CN106236275B - A kind of surgical instrument that cleft hand is swingable - Google Patents
A kind of surgical instrument that cleft hand is swingable Download PDFInfo
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- CN106236275B CN106236275B CN201610838380.5A CN201610838380A CN106236275B CN 106236275 B CN106236275 B CN 106236275B CN 201610838380 A CN201610838380 A CN 201610838380A CN 106236275 B CN106236275 B CN 106236275B
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- brake
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- cleft
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- 210000003464 cuspid Anatomy 0.000 claims description 6
- 230000009471 action Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000007423 decrease Effects 0.000 description 3
- 241000237858 Gastropoda Species 0.000 description 2
- 235000009161 Espostoa lanata Nutrition 0.000 description 1
- 240000001624 Espostoa lanata Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
The invention discloses a kind of surgical instruments that cleft hand is swingable, including brake structure, the swing arm in implement body, the mechanical claw hand of installation on a swing arm that can be carried out the implement body of three-dimensional motion, be braked to the movement of implement body.The mechanical claw hand includes cleft hand rack, is hinged in cleft hand rack two pairs of cleft hands, the cleft hand driving mechanism in cleft hand rack for drive the action of two pairs of cleft hands；Under the driving of cleft hand driving mechanism, two pairs of cleft hands make gathering and expansion action.In operation, medical worker acts robot body and swing arm, and mechanical claw hand is made to be at object to be taken；Later, mechanical claw hand takes out the fifth wheel in patient, simple to operate.
Description
Technical field
The present invention relates to medical instruments, in particular to a kind of surgical instrument that cleft hand is swingable.
Background technology
During surgery, medical worker takes object out of doctors and patients body, such as cotton balls, gauze, other internal fifth wheels, commonly use hand,
Tweezers, scissors, such tool is not easy and inconvenience exhausts internal fifth wheel completely, alternatively, internal fifth wheel is exhausted ratio completely
It is cumbersome.
Invention content
Technical problem solved by the invention：Medical worker in operation is not easy or inconvenience is complete by fifth wheel in patient
It exhausts.
In order to solve the above technical problems, the present invention provides the following technical solutions：A kind of surgical instrument that cleft hand is swingable, packet
Include base body, the waist rotation member that is articulated on base body, the large arm being articulated on waist rotation member, the operation in large arm
Hand, the forearm being fixed in large arm, the swing arm for being articulated in forearm front end, driving swing the first driving unit of arm swing, peace
The second driving unit that mechanical claw hand, driving mechanical claw hand mounted in swing arm front end rotate；In when the swing arm swing
Heart line is rotated perpendicular to the rotation centerline of mechanical claw hand, the waist rotation member horizontal cross setting, waist rotation member around base body,
The large arm is vertically arranged, and the bottom end of large arm is articulated in the middle part of waist rotation member, and the manipulator is mounted on the top of large arm, institute
State the middle part that forearm is fixed on large arm；
The mechanical claw hand includes cleft hand rack, is hinged in cleft hand rack two pairs of cleft hands are mounted in cleft hand rack
Cleft hand driving mechanism for driving two pairs of cleft hands to act；The cleft hand driving mechanism includes stake body, the first locking body, second
Locking body；Gear wheel, the second middle gear, the first pinion gear, transmission shaft are articulated on the stake body, the transmission shaft is set vertically
It sets and couples with the power plant on stake body, the gear wheel is fixed on transmission shaft, tooth in gear wheel and second
Wheel engagement, the second middle gear are engaged with the first pinion gear；First locking body includes the first stud of fixed setting, and described the
The centre of one pinion gear opens up the threaded hole being spirally connected with the first stud；Second locking body includes the second spiral shell of fixed setting
The centre of column, second middle gear opens up the threaded hole being spirally connected with the second stud；Stake body is equipped with to the first locking body
The guide rod that lifting with the second locking body is oriented to；Two cleft hands or so in first pair of cleft hand in two pairs of cleft hands
It is symmetrical arranged, is symmetrical arranged before and after two cleft hands in second pair of cleft hand in two pairs of cleft hands, two pawls in first pair of cleft hand
The bottom of hand opens up the first slide slot being obliquely installed, and the bottom of two cleft hands in second pair of cleft hand opens up be obliquely installed
Two slide slots, the top of first locking body are equipped with the first sliding pin being slidably matched with the first slide slot, the second locking body
Top is equipped with the second sliding pin being slidably matched with the second slide slot.
According to the above technical scheme, a kind of operation principle of the swingable surgical instrument of cleft hand of the present invention is as follows：First,
Medical worker, which holds, manipulates hand, rotates large arm or waist rotation member, the mechanical claw hand on swing arm is made to be at object to be taken；The
Two, power plant drives transmission shaft rotation, transmission shaft that gear wheel rotation, the second middle gear of canine tooth wheel drive is driven to rotate, and second
Middle gear drives the rotation of the first pinion gear；Second middle gear drives the second stud to rise, and the second stud drives the second locking
Body rises, since the second slide slot is obliquely installed, the second sliding pin risen vertically can drive any pawl in second pair of cleft hand
Hand is rotated around the hinged place of itself and cleft hand rack, and second pair of cleft hand is made to make opposite swing；The first pinion gear driving first
Stud declines, and the first stud drives the first locking body to decline, since the first slide slot is obliquely installed (the inclined side of the first slide slot
To opposite with the inclined direction of the second slide slot), therefore, the first sliding pin being vertically lowered drives any cleft hand in first pair of cleft hand
It is rotated around the hinged place of itself and cleft hand rack, first pair of cleft hand is made to make opposite swing；So far, two pairs of cleft hands are used in shape is collapsed
In crawl object；Third, under the driving of the first driving unit, the swing of swing arm can drive mechanical claw hand thereon to swing,
Under the driving of the second driving unit, mechanical claw hand is rotatable.
Through the above technical solutions, first pair of cleft hand connects the first locking body, second pair of cleft hand connects the second locking body, and
The first pinion gear that the first locking body lifts and the second middle gear of driving the second locking body lifting is driven to engage and by gear wheel
Driving, in this way, the present invention can make first pair of cleft hand simultaneously act and motion amplitude it is identical, can make second pair of cleft hand and meanwhile act and
Motion amplitude is identical, can make first pair of cleft hand and second pair of cleft hand and meanwhile action and motion amplitude it is identical, so as to mechanical claw hand standard
Really and fully capture sufferer intrabody object.Above-mentioned mechanical claw hand coordinates rotatable waist rotation member and large arm and swing arm,
Medical worker is facilitated to take object out of patient.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack includes the cleft hand mounted on swing arm front end
Framework soleplate, is fixed on cleft hand rack support bar top at the cleft hand rack supporting rod being vertically arranged on cleft hand framework soleplate
Cleft hand rack top plate；The cleft hand driving mechanism is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, institute
It states and opens up four hinge holes on cleft hand rack top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
As described above, swivel pin is fixed in each hinge hole, four cleft hands are hinged on four by swivel pin in a manner of one-to-one
In a hinge hole.The bottom end of any cleft hand is located at the lower section of hinge hole, that is, inclined first slide slot and the equal position of the second slide slot
In the lower section of hinge hole.The cleft hand rack is equipped with integrated camera and lighting device, the integrated camera and photograph
Bright device is located between two pairs of cleft hands.The camera is electrically connected with display, and under the illumination of lighting device, medical worker can
The object in front of mechanical claw hand is observed from display.
As the present invention to a kind of explanation of mechanical claw hand, the stake body includes pedestal, support plate；The pedestal fixation is set
It sets in cleft hand rack, the guide rod is fixed on the base, and the support plate is horizontally fixed on the top of guide rod；The canine tooth
Wheel, the second middle gear, the first pinion gear are articulated on support plate, and the top of the transmission shaft is articulated on support plate, the bottom of transmission shaft
End is articulated on pedestal；First locking body includes the first lifting chassis, a pair of first latch segment, a pair of first spill block；
First lifting chassis opens up the first guiding slot port, and the first guiding slot port is slidably matched with guide rod；First stud
Quantity is two, and two the first studs are vertically arranged on the first lifting chassis, opens up a pair of of first through hole on the support plate, one
A pair of of first through hole is passed through to the first stud；The quantity of first pinion gear is two, and two the first pinion gears are with one-to-one
Mode be spirally connected with a pair of first stud；The pair of first latch segment is mounted on two the first studs in a manner of one-to-one
Top, a pair of first spill block are mounted on the top of a pair of first latch segment, the number of first sliding pin in a manner of one-to-one
Amount is two, and two the first sliding pins are mounted on the top of a pair of first spill block in a manner of one-to-one, two the first sliding pins with
One-to-one mode and the first slide slot of two cleft hands in first pair of cleft hand are slidably matched；Second locking body includes the
Two lifting chassis, locking plate, a pair of second spill block；Second lifting chassis opens up the second guiding slot port, the second guide groove
Mouth is slidably matched with guide rod；The quantity of second stud is two, and two the second studs are vertically arranged in the second lifting bottom
On disk, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second through-hole, the support plate
On open up third through-hole, two the second studs are upward through the second through-hole and third through-hole；The quantity of second middle gear is
Two, two the second middle gears are spirally connected with two the second studs in a manner of one-to-one, and two the second middle gears are and gear wheel
Engagement, two the second middle gears are engaged with two the first pinion gears in a manner of one-to-one；The locking plate is horizontally arranged at
The top of two studs, a pair of second spill block are mounted on locking plate, and the quantity of second sliding pin is two, two second cunnings
Pin is mounted on the top of a pair of second spill block in a manner of one-to-one, two the second sliding pins in a manner of one-to-one with second pair
Second slide slot of two cleft hands in cleft hand is slidably matched；Fourth hole is opened up on the locking plate, first stud is worn
Fourth hole is crossed, first latch segment is located at the top of locking plate.
As described above, the second middle gear of a pair that the canine tooth wheel drive is symmetrical set, a pair of second middle gear
Drive the first pinion gear of a pair being symmetrical set.The pair of a pair of second stud of second middle gear driving rises, a pair of
Second stud drives locking plate to rise, and symmetrically arranged second spill block rises before and after locking plate drives a pair, and a pair second is recessed
Shape block drives a pair of second sliding pin to rise vertically, and a pair of second sliding pin is front and back symmetrically arranged by a pair of second slide slot driving
Second pair of cleft hand is swung in opposite directions.The pair of a pair of first stud of first pinion gear driving declines, and a pair of first stud drives one
First latch segment is declined, a pair of first latch segment drives a pair of the first spill block being symmetrical set to decline, a pair first
Spill block drives a pair of first sliding pin to be vertically lowered, and a pair of first sliding pin is symmetrical set by a pair of first slide slot driving
First pair of cleft hand swing in opposite directions.
As the present invention to a kind of explanation of mechanical claw hand, be vertically arranged on second lifting chassis the 4th stud,
6th stud, the 4th stud, the 6th stud are upward through the first lifting chassis and support plate, and the locking plate is mounted on the 4th spiral shell
The top of column, the 6th stud；The 4th middle gear, the 6th middle gear, the 4th middle gear, the 6th middle gear are articulated on the support plate
Between support plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear open up threaded hole,
4th stud is screwed onto in the threaded hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel, and the 6th stud is screwed onto the 6th
In the threaded hole of middle gear, the 6th middle gear is engaged with gear wheel.As described above, gear wheel is in a pair of second middle gear of driving
While rotation, the 4th middle gear and the rotation of the 6th middle gear are driven, the 4th middle gear and the 6th middle gear correspondingly drive the
Four studs and the 6th stud rise, and the 4th stud and the 6th stud drive locking plate to rise jointly with a pair of second middle gear.
As the present invention to a kind of explanation of mechanical claw hand, the power plant includes the snail mounted on transmission shaft bottom
Wheel, the worm screw engaged with worm gear, the first servo motor coupled with worm screw, worm screw is horizontally disposed, and worm screw is articulated on pedestal, the
One servo motor is mounted on the base.Since worm and gear has good self-locking function, two pairs of pawls of the present invention
Hand can steadily rest on any position in space in swing process.
As the present invention to a kind of explanation of mechanical claw hand, second middle gear includes second gear portion and the second tooth
The second pivoting portion of wheel portion coaxial arrangement；The centre of the second gear portion and second pivoting portion is equipped with perforation second gear portion
With the threaded hole of second pivoting portion；The second pivoting portion is articulated in the third through-hole of support plate.First pinion gear includes
First gear portion, the first pivoting portion with the coaxial arrangement of first gear portion；The center in the first gear portion and first pivoting portion
Place is equipped with the threaded hole in perforation first gear portion and first pivoting portion；The first pivoting portion is articulated in the first through hole of support plate
It is interior.
As the present invention to a kind of explanation of base body, the base body be equipped with symmetrical first level guide rail and
Second horizontal guide rail is sliding combined with first level sliding block on first level guide rail, is sliding combined on the second horizontal guide rail
The left and right ends of two horizontal sliders, the waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first level sliding block,
The right end of waist rotation member is articulated in the second horizontal slider.As described above, waist rotation member can be along first level guide rail and second
Horizontal guide rail moves, to increase the scope of activities of mechanical claw hand.
As the present invention to a kind of explanation of base body, the base body is equipped with brake structure, and brake structure includes solid
The brake rotation that a pair of of support plate for being scheduled on base body, the brake lever being articulated on a pair of of support plate, one end are fixedly connected with brake lever
Turn component, one end and the hinged brake connection component of the rotary components other end that brakes, the connection component other end is hinged with braking
Lever assembly is hinged on support plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Described second is horizontal
Sliding block is equipped with brake plate, and brake plate is connect with the second horizontal slider by adjustable spring, and brake plate is located at waist rotation member right end
The side in face, the brake lever are close to brake plate.As described above, one end of medical worker's presses lever component, lever assembly
Around itself and support plate hinged place tilting, lever assembly drives brake rotary components to rotate by the connection component that brakes, brake rotation
Component driver brake lever rotates, and the crest line of brake lever is against towards a left side on brake plate, is against waist transfer part in turn, on the left of brake plate
On part right side, waist rotation member is braked；When the other end of staff's presses lever component makes lever assembly reset
When, lever assembly drives brake rotary components to reversely rotate by the connection component that brakes, and brake rotary components driving brake bar is anti-
To rotation, the crest line of brake lever leaves brake plate and no longer brake plate is driven to be moved to the left and brake waist rotation member.
In above-mentioned brake structure, the brake rotary components include the brake rotating seat being fixedly connected with brake lever and stop
The brake swingle that vehicle rotating seat is fixedly connected；The brake connection component includes that second brake hinged with brake swingle connects
Extension bar, the first brake connecting rod being fixedly connected with the second brake connecting rod；The lever assembly includes being connect with first brake
The hinged brake bearing of bar, the brake liner plate being fixedly connected with brake bearing, the brake bearing are hinged on support plate.
The base body is equipped with the second brake structure, and the second brake structure includes a pair second being fixed on base body
The second brake rotation that support plate, the second brake lever being articulated on a pair of second support plate, one end are fixedly connected with the second brake lever
Component, one end second brake connection component hinged with the second brake rotary components other end, the connection component that brakes with second are another
The second hinged lever assembly of one end is hinged on the second support plate in the middle part of the second lever assembly, the cross of second brake lever
Section is in regular hexagon；The first level sliding block is equipped with the second brake plate, and the second brake plate passes through with first level sliding block
Second adjustable spring connects, and the second brake plate is located at the side of waist rotation member left side, and second brake lever is close to the second system
Movable plate；The base body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, lever is combined on third sliding pin, lever
Middle part opens up the bar shaped sliding slot being slidably matched with third sliding pin, and the lever assembly in the left end and brake structure of lever is hinged, thick stick
The second lever assembly in the right end of bar and the second brake structure is hinged.As described above, brake structure and the second brake structure
It is symmetrical set, the structure and function of the two is identical, and in operation, medical worker presses lever assembly, you can is driven by lever
Dynamic second lever assembly linkage, similarly, medical worker presses the second lever assembly, you can is joined by lever activation lever component
It is dynamic.The brake structure of linkage and the second brake structure simultaneously brake the right end and left end of waist rotation member.
As the present invention to a kind of explanation of forearm and swing arm connection relation, the front end of the forearm opens up a spill and slits
Mouthful, the swing arm is articulated in spill gap.As described above, the swing arm is swung in the spill gap of forearm.
As a kind of explanation of the first driving unit of the present invention couple, first driving unit includes being mounted on forearm
First motor, the first gear unit for coupling first motor and swing arm；First gear unit includes being articulated on forearm
And it the second gear and third gear of coaxial arrangement, is articulated on forearm and the 4th gear being coaxially disposed and the first synchronous belt
The third axis take turns, being articulated on forearm, the second synchronous pulley being fixedly mounted on third axis；The output shaft of the first motor
On first gear is installed, first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley is logical
It crosses synchronous belt with the second synchronous pulley to couple, third axis is fixedly connected with swing arm.As described above, first motor by power according to
It is secondary to pass to third axis through first gear, second gear, third gear, the 4th gear, the first synchronous belt, the second synchronous belt, the
Three-axis drive swings arm swing.
As a kind of explanation of the second driving unit of the present invention couple, second driving unit includes installing on a swing arm
The second motor, couple the second motor and mechanical claw hand the second gear unit；Second gear unit includes and second is electric
The retarder of machine output shaft connection, the rotating disk being connect with retarder output end, mechanical claw hand are installed on the rotating pan.
As a kind of explanation of present invention relationship between waist rotation member and large arm, the waist rotation member is stopped equipped with large arm
Bassinet structure, the large arm brake structure include the basal disc being fixed on waist rotation member, a pair of of braking on basal disc
Piece, the solution lock slide being slidably arranged on basal disc；Brake disc is fixed in the large arm, a pair of of brake(-holder) block is symmetrical set
One end of the periphery of brake disc, a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection is in basal disc
On, solution lock slide be equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one end to open the wedge block of a pair of of brake(-holder) block.By upper
State bright, in operation, four finger grippings in medical worker's proficiency live in manipulator, and residue one refers to pressable wedge block, push unlock
For sliding block to the center translation of basal disc, wedge block travels in one end of a pair of of brake(-holder) block elastic connection to open a pair of of brake(-holder) block, such as
This, large arm is changed into rotatable state by the initial state by a pair of of brake(-holder) block friction catch.
About above-mentioned large arm brake structure, the basal disc is fixed on by support column on waist rotation member；On the support column
Equipped with swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, and first
The left end of the left end of brake(-holder) block and the second brake(-holder) block is hinged on swivel pin, the right side of the right end and the second brake(-holder) block of the first brake(-holder) block
End passes through the first adjustable spring elastic connection；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is equipped with
Second fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；It is described
First brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above,
First adjustable spring has and makes the trend that the first brake(-holder) block and the second brake(-holder) block close up, and the setting of the first fore-set and the second fore-set
Then have the function of stopping this kind of trend.
About above-mentioned large arm brake structure, the solution lock slide is equipped with a pair of of positioning pin, a pair of of positioning pin and wedge block
Front and back setting is on solution lock slide；The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set,
The right end of first brake(-holder) block is equipped with first positioning hole, and the right end of the second brake(-holder) block is equipped with second location hole, flexible first
Under the elastic force of spring, when the first fore-set and the second fore-set offset, the first positioning pin and second on the solution lock slide of translation are fixed
Position pin can be correspondingly inserted into first positioning hole and second location hole.As described above, when medical worker push solution lock slide to
When the center translation of basal disc, the first positioning pin and the second positioning pin are detached from first positioning hole and second location hole, meanwhile, wedge block
It stretches between the first brake(-holder) block right end and the second brake(-holder) block right end, and is opened；After medical worker discharges solution lock slide, solution
Lock slide resets, and wedge block leaves the first brake(-holder) block right end and the second brake(-holder) block right end, meanwhile, the first positioning pin and the second positioning
Pin is correspondingly inserted into first positioning hole and second location hole, to lock a pair of of brake(-holder) block.
About above-mentioned large arm brake structure, the basal disc, which is equipped with, erects block, erects block and is equipped with the second adjustable spring, the
Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of two adjustable springs.
Description of the drawings
Following further describes the present invention with reference to the drawings：
Fig. 1 is a kind of structural schematic diagram for the surgical instrument that cleft hand is swingable of the present invention；
Fig. 2 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 1；
Fig. 3 is the structural schematic diagram of brake structure 70 in Fig. 2；
Fig. 4 is the combining structure schematic diagram of forearm 24, swing arm 80, mechanical claw hand 30 in Fig. 1；
Fig. 5 is the structural schematic diagram of mechanical claw hand 30 in Fig. 4；
Fig. 6 is sectional view along A-A in Fig. 5；
Fig. 7 is the structural schematic diagram of any cleft hand in first pair of cleft hand 51 in Fig. 5；
Fig. 8 is the structural schematic diagram of any cleft hand in second pair of cleft hand 52 in Fig. 5；
Fig. 9 is the structural schematic diagram of the first spill block 625 in Fig. 5；
Figure 10 is that the second middle gear 612 is articulated in the structural schematic diagram on support plate 617 in Fig. 6；
Figure 11 is the structural schematic diagram of large arm brake structure 90 in Fig. 1；
Figure 12 is the structural schematic diagram that lock slide 923 is solved in Figure 11.
Symbol description in figure：
10, base body；11, first level guide rail；12, the second horizontal guide rail；13, first level sliding block；130, the second system
Movable plate；14, the second horizontal slider；140, brake plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, mechanical claw hand；
40, cleft hand rack；41, cleft hand framework soleplate；42, cleft hand rack supporting rod；43, cleft hand rack top plate；44, it integrates
Camera and lighting device；
50, two pairs of cleft hands；51, first pair of cleft hand；511, the first slide slot；512, the first hinge hole；52, second pair of pawl
Hand；521, the second slide slot；522, the second hinge hole；
60, cleft hand driving mechanism；611, gear wheel；612, the second middle gear；6121, second gear portion；6122, the second pivot
Socket part；6123, threaded hole；613, the first pinion gear；614, transmission shaft；615, guide rod；616, pedestal；617, support plate；618,
4th middle gear；619, the 6th middle gear；621, the first stud；622, the first sliding pin；623, the first lifting chassis；624, first
Latch segment；625, the first spill block；626, the first guiding slot port；631, the second stud；633, the second lifting chassis；634, it locks
Disk；635, the second spill block；636, the second guiding slot port；637, the 4th stud；638, the 6th stud；641, worm gear；642, snail
Bar；643, first servo motor；
70, brake structure；701, support plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, it stops
Vehicle swingle；73, brake connection component；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake bearing；742, brake liner plate；700, the second brake structure；75, upright bar；76, third sliding pin；77, lever；
80, swing arm；81, first gear；82, second gear；84, the 4th gear；85, the first synchronous pulley；86, third
Axis；87, the second synchronous pulley；88, synchronous belt；89, rotating disk；
90, large arm brake structure；912, brake disc；921, basal disc；922, brake(-holder) block；9221, the first adjustable spring；
9222, location hole；923, lock slide is solved；924, wedge block；925, support column；927, positioning pin；928, block is erect；9281,
Two adjustable springs.
Specific implementation mode
Such as Fig. 1, a kind of surgical instrument that cleft hand is swingable, including base body 10, the waist rotation member that is articulated on base body
21, the large arm 22 being articulated on waist rotation member, the manipulator 23 in large arm, the forearm 24 being fixed in large arm, pivot joint
The first driving unit, the mechanical claw hand mounted on swing arm front end of arm swing are swung in the swing arm 80 of forearm front end, driving
30, the second driving unit of driving mechanical claw hand rotation；Central axis when the swing arm swing is in the rotation of mechanical claw hand
Turn center line, the waist rotation member horizontal cross setting, waist rotation member is rotated around base body, and the large arm is vertically arranged, large arm
Bottom end be articulated in the middle part of waist rotation member, the manipulator is mounted on the top of large arm, and the forearm is fixed in large arm
Portion.
If the front end of Fig. 4, the forearm 24 open up a spill gap, the swing arm 80 is articulated in spill gap.Institute
State the first transmission list that the first driving unit includes the first motor being mounted on forearm 24, connection first motor and swing arm
Member；First gear unit include be articulated on forearm and be coaxially disposed second gear 82 and third gear, be articulated in it is small
On arm and coaxial arrangement the 4th gear 84 and the first synchronous pulley 85, be articulated on forearm third axis 86, be fixedly mounted on
The second synchronous pulley 87 on third axis；First gear 81 is installed, first gear and the on the output shaft of the first motor
Two gears engage, and third gear is engaged with the 4th gear, and the first synchronous pulley is coupled by synchronous belt 88 with the second synchronous pulley,
Third axis is fixedly connected with swing arm.Second driving unit includes installation the second motor on a swing arm, the second transmission
Unit；Second gear unit includes the retarder coupled with the second motor output shaft, the rotation being connect with retarder output end
Turntable 89, mechanical claw hand 30 are installed on the rotating pan.
In conjunction with Fig. 5 to Figure 10, the mechanical claw hand includes cleft hand rack 40, two pairs of cleft hands being hinged in cleft hand rack
50, the cleft hand driving mechanism 60 in cleft hand rack for driving two pairs of cleft hands to act.The cleft hand driving mechanism includes
Stake body, the first locking body, the second locking body.It is small that gear wheel 611, the second middle gear 612, first are articulated on the stake body
Gear 613, transmission shaft 614, the transmission shaft are vertically arranged and couple with the power plant on stake body, the canine tooth
Wheel is fixed on transmission shaft, and gear wheel is engaged with the second middle gear, and the second middle gear is engaged with the first pinion gear；First lock
Tight body includes the first stud 621 of fixed setting, and the centre of first pinion gear opens up the screw thread being spirally connected with the first stud
Hole；Second locking body includes the second stud 631 of fixed setting, and the centre of second middle gear opens up and the second spiral shell
The threaded hole that column is spirally connected；Stake body is equipped with the guide rod 615 being oriented to the lifting of the first locking body and the second locking body.
Two cleft hands in first pair of cleft hand 51 in two pairs of cleft hands are symmetrical set, second pair of cleft hand 52 in two pairs of cleft hands
In two cleft hands before and after be symmetrical arranged, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot being obliquely installed
511, the bottom of two cleft hands in second pair of cleft hand opens up the second slide slot 521 being obliquely installed, first locking body
Top is equipped with the first sliding pin 622 being slidably matched with the first slide slot, and the top of the second locking body is equipped with to be slided with the second slide slot
Second sliding pin of dynamic cooperation.
In mechanical claw hand 30, the cleft hand rack 40 includes the cleft hand framework soleplate 41 for being mounted on 80 front end of swing arm, erects
The straight cleft hand rack supporting rod 42 being arranged on cleft hand framework soleplate, the cleft hand rack top for being fixed on cleft hand rack support bar top
Plate 43；The cleft hand driving mechanism 60 is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, the cleft hand
Four hinge holes are opened up on rack top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；The pawl
Handset mounting is equipped with integrated camera and lighting device 44, the integrated camera and lighting device be located at two pairs of cleft hands it
Between.
In mechanical claw hand 30, the stake body includes pedestal 616, support plate 617；The pedestal is fixed at cleft hand rack
On 40, the guide rod 615 is fixed on the base, and the support plate is horizontally fixed on the top of guide rod；The gear wheel 611,
Second middle gear 612, the first pinion gear 613 are articulated on support plate, and the top of the transmission shaft 614 is articulated on support plate, transmission
The bottom end of axis is articulated on pedestal.First locking body includes the first lifting chassis 623, a pair of first latch segment 624, a pair
First spill block 625；First lifting chassis opens up the first guiding slot port 626, and the first guiding slot port is matched with guide rod sliding
It closes；The quantity of first stud 621 is two, and two the first studs are vertically arranged on the first lifting chassis, the support plate
On open up a pair of of first through hole, a pair of first stud passes through a pair of of first through hole；The quantity of first pinion gear be two, two
A first pinion gear is spirally connected with the first stud of a pair in a manner of one-to-one；The pair of first latch segment is in a manner of one-to-one
Mounted on the top of two the first studs, a pair of first spill block is mounted on the top of a pair of first latch segment in a manner of one-to-one
The quantity in portion, first sliding pin 622 is two, and two the first sliding pins are mounted on a pair of first spill block in a manner of one-to-one
Top, two the first sliding pins in a manner of one-to-one with the first slide slot 511 of two cleft hands in first pair of cleft hand 51 slide
Dynamic cooperation.Second locking body includes the second lifting chassis 633, locking plate 634, a pair of second spill block 635；Described second
Lifting chassis opens up the second guiding slot port 636, and the second guiding slot port is slidably matched with guide rod；The number of second stud 631
Amount is two, and two the second studs are vertically arranged on the second lifting chassis, and the second lifting chassis is located at the first lifting chassis
Lower section；First lifting chassis opens up the second through-hole, third through-hole is opened up on the support plate, two the second studs are upward through
Second through-hole and third through-hole；The quantity of second middle gear 612 is two, and two the second middle gears are in a manner of one-to-one
It is spirally connected with two the second studs, two the second middle gears are engaged with gear wheel, and two the second middle gears are in a manner of one-to-one
It is engaged with two the first pinion gears；The locking plate is horizontally arranged at the top of the second stud, and a pair of second spill block is mounted on
On locking plate, the quantity of second sliding pin is two, and it is recessed that two the second sliding pins are mounted on a pair second in a manner of one-to-one
The top of shape block, two the second sliding pins are slided with the second slide slot of two cleft hands in second pair of cleft hand 52 in a manner of one-to-one
Dynamic cooperation；Fourth hole is opened up on the locking plate, first stud passes through fourth hole, first latch segment to be located at lock
The top of tight disk.
In mechanical claw hand 30, second lifting is vertically arranged with the 4th stud 637, the 6th stud 638 on chassis 633,
4th stud, the 6th stud are upward through the first lifting chassis 623 and support plate 617, and the locking plate 634 is mounted on the 4th spiral shell
The top of column, the 6th stud.The 4th middle gear 618, the 6th middle gear 619, the 4th middle gear, the 6th are articulated on the support plate
Middle gear is located between support plate and the first lifting chassis, and the centre of the 4th middle gear, the centre of the 6th middle gear open up
Threaded hole, the 4th stud are screwed onto in the threaded hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel 611, the 6th stud
It is screwed onto in the threaded hole of the 6th middle gear, the 6th middle gear is engaged with gear wheel.
In mechanical claw hand 30, the power plant includes being engaged mounted on the worm gear 641 of 614 bottom of transmission shaft, with worm gear
Worm screw 642, the first servo motor 643 that couples with worm screw, worm screw is horizontally disposed, and worm screw is articulated on pedestal, the first servo
Motor is mounted on the base.
In mechanical claw hand 30, second middle gear 612 includes second gear portion 6121, is coaxially disposed with second gear portion
Second pivoting portion 6122；The centre of the second gear portion and second pivoting portion is equipped with perforation second gear portion and the second pivot
The threaded hole 6123 of socket part；The second pivoting portion is articulated in the third through-hole of support plate 617；First pinion gear 613 is wrapped
Include first gear portion, the first pivoting portion with the coaxial arrangement of first gear portion；In the first gear portion and first pivoting portion
The threaded hole in perforation first gear portion and first pivoting portion is equipped at centre；The first pivoting portion is articulated in the first of support plate 617
In through-hole.
In conjunction with Fig. 1 to Fig. 3, the base body 10 is equipped with 11 and second horizontal guide rail of symmetrical first level guide rail
12, first level sliding block 13 is sliding combined on first level guide rail, and it is horizontal sliding that second is sliding combined on the second horizontal guide rail
The left and right ends of block 14, the waist rotation member 21 are cylindrical, and the left end of waist rotation member is articulated in first level sliding block, and waist turns
The right end of component is articulated in the second horizontal slider.
Above-mentioned base body 10 be equipped with brake structure 70, brake structure include a pair of of the support plate 701 being fixed on base body,
Brake rotary components 72 that the brake lever 71 that is articulated on a pair of of support plate, one end are fixedly connected with brake lever, one end are revolved with brake
Turn the hinged brake connection component 73 of the component other end, the lever assembly 74 hinged with the brake connection component other end, lever group
It is hinged on support plate in the middle part of part, the cross section of the brake lever is in regular hexagon；Second horizontal slider 14 is equipped with system
Movable plate 140, brake plate are connect with the second horizontal slider by adjustable spring, and brake plate is located at the side of 21 right side of waist rotation member
Side, the brake lever are close to brake plate.
In above-mentioned brake structure, the brake rotary components 72 include the brake rotating seat being fixedly connected with brake lever 71
721, the brake swingle 722 being fixedly connected with brake rotating seat；The brake connection component 73 includes and brake swingle is cut with scissors
The the second brake connecting rod 732 connect, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever group
The brake liner plate 742 that part 74 includes the brake bearing 741 hinged with first brake connecting rod, is fixedly connected with brake bearing, institute
Brake bearing is stated to be hinged on support plate 701.
Above-mentioned base body 10 is equipped with the second brake structure 700, and the second brake structure includes being fixed on base body 10
A pair of second support plate, the second brake lever being articulated on a pair of second support plate, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake connection component hinged with the second brake rotary components other end and second company of brake
The second hinged lever assembly of the connected components other end is hinged on the second support plate in the middle part of the second lever assembly, and described second stops
The cross section of vehicle bar is in regular hexagon；The first level sliding block 13 is equipped with the second brake plate 130, the second brake plate and first
Horizontal slider is connected by the second adjustable spring, and the second brake plate is located at the side of 21 left side of waist rotation member, and described second stops
Vehicle bar is close to the second brake plate.The base body is equipped with upright bar 75, and the top of upright bar is equipped with third sliding pin 76, on third sliding pin
It is combined with lever 77, the bar shaped sliding slot being slidably matched with third sliding pin, the left end and brake structure of lever are opened up in the middle part of lever
Lever assembly 74 in 70 is hinged, and the second lever assembly in the right end of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 1, Figure 11, Figure 12, the waist rotation member 21 is equipped with large arm brake structure 90, the large arm brake structure
Including be fixed on waist rotation member basal disc 921, a pair of of brake(-holder) block 922 on basal disc, be slidably arranged in basal disc
On solution lock slide 923；Brake disc is fixed in the large arm, a pair of of brake(-holder) block is symmetrical set in the periphery of brake disc,
One end of a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection solves on basal disc on lock slide
Equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one end to open the wedge block 924 of a pair of of brake(-holder) block.
In above-mentioned large arm brake structure 90, the basal disc is fixed on by support column 925 on waist rotation member；It is set on support column
There is swivel pin；The pair of brake(-holder) block includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the first system
The left end of the left end of movable plate and the second brake(-holder) block is hinged on swivel pin, the right end of the right end and the second brake(-holder) block of the first brake(-holder) block
Pass through 9221 elastic connection of the first adjustable spring；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is set
There are the second fore-set, the first fore-set and the second fore-set to be oppositely arranged, the first fore-set and the second fore-set are located in the first adjustable spring；Institute
The first brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block are stated, the first brake(-holder) block and the second brake(-holder) block surround brake disc 912.
In above-mentioned large arm brake structure 90, the solution lock slide is equipped with a pair of of positioning pin 927, a pair of of positioning pin and wedge shape
The front and back setting of block is on solution lock slide；The pair of positioning pin includes the first positioning pin being symmetrical set and the second positioning
Pin, the right end of first brake(-holder) block are equipped with first positioning hole 9222, and the right end of the second brake(-holder) block is equipped with second location hole, the
Under the elastic force of one adjustable spring, when the first fore-set and the second fore-set offset, the first positioning pin on the solution lock slide of translation and
Second positioning pin can be correspondingly inserted into first positioning hole and second location hole.
In above-mentioned large arm brake structure 90, the basal disc, which is equipped with, erects block 928, erects block and is equipped with the second adjustable spring
9281, block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of the second adjustable spring.
In practical operation, a kind of workflow for the surgical instrument that cleft hand is swingable of the present invention is as follows：
First, medical worker, which holds, manipulates hand 23, unlocks locking of the large arm brake structure 90 to large arm 22, and brake knot
Structure 70 and the second brake structure 700 rotate large arm 22 or waist rotation member 21, or make waist rotation member to the locking of waist rotation member 21
21 translate along first level guide rail 11 and the second horizontal guide rail 12, make the close object to be taken of the mechanical claw hand 30 on swing arm 80
Place.
Second, under the driving of the first driving unit, the swing of swing arm 80 can drive mechanical claw hand 30 thereon to swing,
Under the driving of the second driving unit, mechanical claw hand 30 is rotatable.
Third, in mechanical claw hand 30, power plant drives transmission shaft 614 to rotate, and transmission shaft drives gear wheel 611 to rotate,
The second middle gear of canine tooth wheel drive 612 rotates, and the second middle gear drives the rotation of the first pinion gear 613；Second middle gear drives
Dynamic second stud 631 rises, and the second stud drives the second locking body to rise, since the second slide slot is obliquely installed, vertically
The second sliding pin risen can drive any cleft hand in second pair of cleft hand 52 to be rotated around the hinged place of itself and cleft hand rack 40, make the
Two pairs of cleft hands make opposite swing；First pinion gear 613 drives the first stud 621 to decline, and the first stud drives the first locking
Body declines, and slides 622 slots and is obliquely installed (the inclined direction of the first slide slot and the inclined direction phase of the second slide slot due to first
Instead), therefore, the first sliding pin being vertically lowered drives any cleft hand in first pair of cleft hand to be revolved around the hinged place of itself and cleft hand rack
Turn, first pair of cleft hand is made to make opposite swing；So far, two pairs of cleft hands 50 are in shape is collapsed, for capturing object.
The above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (7)
1. a kind of surgical instrument that cleft hand is swingable, including base body (10), the waist rotation member (21), the pivot that are articulated on base body
The large arm (22) being connected on waist rotation member, the manipulator (23) in large arm, the forearm (24) being fixed in large arm, pivot joint
The first driving unit, the gripper mounted on swing arm front end of arm swing are swung in the swing arm (80) of forearm front end, driving
The second driving unit that hand (30), driving mechanical claw hand rotate；Central axis when the swing arm swing is in mechanical claw hand
Rotation centerline, waist rotation member horizontal cross setting, waist rotation member rotates around base body, and the large arm is vertically arranged,
The bottom end of large arm is articulated in the middle part of waist rotation member, and the manipulator is mounted on the top of large arm, and the forearm is fixed on large arm
Middle part；It is characterized in that：
The mechanical claw hand includes cleft hand rack (40), two pairs of cleft hands (50) being hinged in cleft hand rack, is mounted on cleft hand machine
Cleft hand driving mechanism (60) on frame for driving two pairs of cleft hands to act；The cleft hand driving mechanism includes stake body, the first lock
Tight body, the second locking body；Gear wheel (611), the second middle gear (612), the first pinion gear are articulated on the stake body
(613), transmission shaft (614), the transmission shaft are vertically arranged and couple with the power plant on stake body, the canine tooth
Wheel is fixed on transmission shaft, and gear wheel is engaged with the second middle gear, and the second middle gear is engaged with the first pinion gear；First lock
Tight body includes the first stud (621) of fixed setting, and the centre of first pinion gear opens up the spiral shell being spirally connected with the first stud
Pit；Second locking body includes the second stud (631) of fixed setting, and the centre of second middle gear opens up and the
The threaded hole that two studs are spirally connected；Stake body is equipped with the guide rod being oriented to the lifting of the first locking body and the second locking body
(615)；
Two cleft hands in first pair of cleft hand (51) in two pairs of cleft hands are symmetrical set, the second couple in two pairs of cleft hands
It is symmetrical arranged before and after two cleft hands in cleft hand (52), the bottom of two cleft hands in first pair of cleft hand opens up the be obliquely installed
The bottom of one slide slot (511), two cleft hands in second pair of cleft hand opens up the second slide slot (521) being obliquely installed, described
The top of first locking body is equipped with the first sliding pin (622) being slidably matched with the first slide slot, and the top of the second locking body is equipped with
The second sliding pin being slidably matched with the second slide slot；
The base body (10) is equipped with symmetrical first level guide rail (11) and the second horizontal guide rail (12), first level
It is sliding combined with first level sliding block (13) on guide rail, the second horizontal slider (14), institute are sliding combined on the second horizontal guide rail
The left and right ends for stating waist rotation member (21) are cylindrical, and the left end of waist rotation member is articulated in first level sliding block, waist rotation member
Right end be articulated in the second horizontal slider；
The base body (10) is equipped with first brake structure (70), and first brake structure includes a pair being fixed on base body
First support plate (701), the first brake bar (71) being articulated on a pair of first support plate, one end are fixedly connected with first brake bar
First brake rotary components (72), one end and the hinged first brake connection component (73) of the first brake rotary components other end,
First lever assembly (74) hinged with the first brake connection component other end is hinged on first in the middle part of the first lever assembly
On plate, the cross section of the first brake bar is in regular hexagon；Second horizontal slider (14) is equipped with the first brake plate
(140), the first brake plate is connect with the second horizontal slider by the first spring, and the first brake plate is located at waist rotation member (21) right end
The side in face, the first brake bar are close to the first brake plate；
The first brake rotary components (72) include the brake rotating seat (721) being fixedly connected with first brake bar (71), with
The brake swingle (722) that brake rotating seat is fixedly connected；The first brake connection component (73) include and brake swingle
The first brake connecting rod (731) that hinged second brake connecting rod (732), connecting rod of braking with second are fixedly connected；It is described
First lever assembly (74) includes the brake bearing (741) hinged with first brake connecting rod, is fixedly connected with brake bearing
Brake liner plate (742), and the brake bearing is hinged on the first support plate (701).
2. a kind of surgical instrument that cleft hand is swingable as described in claim 1, it is characterised in that：In mechanical claw hand (30), institute
Cleft hand rack (40) is stated to include the cleft hand framework soleplate (41) for being mounted on swing arm front end, be vertically arranged on cleft hand framework soleplate
Cleft hand rack supporting rod (42), be fixed on the cleft hand rack top plate (43) of cleft hand rack support bar top；The cleft hand driving
Mechanism (60) is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, and four are opened up on the cleft hand rack top plate
A hinge hole, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；The cleft hand rack is equipped with integrated
Camera and lighting device (44), the integrated camera and lighting device be located between two pairs of cleft hands.
3. a kind of surgical instrument that cleft hand is swingable as described in claim 1, it is characterised in that：In mechanical claw hand (30), institute
It includes pedestal (616), support plate (617) to state stake body；The pedestal is fixed in cleft hand rack (40), the guide rod
(615) it is fixed on the base, the support plate is horizontally fixed on the top of guide rod；The gear wheel (611), the second middle gear
(612), the first pinion gear (613) is articulated on support plate, and the top of the transmission shaft (614) is articulated on support plate, transmission shaft
Bottom end is articulated on pedestal；
First locking body includes the first lifting chassis (623), a pair of first latch segment (624), a pair of first spill block
(625)；First lifting chassis opens up the first guiding slot port (626), and the first guiding slot port is slidably matched with guide rod；It is described
The quantity of first stud (621) is two, and two the first studs are vertically arranged on the first lifting chassis, are opened up on the support plate
A pair of of first through hole, a pair of first stud pass through a pair of of first through hole；The quantity of first pinion gear is two, two first
Pinion gear is spirally connected with the first stud of a pair in a manner of one-to-one；The pair of first latch segment is mounted in a manner of one-to-one
The top of two the first studs, a pair of first spill block are mounted on the top of a pair of first latch segment, institute in a manner of one-to-one
The quantity for stating the first sliding pin (622) is two, and two the first sliding pins are mounted on a pair of first spill block in a manner of one-to-one
Top, two the first sliding pins the first slide slot (511) with two cleft hands in first pair of cleft hand (51) in a manner of one-to-one
It is slidably matched；
Second locking body includes the second lifting chassis (633), locking plate (634), a pair of second spill block (635)；It is described
Second lifting chassis opens up the second guiding slot port (636), and the second guiding slot port is slidably matched with guide rod；Second stud
(631) quantity is two, and two the second studs are vertically arranged on the second lifting chassis, and the second lifting chassis is located at first liter
The lower section on chassis drops；First lifting chassis opens up the second through-hole, and third through-hole, two the second studs are opened up on the support plate
It is upward through the second through-hole and third through-hole；The quantity of second middle gear (612) is two, and two the second middle gears are with one
It is spirally connected to one mode and two the second studs, two the second middle gears are engaged with gear wheel, and two the second middle gears are with one
One mode is engaged with two the first pinion gears；The locking plate is horizontally arranged at the top of the second stud, and a pair second is recessed
Shape block is mounted on locking plate, and the quantity of second sliding pin is two, and two the second sliding pins are mounted in a manner of one-to-one
The top of a pair of second spill block, two the second sliding pins in a manner of one-to-one with two cleft hands in second pair of cleft hand (52)
Second slide slot is slidably matched；A pair of of fourth hole is opened up on the locking plate, a pair of first stud is worn in a manner of one-to-one
A pair of of fourth hole is crossed, a pair of first latch segment is located at the top of locking plate；
In mechanical claw hand (30), the 4th stud (637), the 6th stud are vertically arranged in second lifting chassis (633)
(638), the 4th stud, the 6th stud are upward through the first lifting chassis (623) and support plate (617), locking plate (634) peace
Mounted in the top of the 4th stud, the 6th stud；
The 4th middle gear (618), the 6th middle gear (619) are articulated on the support plate, the 4th middle gear, the 6th middle gear are located at
Between support plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear open up threaded hole, and the 4th
Stud is screwed onto in the threaded hole of the 4th middle gear, and the 4th middle gear is engaged with gear wheel (611), and the 6th stud is screwed onto the 6th
In the threaded hole of middle gear, the 6th middle gear is engaged with gear wheel；
In mechanical claw hand (30), the power plant includes being nibbled mounted on the worm gear (641) of transmission shaft (614) bottom, with worm gear
The worm screw (642) of conjunction, the first servo motor (643) coupled with worm screw, worm screw is horizontally disposed, and worm screw is articulated on pedestal, the
One servo motor is mounted on the base.
4. a kind of surgical instrument that cleft hand is swingable as claimed in claim 3, it is characterised in that：In mechanical claw hand (30), institute
It includes second gear portion (6121), the second pivoting portion (6122) with the coaxial arrangement of second gear portion to state the second middle gear (612)；
The centre of the second gear portion and second pivoting portion is equipped with the threaded hole in perforation second gear portion and second pivoting portion
(6123)；The second pivoting portion is articulated in the third through-hole of support plate (617)；
First pinion gear (613) includes first gear portion, the first pivoting portion with the coaxial arrangement of first gear portion；Described
The centre of one gear part and first pivoting portion is equipped with the threaded hole in perforation first gear portion and first pivoting portion；First pivot
Socket part is articulated in the first through hole of support plate (617).
5. a kind of surgical instrument that cleft hand is swingable as described in claim 1, it is characterised in that：It is set on the base body (10)
There are the second brake structure (700), the second brake structure to include the second support plate of a pair being fixed on base body (10), be articulated in one
The second brake rotary components that the second brake lever on second support plate, one end are fixedly connected with the second brake lever, one end and the
The second hinged brake connection component of the two brake rotary components other ends, hinged with the second brake connection component other end second
Lever assembly is hinged on the second support plate in the middle part of the second lever assembly, and the cross section of second brake lever is in regular hexagon；
The first level sliding block (13) is equipped with the second brake plate (130), and the second brake plate is stretched with first level sliding block by second
Contracting spring connects, and the second brake plate is located at the side of waist rotation member (21) left side, and second brake lever is close to the second braking
Plate；
The base body is equipped with upright bar (75), and the top of upright bar is equipped with third sliding pin (76), lever is combined on third sliding pin
(77), open up the bar shaped sliding slot being slidably matched with third sliding pin in the middle part of lever, the left end of lever in brake structure (70)
Lever assembly (74) is hinged, and the second lever assembly in the right end of lever and the second brake structure (700) is hinged.
6. a kind of surgical instrument that cleft hand is swingable as described in claim 1, it is characterised in that：The front end of the forearm (24)
A spill gap is opened up, the swing arm (80) is articulated in spill gap；
First driving unit includes the first motor being mounted on forearm (24), couples the first of first motor and swing arm
Gear unit；First gear unit include be articulated on forearm and be coaxially disposed second gear (82) and third gear,
It is articulated in the 4th gear (84) and the first synchronous pulley (85) that on forearm and are coaxially disposed, the third axis being articulated on forearm
(86), the second synchronous pulley (87) being fixedly mounted on third axis；First tooth is installed on the output shaft of the first motor
It takes turns (81), first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley passes through synchronous belt
(88) couple with the second synchronous pulley, third axis is fixedly connected with swing arm；
Second driving unit includes the second motor, the second gear unit of installation on a swing arm；Second transmission is single
Member includes the retarder coupled with the second motor output shaft, the rotating disk (89) being connect with retarder output end, mechanical claw hand
(30) it installs on the rotating pan.
7. a kind of surgical instrument that cleft hand is swingable as described in claim 1, it is characterised in that：On the waist rotation member (21)
Equipped with large arm brake structure (90), the large arm brake structure includes the basal disc (921) being fixed on waist rotation member, installation
A pair of of brake(-holder) block (922) on basal disc, the solution lock slide (923) being slidably arranged on basal disc；System is fixed in the large arm
Moving plate, a pair of of brake(-holder) block are symmetrical set in the periphery of brake disc, and one end of a pair of of brake(-holder) block is hinged and other end elasticity connects
It connects；The solution lock slide elastic connection on basal disc, solution lock slide be equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one end
To open the wedge block (924) of a pair of of brake(-holder) block；
The basal disc is fixed on by support column (925) on waist rotation member；Support column is equipped with swivel pin；The pair of brake(-holder) block
Include the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, the left end of the first brake(-holder) block and the second brake(-holder) block
Left end is hinged on swivel pin, and the right end of the right end of the first brake(-holder) block and the second brake(-holder) block passes through the first adjustable spring (9221) bullet
Property connection；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is equipped with the second fore-set, the first fore-set and the
Two fore-sets are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；First brake(-holder) block and the second braking
The equal semicircular in shape of piece, the first brake(-holder) block and the second brake(-holder) block surround brake disc (912)；
The solution lock slide is equipped with a pair of of positioning pin (927), and a pair of of positioning pin is with the front and back setting of wedge block on solution lock slide；
The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set, and the right end of first brake(-holder) block is set
There is a first positioning hole (9222), the right end of the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring, when the
When one fore-set and the second fore-set offset, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into
In a positioning hole and second location hole；
The basal disc be equipped with erect block (928), erect block be equipped with the second adjustable spring (9281), the one of the second adjustable spring
Block, the other end connection solution lock slide of the second adjustable spring are erect in end connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838380.5A CN106236275B (en) | 2016-09-21 | 2016-09-21 | A kind of surgical instrument that cleft hand is swingable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838380.5A CN106236275B (en) | 2016-09-21 | 2016-09-21 | A kind of surgical instrument that cleft hand is swingable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106236275A CN106236275A (en) | 2016-12-21 |
| CN106236275B true CN106236275B (en) | 2018-10-23 |
Family
ID=57600357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838380.5A Expired - Fee Related CN106236275B (en) | 2016-09-21 | 2016-09-21 | A kind of surgical instrument that cleft hand is swingable |
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| CN107214809B (en) * | 2017-08-10 | 2019-09-10 | 河海大学常州校区 | A kind of extrusion device of 3D printing clay |
| CN109124578A (en) * | 2018-07-13 | 2019-01-04 | 芜湖圣美孚科技有限公司 | A kind of position convenient regulating type lingual surface instrument |
| CN114191090B (en) * | 2021-11-09 | 2024-06-04 | 深圳爱博合创医疗机器人有限公司 | But intervention operation robot from end strutting arrangement of inclination adjustment |
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| CN105881524A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with small arm provided with execution terminal with fixed rotation angle |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9002518B2 (en) * | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| US8911429B2 (en) * | 2011-11-04 | 2014-12-16 | The Johns Hopkins University | Steady hand micromanipulation robot |
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|---|---|---|---|---|
| CN105881524A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with small arm provided with execution terminal with fixed rotation angle |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
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Inventor after: Liu Qingyu Inventor after: Ai Wei Inventor after: Gao Yandong Inventor after: Wang Wenqing Inventor before: Wang Wenqing |
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Effective date of registration: 20180911 Address after: 719000 Yulin First Hospital, Yulin, Shaanxi, 93 Yuxi Road, Yulin First Hospital Applicant after: Liu Qingyu Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
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