CN109875724A - Double-axis drive closed clamping device - Google Patents
Double-axis drive closed clamping device Download PDFInfo
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- CN109875724A CN109875724A CN201910248094.7A CN201910248094A CN109875724A CN 109875724 A CN109875724 A CN 109875724A CN 201910248094 A CN201910248094 A CN 201910248094A CN 109875724 A CN109875724 A CN 109875724A
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- rotating shaft
- gear
- double
- power device
- driven gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000000968 intestinal effect Effects 0.000 abstract description 2
- 210000001035 gastrointestinal tract Anatomy 0.000 abstract 2
- 230000033001 locomotion Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 3
- 210000005070 sphincter Anatomy 0.000 description 3
- 210000000436 anus Anatomy 0.000 description 2
- 230000013872 defecation Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 206010021639 Incontinence Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 210000000664 rectum Anatomy 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 208000037816 tissue injury Diseases 0.000 description 1
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Abstract
一种双轴驱动封闭夹持装置，包括：封闭结构的三环夹持模块、双轴驱动机构和动力装置，动力装置与双轴驱动机构相连，双轴驱动机构与三环夹持模块相连；双轴驱动机构包括：上支撑板、下支撑板、第一转动轴、第二转动轴和齿轮组件，齿轮组件设置于上支撑板上并与动力装置相连，第一转动轴和第二转动轴设置于上、下支撑板之间并与齿轮组件相连。齿轮组件包括：主动齿轮、第一从动齿轮和第二从动齿轮；三环夹持模块包括：从上至下依次相对设置的三个操作臂。本发明采用双轴驱动，夹持过程使肠道受力更均匀；采用封闭三环结构，确保肠道位置相对固定，有效防止因肠道错位带来的安全隐患，提高了三环夹持模块的可靠性。
A dual-axis drive closed clamping device, comprising: a closed-structure three-ring clamping module, a dual-axis driving mechanism and a power device, the power device is connected with the dual-axis driving mechanism, and the dual-axis driving mechanism is connected with the three-ring clamping module; The double-shaft drive mechanism includes: an upper support plate, a lower support plate, a first rotating shaft, a second rotating shaft and a gear assembly. The gear assembly is arranged on the upper support plate and is connected to the power device. The first rotating shaft and the second rotating shaft It is arranged between the upper and lower support plates and is connected with the gear assembly. The gear assembly includes: a driving gear, a first driven gear and a second driven gear; the three-ring clamping module includes: three operating arms arranged oppositely in sequence from top to bottom. The invention adopts dual-axis drive, and the clamping process makes the intestinal force more uniform; the closed three-ring structure ensures the relative fixed position of the intestinal tract, effectively prevents the potential safety hazard caused by the dislocation of the intestinal tract, and improves the three-ring clamping module reliability.
Description
Technical field
It is specifically a kind of to be included for implantable artificial anus in situ the present invention relates to a kind of technology of medical instruments field
About the Two axle drive of flesh prosthese closes clamping device.
Background technique
Artificial anal sphincter prosthese simulates the physiological function of normal external sphincter muscle of anus, straight by pressure sensor senses
Intestines pressure realizes rectal sensation remodeling in conjunction with control system, autonomous control defecation is realized, to treat incontinence of faces.
Existing implantation biomimetic prosthetic anal sphincter prosthese in situ is often due to structure design limitation, carries out to rectum
Enteron aisle discontinuity when clamping action, be easy to cause intestinal tissue injury；During stool control mode, enteron aisle due to viscous-elastic behaviour,
It is easy to appear displacement, the problems such as there are security risks when clamping.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of Two axle drive closing clamping device, by double
Axis driving, clamping process make enteron aisle stress more evenly；Using closing tricyclic structure, during stool control mode, it is ensured that the phase of enteron aisle position
To fixation, it is effectively prevent the bring security risk that misplaces because of enteron aisle, improves the reliability of tricyclic self-clamping module.
The present invention is achieved by the following technical solutions:
The present invention includes: tricyclic self-clamping module, Two-shaft drive mechanism and the power device of enclosed construction, in which: power dress
It sets and is connected with Two-shaft drive mechanism, Two-shaft drive mechanism is connected with tricyclic self-clamping module.
The Two-shaft drive mechanism includes: upper backup pad, lower supporting plate, the first rotation axis, the second rotation axis and gear
Component, in which: gear assembly is set on upper backup pad and is connected with power device, the first rotation axis and the setting of the second rotation axis
It is connected between upper and lower support plate and respectively with tricyclic self-clamping module.
The gear assembly includes: driving gear, the first driven gear and the second driven gear, in which: first is driven
Gear is engaged with driving gear and the second driven gear respectively, and driving gear is connected with power device, the first driven gear and
One rotation axis is connected, and the second driven gear and the second rotation axis are connected.
Different height cylindrical projection structure is provided in first rotation axis and the second rotation axis.
The tricyclic self-clamping module includes: three motion arms being successively oppositely arranged from top to bottom, in which: each operation
Arm one end is fixedly connected, and the other end is connected with the first rotation axis or the second rotation axis to form enclosure space.
The motion arm includes: the driving lever and follower lever of flexible connection, in which: driving lever and the first rotation axis or
Two rotation axis are connected.
The power device includes: planetary reducer and motor, in which: planetary reducer is set to motor
Above and with gear assembly it is connected, planetary reducer is set on upper backup pad.
Technical effect
Compared with prior art, the present invention uses Two axle drive, and clamping process makes enteron aisle stress more evenly；Using closing three
Ring structure, during stool control mode, it is ensured that enteron aisle position is relatively fixed, effectively prevent the bring security risk that misplaces because of enteron aisle, mentions
The high reliability of tricyclic self-clamping module.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is present invention expansion and contraction state schematic diagram；
Fig. 3 is Two-shaft drive mechanism structural schematic diagram of the present invention；
Fig. 4 is powerplant configuration schematic diagram of the present invention；
In figure: tricyclic self-clamping module 1, Two-shaft drive mechanism 2, power device 3, upper backup pad 4,5, first turns of lower supporting plate
Moving axis 6, the second rotation axis 7, gear assembly 8, driving gear 9, the first driven gear 10, the second driven gear 11, upper motion arm
12, middle motion arm 13, lower motion arm 14, the first driving lever 15, the first follower lever 16, the second follower lever 17, the second driving lever 18,
Third follower lever 19, third driving lever 20, hinge 21, planetary reducer 22, motor 23, D type hole 24, cylindrical projection structure
25, tricyclic fixing axle 26.
Specific embodiment
As shown in Figure 1, for a kind of Two axle drive tricyclic self-clamping module that the present embodiment is related to, wherein including: tricyclic clamping
Module 1, Two-shaft drive mechanism 2 and power device 3, in which: the output shaft of power device 3 and the driving tooth of Two-shaft drive mechanism 2
Wheel 9 is connected, and Two-shaft drive mechanism 2 is connected with tricyclic self-clamping module 1.
The Two-shaft drive mechanism 2 includes: upper backup pad 4, lower supporting plate 5, the first rotation axis 6,7 and of the second rotation axis
Gear assembly 8, in which: gear assembly 8 is set on upper backup pad 4 and is connected with power device 3, the first rotation axis 6 and second
Rotation axis 7 is set between upper backup pad 4, lower supporting plate 5 by boss and is connected with gear assembly 8.
The gear assembly 8 includes: driving gear 9, the first driven gear 10 and the second driven gear 11, in which: main
Moving gear 9 is connected with planetary reducer 22 and engages transmission force and torque, the first driven tooth with the first driven gear 10
Wheel 10 is engaged with the second driven gear 11 and constant speed rotates backward, and the first driven gear 10 passes through D type hole 24 and the first rotation
Axis 7 is connected, and the second driven gear 11 is connected by D type hole 24 with the second rotation axis 7.
Different height cylindrical projection structure 25 is provided in first rotation axis 6 and the second rotation axis 7.
The tricyclic self-clamping module 1 include: the upper motion arm 12 being successively oppositely arranged from top to bottom, middle motion arm 13,
Lower motion arm 14, in which: upper, middle and lower motion arm one end is fixedly connected and free to rotate by tricyclic fixing axle 26, on
12, lower motion arm 14 is connected with the first rotation axis 6 respectively, and middle motion arm 13 is connected with the second rotation axis 7.
The upper motion arm 12 includes: the first driving lever 15 and the first follower lever 16 being flexibly connected by hinge 21,
Wherein: the first follower lever 16 is connected with the first rotation axis 6.
The middle motion arm 13 includes: the second driving lever 18 and the second follower lever 17 being flexibly connected by hinge 21,
Wherein: the second driving lever 18 is connected with the second rotation axis 7.
The lower motion arm 14 includes: the third driving lever 20 and third follower lever 19 being flexibly connected by hinge 21,
Wherein: third driving lever 20 is connected with the first rotation axis 6.
The power device 3 includes: planetary reducer 22 and motor 23, in which: planetary reducer 22 is set
It is placed on motor 23 and output shaft is connected with driving gear 9, planetary reducer 22 is set on upper backup pad 4.
Working principle: the output of motor is slowed down by planetary reducer and increases torque, driving driving tooth rotation
Dynamic, driving gear drives the second driven gear to rotate by engage with the first driven gear, thus power and torque are passed to and
The first, second rotation axis disposed in parallel of second driven gear connection, by driving the first, second rotation axis, to drive
The movement of tricyclic self-clamping module is closed, realize the expansion (defecation) of tricyclic self-clamping module and shrinks (stool control mode).
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910248094.7A CN109875724B (en) | 2019-03-29 | 2019-03-29 | Double-axis drive closed clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910248094.7A CN109875724B (en) | 2019-03-29 | 2019-03-29 | Double-axis drive closed clamping device |
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| Publication Number | Publication Date |
|---|---|
| CN109875724A true CN109875724A (en) | 2019-06-14 |
| CN109875724B CN109875724B (en) | 2021-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910248094.7A Active CN109875724B (en) | 2019-03-29 | 2019-03-29 | Double-axis drive closed clamping device |
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| Country | Link |
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| CN (1) | CN109875724B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112169171A (en) * | 2020-10-27 | 2021-01-05 | 上海交通大学 | In situ implantation of bionic anal sphincter system based on functional reconstruction of convenience |
| CN113262076A (en) * | 2021-05-14 | 2021-08-17 | 上海理工大学 | But artifical anal sphincter device of radial contraction formula of constant force centre gripping |
| CN113855347A (en) * | 2021-09-27 | 2021-12-31 | 上海理工大学 | Double-section type artificial anal sphincter device with constant force clamping |
| CN113995548A (en) * | 2021-11-04 | 2022-02-01 | 上海理工大学 | A novel constant force clamping artificial anal sphincter device |
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|---|---|---|---|---|
| CN104887169A (en) * | 2015-04-16 | 2015-09-09 | 上海交通大学 | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof |
| CN107928840A (en) * | 2017-12-05 | 2018-04-20 | 上海交通大学 | Implantation biomimetic prosthetic anal sphincter prosthese in situ with independent swing arm structure |
| CN108283482A (en) * | 2018-01-23 | 2018-07-17 | 上海交通大学 | Radial dilatation device for gastrointestinal tract microrobot |
| CN108814538A (en) * | 2018-04-10 | 2018-11-16 | 上海交通大学 | The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula |
| CN109223251A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | For imitating the precision speed reduction device of pubis artificial anal sphincter prosthese |
| CN109223252A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | Imitative pubis artificial anal sphincter prosthese power transmission and limiting device |
-
2019
- 2019-03-29 CN CN201910248094.7A patent/CN109875724B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104887169A (en) * | 2015-04-16 | 2015-09-09 | 上海交通大学 | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof |
| CN107928840A (en) * | 2017-12-05 | 2018-04-20 | 上海交通大学 | Implantation biomimetic prosthetic anal sphincter prosthese in situ with independent swing arm structure |
| CN108283482A (en) * | 2018-01-23 | 2018-07-17 | 上海交通大学 | Radial dilatation device for gastrointestinal tract microrobot |
| CN108814538A (en) * | 2018-04-10 | 2018-11-16 | 上海交通大学 | The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula |
| CN109223251A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | For imitating the precision speed reduction device of pubis artificial anal sphincter prosthese |
| CN109223252A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | Imitative pubis artificial anal sphincter prosthese power transmission and limiting device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112169171A (en) * | 2020-10-27 | 2021-01-05 | 上海交通大学 | In situ implantation of bionic anal sphincter system based on functional reconstruction of convenience |
| CN113262076A (en) * | 2021-05-14 | 2021-08-17 | 上海理工大学 | But artifical anal sphincter device of radial contraction formula of constant force centre gripping |
| CN113262076B (en) * | 2021-05-14 | 2023-06-02 | 上海理工大学 | Radial contraction type artificial anal sphincter device capable of being clamped under constant force |
| CN113855347A (en) * | 2021-09-27 | 2021-12-31 | 上海理工大学 | Double-section type artificial anal sphincter device with constant force clamping |
| CN113855347B (en) * | 2021-09-27 | 2023-06-02 | 上海理工大学 | A double restraint artificial anal sphincter device with constant force clamping |
| CN113995548A (en) * | 2021-11-04 | 2022-02-01 | 上海理工大学 | A novel constant force clamping artificial anal sphincter device |
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| CN109875724B (en) | 2021-06-22 |
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