Linear manipulator including planetary row transmission structure

Abstract

The invention belongs to the technical field of medical equipment, and in particular relates to a linear manipulator including a planetary row transmission structure. The present invention aims at the problem that the overall circuit of the curved manipulator in the prior art is complicated, the total friction force suffered by the steel wire rope is relatively large, and the wear is serious. It provides a linear manipulator including a planetary row transmission structure, including a manipulator body, an operating assembly and The gripping part, the operating assembly includes an operating frame, the operating frame is connected with a planetary row assembly, the planetary row assembly is connected with a power input assembly and a power output assembly, the manipulator body is provided with a clamping assembly, and It includes a control rope fixedly connected to the power output assembly, and the control rope is connected with the clamping assembly. The overall structure of the present invention is a linear structure in which the clamping assembly, the manipulator body, the operating frame, the planetary row assembly and the power output assembly are sequentially connected, which shortens the total length of the control rope and reduces the total friction of the control rope.

Description

technical field [0001] The invention belongs to the technical field of medical equipment, and in particular relates to a linear manipulator including a planetary row transmission structure. Background technique [0002] Surgical forceps are mostly used in medical treatment to clamp human tissue during surgery. In the prior art, there are surgical forceps that control the rotation and opening and closing of the forceps head with a wire rope. [0003] But mostly adopt common pulley to control steel wire rope in the prior art, pull steel wire rope to control tong head to rotate or open and close by the mode pulley of rotating pulley. Because the manipulator controlled by this method is not suitable for linear structure, most of them are curved structure, resulting in a long wire rope routing path. At the same time, multiple tensioning pulleys are required to tighten the bending position of the steel wire rope, so that The overall circuit of the manipulator is complex, the tot...

AI Technical Summary

Problems solved by technology

Because the manipulator controlled by this method is not suitable for linear structure, most of them are curved structure, resulting in a long wire rope routing path. At the same time, multiple tensioning pulleys are required to tighten the bending position of the steel wire rope, so that The overall circuit of the manipulator is complex, the total friction force on the wire rope is relatively large, and the wear is serious

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