CN220237011U - Flexible instrument transmission system and synchronous detection device thereof - Google Patents
Flexible instrument transmission system and synchronous detection device thereof Download PDFInfo
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- CN220237011U CN220237011U CN202323214283.3U CN202323214283U CN220237011U CN 220237011 U CN220237011 U CN 220237011U CN 202323214283 U CN202323214283 U CN 202323214283U CN 220237011 U CN220237011 U CN 220237011U
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- 238000001514 detection method Methods 0.000 title claims abstract description 130
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 58
- 230000005540 biological transmission Effects 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 130
- 238000000926 separation method Methods 0.000 claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 238000010168 coupling process Methods 0.000 claims abstract description 17
- 238000005859 coupling reaction Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 17
- 230000008878 coupling Effects 0.000 claims abstract description 16
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000012546 transfer Methods 0.000 description 6
- 238000005491 wire drawing Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
The utility model discloses a flexible instrument transmission system and a synchronous detection device thereof, which comprise a separation executing mechanism and a synchronous detection mechanism, wherein: the separation executing mechanism is configured with a separation state and a coupling state, and the movement of the flexible instrument is realized through the switching of the separation state and the coupling state; the synchronous detection mechanism comprises a plurality of detection components, the detection components are matched with the separation executing mechanism to realize synchronous detection of motion data of the flexible instrument, and the motion data comprises pressure data, length data and angle data. By adopting the synchronous detection device, the separation executing mechanism can be switched between the separation state and the coupling state to drive the flexible instrument to move, and the synchronous detection mechanism can detect pressure data, length data and angle data in the movement process of the flexible instrument. By adopting the structure of the utility model, the motion data of the flexible instrument can be acquired in real time, so that the detection precision can be improved.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a flexible instrument transmission system and a synchronous detection device thereof.
Background
In the field of medical devices, flexible device delivery systems for delivering flexible devices require real-time acquisition of various parameters of the flexible device delivery process. However, since the layout of the parameter detection devices of the conventional flexible instrument transmission system is unreasonable, the parameter detection devices can affect each other, so that the detection accuracy of each parameter can be affected.
Therefore, how to improve the detection accuracy is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The utility model provides a flexible instrument transmission system and a synchronous detection device thereof, which are used for improving detection precision.
In order to achieve the above object, the present utility model provides the following technical solutions:
in a first aspect, the present utility model provides a synchronous detection device, including a separation executing mechanism and a synchronous detection mechanism, wherein:
the separation executing mechanism is configured with a separation state and a coupling state, and the movement of the flexible instrument is realized through the switching of the separation state and the coupling state;
the synchronous detection mechanism comprises a plurality of detection components, the detection components are matched with the separation executing mechanism, synchronous detection of motion data in the motion process of the flexible instrument is achieved, and the motion data comprise pressure data, length data and angle data.
Optionally, in the synchronous detection device of the embodiment of the present utility model,
the separation actuating mechanism comprises an actuating guide rail module, an omni-wheel mechanism and an actuating drive assembly, wherein:
the execution guide rail module is arranged along a first direction;
one part of the omnidirectional wheel mechanism is arranged at the moving end of the execution guide rail module, the other part of the omnidirectional wheel mechanism is fixed relative to the fixed end of the execution guide rail module, so that the omnidirectional wheel mechanisms are far away from or close to each other, and the flexible instrument passes through the omnidirectional wheel mechanism;
the execution driving assembly is in transmission connection with the omnidirectional wheel mechanism and is fixed around the fixed end of the execution guide rail module;
and/or
The synchronous detection mechanism comprises a pressure detection assembly, a length detection assembly, an angle detection assembly and a circuit board, wherein:
the pressure detection assembly is arranged on the omnidirectional wheel mechanism;
the length detection assembly is arranged on the omnidirectional wheel mechanism and right behind the central line of the omnidirectional wheel mechanism;
the angle detection assembly is arranged on the omnidirectional wheel mechanism and the length detection assembly right behind the central line of the omnidirectional wheel mechanism and is connected with the flexible instrument;
the circuit board is in signal connection with the pressure detection assembly, the length detection assembly and the angle detection assembly to acquire pressure data, length data and angle data of the flexible instrument motion.
Optionally, in the synchronous detection device of the embodiment of the present utility model,
the separation executing mechanism further comprises an elastic pressing component, and the elastic pressing component is arranged between the moving end of the executing guide rail module and the omnidirectional wheel mechanism.
Optionally, in the synchronous detection device of the embodiment of the present utility model,
the elasticity compresses tightly the subassembly and includes holding down plate, sleeve, elastic component and movable plate, wherein:
the lower pressing plate is connected with the movable end of the execution guide rail module;
the first end of the sleeve is arranged on the lower pressing plate;
the moving plate is slidably arranged at the second end of the sleeve;
the elastic piece is arranged in the sleeve in a compressed state and is positioned between the lower pressing plate and the moving plate.
Optionally, in the synchronous detection device of the embodiment of the present utility model,
the sleeve both sides are provided with the opening, and the movable plate is provided with the clearance groove, and the movable plate passes through self thickness and clearance groove and sleeve both sides opening cooperation.
Optionally, in the synchronous detection device of the embodiment of the present utility model,
the omnidirectional wheel mechanism comprises a fixed seat, and a rotary driving wheel shaft system, a rotary driven wheel shaft system, a conveying driving wheel shaft system and a conveying driven wheel shaft system which are arranged on the fixed seat, wherein:
the rotary driving wheel shaft system is relatively fixed with the fixed end of the execution guide rail module and is in transmission connection with the execution driving assembly;
the rotary driven wheel shaft system is relatively fixed with the movable end of the execution guide rail module and can be matched with the rotary driving wheel shaft system to drive the flexible instrument positioned between the rotary driven wheel shaft system and the execution guide rail module to rotate by a preset angle;
the conveying driving wheel shaft system is relatively fixed with the fixed end of the execution guide rail module and is in transmission connection with the execution driving assembly;
the conveying driven wheel shaft system is relatively fixed with the moving end of the execution guide rail module and can be matched with the conveying driving wheel shaft system to drive the flexible instrument positioned between the conveying driven wheel shaft system and the execution guide rail module to convey a preset length.
Optionally, in the synchronous detection device of the embodiment of the present utility model,
the rotation driving wheel shafting comprises a rotation driving wheel, a driving gear and a driven gear, wherein: the driving gear is coaxially provided with at least one rotary driving wheel and is in transmission connection with the execution driving assembly; at least one rotary driving wheel is coaxially arranged on the driven gear, and the driven gear is meshed with the driving gear so that the rotation direction of the driven gear is the same as that of the driving gear;
the rotary driven wheel shafting comprises a rotary driven wheel, and the flexible instrument is tangent to the rotary driven wheel and the rotary driving wheel in a state that the rotary driven wheel is close to the rotary driving wheel;
and/or
The conveying driving wheel shaft system comprises a conveying driving wheel which is in transmission connection with the execution driving assembly;
the conveying driven wheel shaft system comprises a conveying driven wheel, and the flexible instrument is tangent to the conveying driven wheel and the conveying driving wheel in a state that the conveying driven wheel is close to the conveying driving wheel.
Optionally, in the synchronous detection device according to the embodiment of the present utility model, the fixing base includes a rotary upper fixing base, a rotary lower fixing base, a conveying upper fixing base and a conveying lower fixing base, wherein:
the rotary driving wheel shafting is arranged on the rotary lower fixing seat, and the rotary driven wheel shafting is arranged on the rotary upper fixing seat;
the conveying driving wheel shafting is arranged on the conveying lower fixing seat, and the conveying driven wheel shafting is arranged on the conveying upper fixing seat.
Optionally, in the synchronous detection device of the embodiment of the present utility model,
the pressure detection assembly includes a pressure sensor, wherein:
the pressure sensor is arranged between the moving plate of the elastic compression assembly and the fixed seat of the omnidirectional wheel mechanism;
and/or
The length detection assembly comprises a first magnetic block, a first encoder, a guide rail and a stay wire sensor, wherein:
the first magnetic block is arranged on a fixed seat of the omni wheel mechanism and is coaxially arranged with a shaft system of the conveying driven wheel;
the first encoder is arranged on the fixed seat of the omnidirectional wheel mechanism and is coaxial with the first magnetic block;
the guide rail is arranged along the second direction and is positioned below the flexible instrument;
the movable end of the wire drawing sensor is slidably arranged on the guide rail, the fixed end of the wire drawing sensor is fixed relative to the guide rail, and the wire drawing of the wire drawing sensor is fixed with the movable end of the wire drawing sensor and is parallel to the guide rail;
and/or
The angle detection assembly comprises a second magnetic block, a second encoder and a third encoder, wherein:
the second magnetic block is arranged on the fixed seat of the omnidirectional wheel mechanism and is coaxial with the shaft system of the rotary driven wheel;
the first encoder is arranged on the fixed seat of the omnidirectional wheel mechanism and is coaxial with the second magnetic block;
the third encoder is arranged at the movable end of the pull wire sensor of the length detection assembly and is connected with the flexible instrument through the coupler.
In a second aspect, the present utility model provides a flexible instrument transmission system comprising a synchronous detection device as in any one of the preceding claims.
According to the technical scheme, the synchronous detection device provided by the utility model is adopted, the separation executing mechanism can be switched between the separation state and the coupling state to drive the flexible instrument to move, and the synchronous detection mechanism can detect pressure data, length data and angle data in the movement process of the flexible instrument. By adopting the structure of the utility model, the motion data of the flexible instrument can be acquired in real time, so that the detection precision can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present utility model, and it is possible for those of ordinary skill in the art to obtain other drawings from the provided drawings without inventive effort, and to apply the present utility model to other similar situations from the provided drawings. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.
Fig. 1 is a perspective view of a synchronous detection device according to an embodiment of the present utility model;
FIG. 2 is a perspective view of a separation actuator according to an embodiment of the present utility model;
FIG. 3 is a perspective view of an elastic compression assembly according to an embodiment of the present utility model;
fig. 4 is a perspective view of a rotary driving wheel shaft system, a rotary driven wheel shaft system and a fixing seat according to an embodiment of the present utility model;
fig. 5 is a perspective view of a conveying driving wheel shaft system and a conveying driven wheel shaft system assembled with a fixing seat according to an embodiment of the present utility model;
fig. 6 is a perspective view of a synchronous detection mechanism according to an embodiment of the present utility model;
in the figure: 100-separating executing mechanism, 200 is synchronous detecting mechanism;
110-execution guide rail module, 120-omni wheel mechanism, 130-execution driving assembly and 140-elastic compression assembly; 110 a-a first execution rail module, 120 a-a first omni-wheel mechanism, 130 a-a first execution drive assembly, 140 a-a first elastic compression assembly, 110 b-a second execution rail module, 120 b-a second omni-wheel mechanism, 130 b-a second execution drive assembly, 140 b-a second elastic compression assembly;
121-a fixed seat, 122-a rotary driving wheel shaft system, 123-a rotary driven wheel shaft system, 124-a conveying driving wheel shaft system and 125-a conveying driven wheel shaft system;
1211 a-lower rotary holder, 1212 a-upper rotary holder, 1211 b-lower conveying holder, 1212 b-upper conveying holder;
1221-a rotary drive wheel, 1222-a drive gear, 1223-a driven gear; 1231-rotating the driven wheel; 1241-conveying driving wheel, 1251-conveying driven wheel;
141-a lower pressing plate, 142-a sleeve, 143-an elastic piece and 144-a movable plate; 1411-first platen, 1412-second platen, 1421-opening;
210-a pressure detection assembly, 220-a length detection assembly, 230-an angle detection assembly, 240-a circuit board;
211-a pressure sensor, 221-a first magnetic block, 222-a first encoder, 223-a guide rail, 224-a pull wire sensor, 231-a second magnetic block, 232-a second encoder and 233-a third encoder; 2331-coupling, 2241-fixed end, 2242-stay wire, 2243-movable end.
Detailed Description
The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. The described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The linear motor module is a direct drive motor for linear motion. The modularized product has simple structure, high precision, high positioning precision up to + -1 m, high speed, speed over 5m/s and acceleration of 10G (G represents gravitational acceleration, G is approximately equal to 9.80 m/s) 2 ) No loop and long service life. The aluminum profile is not needed, and the aluminum profile is directly installed on a precision platform. At present, the medical instrument uses the execution module to move for a long distance on a large medical instrument, and the required load is large. The module is used in the detection device, the precision is high, the module can be customized, the feedback is easy to realize for a small detection platform, and meanwhile, the noise is small.
The sensor has wide application in the testing device, the precision can be improved, the operation and maintenance of a user are convenient, the safety level can be improved, and the function superposition can be carried out by using multiple sensors in the device without influencing the detection precision of each sensor.
Referring to fig. 1, in some embodiments of the present utility model, a synchronous detection device is disclosed, including a separation actuator 100 and a synchronous detection mechanism 200, wherein:
the separation actuator 100 configures a separation state and a coupling state, and implements movement of the flexible instrument 300 by switching the separation state and the coupling state; the synchronous detection mechanism 200 comprises a plurality of detection components, and the plurality of detection components are matched with the separation executing mechanism 100 to realize synchronous detection of motion data in the motion process of the flexible instrument 300, wherein the motion data comprises pressure data, length data and angle data.
With the synchronous detection device of the present utility model, the separation actuator 100 can be switched between a separation state and a coupling state to drive the flexible instrument 300 to move, and the synchronous detection mechanism 200 can detect pressure data, length data and angle data in the movement process of the flexible instrument 300. The above motion data of the flexible instrument 300 can be acquired in real time by adopting the structure of the utility model, so that the detection precision can be improved.
Referring to fig. 2, a separation actuator 100 in accordance with an embodiment of the present utility model moves a flexible instrument 300, including a rotational motion and/or a delivery motion. Specifically, the separation actuator 100 includes an actuator rail module 110, an omni-wheel mechanism 120, and an actuator drive assembly 130, wherein: the execution guide rail modules 110 are arranged along a first direction X; a part of the omni-wheel mechanism 120 is arranged at the moving end of the execution guide rail module 110, the other part of the omni-wheel mechanism 120 is fixed relative to the fixed end of the execution guide rail module 110, so that the omni-wheel mechanisms 120 are far away from or close to each other, and the flexible instrument 300 passes through the omni-wheel mechanism 120; the actuating drive assembly 130 is in driving connection with the omni-wheel mechanism 120 and is fixed around the fixed end of the actuating rail module 110.
In the above-mentioned separation executing mechanism 100 of the present utility model, the moving end of the execution guide rail module 110 drives one part of the omni-wheel mechanism 120 to be far away from the other part of the omni-wheel mechanism 120 until the separation executing mechanism 100 is in a separation state, at this time, the transmission of the execution driving assembly 130 and the flexible instrument 300 is disconnected, and the flexible instrument 300 does not move; the moving end of the execution guide rail module 110 drives one part of the omni-wheel mechanism 120 to be close to the other part of the omni-wheel mechanism 120 until the separation executing mechanism 100 is in a coupling state, at this time, the execution driving assembly 130 is in transmission connection with the flexible instrument 300, and the flexible instrument 300 moves under the friction action with the omni-wheel mechanism 120.
It should be noted that, the execution guide rail module 110 of the embodiment of the present utility model may be a linear motor module, a screw assembly, or a piston cylinder. Specifically, the execution guide rail module 110 includes a bracket, a motor, a screw, a nut and a slider, wherein the motor is fixed on the bracket and drives the screw to rotate around the axis thereof; the screw rod is rotatably arranged on the bracket and extends along a first direction X; the nut can rotate around the axis of the nut and is arranged on the sliding block, and the nut is in threaded fit with the screw rod; the sliding block can be arranged on the bracket in a reciprocating sliding way along the first direction X. The support may be used as a fixed end of the execution guide rail module 110, and the slider may be used as a moving end of the execution guide rail module 110.
Of course, the above is only one implementation of the execution guide rail module 110, and further, in order to increase the smoothness of the sliding process of the slider, the execution guide rail module 110 may further include a guide rod, where the guide rod is slidingly engaged with the slider.
In order to provide a buffering force between the moving end of the execution rail module 110 and the omni-wheel mechanism 120, in some embodiments of the present utility model, the separation executing mechanism 100 may further include an elastic pressing component 140, where the elastic pressing component 140 is disposed between the moving end of the execution rail module 110 and the omni-wheel mechanism 120. The moving end of the guide rail module 110 drives the elastic pressing component 140 and the omni-wheel mechanism 120 to move towards the direction approaching to the flexible instrument 300, and the omni-wheel mechanism 120 firstly contacts the flexible instrument 300 and generates elastic deformation in the process that the elastic pressing component 140 is continuously approaching. The omnidirectional wheel mechanism 120 and the flexible instrument 300 have a certain pretightening force so as to increase the coupling force between the separation actuating mechanism 100 and the flexible instrument 300, and the flexible instrument 300 is not easy to slip in the transmission process, so that the detection precision of the synchronous detection mechanism 200 is improved.
Referring to fig. 3 in combination with fig. 1 and 2, the elastic pressing assembly 140 includes a lower pressing plate 141, a sleeve 142, an elastic member 143, and a moving plate 144, wherein: the lower pressing plate 141 is connected with the moving end of the execution guide rail module 110; a first end of the sleeve 142 is mounted to the lower platen 141; the moving plate 144 is slidably disposed at the second end of the sleeve 142; the elastic member 143 is disposed in the sleeve 142 in a compressed state and is located between the lower pressing plate 141 and the moving plate 144.
The moving end of the guide rail module 110 drives the elastic pressing assembly 140 and the omni-wheel mechanism 120 to move towards the direction approaching to the flexible instrument 300, the omni-wheel mechanism 120 firstly contacts the flexible instrument 300, and the moving plate 144 compresses the elastic piece 143 in the process that the elastic pressing assembly 140 is continuously approaching to each other, so that the elastic piece 143 is elastically deformed. The omnidirectional wheel mechanism 120 and the flexible instrument 300 have a certain pretightening force so as to increase the coupling force between the separation actuating mechanism 100 and the flexible instrument 300, and the flexible instrument 300 is not easy to slip in the transmission process, so that the detection precision of the synchronous detection mechanism 200 is improved.
The lower platen 141 of the present utility model is used for connecting the execution rail module 110 and the elastic pressing assembly 140, specifically, the lower platen 141 includes a first platen 1411 connected to the moving end of the execution rail module 110 and a second platen 1412 connected to the sleeve 142, where the arrangement form of the first platen 1411 and the second platen 1412 is adjusted according to the structure of the moving end of the execution rail module 110 and the sleeve 142, and the first platen 1411 and the second platen 1412 are vertically arranged in the illustration.
To reduce wobble of the omni-wheel mechanism 120 and the elastic compression assembly 140, in some embodiments of the present utility model, openings 1421 are provided on both sides of the sleeve 142, and the moving plate 144 is provided with a clearance groove, and the moving plate 144 is engaged with the openings 1421 on both sides of the sleeve 142 through its thickness and clearance groove. In this way, during the sliding process of the moving plate 144 in the sleeve 142, the moving plate 144 will not rotate relative to the sleeve 142, and since the moving plate 144 is connected with the omni-wheel mechanism 120, the omni-wheel mechanism 120 will not rotate relative to the sleeve 142, and further, the omni-wheel mechanism 120 will not rotate relative to the lower pressure plate 141, thereby reducing the shake of the omni-wheel mechanism 120 and the elastic pressing assembly 140, and further improving the detection precision of the synchronous detection mechanism 200.
The core structure of the separation actuator 100 for performing separation and coupling is an omni-wheel mechanism 120, and the omni-wheel mechanism 120 is in transmission connection or disconnection with the flexible instrument 300 by being close to or separated from the flexible instrument 300. Specifically, in some embodiments of the present utility model, the omni wheel mechanism 120 includes a fixed seat 121, and a rotary driving wheel shaft 122 and a rotary driven wheel shaft 123 disposed on the fixed seat 121. Wherein: the rotary driving wheel shaft system 122 is relatively fixed with the fixed end of the execution guide rail module 110 and is in transmission connection with the execution driving assembly 130; the rotary driven wheel shaft 123 is fixed relative to the moving end of the execution rail module 110, and can cooperate with the rotary driving wheel shaft 122 to drive the flexible apparatus 300 therebetween to rotate by a predetermined angle.
The moving end of the execution guide rail module 110 drives the rotary driven wheel shafting 123 to move towards the direction close to the rotary driving wheel shafting 122 until the rotary driven wheel shafting 123 is tangent to the flexible instrument 300, and the omnidirectional wheel mechanism 120 is in transmission connection with the flexible instrument 300; executing the operation of the driving assembly 130 to drive the rotary driving wheel shaft system 122 to rotate in a first rotation direction, and rotating the rotary driven wheel shaft system 123 in a second rotation direction under the action of friction with the flexible instrument 300, so as to drive the flexible instrument 300 to rotate in the second rotation direction, wherein the second rotation direction is opposite to the first rotation direction; similarly, the rotational drive shaft 122 rotates in the second rotational direction, and the rotational drive shaft 122 and the flexible instrument 300 rotate in the first rotational direction. The moving end of the execution guide rail module 110 drives the rotary driven wheel shaft system 123 to move away from the rotary driving wheel shaft system 122, and the omni wheel mechanism 120 is disconnected from the flexible instrument 300.
Referring to fig. 4 in conjunction with fig. 1 and 2, in a further aspect, the rotary drive shaft 122 includes a rotary drive wheel 1221, a drive gear 1222, and a driven gear 1223, wherein: the drive gear 1222 is coaxially arranged with at least one rotary drive wheel 1221, the drive gear 1222 being in driving connection with the implement drive assembly 130; the driven gear 1223 is coaxially disposed with at least one rotary driving wheel 1221, and the driven gear 1223 is meshed with the driving gear 1222 through an intermediate gear (not shown in the drawings) so that the driven gear 1223 and the driving gear 1222 are rotated in the same direction; the driven rotating wheel axis 123 includes a driven rotating wheel 1231, the driven rotating wheel 1231 being tangential to the driven rotating wheel 1231 and the driven rotating wheel 1221 when the driven rotating wheel 1231 is in a state of being adjacent to the driven rotating wheel 1221.
Executing the operation of the drive assembly 130, causing the drive gear 1222 to rotate in a first rotational direction, one of the rotary drive wheels 1221 to follow the drive gear 1222 to rotate in the first rotational direction, and the driven gear 1223 to follow the drive gear 1222 to rotate in the first rotational direction due to the meshing of the driven gear 1223 with the drive gear 1222 via the intermediate gear, the other rotary drive wheel 1221 to follow the driven gear 1223 to rotate in the first rotational direction, the rotary motion of the rotary drive wheel 1221 causing the flexible instrument 300 to rotate in a second rotational direction, the rotary motion of the flexible instrument 300 causing the rotary driven wheel 1231 to rotate in the first rotational direction, wherein the second rotational direction is opposite to the first rotational direction; similarly, the drive gear 1222 rotates in a second rotational direction, one of the drive gears 1221, the driven gear 1223, the other drive gear 1221, and the driven gear 1231 rotate in the second rotational direction, and the flexible instrument 300 rotates in the first rotational direction. The moving end of the execution guide rail module 110 drives the rotary driven wheel shaft system 123 to move away from the rotary driving wheel shaft system 122, and the omni wheel mechanism 120 is disconnected from the flexible instrument 300.
In the above disclosure, one implementation of the rotary driving wheel shaft 122 and the rotary driven wheel shaft 123 is disclosed, and in some embodiments of the present utility model, the rotary driving wheel shaft 122 and the rotary driven wheel shaft 123 may have other structures, for example, the number and arrangement directions of the driving gears 1222, the driven gears 1223, the rotary driving wheels 1221 and/or the rotary driven wheels 1231 may be changed, which are not described in detail herein.
Further, referring to fig. 2 in conjunction with fig. 1, the omni-wheel mechanism 120 may further include a conveying driving wheel shaft system 124 and a conveying driven wheel shaft system 125, where the conveying driving wheel shaft system 124 is relatively fixed to the fixed end of the execution guide rail module 110 and is in transmission connection with the execution driving assembly 130; the transport driven wheel shaft 125 is fixed relative to the moving end of the execution rail module 110 and is capable of cooperating with the transport drive wheel shaft 124 to drive the flexible instrument 300 therebetween to transport a predetermined length.
The moving end of the execution guide rail module 110 drives the conveying driven wheel shafting 125 to move towards the direction close to the conveying driving wheel shafting 124 until the conveying driven wheel shafting 125 is tangent to the flexible instrument 300, and the omnidirectional wheel mechanism 120 is in transmission connection with the flexible instrument 300; executing the operation of the driving assembly 130 to drive the conveying driving wheel shaft system 124 to rotate in a third rotation direction, and driving the flexible instrument 300 to convey in a first conveying direction by the conveying driving wheel shaft system 124, and driving the conveying driven wheel shaft system 125 to rotate in a fourth rotation direction by the flexible instrument 300, so that the flexible instrument 300 is conveyed in the first conveying direction, wherein the third rotation direction and the fourth rotation direction are opposite; similarly, the delivery drive shaft 124 rotates in a fourth rotational direction, the delivery drive shaft 124 rotates in a third rotational direction, and the flexible instrument 300 is delivered in a second delivery direction, wherein the second delivery direction is opposite to the first delivery direction. The moving end of the execution guide rail module 110 drives the conveying driven wheel shaft 125 to move away from the conveying driving wheel shaft 124, and the omni wheel mechanism 120 is disconnected from the flexible instrument 300.
Referring to fig. 5 in conjunction with fig. 1 and 2, in a further embodiment, the conveyor drive shaft 124 includes a conveyor drive 1241, one conveyor drive 1241 being drivingly connected to the actuator drive assembly 130; the conveyor driven wheel shafting 125 includes a conveyor driven wheel 1251, the conveyor driven wheel 1251 being tangential to the conveyor driven wheel 1251 and the conveyor drive wheel 1241 in a state of being adjacent to the conveyor drive wheel 1241.
The moving end of the execution guide rail module 110 drives the conveying driven wheel shafting 125 to move towards the direction close to the conveying driving wheel shafting 124 until the conveying driven wheel shafting 125 is tangent to the flexible instrument 300, and the omnidirectional wheel mechanism 120 is in transmission connection with the flexible instrument 300; executing the operation of the driving assembly 130 to drive the conveying driving wheel 1241 to rotate in a third rotation direction and the conveying driven wheel 1251 to rotate in a fourth rotation direction, so as to drive the flexible instrument 300 to convey in the first conveying direction, wherein the third rotation direction and the fourth rotation direction are opposite; similarly, the transfer drive wheel 1241 rotates in a fourth rotational direction, the transfer driven wheel 1251 rotates in a third rotational direction, and the flexible instrument 300 transfers in a second transfer direction, which is opposite to the first transfer direction. The moving end of the execution guide rail module 110 drives the conveying driven wheel shaft 125 to move away from the conveying driving wheel shaft 124, and the omni wheel mechanism 120 is disconnected from the flexible instrument 300.
The number of delivery drive wheels 1241 and delivery driven wheels 1251 are shown as two, although the number may be one or another, as long as the structure that enables delivery of flexible instrument 300 is understood to be the structure described above and is not specifically described herein.
In the foregoing, an implementation manner of the conveying driving wheel shaft 124 and the conveying driven wheel shaft 125 is disclosed, and in some embodiments of the present utility model, the conveying driving wheel shaft 124 and the conveying driven wheel shaft 125 may have other structures, for example, the number and the arrangement direction of the conveying driving wheels 1241 and/or the conveying driven wheels 1251 may be changed, which are not described in detail herein.
In addition, the two conveying driving wheels 1241 may be connected in a driving way or not, and the two conveying driving wheels 1241 are connected in a driving way, for example, a driving way of a belt and a belt pulley or a driving way of a chain wheel and a chain is connected.
It should be noted that, the above-mentioned rotary driving wheel shaft system 122 and rotary driven wheel shaft system 123 cooperate as a group to drive the flexible apparatus 300 to rotate around its own axis; the delivery drive shaft 124 and the delivery driven shaft 125 cooperate in a set to drive the flexible instrument 300 to reciprocate.
The rotary driving shaft system 122 and the conveying driving shaft system 124 may share one fixing seat 121, and may be respectively installed on different fixing seats 121; the rotary driven wheel shaft 123 and the conveying driven wheel shaft 125 may share one fixing seat 121, and may be respectively installed in different fixing seats 121. Specifically, the holders 121 include a lower rotary holder 1211a, an upper rotary holder 1212a, a lower transport holder 1211b, and an upper transport holder 1212b, wherein: the rotary driving wheel shaft system 122 is arranged on the rotary lower fixed seat 1211a, and the rotary driven wheel shaft system 123 is arranged on the rotary upper fixed seat 1212a; the conveying driving wheel shaft system 124 is arranged on the conveying lower fixing seat 1211b, and the conveying driven wheel shaft system 125 is arranged on the conveying upper fixing seat 1212b.
The above-described rotary driving shaft system 122, rotary lower fixed seat 1211a, rotary driven shaft system 123 and rotary upper fixed seat 1212a may be understood as a first omni mechanism 120a, and the conveying driving shaft system 124, conveying lower fixed seat 1211b, conveying driven shaft system 125 and conveying upper fixed seat 1212b may be understood as a second omni mechanism 120b.
Based on the above fixing seat 121, in the embodiment of the present utility model, the execution driving assembly 130 in transmission connection with the rotation driving shaft 122 and the execution driving assembly 130 in transmission connection with the conveying driving shaft 124 may be one execution driving assembly 130, or may be two different execution driving assemblies 130. In the case of two actuator assemblies 130, a first actuator assembly 130a and a second actuator assembly 130b are provided, wherein the first actuator assembly 130a is in transmission connection with the rotary drive shaft 122, and the second actuator assembly 130b is in transmission connection with the transfer drive shaft 124.
Further, the number of the elastic pressing members 140 may be one or two, and when two, the number of the elastic pressing members is two, the first elastic pressing member 140a and the second elastic pressing member 140b are respectively. Similarly, the number of the execution rail modules 110 may be one or two, and when there are two execution rail modules, the number of execution rail modules is first execution rail module 110a and the number of execution rail modules is second execution rail module 110b. The first elastic pressing assembly 140a connects the moving end of the first execution guide rail module 110a and the rotating upper fixing seat 1212a; the second elastic pressing assembly 140b connects the moving end of the second execution rail module 110b with the conveying upper fixing seat 1212b.
The independent driving movement of the rotary driven wheel shaft 123 and the conveying driven wheel shaft 125, and the independent driving of the rotary drive wheel shaft 122 and the conveying drive wheel shaft 124, may drive the flexible apparatus 300 to perform rotary movement, conveying movement, and superposition movement of the rotary movement and the conveying movement, respectively.
Referring to fig. 6 in conjunction with fig. 1, in an embodiment of the present utility model, the synchronous detection mechanism 200 functions in conjunction with the separation actuator 100 to detect movement data of the flexible instrument 300, including pressure data, length data, and angle data.
The synchronous detection mechanism 200 includes a pressure detection assembly 210, a length detection assembly 220, an angle detection assembly 230, and a circuit board 240, wherein: the pressure detection assembly 210 is disposed on the omni-wheel mechanism 120; the length detection component 220 is disposed on the omni-wheel mechanism 120 and directly behind the center line of the omni-wheel mechanism 120; the angle detection assembly 230 is disposed on the omni-wheel mechanism 120 and on the length detection assembly 220 directly behind the center line of the omni-wheel mechanism 120, and is connected to the flexible instrument 300; the circuit board 240 is in signal communication with the pressure sensing assembly 210, the length sensing assembly 220, and the angle sensing assembly 230 to obtain pressure data, length data, and angle data for movement of the flexible instrument 300.
Specifically, the pressure detection assembly 210 includes a pressure sensor 211, wherein: the pressure sensor 211 is installed between the moving plate 144 of the elastic pressing assembly 140 and the fixed seat 121 of the omni wheel mechanism 120.
After the above-mentioned execution guide rail module 110 is powered on and pressed down, the elastic pressing assembly 140 is driven to press down, when the omni-wheel mechanism 120 contacts the flexible instrument 300 and continues to press, the pressure transmitted in the process acts on the pressure detecting assembly 210, and the detection and recording of the pressing force are realized through the circuit board 240.
Specifically, the length detection assembly 220 includes a first magnetic block 221, a first encoder 222, a guide rail 223, and a pull-wire sensor 224, wherein: the first magnetic block 221 is arranged on the fixed seat 121 of the omni wheel mechanism 120 and is coaxially arranged with the conveying driven wheel shaft system 125; the first encoder 222 is mounted on the fixed seat 121 of the omni wheel mechanism 120 and is coaxial with the first magnetic block 221; the guide rail 223 is arranged along the second direction Y and is located below the flexible instrument 300; the fixed end 2241 of the pull wire sensor 224 is fixed relative to the guide rail 223, the pull wire 2242 of the pull wire sensor 224 is parallel to the guide rail 223 and connected with the moving end 2243, and the moving end 2243 is slidably disposed on the guide rail 223.
The first encoder 222 in the length detection assembly 220 is coaxially installed with the conveying driven wheel shaft system 125, the first magnetic block 221 in the first encoder is detected, and the rotating angle value of the conveying driven wheel shaft system 125 is obtained through data processing; the distance value of the flexible instrument 300 moving in the conveying process under the action of friction force can be obtained by calculating the value measured by the first encoder 222 through the circuit board 240 according to a radius arc related data formula, so as to realize detection and recording of the detection value of the conveying distance of the flexible instrument 300. The third encoder 233 is fixed to the guide rail 223 and connected to the movable end 2243 of the wire sensor 224; in the conveying process of the flexible apparatus 300, the third encoder 233 is driven to slide on the guide rail 223, the third encoder 233 drives the moving end 2243 of the pull wire sensor 224 to move, the moving end 2243 of the pull wire sensor 224 drives the pull wire 2242 to release a certain distance, the fixed end 2241 of the pull wire sensor 224 detects the release distance of the pull wire, and the detection and recording of the true value of the conveying distance of the flexible apparatus 300 are realized through the circuit board 240.
Specifically, the angle detection assembly 230 includes a second magnetic block 231, a second encoder 232, and a third encoder 233, wherein: the second magnetic block 231 is arranged on the fixed seat 121 of the omni wheel mechanism 120 and is coaxial with the rotary driven wheel shaft system 123; the first encoder 222 is mounted on the fixed seat 121 of the omni wheel mechanism 120 and is coaxial with the second magnetic block 231; the third encoder 233 is disposed at the moving end 2243 of the pull wire sensor 224 of the length detection assembly 220 and is coupled to the flexible instrument 300 by a coupling 2331.
The second encoder 232 in the angle detection assembly 230 is coaxially arranged with the rotary driven wheel shaft system 123, the second magnetic block 231 is detected, and the value of the rotating angle of the rotary driven wheel shaft system 123 is obtained through data processing; the value of the rotation of the flexible instrument 300 in the rotation process under the action of friction force can be obtained by calculating the value measured by the second encoder 232 through the circuit board 240 according to the radius and related data formulas, so as to realize the detection and recording of the rotation detection value of the flexible instrument 300. The third encoder 233 is directly connected with the flexible instrument 300, and the third encoder 233 is driven to rotate in the rotating process of the flexible instrument 300, so that the detection and recording of the rotation true value of the flexible instrument 300 are realized through the circuit board 240.
The first direction X is perpendicular to the second direction Y, and corresponds to the height direction of the synchronous detection device, and the second direction Y corresponds to the conveying direction of the head apparatus 300.
The utility model also discloses a flexible instrument transmission system which comprises the synchronous detection device described in any technical scheme. Because the above synchronous detection device has the above effects, the flexible instrument transmission system including the synchronous detection device also has corresponding effects, and details thereof are not repeated here.
Wherein, in the description of the embodiments of the present utility model, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone.
The terms "first" and "second" are used above for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
For convenience of description, only a portion related to the present utility model is shown in the drawings. Embodiments of the utility model and features of the embodiments may be combined with each other without conflict.
The above description is only illustrative of the preferred embodiments of the present utility model and the technical principles applied, and is not intended to limit the present utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. The scope of the utility model is not limited to the specific combination of the above technical features, but also covers other technical features formed by any combination of the above technical features or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present utility model (but not limited to) having similar functions are replaced with each other.
Claims (10)
1. The utility model provides a synchronous detection device which characterized in that includes separation actuating mechanism and synchronous detection mechanism, wherein:
the separation executing mechanism is configured into a separation state and a coupling state, and the flexible instrument is moved through switching the separation state and the coupling state;
the synchronous detection mechanism comprises a plurality of detection components, the detection components are matched with the separation executing mechanism, synchronous detection of motion data in the motion process of the flexible instrument is achieved, and the motion data comprise pressure data, length data and angle data.
2. The synchronous detection device according to claim 1, wherein,
the separation actuating mechanism comprises an actuating guide rail module, an omni-wheel mechanism and an actuating drive assembly, wherein:
the execution guide rail modules are arranged along a first direction;
one part of the omnidirectional wheel mechanism is arranged at the moving end of the execution guide rail module, the other part of the omnidirectional wheel mechanism is fixed relative to the fixed end of the execution guide rail module, so that the omnidirectional wheel mechanisms are far away from or close to each other, and the flexible instrument passes through the omnidirectional wheel mechanism;
the execution driving assembly is in transmission connection with the omnidirectional wheel mechanism and is fixed around the fixed end of the execution guide rail module;
and/or
The synchronous detection mechanism comprises a pressure detection assembly, a length detection assembly, an angle detection assembly and a circuit board, wherein:
the pressure detection assembly is arranged on the omnidirectional wheel mechanism;
the length detection assembly is arranged on the omnidirectional wheel mechanism and right behind the central line of the omnidirectional wheel mechanism;
the angle detection assembly is arranged on the omnidirectional wheel mechanism, and the length detection assembly right behind the central line of the omnidirectional wheel mechanism and is connected with the flexible instrument;
the circuit board is in signal connection with the pressure detection assembly, the length detection assembly and the angle detection assembly to acquire pressure data, length data and angle data in the movement process of the flexible instrument.
3. The synchronous detection device according to claim 2, wherein the separation executing mechanism further comprises an elastic pressing component, and the elastic pressing component is arranged between the moving end of the executing guide rail module and the omni-wheel mechanism.
4. The synchronous detection device according to claim 3, wherein the elastic pressing assembly comprises a lower pressing plate, a sleeve, an elastic member, and a moving plate, wherein:
the lower pressing plate is connected with the movable end of the execution guide rail module;
the first end of the sleeve is arranged on the lower pressing plate;
the moving plate is slidably arranged at the second end of the sleeve;
the elastic piece is arranged in the sleeve in a compressed state and is positioned between the lower pressing plate and the moving plate.
5. The synchronous detection device according to claim 4, wherein openings are formed in both sides of the sleeve, the moving plate is provided with a retracting groove, and the moving plate is matched with the openings on both sides of the sleeve through the thickness of the moving plate and the retracting groove.
6. The synchronous detection device of claim 4, wherein the omni wheel mechanism comprises a fixed seat, and a rotary driving wheel shaft system, a rotary driven wheel shaft system, a conveying driving wheel shaft system and a conveying driven wheel shaft system which are arranged on the fixed seat, wherein:
the rotary driving wheel shaft system is relatively fixed with the fixed end of the execution guide rail module and is in transmission connection with the execution driving assembly;
the rotary driven wheel shaft system is relatively fixed with the moving end of the execution guide rail module and can be matched with the rotary driving wheel shaft system to drive the flexible instrument positioned between the rotary driven wheel shaft system and the execution guide rail module to rotate by a preset angle;
the conveying driving wheel shaft system is relatively fixed with the fixed end of the execution guide rail module and is in transmission connection with the execution driving assembly;
the conveying driven wheel shaft system is relatively fixed with the moving end of the execution guide rail module and can be matched with the conveying driving wheel shaft system to drive the flexible instrument positioned between the conveying driven wheel shaft system and the execution guide rail module to convey a preset length.
7. The synchronous detection device according to claim 6, wherein,
the rotary driving wheel shafting comprises a rotary driving wheel, a driving gear and a driven gear, wherein: the driving gear is coaxially arranged with at least one rotary driving wheel, and is in transmission connection with the execution driving assembly; the driven gear is coaxially arranged with at least one rotary driving wheel, and is meshed with the driving gear through an intermediate gear, so that the rotation direction of the driven gear is the same as that of the driving gear;
the rotary driven wheel shafting comprises a rotary driven wheel, and the flexible instrument is tangent to the rotary driven wheel and the rotary driving wheel in a state of being close to the rotary driving wheel;
and/or
The conveying driving wheel shaft system comprises a conveying driving wheel, and the conveying driving wheel is in transmission connection with the execution driving assembly;
the conveying driven wheel shaft system comprises a conveying driven wheel, and the flexible instrument is tangent to the conveying driven wheel and the conveying driving wheel in a state of being close to the conveying driving wheel.
8. The synchronous detection device of claim 7, wherein the holders comprise a lower rotary holder, an upper rotary holder, a lower transport holder, and an upper transport holder, wherein:
the rotary driving wheel shaft system is arranged on the rotary lower fixing seat, and the rotary driven wheel shaft system is arranged on the rotary upper fixing seat;
the conveying driving wheel shaft system is arranged on the conveying lower fixing seat, and the conveying driven wheel shaft system is arranged on the conveying upper fixing seat.
9. The synchronous detection device according to claim 8, wherein,
the pressure detection assembly includes a pressure sensor, wherein:
the pressure sensor is arranged between the moving plate of the elastic compression assembly and the fixed seat of the omnidirectional wheel mechanism;
and/or
The length detection assembly comprises a first magnetic block, a first encoder, a guide rail and a stay wire sensor, wherein:
the first magnetic block is arranged on a fixed seat of the omnidirectional wheel mechanism and is coaxially arranged with the shaft system of the conveying driven wheel;
the first encoder is arranged on the fixed seat of the omnidirectional wheel mechanism and is coaxial with the first magnetic block;
the guide rail is arranged along a second direction and is positioned below the flexible instrument;
the movable end of the stay wire sensor is slidably arranged on the guide rail, the fixed end of the stay wire sensor is fixed relative to the guide rail, and the stay wire of the stay wire sensor is fixed with the movable end of the stay wire sensor and parallel to the guide rail;
and/or
The angle detection assembly comprises a second magnetic block, a second encoder and a third encoder, wherein:
the second magnetic block is arranged on a fixed seat of the omnidirectional wheel mechanism and is coaxial with the rotating driven wheel shafting;
the first encoder is arranged on the fixed seat of the omnidirectional wheel mechanism and is coaxial with the second magnetic block;
the third encoder is arranged at the moving end of the pull wire sensor of the length detection assembly and is connected with the flexible instrument through a coupler.
10. A flexible instrument transmission system comprising a synchronous detection device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323214283.3U CN220237011U (en) | 2023-11-28 | 2023-11-28 | Flexible instrument transmission system and synchronous detection device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323214283.3U CN220237011U (en) | 2023-11-28 | 2023-11-28 | Flexible instrument transmission system and synchronous detection device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220237011U true CN220237011U (en) | 2023-12-26 |
Family
ID=89229834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323214283.3U Active CN220237011U (en) | 2023-11-28 | 2023-11-28 | Flexible instrument transmission system and synchronous detection device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220237011U (en) |
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2023
- 2023-11-28 CN CN202323214283.3U patent/CN220237011U/en active Active
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