Linear manipulator comprising planet row transmission structure

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a linear manipulator comprising a planet row transmission structure. In order to solve the problems that in the prior art, a mechanical arm of a bent structure is complex in overall line, the total friction force borne by a steel wire rope is large, and abrasion is serious, the invention provides the linear manipulator comprising the planet row transmission structure. The linear manipulator comprises a manipulator body, an operation assembly and a holding part, and the operation assembly comprises an operation frame. The operation frame is connected with a planet row assembly, the planet row assembly is connected with a power input assembly and a power output assembly, the manipulator body is provided with a clamping assembly, the manipulator further comprises a control rope fixedly connected to the power output assembly, and the control rope is connected with the clamping assembly. The whole structure is a linear structure formed by sequentially connecting the clamping assembly, the manipulator body, the operation frame, the planet row assembly and the power output assembly, the total length of the control rope is shortened, and the total friction force of the control rope is reduced.

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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