CN207921244U - Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms - Google Patents
Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms Download PDFInfo
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- CN207921244U CN207921244U CN201721696671.1U CN201721696671U CN207921244U CN 207921244 U CN207921244 U CN 207921244U CN 201721696671 U CN201721696671 U CN 201721696671U CN 207921244 U CN207921244 U CN 207921244U
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- gear
- planet carrier
- scalpel
- motor
- slideway
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Abstract
The utility model belongs to medical machinery field, is related to Minimally Invasive Surgery machinery.Purpose is to provide a kind of RCM mechanisms of plane train formula 3R1T, which has the characteristics that surgery location point location is accurate, mechanism is simple, design and assembly are easy.Technical solution is：Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms, it is characterised in that the mechanism includes rack, rotating bar, intermediate transmission train, input motor, rotary electric machine, scalpel motor, rope motor, scalpel slideway, sleeve, spring, rope, scalpel；The intermediate transmission train is driven by input motor；The rotating bar is rotatably positioned in rack, and rotary electric machine is also mounted in rack and drives rotating bar.
Description
Technical field
The invention belongs to medical machinery field, it is related to Minimally Invasive Surgery machinery, and in particular to a kind of end effector is around space
The face wheel RCM mechanisms that some interior fixed virtual center point rotates.
Background technology
With the fast development of science and technology, Minimally Invasive Surgery reaches its maturity and is greatly welcome, compared to traditional hand
The features such as art Minimally Invasive Surgery is wound small, pain is light, it is fast to restore, the hospital stays is short, bleeding is few, reduces traditional operation to human body
Harm, either physiologically or psychological patients are more prone to Minimally Invasive Surgery.
Due to the limitation of notch with patient, Minimally Invasive Surgery operating space is limited, and the both hands for depending doctor alone are difficult directly complete
Typically now all it is to be completed by means of Minimally Invasive Surgery machinery, RCM mechanisms are made extensively in Minimally Invasive Surgery machinery at operation
With.The degree of freedom of RCM mechanisms, the position of virtual center point, the characteristics such as working space size directly affect Minimally Invasive Surgery machinery
Working performance, it is seen that the importance of RCM mechanisms.
Invention content
The purpose of the present invention is overcoming the shortcomings of above-mentioned background technology, a kind of RCM machines of plane train formula 3R1T are provided
Structure, the structure have the characteristics that surgery location point location is accurate, mechanism is simple, design and assembly are easy.
In order to achieve the above object, the technical solution adopted by the present invention is：
Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms, it is characterised in that the mechanism include rack,
Rotating bar, intermediate transmission train, input motor, rotary electric machine, scalpel motor, rope motor, scalpel slideway, sleeve, bullet
Spring, rope, scalpel；The intermediate transmission train is driven by input motor；The rotating bar is rotatably positioned in machine
On frame, rotary electric machine is also mounted in rack and drives rotating bar.
The intermediate transmission train include axis be mutually parallel first gear, second gear, third gear, the 4th tooth
Wheel, the 5th gear, the 6th gear, the 7th gear, eighth gear, the 9th gear and the tenth gear, further include driving shaft, first
Planet carrier, the second planet carrier and third planet carrier, wherein second gear are cluster gear, the 5th gear and the 6th with third gear
Gear is cluster gear；
The first gear is fixed in rotating bar and is engaged with second gear, be also located in first planet carrier and
It can mutually be rotated between first planet carrier；
Three axis being mutually parallel are provided in first planet carrier；Driving shaft coaxially passes through in first gear as first axle
Axis hole after with planet carrier be connected, input motor be fixed in rotating bar and its output shaft driving driving shaft；It is fixedly arranged at the first row
Second axis upper sleeve through of carrier the cluster gear being made of second gear and third gear, and the second gear on the second axis with
The 4th gear engagement consolidated on the third axis of first planet carrier, the 4th gear are also connected by third axis and the second planet carrier；
The cluster gear being made of the 5th gear and the 6th gear is also worn on third axis simultaneously；
The second fixed connecting shaft in the planet carrier other side pass through the 7th gear after again with eighth gear be connected, the 7th gear with
It is connected with third planet carrier while 6th gear engages, the 9th gear and the tenth gear are rotatably positioned in third planet
It is engaged respectively with the tenth gear and eighth gear on the frame and both sides of the 9th gear.
The sleeve is fixed with the tenth gear, and the scalpel slideway is slideably inserted in sleeve, described
Scalpel is rotatably positioned in scalpel slideway；Scalpel motor is fixed on scalpel slideway and drives operation swivel
It is dynamic；The rope motor drives scalpel slideway to be slided along sleeve axis, and the spring is mounted on sleeve and scalpel
Apply pressure on top surface so that scalpel slideway resets between slideway and respectively to sleeve and scalpel slideway.
The rope motor be mounted on sleeve on, the one ends wound of rope on the output shaft of rope motor, rope
The other end is slided slideway with scalpel and is fixedly connected.
The number of teeth of 4th gear is 2 times of the second gear number of teeth, transmission ratio 2；The number of teeth of the third gear
It is 2 times of the 5th number of gear teeth, transmission ratio 0.5；Remaining intermeshing gear ratio is 1.
, the scalpel cusp circles around virtual central point O always.
The plane train formula mechanism can realize three rotations and a movement.
The beneficial effects of the invention are as follows：
1. the present invention solves the problems, such as that plane train formula RCM mechanisms can apply to medical instrument.The mechanism can make hand
Art knife can be such that scalpel is moved around the affected part for needing to have an operation, improve under operation around a virtual fixed point movement
The precision of knife, while the mechanism may be implemented scalpel and cut from different angles, it is easy to operate, it can be used at the end of operation
Motor makes scalpel be withdrawn into safe range, can be to improve the success rate performed the operation to contribute.
2. the present invention is using the RCM mechanisms of train formula, stable drive is reliable, and movement is gentle.The gear of the mechanism is equal
For plane gear, easy to process and cost substantially reduces, more suitable for production practices.
Description of the drawings
Fig. 1 is the intermediate transmission wheel train structure schematic diagram of the present invention.
Fig. 2 is the dimensional structure diagram of the present invention.
Fig. 3 is 1 each gear engagement states figure of planet carrier of the present invention.
Fig. 4 is 2 each gear engagement states figure of planet carrier of the present invention.
Fig. 5 is 3 each gear engagement states figure of planet carrier of the present invention.
Have in figure：1, rack；2, rotary electric machine；3, rotating bar；4, motor is inputted；5, first gear；6, driving shaft；7、
First planet carrier；8, second gear；9, the second axis；10, third gear；11, the 4th gear；12, third axis；13, the 5th gear；
14, the 6th gear；15, the second planet carrier；16, the 7th gear；17, eighth gear；18, third planet carrier；19, the 9th gear；
20, the tenth gear；21, scalpel；22, scalpel slideway；23, sleeve；24, rope motor；25, spring；26, scalpel electricity
Machine；O, virtual center point.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples.
Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms as shown in the figure, including input motor 4,
Rotating bar 3, rotary electric machine 2, rack 1, scalpel motor 26, rope, spring 25, rope motor 24, sleeve 23, scalpel slideway
22, scalpel 21 and intermediate transmission train；Intermediate transmission train include axis be mutually parallel first gear, second gear,
Third gear, the 4th gear, the 5th gear, the 6th gear, the 7th gear, eighth gear, the 9th gear and the tenth gear, also
Including driving shaft, first planet carrier, the second planet carrier and third planet carrier, wherein second gear and third gear are disjunctor tooth
Wheel, the 5th gear and the 6th gear are cluster gear；
Rotating bar 3 is rotatably positioned and (can be positioned by bearing) in rack 1；Rotary electric machine 2 is also fixedly mounted on machine
On frame 1, and rotating bar 3 is driven to rotate.Power is defeated by driving shaft by input motor, then is transmitted to operation through intermediate transmission train
Knife 21.
Second planet carrier 15 and the 4th gear 11 and eighth gear 17 are connected；First gear 5 and rotating bar 3 fix and with
Second gear 8 engages, and is also located in first planet carrier by gear shaft and can mutually be rotated between first planet carrier.
Three axis being mutually parallel are fixed in first planet carrier.Input motor 4 is fixed in rotating bar and its output shaft
Drive (can be driven by the drive mechanism of gear pair etc) driving shaft；Driving shaft coaxially passes through first gear as first axle
It is connected with first planet carrier after axis hole；(jackshaft) upper sleeve through, which, on second axis 9 is made of second gear 8 and third gear 10
Cluster gear, and second gear 8 is engaged with the 4th gear 11 on the third axis 12 of first planet carrier, the 4th gear and third axis
It is connected and is connected by third axis and the second planet carrier 15；It is also worn by the 5th gear 13 and the 6th gear simultaneously on third axis
The cluster gear of 14 compositions；
The connecting shaft for being fixed on the second planet carrier other side is connected with eighth gear 17 again after the 7th gear 16, and the 7th
It is connected with third planet carrier 18 while gear is engaged with the 6th gear, the 9th gear 19 and the tenth gear 20 are rotationally fixed
Position is in third planet carrier, and the both sides of the 9th gear are engaged with the tenth gear and eighth gear respectively.
The gear recommend to use modulus for 2 gear.
As shown in Fig. 2, sleeve 23 is fixed (preferably dental inlay is fixed) with the tenth gear in third planet carrier；Scalpel slideway
22 slideably insert in the sleeve 23, can relative sleeve move axially (formation sliding pair)；Scalpel 21 is rotationally fixed
In scalpel slideway 22, scalpel motor is fixed on scalpel slideway and drives (can be by the transmission of gear pair etc for position
Structure drives) scalpel rotation；Spring 25 is mounted between sleeve 23 and scalpel slideway 22, and respectively to sleeve and operation
Knife slideway applies pushing tow pressure, to provide the power for making scalpel slideway reset.
Rope motor 24 (for existing conventional products) is mounted on sleeve 23, and the one ends wound of rope is in rope motor
On output shaft (preferably rope motor output shaft axis is vertical with the glide direction of scalpel slideway), the other end of rope and operation
Knife slideway is fixedly connected.
As shown in Fig. 2, scalpel is circled around virtual center point O.
The operation principle of three planet carriers, the ten tooth first planet carrier third-level planetary train formula RCM mechanisms：
The mechanism is driven by 4 motors, and rotary electric machine 2 drives rotating bar 3, realizes a rotation；First gear empty set exists
In first planet carrier, input motor 4 transfers power in first planet carrier, drives the second tooth engaged with fixed first gear
Wheel rotation, second gear and third gear are cluster gears, can be transferred power on third gear, and third gear is again with the
Five gears are meshed, and to impart power to the 5th gear, the 5th gear and the 6th gear are cluster gear, the 6th gear with
7th gear engages, and power is reached the 7th gear, final so that the 7th gear angular speed of output is zero, realizes third planet
The translation of frame；In third planet carrier, eighth gear is driven by the second planet carrier, and power is through the 9th gear in third planet carrier
Pass to the tenth gear (being engaged respectively with eighth gear and the tenth gear the 9th gear both sides) in third planet carrier, scalpel
21 are driven by the tenth gear in third planet carrier, realize a rotation；Scalpel motor 26 drives scalpel 21 to rotate；Rope
Rope motor 24 realizes that (or payout is applied by spring 22 for the longitudinal movement of scalpel 21 by shrinking wound rope
Spring force resets).Mechanism is achieved that the movement of 3R1T, i.e. scalpel can carry out three directions around Virtual Space point in this way
On rotation and a direction movement.
Claims (4)
1. three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms, it is characterised in that the mechanism includes rack
(1), rotating bar (3), intermediate transmission train, input motor (4), rotary electric machine (2), scalpel motor (26), rope motor
(24), scalpel slideway (22), sleeve (23), spring (25), rope, scalpel (21)；The intermediate transmission train is by defeated
Enter motor driving；The rotating bar is rotatably positioned in rack, and rotary electric machine is also mounted in rack and drives rotation
Bar
The intermediate transmission train include axis be mutually parallel first gear (5), second gear (8), third gear (10),
4th gear (11), the 5th gear (13), the 6th gear (14), the 7th gear (16), eighth gear (17), the 9th gear (19)
And the tenth gear (20), further include driving shaft (6), first planet carrier (7), the second planet carrier (15) and third planet carrier
(18), wherein second gear and third gear are cluster gear, and the 5th gear and the 6th gear are cluster gear；
The first gear is fixed in rotating bar and is engaged with second gear, is also located in first planet carrier and with
It can mutually be rotated between one planet carrier；
Three axis being mutually parallel are provided in first planet carrier；Driving shaft coaxially passes through the axis on fixed gear as first axle
Kong Houyu planet carriers (7) are connected, and input motor (4) is fixed in rotating bar and its output shaft driving driving shaft；It is fixedly arranged at first
The second axis (9) upper sleeve through of planet carrier the cluster gear being made of second gear (8) and third gear (10), and on the second axis
Second gear engaged with the 4th gear (11) consolidated on the third axis (12) of first planet carrier, the 4th gear also passes through third
Axis and the second planet carrier (15) are connected；It also wears on third axis and to be made of the 5th gear (13) and the 6th gear (14) simultaneously
Cluster gear；
The second fixed connecting shaft in the planet carrier other side is connected with eighth gear (17) again after passing through the 7th gear (16), the 7th tooth
It is connected with third planet carrier (18) while wheel is engaged with the 6th gear, the 9th gear (19) is rotatable with the tenth gear (20)
Ground is located in third planet carrier and the both sides of the 9th gear (19) are engaged with the tenth gear (20) and eighth gear (17) respectively.
2. three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms according to claim 1, feature exist
In：The sleeve is fixed with the tenth gear, and the scalpel slideway is slideably inserted in sleeve, the scalpel
It is rotatably positioned in scalpel slideway；Scalpel motor is fixed on scalpel slideway and scalpel is driven to rotate；It is described
Rope motor drive scalpel slideway to be slided along sleeve axis；The spring is mounted between sleeve and scalpel slideway
And apply the pressure on top surface for making scalpel slideway reset.
3. three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms according to claim 2, feature exist
In：The rope motor is mounted on sleeve, and the one ends wound of rope is on the output shaft of rope motor, the other end of rope
Slideway is slided with scalpel to be fixedly connected.
4. three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms according to claim 3, feature exist
In：The number of teeth of 4th gear is 2 times of the second gear number of teeth, transmission ratio 2；The number of teeth of the third gear is the 5th
2 times of number of gear teeth, transmission ratio 0.5；Remaining intermeshing gear ratio is 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721696671.1U CN207921244U (en) | 2017-12-08 | 2017-12-08 | Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721696671.1U CN207921244U (en) | 2017-12-08 | 2017-12-08 | Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms |
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| Publication Number | Publication Date |
|---|---|
| CN207921244U true CN207921244U (en) | 2018-09-28 |
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ID=63606486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721696671.1U Expired - Fee Related CN207921244U (en) | 2017-12-08 | 2017-12-08 | Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms |
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| Country | Link |
|---|---|
| CN (1) | CN207921244U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194580A (en) * | 2017-12-08 | 2018-06-22 | 开化昌益磁业有限公司 | Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms |
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2017
- 2017-12-08 CN CN201721696671.1U patent/CN207921244U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194580A (en) * | 2017-12-08 | 2018-06-22 | 开化昌益磁业有限公司 | Three planet carriers, ten tooth first planet carrier third-level planetary train formula RCM mechanisms |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180928 Termination date: 20211208 |