CN207077456U - One kind driving rope control device - Google Patents
One kind driving rope control device Download PDFInfo
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- CN207077456U CN207077456U CN201720999084.3U CN201720999084U CN207077456U CN 207077456 U CN207077456 U CN 207077456U CN 201720999084 U CN201720999084 U CN 201720999084U CN 207077456 U CN207077456 U CN 207077456U
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- rack
- driving rope
- control device
- driving
- seat
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Abstract
It the utility model is related to field of medical device, disclose a kind of driving rope control device, gear, rack and power set including pedestal and on pedestal, rack is distributed in gear both sides, and engaged respectively with gear, gear opposite base can rotate under the driving of power set, to drive the rack synchronous of both sides and counter motion.The utility model realizes being synchronized with the movement for driving rope by mechanical drive modes such as rack-and-pinion, is not related to the power set and control device of complexity, contributes to reduction Material Cost high, reduces assembly difficulty.
Description
Technical field
Field of medical device is the utility model is related to, more particularly, to a kind of medical machinery people for driving of restricting, is specifically related to
And the control device of driving rope.
Background technology
With the development of technology, mechanical arm is more and more applied to medical field, for aiding in doctor to complete hand
Art operates.Mechanical arm has a variety of type of drive, and relatively conventional is rope driving, i.e., by being set along mechanical arm length direction
Some driving ropes pull the articulation of mechanical arm.Because the pendulum of opposite direction can generally occur for a joint of mechanical arm
It is dynamic, therefore a joint at least needs to be coordinated by two driving ropes, it is existing to realize that two drive being synchronized with the movement for rope
Driving rope control device need to set complicated power set and control device, Material Cost is high, and assembly difficulty is big, it is difficult to full
The demand of sufficient people.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of driving rope control device, existing for solving
The problem of technology Material Cost is high, assembly difficulty is big.
Technical scheme is used by the utility model solves its technical problem：
One kind driving rope control device, including pedestal and gear, rack and power set on pedestal, rack
Gear both sides are distributed in, and are engaged respectively with gear, gear opposite base can rotate under the driving of power set, to drive two
The rack synchronous of side and counter motion.
As the further improved procedure of such scheme, in addition to for adjusting the tensioning apparatus of driving rope tensioning degree.
As the further improved procedure of such scheme, swing seat and driving that tensioning apparatus includes being arranged on rack fill
Put, swing seat relative rack can be swung under the driving of drive device, and driving rope is tensioned/loosened with the swing of swing seat.
As the further improved procedure of such scheme, the end of rope is driven to be fixedly connected with swing seat.
As the further improved procedure of such scheme, in addition to the fixed seat on rack, swing seat are provided with
Tensioning wheel, the end of rope is driven to be fixedly connected after bypassing tensioning wheel with fixed seat.
As the further improved procedure of such scheme, fixed seat includes upper holder block and lower lock block, upper holder block and lower lock block
Between removably connect, between upper holder block and lower lock block be provided with anchor portion buckling groove, and to driving rope be oriented to
Pilot hole.
As the further improved procedure of such scheme, in addition to sensor, sensor moves to row checking rack
Journey terminal time control braking power apparatus is stopped.
As the further improved procedure of such scheme, drive device includes drive seat and the screw being arranged on rack,
Tapped through hole is provided with drive seat, screw is spun in tapped through hole, the end of screw stretched out out of tapped through hole and with swing
Seat supports.
As the further improved procedure of such scheme, in addition to the spring pipe mounting seat on pedestal, Yi Jian
Bourdon tube in spring pipe mounting seat.
The slide rail on pedestal, Yi Jian are arranged on as the further improved procedure of such scheme, in addition to corresponding rack
Sliding block on rack, rack are slided by sliding block with respect to slide rail.
The beneficial effects of the utility model are：
The utility model realizes being synchronized with the movement for driving rope by mechanical drive modes such as gear-tooth bars, is not related to complexity
Power set and control device, it is high to help to reduce Material Cost, reduces assembly difficulty.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the schematic perspective view on one direction of the utility model；
Fig. 2 is the schematic perspective view on another direction of the utility model；
Fig. 3 is the schematic diagram that the utility model tensioning apparatus is connected with rack.
Embodiment
Design, concrete structure and caused technique effect of the present utility model are carried out below with reference to embodiment and accompanying drawing
Clear, complete description, to be completely understood by the purpose of this utility model, scheme and effect.It should be noted that do not conflicting
In the case of, the feature in embodiment and embodiment in the application can be mutually combined.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " in another feature,
It can directly fix, be connected in another feature, can also indirectly fix, be connected in another feature.In addition, this
The descriptions such as the up, down, left, right, before and after used in utility model are only relative to each composition portion of the utility model in accompanying drawing
For the mutual alignment relation divided.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The implication that personnel are generally understood that is identical.Term used in the description is intended merely to describe specific embodiment herein, without
It is to limit the utility model.Term as used herein " and/or " include appointing for one or more related Listed Items
The combination of meaning.
Reference picture 1, Fig. 2, respectively illustrate the schematic perspective view on the utility model one embodiment different directions.Such as figure
Shown, the utility model mainly includes pedestal 110 and gear 120, rack 130 and power set on pedestal 110
140。
Power set 140 are fixed on the bottom surface of pedestal 110, and its drive shaft is stretched out upwards from the via on pedestal 110.Gear
120 are fixedly connected in the drive shaft of power set 140, so as to be connected indirectly with pedestal 110.Rack 130 is distributed in gear
120 both sides, and engaged respectively with gear 120, in this way, when opposite base 110 under driving of the gear 120 in power set 140
During rotation, the rack 130 of both sides can be with the synchronization of opposite base 110 and counter motion, so as to affect corresponding driving rope same
Step motion, the utility model realize being synchronized with the movement for driving rope by mechanical drive modes such as gear-tooth bars, are not related to complexity
Power set and control device, help to reduce Material Cost height, reduce assembly difficulty.
Preferably, rack 130 is corresponded on substrate 110 and is fixedly connected with slide track seat 111, is fixedly connected with slide track seat 111
Slide rail 112, sliding block 113 is fixedly connected with rack 130, and rack 130 is realized relative by the cooperation of sliding block 113 and slide rail 112
Pedestal 110 is slidably.Certainly, rack 130 can also be slided using other known features opposite bases 110, this practicality
It is new that this is not construed as limiting.
Power set 140 in the present embodiment are preferably motor, naturally it is also possible to using if hydraulic motor etc. is known in other
Power set, the utility model is not construed as limiting to this.
In addition, the utility model is additionally provided with unshowned sensor, sensor moves to stroke checking rack 130
Controlled motor stalls during terminal.
Driving rope may relax in transmission process, influence control effect, based on this, the utility model is also set up
There is the tensioning apparatus 150 that rope tensioning degree is driven for adjusting.In addition, the utility model also includes being arranged on pedestal 110
Spring pipe mounting seat 160, bourdon tube 170 is installed in spring pipe mounting seat 160, for driving is restricted carry out Flexible Control with it is empty
Between it is spacing.
Specifically, reference picture 3, Fig. 3 show the schematic diagram that the utility model tensioning apparatus is connected with rack.As schemed
Show, tensioning apparatus 150 includes swing seat 151, rotating shaft 152, drive seat 153 and the screw 154 being arranged on rack 130.Swing
Seat 151 is rotatablely connected by rotating shaft 152 and rack 130, and drive seat 153 forms drive device with screw 154, is swung for driving
The relative rack 130 of seat 151 is swung, and then driving rope is tensioned/is loosened along its length direction.
Rotating shaft 152 uses bolt in the present embodiment, the end of its screw rod through screw in after the through hole in swing seat 151 to
In screwed hole on rack 130, and by nut limit swing seat 151 vertically on displacement.Drive seat 153 and rack
130 are fixedly connected, and are provided with unshowned tapped through hole, and screw 154 is spun in tapped through hole, and its end is from tapped through hole
It is interior to stretch out and supported with swing seat 151, in this way, with the screw-in of screw 154, swing seat 151 can be with relative rack 130 towards one
Individual direction (being illustrated as clockwise) rotates, and then is tensioned driving rope；With the back-out of screw 154, swing seat 151 is driving
Towards reversely (being illustrated as counterclockwise) rotating under the pulling force effect of rope, reduce the tension force of driving rope.
Driving rope directly can be connected with swing seat 151, can also form movable pulley structure, i.e. tensioning apparatus as shown in the figure
150 also include the fixed seat 155 on rack 130, and tensioning wheel 156 is fixedly connected with swing seat 151.Driving rope 180
End bypass tensioning wheel 156 after be fixedly connected again with fixed seat 155, according to the principle of movable pulley, drive the move distance of rope
Equal to twice of the move distance of tensioning wheel 156, so as to reduce the volume of tensioning apparatus.
As driving rope and a kind of preferred connected mode of fixed seat 155, fixed seat 155 includes upper holder block 1551 with pushing
Block 1552, upper holder block 1551 are connected by screw with lower lock block 1552, and clamping is provided between upper holder block 1551 and lower lock block 1552
Groove 1553.In use, in the terminal structure of end set one of driving rope, terminal structure is embedded in buckling groove 1553 and can realized
Driving rope is fixedly connected with fixed seat 155.
Preferably, the pilot hole 1554 being oriented to driving rope is additionally provided between upper holder block 1551 and lower lock block 1552,
Driving rope is located in pilot hole 1554 and can be along the axial movement of pilot hole 1554.
Reference picture 1, Fig. 2, spring pipe mounting seat 160 is similar with fixed seat 155, including upper holder block and lower lock block, lower lock block
It is fixedly connected with pedestal 110, upper holder block is connected by screw with lower lock block, and buckling groove, bullet are formed between upper holder block and lower lock block
Reed pipe 170 is fixed in the buckling groove.In the utility model at the axle center of bourdon tube 170, buckling groove 1553 and pilot hole 1554
In in same plane so that driving rope also maintains on a horizontal plane all the time, ensures the stability of transmission.
Driving rope alleged by the utility model both includes the soft drive rope that can only transmit pulling force, also includes that pulling force can be transmitted
With the rigidity driving rope (such as steel wire rope) of certain thrust.
Above is preferably implement to be illustrated to of the present utility model, but the invention is not limited to the reality
Example is applied, those skilled in the art can also make a variety of equivalent variations on the premise of without prejudice to the utility model spirit
Or replace, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. one kind driving rope control device, it is characterised in that gear, rack including pedestal and on the pedestal with
Power set, the rack is distributed in the gear both sides, and is engaged respectively with the gear, and the gear can be in the power
Rotated under the driving of device relative to the pedestal, to drive the rack synchronous of both sides and counter motion.
2. driving rope control device according to claim 1, it is characterised in that also include being used to adjust the driving rope
The tensioning apparatus of tight degree.
3. driving rope control device according to claim 2, it is characterised in that the tensioning apparatus is included installed in described
Swing seat and drive device on rack, the swing seat relatively described rack can be swung under the driving of the drive device,
The driving rope is tensioned/loosened with the swing of the swing seat.
4. driving rope control device according to claim 3, it is characterised in that the end of the driving rope and the swing
Seat is fixedly connected.
5. driving rope control device according to claim 3, it is characterised in that also include being arranged on consolidating on the rack
Reservation, the swing seat are provided with tensioning wheel, and the end that the driving is restricted is fixed after bypassing the tensioning wheel with the fixed seat
Connection.
6. driving rope control device according to claim 5, it is characterised in that the fixed seat includes upper holder block with pushing
Block, removably connected between the upper holder block and lower lock block, the fixed end is provided between the upper holder block and lower lock block
Buckling groove, and to the pilot hole that is oriented to of driving rope.
7. driving rope control device according to any one of claim 1 to 6, it is characterised in that also including sensor, institute
State sensor controls the power set to be stopped when checking the rack and moving to stroke end.
8. the driving rope control device according to any one of claim 3 to 6, it is characterised in that the drive device bag
Drive seat and screw on the rack are included, tapped through hole is provided with the drive seat, the screw is spun on described
In tapped through hole, the end of the screw is stretched out out of described tapped through hole and supported with the swing seat.
9. driving rope control device according to any one of claim 1 to 6, it is characterised in that also include being arranged on institute
State the spring pipe mounting seat on pedestal, and the bourdon tube in the spring pipe mounting seat.
10. driving rope control device according to any one of claim 1 to 6, it is characterised in that also include described in correspondence
Rack is arranged on the slide rail on the pedestal, and the sliding block on the rack, the rack pass through the sliding block phase
The slide rail is slided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720999084.3U CN207077456U (en) | 2017-08-09 | 2017-08-09 | One kind driving rope control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720999084.3U CN207077456U (en) | 2017-08-09 | 2017-08-09 | One kind driving rope control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207077456U true CN207077456U (en) | 2018-03-09 |
Family
ID=61419975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720999084.3U Active CN207077456U (en) | 2017-08-09 | 2017-08-09 | One kind driving rope control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207077456U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378974A (en) * | 2017-08-09 | 2017-11-24 | 深圳市罗伯医疗机器人研究所 | One kind driving rope control device |
| WO2021155708A1 (en) * | 2020-02-09 | 2021-08-12 | 深圳市精锋医疗科技有限公司 | Driving box, operation arm, and surgical robot |
-
2017
- 2017-08-09 CN CN201720999084.3U patent/CN207077456U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378974A (en) * | 2017-08-09 | 2017-11-24 | 深圳市罗伯医疗机器人研究所 | One kind driving rope control device |
| WO2021155708A1 (en) * | 2020-02-09 | 2021-08-12 | 深圳市精锋医疗科技有限公司 | Driving box, operation arm, and surgical robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180511 Address after: 518000 C 2, building 1, the Great Wall computer building, 3 Nanshan District Road, Guangdong Province, Shenzhen, Guangdong, 201 Patentee after: SHENZHEN ROBO MEDICAL TECHNOLOGY CO., LTD. Address before: 518000 C, 2 floor, 1 building, the Great Wall computer building, 3 KFA Road, Nanshan District, Shenzhen, Guangdong. Patentee before: Shenzhen rob Medical Robot Research Institute |
|
| TR01 | Transfer of patent right |