CN208417419U - Three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism - Google Patents
Three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism Download PDFInfo
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- CN208417419U CN208417419U CN201721698250.2U CN201721698250U CN208417419U CN 208417419 U CN208417419 U CN 208417419U CN 201721698250 U CN201721698250 U CN 201721698250U CN 208417419 U CN208417419 U CN 208417419U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 239000000969 carrier Substances 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 239000007787 solid Substances 0.000 claims description 5
- 241001416181 Axis axis Species 0.000 claims description 3
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 12
- 238000001356 surgical procedure Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model discloses three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanisms.The characteristics such as position, the working space size of RCM mechanism virtual center point directly affect the working performance of Minimally Invasive Surgery machinery.The utility model rotary electric machine makes the rotation in one direction of rotating bar realization；Input motor driven intermediate transmission train makes the rotation in one direction of sleeve realization；Scalpel motor driven scalpel realizes the rotation in a direction, and rope motor control is nested in the movement on one direction of the realization of the scalpel in sleeve.The utility model is under the premise of third planet carrier does translational motion, the motion profile for guaranteeing third planet gear rotation center by non-circular gear is arc section, it is accurate to realize that scalpel carries out the rotation on three directions around virtual center point, and realize that scalpel is moved on the axis for crossing virtual center point, to which surgery location point be accurately positioned in Minimally Invasive Surgery, and mechanism is simple, gear engagement guarantees movement accuracy.
Description
Technical field
The utility model belongs to medical machinery field, is related to Minimally Invasive Surgery machinery, and in particular to a kind of end effector around
The plane train RCM mechanism that some virtual center point fixed makes rotating motion in space.
Background technique
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, depend alone doctor both hands be difficult directly it is complete
It at operation, is completed by means of Minimally Invasive Surgery machinery, RCM mechanism is made extensively in Minimally Invasive Surgery machinery
With.The freedom degree of RCM mechanism, 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 mechanism.
Summary of the invention
The purpose of this utility model is to provide a kind of RCM mechanism according to the requirement of Minimally Invasive Surgery medical instrument.
In order to achieve the above object, the technical solution adopted in the utility model is:
The utility model includes main shaft, rack, rotary electric machine, rotating bar, intermediate transmission train, input motor, hand
Art knife motor, rope, spring, rope motor, sleeve, slideway and scalpel；The rotary electric machine is fixed on the rack；Rotation
One end of bar and the output shaft of rotary electric machine are fixed, and input motor is fixed on the other end of rotating bar；The output shaft of rotary electric machine
It is horizontally disposed, and the output shaft axis for the output shaft axis and rotary electric machine for inputting motor is vertically arranged；The main shaft
It is fixed with the output shaft of input motor.
The intermediate transmission train includes first planet carrier, the first sun gear, the first intermediate gear, the first planet tooth
Wheel, the first jackshaft, the first planet axis, the second planet carrier, the second sun gear, the second intermediate gear, the second planetary gear, second
Jackshaft, the second planet axis, third planet carrier, third sun gear, third intermediate gear, third planet gear, third jackshaft
With third planet axis；One end of first planet carrier is fixed with main shaft；First sun gear is fixed in rotating bar, the
One jackshaft is fixed in the middle part of first planet carrier, and the first planet axis is fixed on the first planet carrier other end；Among described first
Gear is supported on the first jackshaft by bearing, and is engaged with the first sun gear；First planetary gear is supported on by bearing
In first planet axis, and engaged with the first intermediate gear；One end of second planet carrier is fixed with first planetary gear, second sun
Wheel is fixed with the first planet axis；Second jackshaft is fixed in the middle part of the second planet carrier, and the second planet axis is fixed on the second planet carrier
The other end；Second intermediate gear is supported on the second jackshaft by bearing, and is engaged with the second sun gear；Second planetary gear
It is supported in the second planet axis by bearing, and is engaged with the second intermediate gear；One end of third planet carrier and the second planet tooth
Wheel is fixed, and third sun gear is fixed with the second planet axis；Third jackshaft is fixed in the middle part of third planet carrier, and third planet axis is solid
It is scheduled on the third planet carrier other end；Third intermediate gear is supported on third jackshaft by bearing, and is nibbled with third sun gear
It closes；Third planet gear is supported on third planet axis by bearing, and is engaged with third intermediate gear.First sun gear power
Reaching the second planetary gear resultant gear ratio is 1；Third sun gear, third intermediate gear and the third planet gear be
Non-circular gear, under rotary electric machine halted state, the motion profile of third planet gear rotation center is arc section.
The side of the sleeve is fixed with third planet gear, and slideway and sleeve constitute sliding pair；Scalpel is nested in cunning
In road, the top of scalpel and the output shaft of scalpel motor are fixed；Scalpel motor is fixed on slideway；Scalpel motor
Output shaft axis intersects with the output shaft axis of rotary electric machine, and the output of the output shaft axis of scalpel motor and input motor
Axis axis is vertical；Spring is set between slideway and sleeve, and rope motor is fixed on sleeve；Rope one end is fixed on slideway,
The other end is fixed on the output shaft of rope motor.
The slideway is nested in sleeve.
The spring is nested on slideway, and both ends of the spring is limited by the flange on slideway top and the top surface of sleeve respectively,
The spring is compressed spring.
The beneficial effects of the utility model are:
1. the utility model can accurately realize that scalpel is moved around a virtual center point, and realize scalpel in mistake
It is moved on the axis of virtual center point, scalpel can be made to move around the affected part for needing to have an operation, improved operation and cut
Precision, while the mechanism may be implemented scalpel and cut from different angles, easy to operate, can be with electricity consumption at the end of operation
Machine makes scalpel be withdrawn into safe range, can contribute to improve the success rate of operation.
2. three planet carriers of the utility model can be carried out three-level folding exhibition, scalpel is remote from bracket when expansion, increases doctor
The working space of shield personnel, and it is small that storage space is occupied when folding.
3. the execution end of the utility model is thinner, the only sleeve of scalpel is wrapped up, the visual field of medical staff when operation
Preferably.
4. the utility model is using the RCM mechanism of train formula, mechanism is simple, and design principle is simple, design and assembly
In it is easy to accomplish, stable drive is reliable, and movement is gentle.The gear of the mechanism is plane gear, and easy to process and cost is significantly
It reduces, more suitable for production practices.
Detailed description of the invention
Fig. 1 is the intermediate transmission wheel train structure schematic diagram of the utility model.
Fig. 2 is the assembling schematic diagram of the utility model.
Fig. 3 is the assembling schematic diagram of each gear in first planet carrier in the utility model.
Fig. 4 is the assembling schematic diagram of each gear on the second planet carrier in the utility model.
Fig. 5 is the assembling schematic diagram of each gear and scalpel in third planet carrier in the utility model.
In figure: 1, first planet carrier, 2, main shaft, the 3, first sun gear, the 4, first jackshaft, the 5, first center tooth
Wheel, the 6, first planet axis, 7, first planetary gear, the 8, second planet carrier, the 9, second sun gear, the 10, second jackshaft, 11, the
Two intermediate gears, the 12, second planet axis, the 13, second planetary gear, 14, third planet carrier, 15, third sun gear, 16, third
Jackshaft, 17, third intermediate gear, 18, third planet axis, 19, third planet gear, 20, rack, 21, rotary electric machine, 22,
Rotating bar, 23, input motor, 24, scalpel motor, 25, rope, 26, spring, 27, rope motor, 28, sleeve, 29, slideway,
30, scalpel.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1 and Figure 2, three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism, including main transmission
Axis 2, rack 20, rotary electric machine 21, rotating bar 22, intermediate transmission train, input motor 23, scalpel motor 24, rope 25, bullet
Spring 26, rope motor 27, sleeve 28, slideway 29 and scalpel 30；Rotary electric machine 21 is fixed in rack 20；The one of rotating bar 22
It holds and is fixed with the output shaft of rotary electric machine 21, input motor 23 is fixed on the other end of rotating bar 22；The output of rotary electric machine 21
Axis is horizontally disposed, and the output shaft axis of input motor 23 and the output shaft axis of rotary electric machine 21 are vertically arranged；Main shaft 2
It is fixed with the output shaft of input motor 23.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, intermediate transmission train includes first planet carrier 1, in the first sun gear 3, first
Between gear 5, first planetary gear 7, the first jackshaft 4, the first planet axis 6, the second planet carrier 8, in the second sun gear 9, second
Between gear 11, the second planetary gear 13, the second jackshaft 10, the second planet axis 12, third planet carrier 14, third sun gear 15,
Third intermediate gear 17, third planet gear 19, third jackshaft 16 and third planet axis 18；One end of first planet carrier 1 with
Main shaft 2 is fixed；First sun gear 3 is fixed in rotating bar 22, and the first jackshaft 4 is fixed on 1 middle part of first planet carrier, the
One planet axis 6 is fixed on 1 other end of first planet carrier；First intermediate gear 5 is supported on the first jackshaft 4 by bearing, and
It is engaged with the first sun gear 3；First planetary gear 7 is supported in the first planet axis 6 by bearing, and with the first intermediate gear 5
Engagement；One end of second planet carrier 8 and first planetary gear 7 are fixed, and the second sun gear 9 and the first planet axis 6 are fixed；In second
Between axis 10 be fixed on the middle part of the second planet carrier 8, the second planet axis 12 is fixed on 8 other end of the second planet carrier；Second intermediate gear
11 are supported on the second jackshaft 10 by bearing, and are engaged with the second sun gear 9；Second planetary gear 13 is supported by bearing
It is engaged in the second planet axis 12, and with the second intermediate gear 11；One end of third planet carrier 14 and the second planetary gear 13 are solid
Fixed, third sun gear 15 and the second planet axis 12 are fixed；Third jackshaft 16 is fixed on 14 middle part of third planet carrier, the third line
Star axis 18 is fixed on 14 other end of third planet carrier；Third intermediate gear 17 is supported on third jackshaft 16 by bearing, and
It is engaged with third sun gear 15；Third planet gear 19 is supported on third planet axis 18 by bearing, and with third center tooth
17 engagement of wheel.Third sun gear 15, third intermediate gear 17 and third planet gear 19 are non-circular gear.
As shown in Fig. 2, Fig. 5, side and the third planet gear 19 of sleeve 28 are fixed by dental inlay, and slideway 29 is nested in set
In cylinder 28, and sliding pair is constituted with sleeve；Scalpel 30 is nested in slideway 29, the top of scalpel 30 and scalpel motor
24 output shaft is fixed；Scalpel motor 24 is fixed on slideway 29, driving scalpel rotation；The output of scalpel motor 24
Axis axis intersects with the output shaft axis of rotary electric machine 21, and the output shaft axis of scalpel motor 24 and input motor 23
Output shaft axis is vertical；Spring 26 is set between slideway and sleeve, and rope motor 27 is fixed on sleeve；25 one end of rope is fixed
On slideway, the other end is fixed on the output shaft of rope motor.The rotation of rope motor tenses rope, so that compressed spring, real
The longitudinal movement of existing scalpel.
The working principle of three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism:
Power is inputted by 4 motors, and four motors pass through power supply power supply；Rotary electric machine 21 can make rotating bar 22 around x
The rotation in a direction is realized in axis rotation；It inputs motor 23 first planet carrier 1 is driven to relatively rotate bar 22 and rotate, and first too
Sun wheel 3 is fixed with rotating bar 22, and the first sun gear 3 engages with the first intermediate gear 5, the first intermediate gear 5 and the first planet tooth
7 engagement of wheel, so that first planetary gear 7 relatively rotates bar 22 and makees plane motion；First planetary gear 7 and the second planet carrier 8 are solid
It is fixed, so that the second planet carrier 8 relatively rotates bar 22 and makees plane motion；Second sun gear 9 and the first planet axis 6 are fixed, in second
Between gear 11 engaged with the second sun gear 9, the second planetary gear 13 is engaged with the second intermediate gear 11, so that the second planet tooth
13 relative rotation bar 22 of wheel makees plane motion；Second planetary gear 13 and third planet carrier 14 are fixed, so that third planet carrier 14
It relatively rotates bar 22 and makees plane motion；Third sun gear 15 and the second planet axis 12 are fixed, and third planet gear 19 and set
28 dental inlays of cylinder are fixed, and third sun gear 15 is engaged with third intermediate gear 17, third intermediate gear 17 and third planet gear 19
Engagement, so that sleeve rotates the rotation for realizing a direction around y-axis；Scalpel motor 24 drives scalpel 30 to realize one around z-axis
The rotation in a direction, the rope 25 that rope motor 27 is fixed on slideway 29 by folding and unfolding control the operation being nested in sleeve 28
Knife 30 realizes the movement on z-axis direction.The utility model will accurately realize that scalpel carries out three directions around virtual center point O
On rotation, and realize scalpel cross virtual center point O axis on moved, it is also necessary to guarantee following two points: (1) turning
Under dynamic 21 halted state of motor, by each gear engaged transmission in first planet carrier 1 and the second planet carrier 8, to guarantee third
Planet carrier 14 does the translational motion in plane and (does not rotate, need to only accomplish that 3 to the second planetary gear 13 of the first sun gear is whole here
1) resultant gear ratio of a transmission chain is；(2) under the premise of third planet carrier 14 does translational motion, by third sun gear 15,
The non-circular pitch curve of third intermediate gear 17 and third planet gear 19 guarantees the fortune of the rotation center of third planet gear 19
Dynamic rail mark is arc section.The utility model mechanism can accurately realize that scalpel is carried out around virtual center point O (center of circle of arc section)
Rotation on three directions, and realize that scalpel is moved on the axis for crossing virtual center point O, thus in Minimally Invasive Surgery
Surgery location point is accurately positioned, and mechanism is simple, design principle is simple, and easy to accomplish in design and assembly, gear engagement guarantees
Movement accuracy.
Claims (3)
1. three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism, including main shaft, rack, rotary electric machine,
Rotating bar, input motor, scalpel motor, rope, spring, rope motor, sleeve, slideway and scalpel, it is characterised in that: also
Including intermediate transmission train；The rotary electric machine is fixed on the rack；One end of rotating bar and the output shaft of rotary electric machine are solid
Fixed, input motor is fixed on the other end of rotating bar；The output shaft of rotary electric machine is horizontally disposed, and inputs the output shaft axis of motor
The output shaft axis of line and rotary electric machine is vertically arranged；The output shaft of the main shaft and input motor is fixed；
The intermediate transmission train includes first planet carrier, the first sun gear, the first intermediate gear, first planetary gear,
One jackshaft, the first planet axis, the second planet carrier, the second sun gear, the second intermediate gear, the second planetary gear, among second
Axis, the second planet axis, third planet carrier, third sun gear, third intermediate gear, third planet gear, third jackshaft and
Three planet axis；One end of first planet carrier is fixed with main shaft；First sun gear is fixed in rotating bar, in first
Between axis be fixed in the middle part of first planet carrier, the first planet axis is fixed on the first planet carrier other end；First intermediate gear
It is supported on the first jackshaft by bearing, and is engaged with the first sun gear；First planetary gear is supported on first by bearing
In planet axis, and engaged with the first intermediate gear；One end of second planet carrier is fixed with first planetary gear, the second sun gear with
First planet axis is fixed；Second jackshaft is fixed in the middle part of the second planet carrier, and it is another that the second planet axis is fixed on the second planet carrier
End；Second intermediate gear is supported on the second jackshaft by bearing, and is engaged with the second sun gear；Second planetary gear passes through
Bearing is supported in the second planet axis, and is engaged with the second intermediate gear；One end of third planet carrier and the second planetary gear are solid
Fixed, third sun gear is fixed with the second planet axis；Third jackshaft is fixed in the middle part of third planet carrier, and third planet axis is fixed on
The third planet carrier other end；Third intermediate gear is supported on third jackshaft by bearing, and is engaged with third sun gear；The
Three planetary gears are supported on third planet axis by bearing, and are engaged with third intermediate gear；First sun gear power reaches
Second planetary gear resultant gear ratio is 1；Third sun gear, third intermediate gear and the third planet gear is non-circular
Gear, under rotary electric machine halted state, the motion profile of third planet gear rotation center is arc section；
The side of the sleeve is fixed with third planet gear, and slideway and sleeve constitute sliding pair；Scalpel is nested in slideway,
The top of scalpel and the output shaft of scalpel motor are fixed；Scalpel motor is fixed on slideway；The output of scalpel motor
Axis axis intersects with the output shaft axis of rotary electric machine, and the output shaft axis of the output shaft axis of scalpel motor and input motor
Line is vertical；Spring is set between slideway and sleeve, and rope motor is fixed on sleeve；Rope one end is fixed on slideway, another
End is fixed on the output shaft of rope motor.
2. three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism according to claim 1, feature exist
In: the slideway is nested in sleeve.
3. three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism according to claim 1, feature exist
In: the spring is nested on slideway, and both ends of the spring is limited by the flange on slideway top and the top surface of sleeve respectively, described
Spring is compressed spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721698250.2U CN208417419U (en) | 2017-12-08 | 2017-12-08 | Three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721698250.2U CN208417419U (en) | 2017-12-08 | 2017-12-08 | Three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208417419U true CN208417419U (en) | 2019-01-22 |
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ID=65128027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721698250.2U Expired - Fee Related CN208417419U (en) | 2017-12-08 | 2017-12-08 | Three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208417419U (en) |
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2017
- 2017-12-08 CN CN201721698250.2U patent/CN208417419U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190122 |
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| CF01 | Termination of patent right due to non-payment of annual fee |