CN208926601U - A kind of micro-wound operation robot device - Google Patents
A kind of micro-wound operation robot device Download PDFInfo
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- CN208926601U CN208926601U CN201820941765.9U CN201820941765U CN208926601U CN 208926601 U CN208926601 U CN 208926601U CN 201820941765 U CN201820941765 U CN 201820941765U CN 208926601 U CN208926601 U CN 208926601U
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- pull rod
- flexible element
- sliding block
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Abstract
The utility model belongs to the technical field of operating robot, discloses a kind of micro-wound operation robot device.The micro-wound operation robot device includes bend arm and driving mechanism, bend arm includes the first bend arm and the second bend arm, first bend arm is equipped with the first Flexible element, and the top of the first Flexible element is equipped with the first connecting portion of stationary clamp, and first connecting portion is connected with the first push-pull rod；Second bend arm is equipped with the second Flexible element, and second connecting portion is equipped between the first Flexible element and the second Flexible element, and second connecting portion is connected with the second push-pull rod, and the first push-pull rod is arranged in second connecting portion and connect with first connecting portion.The utility model with the first push-pull rod and the second push-pull rod by being connect respectively using driving mechanism, for driving the first push-pull rod and the push-and-pull of the second push-pull rod, to control the first Flexible element and the bending of the second Flexible element, to realize the biggish bending angle of bend arm.
Description
Technical field
The utility model relates to the technical field of operating robot more particularly to a kind of micro-wound operation robot devices.
Background technique
Minimally Invasive Surgery refers to the operation that the small notch on human body through a bottom line carries out, and also commonly referred to as intervenes
Formula operation, robot assisted Minimally Invasive Surgery are cut by means of the surgical instrument of various visual pattern equipment and advanced dexterity through too small
Mouth enters human body and is treated or diagnosed.
Number of patent application is that the utility model patent of CN201710100601.3 discloses a kind of minimally invasive robot manipulator structure, benefit
With the outer flexible axle and interior flexible axle being mutually socketed, three kinds of movements of mechanical hand may be implemented.The structure is by pulling outer flexible axle and interior
When flexible axle, the outer end under tension of arm body can be made and be bent；When interior flexible axle rotates in outer flexible axle, pull-push piece is driven to push away
Clamp is drawn, is realized and is clamped or open.The bending degree of arm body is limited to the density of fluting in the patent, and may cause bending
The bending angle of arm is not big enough.
It would therefore be highly desirable to need a kind of novel micro-wound operation robot device to solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of micro-wound operation robot devices, to realize the biggish bending of bend arm
Angle.
For this purpose, the utility model uses following technical scheme:
A kind of micro-wound operation robot device, including bend arm and driving mechanism, the bend arm include:
First bend arm, is equipped with the first Flexible element, and the top of first Flexible element is equipped with the of stationary clamp
One interconnecting piece, the first connecting portion are connected with the first push-pull rod；
Second bend arm is equipped with the second Flexible element, between first Flexible element and second Flexible element
Equipped with second connecting portion, the second connecting portion is connected with the second push-pull rod, and first push-pull rod is arranged in described second and connects
It is connect in socket part and with the first connecting portion；
The driving mechanism is connect with first push-pull rod and second push-pull rod respectively, for driving described first
Push-pull rod and second push-pull rod push-and-pull, to control first Flexible element and second Flexible element bending.
Preferably, further including the inner core of the fixed bend arm, the inner core includes transmission component, the driving mechanism
It is connect by the transmission component with first push-pull rod and second push-pull rod.
Preferably, the transmission component includes the first lead screw and the first sliding block for connecting with first threads of lead screw,
First sliding block is fixedly connected with first push-pull rod, is rotated by the first lead screw described in the driving mechanisms control, band
First sliding block and first push-pull rod push-and-pull are moved, to control the first Flexible element bending.
Preferably, the transmission component further includes the second lead screw and the second cunning connecting with second threads of lead screw
Block, second sliding block are fixedly connected with second push-pull rod, are rotated by the second lead screw described in the driving mechanisms control,
Second sliding block and second push-pull rod is driven to push and pull, to control the second Flexible element bending.
Preferably, the transmission component further includes that third lead screw and the third connecting with the third threads of lead screw are sliding
Block, the third sliding block are connected to one end of drawstring, and the other end of the drawstring is connect with the clamp, and the clamp is equipped with multiple
Position spring, is rotated by third lead screw described in the driving mechanisms control, and the third sliding block sliding and the drawstring is driven to draw
It stretches, and the cooperation with the reset spring, to control the folding of the clamp.
Preferably, further including control mechanism, pressure sensor, the control mechanism difference are equipped in the third sliding block
It is connect with the pressure sensor and the driving mechanism.
Preferably, further including supporting mechanism, the inner core is fixed in shell, and the shell and the driving mechanism are logical
Gear connection is crossed, and is fixed in the supporting mechanism, the driving mechanism drives the shell, the inner core and the bending
Arm common rotation.
Preferably, further including end cap, the end cap is detachably connected with the shell.
The utility model has the beneficial effects that
The utility model with the first push-pull rod and the second push-pull rod by connect respectively using driving mechanism, for drive the
One push-pull rod and the second push-pull rod push-and-pull, with control the first Flexible element and the second Flexible element bending, with realize bend arm compared with
Big bending angle.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of micro-wound operation robot device provided by the utility model；
Fig. 2 is the decomposition diagram of end cap in Fig. 1, inner core and shell；
Fig. 3 is the structural schematic diagram of inner core and bend arm in Fig. 2；
Fig. 4 is the schematic cross-section of Fig. 3；
Fig. 5 is the structural schematic diagram of bend arm in Fig. 3.
In figure:
11, the first bend arm；12, the second bend arm；13, clamp；14, first connecting portion；15, second connecting portion；111,
First Flexible element；112, the first push-pull rod；121, the second Flexible element；122, the second push-pull rod；131, reset spring；
31, the first lead screw；32, the second lead screw；33, third lead screw；
41, the first sliding block；42, the second sliding block；43, third sliding block；431, drawstring；432, pressure sensor；
51, the first driving mechanism；52, the second driving mechanism；53, third driving mechanism；54, the 4th driving mechanism；
6, supporting mechanism；61, shell；62, end cap.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, a kind of micro-wound operation robot device provided by the utility model, which includes supporting mechanism
6, driving mechanism, control mechanism and bend arm.Wherein, driving mechanism includes the 4th driving mechanism 54, the 4th driving mechanism 54, outer
Shell 61 and end cap 62 are fixed in supporting mechanism 6, and shell 61 is connect with the 4th driving mechanism 54 by gear (not shown),
4th driving mechanism 54 drives shell 61 and bend arm common rotation.
As shown in Fig. 2, end cap 62 is detachably connected with shell 61, it in this way can be by the inner core being connect with bend arm easily
It is inserted and removed from.Inner core includes transmission component, and driving mechanism is connect by transmission component with bend arm, and controls the curved of bend arm
It is bent.
As shown in figure 3, bend arm includes the first bend arm 11 and the second bend arm 12, transmission component includes the first lead screw 31
With the first sliding block 41 being threadedly coupled with the first lead screw 31, the first sliding block 41 is fixedly connected with the first push-pull rod 112, driving mechanism
It further include the first driving mechanism 51, the second driving mechanism 52 and third driving mechanism 53.Pass through the first driving mechanism 51 control the
The rotation of one lead screw 31 drives the first sliding block 41 and the push-and-pull of the first push-pull rod 112, to control the bending of the first bend arm 11.
Specifically, transmission component further includes the second lead screw 32 and the second sliding block 42 for being threadedly coupled with the second lead screw 32, and
Two sliding blocks 42 are fixedly connected with the second push-pull rod 122, are controlled the rotation of the second lead screw 32 by the second driving mechanism 52, are driven second
Sliding block 42 and the push-and-pull of the second push-pull rod 122, to control the bending of the second bend arm 12.
Specifically, as shown in Figures 3 to 5, transmission component further includes third lead screw 33 and is threadedly coupled with third lead screw 33
Third sliding block 43, third sliding block 43 is connected to one end of drawstring 431, and the other end of drawstring 431 is connect with clamp 13, clamp 13
Equipped with reset spring 131, third lead screw 33 is controlled by third driving mechanism 53 and is rotated, drives the sliding of third sliding block 43 and drawstring
431 stretch, and the cooperation with reset spring 131, to control the folding of clamp 13.
The three of the above kind of drive is simple, and each transmission chain of the robot manipulator structure is single-stage driving, will not band
Carry out very big accumulated error, it is easy to accomplish the accuracy in control.
As shown in figure 4, third sliding block 43 in be equipped with pressure sensor 432, control mechanism respectively with pressure sensor 432 and
Driving mechanism (being herein third driving mechanism 53) connection, when third sliding block 43 pulls back, clamp 13 is clamped, and pressure passes
The signal of stress size is fed back to control mechanism by 432 stress of sensor, pressure sensor 432, and measures the clamping force of clamp 13
Size, thus accurately control operation control.
As shown in figure 5, the first bend arm 11 is equipped with the first Flexible element 111, the top of the first Flexible element 111 is equipped with solid
The first connecting portion 14 of clamp pincers 13, first connecting portion 14 are connected with the first push-pull rod 112.Second bend arm 12 is equipped with the second bullet
Property unit 121, between the first Flexible element 111 and the second Flexible element 121 be equipped with second connecting portion 15, second connecting portion 15 connect
It is connected to the second push-pull rod 122, the first push-pull rod 112 is arranged in second connecting portion 15 and connect with first connecting portion 14.This reality
With novel by utilizing the first driving mechanism 51 and the connection of the first push-pull rod 112 and the second driving mechanism 52 and the second push-pull rod
122 connections, for driving the first push-pull rod 112 and the push-and-pull of the second push-pull rod 122, to control the first Flexible element 111 and second
Flexible element 121 is bent, to realize the bending of the first bend arm 11 and the second bend arm 12, and realizes biggish bend arm
Bending angle.Specifically, the force way of the bend arm are as follows: first connecting portion 14 and second connecting portion 15 are by the first push-and-pull
The pulling force or thrust of bar 112 and the second push-pull rod 122, making first connecting portion 14 and second connecting portion 15, deformation occurs, thus real
The movement that the bend arm of existing manipulator swings.
Obviously, the above embodiments of the present invention is used for the purpose of clearly illustrating examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For the ordinary skill user of fields, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (8)
1. a kind of micro-wound operation robot device, which is characterized in that including bend arm and driving mechanism, the bend arm includes:
First bend arm (11) is equipped with the first Flexible element (111), and the top of first Flexible element (111) is equipped with solid
Clamp clamps the first connecting portion (14) of (13), and the first connecting portion (14) is connected with the first push-pull rod (112)；
Second bend arm (12) is equipped with the second Flexible element (121), first Flexible element (111) and second bullet
Property unit (121) between be equipped with second connecting portion (15), the second connecting portion (15) is connected with the second push-pull rod (122), institute
The first push-pull rod (112) is stated to be arranged in the second connecting portion (15) and connect with the first connecting portion (14)；
The driving mechanism is connect with first push-pull rod (112) and second push-pull rod (122) respectively, for driving
The first push-pull rod (112) and second push-pull rod (122) push-and-pull are stated, to control first Flexible element (111) and described
Second Flexible element (121) bending.
2. micro-wound operation robot device according to claim 1, which is characterized in that further include the fixed bend arm
Inner core, the inner core include transmission component, the driving mechanism by the transmission component and first push-pull rod (112) and
Second push-pull rod (122) connection.
3. micro-wound operation robot device according to claim 2, which is characterized in that the transmission component includes first
Thick stick (31) and the first sliding block (41) being threadedly coupled with first lead screw (31), first sliding block (41) push away with described first
Pull rod (112) is fixedly connected, and is rotated by the first lead screw (31) described in the driving mechanisms control, and first sliding block is driven
(41) it is pushed and pulled with first push-pull rod (112), to control the first Flexible element (111) bending.
4. micro-wound operation robot device according to claim 2, which is characterized in that the transmission component further includes second
Lead screw (32) and the second sliding block (42) being threadedly coupled with second lead screw (32), second sliding block (42) and described second
Push-pull rod (122) is fixedly connected, and is rotated by the second lead screw (32) described in the driving mechanisms control, and second sliding block is driven
(42) it is pushed and pulled with second push-pull rod (122), to control the second Flexible element (121) bending.
5. micro-wound operation robot device according to claim 2, which is characterized in that the transmission component further includes third
Lead screw (33) and the third sliding block (43) being threadedly coupled with the third lead screw (33), the third sliding block (43) are connected to drawstring
(431) other end of one end, the drawstring (431) is connect with the clamp (13), and the clamp (13) is equipped with reset spring
(131), it is rotated by third lead screw (33) described in the driving mechanisms control, drives the third sliding block (43) sliding and described
Drawstring (431) stretches, and the cooperation with the reset spring (131), to control the folding of the clamp (13).
6. micro-wound operation robot device according to claim 5, which is characterized in that it further include control mechanism, described
Pressure sensor (432) are equipped in three sliding blocks (43), the control mechanism respectively with the pressure sensor (432) and the drive
The connection of motivation structure.
7. micro-wound operation robot device according to claim 2, which is characterized in that it further include supporting mechanism (6), it is described
Inner core is fixed in shell (61), and the shell (61) is connect with the driving mechanism by gear, and is fixed on the support
In mechanism (6), the driving mechanism drives the shell (61), the inner core and the bend arm common rotation.
8. micro-wound operation robot device according to claim 7, which is characterized in that further include end cap (62), the end
Lid (62) is detachably connected with the shell (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820941765.9U CN208926601U (en) | 2018-06-19 | 2018-06-19 | A kind of micro-wound operation robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820941765.9U CN208926601U (en) | 2018-06-19 | 2018-06-19 | A kind of micro-wound operation robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208926601U true CN208926601U (en) | 2019-06-04 |
Family
ID=66715277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820941765.9U Active CN208926601U (en) | 2018-06-19 | 2018-06-19 | A kind of micro-wound operation robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208926601U (en) |
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2018
- 2018-06-19 CN CN201820941765.9U patent/CN208926601U/en active Active
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