CN218684520U - Driving mechanism for enabling tool valve to deflect in multiple directions based on silk thread traction - Google Patents

Abstract

The utility model provides a silk thread tractive-based driving mechanism for enabling tool petals to deflect in multiple directions, which is arranged in a driving part shell connected with a front end executing device and a handle, firstly, the tool petals and joints of a multi-strand silk thread tractive front end executing device are connected, silk threads are tied on a wire spool of a rotating shaft of a driving part, then a motor drives the rotating shaft to rotate, the tool petals deflect in an opening or closing plane when the rotating shaft rotates in the same direction, the tool petals can be opened or closed when the rotating shaft rotates in reverse direction, and finally, the front end executing device can be clamped or loosened; then the other two threads in the driving part can pull the joint, so that the tool flap deflects in a plane vertical to the tool flap, and finally, the front end executing device and the joint can rotate along with the shaft tube by additionally arranging a transmission mechanism. The whole driving mechanism can improve the flexibility of the medical instrument in the using process and reduce the operation difficulty.

Description

Driving mechanism for enabling tool valve to deflect in multiple directions based on silk thread traction

Technical Field

The utility model relates to the field of surgical instruments, concretely relates to make actuating mechanism of multi-direction beat of instrument lamella based on silk thread tractive.

Background

In the minimally invasive surgery operation process, a surgeon opens 2-4 small incisions with the size of 5-10 mm on the body surface of a patient, required surgical instruments are inserted into the abdominal cavity through the small incisions on the body surface of the patient, surgical operations such as cutting and clamping of focus tissue organs are carried out, and the surgical instruments can only move in a narrow inverted-cone-shaped working space with the incisions as vertexes. The existing minimally invasive surgical instrument mainly adopts a manual control straight rod type instrument, an end effector of the instrument only has opening and closing freedom degrees and does not have the function of deflecting joints in multiple directions, the operation flexibility of the instrument is low, and the difficulty of operation is very high. In order to increase the flexibility of the instrument, a more reasonable driving mechanism can be designed at the handheld handle part of the instrument at present, and the device at the front end of the instrument can swing in multiple directions by additionally arranging a reasonable transmission structure, so that the flexibility of the medical instrument for operation is improved, and the operation difficulty is reduced.

Disclosure of Invention

An object of the utility model is to above-mentioned not enough, provide a make actuating mechanism of instrument lamella multi-direction beat based on silk thread tractive.

The utility model adopts the following technical scheme, a make actuating mechanism of multi-direction beat of tool lamella based on silk thread tractive, install in the drive division, front end final controlling element, the joint, the central siphon, the drive division connects gradually, front end final controlling element includes two mutually rotate the tool lamella of connection, the joint is far away/near-end respectively through mutually orthogonal and perpendicular to the central siphon round pin axle one/round pin axle two respectively with two tool lamellas, and the far end of central siphon rotates to be connected, four strands of silk threads pass the distal end of central siphon, every two strands of silk threads form a set, two silk threads in every group of silk threads press close to the both ends of round pin axle two respectively and extend to the distal end of joint, two silk threads in a set of silk threads are connected with the both sides of a tool lamella respectively or friction drive, two silk threads in another group of silk threads are connected with the both sides of another tool lamella respectively or friction drive, the drive tool lamella switches or beat around round pin axle one; the other two silk threads penetrate through the far end of the shaft tube and are respectively connected with one side of the joint near end close to the two ends of the pin shaft, the joint is driven to swing around the pin shaft II, and the near ends of the six silk threads extend into the driving part;

three rotatable rotating shafts I, II and III which are vertical or parallel to the shaft tube are arranged in the driving part, the proximal ends of two groups of silk threads driving the two tool flaps are respectively tied on the rotating shafts I and II and extend and retract along with the rotation of the rotating shafts I and II, two silk threads in each group of silk threads are driven by the rotating shafts driving the extending and retracting of the silk threads to move towards opposite directions, and two silk threads driving the joint to swing towards opposite directions along with the rotation of the rotating shafts III;

still be equipped with four groups motors and drive mechanism in the drive division: two groups of the driving shaft tubes are respectively used for driving the first rotating shaft and the second rotating shaft to rotate, one group of the rest two groups is used for driving the third rotating shaft, and the other group is used for driving the shaft tube to rotate.

When the first rotatable rotating shaft, the second rotatable rotating shaft and the third rotatable rotating shaft are perpendicular to the shaft tube and arranged in the driving portion, four rotatable transmission shafts parallel to the shaft tube are further arranged in the driving portion and are respectively used for transmitting the first rotatable rotating shaft, the second rotatable rotating shaft and the third rotatable rotating shaft through the transmission mechanisms.

When the rotatable first rotating shaft, the rotatable second rotating shaft and the rotatable third rotating shaft are arranged in the driving part in parallel to the shaft tube, a base plate perpendicular to the shaft tube is arranged in the driving part, one ends of the first rotating shaft, the second rotating shaft and the third rotating shaft, which deviate from the shaft tube, are rotatably arranged on the base plate through bearings, guide assemblies corresponding to the extending silk threads of the first rotating shaft, the second rotating shaft and the third rotating shaft are uniformly distributed on the base plate by taking the axis of the shaft tube as the center, after each group of silk threads passes through one guide assembly, the silk threads are wound around the corresponding guide assemblies of the first rotating shaft, the second rotating shaft and the third rotating shaft and extend in parallel to the shaft tube, so that all strands of silk threads do not interfere with each other during extension and retraction; and a transmission shaft which drives the shaft tube to rotate in the driving part is also arranged on the base plate through a bearing at one end which is far away from the shaft tube.

And eight helical gears are fixedly sleeved on the three transmission shafts of the first transmission rotating shaft, the second transmission rotating shaft and the third transmission rotating shaft, seven helical gears are fixedly sleeved on the first transmission rotating shaft, the second transmission rotating shaft and the third transmission rotating shaft, and each eight helical gear is respectively meshed with the corresponding seven helical gear.

The coaxial fixed with helical gear two on the transmission shaft of central siphon, still be equipped with pivot four, the pivot five of perpendicular to central siphon in the drive division, the suit is fixed with helical gear three on the pivot four, and the suit is fixed with coaxial helical gear five and helical gear four on the pivot five, and helical gear two meshes with helical gear five, and helical gear four meshes with helical gear three, the central siphon passes through bearing roll mounting in the drive division to the one end suit that is located the drive division at its central siphon is fixed with helical gear six, and helical gear three meshes with helical gear six, makes the central siphon driven.

The proximal end parts of a group of silk threads of one tool flap are drawn to be respectively wound on a first wire spool and a third wire spool which rotate along with a first rotating shaft in the same direction, and the winding direction of each silk thread is opposite; the proximal ends of a group of wires pulling the other tool petal are respectively wound on the second wire spool and the fourth wire spool which rotate along with the second rotating shaft in the same direction, and the winding direction of each wire is opposite.

The proximal ends of the two silk threads connected with the joint are respectively wound on the two wire reels rotating along the three same directions of the rotating shaft, and the winding direction of each silk thread is opposite.

When pivot one, pivot two, three perpendicular to central siphon of pivot, four transmission shafts that are on a parallel with the central siphon setting include first transmission shaft, secondary drive axle, third transmission shaft, fourth transmission shaft the one end of first transmission shaft, secondary drive axle, third transmission shaft, fourth transmission shaft dorsad central siphon respectively is fixed with a carousel with one heart, and one side that each carousel dorsad central siphon is equipped with eccentric bump, the output of motor is fixed and the rotating device that the carousel can be embedded into each other and be connected.

When pivot one, pivot two, pivot three are on a parallel with the central siphon when pivot one, pivot two, pivot three and fourth transmission shaft pass the base plate after the one, pivot two, one end that pivot three and fourth transmission shaft dorsad central siphon respectively are fixed with a carousel with one heart, and one side that each carousel dorsad central siphon is equipped with eccentric bump, the output of motor is fixed and the rotating device that the carousel can imbed the connection each other.

The utility model has the advantages that: the utility model discloses with silk thread, the exquisite integration of joint actuating mechanism set up in the drive division casing, at first be stranded silk thread tractive front end actuating device's instrument lamella and joint, and tie the silk thread on the wire reel of the pivot of drive division, rethread motor drive pivot rotation, make the instrument lamella beat in its open or closed plane when the pivot syntropy rotates, make the instrument lamella open or close when the pivot counter-rotation, finally realize that front end actuating device can centre gripping or unclamp; then the other two threads in the driving part can pull the joint, so that the tool flap deflects in a plane vertical to the tool flap, and finally, the front end executing device and the joint can rotate along with the shaft tube by additionally arranging a transmission mechanism. The opening plane of the tool flap can rotate around the center of the shaft tube by a certain angle to adapt to the clamped or cut tissue, the opening plane is more accurate in angle of rotation around the center of the shaft tube by controlling the tool flap through the motor, and the whole driving mechanism can improve the flexibility of medical equipment in the using process and reduce the operation difficulty.

Drawings

FIG. 1 is a schematic view of the overall structure of an electric multi-degree-of-freedom flexible medical instrument;

FIG. 2 is a schematic structural diagram of a front end effector of the electric multi-degree-of-freedom flexible medical instrument;

fig. 3 is an exploded perspective view of a first embodiment of the driving portion of the present invention;

fig. 4 is a schematic top view of an exploded view of a first embodiment of the driving unit according to the present invention;

fig. 5 is a first schematic perspective view of a driving portion according to a first embodiment of the present invention;

fig. 6 is a second schematic structural view of the first embodiment of the driving portion of the present invention;

fig. 7 is a schematic structural view of a second embodiment of the driving portion of the present invention;

in the figure: i-handle, II-drive part, VI-joint, VII-front end execution device; 58-helical gear eight, 63-helical gear seven, 72-shaft tube, 73-bearing, 8a, 8b, 8c, 8d, 8e, 8 f-wire, 91-central channel, 92 a-first transmission shaft, 92 b-second transmission shaft, 92 c-third transmission shaft, 92 d-fourth transmission shaft, 93 a-rotating shaft one, 93 b-rotating shaft two, 93 c-rotating shaft three, 93 d-rotating shaft four, 93 e-rotating shaft five, 94 a-wire winding disc one, 94 b-wire winding disc two, 94 c-wire winding disc three, 94 d-wire winding disc four, 54-rotating disc, 54 a-salient point, 58-eight, 63-helical gear seven, 68-helical gear two, 69-helical gear four, 69 a-five, 70-helical gear three, 9-helical gear base plate and 90-guide component.

Detailed Description

The device of the present invention will be described in detail with reference to the accompanying drawings.

The device of the utility model can be applied to a driving part II in the medical appliance shown in figure 1, and the medical appliance mainly comprises a handheld control part I, the driving part II, a joint VI and a front end executing device VII.

As shown in fig. 1 to fig. 2, the driving mechanism for driving the joint to swing is located in the driving portion II, and the near end of the shaft tube 72 is rotatably connected to the far end of the driving portion II; the near end of the joint VI is arranged at the far end of the shaft tube 72, the far end of the joint VI is connected with the front end executing device VII, a central channel 91 is arranged in the joint VI and the shaft tube 72, the far ends of the four silk threads respectively penetrate through the periphery of the joint VI connected with the front end executing device VII to drive the joint VI to swing left and right and open and close relative to the shaft tube 72, and the far ends of the two silk threads respectively penetrate through the shaft tube 72 to be connected with the joint VI to drive the joint VI to swing up and down relative to the shaft tube 72.

As shown in fig. 2, the front end executing device VII includes two tool flaps 17a and 17b rotatably connected to each other, the distal end of the joint VI is rotatably connected to the two tool flaps 17a and 17b by a first pin 31a perpendicular to the shaft tube 72, the proximal end of the joint VI is rotatably connected to the distal end of the shaft tube 72 by a second pin 31b perpendicular to the shaft tube 72, the first pin 31a and the second pin 31b are orthogonal to each other and perpendicular to the shaft tube 72, four wires pass through the distal end of the shaft tube 72, each two wires form a group, the two wires respectively extend to the distal end of the joint VI near the two ends of the second pin 31b, the two wires in the group are respectively connected to or frictionally transmit power to two sides of the tool flap 17a, and the two wires in the other group are respectively connected to or frictionally transmit power to two sides of the other tool flap 17b, so as to drive the tool flap to open or close the tool flap or to swing around the first pin 31 a; and the far ends of the two silk threads which penetrate through the shaft tube 72 are respectively connected with the near ends of the joints VI close to the two ends of the second hinge pins 31b, so that the joints VI are driven to swing around the second hinge pins 31 b. The proximal ends of the six threads extend into the driving part II and are connected to the transmission shaft.

Specifically, as shown in fig. 2 to 4, two threads 8a and 8b pass through the distal end of the shaft tube 72, extend to the distal end of the joint VI near the left and right ends of the second pin 31b to be connected with or frictionally transmitted to the tool flap 17a, respectively, pass through the distal end of the shaft tube 72, extend to the distal end of the joint VI near the left and right ends of the second pin 31b to be connected with or frictionally transmitted to the tool flap 17b, respectively, and drive the tool flap to open and close or to swing around the first pin 31 a; and two silk threads 8e and 8f penetrate through the far end of the shaft tube 72 and are respectively connected with one side of the near end of the joint VI close to the upper end and the lower end of the second pin shaft 31b, so that the joint VI is driven to swing around the second pin shaft 31 b.

As shown in fig. 4, the first rotating shaft 93a and the second rotating shaft 93b are symmetrically disposed on both sides of the shaft tube 72 around the axis of the shaft tube 72, the two threads 8a and 8b are connected or frictionally transmitted with the first rotating shaft 93a and move in opposite directions with the rotation of the first rotating shaft 93a, and the two threads 8c and 8d are connected or frictionally transmitted with the second rotating shaft 93b and move in opposite directions with the rotation of the second rotating shaft 93 b.

The first rotating shaft 93a and the second rotating shaft 93b can rotate in the same direction, the silk thread 8d and the silk thread 8c are used as a group of drawing tool petals 17b, the silk thread 8b and the silk thread 8a are used as a group of drawing tool petals 17a, and the tool petals 17a and the tool petals 17b swing in the same direction, namely, the tool petals 17a and 17b swing towards the left and the right around the first pin shaft 31 a.

The first and second shafts 93a and 93b can rotate in opposite directions, when the first shaft 93a rotates clockwise and the second shaft 93b rotates counterclockwise, one of the threads 8a and 8b of the drawing tool flap 17a retracts and the other extends, at this time, one of the threads 8c and 8d of the drawing tool flap 17b extends and the other retracts, and the two tool flaps move in opposite directions and approach each other, that is, the tool flaps 17a and 17b approach each other. When the first shaft 93a rotates counterclockwise and the second shaft 93b rotates clockwise, the wires 8a and 8b of the pull tool flap 17a extend one while the other retracts, and when the wires 8c and 8d of the pull tool flap 17b retract one while the other extends, the two tool flaps move in opposite directions and away, i.e., the tool flaps 17a and 17b move away from each other.

As shown in fig. 2 and 4, the two threads 8e and 8f are connected to the third rotating shaft 93c or frictionally driven to move in the opposite direction with the rotation of the third rotating shaft 93c, so that the joint VI swings upward and downward around the second pin 31 b.

The 6 threads can finally realize that the front end executing device VII can be opened and closed to finish the clamping action, and can be swung left and right and up and down to adjust the included angle and the direction of the relative shaft tube.

The proximal ends of the six silk threads are respectively tied on rotating shafts in the driving part, and each rotating shaft is arranged in the driving part in a way of being vertical to or parallel to the axle tube.

As a first embodiment, when the rotating shaft for driving the silk thread to stretch and contract is disposed in the driving portion perpendicular to the shaft tube, as shown in fig. 3 to 6, the transmission mechanism for driving the first rotating shaft 93a, the second rotating shaft 93b, and the third rotating shaft 93c further includes helical gears seven 63 respectively sleeved on the first rotating shaft 93a, the second rotating shaft 93b, and the third rotating shaft 93c, helical gears eight 58 are respectively sleeved on the first rotating shaft 92a, the second rotating shaft 92b, and the third rotating shaft 92c, the three helical gears eight 58 are respectively engaged with the three corresponding helical gears seven 63, and bearings are respectively mounted on two ends of the first rotating shaft 92a, the second rotating shaft 92b, and the third rotating shaft 92c, and are rotatably connected to the housing of the driving portion II through the bearings.

As shown in fig. 6, the transmission mechanism for driving the rotation shaft four 93d to rotate includes a rotation shaft four 93d perpendicular to the shaft tube 72 and a rotation shaft five 93e, a helical gear three 70 is sleeved and fixed on the rotation shaft four 93d, a helical gear five 69a and a helical gear four 69 that are coaxial are sleeved and fixed on the rotation shaft five 93e, the helical gear two 68 is engaged with the helical gear five 69a, the helical gear four 69 is engaged with the helical gear three 70, the shaft tube 72 is mounted in the driving portion II by rolling through a bearing 73, and a helical gear six 71 is sleeved and fixed on one end of the shaft tube 72 located in the driving portion II, and the helical gear three 70 is engaged with the helical gear six 71, so that the shaft tube 72 is driven.

As shown in fig. 4, after being sent out from the first rotating shaft 93a, the second rotating shaft 93b, and the third rotating shaft 93c, the six threads respectively go backward through a pair of guide rods, specifically, the threads 8a, 8b, 8e, and 8f go into the shaft tube 72 after being guided by the first guide rod, the threads 8c and 8d go into the shaft tube 72 after being guided by the second guide rod, and the two guide rods are symmetrically distributed on two sides of the shaft tube 72 with the shaft center of the shaft tube 72 as the center, so that the threads of each thread do not interfere with each other in the shaft tube.

One end of each of the first transmission shaft 92a, the second transmission shaft 92b, the third transmission shaft 92c and the fourth transmission shaft 92d, which faces away from the shaft tube 72, is concentrically fixed with a rotating disc 54, and one side of each rotating disc 54, which faces away from the shaft tube 72, is provided with an eccentric convex point 54a. A plurality of motors are arranged in the driving part II, the output ends of the motors are embedded into and tightly connected with the rotary disc 54 and the salient points 54a on the rotary disc 54 through the rotating device, the rotary disc 54 is in transmission pairing with the motors, the motors can drive the rotary disc 54 to drive the transmission shafts to rotate by further rotation, and at the moment, the first transmission shaft 92a, the second transmission shaft 92b, the third transmission shaft 92c and the fourth transmission shaft 92d are respectively driven by the corresponding motors in the driving part II.

As a second embodiment, when the rotating shaft driving the silk threads to stretch and contract is arranged in the driving portion in parallel with the axle tube, the first rotating shaft 93a, the second rotating shaft 93b, and the third rotating shaft 93c are respectively parallel with the axle tube 72, and one end of the rotating shaft opposite to the axle tube 72 is rotatably mounted on the base plate 9 through a bearing, the base plate 9 is perpendicular to the axle tube 72 and is fixedly connected with the driving portion casing, the silk threads 8a and 8b are connected with or frictionally driven by the first rotating shaft 93a, the two silk threads 8c and 8d are connected with or frictionally driven by the second rotating shaft 93b, the silk threads 8e and 8f are connected with or frictionally driven by the third rotating shaft 93c, a plurality of guiding assemblies 90 are mounted on one side surface of the base plate 9 facing the axle tube, each guiding assembly 90 comprises 4 pulleys and a connecting piece, every two pulleys in parallel are used as a group, the rolling shafts of one group of pulleys are perpendicular to the base plate 9, the rolling shafts of the other group of pulleys are parallel to the rotating shafts of 9,4 pulleys and are fixedly arranged on the base plate 9 through connecting pieces, in each guide assembly 90, the pulleys with the rolling shafts perpendicular to the base plate 9 face the corresponding rotating shafts which drive the wires to stretch, and the rolling shafts of the pulleys with the rolling shafts parallel to the base plate 9 are close to the axis of the shaft tube 72, so that after each group of wires are sent out from one rotating shaft, the wires are firstly guided by the pair of pulleys parallel to the base plate 9 and then immediately enter the pair of pulleys perpendicular to the rotating shafts, the wires can be connected to the tool clack at the far end of the shaft tube along the extending direction of the shaft tube, and the wires are not interfered with each other. The fourth transmission shaft 92d is also arranged parallel to the shaft tube 72 and its end facing away from the shaft tube 72 is also rotatably connected to the base plate 9 by means of a bearing. The process of rotating the shaft tube 72 by the fourth transmission shaft 92d is the same as that described above, and the description thereof will not be repeated.

The rotating discs 54 coaxial with the first rotating shaft 93a, the second rotating shaft 93b, the third rotating shaft 93c and the fourth transmission shaft 92d are arranged on one side surface of the substrate 9 away from the shaft tube 72, and one side of each rotating disc 54, which faces away from the shaft tube 72, is provided with an eccentric salient point 54a. Set up a plurality of motors in drive division II, the output of motor passes through rotating device and mutual embedding and zonulae occludens of bump 54a on carousel 54 and the carousel 54, and carousel 54 pairs with the motor drive, and the motor rotates again and just can drive carousel 54 and drive each transmission shaft and rotate, and pivot one 93a, pivot two 93b, pivot three 93c and fourth transmission shaft 92d are driven by the interior corresponding motor of drive division II respectively this moment.

Furthermore, two spools are respectively mounted on the first rotating shaft 93a and the second rotating shaft 93b, wherein the first rotating shaft 93a is fixedly mounted with a first upper spool 94a and a third lower spool 94c, the second rotating shaft 93b is fixedly mounted with a second upper spool 94b and a fourth lower spool 94d, the four spools are used for pulling four wires uniformly distributed in the central passage 91 of the joint VI, the wires 8a and 8b are respectively wound on the first spool 94a and the third spool 94c, the wires 8c and 8d are respectively wound on the second spool 94b and the fourth spool 94d, and distal ends of the four wires respectively penetrate through the periphery of the front end executing device VII connected around the joint VI to drive the front end executing device VII to swing relative to the shaft tube 72. The proximal ends of the two wires 8e, 8f that drive the joint are wound around two spools mounted on the third shaft 93c, respectively.

When the medical instrument is used, a motor is inserted into the driving part II, each turntable 54 is respectively matched with the motor in a transmission mode, the motor rotates to drive the turntables 54 to drive each transmission shaft to rotate, so that the transmission shafts arranged in parallel in the driving part II can rotate simultaneously under the action of the motor, the silk threads are driven to stretch out or retract, meanwhile, the joint VI and the front end execution device VII can rotate at the front end of the shaft tube, the joint finally swings in multiple directions, the joint can rotate, the front end execution device is driven to rotate and swing in multiple directions, and the flexibility of the medical instrument in the using process is improved. When the tool valve is used, only 6 strands of wires are arranged in the shaft tube, no interference exists in the centers of the 6 strands of wires, and after the 6 strands of wires rotate with the shaft tube in a small range, the wires positioned at the near end of the shaft tube cannot be knotted, so that the shaft tube is driven by the driving part to rotate in a small range, and the driving joint and the tool valve can swing at the same time.

Claims (9)

1. A drive mechanism enabling tool flaps to deflect in multiple directions based on silk thread drawing is installed in a drive portion, a front end execution device, a joint, an axle tube and the drive portion are sequentially connected, the front end execution device comprises two tool flaps which are mutually rotatably connected, and the drive mechanism is characterized in that the far/near end of the joint is respectively and rotatably connected with the two tool flaps and the far end of the axle tube through a first pin shaft/a second pin shaft which are mutually orthogonal and perpendicular to the axle tube; the far ends of the six silk threads penetrating through the axle tube are respectively connected with one side of the joint near end close to the two ends of the pin shaft, the joint is driven to deflect around the pin shaft, and the near ends of the six silk threads extend into the driving part;

three rotatable rotating shafts I, II and III which are vertical or parallel to the shaft tube are arranged in the driving part, the proximal ends of two groups of silk threads driving the two tool flaps are respectively tied on the rotating shafts I and II and extend and retract along with the rotation of the rotating shafts I and II, two silk threads in each group of silk threads are driven by the rotating shafts driving the extension and retraction of the silk threads to move in opposite directions, and two silk threads driving the joint to swing in an offset way move in opposite directions along with the rotation of the rotating shafts III;

still be equipped with four groups motors and drive mechanism in the drive division: two groups of the driving shaft tubes are respectively used for driving the first rotating shaft and the second rotating shaft to rotate, one group of the rest two groups is used for driving the third rotating shaft, and the other group is used for driving the shaft tube to rotate.

2. The driving mechanism for multidirectional tool flap deflection based on silk yarn drawing as claimed in claim 1, wherein when the rotatable first rotating shaft, the second rotating shaft and the third rotating shaft are arranged in the driving portion perpendicularly to the axle tube, four rotatable transmission shafts parallel to the axle tube are further arranged in the driving portion and used for respectively transmitting the first rotating shaft, the second rotating shaft, the third rotating shaft and the axle tube through the transmission mechanisms.

3. The driving mechanism enabling the tool flap to deflect in multiple directions based on the wire drawing as claimed in claim 1, wherein when the rotatable first rotating shaft, the second rotating shaft and the third rotating shaft are arranged in the driving portion in parallel to the shaft tube, a base plate perpendicular to the shaft tube is installed in the driving portion, one ends of the first rotating shaft, the second rotating shaft and the third rotating shaft, which are far away from the shaft tube, are rotatably installed on the base plate through bearings, guide assemblies corresponding to the extending wires of the first rotating shaft, the second rotating shaft and the third rotating shaft are uniformly distributed on the base plate by taking the axis of the shaft tube as a center, and the extending wires wound around the first rotating shaft, the second rotating shaft and the third rotating shaft extend in parallel to the shaft tube after passing through the corresponding guide assemblies, so that the wire strands do not interfere with each other during extension and retraction; and a transmission shaft which drives the shaft tube to rotate in the driving part is also arranged on the base plate through a bearing at one end which is far away from the shaft tube.

4. The driving mechanism for multi-directionally deflecting the tool petals based on the wire drawing of claim 2, wherein the first rotating shaft, the second rotating shaft and the third rotating shaft are respectively sleeved with a helical gear eight, the helical gears seven are respectively sleeved and fixed on the first rotating shaft, the second rotating shaft and the third rotating shaft, and each helical gear eight is respectively meshed with the corresponding helical gear seven.

5. The driving mechanism for multidirectional tool flap deflection based on silk thread drawing according to claim 2 or 4, wherein a second helical gear is coaxially fixed on a transmission shaft of the shaft tube, a fourth rotating shaft and a fifth rotating shaft which are perpendicular to the shaft tube are further arranged in the driving portion, a third helical gear is fixedly sleeved on the fourth rotating shaft, a fifth helical gear and a fourth helical gear which are coaxial are fixedly sleeved on the fifth rotating shaft, the second helical gear is meshed with the fifth helical gear, the fourth helical gear is meshed with the third helical gear, the shaft tube is installed in the driving portion in a rolling mode through a bearing, a sixth helical gear is fixedly sleeved on one end, located in the driving portion, of the shaft tube, and the third helical gear is meshed with the sixth helical gear, so that the shaft tube is driven.

6. The driving mechanism for multi-directional tool petal deflection based on wire drawing of claim 1, wherein the proximal ends of a group of wires for drawing a tool petal are wound around the first and third spools rotating in the same direction with the rotating shaft, respectively, and the winding direction of each wire is opposite; the proximal ends of a group of wires pulling the other tool petal are respectively wound on the second wire spool and the fourth wire spool which rotate along with the second rotating shaft in the same direction, and the winding direction of each wire is opposite.

7. The wire-based driving mechanism for tool petal multi-directional deflection as claimed in claim 1, wherein the proximal ends of the two wires connecting the joint are wound around two reels rotating in the same direction with the three rotating shafts, and the winding directions of the two wires are opposite.

8. The driving mechanism for multidirectional tool flap yaw based on silk yarn drawing as claimed in claim 2, wherein when the first, second and third shafts are perpendicular to the shaft tube, the four shafts arranged parallel to the shaft tube include a first shaft, a second shaft, a third shaft and a fourth shaft, a rotating disc is concentrically fixed at each of the ends of the first, second, third and fourth shafts facing away from the shaft tube, an eccentric protrusion is provided at one side of each rotating disc facing away from the shaft tube, and a rotating device capable of being embedded and connected with the rotating disc is fixed at the output end of the motor.

9. The driving mechanism for multidirectional tool flap yaw based on silk yarn drawing as claimed in claim 3, wherein when the first, second and third shafts are parallel to the shaft tube, after the first, second, third and fourth shafts pass through the base plate, a rotating disc is concentrically fixed at each end of the first, second, third and fourth shafts facing away from the shaft tube, an eccentric protruding point is provided at one side of each rotating disc facing away from the shaft tube, and a rotating device capable of being embedded and connected with the rotating disc is fixed at the output end of the motor.

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