CN207870978U - Transmission component, the surgical instrument of operating robot and operating robot - Google Patents
Transmission component, the surgical instrument of operating robot and operating robot Download PDFInfo
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- CN207870978U CN207870978U CN201720948625.XU CN201720948625U CN207870978U CN 207870978 U CN207870978 U CN 207870978U CN 201720948625 U CN201720948625 U CN 201720948625U CN 207870978 U CN207870978 U CN 207870978U
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- drive link
- sliding block
- transmission component
- connecting shaft
- operating robot
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Abstract
The utility model provides a kind of transmission component, is used for the surgical instrument of operating robot, the surgical instrument of operating robot includes driving device and operation enforcement division, and transmission component includes：First drive link, sliding block and the second drive link；One end of first drive link is connected with driving device, and the first driving section of the axial screw extension along the first drive link is provided on the outer wall of the first drive link；Sliding block is provided with first through hole, and the inner wall of first through hole is provided with the second driving section of the axial screw extension along first through hole；Wherein, slide block set is set on the first drive link, and the first driving section is adapted with the second driving section；One end of second drive link is connected with sliding block, and the other end of the second drive link is connected with operation enforcement division；Wherein, driving device drive the first drive rod rotation, sliding block with the rotation of the first drive link and the axial direction along the first drive link moves reciprocatingly, and then drive the second drive link move reciprocatingly in an axial direction, to drive operation enforcement division.
Description
Technical field
The utility model is related to Medical robot technical fields, in particular to a kind of transmission component, operating robot
Surgical instrument and operating robot.
Background technology
Currently, in the related art, the development that robot assisted micro-wound surgical operation is increasingly becoming micro-wound surgical operation becomes
Gesture, due to micro-wound surgical operation own characteristic, the surgical instrument of operating robot need to work in human body, therefore to surgical machine
The control accuracy of the surgical instrument of people has high requirement, if any deviation, can not only influence the process of operation, also can be in human body
Other organs damage, and in order to ensure the success rate of operation, the accurate transmission of the surgical instrument of operating robot is very must
It wants, this is that is, the surgical instrument for how designing a operating robot that can be accurately driven is very necessary.
Utility model content
The utility model aims to solve at least one of technical problems existing in the prior art or related technologies.
For this purpose, the utility model the first aspect proposes a kind of transmission component.
The second aspect of the utility model proposes a kind of surgical instrument of operating robot.
The second aspect of the utility model proposes a kind of operating robot.
In view of this, the utility model first aspect provides a kind of transmission component, it to be used for the surgical device of operating robot
The surgical instrument of tool, operating robot includes driving device and operation enforcement division, and transmission component includes：First drive link, sliding block
With the second drive link；One end of first drive link is connected with driving device, is provided with along first on the outer wall of the first drive link
The first driving section that the axial screw of drive link extends；Sliding block is provided with first through hole, and the inner wall of first through hole is provided with along
The second driving section that the axial screw of one through-hole extends；Wherein, slide block set is set on the first drive link, the first driving section and second
Driving section is adapted；One end of second drive link is connected with sliding block, and the other end of the second drive link is connected with operation enforcement division
It connects；Wherein, driving device drives the first drive rod rotation, and sliding block is with the rotation of the first drive link and along the axial direction of the first drive link
It moves reciprocatingly, and then the second drive link is driven to move reciprocatingly in an axial direction, to drive operation enforcement division.
Transmission component provided by the utility model passes through being connected with driving device for one end of the first drive link first
Connect, then, be connected by the first driving section and the second driving section, realize by sliding block be arranged on the first drive link, wherein
First driving section is arranged on the outer wall of the first drive link, and extends along the first drive link axial screw, the setting of the second driving section
On sliding block on first through hole inner wall, and extend along the axial screw of first through hole；Finally, by one end of the second drive link with
Sliding block is connected, and is connected with operation enforcement division by the other end of the second drive link, realizes that driving device drives first to pass
Lever rotates, and to drive the sliding block coordinated with the first drive link to move reciprocatingly along the axial direction of the first drive link, and then drives
Second drive link moves reciprocatingly in an axial direction, to realize the driving to enforcement division of performing the operation.Since the first drive link passes through with sliding block
First driving section and the second driving section are connected, wherein and the first driving section extends along the axial screw of the first drive link, and second
Driving section extends along the axial screw of first through hole, to realize sliding block with the rotation of the first drive link and along the axis of the first drive link
To moving reciprocatingly, therefore when the first drive rod rotation one week, sliding block only moved the distance of a screw pitch, this is but also to sliding block
Movement control it is more accurate, so that it is guaranteed that the accuracy of the control to enforcement division of performing the operation, and then effectively improves operation
Success rate.
In addition, the transmission component in above-mentioned technical proposal provided by the utility model can also have following supplementary technology special
Sign：
In the above-mentioned technical solutions, it is preferable that the transmission component further includes：Bearing and connecting shaft；Bearing is embedded in sliding block
In bearing chamber；Connecting shaft is connected in the inner ring of bearing with the second drive link.
In the technical scheme, first, by bearing in the bearing chamber of sliding block；Then, will be connected with the second biography work(bar
The connecting shaft connect is embedded in the inner ring of bearing, to realize that sliding block drives the second drive link to move reciprocatingly.Connecting shaft is embedded in bearing
Inner ring, first, bearing provides fulcrum for connecting shaft, plays the role of support to connecting shaft, while the bearing also company of caning absorb
Spindle generated vibration when being driven, and then ensure the stability of transmission component transmission；Secondly, bearing can reduce connecting shaft biography
Dynamic friction coefficient, and ensure its rotating accuracy, to improve the accuracy of transmission, and then improve to operation enforcement division
The accuracy of control.
In the above-mentioned technical solutions, it is preferable that one end that the second drive link is connected with connecting shaft is provided with ball-type and connect
Portion；Connecting shaft has been disposed radially the second through-hole and axially disposed fluted, and groove is from the inner wall of the second through-hole to connection
One end of axis extends；Wherein, the diameter of interconnecting piece is more than the diameter of the second drive link, and interconnecting piece is embedded in the second through-hole, and second
Drive link is embedded in groove, so that the second drive link is connected in connecting shaft.
In the technical scheme, first, it is connect by the way that ball-type is arranged in one end that the second drive link is connected with connecting shaft
Portion, and the interconnecting piece is realized the second drive link being fixed on connection in connecting shaft radially the second set through-hole
In axis；Then, by the axially disposed groove of connecting shaft, groove being made to be prolonged from the inner wall of the second through-hole to one end of connecting shaft
It stretches, while by the second drive link in groove, the second drive link is connected in connecting shaft with realizing；It is straight due to interconnecting piece
Diameter be more than the second drive link diameter, thus the axial movement of the second drive link is limited, avoid connecting shaft with
The relative movement of second drive link in an axial direction, and then ensure the stability of transmission, it further improves to enforcement division of performing the operation
Control accuracy.
In the above-mentioned technical solutions, it is preferable that the transmission component further includes：Guide rod and guide sleeve；Guide rod and first
Drive link is arranged in parallel；Guide sleeve is sheathed in the pilot hole of sliding block on guide rod.
In the technical scheme, first, guide rod is set on transmission component, and wherein guide rod and the first drive link is flat
Row；Secondly, pilot hole is set on sliding block, and by guide sleeve in pilot hole；Finally, guide sleeve is sheathed on guide rod
On, to realize to the guiding role of the first drive link, to prevent the first drive link from occurring gliding and deviate in rotation, avoid the
One drive link shakes, to improve the stability of transmission, and then the accuracy for improving the control to enforcement division of performing the operation,
Effectively further improve the success rate of operation.
In the above-mentioned technical solutions, it is preferable that the annular of the circumferentially extending along guide sleeve is provided on the outer wall of guide sleeve
Card slot；Card slot is two, is embedded with baffle ring respectively in two card slots, guide sleeve is fixed on sliding block.
In the technical scheme, annular slot of the setting two along its circumferentially extending first on guide sleeve outer wall；Secondly,
Respectively by embedded baffle ring in two card slots, guide sleeve is fixed on sliding block.By the cooperation of card slot and baffle ring, realize pair
The limit that guide sleeve is axially moveable is avoided and is relatively moved in an axial direction between guide sleeve and sliding block, to realize pair
The guiding role of first drive link, and then ensure the stability of transmission, further improve the control to enforcement division of performing the operation
Accuracy.
In the above-mentioned technical solutions, it is preferable that the second drive link is connected by connecting rod with operation enforcement division.
In the technical scheme, the second drive link is connected by connecting rod with operation enforcement division, realizes the second transmission
Driving of the bar to enforcement division of performing the operation.
In the above-mentioned technical solutions, it is preferable that when enforcement division of performing the operation is folding instrument, folding instrument includes the first noumenon
With the second ontology, the first noumenon and the second ontology are arranged in a crossed manner, and the infall of the first noumenon and the second ontology is rotated by axis pin
Connection；Transmission component further includes：First Transition bar and the second transiting rod, one end and connection of First Transition bar and the second transiting rod
Bar is rotatablely connected, and the other end and the first noumenon of First Transition bar are rotatablely connected, the other end of the second transiting rod and the second ontology
Rotation connection；Wherein, folding instrument is opened or closed with the reciprocating motion of the second drive link.
In the technical scheme, when enforcement division of performing the operation is folding instrument, first, the first noumenon and the second ontology are intersected
Setting；And it is inserted into axis pin in the first noumenon and the second ontology infall, so that the first noumenon is rotatably connected with the second ontology；So
Afterwards, one end of First Transition bar and the second transiting rod is rotatablely connected with connecting rod respectively；Finally, by the another of First Transition bar
End is rotatablely connected with the first noumenon, meanwhile, the other end of the second transiting rod and the second ontology are rotatablely connected.Due to the second transmission
Bar is connected by connecting rod with folding instrument, therefore, when the second drive link moves back and forth, drives coupled connection
Bar moves reciprocatingly, the First Transition bar to drive connecting rod to be rotatablely connected and the rotation of the second transiting rod, and then drives difference
The first noumenon and the second ontology being rotatablely connected with First Transition bar and the second transiting rod rotate, final to realize beating for folding instrument
It is open and close.Since one end of First Transition bar and the second transiting rod and connecting shaft are rotatablely connected, the other end is respectively with first
Ontology and the rotation connection of the second ontology, which achieves connecting rods and the first noumenon and the second ontology to be indirectly connected and connect；Meanwhile by
In the presence of First Transition bar and the second transiting rod, connecting shaft need to only move the opening that shorter distance achieves that folding instrument
And closing, the applicability of product is enhanced, the use scope of product is improved.
In the above-mentioned technical solutions, it is preferable that the transmission component further includes：Holder；Holder is U-shaped；First drive link
One side wall of one end and holder is rotatablely connected, and the other end is connected after another side wall of holder with driving device.
In the technical scheme, by the way that the one side wall of one end of the first drive link and holder to be rotatablely connected, meanwhile, by the
The other end of one drive link is connected after another side wall of holder with driving device, realizes and consolidates to the first drive link
It is fixed, the stability of the first drive link is improved, the first drive link is avoided to generate shaking because of rotation, and then ensures the transmission component
The stability of transmission further improves the accuracy of the control to enforcement division of performing the operation.
The utility model second aspect provides a kind of surgical instrument of operating robot, including such as any of the above-described technical side
Transmission component described in case, therefore, the surgical instrument of the operating robot include the transmission group described in any of the above-described technical solution
Whole advantageous effects of part.
The utility model third aspect provides a kind of operating robot, includes the surgical engine as described in above-mentioned technical proposal
The surgical instrument of device people, therefore, the surgical instrument of the operating robot include the operating robot described in above-mentioned technical proposal
Whole advantageous effects of surgical instrument.
The additional aspect and advantage of the utility model will be set forth in part in the description, partly will be from following description
In become apparent, or recognized by the practice of the utility model.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the utility model will in the description from combination following accompanying drawings to embodiment
Become apparent and is readily appreciated that, wherein：
Fig. 1 shows the structural representation of the surgical instrument of the operating robot of one embodiment according to the present utility model
Figure；
Fig. 2 is the surgical instrument of the operating robot of one embodiment according to the present utility model shown in FIG. 1 along A-A's
Sectional view；
Fig. 3 is the surgical instrument of the operating robot of one embodiment according to the present utility model shown in Fig. 2 at B
Partial enlarged view；
Fig. 4 shows the structural schematic diagram of the connecting shaft of one embodiment according to the present utility model；
Fig. 5 shows the surgical instrument structural representation of the operating robot of another embodiment according to the present utility model
Figure；
Fig. 6 shows the structural schematic diagram of the guide sleeve of one embodiment according to the present utility model；
Fig. 7 shows the surgical instrument structural representation of the operating robot of further embodiment according to the present utility model
Figure；
Fig. 8 is the surgical instrument of the operating robot of further embodiment according to the present utility model shown in Fig. 7 at C
Partial enlarged view；
Wherein, the reference numeral in Fig. 1 to Fig. 8 and the correspondence between component names are：
102 first drive links, 104 sliding blocks, 106 second drive links, 1062 interconnecting pieces, 108 bearings, 110 connecting shafts, 1102
Second through-hole, 1104 grooves, 112 guide rods, 114 guide sleeves, 1142 card slots, 116 First Transition bars, 118 second transiting rods,
120 holders, 20 driving devices, 30 operation enforcement divisions, 302 the first noumenons, 304 second ontologies,
Specific implementation mode
In order to be more clearly understood that the above objects, features, and advantages of the utility model, below in conjunction with the accompanying drawings and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are elaborated in the following description in order to fully understand the utility model, still, this practicality
Novel to be implemented different from other modes described here using other, therefore, the scope of protection of the utility model is simultaneously
It is not limited by following public specific embodiment.
Referring to Fig. 1 to Fig. 8 descriptions according to transmission component, operating robot described in the utility model some embodiments
Surgical instrument and operating robot.
In the utility model first aspect embodiment, as shown in Figure 1 to Figure 3, the utility model provides a kind of transmission
Component is used for the surgical instrument of operating robot, and the surgical instrument of operating robot includes driving device 20 and operation enforcement division
30, transmission component includes：First drive link 102, sliding block 104 and the second drive link 106；One end of first drive link 102 and drive
Dynamic device 20 is connected, and first of the axial screw extension along the first drive link 102 is provided on the outer wall of the first drive link 102
Driving section；Sliding block 104 is provided with first through hole, and the inner wall of first through hole is provided with the of the axial screw extension along first through hole
Two driving sections；Wherein, sliding block 104 is sheathed on the first drive link 102, and the first driving section is adapted with the second driving section；Second
One end of drive link 106 is connected with sliding block 104, and the other end of the second drive link 106 is connected with operation enforcement division 30；Its
In, driving device 20 drives the rotation of the first drive link 102, and sliding block 104 is with the rotation of the first drive link 102 and along the first drive link
102 axial direction moves reciprocatingly, and then the second drive link 106 is driven to move reciprocatingly in an axial direction, with driving operation enforcement division 30.
In this embodiment, first, being connected with driving device 20 by one end of the first drive link 102；Then, lead to
The first driving section and the second driving section is crossed to be connected, realize by sliding block 104 be arranged on the first drive link 102, wherein first
Driving section is arranged on the outer wall of the first drive link 102, and extends along 102 axial screw of the first drive link, and the second driving section is set
It sets on sliding block 104 on first through hole inner wall, and extends along the axial screw of first through hole；Finally, pass through the second drive link 106
One end be connected with sliding block 104, and be connected with operation enforcement division 30 by another section of the second drive link 106, realize and drive
Dynamic device 20 drives the rotation of the first drive link 102, to drive with the sliding block 104 of the first drive link 102 cooperation along the first transmission
The axial direction of bar 102 moves reciprocatingly, and then the second drive link 106 is driven to move reciprocatingly in an axial direction, is executed to operation with realizing
The driving in portion 30.Since the first drive link 102 is connected with sliding block 104 by the first driving section and the second driving section, wherein
First driving section extends along the axial screw of the first drive link 102, and the second driving section extends along the axial screw of first through hole, with
Sliding block 104 is realized with the rotation of the first drive link 102 and the axial direction along the first drive link 102 moves reciprocatingly, therefore when first
Drive link 102 rotates one week, the distance of sliding block 104 movements, one screw pitch, this is but also more to the control of the movement of sliding block 104
Add accurately, so that it is guaranteed that the accuracy of the control to enforcement division 30 of performing the operation, and then effectively improve the success rate of operation.
In one embodiment of the utility model, it is preferable that as shown in figure 3, the transmission component further includes：Bearing 108
With connecting shaft 110；Bearing 108 is in the bearing Room 108 of sliding block 104；Connecting shaft 110 is embedded in the inner ring of bearing 108, and with
Second drive link 106 is connected.
In this embodiment, first, by bearing 108 in the bearing Room 108 of sliding block 104；Then, work(will be passed with second
The connecting shaft 110 that bar is connected is embedded in the inner ring of bearing 108, to realize that sliding block 104 drives the second drive link 106 to do reciprocal fortune
It is dynamic.Connecting shaft 110 is embedded in the inner ring of bearing 108, first, bearing 108 is that connecting shaft 110 provides fulcrum, is risen to connecting shaft 110
The effect of support is arrived, while bearing 108 also can absorb generated vibration when connecting shaft 110 is driven, and then has ensured the transmission
The stability of component transmission；Secondly, bearing 108 can reduce the friction coefficient of the transmission of connecting shaft 110, and ensure its rotating accuracy,
To improve the accuracy of transmission, so the accuracy for improving the control to enforcement division 30 of performing the operation.
In one embodiment of the utility model, it is preferable that as shown in figure 4, the second drive link 106 and connecting shaft 110
The one end being connected is provided with ball-type interconnecting piece 1062；Connecting shaft 110 has been disposed radially the second through-hole 1102, and in an axial direction
It is arranged fluted 1104, groove 1104 is extended from the inner wall of the second through-hole 1102 to one end of connecting shaft 110；Wherein, interconnecting piece
1062 diameter is more than the diameter of the second drive link 106, and interconnecting piece 1062 is embedded in the second through-hole 1102, the second drive link 106
In groove 1104, so that the second drive link 106 is connected in connecting shaft 110.
In this embodiment, first, by the way that ball-type is arranged in one end that the second drive link 106 is connected with connecting shaft 110
Interconnecting piece 1062, and by the interconnecting piece 1062 in the second radially set through-hole 1102 of connecting shaft 110 is realized the
Two drive links 106 are fixed in connecting shaft 110；Then, by 110 axially disposed groove 1104 of connecting shaft, making groove
1104 are extended from the inner wall of the second through-hole 1102 to one end of connecting shaft 110, while the second drive link 106 is embedded in groove 1104
In, the second drive link 106 is connected in connecting shaft 110 with realizing；Since the diameter of interconnecting piece 1062 is more than the second drive link
106 diameter thus limits the axial movement of the second drive link 106, avoids the transmission of connecting shaft 110 and second
The relative movement of bar 106 in an axial direction, and then ensure the stability of transmission, further improve the control to enforcement division 30 of performing the operation
The accuracy of system.
In one embodiment of the utility model, it is preferable that as shown in figure 5, the transmission component further includes：Guide rod
112 and guide sleeve 114；Guide rod 112 is arranged in parallel with the first drive link 102；Guide sleeve 114 is embedded in the pilot hole of sliding block 104
In, and be sheathed on guide rod 112.
In this embodiment, first, guide rod 112, wherein guide rod 112 and the first drive link are set on transmission component
102 is parallel；Secondly, pilot hole is set on sliding block 104, and by guide sleeve 114 in pilot hole；Finally, by guide sleeve 114
It is sheathed on guide rod 112, to realize the guiding role to the first drive link 102, to prevent the first drive link 102 in rotation
Appearance is glided and is deviated, and the first drive link 102 is avoided to shake, to improve the stability of transmission, and then improve pair
The accuracy of the control for enforcement division 30 of performing the operation, effectively further improves the success rate of operation.
In one embodiment of the utility model, it is preferable that as shown in fig. 6, being provided with edge on the outer wall of guide sleeve 114
The annular slot 1142 of the circumferentially extending of guide sleeve 114；Card slot 1142 is two, and baffle ring is embedded with respectively in two card slots 1142,
Guide sleeve 114 to be fixed on sliding block 104.
In this embodiment, annular slot 1142 of the setting two along its circumferentially extending first on 114 outer wall of guide sleeve；
Secondly, guide sleeve 114 is fixed on sliding block 104 by embedded baffle ring in two card slots 1142 respectively.By card slot 1142 with
The cooperation of baffle ring realizes the limit being axially moveable to guide sleeve 114, avoids between guide sleeve 114 and sliding block 104 along axis
To relatively moving, to realize the guiding role to the first drive link 102, and then the stability of transmission is ensured, into
The accuracy for improving the control to enforcement division 30 of performing the operation of one step.
In one embodiment of the utility model, it is preferable that as shown in Figure 7 and Figure 8, the second drive link 106 passes through company
Extension bar is connected with operation enforcement division 30.
In this embodiment, the second drive link 106 is connected by connecting rod with operation enforcement division 30, realizes the second biography
Driving of the lever 106 to enforcement division 30 of performing the operation.
In one embodiment of the utility model, it is preferable that as shown in Figure 7 and Figure 8, when operation enforcement division 30 is folding
When instrument, folding instrument includes the first noumenon 302 and the second ontology 304, and the first noumenon 302 and the second ontology 304 are arranged in a crossed manner,
The first noumenon 302 and the infall of the second ontology 304 are rotatablely connected by axis pin；Transmission component further includes：First Transition bar 116
With the second transiting rod 118, one end and the connecting rod of First Transition bar 116 and the second transiting rod 118 are rotatablely connected, First Transition bar
116 other end is rotatablely connected with the first noumenon 302, and the other end of the second transiting rod 118 and the second ontology 304 are rotatablely connected；
Wherein, folding instrument is opened or closed with the reciprocating motion of the second drive link 106.
In this embodiment, when enforcement division 30 of performing the operation is folding instrument, first, by the first noumenon 302 and the second ontology
304 is arranged in a crossed manner；And it is inserted into axis pin in the first noumenon 302 and 304 infall of the second ontology, make the first noumenon 302 and second
Body 304 is rotatably connected；Then, one end of First Transition bar 116 and the second transiting rod 118 is rotated with connecting rod respectively and is connected
It connects；Finally, the other end of First Transition bar 116 and the first noumenon 302 are rotatablely connected, meanwhile, by the another of the second transiting rod 118
One end is rotatablely connected with the second ontology 304.Since the second drive link 106 is connected by connecting rod with folding instrument, when
When second drive link 106 moves back and forth, coupled connecting rod is driven to move reciprocatingly, to drive connecting rod rotation to connect
The First Transition bar 116 connect and the second transiting rod 118 rotation, and then drive respectively with First Transition bar 116 and the second transiting rod
The first noumenon 302 of 118 rotation connections and the rotation of the second ontology 304, the final opening and closing for realizing folding instrument.Due to
One end of one transiting rod 116 and the second transiting rod 118 and connecting shaft 110 are rotatablely connected, the other end respectively with the first noumenon 302
It is rotatablely connected with the second ontology 304, which achieves connecting rods and the first noumenon 302 and the second ontology 304 to be indirectly connected and connect；Together
When, due to the presence of First Transition bar 116 and the second transiting rod 118, connecting shaft 110 need to move shorter distance and achieve that
The opening and closing for opening and closing instrument, enhance the applicability of product, improve the use scope of product.
In one embodiment of the utility model, it is preferable that as shown in figure 5, the transmission component further includes：Holder 120；
Holder 120 is U-shaped；One end of first drive link 102 is rotatablely connected with a side wall of holder 120, and the other end passes through holder 120
Another side wall after be connected with driving device 20.
In this embodiment, by the way that the one side wall of one end of the first drive link 102 and holder 120 to be rotatablely connected, meanwhile,
It is connected with driving device 20 after the other end of first drive link 102 to be passed through to another side wall of holder 120, realizes to the
The fixation of one drive link 102 improves the stability of the first drive link 102, and the first drive link 102 is avoided to generate rolling because of rotation
It is dynamic, and then ensure the stability of transmission component transmission, further improve the accuracy of the control to enforcement division 30 of performing the operation.
In one embodiment of the utility model, first, driving device 20 provides power and drives 102 turns of the first drive link
It is dynamic.Secondly as sliding block 104 is set on the first biography work(bar, and sliding block 104 and the first drive link 102 pass through screw-thread fit
Connection, in this way when the first drive link 102 rotates, sliding block 104 moves reciprocatingly along the first drive link 102；Meanwhile by sliding block
104 are set in by guide sleeve 114 on guide rod 112, wherein guide rod 112 is arranged in parallel with the first drive link 102, in this way
When sliding block 104 moves reciprocatingly along the first drive link 102, sliding block 104 is by the first drive link 102 and the two of guide rod 112
Point support, it is more steady that this just moves sliding block 104.Again, the second drive link 106 passes through connecting shaft 110 and 104 phase of sliding block
Connection；Specifically connection type is：The insertion of connecting shaft 110 is located in 104 108 indoor bearing of bearing of sliding block, 108 inner ring, then will
The ball-type interconnecting piece 1062 of second drive link 106 is in the second through-hole 1102 of connecting shaft 110, while by the second drive link
106 in the groove 1104 of connecting shaft 110；Since the diameter of interconnecting piece 1062 is more than the diameter of the second drive link 106, simultaneously
1104 diameter of groove is less than 1062 diameter of interconnecting piece, therefore the degree of freedom that connecting shaft 110 is axially moveable is just by 1104 institute of groove
Limitation, and then realize sliding block 104 and the second drive link 106 is driven to move reciprocatingly.Finally, the second drive link 106 passes through connection
Bar is connected with operation enforcement division 30；When enforcement division 30 of performing the operation is folding instrument, specific connection type is：First Transition bar
116 and second transiting rod 118 one end by a fixed pivot in connecting shaft 110, First Transition bar 116 and the second transition
The other end of bar 118 is respectively by a fixed pivot on the first noumenon 302 and the second ontology 304；When connecting shaft 110 is along axis
To when moving reciprocatingly, due to First Transition bar 116 and the second transiting rod 118 by a fixed pivot in connecting shaft 110,
That is one end stress of First Transition bar 116 and the second transiting rod 118, and the other end distinguishes freely-supported in the first noumenon 302 and second
On ontology 304, both ends unbalance stress, and then First Transition bar 116 and the second transiting rod 118 are realized relative to connecting shaft
110 rotations；When First Transition bar 116 and the second transiting rod 118 are rotated relative to connecting shaft 110, can also drive coupled
The first noumenon 302 connect and the second ontology 304 open and close, final to realize, folding instrument with the reciprocating motion of the second drive link 106 and
It opens or closes.
In the utility model second aspect embodiment, the utility model provides a kind of surgical device of operating robot
Tool includes the transmission component as described in above-mentioned any embodiment, and therefore, the surgical instrument of the operating robot includes any of the above-described
Whole advantageous effects of transmission component described in embodiment.
In the utility model third aspect embodiment, the utility model provides a kind of operating robot, including as above
The surgical instrument of the operating robot described in embodiment is stated, therefore, the surgical instrument of the operating robot includes above-described embodiment
Whole advantageous effects of the surgical instrument of the operating robot.
Term " multiple " then refers to two or more in the description of the present invention, unless otherwise restricted clearly,
The orientation or positional relationship of the instructions such as term "upper", "lower" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the utility model and simplify description, specific side must be had by not indicating or implying the indicated device or element
Position, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention；Term " connection ", " installation ",
" fixation " etc. shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally
Connection；It can be directly connected, it can also be indirectly connected through an intermediary.For the ordinary skill in the art,
The concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Term " one embodiment ", " some embodiments ", " specific embodiment " etc. are retouched in the description of the present invention,
It states and means that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained in the utility model at least
In one embodiment or example.In the present invention, schematic expression of the above terms are not necessarily referring to identical reality
Apply example or example.Moreover, the particular features, structures, materials, or characteristics of description can in any one or more embodiments or
It can be combined in any suitable manner in example.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of transmission component is used for the surgical instrument of operating robot, the surgical instrument of the operating robot includes driving
Device and operation enforcement division, which is characterized in that the transmission component includes：
One end of first drive link, first drive link is connected with the driving device, the outer wall of first drive link
On be provided with along first drive link axial screw extension the first driving section；
Sliding block, the sliding block are provided with first through hole, and the inner wall of the first through hole is provided with the axial direction along the first through hole
The second driving section extended spirally；
Wherein, the slide block set is set on first drive link, and first driving section is adapted with second driving section；
One end of second drive link, second drive link is connected with the sliding block, the other end of second drive link with
The operation enforcement division is connected；
Wherein, the driving device drives first drive rod rotation, the sliding block with the rotation of first drive link and
Axial direction along first drive link moves reciprocatingly, and then second drive link is driven to move reciprocatingly in an axial direction, to drive
Move the operation enforcement division.
2. transmission component according to claim 1, which is characterized in that further include：
Bearing, the bearing is in the bearing chamber of the sliding block；
Connecting shaft, the connecting shaft are connected in the inner ring of the bearing with second drive link.
3. transmission component according to claim 2, which is characterized in that
One end that second drive link is connected with the connecting shaft is provided with ball-type interconnecting piece；
The connecting shaft has been disposed radially the second through-hole and axially disposed fluted, and the groove is led to by described second
The inner wall in hole extends to one end of the connecting shaft；
Wherein, the diameter of the interconnecting piece is more than the diameter of second drive link, and the interconnecting piece is embedded in second through-hole
In, second drive link is embedded in the groove, so that second drive link is connected in the connecting shaft.
4. transmission component according to claim 1, which is characterized in that further include：
Guide rod, the guide rod are arranged in parallel with first drive link；
Guide sleeve, the guide sleeve are sheathed in the pilot hole of the sliding block on the guide rod.
5. transmission component according to claim 4, which is characterized in that
The annular slot of the circumferentially extending along the guide sleeve is provided on the outer wall of the guide sleeve；
The card slot is two, is embedded with baffle ring respectively in two card slots, the guide sleeve is fixed on the sliding block.
6. transmission component according to any one of claim 1 to 5, which is characterized in that second drive link passes through company
Extension bar is connected with the operation enforcement division.
7. transmission component according to claim 6, which is characterized in that
When the operation enforcement division is folding instrument, the folding instrument includes the first noumenon and the second ontology, and described first
Ontology and second ontology are arranged in a crossed manner, and the infall of the first noumenon and second ontology is rotated by axis pin to be connected
It connects；
The transmission component further includes：First Transition bar and the second transiting rod, the First Transition bar and second transiting rod
One end and the connecting rod be rotatablely connected, the other end and the first noumenon of the First Transition bar are rotatablely connected, described
The other end of second transiting rod is rotatablely connected with second ontology；
Wherein, the folding instrument is opened or closed with the reciprocating motion of second drive link.
8. transmission component according to any one of claim 1 to 5, which is characterized in that further include：
Holder, the holder are U-shaped；
One end of first drive link is rotatablely connected with a side wall of the holder, and the other end passes through the another of the holder
It is connected with the driving device after a side wall.
9. a kind of surgical instrument of operating robot, which is characterized in that including biography such as described in any item of the claim 1 to 8
Dynamic component.
10. a kind of operating robot, which is characterized in that include the surgical instrument of operating robot as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948625.XU CN207870978U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948625.XU CN207870978U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207870978U true CN207870978U (en) | 2018-09-18 |
Family
ID=63499248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720948625.XU Withdrawn - After Issue CN207870978U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207870978U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374735A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
-
2017
- 2017-07-31 CN CN201720948625.XU patent/CN207870978U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374735A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
| CN107374735B (en) * | 2017-07-31 | 2021-07-20 | 成都博恩思医学机器人有限公司 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
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| CP01 | Change in the name or title of a patent holder |
Address after: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Patentee after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Patentee before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180918 Effective date of abandoning: 20210720 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180918 Effective date of abandoning: 20210720 |