12);

middle pivot (32), one end rotate connect in first mounting bracket (11), middle pivot (32) wear to locate rigid rod (21), the other end connect in flexible rod (22), rotary motor (31) can drive connect in the other end of middle pivot (32).

3. The hand-held electric instrument according to claim 2, wherein the rotation unit (3) further comprises a first transmission assembly disposed on the first mounting frame (11), the rotation motor (31) can drive an input end of the first transmission assembly, and an output end of the first transmission assembly can drive the intermediate rotating shaft (32) to rotate.

4. The hand-held electric instrument according to claim 2, characterized in that the yaw unit (4) comprises:

a yaw motor (41) provided to the second mounting bracket (12);

the wire fixing wheel (42) is rotatably connected to the first mounting frame (11), and the deflection motor (41) can drive the wire fixing wheel (42) to rotate;

two beat driving rope (43), one end is fixed and twine in solidus wheel (42), beat driving rope (43) wear to locate rigid rod (21), the other end is fixed set up in flexible rod (22), when solidus wheel (42) rotates to an orientation, first beat driving rope (43) twine in solidus wheel (42), the second beat driving rope (43) are released, when solidus wheel (42) rotates to another orientation, first beat driving rope (43) are released, the second beat driving rope (43) twine in solidus wheel (42).

5. The hand-held electric instrument according to claim 4, characterized in that the deflection unit (4) further comprises a second transmission assembly (44) arranged on the first mounting frame (11), the deflection motor (41) can drive an input end of the second transmission assembly (44), and an output end of the second transmission assembly (44) can drive the wire fixing wheel (42) to rotate.

6. The hand-held power instrument according to claim 4, characterized in that the deflection unit (4) further comprises a transition wheel (45) fixed to the first mounting frame (11), the deflection transmission cord (43) being connected to the flexible rod (22) via the transition wheel (45).

7. The hand-held power instrument according to claim 2, wherein the clamp assembly (23) further comprises a holder (232), the jaw (231) being rotatably connected to the holder (232), the clamping unit (5) comprising:

a clamping driving piece (51) arranged on the first mounting frame (11);

the clamping driving rope, the clamping driving piece (51) connect in the one end of clamping driving rope, the other end of clamping driving rope is fixed in one binding clip (231), the clamping driving rope wear to locate rigid pole (21) with flexible pole (22).

8. The hand-held electric instrument according to claim 7, characterized in that the gripping unit (5) comprises a plurality of guide wheels (52), wherein a plurality of guide wheels (52) are rotatably connected to the first mounting frame (11), and wherein the gripping transmission rope is rotatably connected to the guide wheels (52).

9. The hand-held electrical instrument according to claim 7, wherein the hand-held frame body (1) further comprises a housing (13) for fixing the first mounting frame (11) and the second mounting frame (12);

the clamping driving piece (51) is a wrench, the clamping driving rope is fixed at one end of the wrench arranged in the shell (13), the wrench is rotationally connected to the first mounting frame (11), and the other end of the wrench is arranged outside the shell (13);

the rotary unit (3) and the deflection unit (4) are arranged in the shell (13), the shell (13) is provided with an operation and control assembly (6), and the operation and control assembly (6) can control the rotary unit (3) and the deflection unit (4) to move.

10. The hand-held electrical instrument according to any one of claims 2 to 9, wherein the first mounting bracket (11) and the second mounting bracket (12) are detachably connected.