A three-degree-of-freedom electric stapler driving device

Abstract

The present invention discloses a three-degree-of-freedom electric stapler drive device, which includes a stapler interface and a stapler drive, and is suitable for a disposable flexible stapler magazine (hereinafter referred to as the stapler magazine). The stapler interface is connected to the stapler magazine to realize the mechanical connection and force transmission between the stapler magazine and the drive device. The drive part of the stapler drive device is provided with three motors to drive the three-degree-of-freedom movement of the stapler (the advance and retreat movement of the blade, the pitch movement of the stapler compartment and the overall rotation movement of the stapler). The three motors are arranged in a ring to keep the overall structure of the drive device compact. The advance and retreat movement of the blade and the pitch movement of the stapler compartment are realized by the transmission of a screw nut structure, and the overall rotation movement of the stapler is realized by a pair of meshing gears. The drive device has the characteristic of being able to quickly install or remove the stapler magazine. The device can replace the traditional surgeon's operation of the stapler control handle control, is easy to integrate into the surgical robot system, and enriches the types of surgical instruments available to the surgical robot.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a three-degree-of-freedom electric stapler driving device suitable for a disposable flexible stapler magazine. Background Art

[0002] The stapler is a modern surgical instrument. Currently, commercial staplers mainly rely on doctors to operate a handheld operating handle to close / open the stapler compartment, cut tissue with a blade, control the angle of the stapler end, and rotate the whole device. Both hands are needed to complete the operation. There are no reports on surgical robots using staplers for surgery.

[0003] Surgical robot technology is the current trend of surgical development. Current surgical robots need to perform complex and delicate suturing, knotting, cutting of diseased tissues and other operations during the suturing process, and the operation is complicated and time-consuming. The stapler has multiple functions such as suturing, hemostasis, and cutting in one, and the operation process is very simple, which is especially suitable for robot operation. Therefore, it is of great significance to design an electric stapler drive device with sufficient degrees of freedom for the currently widely used disposable flexible stapler magazine. This type of drive device can integrate the stapler into the surgical robot system, enhance the function of the surgical robot, simplify the operating procedures of the surgical robot during suturing, shorten the operation time, and reduce the surgical risk.

[0004] In order to facilitate the description of the structure design and working process of the stapler drive device in the following text, the disposable flexible stapler magazine of Covitra (hereinafter referred to as stapler magazine) is taken as an example to briefly introduce its structural features. Figure 1 The figure shows a disposable flexible nail magazine of Cohui. This type of nail magazine has two degrees of freedom, namely the forward and backward movement of the blade J1 and the pitching movement of the nail magazine J2. The blade is placed inside the nail magazine, and a bayonet is provided at the end of the blade to facilitate connection with the blade push rod. The pitching movement of the nail magazine is achieved by the forward and backward movement of the nail magazine push rod, and a protruding support is provided at the end of the nail magazine push rod to facilitate connection with the drive component. A limiting protrusion is provided at the tail of the nail magazine to facilitate the fixation of the nail magazine and the drive component. For the detailed structure of the nail magazine, please refer to the reference [1].

[0005] References:

[0006] [1] Design patent, Disposable stapler magazine, Grant Notice No.: CN 303495233S Summary of the invention

[0007] The purpose of the present invention is to provide a driving device suitable for a disposable flexible stapler magazine, which can realize independent movement of the three degrees of freedom of the stapler (the advance and retreat movement of the blade in the stapler magazine, the pitch movement of the stapler compartment in the stapler magazine and the overall rotation movement of the stapler) under the drive of a motor.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A three-degree-of-freedom electric stapler drive device, comprising a stapler drive device interface part and a stapler drive device driving part, suitable for a disposable flexible stapler magazine (hereinafter referred to as the stapler magazine); the stapler drive device interface part is composed of an interface base, a stapler magazine push rod paddle, an interface latch, a blade push rod and an interface shell, and is used to connect the stapler magazine to achieve mechanical connection and force transmission between the stapler magazine and the drive device; the stapler drive device driving part is composed of a fixed bracket, a movable bracket, two sets of gear pairs, two sets of lead screw nut pairs and three motors, and is used to drive the three-degree-of-freedom movement of the stapler (respectively referring to the blade advance and retreat movement in the stapler magazine, the stapler magazine pitch movement in the stapler magazine and the overall rotation movement of the stapler); the drive device has the characteristic of easy and quick installation or removal of the stapler magazine.

[0010] The interface part of the stapler driving device is as follows: slideways are arranged on the upper and lower sides of the interface base, the interface latch is placed in the upper slideway, and the nail chamber push rod paddle is placed in the lower slideway; the interface base is hollow, and the blade push rod is placed in the cavity; the nail chamber push rod paddle moves axially along the lower side wall of the interface base, driving the nail chamber in the nail magazine to do pitch movement; the interface latch moves axially along the upper side wall of the interface base, forming a clutch when the nail magazine is disassembled; the blade push rod moves axially through the center of the interface base, driving the blade to move forward and backward.

[0011] The interface part of the stapler driving device includes an opening groove at the front end of the interface base body and a limiting notch at the front side of the interface latch.

[0012] The driving part of the stapler driving device described in the invention: the fixed bracket is composed of a base plate, a front baffle plate and a rear baffle plate to form a U-shaped structure; the front and rear baffle plates of the fixed bracket are provided with concentric axial holes, and the front side of the rear baffle plate of the fixed bracket is provided with an internal gear groove; the moving bracket is composed of an upper support plate, a lower support plate, a front baffle plate and a rear baffle plate to form a closed structure; the front and rear baffle plates of the moving bracket are provided with concentric protruding shafts; the protruding shafts of the front and rear baffle plates of the moving bracket respectively pass through the axial holes of the front and rear baffle plates of the fixed bracket, and the moving bracket is stuck in the U-shaped groove of the fixed bracket; the moving bracket has only rotational movement relative to the fixed bracket, and no axial movement.

[0013] The driving part of the stapler driving device described in the invention comprises: a 1# lead screw is arranged on the upper side of the moving bracket, the 1# lead screw is connected between the front and rear baffles of the moving bracket, a 1# gear A is fixed to the rear end of the 1# lead screw; a 1# nut is arranged on the 1# lead screw, the side surface of the 1# nut is a plane, and the side surface is in contact with the upper support plate of the moving bracket; the 1# nut is fixedly connected to the blade push rod paddle; two motors (1# motor and 2# motor) are fixed in the middle of the rear baffle of the moving bracket, a 1# gear B is fixed to the output shaft of the 1# motor, and the 1# gear A and the 1# gear B are externally meshed, The 2# motor output shaft is fixed with the 2# gear, and the 2# gear is meshed with the internal gear groove of the rear baffle of the fixed bracket; the 3# motor is fixed on the lower side of the moving bracket, and the 3# motor output shaft is concentrically fixedly connected with the 2# lead screw; a 2# nut is provided on the 2# lead screw, and the 2# nut is fixedly connected with the nail cabin push rod paddle B, and the lower edge of the nail cabin push rod paddle B is a plane, which is in contact with the lower support plate of the moving bracket; a through hole is provided on the upper side of the front baffle of the moving bracket, and the clutch push rod passes through the through hole and is fixedly connected with the interface pin B, and a compression spring is provided between the clutch push rod and the front baffle of the moving bracket.

[0014] The driving part of the stapler driving device described: 3 motors are arranged in a ring and fixed on the moving bracket to keep the driving part of the stapler driving device compact; the 1# motor drives the moving bracket to rotate relative to the fixed bracket through the internal meshing gear pair (the 2# gear and the internal gear of the rear baffle of the fixed bracket); the 2# motor drives the 1# screw to rotate through the external meshing gear pair (1# gear B and 1# gear A), and the rotation of the 1# screw drives the 1# nut to slide back and forth along the upper support plate of the moving bracket; the output shaft of the 3# motor drives the 2# screw to rotate, and the rotation of the 2# screw drives the 2# nut to slide back and forth along the lower support plate of the moving bracket.

[0015] The connection between the interface part and the driving part of the stapler driving device is as follows: the rear end of the interface base is fixedly connected to the front baffle of the moving bracket; the front end of the blade push rod is embedded in the end of the blade in the nail magazine, and the rear end of the blade push rod is embedded in the blade push rod paddle, and the blade push rod paddle is fixedly connected to the 1# nut; the nail cabin push rod paddle A is fixedly connected to the nail cabin push rod paddle B, and the nail cabin push rod paddle B is fixedly connected to the 2# nut.

[0016] The stapler driving device described herein: the 1# nut drives the blade to move forward and backward along the forward and backward movement of the 1# lead screw, the 2# nut drives the nail magazine push rod to move forward and backward along the forward and backward movement of the 2# lead screw, thereby pulling the nail magazine in the nail magazine to do pitch movement, and the 2# gear meshes along the outer gear of the rear baffle of the fixed bracket to drive the overall rotation of the stapler.

[0017] The quick installation process of the nail magazine is as follows: the nail magazine is inserted into the interface base until the end snap-in of the nail magazine push rod is directly opposite to the opening of the nail magazine push rod paddle A. During the insertion process of the nail magazine, the nail magazine limit protrusion of the nail magazine presses the interface latch to move backward a certain distance, forcing the spring to be compressed; then, the nail magazine is rotated so that the end snap-in of the nail magazine push rod is completely embedded in the opening of the nail magazine push rod paddle A. At this time, the nail magazine limit protrusion is directly opposite to the notch of the interface latch. The interface latch moves forward under the action of the spring so that the notch of the interface latch is just engaged with the nail magazine limit protrusion. At this point, the installation of the nail magazine is completed.

[0018] The quick disassembly process of the nail magazine is as follows: when the nail magazine needs to be removed from the stapler interface, first, the clutch push rod is pressed backward to tighten the spring, forcing the interface latch notch to separate from the nail magazine limiting protrusion; then, the nail magazine is rotated to make the end of the nail magazine push-pull rod snap out of the opening of the nail magazine push rod paddle A, and at the same time, the blade push-pull rod is disengaged from the blade; finally, the nail magazine is moved forward to remove the nail magazine.

[0019] The beneficial effects of the present invention are as follows: the driving device has a simple structure, has three independent degrees of freedom of movement, can meet the operational requirements of a disposable stapler, and the stapler is easy to disassemble and install, so that the stapler can be integrated into the surgical robot system, thereby enhancing the function of the surgical robot, simplifying the operational process of the surgical robot during suturing, shortening the operation time, and reducing the surgical risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0021] Figure 1 Schematic diagram of the disposable bendable nail magazine structure

[0022] Figure 2 Schematic diagram of the electric drive device of the stapler of the present invention

[0023] Figure 3 Schematic diagram of the stapler electric drive device of the present invention after installing the disposable stapler magazine

[0024] Figure 4 . Schematic diagram of the interface portion of the stapler drive device of the present invention

[0025] Figure 5 . Schematic diagram of the driving part of the stapler driving device of the present invention

[0026] Figure 6 . Schematic diagram of the connection between the interface and the driving part of the stapler driving device of the present invention

[0027] Figure 7 .Key state of installing the stapler magazine of the stapler driving device of the present invention 1

[0028] Figure 8.Key state of installing the stapler magazine of the stapler driving device of the present invention 2

[0029] Among them: 1. the interface part of the stapler drive device; 2. the driving part of the stapler drive device; 3. the disposable flexible stapler magazine; 4. the interface base; 5a. the stapler push rod paddle A; 5b. the stapler push rod paddle B; 6a. the interface latch A; 6b. the interface latch B; 7. the blade push rod; 8a. the bottom plate of the fixed bracket; 8b. the front baffle plate of the fixed bracket; 8c. the rear baffle plate of the fixed bracket; 9a. the upper support plate of the movable bracket; 9b. the lower support plate of the movable bracket ; 9c, front baffle of moving bracket; 9d, rear baffle of moving bracket; 10, 2# motor; 11a, 2# gear A; 11b, 2# gear B; 12a, 1# lead screw; 12b, 1# nut; 13, blade push rod paddle; 14a, 1# gear A; 14b, 1# gear B; 15, 1# motor; 16, 3# motor; 17a, 2# lead screw; 17b, 2# nut; 18, clutch push rod; 19, compression spring DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] A three-degree-of-freedom electric stapler drive device (such as Figure 2 As shown), the device includes an anastomosis device driving device interface portion (as shown Figure 4 as shown) and the stapler drive device drive portion (as shown Figure 5 ), applicable to Figure 1 The disposable flexible nail magazine (hereinafter referred to as the nail magazine) shown in FIG. Figure 4 As shown, the interface part of the stapler drive device is composed of an interface base 4, a stapler magazine push rod paddle 5, an interface latch 6, a blade push rod 7 and an interface housing; the interface part of the stapler drive device is used to connect the stapler magazine 3 to achieve mechanical connection and force transmission between the stapler magazine 3 and the drive device. Figure 5 As shown, the driving part of the stapler driving device is composed of a fixed support 8, a movable support 9, two sets of gear pairs (11a and 11b, 14a and 14b), two sets of screw nut pairs (12a and 12b, 17a and 17b) and three motors (10, 15, 16), which are used to drive the three-degree-of-freedom movement of the stapler, respectively referring to the forward and backward movement of the blade in the stapler magazine (such as Figure 1 J1 in the nail magazine), the pitching motion of the nail magazine (such as Figure 1 J2 in the figure) and the overall rotation of the stapler (such as Figure 1 The driving device has the characteristic that the nail magazine can be easily and quickly installed or removed.

[0032] like Figure 4As shown, the interface part of the stapler drive device is as follows: slideways are arranged on the upper and lower sides of the interface base 4, the interface latch 6 is placed in the upper slideway, and the nail chamber push rod paddle 5 is placed in the lower slideway; the interface base 4 is hollow, and the blade push rod 7 is placed in the cavity; the nail chamber push rod paddle 5 makes axial movement along the lower side wall of the interface base 4, driving the nail chamber in the nail magazine to make pitch movement; the interface latch 6 makes axial movement along the upper side wall of the interface base 4, forming a clutch when the nail magazine 3 is disassembled; the blade push rod 7 passes through the center of the interface base 4 and makes axial movement, driving the blade to move forward and backward.

[0033] The interface part of the stapler drive device: the front end of the interface base body 4 is provided with an opening groove (see Figure 4 A limited notch is provided on the front side of the interface pin 6 (see Figure 4 top view in the figure).

[0034] like Figure 5 As shown, the driving part of the stapler driving device is as follows: the fixed bracket is composed of a base plate 8a, a front baffle plate 8b and a rear baffle plate 8c to form a U-shaped structure; the front and rear baffle plates (8b, 8c) of the fixed bracket are provided with concentric axial holes, and the front side of the rear baffle plate 8c of the fixed bracket is provided with an internal gear groove 11b; the movable bracket is composed of an upper support plate 9a, a lower support plate 9b, a front baffle plate 9c and a rear baffle plate 9d to form a closed structure; the front and rear baffle plates of the movable bracket are provided with concentric protruding shafts; the protruding shafts of the front and rear baffle plates of the movable bracket respectively pass through the axial holes of the front and rear baffle plates of the fixed bracket, and the movable bracket is stuck in the U-shaped groove of the fixed bracket; the movable bracket has only rotational movement relative to the fixed bracket, and no axial movement.

[0035] like Figure 5As shown, the driving part of the stapler driving device is as follows: a 1# lead screw 12a is provided on the upper side of the moving bracket, the 1# lead screw 12a is connected between the front and rear baffles 9c and 9d of the moving bracket, and a 1# gear A (14a) is fixed to the rear end of the 1# lead screw 12a; a 1# nut 12b is provided on the 1# lead screw, and the side surface of the 1# nut 12b is a plane, and the side surface is in contact with the upper support plate 9a of the moving bracket; the 1# nut 12b is fixedly connected to the blade push rod paddle 13; two motors (1# motor 15 and 2# motor 10) are fixed in the middle of the rear baffle of the moving bracket, and a 1# gear B (14b) is fixed to the output shaft of the 1# motor 15, and the 1# gear A (14a) and the 1# gear B (14b) are externally meshed, and the 2 ... The output shaft of the # motor 10 is fixed with a 2# gear A (11a), and the 2# gear A (11a) is meshed with the inner gear groove (11b) of the rear baffle of the fixed bracket; the 3# motor 16 is fixed on the lower side of the movable bracket, and the output shaft of the 3# motor 16 is coaxially fixedly connected with the 2# lead screw 17a; the 2# lead screw 17a is provided with a 2# nut 17b, and the 2# nut 17b is fixedly connected with the nail cabin push rod paddle B (5b), and the lower edge of the nail cabin push rod paddle B (5b) is a plane, and the plane is in contact with the lower support plate 9b of the movable bracket; a through hole is provided on the upper side of the front baffle of the movable bracket, and a clutch push rod 18 passes through the through hole and is fixedly connected with the interface pin B (6b), and a compression spring 19 is provided between the clutch push rod 18 and the front baffle 9c of the movable bracket.

[0036] like Figure 5 As shown, the driving part of the stapler driving device: 3 motors are arranged in a ring and fixed on the moving bracket to keep the driving part of the stapler driving device compact; the 1# motor 15 drives the moving bracket to rotate relative to the fixed bracket through the internal meshing gear pair (11a and 11b); the 2# motor 10 drives the 1# screw 12a to rotate through the external meshing gear pair (14a and 14b), and the 1# screw 12a rotates to drive the 1# nut 12b to slide back and forth along the upper support plate 9a of the moving bracket; the output shaft of the 3# motor 16 drives the 2# screw 17a to rotate, and the 2# screw 17a rotates to drive the 2# nut 17b to slide back and forth along the lower support plate 9b of the moving bracket.

[0037] like Figure 6 As shown, the connection between the interface part and the driving part of the stapler driving device is as follows: the rear end of the interface base 4 is fixedly connected to the front baffle 9c of the moving bracket; the front end of the blade push rod 7 is embedded in the end of the blade in the nail magazine, and the rear end of the blade push rod 7 is embedded in the blade push rod paddle 13, and the blade push rod paddle 13 is fixedly connected to the 1# nut 12b; the nail chamber push rod paddle A (5a) is fixedly connected to the nail chamber push rod paddle B (5b), and the nail chamber push rod paddle B (5b) is fixedly connected to the 2# nut (17b); the rear end of the interface pin A (6a) and the front end of the interface pin B (6b) are fixedly connected.

[0038] like Figure 6As shown, the stapler driving device: the 1# nut 12b drives the blade to move forward and backward along the forward and backward movement of the 1# lead screw 12a, the 2# nut 17b drives the nail magazine push rod to move forward and backward along the forward and backward movement of the 2# lead screw 17a, thereby pulling the nail magazine in the nail magazine to do a pitch movement, and the 2# gear 11a drives the overall rotation of the stapler along the meshing movement of the outer gear 11b of the rear baffle of the fixed bracket.

[0039] The rapid installation process of the stapler magazine is as follows: the stapler magazine 3 is inserted into the interface base 4 until the protruding opening at the end of the stapler magazine push rod is directly opposite to the opening of the stapler magazine push rod paddle A (5a). At this time, the relative relationship between the stapler magazine and the stapler driving device is as follows: Figure 7 As shown; during the insertion of the nail magazine, the nail magazine's nail magazine limit protrusion presses the interface latch to move backward a certain distance, forcing the spring to be compressed; then, the nail magazine is rotated so that the protruding branch at the end of the nail magazine push rod is completely embedded in the opening of the nail magazine push rod paddle A. At this time, the nail magazine limit protrusion is directly opposite to the notch of the interface latch, and the interface latch moves forward under the action of the spring so that the notch of the interface latch is just engaged with the nail magazine limit protrusion. At this time, the relative relationship between the nail magazine and the stapler driving device is as shown in FIG. Figure 8 As shown; at this point, the nail magazine is installed.

[0040] The quick disassembly process of the nail magazine is as follows: when the nail magazine needs to be removed from the stapler interface, first, the clutch push rod is pressed backward to tighten the spring, forcing the interface latch notch to separate from the nail magazine limiting protrusion; then, the nail magazine is rotated to make the end of the nail magazine push-pull rod snap out of the opening of the nail magazine push rod paddle A, and at the same time, the blade push-pull rod is disengaged from the blade; finally, the nail magazine is moved forward to remove the nail magazine.

[0041] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A three-degree-of-freedom electric stapler driving device, characterized in that: The device comprises an interface part of a stapler drive device and a driving part of the stapler drive device, and is suitable for a disposable flexible stapler magazine; the interface part of the stapler drive device is composed of an interface base, a stapler magazine push rod paddle, an interface latch, a blade push rod and an interface shell, and is used to connect the stapler magazine to achieve mechanical connection and force transmission between the stapler magazine and the driving device; The driving part of the stapler driving device is composed of a fixed bracket, a movable bracket, two sets of gear pairs, two sets of lead screw nut pairs and three motors, which are used to drive the three-degree-of-freedom movement of the stapler, and the three-degree-of-freedom movement refers to the advance and retreat movement of the blade in the stapler magazine, the pitch movement of the stapler compartment in the stapler magazine and the overall rotation movement of the stapler; the fixed bracket is composed of a U-shaped structure consisting of a bottom plate, a front baffle plate and a rear baffle plate; the front and rear baffle plates of the fixed bracket are provided with concentric shaft holes, and the front side of the rear baffle plate of the fixed bracket is provided with an internal gear groove; the movable bracket is composed of an upper support plate, a lower support plate, a front baffle plate and a rear baffle plate The baffles form a closed structure; the front and rear baffles of the moving bracket are provided with concentric protruding shafts; the protruding shafts of the front and rear baffles of the moving bracket pass through the shaft holes of the front and rear baffles of the fixed bracket respectively, and the moving bracket is clamped in the U-shaped groove of the fixed bracket; the moving bracket has only rotational movement relative to the fixed bracket, and no axial movement; a 1# lead screw is provided on the upper side of the moving bracket, the 1# lead screw is connected between the front and rear baffles of the moving bracket, and a 1# gear A is fixed at the rear end of the 1# lead screw; a 1# nut is provided on the 1# lead screw, and the side surface of the 1# nut is a plane, and the side surface is in contact with the upper support plate of the moving bracket; The 1# nut is fixedly connected to the blade push rod paddle; two motors are fixed in the middle of the rear baffle of the moving bracket, the two motors are the 1# motor and the 2# motor, the 1# motor output shaft is fixed with the 1# gear B, the 1# gear A and the 1# gear B are externally meshed, the 2# motor output shaft is fixed with the 2# gear, and the 2# gear is meshed with the inner gear groove of the rear baffle of the fixed bracket; the 3# motor is fixed on the lower side of the moving bracket, and the 3# motor output shaft is concentrically fixedly connected with the 2# lead screw; a 2# nut is provided on the 2# lead screw, and the 2# nut is fixedly connected to the nail cabin push rod paddle B, and the lower edge of the nail cabin push rod paddle B is a plane, which is in contact with the lower support plate of the moving bracket; a through hole is provided on the upper side of the front baffle of the moving bracket, and the clutch push rod passes through the through hole and is fixedly connected to the interface pin B, and a compression spring is provided between the clutch push rod and the front baffle of the moving bracket.

2. The stapler drive device interface portion according to claim 1, characterized in that: Slideways are arranged on the upper and lower sides of the interface base, the interface latch is placed in the upper slideway, and the nail chamber push rod paddle is placed in the lower slideway; the interface base is hollow, and the blade push rod is placed in the cavity; the nail chamber push rod paddle moves axially along the lower side wall of the interface base, driving the nail chamber in the nail magazine to do pitch movement; the interface latch moves axially along the upper side wall of the interface base, forming a clutch when the nail magazine is disassembled; the blade push rod moves axially through the center of the interface base, driving the blade to move forward and backward.

3. The stapler drive device interface portion according to claim 1, characterized in that: An opening groove is arranged at the front end of the interface base body; and a limiting notch is arranged at the front side of the interface latch.

4. The driving part of the stapler driving device according to claim 1, characterized in that: The driving part of the stapler drive device according to claim 1 is characterized in that: three motors are arranged in a ring and fixed on the moving bracket to keep the driving part of the stapler drive device compact; the 1# motor drives the moving bracket to rotate relative to the fixed bracket through an internal meshing gear pair, and the internal meshing gear pair is the 2# gear and the internal gear of the rear baffle of the fixed bracket; the 2# motor drives the 1# screw to rotate through an external meshing gear pair, and the external meshing gear pair is 1# gear B and 1# gear A; the rotation of the 1# screw drives the 1# nut to slide back and forth along the upper support plate of the moving bracket; the output shaft of the 3# motor drives the 2# screw to rotate, and the rotation of the 2# screw drives the 2# nut to slide back and forth along the lower support plate of the moving bracket.

5. The connection between the interface part and the driving part of the stapler driving device according to claim 1, characterized in that: The rear end of the interface base is fixedly connected to the front baffle of the moving bracket; the front end of the blade push rod is embedded in the end of the blade in the nail magazine, the rear end of the blade push rod is embedded in the blade push rod paddle, and the blade push rod paddle is fixedly connected to the 1# nut; The nail compartment push rod paddle A is fixedly connected to the nail compartment push rod paddle B, and the nail compartment push rod paddle B is fixedly connected to the 2# nut.

6. The stapler driving device according to claim 1, characterized in that: The 1# nut moves forward and backward along the 1# lead screw to drive the blade to move forward and backward, the 2# nut moves forward and backward along the 2# lead screw to drive the nail magazine push rod to move forward and backward, thereby pulling the nail magazine in the nail magazine to do pitch movement, and the 2# gear meshes along the outer gear of the rear baffle of the fixed bracket to drive the overall rotation of the stapler.

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