CN104146779B - A lever slip ring cam reciprocating transmission mechanism for intra-abdominal vision robot - Google Patents

Abstract

A kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot, it relates to a kind of automatically cleaning drive mechanism, large with the drive mechanism dimensions solving existing abdominal cavity vision robot, take up room large, use inconvenient dumb and not there is the problem of camera lens self-cleaning function, it comprises housing, and it also comprises motor, the first power transmission shaft, connecting axle, second driving shaft, the first gear, the second gear, fixed axis, antivibrator, driving lever, slip ring, cam, roller, connecting rod, the first spring and clean matrix; Fixed axis level is arranged on housing, the first gear and the second gears meshing, and second driving shaft is parallel to fixed axis and is arranged in housing, and the first gear set is at the other end of second driving shaft, and the other end of the first power transmission shaft is connected with motor; Slip ring is arranged in the slip ring groove of setting in housing, and the other end of slip ring is fixed with cam, and roller is equipped with in one end of connecting rod.The present invention is used for abdominal cavity vision robot.

Description

A lever slip ring cam reciprocating transmission mechanism for intra-abdominal vision robot

technical field

The invention relates to a self-cleaning transmission mechanism, in particular to a transmission mechanism for self-cleaning and field of view inclination adjustment of an intra-abdominal vision robot.

Background technique

The use of minimally invasive surgery (MinimallyInvasiveSurgery, MIS) has revolutionized surgical procedures. Compared with traditional open surgery, minimally invasive surgery uses small incisions to perform surgery, which has relatively little interference with the structure and function of human tissue, short post-operative recovery period, good recovery effect, and reduced scars. The field of abdominal surgery has been widely used. However, during the operation, medical personnel need to operate surgical instruments for a long time to operate on the inside of the human body through an endoscope, and the mental state and fatigue of the medical personnel will affect the effect of the operation to a certain extent. The emergence of minimally invasive surgical robots can well solve the above problems. At present, minimally invasive surgical robots for laparoscopy need to insert surgical instruments, endoscopes and lighting systems into the abdominal cavity of the human body through several incisions for surgery, which improves the accuracy of surgery to a certain extent and improves the recovery of scars after surgery. Effect. However, the surgical instrument is limited by the poking card and has poor flexibility. In addition, the large and complex surgical instrument makes the mobility of the operating table poor. Therefore, it is of great significance to study surgical robots that can enter the human body to improve the effect of surgery.

At present, most of the single-hole laparoscopic surgical robots that can enter the human body are mainly visual robots. When the robot enters the human body, it mainly completes video collection and transmission, and can adjust the angle of the lighting and camera modules at any time to provide a field of vision for medical staff to perform operations. In addition, since tissue fluid and water vapor adhere to the camera during the operation, the clarity of the field of view will be affected, so the self-cleaning function of the lighting camera module is of great significance to improve the clarity of the field of view.

The size of the transmission mechanism of the existing abdominal vision robot is mostly too large and does not have the self-cleaning function of the lens. The application number is 201410244729.3 The Chinese invention application proposes a self-cleaning and tilt adjustment transmission mechanism for the abdominal vision robot unit. The mechanism structure It is more complex and takes up a lot of space. It is difficult to assemble the pulley transmission part. It is difficult to grasp the tightness of the belt during work, and it is prone to slipping and jamming. It needs to adjust the pulley mechanism to realize cleaning. It is inconvenient and inflexible to use. The optimization of the robot's transmission mechanism is the key to reducing the size of the robot. At the same time, allowing the robot to have the self-cleaning function of the camera lens will improve the quality of the operation.

Contents of the invention

The present invention aims to solve the problems that the transmission mechanism of the existing abdominal vision robot has a large size, takes up a large space, is inconvenient to use, is inflexible, and does not have the self-cleaning function of the lens, and further provides a lever slip ring for the abdominal vision robot Cam reciprocating transmission mechanism.

The technical solution adopted by the present invention to solve the above problems is: a lever slip ring cam reciprocating transmission mechanism for an intra-abdominal vision robot of the present invention includes a housing, which also includes a motor, a first transmission shaft, a connecting shaft, a second Two transmission shafts, first gear, second gear, fixed shaft, damper, shift lever, slip ring, cam, roller, connecting rod, first spring and cleaning base;

The first transmission shaft is a stepped shaft, a limit block is provided on the stepped shaft near the shoulder, and a hole for installing a puller is processed on the peripheral side of the stepped shaft;

The connecting shaft includes a hollow shaft, a solid shaft and two column keys, one end of the hollow shaft is a spiral end face; the other end of the hollow shaft is fixedly connected to the solid shaft, and the two column keys are symmetrically arranged on the outer wall of the solid shaft superior;

One end of the second transmission shaft is a hollow tube, and two key grooves are opened on the hollow tube, and the two key grooves are symmetrically opened;

The fixed shaft is installed horizontally on the casing, the damper is set on one end of the fixed shaft and fixed to the inner wall of the casing, the second gear is set on the other end of the fixed shaft, and the second transmission shaft is parallel to the fixed shaft and set in the casing , the first gear is set on the other end of the second transmission shaft, the first gear meshes with the second gear, the solid shaft of the connecting shaft is inserted into the keyway at one end of the second transmission shaft, and one end of the first transmission shaft is inserted in the The hollow shaft of the connecting shaft and the two are positioned by the limit block, and the other end of the first transmission shaft is connected with the motor;

The slip ring is a semicircular slip ring, the slip ring is installed in the slip ring groove provided in the housing, the end of the driving rod is inserted into one end of the slip ring, the other end of the slip ring is fixed with a cam, and the connecting rod is installed in the In the connecting rod chute set in the housing, a roller is installed at one end of the connecting rod, the curved surface of the cam is against the peripheral side of the roller, the other end of the connecting rod is equipped with a cleaning substrate, and the end of the connecting rod close to the roller is fitted There is a first spring.

The beneficial effects of the present invention are:

1. The present invention simultaneously realizes the self-cleaning of the camera lens of the laparoscopic vision robot and the adjustment of the field of view angle, the meshing of the first gear and the second gear, the motor drives the transmission of the second transmission shaft, and finally drives the rotation of the housing, realizing Field of view inclination adjustment; the slip ring rotates together with the cam, and the cam rotates against the roller, pushing the connecting rod to reciprocate, so as to realize the cleaning of the camera by the cleaning substrate.

2. The present invention realizes the multiplexing of the motor, that is, the above-mentioned viewing field angle adjustment mechanism and camera lens self-cleaning mechanism are respectively driven by the forward and reverse rotation of the motor. In the transmission mechanism, the connecting shaft can only move axially relative to the second transmission shaft, but cannot do relative rotation; the helical end face of the connecting shaft and the limit block of the first transmission shaft can make the first transmission shaft rotate during the rotation process. It can only rotate in one direction relative to the connecting shaft, which is the basis for realizing the multiplexing of the motor, and the transmission ratio of the first gear and the second gear is 1:1, which is also a necessary condition for realizing the expected function. The present invention makes full use of the positive and negative rotation of the motor to achieve different actions, thereby reducing the number of motors used, and deforms on the basis of the overrunning clutch principle to further reduce the radial dimension, thereby satisfying the needs of the intra-abdominal vision robot unit. Strict requirements on radial dimensions.

3. The reciprocating transmission mechanism of the lever slider cam is arranged circumferentially along the inner wall of the shell, which increases the space inside the shell and reduces the overall size of the robot. Compared with the existing self-cleaning and inclination adjustment transmission mechanism, the structure is simpler , occupying a small space, avoiding the difficulty of assembly of the pulley transmission part, the tightness of the belt during work is difficult to grasp, and the problems of slipping and jamming are prone to occur, there is no need to adjust the pulley mechanism to realize cleaning, and it is convenient and flexible to use. The reduced space of the present invention can be used to place electronic devices.

4. The motion switching of the present invention mainly depends on the mechanical structure, thereby reducing the difficulty of control.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention; Fig. 2 is a schematic diagram of the structure of Fig. 1 after removing the housing; Fig. 3 is a schematic diagram of the assembly of the first transmission shaft, connecting shaft and second transmission shaft; Fig. 4 is a schematic diagram of the second transmission shaft Figure 5 is a schematic structural view of the first transmission shaft, Figure 6 is a structural schematic view of the connecting shaft, and Figure 7 is a structural schematic view of the cam.

detailed description

Specific embodiment 1: In conjunction with Fig. 1-Fig. 7, a lever slip ring cam reciprocating transmission mechanism for an intra-abdominal vision robot in this embodiment includes a housing 3, which also includes a motor 23 and a first transmission shaft 22 , connecting shaft 21, second transmission shaft 20, first gear 19, second gear 18, fixed shaft 2, damper 25, lever 24, slip ring 16, cam 15, roller 13, connecting rod 14, first Spring 10 and cleaning substrate 9;

The first transmission shaft 22 is a stepped shaft, a limit block 22-2 is provided on the stepped shaft near the shoulder position, and a hole 22-1 for installing the pulling rod 24 is processed on the peripheral side of the stepped shaft;

The connecting shaft 21 comprises a hollow shaft 21-1, a solid shaft 21-2 and two column keys 21-3, and one end of the hollow shaft 21-1 is a helical end face; The shaft 21-2 is fixedly connected, and the two column keys 21-3 are symmetrically arranged on the outer wall of the solid shaft 21-2;

One end of the second transmission shaft 20 is a hollow tube 20-1, and the hollow tube 20-1 is provided with two key grooves 20-2, and the two key grooves 20-2 are symmetrically opened;

The fixed shaft 2 is installed horizontally on the casing 3, the damper 25 is set on one end of the fixed shaft 2 and fixedly connected to the inner wall of the casing 3, the second gear 18 is set on the other end of the fixed shaft 2, and the second transmission shaft 20 is parallel On the fixed shaft 2 and set in the housing 3, the first gear 19 is sleeved on the other end of the second transmission shaft 20, the first gear 19 meshes with the second gear 18, and the solid shaft 21-2 of the connecting shaft 21 is inserted in the In the keyway 20-2 of one end of the second transmission shaft 20, one end of the first transmission shaft 22 is inserted in the hollow shaft 21-1 of the connecting shaft 21 and the two are positioned by the limit block 22-2, the first transmission shaft The other end of 22 is connected with motor 23;

The slip ring 16 is a semicircular slip ring, and the slip ring 16 is installed in the slip ring groove 17 provided in the housing 3, the end of the driving rod 24 is inserted in one end of the slip ring 16, and the other end of the slip ring 16 is fixed Cam 15 is housed, and connecting rod 14 is installed in the connecting rod chute provided in housing 3, and one end of connecting rod 14 is equipped with roller 13, and the curved surface of cam 15 bears against the peripheral side of roller 13, and connecting rod 14 The other end is equipped with a cleaning base 9 , and the end of the connecting rod 14 close to the roller 13 is sleeved with a first spring 10 .

One end of the slip ring of this embodiment is processed with a half-open circular groove, and the end of the driving rod is inserted into the half-open circular groove of the slip ring 16. The cleaning substrate of this embodiment is the prior art. The damper can adopt prior art damper.

In order to ensure that the connecting shaft 21 can work more smoothly, the helical end surface of the connecting shaft 21 is specially designed. Assuming that the maximum height difference of the helical end surface is A, after calculation, it is found that the shape of the helical surface satisfies the formula When the connecting shaft 21 works, the impact is minimal. In practice, A=0.4mm is taken, and through actual testing, it is found that the connecting shaft 21 can work reliably.

In the formula, f(θ) represents the height of the helical rise, A represents the maximum rising height of the helicoid, and θ represents the rotation angle of the helicoid.

The other end of the first transmission shaft 22 is directly connected with the output shaft of the motor 23, and the driving rod 24 is inserted on the first transmission shaft 22, and the slip ring 16 is moved by the driving rod 24, thereby transmitting power to the actuator of the cleaning mechanism.

The cam, connecting rod and rollers in this embodiment form a high-cam mechanism. The first spring is set on the connecting rod. When the slip ring of the shift lever is disengaged, the first spring resets the connecting rod, thereby realizing the reset and wiping of the cleaning substrate. lens.

Specific embodiment two: with reference to Fig. 3 explanation, described lever slip ring cam reciprocating transmission mechanism also comprises the second spring 26, and the second spring 26 is arranged in the second transmission shaft 20, and one end of the second spring 26 is connected with the solid shaft 21-2 evened out. Such arrangement ensures that the contact surfaces of the connecting shaft 21 and the first transmission shaft 22 are in close contact. Others are the same as in the first embodiment.

Specific Embodiment 3: Referring to FIG. 2 , the outer diameter of the first spring 10 in this embodiment is 3 mm, and the wire diameter is 0.2 mm. With such arrangement, the structural size is small, which can meet the needs of abdominal cavity vision robotic surgery. Others are the same as in the first or second embodiment.

Embodiment 4: As described in conjunction with FIG. 2 , the slip ring groove 17 in this embodiment is a dovetail groove or a trapezoidal groove. Such setting facilitates smooth sliding of the slip ring in the slip ring groove. The sliding groove of the connecting rod in this embodiment can also be designed as a dovetail groove or a trapezoidal groove, which is beneficial to the smooth sliding of the connecting rod. Others are the same as the third implementation.

Embodiment 5: As described in conjunction with FIG. 2 , the transmission ratio between the second gear 18 and the first gear 19 in this embodiment is 1:1. Such setting facilitates the adjustment of the equal-proportional inclination angle. Others are the same as the specific embodiment 1, 2 or 4.

Specific Embodiment Six: In conjunction with Fig. 2 and Fig. 3, the length L of the driving rod 24 in this embodiment is 4.8mm, and one end of the slip ring 16 has a raised portion 16-1, and the end of the driving rod 24 is inserted into the sliding ring. In one end of the ring 16 close to the raised portion 16 - 1 , the height H of the raised portion 16 - 1 of the slip ring 16 is 3.7 mm. In this embodiment, in order to ensure that the slip ring 16 has a sufficient rotation range, it is necessary to reasonably design the parameters of the components. Since the radius of the housing has been fixed, and the center distance between the motor and the housing has been determined, the key dimensions that need to be determined include the length L of the lever and the height H of the protrusion of the slip ring, taking into account the constraints that need to be met Conditions, through the establishment of the model of the movement of the lever slip ring, and finally choose L as 4.8mm and H as 3.7mm. The bulge of slip ring can ensure that driving lever 24 continues to block the pulling rod after breaking away from slip ring 16, and is inserted in the hole of slip ring 16 again when guaranteeing pulling rod reverse motion, realizes the reciprocating motion of pulling rod. Others are the same as in the fifth embodiment.

Embodiment 7: In conjunction with FIG. 2 and FIG. 7 , the curved surface of the cam 15 in this embodiment is ∫-shaped, and the angle of rise β of the cam 15 is 45°. The cam part is made into a curved surface shape, so that on the one hand, it can ensure that the cam always moves against the shell wall, saving the limited internal space of the shell, and on the other hand, the movement transmitted by the slip ring can directly drive the cleaning mechanism without additional movement Conversion agency. In order to realize the maximum travel of the cam, it is necessary to ensure the maximum lift angle of the cam at all times, and the cam lift angle is determined to be 45 degrees by comprehensively considering the ease of assembly. Others are the same as the specific embodiment 1, 2, 4 or 6.

working principle

The transmission mechanism of the present invention transmits different motions and power through the first transmission shaft 22 and the second transmission shaft 20 respectively, the second transmission shaft 20 and the first transmission shaft 22 are connected by a connecting shaft 21, and the first transmission shaft 22 The part in contact with the connecting shaft 21 is a tooth and a groove formed by the special-shaped surface that cooperate with each other, the helical end surface is equivalent to the groove, and the limiting block 22-2 is equivalent to the tooth. When the first transmission shaft 22 rotates clockwise, the teeth engage with the grooves, driving the connecting shaft 21 to rotate, and then driving the second transmission shaft 20 to move. At this time, both the second transmission shaft 20 and the first transmission shaft 22 can be used as transmission The shaft works normally; when the first transmission shaft 22 rotates counterclockwise, the first transmission shaft 22 can only push the connecting shaft 21 to move axially, but cannot drive the connecting shaft 21 to rotate together. At this time, the first transmission shaft 22 will be used as The only working drive shaft.

In order to realize the above-mentioned principle, it is first necessary to set the column key 21-3 for the key sliding of the connecting shaft 21 on the second transmission shaft 20, so as to ensure that the connecting shaft 21 can only move axially relative to the second transmission shaft 20, Instead of relative rotation. In order to ensure that the contact surface of the connecting shaft and the first transmission shaft 22 closely fits, a second spring 26 needs to be provided. In addition, when the first transmission shaft 22 rotates counterclockwise, in order to overcome the influence of friction force, it is necessary to install a suitable damper 25 on the second transmission shaft 20, so as to prevent the second transmission shaft 20 from rotating under the action of friction force .

The specific working process is: the motor 23 is fixed on the housing 3 through a pressure plate, the first transmission shaft 22 is directly connected to the motor 23, and fixed by screws, the base of the slide rail is also fixed on the housing 3 by screws, and the fixed shaft 2 is connected to the External, fixed on base 1.

When the motor 23 rotates clockwise, it passes through the first transmission shaft 22, the connecting shaft, the second transmission shaft 20, and the gear pair for transmission. Since the fixed shaft 2 is completely fixed, the second gear 18 on the fixed shaft 2 is also fixed. If it moves, the motor 23 and the above-mentioned transmission parts can only rotate around the fixed shaft 2, and the motor 23 is fixed on the housing 3, thereby driving the rotation of the housing 3, and the camera and lighting module 8 fixed on the housing 3 It will also rotate accordingly, thereby realizing the function of adjusting the inclination angle of the field of view.

When the motor 23 rotates counterclockwise, due to the existence of the resistance device 25, a certain driving torque is required to make the housing 3 rotate relative to the fixed shaft 2, and the characteristics of the first transmission shaft 22 and the connecting shaft 21 determine that it reverses Only a small frictional torque can be transmitted during this time, and the resistance of the resistance device 25 is adjusted so that the resistance of the resistance device 25 is greater than the frictional torque of the second transmission shaft 20, then the second transmission shaft 20 will not rotate. At this time, the motor 23 will drive the driving rod 24 to rotate through the first transmission shaft 22, and the driving rod 24 will drive the slip ring 16 to move in the slip ring groove 17, and the slip ring 16 will drive the connecting rod 14 to move through the roller 13. When the driving rod 24 When detached from the slip ring 16, the connecting rod 14 returns and moves under the action of the first spring 10, and the cleaning base 9 is installed on the connecting rod 14, and the self-cleaning function is realized through reciprocating motion. During this process, the second transmission shaft 20 and the gear pair do not move, that is, the housing 3 does not rotate.

Claims (7)

1. the driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot, it comprises housing (3), it is characterized in that: it also comprises motor (23), the first power transmission shaft (22), connecting axle (21), second driving shaft (20), the first gear (19), the second gear (18), fixed axis (2), antivibrator (25), driving lever (24), slip ring (16), cam (15), roller (13), connecting rod (14), the first spring (10) and clean matrix (9);

Described first power transmission shaft (22) is multidiameter, and multidiameter is provided with limited block (22-2) near shoulder position, all sides of multidiameter is processed with the hole (22-1) of installing driving lever (24);

Described connecting axle (21) comprises hollow axle (21-1), solid shafting (21-2) and two column keys (21-3), and one end of described hollow axle (21-1) is helical form end face; The other end and the solid shafting (21-2) of hollow axle (21-1) are affixed, and two column keys (21-3) are symmetricly set on the lateral wall of solid shafting (21-2);

One end of described second driving shaft (20) is hollow pipe (20-1), described hollow pipe (20-1) offers two keyways (20-2), and described two keyway (20-2) symmetries are offered;

Fixed axis (2) level is arranged on housing (3), antivibrator (25) is sleeved on one end of fixed axis (2) and affixed with the inwall of housing (3), second gear (18) is sleeved on the other end of fixed axis (2), second driving shaft (20) is parallel to fixed axis (2) and is arranged in housing (3), first gear (19) is sleeved on the other end of second driving shaft (20), first gear (19) engages with the second gear (18), the solid shafting (21-2) of connecting axle (21) is inserted in the keyway (20-2) of one end of second driving shaft (20), in the hollow axle (21-1) that one end of first power transmission shaft (22) is inserted into connecting axle (21) and the two is by limited block (22-2) location, the other end of the first power transmission shaft (22) is connected with motor (23),

Slip ring (16) is semicircle slip ring, slip ring (16) is arranged in the slip ring groove (17) of setting in housing (3), the end of driving lever (24) is inserted in one end of slip ring (16), the other end of slip ring (16) is fixed with cam (15), connecting rod (14) is arranged in the connecting rod chute of setting in housing (3), roller (13) is equipped with in one end of connecting rod (14), the curved surface of cam (15) leans all sides of roller (13), the other end of connecting rod (14) is equipped with clean matrix (9), and one end of the close roller (13) of connecting rod (14) is set with the first spring (10).

2. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 1, it is characterized in that: described driving lever slip ring Cam reciprocating drive mechanism also comprises the second spring (26), second spring (26) is arranged in second driving shaft (20), and one end of the second spring (26) and solid shafting (21-2) offset.

3. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 1 and 2, is characterized in that: the external diameter of the first spring (10) is 3mm, and string diameter is 0.2mm.

4. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 3, is characterized in that: described slip ring groove (17) is dovetail groove or dovetail groove.

5. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 1,2 or 4, is characterized in that: described second gear (18) is 1:1 with the gear ratio of the first gear (19).

6. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 5, it is characterized in that: the length (L) of driving lever (24) is 4.8mm, one end of slip ring (16) has lobe (16-1), the end of driving lever (24) is inserted in one end of close lobe (16-1) of slip ring (16), and the height (H) of the lobe (16-1) of slip ring (16) is 3.7mm.

7. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 1,2,4 or 6, it is characterized in that: the curved surface of described cam (15) is ∫ shape, the lift angle (β) of cam (15) is 45 °.