CN209713028U - A kind of multiple degrees of freedom increases the ligature forceps of chucking power - Google Patents
A kind of multiple degrees of freedom increases the ligature forceps of chucking power Download PDFInfo
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- CN209713028U CN209713028U CN201822106668.0U CN201822106668U CN209713028U CN 209713028 U CN209713028 U CN 209713028U CN 201822106668 U CN201822106668 U CN 201822106668U CN 209713028 U CN209713028 U CN 209713028U
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- guide wheel
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- wirerope
- chela
- hand external
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Abstract
The utility model discloses the ligature forceps that a kind of multiple degrees of freedom increases chucking power, the ligature forceps includes that front end clamping device, middle-end supporting mechanism and end winding mechanism three parts are constituted, in which: the front end clamping device is driven seperated, left side closure wirerope by left chela, left side, wirerope is opened in left side, right chela, right side transmission fission, right side closure wirerope, wirerope is opened on right side, articulated shaft forms；The middle-end supporting mechanism is made of midfoot support, axis, left side upper block, right side upper block, preceding pitching wire rope, rear pitching wire rope；The end winding mechanism is made of lower tumbler inside guide wheel in guide wheel in lower tumbler inside guide wheel in guide wheel in bottom spool, axis A, axis B, left hand external, left side inside, left hand external lower tumbler, left side, right hand external, right side inside, right hand external lower tumbler, right side.The ligature forceps can satisfy the composite move of the freedom degrees such as revolution, beat, pitching.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of minimally invasive robot clamping device more particularly to one
Kind is used for the vascular ligation clamper tool of minimally invasive surgical operation robot.
Background technique
The Hem-o-lok folder of existing laparoscopic surgery is a kind of ligation clip, and the ligation clip of existing laparoscopic surgery
Gripper clamp is all manual operation, only revolution freedom degree and clamping DOF, and gripper clamp is not due to angle when surgical
It is well positioned to meet requirement, is made troubles to operation.
Utility model content
In view of the above-mentioned problems existing in the prior art, the utility model provides a kind of knot of multiple degrees of freedom increase chucking power
Prick pincers.The ligature forceps is a kind of operation instrument of medical robot surgery systems, can satisfy revolution, beat, pitching etc.
Gripper clamp can be operated by robot system, turn to the angle convenient for operation, be convenient for by the composite move of freedom degree, doctor
It performs an operation to patient.
The purpose of this utility model is achieved through the following technical solutions:
A kind of multiple degrees of freedom increases the ligature forceps of chucking power, including front end clamping device, middle-end supporting mechanism and end around
Line mechanism three parts are constituted, in which:
The front end clamping device is driven seperated, left side closure wirerope by left chela, left side, wirerope is opened in left side,
Right chela, right side transmission is seperated, right side closure wirerope, wirerope is opened on right side, articulated shaft forms；
The middle-end supporting mechanism by midfoot support, axis, left side upper block, right side upper block, preceding pitching wire rope, after bow
Face upward wirerope composition；
The end winding mechanism is by guide wheel, left side in guide wheel in bottom spool, axis A, axis B, left hand external, left side inside
External lower tumbler, lower tumbler inside left side, guide wheel in right hand external, guide wheel in the inside of right side, right hand external lower tumbler, in right side
Subordinate's guide wheel composition；
The left side closure wirerope and left side open wirerope and are connected in the seperated two sides of left side transmission, and right side is closed steel
Cord and right side open wirerope and are connected in the seperated two sides of right side transmission；
The seperated protrusion axis of the left side transmission is through in the lower shaft hole of left chela, and transmission seperated protrusion axis in right side is through
In the lower shaft hole of right chela, left chela and right chela are hinged by articulated shaft；
The midfoot support top is provided with U-type groove, and the left and right sides is provided with snag axis in the middle part of midfoot support；
The Left Drive fission and right transmission fission are cooperatively connected in the U-type groove on midfoot support top by shaft clearance；
The left side upper block clearance fit is on the left hand projection axis of midfoot support, and right side upper block clearance fit is in
In the right side snag axis of portion's support；
The upper end of the bottom spool is disposed with axis hole A and axis hole B from top to bottom；
Guide wheel in the midfoot support bottom and left side inside, guide wheel in left hand external, guide wheel in the inside of right side, outside right side
Guide wheel is connected in the spool of bottom by axis A in portion；
Lower tumbler, right hand external lower tumbler, right side inside lower tumbler pass through axis inside the left hand external lower tumbler, left side
B is connected in the spool of bottom；
The left side closure wirerope, which is postponed downwards, tangentially bypasses guide wheel in left hand external around postponing after the upper block of left side,
The tangential left hand external lower tumbler that bypasses is postponed again up to the end of bottom spool；
The left side opening wirerope is postponed downwards around guide wheel in the inside of right side, then is postponed tangentially around subordinate in right side
Guide wheel is up to the end of bottom spool；
The right side closure wirerope, which is postponed downwards, tangentially bypasses guide wheel in right hand external around postponing after the upper block of right side,
The tangential right hand external lower tumbler that bypasses is postponed again up to the end of bottom spool；
The right side opening wirerope postpones to postpone after guide wheel in the inside of left side tangentially around subordinate in left side downwards
Guide wheel is up to the end of bottom spool；
The preceding pitching wire rope, rear pitching wire rope are connected in the front and rear sides of midfoot support, and both ends are suitable separately down
Prolong the end until bottom spool.
The utility model has the advantages that
1, under conditions of guaranteeing micro- instrument holders pitching, beat freedom degree, two chelas are seperated with two transmissions
It is combined, forms a laborsaving lever mechanism, increase chela chucking power；
2, midfoot support is designed as upper end and opens U-type groove, middle section two sides tapered plane respectively sets an inclined integrated guide wheel peace
Axis is filled, two commutation guide wheels are respectively placed in thereon, do pivoting with midfoot support, for changing the side of wire rope transfers power
To；Two groups of guide wheels are placed in bottom spool, guarantee that instrument entirety rounding off, no corner angle avoid harm to the human body；
3, one end is biased in the arrangement of wirerope, increases the space of guide wheel placement, so that the diameter of guide wheel increases, steel wire
The cornerite wound on guide wheel of restricting also increases in succession, to extend the service life of wirerope, and improves wirerope
Equivalent working strength integrally improves the service life of micro- instrument.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model ligature forceps front end clamping device；
Fig. 2 is the main view of the utility model ligature forceps；
Fig. 3 is the rearview of the utility model ligature forceps；
Fig. 4 is the side view of the utility model ligature forceps.
Specific embodiment
The technical solution of the utility model is further described with reference to the accompanying drawing, however, it is not limited to this, all
Technical solutions of the utility model are modified or replaced equivalently, without departing from the spirit and model of technical solutions of the utility model
It encloses, should all cover in the protection scope of the utility model.
As shown in Figs 1-4, multiple degrees of freedom provided by the utility model increase the ligature forceps of chucking power by front end clamping device,
Middle-end supporting mechanism and end winding mechanism three parts are constituted, in which:
The front end clamping device is by left chela 101, left side transmission fission 104, left side closure wirerope 107, left side
Open wirerope 123, right chela 102, right side transmission fission 125, right side closure wirerope 124, right side opening wirerope 106, hinge
Spindle 103 forms；
The middle-end supporting mechanism by midfoot support 126, axis 105, left side upper block 121, right side upper block 122, preceding bow
Face upward wirerope 115, rear pitching wire rope 118 forms；
The end winding mechanism is by guide wheel 108 in bottom spool 112, axis A110, axis B111, left hand external, left side
Guide wheel 109 in portion, left hand external lower tumbler 119, lower tumbler 120 inside left side, guide wheel 116 in right hand external, in the inside of right side
Guide wheel 117, right hand external lower tumbler 114, right side inside lower tumbler 113 form；
The two sides that wirerope 123 is connected in left side transmission fission 104 are opened in the left side closure wirerope 107 and left side,
The two sides that wirerope 106 is connected in right side transmission fission 125 are opened on right side closure wirerope 124 and right side；
The middle part of the left chela 101 and right chela 102 is provided with hinged axis hole, and lower end is provided with axis hole, and left side transmission is seperated
104 protrusion axis is through in the lower end axis hole of left chela 101, and the protrusion axis of right side transmission fission 102 is through under right chela 102
It holds in axis hole, articulated shaft 103 passes through left chela 101, the hinged axis hole of right chela 102, and left chela 101, right chela 102 is hinged
Together；
126 top of midfoot support is provided with U-type groove, and the 126 middle part left and right sides of midfoot support is provided with snag axis；
The Left Drive fission 104 and right transmission fission 125 are connected in U-type groove by 105 clearance fit of axis；
121 clearance fit of left side upper block is on the left hand projection axis of midfoot support 126, and the shaft end fourth of the twelve Earthly Branches is flat, on right side
For 122 clearance fit of guide wheel in the right side snag axis of midfoot support 126, the shaft end fourth of the twelve Earthly Branches is flat；
The upper end of the bottom spool 112 is disposed with from top to bottom is provided with axis hole A and axis hole B；
It is led in 126 bottom of midfoot support and guide wheel 109 in guide wheel 108 in left hand external, left side inside, right hand external
Guide wheel 117 is connected to axis hole location A by axis A110 in wheel 116, right side inside；
The left hand external lower tumbler 119, lower tumbler 120 inside left side, right hand external lower tumbler 114, subordinate in right side
Guide wheel 113 is connected to axis hole B location by axis B111；
The left side closure wirerope 107 postpones to postpone after left side upper block 121 tangentially around left hand external downwards
Middle guide wheel 108, then the tangential left hand external lower tumbler 119 that bypasses of postponing is up to the end of bottom spool 112；
The left side opening wirerope 123 is postponed around guide wheel 117 in the inside of right side downwards, then is postponed tangentially around right side
Internal lower tumbler 113 is up to the end of bottom spool 112；
The right side closure wirerope 124 postpones to postpone after right side upper block 122 tangentially around right hand external downwards
Middle guide wheel 116, then the tangential right hand external lower tumbler 114 that bypasses of postponing is up to the end of bottom spool 112；
It opens downward postpone of wirerope 106 and tangentially bypasses left side around postponing after guide wheel 109 in the inside of left side in the right side
Internal lower tumbler 120 is up to the end of bottom spool 112；
The preceding pitching wire rope 115 and rear pitching wire rope 118 are connected in the two sides of midfoot support 126, both ends difference
It postpones downwards up to the end of bottom spool 112.
In the utility model, the multiple degrees of freedom increases the ligature forceps of chucking power in use, by end winding mechanism and control
Device connection processed drives beat and the movement of pitching active wheels thereon by the actuating power of controller, passes through the transmitting of wirerope
So that the actuating power of driver is transmitted to the clamper of micro- instrument front end, chela is made to complete beat and pitching movement.
The utility model is combined two chelas are seperated with two transmissions, forms a laborsaving lever mechanism, increases pincers
Claw clip holding force；Wirerope is placed in wirerope on the outside of chela, is increased guide wheel outer diameter, prolonged by three groups of guide wheel guiding, staggeredly wire
Long service life of steel wire rope realizes the multiple degrees of freedoms composite moves such as beat, pitching, clamping.
Claims (2)
1. the ligature forceps that a kind of multiple degrees of freedom increases chucking power, it is characterised in that the ligature forceps include front end clamping device, in
Supporting mechanism and end winding mechanism three parts is held to constitute, in which:
The front end clamping device opens wirerope, right pincers by left chela, left side transmission fission, left side closure wirerope, left side
Pawl, right side transmission is seperated, right side closure wirerope, wirerope is opened on right side, articulated shaft forms；
The middle-end supporting mechanism is by midfoot support, axis, left side upper block, right side upper block, preceding pitching wire rope, rear pitching steel
Cord composition；
The end winding mechanism is by guide wheel, left hand external in guide wheel in bottom spool, axis A, axis B, left hand external, left side inside
Lower tumbler, lower tumbler inside left side, guide wheel in right hand external, guide wheel in the inside of right side, right hand external lower tumbler, subordinate in right side
Guide wheel composition；
The left side closure wirerope and left side open wirerope and are connected in the seperated two sides of left side transmission, and right side is closed wirerope
Wirerope, which is opened, with right side is connected in the seperated two sides of right side transmission；
The seperated protrusion axis of the left side transmission is through in the lower shaft hole of left chela, and transmission seperated protrusion axis in right side is through right pincers
In the lower shaft hole of pawl, left chela and right chela are hinged by articulated shaft；
The midfoot support top is provided with U-type groove, and the left and right sides is provided with snag axis in the middle part of midfoot support；
The seperated and right transmission fission of the left side transmission is cooperatively connected in the U-type groove on midfoot support top by shaft clearance；
The left side upper block clearance fit is on the left hand projection axis of midfoot support, and right side upper block clearance fit is in middle part branch
In the right side snag axis of support；
The upper end of the bottom spool is disposed with axis hole A and axis hole B from top to bottom；
Guide wheel in the midfoot support bottom and left side inside, guide wheel in left hand external, guide wheel in the inside of right side, in right hand external
Guide wheel is connected in the spool of bottom by axis A；
Lower tumbler, right hand external lower tumbler, right side inside lower tumbler are connected by axis B inside the left hand external lower tumbler, left side
It connects in the spool of bottom；
The left side closure wirerope, which is postponed downwards, tangentially bypasses guide wheel in left hand external around postponing after the upper block of left side, then suitable
Prolong the tangential left hand external lower tumbler that bypasses up to the end of bottom spool；
The left side opening wirerope is postponed downwards around guide wheel in the inside of right side, then is postponed tangentially around lower tumbler inside right side
Until the end of bottom spool；
The right side closure wirerope, which is postponed downwards, tangentially bypasses guide wheel in right hand external around postponing after the upper block of right side, then suitable
Prolong the tangential right hand external lower tumbler that bypasses up to the end of bottom spool；
The right side opening wirerope postpones to postpone after guide wheel in the inside of left side tangentially around lower tumbler inside left side downwards
Until the end of bottom spool；
The preceding pitching wire rope, rear pitching wire rope are connected in the front and rear sides of midfoot support, and both ends are postponed directly separately down
To the end of bottom spool.
2. the ligature forceps that multiple degrees of freedom according to claim 1 increases chucking power, it is characterised in that the left chela and the right side
Hinged axis hole is provided in the middle part of chela, lower end is provided with axis hole, and transmission seperated protrusion axis in left side is through the lower end axis hole of left chela
Interior, transmission seperated protrusion axis in right side is through in the lower end axis hole of right chela, and articulated shaft passes through the articulated shaft of left chela, right chela
Hole is hinged by left chela, right chela.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822106668.0U CN209713028U (en) | 2018-12-15 | 2018-12-15 | A kind of multiple degrees of freedom increases the ligature forceps of chucking power |
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| CN201822106668.0U CN209713028U (en) | 2018-12-15 | 2018-12-15 | A kind of multiple degrees of freedom increases the ligature forceps of chucking power |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498096A (en) * | 2018-12-15 | 2019-03-22 | 苏州康多机器人有限公司 | A kind of multiple degrees of freedom increases the ligature forceps of chucking power |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498096A (en) * | 2018-12-15 | 2019-03-22 | 苏州康多机器人有限公司 | A kind of multiple degrees of freedom increases the ligature forceps of chucking power |
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