CN117643506A

CN117643506A - Flexible instrument conveying and executing device

Info

Publication number: CN117643506A
Application number: CN202410123339.4A
Authority: CN
Inventors: 江维; 张芳敏; 蔡钊
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2024-01-30
Filing date: 2024-01-30
Publication date: 2024-03-05
Anticipated expiration: 2044-01-30
Also published as: CN117643506B

Abstract

The invention discloses a flexible instrument conveying and executing device, which comprises a flexible instrument driving unit and a flexible instrument executing unit; the flexible instrument driving unit comprises a supporting body, a rotary driving mechanism, a clamping driving mechanism and a conveying driving mechanism; the rotary driving mechanism comprises a rotary driving motor, a rotary gear and a rotary synchronous disc, wherein the rotary gear is connected with the rotary synchronous disc through a first sleeve, and the rotary driving motor drives the rotary gear through a rotary transmission assembly; the clamping driving mechanism comprises a clamping driving motor and a clamping gear, and the clamping gear is sleeved on the first sleeve; the clamping driving motor drives the clamping gear through a clamping transmission assembly; the conveying driving mechanism comprises a conveying driving motor and a conveying gear, and the conveying gear is sleeved on the clamping gear. The device has greatly shortened the axial dimension of whole structure, can use in different operation scenes, improves the security and the convenience of operation.

Description

Flexible instrument conveying and executing device

Technical Field

The invention relates to the technical field of medical appliances, in particular to a flexible appliance conveying and executing device.

Background

The natural cavity of the digestive tract, the respiratory tract and the like is a good part of common diseases of human beings, and the morbidity and mortality of diseases such as gastric cancer, bladder cancer, rectal cancer and the like tend to rise year by year. The soft endoscope has the advantages of small wound, light pain, quick recovery, short hospitalization time and the like in the interventional treatment mode, and has become a main treatment mode of natural cavity diseases.

The operation robot assists the application of the soft endoscope interventional technology, so that a doctor can operate the soft endoscope through the control handle, the physical consumption of the doctor and the labor intensity of manual operation are greatly reduced, the dependence of operation on skills and experience is reduced, the radiation to medical staff is reduced, and the operation efficiency and the safety are improved.

The precision and stability of the soft endoscope are important guarantees for completing tasks such as lesion screening, biopsy, tissue stripping and the like in a complex natural cavity environment. In clinic, the endoscope needs to be accompanied by rotary motion in the transferring process, so as to observe and position the natural cavity diseases rapidly and improve the operation efficiency. In addition, when the digestive tract endoscopic intervention diagnosis and treatment is carried out, the combined movement of the endoscope transfer and rotation can quickly and safely smooth the intestinal tract, so that the endoscope is conveniently inserted into a deeper colon or even a small intestine for diagnosis and treatment.

However, the conventional soft endoscope conveying device has the problems of asynchronous transfer and rotation, lack of rotation motion, disordered cable arrangement of various electrical elements and the like, and cannot meet the clinical requirements on endoscope conveying.

Disclosure of Invention

The invention aims to provide a flexible instrument conveying execution device so as to solve the technical problems.

In order to achieve the above object, the present invention provides a flexible instrument conveying and executing device, including a flexible instrument driving unit and a flexible instrument executing unit;

the flexible instrument driving unit comprises a rotary driving mechanism, a clamping driving mechanism and a conveying driving mechanism which are arranged on the supporting body;

the rotary driving mechanism comprises a rotary driving motor, a rotary gear and a rotary synchronous disc, wherein the rotary gear is connected with the rotary synchronous disc through a first sleeve, and the rotary driving motor drives the rotary gear through a rotary transmission assembly; the rotary synchronous disc is provided with a clamping elastic butt joint assembly and a conveying elastic butt joint assembly;

the clamping driving mechanism comprises a clamping driving motor and a clamping gear, and the clamping gear is sleeved on the first sleeve; the clamping driving motor drives the clamping gear through a clamping transmission assembly, and the clamping gear is in transmission connection with the power input end of the clamping elastic butt joint assembly;

the conveying driving mechanism comprises a conveying driving motor and a conveying gear, the conveying gear is sleeved on the clamping gear, the conveying driving motor drives the conveying gear through a conveying transmission assembly, and the conveying gear is in transmission connection with a power input end of the conveying elastic butt joint assembly;

the support body, the rotary gear, the rotary synchronizing disc and the flexible instrument executing unit are provided with through holes for the flexible instrument to pass through.

Optionally, the flexible apparatus executing unit includes a clamping executing mechanism and a conveying executing mechanism which are installed on the rotary synchronizing disc, and the clamping executing mechanism and the conveying executing mechanism are respectively in transmission connection with the power output ends of the clamping elastic docking assembly and the conveying elastic docking assembly.

Optionally, the clamping elastic docking assembly is provided with a clamping docking shaft capable of elastically stretching and rotating, and the conveying elastic docking assembly is provided with a conveying docking shaft capable of elastically stretching and rotating;

the clamping gear comprises a large clamping gear, a second sleeve and a small clamping gear which are coaxially fixed, and the second sleeve is sleeved on the first sleeve through a bearing; the clamping driving motor drives the large clamping gear through a clamping transmission assembly, and the small clamping gear is in transmission connection with the clamping butt joint shaft;

the conveying gear is sleeved on the second sleeve through a bearing, the conveying gear comprises an outer layer tooth part and an inner layer tooth part, the conveying driving motor is in transmission connection with the outer layer tooth part through a conveying transmission assembly, and the inner layer tooth part is in transmission connection with the conveying butt joint shaft.

Optionally, the rotary transmission assembly comprises a rotary synchronous belt mechanism and a rotary transmission gear, the rotary driving motor drives the rotary transmission gear through the rotary synchronous belt mechanism, and the rotary transmission gear is meshed with the rotary transmission gear for transmission;

the clamping transmission assembly comprises a clamping synchronous belt mechanism and a first clamping transmission gear, the clamping driving motor drives the first clamping transmission gear through the clamping synchronous belt mechanism, and the first clamping transmission gear is meshed with the large clamping gear for transmission;

the conveying transmission assembly comprises a conveying synchronous belt mechanism and a first conveying transmission gear, the conveying driving motor drives the first conveying transmission gear through the conveying synchronous belt mechanism, and the first conveying transmission gear is meshed with an outer layer tooth part of the conveying gear for transmission.

Optionally, the clamping elastic docking assembly is provided with a clamping support for mounting the clamping docking shaft, and the clamping docking shaft comprises a clamping fixing shaft and a clamping docking disc; the clamping support is arranged on the back surface of the rotary synchronous disc, the clamping fixing shaft is rotatably arranged on the clamping support through a bearing, a second clamping transmission gear is arranged at one end of the clamping fixing shaft, and a spline shaft is arranged at the other end of the clamping fixing shaft; the clamping butt-joint disc is axially movably arranged in the shaft hole corresponding to the rotary synchronous disc, one end of the clamping butt-joint disc, which is provided with a spline sleeve, is in nested fit with the spline shaft, a spring is arranged between the spline sleeve and the spline shaft, and the small clamping gear is meshed with the second clamping transmission gear for transmission.

Optionally, the conveying elastic docking assembly is provided with a conveying supporting seat for installing the conveying docking shaft, and the conveying docking shaft comprises a conveying fixed shaft and a conveying docking disc; the conveying support seat is arranged on the back surface of the rotary synchronous disc, the conveying fixed shaft is rotatably arranged on the conveying support seat through a bearing, a second conveying transmission gear is arranged at one end of the conveying fixed shaft, and a spline shaft is arranged at the other end of the conveying fixed shaft; the conveying butt-joint disc is axially movably arranged in the shaft hole corresponding to the rotary synchronous disc, one end of the conveying butt-joint disc, which is provided with a spline sleeve, is in nested fit with the spline shaft, a spring is arranged between the spline sleeve and the spline shaft, and the inner layer tooth part of the conveying gear is meshed with the second conveying transmission gear for transmission.

Optionally, the support body is provided with a rotation detection device, the rotation detection device comprises a rotation detection gear, a rotation magnetic ring and a rotation encoder, wherein the rotation magnetic ring and the rotation encoder are coaxially arranged with the rotation detection gear, and the rotation detection gear is meshed with the rotation transmission gear for transmission; the support body is provided with a clamping detection device, and the clamping detection device comprises a clamping magnetic ring and a clamping encoder which are coaxially arranged with the first clamping transmission gear.

Optionally, the conveying executing mechanism comprises a driving wheel and a driven wheel, and the driving wheel is in transmission connection with the conveying butt joint shaft through a first executing transmission assembly so as to drive the driving wheel to run; the clamping executing mechanism is in transmission connection with the clamping butt joint shaft through a second executing transmission assembly so as to drive the driven wheel to be close to or far away from the driving wheel.

Optionally, the first execution transmission assembly includes execution hold-in range mechanism, the pivot of execution hold-in range mechanism one end pass through bevel gear with the action wheel transmission is connected, the pivot of execution hold-in range mechanism other end pass through first execution butt joint dish with carry butt joint axle butt joint.

Optionally, the second execution transmission assembly comprises an inner bracket, a screw rod, a nut and an input shaft, the driven wheel is installed on the driven wheel bracket capable of radially moving, the nut is fixed on the driven wheel bracket, and the screw rod is rotatably installed on the inner bracket and matched with the nut; one end of the input shaft is in transmission connection with the screw rod through a bevel gear and a gear, and the other end of the input shaft is in butt joint with the clamping butt joint shaft through a second execution butt joint disc.

Optionally, a spring is arranged between the driven wheel and the driven wheel bracket.

Optionally, the rotary synchronization disc is provided with a length detection device, and the length detection device comprises a first length detection butt joint disc, a length detection support and an encoder base; the length detection support is fixed on the back surface of the rotary synchronous disc, the first length detection butt joint disc is axially movably arranged in a shaft hole corresponding to the rotary synchronous disc, and one end of the first length detection butt joint disc is provided with a coaxial length detection magnetic ring; the encoder base is installed in the length detection support through a limit post and a spring, and a length detection encoder corresponding to the length detection magnetic ring is arranged on the encoder base.

Optionally, the driven wheel is connected with the length detection transmission shaft through the torque sheath, the length detection transmission shaft passes through bevel gear transmission with the length detection output shaft and is connected, the one end of length detection output shaft is equipped with the second length detection butt joint dish.

Optionally, the rotary synchronizing disc is provided with a rapid butt joint sensor, and the clamping elastic butt joint assembly and the conveying elastic butt joint assembly are respectively provided with an elastic butt joint sensor.

Optionally, the rotating synchronization disk is stacked with a sterile disk and/or is provided with a quick docking mechanism for mounting the flexible instrument execution unit.

According to the flexible instrument conveying execution device provided by the invention, the rotation driving mechanism can drive the flexible instrument execution unit to integrally rotate, and the clamping driving mechanism and the conveying driving mechanism can control the clamping execution mechanism and the conveying execution mechanism on the basis of integrally rotating. Through optimizing the cooperation relation of each spare part, can realize flexible apparatus and transfer and rotatory compound motion, make each components and parts arrange in reasonable position, make whole conveyor can use in different operation scenes, and greatly shortened the axial dimension of whole structure to reduce the length of occupation to flexible apparatus, more reliable execution operation command improves the security and the convenience of operation.

Drawings

FIG. 1 is a schematic view of the overall structure of a flexible instrument delivery and execution device according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a flexible instrument driving unit of a flexible instrument conveying and executing device according to an embodiment of the present invention;

FIG. 3 is a schematic view of a flexible instrument actuation unit of a flexible instrument delivery and actuation device according to an embodiment of the present invention;

FIG. 4 is a schematic view of the structure of the support shown in FIG. 2;

FIG. 5 is a schematic view of the rotary drive mechanism shown in FIG. 2;

FIG. 6 is a schematic view of the rotary drive mechanism shown in FIG. 2 from another perspective;

FIG. 7 is a schematic view of the rotary drive assembly shown in FIG. 5;

FIG. 8 is a schematic view of the clamp driving mechanism shown in FIG. 2;

FIG. 9 is a cross-sectional view of FIG. 8;

FIG. 10 is a cross-sectional view of the clamp spring docking assembly shown in FIG. 8;

FIG. 11 is a schematic view of the transport drive mechanism shown in FIG. 2;

FIG. 12 is a cross-sectional view of FIG. 11;

FIG. 13 is a schematic view of a rotary synchronizing disk with a quick docking mechanism;

FIG. 14 is a partial cross-sectional view of FIG. 13;

FIG. 15 is a schematic view of a flexible instrument delivery actuator having a plurality of electrical sensing devices;

FIG. 16 is a schematic view of the rotation detecting apparatus shown in FIG. 15;

FIG. 17 is a schematic view of the structure of the clamp detection device shown in FIG. 15;

FIG. 18 is a schematic view of the length detection device shown in FIG. 15;

FIG. 19 is a schematic view of a flexible instrument delivery actuator having a plurality of electrical sensing devices from another perspective;

FIG. 20 is a schematic illustration of a housing structure of a flexible instrument actuation unit;

FIG. 21 is a schematic diagram of a transport actuator;

FIG. 22 is a schematic view of a clamp actuator;

FIG. 23 is a schematic diagram of the driven wheel driven by the torque sheath to the length detection docking plate;

fig. 24 is a schematic view of the structure of the cleaning device at the front end of the flexible instrument execution unit.

In the figure:

10. a flexible instrument drive unit 11, a main body housing 12, a support frame 13, a rotary drive mechanism 14, a clamp drive mechanism 15, a conveyor drive mechanism 16, a quick-connect mechanism 17, a six-dimensional force sensor 18, a cross roller bearing 19, a cross roller bearing retainer 20, a flexible instrument implement unit 21, an implement end housing 22, a conveyor implement 23, a clamp implement 24, a cleaning device 25, a rotation detection device 26, a clamp detection device 27, a length detection device 28, a dock detection device 29, a human-machine interaction device 131, a rotary drive motor 132, a rotary timing belt mechanism 1321, a first rotary timing belt 1322, a second rotary timing belt 1323, a rotary timing belt 1324, a rotary idler 1325, a rotary idler support 1326, a rotary idler shaft 133, a rotary drive gear 134, a rotary gear 135. Gear collar 136, first sleeve 137, rotating timing disk 138, aseptic plate 141, clamp drive motor 142, clamp timing belt mechanism 1421, first clamp timing pulley 1422, second clamp timing pulley 1423, clamp timing belt 1424, clamp idler pulley 1425, clamp idler pulley bracket 1426, clamp idler shaft 143, first clamp drive gear 144, large clamp gear 145, second sleeve 146, small clamp gear 147, clamp resilient docking assembly 1471, clamp stationary shaft 1472, second clamp drive gear 1473, clamp docking disk 1474, clamp support 1475, spline shaft 1476, spline housing 1477, spring 1478, lubrication sleeve 151, transport drive motor 152, transport timing belt mechanism 1521, first transport timing pulley 1522, second transport timing pulley 1523, transport timing belt 1524 1525. A drive pulley bracket 1526, a drive idler shaft 153, a first drive gear 154, a drive gear 155, a drive spring interface assembly 156, a second drive gear 161, a dock member 162, a spring 211, a frame housing 212, an input housing 213, an output housing 221, a drive pulley bracket 222, a drive pulley 224, a timing belt mechanism 225, a first drive pulley 2261, a first conical gear 2262, a second conical gear 227, a driven pulley bracket 228, a driven pulley 229, a drive pulley shaft 2210, a guide rail 231, a lead screw 232, a nut 2331, a third conical gear 2332, a fourth conical gear 234, a cylindrical gear 235, an input shaft 236, a drive shaft 237, an inner bracket 238, a spring 239, a second drive pulley 241, a cleaning bracket 242, a cleaning sponge 243, a guide tube 251, a rotary encoder 252, a rotary encoder bracket 253, a rotary sensing gear 261, a clamping magnet ring 262, a first length sensing pair of the dock plate, a lubrication sleeve 274, a limit post 276, a support 277, a spring shaft 278, a length sensor 279, a length sensor pin 2710, a drive pulley 2713, a drive shaft 2713, and a drive pulley 2713.

Detailed Description

In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

In the present specification, the terms "upper, lower, inner, outer" and the like are established based on the positional relationship shown in the drawings, and the corresponding positional relationship may be changed according to the drawings, so that the terms are not to be construed as absolute limitation of the protection scope; moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

Referring to fig. 1, fig. 2, and fig. 3, fig. 1 is a schematic diagram illustrating an overall structure of a flexible apparatus conveying and executing device according to an embodiment of the present invention; fig. 2 is a schematic structural view of a flexible instrument driving unit of a flexible instrument conveying and executing device according to an embodiment of the present invention; fig. 3 is a schematic structural diagram of a flexible instrument executing unit of the flexible instrument conveying executing device according to the embodiment of the invention.

In a specific embodiment, the flexible instrument conveying and executing device provided by the invention mainly comprises a flexible instrument driving unit 10 and a flexible instrument executing unit 20; the flexible instrument drive unit 10 further comprises a main body shell 11, a supporting framework 12, a rotary drive mechanism 13, a clamping drive mechanism 14, a conveying drive mechanism 15, a quick docking mechanism 16 and an electrical detection device; the flexible instrument actuation unit 20 in turn comprises an actuation end housing 21, a delivery actuator 22, a clamping actuator 23 and a cleaning device 24.

When the device is used, the butt joint plane of the flexible instrument driving unit 10 is initially in the horizontal direction, after the flexible instrument executing unit 20 is buckled from top to bottom, and after the electric detection device detects that the butt joint is completed, the voice broadcasting is successful, then the reversing button is pressed to enable the flexible instrument executing unit 20 to be aligned to the direction of a patient, then the flexible instrument driving unit 10 can be inserted into the guide tube 243 of the flexible instrument executing unit 20 from the flexible instrument driving unit 10, the guide tube 243 is pulled to enable the flexible instrument to penetrate out of the cleaning device 24, then the clamping button is triggered to clamp the flexible instrument, and finally the dragging button is triggered to drag the mechanical arm to enable the flexible instrument to be aligned to the oral cavity of the patient.

Referring to fig. 4, fig. 4 is a schematic structural view of the support body shown in fig. 2.

The main body shell 11 is of a hollow structure, the supporting framework 12 is an L-shaped supporting plate, a six-dimensional force sensor 17, a crossed roller bearing 18 and a crossed roller bearing retainer ring 19 are arranged on the supporting framework, the six-dimensional force sensor 17 is used for connecting the L-shaped supporting plate and the tail end of the mechanical arm and is responsible for detecting the dragging direction during dragging; the L-shaped supporting plate is used for connecting and fixing each driving mechanism, and is provided with a through hole for a flexible instrument to pass through; the crossed roller bearings 18 are positioned at the concentric positions with the through holes on the L-shaped supporting plate and are fixedly connected with the inner side of the L-shaped supporting plate through crossed roller bearing check rings 19; the main body casing 11 is wrapped around the outside of the flexible instrument drive unit 10.

Referring to fig. 5 to 7, fig. 5 is a schematic structural view of the rotary driving mechanism shown in fig. 2; FIG. 6 is a schematic view of the rotary drive mechanism shown in FIG. 2 from another perspective; fig. 7 is a schematic view of the rotary transmission assembly shown in fig. 5.

The rotation driving mechanism 13 mainly comprises a rotation driving motor 131, a rotation synchronous belt mechanism 132, a rotation transmission gear 133, a rotation gear 134, a rotation gear check ring 135, a first sleeve 136, a rotation synchronous disk 137, a sterile plate 138, a bearing and the like.

The rotary driving motor 131 is fixed on the L-shaped supporting plate through a rotary motor flange, a bearing is arranged at the front end of a rotating shaft of the rotary driving motor 131, and the motor is always kept at a preset position in the use process; the rotary transmission gear 133 is mounted on the L-shaped support plate through a rotating shaft, bearings are arranged at two ends of the rotating shaft, one end of the rotating shaft is fixed on the L-shaped support plate, the other end of the rotating shaft is fixed on the L-shaped support plate through a support, and the rotary transmission gear 133 can rotate through the bearings.

The rotary timing belt mechanism 132 has a first rotary timing belt pulley 1321, a second rotary timing belt pulley 1322, a rotary timing belt 1323, a rotary idler pulley 1324, a rotary idler pulley holder 1325 and a rotary idler pulley shaft 1326, the first rotary timing belt pulley 1321 is fixed on the rotation shaft of the rotary driving motor 131, the second rotary timing belt pulley 1322 is fixed on the rotation shaft of the rotary driving gear 133, the rotary timing belt 1323 is connected to the two timing belt pulleys for transmitting torque, the rotary idler pulley 1324 is fixed on the rotary idler pulley holder 1325 through the rotary idler pulley shaft 1326, and the rotary idler pulley holder 1325 is fixed on the L-shaped support plate for tensioning the rotary timing belt 1323.

The rotary transmission gear 133 can drive the rotary gear 134 to rotate, the rotary gear 134 is fixedly connected to the inner ring of the crossed roller bearing 18 through the rotary gear retainer ring 135, so that the rotary gear 134 can rotate through the crossed roller bearing 18, and the rotary transmission gear 133 is meshed with the rotary gear 134 for transmission; the first sleeve 136 is fixedly connected between the rotary gear 134 and the rotary synchronizing disk 137, and the rotary gear 134 can drive the first sleeve 136 and the rotary synchronizing disk 137 to rotate together.

A sterile plate 138 is fixedly connected to the rotary synchronizing plate 137 for creating a sterile isolation of the drive unit from the execution unit.

When the rotary synchronous belt mechanism is in operation, the rotary driving motor 131 drives the rotary synchronous belt mechanism 132 to operate, so that torque is transmitted to the rotary transmission gear 133, the rotary gear 134 is driven to rotate, and the rotary gear 134 transmits motion to the rotary synchronous disc 137 and the sterile plate 138 through the first sleeve 136, so that the whole actuating mechanism is driven to rotate.

Referring to fig. 8 to 10, fig. 8 is a schematic structural view of the clamping driving mechanism shown in fig. 2; FIG. 9 is a cross-sectional view of FIG. 8; fig. 10 is a cross-sectional view of the clamp spring docking assembly shown in fig. 8.

The clamp driving mechanism 14 is mainly composed of a clamp driving motor 141, a clamp timing belt mechanism 142, a first clamp transmission gear 143, a large clamp gear 144, a second sleeve 145, a small clamp gear 146, a clamp elastic docking assembly 147, and the like.

The clamping driving motor 141 is fixed on the L-shaped supporting plate through a clamping motor flange, a rotating shaft of the clamping driving motor 141 is provided with a bearing, the bearing is fixed on the L-shaped supporting plate, and the motor is always kept at a preset position in the using process; the first clamping transmission gear 143 is installed on the L-shaped supporting plate through a rotating shaft, one end of the rotating shaft is fixed on the L-shaped supporting plate, the other end of the rotating shaft is fixed on the L-shaped supporting plate through a support, and bearings are arranged at two ends of the rotating shaft and can rotate.

Similar to the rotating timing belt mechanism, the clamping timing belt mechanism 142 has a first clamping timing pulley 1421, a second clamping timing pulley 1422, a clamping timing belt 1423, a clamping idler pulley 1424, a clamping idler pulley support 1425, and a clamping idler pulley shaft 1426, the first clamping timing pulley 1421 is fixed on the rotation shaft of the clamping drive motor 141, the second clamping timing pulley 1422 is fixed on the rotation shaft of the first clamping drive gear 143, the clamping timing belt 1423 is connected to the two timing pulleys for transmitting torque, the clamping idler pulley 1424 is fixed on the clamping idler pulley support 1425 through the clamping idler pulley shaft 1426, and the clamping idler pulley support 1425 is fixed on the L-shaped support plate for tensioning the clamping timing belt 1423.

The first clamping transmission gear 143 is fixed on the rotating shaft, the first clamping transmission gear 143 can be driven to rotate together through rotation of the rotating shaft, the first clamping transmission gear 143 is meshed with the large clamping gear 144 for transmission, bearings are respectively arranged at two ends of the second sleeve 145, outer rings of the two bearings are propped against shoulders at two ends of the second sleeve 145, an inner ring of each bearing is connected to the first sleeve 136, an inner ring of one bearing is propped against a shoulder of the first sleeve 136, and an inner ring of the other bearing is propped against the rotary synchronizing disc 137 through a shaft sleeve.

The small clamping gear 146 is provided with a positioning key, the second sleeve 145 is provided with a positioning groove, the small clamping gear 146 is fixed at the end part of the second sleeve 145 through the positioning key, the small clamping gear 146 is limited by a retainer ring, and the large clamping gear 144 drives the small clamping gear 146 to rotate through the second sleeve 145.

The clamping butt-joint shaft of the clamping elastic butt-joint assembly 147 is divided into a clamping fixed shaft 1471 and a clamping butt-joint disc 1473, a clamping butt-joint shaft output hole is formed in the rotary synchronous disc 137, the clamping butt-joint disc 1473 is coaxial with the clamping butt-joint shaft output hole, and a second clamping transmission gear 1472 is fixedly connected to one end of the clamping fixed shaft 1471 and is meshed with the small clamping gear 146 for transmission.

The clamping support 1474 is mounted on the back surface of the rotary synchronous disc 137, the clamping fixed shaft 1471 is rotatably mounted on the clamping support 1474 through a bearing, and a spline shaft 1475 is arranged at the other end of the clamping fixed shaft 1471; the clamping butt-joint disc 1473 is axially movably arranged in the clamping butt-joint shaft output hole corresponding to the rotating synchronous disc 137, one end provided with a spline housing 1476 is in nested fit with the spline shaft 1475, a spring 1477 is arranged between the spline shaft 1475 and the clamping butt-joint disc 1473, the clamping butt-joint disc 1473 and the spline shaft 1475 can axially move relatively, and the spring 1477 provides resilience force for the clamping butt-joint disc 1473; a lubrication sleeve 1478 is secured within the clamp interface output aperture of the rotary synchronizing disk 137 for limiting the resilient movement of the clamp interface disk 1473 and providing lubrication.

When in operation, the clamping driving motor 141 drives the large clamping gear 144, the second sleeve 145 and the small clamping gear 146 to rotate through the clamping synchronous belt mechanism 142 and the first clamping transmission gear 143, so as to drive the second clamping transmission gear 1472 to rotate, and then drive the clamping fixing shaft 1471 and the clamping butt joint disc 1473 to rotate.

Referring to fig. 11 and 12, fig. 11 is a schematic structural view of the conveying driving mechanism shown in fig. 2; fig. 12 is a cross-sectional view of fig. 11.

The conveying driving mechanism 15 mainly comprises a conveying driving motor 151, a conveying synchronous belt mechanism 152, a first conveying transmission gear 153, a conveying gear 154, a conveying elastic abutting assembly 155 and the like.

The conveying driving motor 151 is fixed on the L-shaped supporting plate through a conveying motor flange, a bearing is arranged on a rotating shaft of the conveying driving motor 151 and fixed on the L-shaped supporting plate, and the motor is always kept at a preset position in the using process; the first conveying transmission gear 153 is installed on the L-shaped support plate through a rotating shaft, one end of the rotating shaft is fixed on the L-shaped support plate, the other end of the rotating shaft is fixed on the L-shaped support plate through a support, and bearings are arranged at two ends of the rotating shaft and can rotate.

Similar to the rotary timing belt mechanism 132, the conveying timing belt mechanism 152 has a first conveying timing pulley 1521, a second conveying timing pulley 1522, a conveying timing belt 1523, a conveying idler 1524, a conveying idler bracket 1525, and a conveying idler shaft 1526, the first conveying timing pulley 1521 being fixed on the rotation shaft of the conveying drive motor 151, the second conveying timing pulley 1522 being fixed on the rotation shaft of the first conveying transmission gear 153, the conveying timing belt 1523 being connected to the two timing pulleys for transmitting torque, the conveying idler 1524 being fixed on the conveying idler bracket 1525 through the conveying idler shaft 1526, the conveying idler bracket 1525 being fixed on the L-shaped support plate for tensioning the conveying timing belt 1523.

The first conveying transmission gear 153 is fixed on the rotating shaft thereof, and the first conveying transmission gear 153 can be driven to rotate by the rotation of the rotating shaft; the conveying gear 154 is provided with an inner layer gear and an outer layer gear, the first conveying transmission gear 153 is in meshed transmission with the outer layer gear part of the conveying gear 154, the conveying gear 154 is sleeved on the second sleeve 145 through a bearing, the outer ring of the bearing abuts against the shaft shoulder of the conveying gear 154, the inner ring of the bearing is connected to the second sleeve 145, one end of the inner ring of the bearing abuts against the shaft shoulder of the second sleeve 145, the other end of the inner ring of the bearing abuts against the small clamping gear 146 through a shaft sleeve, and the position of the conveying gear 154 can be limited by adopting a conveying gear retainer ring.

The structure of the transfer elastomeric docking assembly 155 is similar to the clamp elastomeric docking assembly 147, except that the second transfer drive gear 156 of the transfer elastomeric docking assembly 155 is in meshed engagement with the inner teeth of the transfer gear 154, and the remainder of the structure is described above and will not be repeated here.

Referring to fig. 13 and 14, fig. 13 is a schematic structural diagram of a rotating synchronous disc with a quick docking mechanism; fig. 14 is a partial cross-sectional view of fig. 13.

The quick docking mechanism 16 basically includes a docking member 161 and a spring 162; the abutment 161 is connected between the aseptic plate 138 and the chute of the rotating synchronizing disc 137; a spring 162 is connected in the spring holes of the abutment 161 and the sterility plate 138, allowing the abutment 161 to elastically recover; the quick docking mechanism 16 may enable quick docking of the flexible instrument drive unit 10 with the flexible instrument execution unit 20.

Referring to fig. 15 to 19, fig. 15 is a schematic structural view of a flexible apparatus conveying and executing device provided with various electrical detection devices; FIG. 16 is a schematic view of the rotation detecting apparatus shown in FIG. 15; FIG. 17 is a schematic view of the structure of the clamp detection device shown in FIG. 15; FIG. 18 is a schematic view of the length detection device shown in FIG. 15; fig. 19 is a schematic view of a flexible instrument delivery actuator configured with various electrical sensing devices from another perspective.

The electronic detection device mainly comprises a rotation detection device 25, a clamping detection device 26, a length detection device 27, a butt joint detection device 28 and a man-machine interaction device 29.

The rotation detecting device 25 includes a rotation encoder 251, a rotation encoder bracket 252, and a rotation detecting gear 253, the rotation encoder 251 is fixedly connected to the L-shaped support plate by the rotation encoder bracket 252, and the rotation detecting gear 253 is provided on a detection shaft of the rotation encoder 251 and is engaged with the rotation transmitting gear 133 for detecting the number of rotations and the position.

The clamp detection device 26 includes a clamp magnet ring 261 and a clamp encoder 262; the clamping magnetic ring 261 is fixed in a magnetic ring hole at one end of the rotating shaft of the first clamping transmission gear 143, and the clamping encoder 262 is connected and fixed on a support of the first clamping transmission gear 143, so that the encoder can just detect the rotation of the magnetic ring on the rotating shaft and is used for detecting the clamping distance.

The length detection device 27 comprises a detection elastic docking assembly and a length detection assembly; the detecting elastic docking assembly further comprises a first length detecting docking disc 271, a lubricating shaft sleeve 272, an encoder base 273, a clamp spring 274, a limit post 275, a support 276, a spring 277 and a bearing; the lubrication shaft sleeve 272 is fixed in the length detection hole of the L-shaped support plate, the first length detection butt joint disc 271 is limited in the lubrication shaft sleeve 272 through the clamp spring 274, the encoder base 273 is positioned at one end of the first length detection butt joint disc 271, the limiting column 275 penetrates through the encoder base 273, one end of the limiting column 275 is fixed on the L-shaped support plate, the other end of the limiting column is fixed on the support 276, and the spring 277 is connected between the encoder base 273 and the support 276 to provide resilience force; the length detection assembly in turn includes a length magnetic loop 278 and a length encoder 279; the length magnetic ring 278 is fixed in a magnetic ring hole of the first length detection docking plate 271 near the encoder base 273, and the length encoder 279 is fixed on the encoder base 273 so that the encoder can just detect the rotation of the magnetic ring on the first length detection docking plate 271.

The docking detection means 28 includes an elastic docking sensor 281 and a quick docking sensor 282; a plurality of elastic docking sensors 281 are respectively fixed on the conveying docking shaft support, the clamping docking shaft support and the length detection device support for detecting whether the elastic docking is successful or not; a quick dock sensor 282 is secured to the sterile plate 138 for detecting whether the flexible instrument execution unit 20 is finished with quick docking.

The man-machine interaction device 29 comprises a button module 291 and a radio frequency identification module 292, wherein the button module 291 is arranged on the main body shell 11; the button module 291 comprises a dragging button, a clamping button and a reversing button, wherein the dragging button can enable the conveyor to move in space, the clamping button can clamp the flexible appliance by one key, and the reversing button can adjust the conveyor to the correct use direction; the rfid module 292 may detect basic information of the flexible instrument execution unit 20 and broadcast the current status of the delivery device via voice.

Referring to fig. 20, fig. 20 is a schematic view of a housing structure of a flexible instrument actuation unit.

The executing end housing 21 mainly comprises a frame housing 211, an input housing 212 and an output housing 213, wherein the input housing 212 and the output housing 213 are respectively arranged at two ends of the frame housing 211, through holes for the flexible instruments to pass through are formed in the input housing 212 and the output housing 213, and a plurality of supporting seats, lifting lugs, sliding grooves and the like for installing the conveying executing mechanism 22 and the clamping executing mechanism 23 are formed in the frame housing 211.

Referring to fig. 21, fig. 21 is a schematic structural diagram of a conveying actuator.

The conveying executing mechanism 22 mainly comprises a driving wheel set and a driven wheel set, wherein the driving wheel set comprises a driving wheel bracket 221, a driving wheel 222, a driving wheel axle 223, an executing synchronous belt mechanism 224, a first executing butt joint disc 225 and a bearing; the driving wheel 222 is provided with a pair and is fixed on the driving wheel axle 223; bearings are provided at both ends of the driving axle 223, one end of which is fixed to the frame housing 211, and the other end of which is fixed to the frame housing 211 through the driving wheel support 221; the timing belt mechanism 224 is provided with two timing wheels, and the timing belt is used for connecting the movements of the two timing wheels, and at least one driving wheel shaft 223 is fixed with a first conical gear 2261.

The two ends of a transmission shaft of the execution synchronous belt mechanism 224 are fixed on the frame shell 211 and the input shell 212 through bearings, a second conical gear 2262 is fixed at one end of the transmission shaft and is meshed with a first conical gear 2261 at one end of a driving axle 223 for transmission, a synchronous wheel is fixed on the transmission shaft, the two ends of an input shaft of the execution synchronous belt mechanism 224 are fixed on the frame shell 211 and the input shell 212 through bearings, and the synchronous wheel is fixed on the input shaft; the first implement docking plate 225 is secured to one end of the input shaft, outside of the input housing 212, and is responsible for interfacing with the docking plate of the transport elastomeric docking assembly 155.

The driven wheel set comprises a driven wheel bracket 227, a driven wheel 228, a driven wheel shaft 229, a guide rail 2210 and a bearing; driven wheel 228 has a pair and is fixed to driven wheel axle 229; the driven wheel support 227 is provided with an inner layer and an outer layer, and the inner layer support and the outer layer support are connected through a guide rail 2210, so that the inner layer support and the outer layer support can move linearly relatively; the outer layer bracket is fixed with another guide rail which is connected with the sliding groove of the frame shell 211 and can perform linear motion along the radial direction relative to the frame shell 211; the driven wheel axle 229 is fixed on the inner driven wheel bracket through bearings at two ends.

Referring to fig. 22, fig. 22 is a schematic structural view of the clamping actuator.

The clamping actuator 23 mainly comprises a screw 231, a nut 232, a cylindrical gear 234, an input shaft 235, a transmission shaft 236, an inner bracket 237, a spring 238, a second actuator abutment 239 and a bearing; the screw 231 is fixed on the frame shell 211 through an inner bracket 237, and bearings are arranged at the fixing positions; the nut 232 is fixed on the outer layer of the driven wheel bracket 227 and penetrates through the outer layer bracket, and the spring 238 is connected to the inner layer of the nut 232 and the driven wheel bracket 227, so that elastic clamping can be realized; the transmission shaft 236 is fixed on the frame shell 211 through a bracket, and bearings are arranged at the fixing positions; the input shaft 235 is fixed to the frame case 211 and the input case 212 by bearings; cylindrical gears are arranged on the lead screw 231 and the transmission shaft 236 for meshed transmission; the transmission shaft 236 and the input shaft 235 are provided with a third bevel gear 2331 and a fourth bevel gear 2332 for meshed transmission; a second actuating docking plate 239 is fixed to one end of the input shaft 235, which is located outside of the input housing 212 and is responsible for interfacing with the docking plate of the clamp spring docking assembly 147.

Referring to fig. 23, fig. 23 is a schematic structural diagram of a driven wheel driven by a torque sheath to a length detection docking plate.

The portion of the length detection device 27 located in the flexible instrument execution unit 20 includes a torque sheath 2710, a drive shaft 2711, an output shaft 2712, a second length detection docking plate 2713, and bearings; wherein the output shaft 2712 is fixed to the frame housing 211 and the input housing 212 by bearings; the transmission shaft 2711 is fixed on the frame housing 211 through a bearing; the output shaft 2712 and the transmission shaft 2711 are both fixed with bevel gears for meshing transmission torque; two ends of the torque sheath tube 2710 are respectively connected in the connecting holes of the driven wheel shaft 229 and the transmission shaft 2711 to transmit the conveying length of the driven wheel 228 to the output shaft 2712; a second length detection docking tray 2713 is provided at the end of the output shaft 2712, outside of the input housing 212, responsible for docking with the first length detection docking tray 271.

Referring to fig. 24, fig. 24 is a schematic structural view of a cleaning device at the front end of the flexible instrument executing unit.

The cleaning device 24 on the flexible instrument execution unit 20 mainly includes a cleaning support 241, a cleaning sponge 242, and a guide tube 243; a cleaning sponge 242 is arranged on the cleaning support 241, and a flexible instrument passes through the cleaning sponge 242 on the cleaning support 241 to clean the endoscope; the cleaning support 241 is divided into an upper portion and a lower portion and is connected at the shaft hole; the cleaning support 241 has a docking block and is rapidly docked with the docking slot of the output housing 213 through the docking block; the guide tube 243 is provided in the endoscope insertion hole of the cleaning support frame 241, and guides the endoscope through the flexible instrument performing unit 20.

The flexible instrument conveying and executing device provided by the invention is described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the invention. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims

1. The flexible instrument conveying and executing device is characterized by comprising a flexible instrument driving unit and a flexible instrument executing unit;

2. The flexible instrument delivery actuator of claim 1, wherein the flexible instrument actuation unit comprises a clamp actuator and a delivery actuator mounted to the rotating synchronization disk, the clamp actuator and the delivery actuator being in driving connection with the power output ends of the clamp elastic docking assembly and the delivery elastic docking assembly, respectively.

3. The flexible instrument delivery actuator of claim 2 wherein the clamp elastic docking assembly is provided with a clamp docking shaft that is elastically retractable and rotatable, and the delivery elastic docking assembly is provided with a delivery docking shaft that is elastically retractable and rotatable;

4. The flexible instrument delivery actuator of claim 3 wherein the rotary drive assembly comprises a rotary timing belt mechanism and a rotary drive gear, the rotary drive motor driving the rotary drive gear through the rotary timing belt mechanism, the rotary drive gear in meshed drive with the rotary gear;

5. The flexible instrument delivery actuator of claim 4 wherein the clamp spring docking assembly is provided with a clamp mount for mounting the clamp docking shaft, the clamp docking shaft including a clamp stationary shaft and a clamp docking plate; the clamping support is arranged on the back surface of the rotary synchronous disc, the clamping fixing shaft is rotatably arranged on the clamping support through a bearing, a second clamping transmission gear is arranged at one end of the clamping fixing shaft, and a spline shaft is arranged at the other end of the clamping fixing shaft; the clamping butt-joint disc is axially movably arranged in the shaft hole corresponding to the rotary synchronous disc, one end of the clamping butt-joint disc, which is provided with a spline sleeve, is in nested fit with the spline shaft, a spring is arranged between the spline sleeve and the spline shaft, and the small clamping gear is meshed with the second clamping transmission gear for transmission.

6. The flexible instrument delivery actuator of claim 4 wherein the delivery elastic docking assembly is provided with a delivery support for mounting the delivery docking shaft, the delivery docking shaft comprising a delivery fixed shaft and a delivery docking tray; the conveying support seat is arranged on the back surface of the rotary synchronous disc, the conveying fixed shaft is rotatably arranged on the conveying support seat through a bearing, a second conveying transmission gear is arranged at one end of the conveying fixed shaft, and a spline shaft is arranged at the other end of the conveying fixed shaft; the conveying butt-joint disc is axially movably arranged in the shaft hole corresponding to the rotary synchronous disc, one end of the conveying butt-joint disc, which is provided with a spline sleeve, is in nested fit with the spline shaft, a spring is arranged between the spline sleeve and the spline shaft, and the inner layer tooth part of the conveying gear is meshed with the second conveying transmission gear for transmission.

7. The flexible instrument transportation and execution device according to claim 4, wherein the support body is provided with a rotation detection device, the rotation detection device comprises a rotation detection gear, a rotation magnetic ring and a rotation encoder, wherein the rotation magnetic ring and the rotation encoder are coaxially arranged with the rotation detection gear, and the rotation detection gear is meshed with the rotation transmission gear for transmission; the support body is provided with a clamping detection device, and the clamping detection device comprises a clamping magnetic ring and a clamping encoder which are coaxially arranged with the first clamping transmission gear.

8. The flexible instrument delivery actuator of claim 3, wherein the delivery actuator comprises a drive wheel and a driven wheel, the drive wheel being drivingly coupled to the delivery docking shaft via a first actuation transmission assembly to drive the drive wheel; the clamping executing mechanism is in transmission connection with the clamping butt joint shaft through a second executing transmission assembly so as to drive the driven wheel to be close to or far away from the driving wheel.

9. The flexible instrument transport execution device according to claim 8, wherein the first execution transmission assembly includes an execution timing belt mechanism, a rotating shaft at one end of the execution timing belt mechanism is in transmission connection with the driving wheel through a bevel gear, and a rotating shaft at the other end of the execution timing belt mechanism is in butt joint with the transport butt joint shaft through a first execution butt joint disc.

10. The flexible instrument delivery actuator of claim 9 wherein the second actuator assembly comprises an inner frame, a lead screw, a nut and an input shaft, the driven wheel being mounted to a radially movable driven wheel frame, the nut being secured to the driven wheel frame, the lead screw being rotatably mounted to the inner frame and cooperating with the nut; one end of the input shaft is in transmission connection with the screw rod through a bevel gear and a gear, and the other end of the input shaft is in butt joint with the clamping butt joint shaft through a second execution butt joint disc.

11. The flexible instrument delivery actuator of claim 10 wherein a spring is disposed between the driven wheel and the driven wheel support.

12. The flexible instrument delivery actuator of claim 8 wherein the rotating synchronization disk is provided with a length detection device comprising a first length detection docking disk, a length detection support, and an encoder base; the length detection support is fixed on the back surface of the rotary synchronous disc, the first length detection butt joint disc is axially movably arranged in a shaft hole corresponding to the rotary synchronous disc, and one end of the first length detection butt joint disc is provided with a coaxial length detection magnetic ring; the encoder base is installed in the length detection support through a limit post and a spring, and a length detection encoder corresponding to the length detection magnetic ring is arranged on the encoder base.

13. The flexible instrument transportation and execution device according to claim 12, wherein the driven wheel is connected with a length detection transmission shaft through a torque sheath, the length detection transmission shaft is connected with a length detection output shaft through bevel gear transmission, and one end of the length detection output shaft is provided with a second length detection butt joint disc.

14. The flexible instrument delivery actuator of any one of claims 1 to 13, wherein the rotating synchronization disk is provided with a quick docking sensor, and the clamp elastic docking assembly and the delivery elastic docking assembly are each provided with an elastic docking sensor.

15. The flexible instrument delivery actuator of claim 14 wherein the rotating synchronization disk is stacked with sterile disks and/or wherein the rotating synchronization disk is provided with a quick-docking mechanism for mounting the flexible instrument actuation unit.