CN117357040A

CN117357040A - Conveying device and robot equipment

Info

Publication number: CN117357040A
Application number: CN202311654292.6A
Authority: CN
Inventors: 江维; 张芳敏; 卢天伟
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2023-12-05
Filing date: 2023-12-05
Publication date: 2024-01-09
Anticipated expiration: 2043-12-05
Also published as: CN117357040B

Abstract

The invention discloses a conveying device and a robot device, wherein the conveying device comprises: the power mechanism comprises a power conveying structure and a rotary power structure, the power conveying structure is arranged on the rotary power structure, and the rotary power structure is arranged at the tail end of a mechanical arm of the robot; the actuating mechanism clamps the flexible instrument to be conveyed, the actuating mechanism is clamped with the conveying power structure, and when the actuating mechanism is clamped with the conveying power structure in place, the conveying power structure is in transmission connection with the actuating mechanism so as to drive the flexible instrument clamped by the actuating mechanism to convey along the preset direction, and the conveying power structure is driven to rotate through the rotating power structure, so that the rotation of the flexible instrument is realized. When the flexible instrument needs to be disassembled, the clamping mechanism and the flexible instrument can be disassembled integrally only by releasing the clamping connection between the clamping mechanism and the conveying power structure, so that the flexible instrument is convenient and quick.

Description

Conveying device and robot equipment

Technical Field

The invention relates to the technical field of medical equipment, in particular to a conveying device and robot equipment.

Background

The natural cavity tract such as the digestive tract, the respiratory tract and the urethra is a part easy to cause common diseases of human beings, and the focus is positioned in the natural cavity tract of the human body, so that the examination and the treatment are required to be carried out through a soft endoscope. The robot-assisted soft endoscope interventional technique enables a doctor to operate the soft endoscope through the control handle, greatly reduces the physical strength and manual operation labor intensity of the doctor, reduces the dependence of operation on skills and experience, reduces the radiation to medical staff, and improves the operation efficiency and safety.

The accurate, continuous and stable conveying of the soft endoscope is an important precondition for completing tasks such as lesion screening, biopsy, tissue stripping and the like in a complex natural cavity environment. In clinic, endoscopic delivery relies on the skill and experience of the physician's hand.

The endoscope and the surgical instrument often need to be accompanied with rotary motion in the conveying process so as to observe and position the natural cavity diseases quickly and improve the surgical efficiency. However, the conventional soft endoscope conveying device does not meet the clinical requirements for soft endoscope conveying, and has the problems that the rotation movement is lost, the conveying and the rotation movement cannot be simultaneously performed, the soft endoscope and the instrument are difficult to detach, and the like.

Disclosure of Invention

In view of this, a first object of the present invention is to provide a delivery device aimed at enabling the delivery and rotation operations of a flexible instrument after gripping it, which can be quickly removed in case of emergency.

A second object of the invention is to provide a robotic device.

In order to achieve the first object, the present invention provides the following solutions:

a delivery device, comprising:

the power mechanism comprises a conveying power structure and a rotating power structure, wherein the conveying power structure is arranged on the rotating power structure, and the rotating power structure is arranged at the tail end of a mechanical arm of the robot and is used for driving the conveying power structure to rotate;

The flexible device comprises an actuating mechanism for clamping a flexible device to be conveyed, wherein the actuating mechanism is clamped with a conveying power structure, and when the actuating mechanism is clamped with the conveying power structure in place, the conveying power structure is in transmission connection with the actuating mechanism so as to drive the flexible device clamped by the actuating mechanism to convey along a preset direction.

In a specific embodiment, the delivery power structure comprises:

a delivery power member mounted on the rotary power structure;

the conveying rotating shaft is in transmission connection with the conveying power piece;

the first conveying butt joint piece is arranged on the conveying rotating shaft and used for butt joint with the executing mechanism so as to realize transmission connection.

In another specific embodiment, the conveyor power structure further comprises a mounting frame;

the mounting frame is provided with a containing cavity for containing the actuating mechanism;

the conveying power piece is arranged at one end of the mounting frame, which is far away from the accommodating cavity, the conveying rotating shaft is rotatably arranged on the mounting frame, and the conveying power piece is in transmission connection with the conveying rotating shaft;

one end of the first conveying butt joint piece is in transmission connection with the conveying rotating shaft, and the other end of the first conveying butt joint piece is in transmission connection with the executing mechanism.

In another specific embodiment, the first transport docking piece comprises:

the spline shaft sleeve is positioned outside the accommodating cavity, a spline is arranged at one end of the conveying rotating shaft, which faces the accommodating cavity, one end of the spline shaft sleeve is slidably sleeved outside the spline and is in transmission connection with the spline, the other end of the spline shaft sleeve is abutted with the outer wall of the accommodating cavity, and a connecting shaft extending into the accommodating cavity is arranged at the other end of the spline shaft sleeve;

the conveying butt joint disc is positioned in the accommodating cavity and connected with the connecting shaft;

the sleeve is arranged outside the conveying butt-joint disc and is provided with one end which is in butt joint with a boss arranged on the conveying butt-joint disc or is connected with the boss, and the other end of the conveying elastic reset is in butt joint with or is connected with the cavity bottom of the accommodating cavity.

In another specific embodiment, the delivery power structure further comprises a delivery assembly located outside the containment chamber;

one end of the conveying assembly is in transmission connection with the conveying power piece, and the other end of the conveying assembly is in transmission connection with the conveying rotating shaft.

In another specific embodiment, the actuator comprises:

the execution shell is clamped with the rotary power structure and is provided with a bearing cavity for bearing the flexible instrument;

the second conveying butt joint piece is rotatably arranged on the execution shell, is positioned outside the bearing cavity and is in transmission connection with the first conveying butt joint piece;

the flexible device comprises a bearing cavity, a driving wheel assembly and a driven wheel assembly, wherein the driving wheel assembly and the second conveying butt joint part are arranged in the bearing cavity, the driving wheel assembly is in transmission connection with one end of the second conveying butt joint part extending into the bearing cavity, the driven wheel assembly and the driving wheel assembly are arranged at intervals so as to clamp the flexible device, and the driving wheel assembly can drive the flexible device to move along a preset direction.

In another specific embodiment, the conveyor further comprises a clamp adjustment assembly for adjusting the spacing between the driven wheel assembly and the drive wheel assembly.

In another specific embodiment, the clamp adjustment assembly comprises:

a clamping drive mounted on the conveying power structure;

The screw rod is rotatably connected with the conveying power structure and is in transmission connection with the clamping driving piece;

the nut is in transmission connection with the lead screw; and

and the first compression block is connected with the nut and can drive the driven wheel assembly to move towards the direction close to the driving wheel assembly.

In another specific embodiment, the clamping adjustment assembly further comprises a rotation limiting plate provided on the rotary power structure for limiting rotation of the nut;

and/or, the clamping adjusting assembly further comprises a synchronous belt assembly which is respectively connected with the clamping driving piece and the screw rod in a transmission way;

and/or, one of the fixed part of the driven wheel assembly and the execution shell is provided with a guide rail, and the other is provided with a guide rail block which is in sliding connection with the guide rail.

In another specific embodiment, a second compression block penetrating through the bearing cavity is arranged on the fixed part of the driven wheel assembly, and the second compression block is abutted with the first compression block;

and a driven elastic reset piece is connected between the fixed part of the driven wheel assembly and the execution shell and is used for resetting the driven wheel assembly.

In another specific embodiment, the delivery device further comprises a length detection mechanism for detecting the delivery length of the flexible instrument.

In another specific embodiment, the rotating portion of the driven wheel assembly is drivingly connected with a first detection interface;

the length detection mechanism includes:

a second detection docking member docking with the first detection docking member; and

and the magnetic encoder is arranged on the conveying power structure and is used for acquiring the conveying length of the flexible instrument according to the number of turns of the second detection butt joint part.

In another specific embodiment, the length detection mechanism further comprises:

the detection rotating shaft is rotatably connected with the conveying power structure, one end of the detection rotating shaft extends into the accommodating cavity of the conveying power structure and is connected with the second detection butt joint part positioned in the accommodating cavity, the other end of the detection rotating shaft extends out of the accommodating cavity, and the magnetic encoder is arranged at the other end of the detection rotating shaft;

the detection elastic reset piece is positioned in the accommodating cavity, the detection elastic reset piece is sleeved outside the detection rotating shaft, one end of the detection elastic reset piece is connected with or abutted to a detection boss arranged outside the detection rotating shaft, and the other end of the detection elastic reset piece is connected with or abutted to the cavity wall of the accommodating cavity.

In another specific embodiment, the rotating part of the driven wheel assembly is connected with a torque spring tube, one end of the torque spring tube, which is far away from the driven wheel assembly, is connected with a torque output shaft, and one end of the torque output shaft, which is far away from the torque spring tube, is connected with the first detection butt joint piece;

and/or, one of the conveying power structure and the base of the magnetic encoder is provided with a guide post, and the other is provided with a guide hole matched with the guide post in a guiding way.

In another specific embodiment, the rotary power structure comprises:

the rotary power piece is arranged at the tail end of the mechanical arm;

the rotary transmission assembly is in transmission connection with the rotary power piece at one end;

and the rotating piece is in transmission connection with the other end of the rotary transmission assembly, the rotating piece is rotatably arranged at the tail end of the mechanical arm, and the conveying power structure is arranged on the rotating piece.

In another specific embodiment, the rotary power structure further includes a rotating plate mounted on the rotating member, and the conveying power structure is mounted on the rotating plate;

And/or, the rotating piece is provided with a U-shaped opening to allow the flexible instrument to pass through;

and/or, the rotary transmission assembly is a synchronous belt assembly, and the rotary power structure further comprises a tensioning wheel assembly which is arranged at the tail end of the mechanical arm and used for tensioning a synchronous belt of the synchronous belt assembly.

In another specific embodiment, one of the actuating mechanism and the conveying power structure is provided with a clamping assembly, and the other is provided with a clamping hole clamped with the clamping assembly;

and/or the number of the groups of groups,

one of the actuating mechanism and the conveying power structure is provided with a positioning guide post, and the other is provided with a positioning hole matched with the positioning guide post in a guiding way.

In another specific embodiment, the clamping assembly is arranged on the actuating mechanism, and the clamping Kong Kaishe is arranged on the conveying power structure;

the clamping assembly comprises a clamping piece, a clamping hook and a clamping elastic piece;

the execution mechanism comprises an execution shell, a clamping piece, a clamping elastic piece, a pressing part and a clamping hole, wherein the execution shell of the execution mechanism is provided with a first exposed hole and a second exposed hole, the clamping piece is arranged in the execution shell, the clamping hook is arranged on the clamping piece, the clamping elastic piece is arranged in the execution shell, and the clamping elastic piece is in butt joint or connection with the clamping piece so as to push the pressing part on the clamping piece to pass through the first exposed hole, and the clamping hook passes through the second exposed hole and is in clamping connection with the clamping hole.

In another specific embodiment, the delivery device further comprises a stent;

one end of the support is connected with the tail end of the mechanical arm through a six-dimensional force sensor, and the other end of the support is connected with the conveying power structure.

The various embodiments according to the invention may be combined as desired and the resulting embodiments after such combination are also within the scope of the invention and are part of specific embodiments of the invention.

When the conveying device is used, the conveying device is arranged at the tail end of the mechanical arm of the robot, the flexible instrument to be conveyed is clamped in the executing mechanism, and when the flexible instrument is required to be conveyed and rotated, the action is carried out simultaneously, the conveying power structure is driven to rotate through the rotating power structure, and the supporting mechanism for clamping the flexible instrument is arranged on the conveying power structure, so that the rotation of the flexible instrument is realized; the conveying power structure is started at the same time of the starting of the rotating power structure, so that the flexible instrument is driven by the executing mechanism to be conveyed along the preset direction, and the conveying and rotating actions of the flexible instrument are simultaneously carried out. In addition, because fixture and the joint of carrying power structure, consequently, when the flexible apparatus of needs dismantlement, only need remove the joint between fixture and the power structure of carrying can realize with the holistic dismantlement of fixture and flexible apparatus, convenient and fast.

In order to achieve the second object, the present invention provides the following solutions:

a robotic device comprising a robot and a delivery apparatus as claimed in any one of the above;

the conveying device is arranged at the tail end of a mechanical arm of the robot.

The robot equipment provided by the invention comprises the conveying device in any one of the above steps, so that the conveying device has the beneficial effects that the robot equipment provided by the invention comprises.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic three-dimensional view of a flexible instrument being transported by a transporting device according to the present invention;

FIG. 2 is a schematic view of a three-dimensional structure to be assembled of an actuator and a power mechanism provided by the invention;

FIG. 3 is a schematic three-dimensional structure of a conveying device without an actuator provided by the invention;

FIG. 4 is a schematic three-dimensional structure of a conveying device without an actuator and a cover provided by the invention;

FIG. 5 is a schematic top view of FIG. 4;

FIG. 6 is a schematic diagram of a left-hand construction of a conveyor power structure according to the present invention;

FIG. 7 is a schematic diagram of a front view of a conveying power structure according to the present invention;

FIG. 8 is a schematic view of the cross-sectional A-A configuration of FIG. 7;

FIG. 9 is a schematic three-dimensional view of the actuator of the present invention gripping a flexible instrument;

FIG. 10 is a schematic diagram of a left-hand configuration of an actuator of the present invention holding a flexible instrument;

FIG. 11 is a schematic view of the cross-sectional B-B structure of FIG. 10;

FIG. 12 is a schematic three-dimensional view of the drive wheel assembly and the second transport docking assembly of the present invention assembled together;

FIG. 13 is a schematic diagram of a front view of an actuator without a capstan assembly provided by the present invention;

FIG. 14 is a schematic view of the cross-sectional C-C structure of FIG. 13;

FIG. 15 is a schematic three-dimensional view of a driven wheel assembly provided by the present invention;

FIG. 16 is a schematic diagram showing a front view of the length detecting mechanism and the mounting frame according to the present invention;

FIG. 17 is a schematic view of the D-D cross-sectional structure of FIG. 16;

FIG. 18 is a schematic front view of the clamping adjustment assembly and mounting bracket of the present invention assembled together;

FIG. 19 is a schematic view of the E-E cross-sectional structure of FIG. 18;

FIG. 20 is a schematic view of a three-dimensional structure of the rotating power structure provided by the present invention assembled with a bracket and a six-dimensional force sensor;

fig. 21 is a schematic cross-sectional view of an actuator provided by the present invention.

Reference numerals illustrate:

the conveying device 1000, the power mechanism 100, the conveying power structure 101, the guide post 101a, the clamping hole 101b, the positioning guide post 101c, the conveying power piece 101-1, the conveying rotating shaft 101-2, the spline 101-2a, the first conveying butt joint piece 101-3, the spline sleeve 101-3-1, the conveying butt joint disc 101-3-2, the conveying elastic resetting piece 101-3-3, the mounting frame 101-4, the accommodating cavity 101-4a, the conveying transmission assembly 101-5, the rotating power structure 102, the rotating power piece 102-1, the rotating transmission assembly 102-2, the rotating piece 102-3, the rotating plate 102-4, the tensioning wheel assembly 102-5, the tensioning wheel 102-5-1, the tensioning flange 102-5-2, the tensioning shaft 102-5-3, the executing mechanism 200, the executing shell 201, the bearing cavity 201a, the guide rail 201b, the second conveying butt joint piece 202 the driving wheel assembly 203, the driven wheel assembly 204, the guide rail block 204a, the second pressing block 204b, the driven elastic restoring member 204c, the first detection interfacing member 204d, the torque spring tube 204e, the torque output shaft 204f, the clamp adjustment assembly 300, the clamp driving member 301, the screw 302, the nut 303, the first pressing block 304, the rotation limiting plate 305, the timing belt assembly 306, the switching assembly 307, the length detection mechanism 400, the second detection interfacing member 401, the magnetic encoder 402, the detection rotating shaft 403, the detection elastic restoring member 404, the base 402a, the clamping assembly 201c, the pressing portion 201c-1a, the clamping member 201c-1, the clamping hook 201c-2, the clamping elastic member 201c-3, the positioning hole 201d, the bracket 500, the six-dimensional force sensor 600, and the flexible instrument 2000.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 21 in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top surface", "bottom surface", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the indicated positions or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limitations of the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1-21, a first aspect of the present invention provides a conveying device 1000, which is installed at the end of a mechanical arm of a robot to drive a flexible apparatus 2000 to perform a rotation motion and a conveying motion separately or simultaneously, and to facilitate the detachment of the flexible apparatus 2000.

As shown in fig. 1 and 2, the conveying device 1000 includes a power mechanism 100 and an executing mechanism 200, wherein the power mechanism 100 includes a conveying power structure 101 and a rotating power structure 102, the conveying power structure 101 is installed on the rotating power structure 102, the rotating power structure 102 is installed at the tail end of a mechanical arm of a robot, and is used for driving the conveying power structure 101 to rotate, and the robot can drive the whole conveying device 1000 to move or rotate.

Actuator 200 clamps flexible instrument 2000 to be delivered, actuator 200 is clamped with delivery power structure 101, facilitating disassembly of actuator 200 from delivery power structure 101.

When the actuator 200 and the conveying power structure 101 are clamped in place, the conveying power structure 101 is in transmission connection with the actuator 200, so as to drive the flexible instrument 2000 clamped by the actuator 200 to convey along a preset direction. It is understood that the predetermined direction refers to the direction in which flexible instrument 2000 is to be delivered.

When the actions of conveying and rotating the flexible instrument 2000 are required to be performed simultaneously, the conveying device 1000 provided by the invention is started through the rotary power structure 102 to drive the conveying power structure 101 to rotate, and the actuating mechanism 200 for clamping the flexible instrument 2000 is arranged on the conveying power structure 101, so that the rotation of the flexible instrument 2000 is realized; the conveying power structure 101 is started at the same time of the rotation power structure 102, so that the execution mechanism 200 drives the flexible instrument 2000 to convey along a preset direction, namely the conveying action and the rotation action of the flexible instrument 2000 are simultaneously carried out. In addition, because the actuator 200 is clamped with the conveying power structure 101, when the flexible instrument 2000 needs to be disassembled, the whole disassembly of the actuator 200 and the flexible instrument 2000 can be realized only by releasing the clamping between the actuator 200 and the conveying power structure 101, which is convenient and quick.

In some embodiments, referring to fig. 3-8, the conveying power structure 101 includes a conveying power member 101-1, a conveying rotating shaft 101-2, and a first conveying docking member 101-3, where the conveying power member 101-1 is mounted on the rotating power structure 102, specifically, the conveying power member 101-1 may be a motor, and it is understood that the conveying power member 101-1 disclosed above is only a specific embodiment of the present invention, and in practical application, the conveying power member 101-1 may also be a rotating cylinder.

The conveying rotating shaft 101-2 is in transmission connection with the conveying power piece 101-1, namely, the conveying rotating shaft can rotate under the drive of the conveying power piece 101-1.

The first conveying interfacing part 101-3 is mounted on the conveying rotating shaft 101-2 for interfacing with the actuator 200 to achieve a driving connection. That is, after the first conveying interfacing part 101-3 interfaces with the actuator 200, the power transmitted by the conveying power part 101-1 is transmitted to the actuator 200, so that the flexible instrument 2000 is conveyed.

In order to facilitate the installation of the conveying power member 101-1, the conveying rotating shaft 101-2, and the first conveying docking member 101-3, in one embodiment of the present invention, the conveying power structure 101 is disclosed to further include a mounting frame 101-4, as shown in fig. 4-7, where the mounting frame 101-4 is a U-shaped plate and has a receiving cavity 101-4a for receiving the actuator 200.

The power transmission member 101-1 is mounted at one end of the mounting frame 101-4 facing away from the accommodating cavity 101-4a, in this embodiment, the power transmission member 101-1 is exemplified by a motor, wherein the power transmission member 101-1 is mounted on the mounting frame 101-4 through a motor flange.

The conveying rotating shaft 101-2 is rotatably arranged on the mounting frame 101-4, and the conveying power piece 101-1 is in transmission connection with the conveying rotating shaft 101-2. One end of the first conveying butt joint piece 101-3 is in transmission connection with the conveying rotating shaft 101-2, and the other end of the first conveying butt joint piece is used for being in transmission connection with the executing mechanism 200. That is, the power is transmitted to the conveying rotating shaft 101-2 through the conveying power piece 101-1, the power is transmitted to the first conveying butt joint piece 101-3 through the conveying rotating shaft 101-2, and finally the power is transmitted after the butt joint with the execution mechanism 200 is realized through the first conveying butt joint piece 101-3, so that the conveying of the flexible instrument 2000 is realized, the situation that a power mechanism 100 for driving the flexible instrument 2000 to convey is independently arranged on the execution mechanism 200 is avoided, the size of the execution mechanism 200 is reduced, and the conveying of the flexible instrument 2000 can be stopped in time when the execution mechanism 200 is conveniently removed from the conveying power structure 101.

In a specific embodiment, as shown in fig. 8, the first conveying butt joint member 101-3 includes a spline shaft sleeve 101-3-1, a conveying butt joint disc 101-3-2 and a conveying elastic reset member 101-3-3, wherein the spline shaft sleeve 101-3-1 is located outside the accommodating cavity 101-4a, one end of the conveying rotating shaft 101-2 facing the accommodating cavity 101-4a is provided with a spline 101-2a, one end of the spline shaft sleeve 101-3-1 is slidably sleeved outside the spline 101-2a and is in transmission connection with the spline 101-2a, so that sliding of the spline shaft sleeve 101-3-1 relative to the conveying rotating shaft 101-2 can be realized while transmission connection between the spline shaft sleeve 101-3-1 and the conveying rotating shaft 101-2 is realized, a certain buffer effect can be generated when the first conveying butt joint member 101-3 is in butt joint with the executing mechanism 200, and damage caused by hard collision is avoided.

The other end of the spline shaft sleeve 101-3-1 abuts against the outer wall of the accommodating chamber 101-4a, and the other end of the spline shaft sleeve 101-3-1 is provided with a connecting shaft extending into the accommodating chamber 101-4 a. The conveying butt-joint disc 101-3-2 is located in the accommodating cavity 101-4a and is connected with the connecting shaft, specifically, the conveying butt-joint disc 101-3-2 can be welded with the connecting shaft, can be clamped, can be detachably connected through fasteners such as screws, and the like.

The conveying elastic reset piece 101-3-3 is sleeved outside the conveying butt-joint disc 101-3-2, specifically, one end of the conveying elastic reset piece 101-3-3 is abutted or connected with a boss arranged on the conveying butt-joint disc 101-3-2, the other end of the conveying elastic reset piece is abutted or connected with the bottom of the accommodating cavity 101-4a, the conveying elastic reset piece 101-3-3 is in a compressed state, at the moment, the position of the conveying butt-joint disc 101-3-2 in the accommodating cavity 101-4a is highest, after the butt-joint actuator 200 is abutted, the conveying butt-joint disc 101-3-2 is pressed down, the conveying butt-joint disc 101-3-2 is compressed, the conveying butt-joint disc 101-3-2 rotates and can be completely buckled with the actuating butt-joint disc on the actuator 200, and the conveying butt-joint disc 101-3-2 can be conveniently adjusted to be completely butted with the actuator 200.

Specifically, the first conveying docking member 101-3 may be a docking plate with teeth, or may have other structures, for example, the first conveying docking member 101-3 may be a pentagonal prism or other prism, and the actuator 200 is provided with corresponding docking holes with a shape matching with that of the first conveying docking member. The delivery elastic restoring member 101-3-3 may be a compression spring or the like.

In one embodiment, the conveying power structure 101 further comprises a conveying assembly 101-5 located outside the accommodating cavity 101-4a, one end of the conveying assembly 101-5 is in transmission connection with the conveying power piece 101-1, and the other end of the conveying assembly 101-5 is in transmission connection with the conveying rotating shaft 101-2. Namely, the conveying and conveying assembly 101-5 is arranged, so that on one hand, the power transmission between the conveying power piece 101-1 and the conveying rotating shaft 101-2 is conveniently realized, and on the other hand, the output rotating speed of the conveying power piece 101-1 is conveniently regulated.

Specifically, as shown in fig. 6, the conveying assembly 101-5 includes a bevel gear set, a cylindrical gear set and a gear shaft, wherein the bevel gear set includes a first bevel gear and a second bevel gear, the cylindrical gear set includes a first cylindrical gear and a second cylindrical gear, the first bevel gear is mounted on an output shaft of the conveying power member 101-1, the second bevel gear is mounted on the gear shaft and is engaged with the first bevel gear for transmission, the gear shaft is rotatably connected with the mounting frame 101-4 through a bearing, the first cylindrical gear is mounted on the gear shaft and is located above the second bevel gear, the second cylindrical gear is mounted on the conveying rotating shaft 101-2, the conveying rotating shaft 101-2 is rotatably connected with the mounting frame 101-4 through a bearing, and the second cylindrical gear is engaged with the first cylindrical gear for transmission, and the spline 101-2a is located above the second cylindrical gear. When the conveying power piece 101-1 is started, the first bevel gear is driven to rotate, the first bevel gear and the second bevel gear are meshed to drive the gear shaft to rotate, the gear shaft drives the first cylindrical gear to rotate, and the first cylindrical gear drives the second cylindrical gear to rotate, so that the conveying rotating shaft 101-2 is driven to rotate. More specifically, the gear shaft and the conveying rotating shaft 101-2 are elastic shafts, so that the shock resistance of the gear shaft and the conveying rotating shaft 101-2 is improved, and damage to the gear shaft and the conveying rotating shaft 101-2 is avoided.

It should be understood that the specific structure of the conveying and conveying assembly 101-5 disclosed above is only one specific embodiment of the present invention, and in practical application, the conveying and conveying assembly 101-5 may be a conveyor belt assembly or a sprocket-chain assembly.

In some embodiments, referring to fig. 9-14, the actuator 200 includes an actuator housing 201, a second transport docking member 202, a drive wheel assembly 203, and a driven wheel assembly 204, wherein the actuator housing 201 is engaged with the rotary power structure 102.

Specifically, as shown in fig. 11, the execution case 201 has a U-shape, and the execution case 201 has a carrying chamber 201a carrying the flexible instrument 2000.

The second conveying butt joint piece 202 is rotatably installed on the execution shell 201 and is located outside the bearing cavity 201a and used for being in transmission connection with the first conveying butt joint piece 101-3, so that power transmission is achieved. Specifically, the second conveying docking member 202 includes the aforementioned performing docking plate and a docking shaft rotatably mounted on the performing housing 201, with one end of the docking shaft extending into the bearing cavity 201a, and the other end of the docking shaft extending out of the bearing cavity 201a and being connected to the performing docking plate for docking with the conveying docking plate 101-3-2 of the conveying power structure 101 to achieve power transmission.

The driving wheel assembly 203 and the driven wheel assembly 204 are arranged in the bearing cavity 201a, the driving wheel assembly 203 is in transmission connection with one end of the second conveying butt joint piece 202 extending into the bearing cavity 201a, the driven wheel assembly 204 and the driving wheel assembly 203 are arranged at intervals so as to clamp the flexible instrument 2000, and the driving wheel assembly 203 can drive the flexible instrument 2000 to move along a preset direction.

Specifically, the driving wheel assembly 203 includes a driving wheel support, a driving wheel shaft, a driving wheel and a gear set, wherein the driving wheel support is mounted on the execution housing 201 and is located in the bearing cavity 201a, the driving wheel shaft is rotatably mounted on the driving wheel support, and the driving wheel is mounted on the driving wheel shaft and is used for driving the flexible apparatus 2000 to move; the gear set is used for transmitting power between the driving axle and the butt axle.

The driven wheel assembly 204 includes a driven wheel support, a driven wheel shaft and a driven wheel, wherein the driven wheel support is mounted on the execution housing 201 and is located in the bearing cavity 201a, the driven wheel shaft is rotatably mounted on the driven wheel support, the driven wheel is mounted on the driven wheel shaft, and the driven wheel is used for clamping the flexible apparatus 2000 to convey in cooperation with the driving wheel.

To facilitate loosening or clamping of flexible instrument 2000, in one embodiment of the present invention, delivery device 1000 further includes a clamp adjustment assembly 300, wherein clamp adjustment assembly 300 is configured to adjust the spacing between driven wheel assembly 204 and drive wheel assembly 203 to effect loosening or clamping of flexible instrument 2000.

Referring to fig. 18 and 19, in one embodiment of the present invention, the clamp adjustment assembly 300 includes a clamp driving member 301, a screw 302, a nut 303, and a first pressing block 304, wherein the clamp driving member 301 is mounted on the conveying power structure 101, and in particular, the clamp driving member 301 may be a clamp motor or the like, is mounted on the mounting frame 101-4 of the conveying power structure 101, and is located in the receiving cavity 101-4 a.

The screw 302, the nut 303 and the first pressing block 304 are also located in the accommodating chamber 101-4a, and the screw 302 is rotatably connected to the conveying power structure 101, i.e., the screw 302 is rotatably installed in the accommodating chamber 101-4 a.

The screw rod 302 is in driving connection with the clamping driving member 301, specifically, the clamping driving member 301 may be a motor or the like for driving the screw rod 302 to rotate, as shown in fig. 18, the clamping driving member 301 is mounted in the accommodating chamber 101-4a by a clamping motor frame, specifically, the clamping motor frame is mounted in the accommodating chamber 101-4a, and the clamping driving member 301 is mounted on the clamping motor frame.

The lead screw 302 is rotatably mounted in the accommodating chamber 101-4a by a lead screw holder.

The nut 303 is in transmission connection with the screw rod 302, and the screw rod 302 rotates to drive the nut 303 to move along the length direction of the screw rod 302.

The first compression block 304 is connected with the nut 303, and specifically, the first compression block 304 and the nut 303 can be detachably connected through fasteners such as screws. The first pressing block 304 can drive the driven wheel assembly 204 to move towards a direction close to the driving wheel assembly 203, so that the adjustment of the distance between the driven wheel assembly 204 and the driving wheel assembly 203 is realized.

In order to adjust the rotational speed of the lead screw 302, one embodiment of the present invention discloses that the clamp adjustment assembly 300 further includes a timing belt assembly 306 drivingly connected to the clamp drive 301 and the lead screw 302, respectively. Specifically, the timing belt assembly 306 includes a first timing belt pulley, a second timing belt pulley, and a timing belt, where the first timing belt pulley is in driving connection with the clamping driving member 301, the second timing belt pulley is connected with the lead screw 302, and the timing belt is in driving connection with the first timing belt pulley and the second timing belt pulley, respectively, so as to transmit the power output by the clamping driving member 301 to the lead screw 302.

In order to facilitate the installation of the clamping driving member 301 and the lead screw 302, the invention discloses a clamping adjusting assembly 300 which further comprises a switching assembly 307, wherein the switching assembly 307 comprises a switching shaft, a first switching bevel gear and a second switching bevel gear, the first switching bevel gear is installed on an output shaft of the clamping driving member 301, the second switching bevel gear is installed on the switching shaft, the switching shaft is rotatably installed on a switching bracket, the switching bracket is installed in the accommodating cavity 101-4a, and the second synchronous pulley is installed on the output shaft of the clamping driving member 301, the second synchronous pulley is driven to rotate through the output shaft of the clamping driving member 301, and the rotation of the lead screw 302 is realized through a synchronous belt and the first synchronous pulley.

To prevent the nut 303 from rotating with the lead screw 302, one embodiment of the present invention discloses that the clamp adjustment assembly 300 further includes a rotation limiting plate 305, wherein the rotation limiting plate 305 is disposed on the rotary power structure 102, and in particular, the rotation limiting plate 305 is mounted on the lead screw bracket and engages with the nut 303 for limiting the rotation of the nut 303.

In some embodiments, one of the stationary portion of the driven wheel assembly 204 and the actuating housing 201 is provided with a guide rail 201b, and the other is provided with a guide rail block 204a slidably connected to the guide rail 201b, so as to facilitate sliding of the driven wheel assembly 204 along the actuating housing 201. It should be understood that the stationary portion of the driven wheel assembly 204 herein refers to a driven wheel support of the driven wheel assembly 204, and the exemplary execution casing 201 is provided with a guide rail 201b, and the driven wheel support is provided with a guide rail block 204a. It will be appreciated that a sliding groove may be formed in one of the driven wheel support and the execution casing 201, and a slider slidably connected to the sliding groove may be provided in the other.

In some embodiments, a second compression block 204b extending through the bearing cavity 201a is disposed on the stationary portion of the driven wheel assembly 204, and the second compression block 204b abuts the first compression block 304. Specifically, a through hole allowing the second compression block 204b to pass through is formed on the driven wheel bracket of the driven wheel assembly 204, and a driven elastic reset piece 204c is connected between the stationary part of the driven wheel assembly 204 and the execution casing 201, for resetting the driven wheel assembly 204. That is, the first compressing block 304 is driven by the clamping driving member 301 to compress the second compressing block 204b, so as to drive the driven wheel assembly 204 to move in a direction approaching the driving wheel assembly 203; when the driven wheel assembly 204 needs to be reset, the driven wheel assembly 204 can be reset under the action of the driven elastic reset piece 204c only by driving the clamping driving piece 301 to drive the first compression block 304 to reset. In addition, under the action of driven elastic reset piece 204c, the elastic clamping of driven wheel assembly 204 to flexible instrument 2000 is facilitated, and the problems of flexible instrument 2000 damage and the like caused by rigid clamping are avoided.

Specifically, the driven elastic restoring member 204c is a spring or the like.

It should be understood that the above disclosure of the resetting of the driven wheel assembly 204 by the driven elastic resetting member 204c is only a specific embodiment of the present invention, and in practical applications, the first pressing block 304 may be directly connected to the driven wheel assembly 204, and the driven wheel assembly 204 is driven by the first pressing block 304 to move in a direction approaching or separating from the driving wheel assembly 203.

In some embodiments, delivery device 1000 further includes a length detection mechanism 400, wherein length detection mechanism 400 is configured to detect a delivery length of flexible instrument 2000.

The length detection mechanism 400 is arranged, so that an operator can acquire the length information of the flexible conveying appliance 2000; on the other hand, when the operation such as the conveyance and rotation of the soft endoscope is completed by the cooperation of the 2 mechanical arms, the detection of the conveyance length of the flexible instrument 2000 by the length detection mechanism 400 can avoid the phenomenon of pulling or excessively bending the endoscope body due to the conveyance error, and prevent the endoscope from being damaged.

As shown in fig. 17, one embodiment of the present invention discloses that the rotating portion of the driven wheel assembly 204 is drivingly connected with a first detecting docking member 204d, and the length detecting mechanism 400 includes a second detecting docking member 401 and a magnetic encoder 402, wherein the second detecting docking member 401 is docked with the first detecting docking member 204d, and the magnetic encoder 402 is mounted on the conveying power structure 101, and is used for obtaining the conveying length of the flexible apparatus 2000 according to the number of rotations of the second detecting docking member 401. That is, the driven wheel of driven wheel assembly 204 transmits the rotational speed to second detection interface 401 through first detection interface 204d, and the rotational speed is detected by magnetic encoder 402, and the delivery length of flexible instrument 2000 is obtained from the number of turns of second detection interface 401.

Further, the invention discloses a length detection mechanism 400 further comprising a detection rotating shaft 403 and a detection elastic reset piece 404, wherein the detection rotating shaft 403 is rotatably connected with the conveying power structure 101, and specifically, the detection rotating shaft 403 is rotatably installed on the installation frame 101-4 of the conveying power structure 101 through a self-lubricating bearing. One end of the detection rotating shaft 403 extends into the accommodating cavity 101-4a of the conveying power structure 101, and is connected with the second detection interfacing member 401 located in the accommodating cavity 101-4a, and power is transmitted to the detection rotating shaft 403 through the second detection interfacing member 401.

The other end of the detecting shaft 403 extends out of the accommodating cavity 101-4a, the magnetic encoder 402 is mounted at the other end of the detecting shaft 403, the rotation speed of the detecting shaft 403 is obtained to realize rotation speed detection of the driven wheel, and finally the conveying length of the flexible instrument 2000 is obtained.

With reference to fig. 16 and 17, the magnetic encoder 402 is mounted on the base 402a, the base 402a is mounted at one end of the detecting shaft 403 away from the second detecting butt joint member 401, and the detecting shaft 403 is mounted with a magnetic block, and the magnetic block cooperates with the magnetic encoder 402 to realize detection of the rotation speed of the detecting shaft 403.

The detection elastic reset piece 404 is located in the accommodating cavity 101-4a, the detection elastic reset piece 404 is sleeved outside the detection rotating shaft 403, one end of the detection elastic reset piece 404 is connected with or abutted against a detection boss arranged outside the detection rotating shaft 403, and the other end of the detection elastic reset piece 404 is connected with or abutted against the cavity wall of the accommodating cavity 101-4 a. The detection elastic reset piece 404 realizes flexible butt joint of the first detection butt joint piece 204d and the second detection butt joint piece 401, and avoids damage to the first detection butt joint piece 204d and/or the second detection butt joint piece 401 caused by rigid butt joint. Specifically, the detecting elastic reset member 404 is a spring, and the first detecting docking member 204d and the second detecting docking member 401 are docking plates.

In one embodiment, as shown in fig. 15, a torque spring tube 204e is connected to a rotating portion of the driven wheel assembly 204, one end of the torque spring tube 204e away from the driven wheel assembly 204 is connected to a torque output shaft 204f, and one end of the torque output shaft 204f away from the torque spring tube 204e is connected to a first detection docking member 204d, that is, the power of the driven wheel is transmitted to the first detection docking member 204d through the arrangement of the torque spring tube 204e and the torque output shaft 204 f.

In order to facilitate the movement of the second detection docking member 401, in one embodiment of the present invention, the guide post 101a is mounted on one of the conveying power structure 101 and the base 402a of the magnetic encoder 402, and the guide hole is formed in the other of the conveying power structure 101 and the base 402a in a guiding fit with the guide post 101 a. As shown in fig. 17, taking the base 402a provided with a guide hole, the mounting frame 101-4 of the conveying power structure 101 is provided with a guide post 101a as an example, wherein the mounting frame 101-4 is provided with a guide post support, one end of the guide post 101a far away from the mounting frame 101-4 is limited and mounted on the guide post support, and the guide post support can limit the base 402a, so that the base 402a is prevented from slipping off the guide post 101 a.

In one embodiment, as shown in fig. 20, the rotary power structure 102 includes a rotary power member 102-1, a rotary transmission assembly 102-2, and a rotating member 102-3, wherein the rotary power member 102-1 is mounted at the end of a mechanical arm, wherein the rotary power member 102-1 is a rotary motor or the like.

One end of the rotary transmission assembly 102-2 is in transmission connection with the rotary power member 102-1, and is used for transmitting power output by the rotary power member 102-1, and the rotary transmission assembly 102-2 is a conveyor belt assembly, namely, the transmission of power is realized through a conveyor belt.

To facilitate tightening of the timing belt in the timing belt assembly 306, one embodiment of the present invention also discloses that the rotary power structure 102 further includes: a tensioner 102-5-1 disposed at the end of the robotic arm for tensioning the timing belt of the timing belt assembly 306. The tensioning wheel 102-5-1 comprises a tensioning wheel 102-5-1, a tensioning flange 102-5-2 and a tensioning shaft 102-5-3, wherein the tensioning flange 102-5-2 is arranged at the tail end of the manipulator, the tensioning shaft 102-5-3 is arranged on the tensioning flange 102-5-2, the tensioning wheel 102-5-1 is rotatably arranged on the tensioning shaft 102-5-3, the tensioning wheel 102-5-1 is in transmission connection with the synchronous belt, and the tensioning wheel 102-5-1 is used for tensioning the synchronous belt and avoiding the problems of slipping and the like caused by loosening of the synchronous belt.

In order to facilitate the adjustment of the position of the tensioning wheel 102-5-1 and thereby realize the tensioning of the synchronous belt, in one embodiment of the invention, a strip hole is formed on the tensioning flange 102-5-2, and the position adjustment of the tensioning wheel 102-5-1 is realized through the strip hole.

The rotating member 102-3 is rotatably mounted at the end of the arm, and the conveying power structure 101 is mounted on the rotating member 102-3. Rotating member 102-3 is a rotating gear with a U-shaped opening formed therein to allow flexible instrument 2000 to pass therethrough. The rotary gear is arranged at the tail end of the mechanical arm through a U-shaped bearing.

In a specific embodiment, the conveying device 1000 further includes a support 500, where the support 500 is an L-shaped plate, one end of the support 500 is connected to the end of the mechanical arm through the six-dimensional force sensor 600, the other end is connected to the conveying power structure 101, and a U-shaped slot is formed at a position of the support 500 corresponding to the position where the flexible apparatus 2000 passes, that is, a position corresponding to the U-shaped opening of the rotating gear. It will be appreciated that one end of the bracket 500 herein refers to one of the L-shaped plates and the other end of the bracket 500 refers to the other of the L-shaped plates.

The arrangement of the bracket 500 facilitates the connection of the delivery device 1000 to the end of the robotic arm.

In one embodiment, the rotary power structure 102 further includes a rotating plate 102-4, the rotating plate 102-4 is mounted on the rotating member 102-3, and the conveying power structure 101 is mounted on the rotating plate 102-4. Specifically, the rotating plate 102-4 is an L-shaped plate.

In one embodiment, one of the actuator 200 and the conveying power structure 101 is provided with a clamping component 201c, and the other is provided with a clamping hole 101b clamped with the clamping component 201 c. Taking the mounting frame 101-4 of the power transmission structure 101 as an example, a clamping hole 101b is formed in the mounting frame 101-4 of the power transmission structure 101, a clamping component 201c is disposed on the execution casing 201 of the execution mechanism 200, as shown in fig. 21, the clamping component 201c includes a clamping piece 201c-1, a clamping hook 201c-2 and a clamping elastic piece 201c-3, a first exposed hole and a second exposed hole are formed in the execution casing 201 of the execution mechanism 200, the clamping piece 201c-1 is mounted in the execution casing 201, a clamping hook 201c-2 is disposed on the clamping piece 201c-1, and the clamping piece 201c-1 is mounted in the execution casing 201 and is in contact with or connected with the clamping piece 201c-1 so as to push a pressing portion 201c-1a on the clamping piece 201c-1 to pass through the first exposed hole, and the clamping hook 201c-2 passes through the second exposed hole and is clamped with the clamping hole 101b. It should be understood that the fastening member 201c-1 may have one end hinged to the execution casing 201, or the fastening member 201c-1 may be an elastic plate, and one end of the fastening member 201c-1 may be fastened to the execution casing 201 by a fastener such as a screw. By pressing the pressing portion 201c-1a on the clamping piece 201c-1, the clamping piece 201c-1 overcomes the elastic force of the clamping elastic piece 201c-3 and moves into the execution casing 201, so that the clamping hook 201c-2 is driven to move into the execution casing 201 and further separate from the clamping hole 101b on the mounting frame 101-4.

Specifically, the mounting frame 101-4 is provided with a clamping plate, the clamping hole 101b is formed in the clamping plate, and in order to facilitate the assembly and disassembly of the clamping plate and the mounting frame 101-4, the clamping plate can be detachably connected with the mounting frame 101-4 through fasteners such as screws.

In order to facilitate the installation of the actuator 200, one embodiment of the invention discloses that one of the actuator 200 and the conveying power structure 101 is provided with a positioning guide post 101c, and the other one is provided with a positioning hole 201d in guiding fit with the positioning guide post 101 c. Taking fig. 21 as an example, a positioning hole 201d is formed in an execution housing 201 of the execution mechanism 200, and a positioning guide post 101c is formed in a mounting frame 101-4 of the conveying power structure 101 as an example, so that quick positioning and mounting of the execution mechanism 200 are realized through plug-in cooperation of the positioning guide post 101c and the positioning hole 201d.

In order to avoid the exposure of the components on the conveying apparatus 1000, a cover body may be provided, which covers the components on the conveying apparatus 1000, and exposes only the structures connected between different parts, for example, the clamping assembly 201c, the clamping hole 101b, the positioning guide post 101c, the positioning hole 201d, and the like connected between the actuator 200 and the conveying power structure 101.

In this embodiment, when the conveying apparatus 1000 is installed, after the actuator 200 and the conveying power structure 101 are clamped along the positioning guide post 101c by the clamping assembly 201c, the first conveying butt joint part 101-3 on the conveying power structure 101 contacts with the second conveying butt joint part 202 on the actuator 200 and moves along the arrow direction in fig. 2, the conveying elastic reset part 101-3 is extruded, the conveying power part 101-1 starts to rotate, so as to drive the first conveying butt joint part 101-3 to rotate together, and when the clamping features (i.e. the teeth on each pair of the butt joint discs) of the first conveying butt joint part 101-3 and the second conveying butt joint part 202 are aligned, the first conveying butt joint part 101-3 moves in the opposite direction of the arrow in fig. 2 under the action of the elastic force of the conveying elastic reset part 101-3-3, and the first conveying butt joint part 101-3 and the second conveying butt joint part 202 are buckled, so that the elastic butt joint of the actuator 200 and the conveying power structure 101 is realized.

The flexible instrument 2000 is conveyed through the rotation of the driving wheel of the actuating mechanism 200, the driven wheel is driven to rotate, the torque spring tube 204e further rotates along with the driven wheel, the torque output shaft 204f and the first detection butt joint piece 204d are further driven to rotate together, and accordingly relative rotation is achieved with the second detection butt joint piece 401 on the conveying power structure 101, when the second detection butt joint piece 401 is aligned with the clamping feature of the first detection butt joint piece 204d, the second detection butt joint piece 401 moves in the opposite direction of the arrow in fig. 2 under the action of the elastic force of the detection elastic reset piece 404, and the first detection butt joint piece 204d and the second detection butt joint piece 401 are buckled, so that elastic butt joint is achieved.

Referring to fig. 1 to 21, the conveying apparatus 1000 operates as follows:

when the conveying device 1000 is used, the actuating mechanism 200 is pressed in the direction of approaching to the conveying power structure 101 along the axial direction with the positioning guide post 101c, after the clamping assembly 201c is clamped with the conveying power structure 101, the conveying power piece 101-1 acts to complete elastic butt joint of the conveying power structure 101 and the actuating mechanism 200, then the flexible instrument 2000 is inserted or laterally put in the axial direction of the positioning guide post 101c, the clamping adjusting assembly 300 acts to drive the driven wheel assembly 204 to press down, the flexible instrument 2000 is clamped, the conveying power piece 101-1 drives the driving wheel of the actuating mechanism 200 to complete conveying of the flexible instrument 2000, and meanwhile, the driven wheel acts to drive the length detecting mechanism 400 to realize elastic butt joint; in an emergency, the clamping assembly 201c is pressed, the actuating mechanism 200 is disconnected from the butt joint disc of the conveying power structure 101, the actuating mechanism 200 does not exert an effect on the flexible instrument 2000, and after the actuating mechanism 200 rotates to a certain position, the flexible instrument 2000 can be taken out from the upper part of the actuating mechanism 200 along the radial direction, so that the quick take-over action is completed.

A second aspect of the present invention provides a robot apparatus comprising a robot and a conveying device 1000 according to any of the embodiments described above, the conveying device 1000 being mounted at the end of a robot arm.

Since the robot apparatus provided by the present invention includes the conveying device 1000 in any of the foregoing embodiments, the conveying device 1000 has the beneficial effects that the robot apparatus provided by the present invention includes.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims

1. A conveying apparatus, comprising:

2. The delivery device of claim 1, wherein the delivery power structure comprises:

a delivery power member mounted on the rotary power structure;

the first conveying butt joint piece is arranged on the conveying rotating shaft and is used for butt joint with the executing mechanism so as to realize transmission connection.

3. The conveyor apparatus of claim 2 wherein the conveyor power structure further comprises a mounting frame;

4. A delivery device as claimed in claim 3, wherein the first delivery interface comprises:

5. A delivery device as set forth in claim 3 wherein said delivery power structure further comprises a delivery transfer assembly located outside said containment chamber;

6. The delivery device of claim 2, wherein the actuator comprises:

7. The conveyor apparatus of claim 6 further comprising a clamp adjustment assembly for adjusting the spacing between the driven wheel assembly and the drive wheel assembly.

8. The delivery device of claim 7, wherein the clamp adjustment assembly comprises:

a clamping drive mounted on the conveying power structure;

the nut is in transmission connection with the lead screw; and

9. The transport apparatus of claim 8, wherein the clamp adjustment assembly further comprises a rotation limiting plate disposed on the rotary power structure for limiting rotation of the nut;

10. The conveying device according to claim 8, wherein a second compression block penetrating through the bearing cavity is arranged on the stationary part of the driven wheel assembly, and the second compression block is abutted with the first compression block;

11. The delivery device of claim 8, further comprising a length detection mechanism for detecting a delivery length of the flexible instrument.

12. The conveyor apparatus of claim 11 wherein the rotating portion of the driven wheel assembly is drivingly connected to a first detection interface;

the length detection mechanism includes:

13. The delivery device of claim 12, wherein the length detection mechanism further comprises:

the detection rotating shaft is rotatably connected with the conveying power structure, one end of the detection rotating shaft extends into the accommodating cavity of the conveying power structure and is connected with the second detection butt joint part positioned in the accommodating cavity, the other end of one end of the detection rotating shaft extends out of the accommodating cavity, and the magnetic encoder is arranged at the other end of the detection rotating shaft;

14. The conveying device according to claim 12, wherein a torque spring tube is connected to a rotating portion of the driven wheel assembly, a torque output shaft is connected to an end of the torque spring tube away from the driven wheel assembly, and an end of the torque output shaft away from the torque spring tube is connected to the first detection docking member;

15. The delivery device of claim 11, wherein the rotary power structure comprises:

the rotary power piece is arranged at the tail end of the mechanical arm;

16. The transport apparatus of claim 15 wherein the rotary power structure further comprises a rotating plate mounted on the rotating member, the transport power structure being mounted on the rotating plate;

17. The conveying device according to claim 1, wherein one of the actuating mechanism and the conveying power structure is provided with a clamping assembly, and the other is provided with a clamping hole clamped with the clamping assembly;

and/or, one of the actuating mechanism and the conveying power structure is provided with a positioning guide pillar, and the other is provided with a positioning hole matched with the positioning guide pillar in a guiding way.

18. The delivery device of claim 17, wherein the snap assembly is disposed on the actuator and the snap Kong Kaishe is on the delivery power structure;

19. The delivery device of any one of claims 1-18, further comprising a stent;

20. A robotic device comprising a robot and a delivery apparatus according to any one of claims 1-19;