Actuator and flexible device delivery device

Abstract

The present invention discloses an actuator and a delivery device for a flexible device, wherein the actuator comprises a fixed frame, a rotating frame, a first power input shaft, a second power input shaft and a driving roller assembly, wherein the first power input shaft and the second power input shaft are both rotatably connected to the fixed frame; the driving roller assembly is installed on the rotating frame, the driving roller assembly comprises at least two driving rollers, the flexible device is inserted between the driving rollers, the first power input shaft is transmission-connected to the driving roller assembly, and is used to directly or indirectly drive the driving rollers to rotate, so as to drive the flexible device to move along its axial direction; the second power input shaft is transmission-connected to the rotating frame, and is used to drive the rotating frame to rotate, so as to drive the flexible device to rotate around its own axis. The above-mentioned actuator can drive the flexible device to move forward or backward in the axial direction, and can also drive the flexible device to rotate in the circumferential direction.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an actuator and a delivery device for a flexible device. Background Art

[0002] The digestive tract, respiratory tract, urethra and other natural cavities of the human body are prone to common diseases. Due to the characteristics of the lesions inside the natural cavities, they usually need to be inspected and treated with flexible instruments such as soft endoscopes. In clinical practice, flexible instruments often need to be accompanied by rotational movement during the transfer process to quickly observe and locate lesions in the natural cavities, so as to improve surgical efficiency. However, traditional flexible instrument delivery devices have the problem of lack of rotational movement and cannot meet the requirements of clinical practice for flexible instrument delivery.

[0003] Therefore, how to provide a solution to overcome or alleviate the above-mentioned defects is still a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The object of the present invention is to provide an actuator and a delivery device for a flexible instrument, wherein the actuator can drive the flexible instrument to move forward or backward in the axial direction, and can also drive the flexible instrument to rotate in the circumferential direction.

[0005] In order to solve the above technical problems, the present invention provides an actuator, which is applied to a delivery device of a flexible instrument, comprising a fixed frame, a rotating frame, a first power input shaft, a second power input shaft and a drive roller assembly, wherein the first power input shaft and the second power input shaft are both rotatably connected to the fixed frame; the drive roller assembly is installed on the rotating frame, and the drive roller assembly includes at least two drive rollers, and the flexible instrument is inserted between each of the drive rollers; the first power input shaft and the drive roller assembly are transmission-connected, and are used to directly or indirectly drive each of the drive rollers to rotate, so as to drive the flexible instrument to move along its axial direction; the second power input shaft and the rotating frame are transmission-connected, and are used to drive the rotating frame to rotate, so as to drive the flexible instrument to rotate around its own axis.

[0006] In the above scheme, the first power input shaft is connected to the driving roller assembly in a transmission manner, and is used to directly or indirectly drive each driving roller in the driving roller assembly to rotate, thereby driving the flexible device to move along its axial direction, so as to achieve the forward or backward movement of the flexible device in the axial direction. The second power input shaft is connected to the rotating frame in a transmission manner, and is used to drive the rotating frame to rotate, so as to drive the flexible device to rotate around its own axis, thereby achieving the rotation of the flexible device around its circumferential direction.

[0007] That is to say, the actuator in the embodiment of the present invention can drive the flexible device to move forward or backward in the axial direction, and can also drive the flexible device to rotate in the circumferential direction, which can better meet the movement requirements for the flexible device in clinical practice.

[0008] Optionally, the number of the driving rollers is two, namely an active roller and a driven roller, the active roller and the driven roller are arranged opposite to each other, and the actuator also includes a first transmission assembly, and the first power input shaft is connected to the active roller through the first transmission assembly.

[0009] Optionally, the fixed frame includes a first frame plate and a second frame plate which are relatively arranged along the axial direction of the flexible device, and the rotating frame is arranged between the first frame plate and the second frame plate; the first transmission assembly includes a first transmission component, a second transmission component and a third transmission component, the first transmission component and the second transmission component are both cylindrical, the first transmission component is rotatably connected to the first frame plate, at least part of the second transmission component is located in the rotating frame, the second transmission component is connected to the first transmission component, and the second transmission component and the first transmission component can rotate synchronously, the flexible device is interspersed with the first transmission component and the second transmission component, the third transmission component is installed on the rotating frame, the first power input shaft is transmission-connected to the first transmission component, the second transmission component is transmission-connected to the third transmission component, and the third transmission component is transmission-connected to the active roller.

[0010] Optionally, the outer wall surfaces of the active roller and the driven roller are both provided with annular grooves, and the inner wall surfaces of the annular grooves are used to contact the outer wall surfaces of the flexible device.

[0011] Optionally, it further includes a movable frame and a first elastic component, the driven roller is rotatably connected to the movable frame, the movable frame is slidably connected to the rotating frame, and the first elastic component is used to interact with the movable frame to drive the movable frame to move toward the active roller.

[0012] Optionally, the rotating frame is provided with a guide hole, the movable frame is provided with a guide portion, the guide portion is slidably connected to the guide hole, and the guide portion has a portion extending out of the rotating frame from the guide hole.

[0013] Optionally, it also includes a second transmission assembly, which includes a fourth transmission component, and the fourth transmission component is also cylindrical. The fourth transmission component is rotatably connected to the second frame plate, and the fourth transmission component can rotate synchronously with the rotating frame. The flexible device is inserted into the fourth transmission component, and the second power input shaft is transmission-connected to the fourth transmission component.

[0014] Optionally, the fixing frame is provided with a clamping portion; and / or, the fixing frame is further provided with a limiting portion.

[0015] The present invention also provides a delivery device for a flexible instrument, comprising a driving mechanism and an actuator, wherein the actuator is the above-mentioned actuator, and the driving mechanism comprises a first power output part and a second power output part, wherein the first power output part is connected to the first power input shaft, and the second power output part is connected to the second power input shaft.

[0016] Optionally, the fixing frame is provided with a clamping portion, and the driving mechanism is provided with a clamping matching portion, and the clamping portion can be clamped with the clamping matching portion.

[0017] Optionally, the driving mechanism includes a shell, the shell is provided with a plug-in hole, the snap-fitting portion includes a card plate and a second elastic component, the card plate is provided with a card slot, the card plate is slidably connected to the shell, and the card plate has a portion extending out of the shell; the card plate has a first working position and a second working position; in the first working position, the snap-fitting portion can extend from the plug-in hole into or leave the card slot; in the second working position, the snap-fitting portion can be snapped into the card slot; the second elastic component is used to drive the card plate to move to the second working position.

[0018] Optionally, the driving mechanism is provided with an elastic abutting component, and the elastic abutting component is used to abut against the fixing frame.

[0019] Optionally, the driving mechanism is further provided with an identification sensor, and the identification sensor is used to identify whether the actuator and the driving mechanism are installed in place.

[0020] Optionally, a base portion is further included, and the driving mechanism is directly or indirectly mounted on the base portion.

[0021] Optionally, a six-dimensional sensor and a start switch are further included, and the six-dimensional sensor and the start switch are both installed on the driving mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of the delivery device of the flexible device provided by the present invention;

[0023] Figure 2 It is a structural schematic diagram of the actuator provided by the present invention;

[0024] Figure 3 for Figure 2 A front view of

[0025] Figure 4 for Figure 3 Section view in AA direction;

[0026] Figure 5 for Figure 3 Cross-sectional view in the BB direction;

[0027] Figure 6 for Figure 5 Cross-sectional view in CC direction;

[0028] Figure 7 is an exploded view of the moving frame, the driven roller and the first elastic member;

[0029] Figure 8 is an exploded view of a first transmission assembly, a second transmission assembly and a flexible device;

[0030] Fig. 9 is a structural schematic diagram of the driving mechanism;

[0031] Fig.10 for Fig. 9 A top view of

[0032] Fig.11 for Fig.10 Cross-sectional view in DD direction;

[0033] Fig.12 for Fig.10 Cross-sectional view in the EE direction.

[0034] The following are the descriptions of the reference numerals:

[0035] 1000-actuator; 1100-fixed frame; 1110-first frame plate; 1120-second frame plate; 1130-bottom frame plate; 1131-clamping portion; 1132-limiting portion; 1140-first side frame; 1141-first side plate; 1150-second side frame; 1151-second side plate; 1200-rotating frame; 1210-frame body; 1211-first bottom plate; 1212-first side plate; 1220-first cover plate; 1221-guide hole; 1300-first power input shaft; 1310-first power connection end; 1400-second power input shaft; 1410-second power Connecting end; 1500-driving roller assembly; 1510-active roller; 1511-first annular groove; 1520-driven roller; 1521-second annular groove; 1600-first transmission assembly; 1610-first transmission component; 1611-first rotational matching portion; 1620-second transmission component; 1621-first rotational matching groove; 1630-third transmission component; 1640-bearing; 1700-second transmission assembly; 1710-fourth transmission component; 1711-second rotational matching portion; 1800-movable frame; 1810-guide portion; 1820-accommodating groove; 1900-first elastic component;

[0036] 2000-driving mechanism; 2100-housing; 2110-housing body; 2120-second cover plate; 2121-plug hole; 2122-limiting hole; 2200-first power output part; 2300-second power output part; 2400-card-fitting part; 2410-card plate; 2411-card slot; 2420-second elastic component; 2500-elastic abutting component; 2600-first power generating part; 2700-second power generating part; 2800-start switch; 2900-identification sensor;

[0037] 3000-pedestal part;

[0038] 4000-six-dimensional sensor;

[0039] 5000-Flexible Equipment. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] In the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of the features.

[0042] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, "connected" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "rotational connection" means that they are connected to each other and can rotate relative to each other after being connected. "Sliding connection" means that they are connected to each other and can slide relative to each other after being connected.

[0043] In the description of the embodiments of the present invention, the term "plurality" refers to two or more than two. Moreover, when "plurality" is used to express the number of different components, it does not indicate the relationship between the components in terms of quantity.

[0044] In the description of the embodiments of the present invention, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0045] In the embodiments of the present invention, "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0046] Please refer to Figure 1 , Figure 1 It is a schematic diagram of the structure of the delivery device of the flexible device provided by the present invention.

[0047] like Figure 1 As shown, an embodiment of the present invention provides a delivery device for a flexible instrument, including an actuator 1000 and a driving mechanism 2000 .

[0048] The driving mechanism 2000 is provided with a power generating unit for generating and providing driving force. The actuator 1000 is provided with a power output unit, and the power generating unit can be connected to the power output unit in a transmission manner so as to transmit the driving force to the power output unit. The power output unit can be connected to the flexible instrument 5000 to provide driving force for the flexible instrument 5000 to drive the flexible instrument 5000 to move, thereby meeting the movement requirements in clinical practice.

[0049] In practical applications, the delivery device provided in the embodiment of the present invention may be installed on a manipulator, so that the position of the delivery device can be conveniently adjusted by providing assistance through the manipulator.

[0050] Based on this, in the embodiment of the present invention, the delivery device may further include a base 3000, the drive mechanism 2000 may be directly or indirectly mounted on the base 3000, and the base 3000 may be used to connect with the manipulator. Of course, in some other implementations of the embodiment of the present invention, the drive mechanism 2000 may also be directly connected with the manipulator, as long as the reliable connection between the delivery device and the manipulator can be ensured.

[0051] like Figure 1As shown, the delivery device provided in the embodiment of the present invention may also include a six-dimensional sensor 4000, which is used to detect the dragging force when the delivery device is dragged, and can transmit the dragging force to the manipulator. The manipulator can provide assistance according to the direction and magnitude of the above-mentioned dragging force, so as to assist medical staff in completing the position adjustment of the delivery device.

[0052] The six-dimensional sensor 4000 can be installed between the driving mechanism 2000 and the base 3000. Figure 1 At this time, one end of the six-dimensional sensor 4000 can be connected to the driving mechanism 2000, and the other end of the six-dimensional sensor 4000 can be connected to the base 3000. Of course, in some other implementations of the embodiments of the present invention, the six-dimensional sensor 4000 can also be installed at other positions as long as it can meet the requirements of use.

[0053] Furthermore, the delivery device provided in the embodiment of the present invention may also be provided with a start switch 2800. The start switch 2800 may be specifically provided at the drive mechanism 2000 or other positions, and is used to activate the aforementioned six-dimensional sensor 4000 and the robotic arm, which can reduce the false triggering of the position adjustment of the delivery device, and is conducive to ensuring the safety of the delivery device during use.

[0054] Please refer to Figure 2-Figure 8 , Figure 2 It is a structural schematic diagram of the actuator provided by the present invention; Figure 3 for Figure 2 A front view of Figure 4 for Figure 3 Section view in AA direction; Figure 5 for Figure 3 Cross-sectional view in the BB direction; Figure 6 for Figure 5 Cross-sectional view in CC direction; Figure 7 is an exploded view of the moving frame, the driven roller and the first elastic member; Figure 8 Detailed description of the drawings is provided for an exploded view of the first transmission assembly, the second transmission assembly and the flexible device.

[0055] like Figure 2-Figure 5 As shown, an embodiment of the present invention provides an actuator 1000 , including a fixed frame 1100 , a rotating frame 1200 , a first power input shaft 1300 , a second power input shaft 1400 and a driving roller assembly 1500 .

[0056] The fixing frame 1100 is the structural basis of the actuator 1000, and other components are directly or indirectly mounted on the fixing frame 1100 so as to be assembled in an integrated manner through the fixing frame 1100. At the same time, the fixing frame 1100 can also be used to connect with the aforementioned driving mechanism 2000 so as to establish a connection relationship between the actuator 1000 and the driving mechanism 2000.

[0057] In some optional implementations, such as Figure 2 and Figure 3 As shown, the fixing frame 1100 may include a first frame plate 1110 , a second frame plate 1120 , a bottom frame plate 1130 , a first side frame 1140 , and a second side frame 1150 .

[0058] The first frame plate 1110 and the second frame plate 1120 may be arranged along the axial direction of the flexible device 5000 ( Figure 2 The bottom frame plate 1130 may be located between the first frame plate 1110 and the second frame plate 1120, and the bottom frame plate 1130 may be connected to the first frame plate 1110 and the second frame plate 1120. The bottom frame plate 1130, the first frame plate 1110 and the second frame plate 1120 may be combined to form a substantially U-shaped main frame body (not marked in the figure).

[0059] The first side frame 1140 and the second side frame 1150 may be respectively located on both sides of the main frame in the axial direction of the flexible device 5000. The first side frame 1140 is used to connect with the first frame plate 1110, and the second side frame 1150 is used to connect with the second frame plate 1120.

[0060] The first side frame 1140 is used to install the first power input shaft 1300. The specific installation method may be, for example, bearing installation, so as to realize the rotational connection between the first power input shaft 1300 and the fixing frame 1100. The first side frame 1140 may include a plurality of first side panels 1141. The first power input shaft 1300 may be rotationally connected to each of the first side panels 1141 at the same time, so as to improve the installation reliability of the first power input shaft 1300. Figure 2 and Figure 3 In the implementation manner, the number of the first side panels 1141 is two, and the two first side panels 1141 can be arranged at intervals.

[0061] The second side frame 1150 is used to install the second power input shaft 1400. The specific installation method may be, for example, bearing installation, so as to realize the rotational connection between the second power input shaft 1400 and the fixing frame 1100. The second side frame 1150 may include a plurality of second side plates 1151, and the second power input shaft 1400 may be rotationally connected to each second side plate 1151 at the same time, so as to improve the installation reliability of the second power input shaft 1400. Figure 2 and Figure 3 In the implementation manner, the number of the second side panels 1151 is two, and the two second side panels 1151 can be arranged at intervals.

[0062] The first power input shaft 1300 has a first power connection end 1310 , and the second power input shaft 1400 has a second power connection end 1410 . Both the first power connection end 1310 and the second power connection end 1410 can be connected to the driving mechanism 2000 to introduce driving force.

[0063] Here, the embodiment of the present invention does not limit the specific structural form of the first power connection end 1310 and the second power connection end 1410. In practical applications, those skilled in the art can select according to specific needs, as long as they can meet the requirements of use. For example, the first power connection end 1310 and the second power connection end 1410 can both be set as splines, etc.

[0064] The fixing frame 1100 may also be provided with a clamping portion 1131 , which may be specifically provided on the aforementioned base plate 1130 to achieve clamping fixation between the fixing frame 1100 and the driving mechanism 2000 .

[0065] It should be understood that the fixing frame 1100 and the driving mechanism 2000 may be connected in other ways as long as the reliability of the connection is guaranteed, and when other ways are used, the above-mentioned clamping portion 1131 may not be provided. For example, the fixing frame 1100 and the driving mechanism 2000 may be connected in screws, in which case, only connecting holes need to be provided on the fixing frame 1100 and the driving mechanism 2000.

[0066] The fixing frame 1100 may also be provided with a limiting portion 1132, which may be specifically provided on the aforementioned bottom frame plate 1130; correspondingly, the driving mechanism 2000 may also be provided with a limiting hole. During specific assembly, the limiting portion 1132 of the fixing frame 1100 may be inserted into the limiting hole of the driving mechanism 2000, so as to realize the limiting assembly between the actuator 1000 and the driving mechanism 2000, and improve the connection reliability between the two.

[0067] It should be understood that the above description of the specific structure of the fixing frame 1100 is only an exemplary description of the embodiment of the present invention, and cannot be used as a limitation on the implementation scope of the actuator 1000 provided by the embodiment of the present invention. Under the condition of satisfying the function, the fixing frame 1100 may also adopt other structural forms. For example, the first side frame 1140 may also include only one first side plate 1141. In specific implementation, the installation reliability and stability of the first power input shaft 1300 can be ensured by increasing the thickness of the first side plate 1141.

[0068] The rotating frame 1200 may be specifically disposed between the first frame plate 1110 and the second frame plate 1120. Figure 3-Figure 5 As shown, the rotating frame 1200 may be a box-type structure, including a frame body 1210 and a first cover plate 1220. The frame body 1210 may include a first bottom plate 1211 and four first side plates 1212, each of the first side plates 1212 may be connected to the first bottom plate 1211, and the first cover plate 1220 may be connected to the four first side plates 1212.

[0069] The driving roller assembly 1500 is installed on the rotating frame 1200 .

[0070] The driving roller assembly 1500 includes at least two driving rollers. The flexible device 5000 can be inserted between the driving rollers. The first power input shaft 1300 is connected to the driving roller assembly 1500 for driving directly or indirectly driving the driving rollers in the driving roller assembly 1500 to rotate, thereby driving the flexible device 5000 to move along its axial direction to achieve the axial advancement or retreat of the flexible device 5000. The second power input shaft 1400 is connected to the rotating frame 1200 for driving the rotating frame 1200 to rotate, thereby driving the flexible device 5000 to rotate around its own axis, thereby achieving the rotation of the flexible device 5000 around its circumferential direction.

[0071] That is to say, the actuator 1000 in the embodiment of the present invention can drive the flexible device 5000 to move forward or backward in the axial direction, and can also drive the flexible device 5000 to rotate in the circumferential direction, which can better meet the movement requirements of the flexible device 5000 in clinical practice.

[0072] In some optional implementations, the number of driving rollers may be two, namely, an active roller 1510 and a driven roller 1520. The active roller 1510 may be mounted on the aforementioned first cover plate 1220 and the first bottom plate 1211 through bearings and other components, so as to realize the rotation connection between the active roller 1510 and the rotating frame 1200. The active roller 1510 and the driven roller 1520 may be arranged relative to each other.

[0073] The actuator 1000 may further include a first transmission assembly 1600, and the first power input shaft 1300 may be connected to the active roller 1510 through the first transmission assembly 1600, so as to drive the active roller 1510. The active roller 1510 may drive the flexible device 5000 to move, and the flexible device 5000 may drive the driven roller 1520 to rotate.

[0074] like Figure 5As shown, the outer wall surfaces of the active roller 1510 and the driven roller 1520 can be provided with annular grooves. For the convenience of description, the annular groove of the active roller 1510 can be referred to as the first annular groove 1511, and the annular groove of the driven roller 1520 can be referred to as the second annular groove 1521. The flexible device 5000 can be at least partially located in the first annular groove 1511 and the second annular groove 1521, so as to reduce the pressure loss of the flexible device 5000 and improve the compactness of the structure of the driving roller assembly 1500. After installation, the inner wall surfaces of the first annular groove 1511 and the second annular groove 1521 can contact the outer wall surface of the flexible device 5000 so as to transmit the driving force along its axial direction to the flexible device 5000.

[0075] The first annular groove 1511 and the second annular groove 1521 can both be V-shaped grooves. Figure 5 In addition, the first annular groove 1511 and the second annular groove 1521 may also be grooves of other shapes such as U-shaped grooves, as long as they can accommodate the flexible device 5000 and the inner wall of the groove can fit the flexible device 5000.

[0076] Furthermore, the actuator 1000 provided in the embodiment of the present invention may also include a moving frame 1800 and a first elastic component 1900 .

[0077] The driven roller 1520 may be mounted on the moving frame 1800 through bearings and other components to achieve a rotational connection between the driven roller 1520 and the moving frame 1800. The moving frame 1800 may be slidably connected to the rotating frame 1200. The first elastic component 1900 may be used to interact with the moving frame 1800 to drive the moving frame 1800 to move toward the active roller 1510.

[0078] By adopting this solution, the distance between the driven roller 1520 and the active roller 1510 can be adjusted, and it can also adapt to the use of flexible devices 5000 of different radial sizes, thereby improving the compatibility of the actuator 1000 provided by the embodiment of the present invention with different flexible devices 5000, so as to improve the application range of the actuator 1000. In addition, the provision of the first elastic component 1900 can also ensure that the driven roller 1520 is reliably pressed against the flexible device 5000, and can ensure the close contact between the driven roller 1520 and the active roller 1510 and the flexible device 5000, thereby ensuring the reliable driving of the driving roller assembly 1500 for the flexible device 5000.

[0079] Here, the embodiment of the present invention does not limit the specific type of the first elastic component 1900. In practical applications, those skilled in the art can select it according to specific needs, as long as it can meet the requirements of use. For example, the first elastic component 1900 can be a spring. For another example, the first elastic component 1900 can be a bellows. For another example, the first elastic component 1900 can be an elastomer made of a material with a certain elastic deformation ability, such as rubber, latex, silicone, etc. In short, as long as the first elastic component 1900 has a certain elastic deformation ability and elastic reset ability, it can act on the mobile frame 1800.

[0080] Combination Figure 5 The rotating frame 1200 may be provided with a guide hole 1221, which may be specifically provided on the first cover plate 1220 and the first bottom plate 1211. The mobile frame 1800 may be provided with a guide portion 1810. The guide portion 1810 may be slidably connected to the guide hole 1221 to guide the sliding of the mobile frame 1800 in the rotating frame 1200, thereby improving the sliding stability and smoothness of the mobile frame 1800.

[0081] At the same time, the guide portion 1810 may also have a portion (not marked in the figure) extending from the guide hole 1221 of the rotating frame 1200, which can be used as a handle to facilitate medical staff to manually drive the mobile frame 1800 and the driven roller 1520 installed on the mobile frame 1800. Specifically, when installing the flexible device 5000, the movable frame 1800 and the driven roller 1520 installed on the movable frame 1800 can be manually driven relatively away from the active roller 1510, so as to increase the distance between the active roller 1510 and the driven roller 1520 to facilitate the installation and removal of the flexible device 5000; after the installation of the flexible device 5000 is completed, the force on the movable frame 1800 can be released. At this time, under the action of the first elastic component 1900, the movable frame 1800 and the driven roller 1520 installed on the movable frame 1800 can be displaced toward the active roller 1510 until the driven roller 1520 can be in close contact with the flexible device 5000. At this time, the driven roller 1520 cooperates with the active roller 1510 to achieve reliable pressing of the flexible device 5000, which can improve the installation reliability of the flexible device 5000.

[0082] Recombination Figure 7 The movable frame 1800 may be provided with a receiving groove 1820 on the side away from the driven roller 1520, and a part of the first elastic component 1900 may be provided in the receiving groove 1820. In this way, the installation reliability and the movement stability of the first elastic component 1900 may be improved, and the radial movement of the first elastic component 1900 may be avoided to a large extent.

[0083] The number of the first elastic components 1900 may be multiple, and accordingly, the number of the receiving grooves 1820 may also be multiple, and each first elastic component 1900 may be installed in each receiving groove 1820 in a one-to-one correspondence. Figure 7 In the implementation manner, the number of the first elastic component 1900 and the number of the receiving groove 1820 can be four.

[0084] It should be understood that the above description that the driving roller assembly 1500 includes an active roller 1510 and a driven roller 1520 is only an exemplary description of an embodiment of the present invention, and cannot be used as a limitation on the scope of implementation of the actuator 1000 provided by the present invention. Under the condition of satisfying the functions, the driving roller assembly 1500 can also adopt other structural forms. For example, the above two driving rollers can also be active rollers 1510. For another example, the number of driving rollers can also be greater than two; in this case, among the driving rollers, only one driving roller can be the active roller 1510, and the other driving rollers can be driven rollers 1520; or, there can be two or more driving rollers that are active rollers 1510. In short, as long as the driving roller assembly 1500 can complete the clamping and reliable driving of the flexible device 5000, it will be fine.

[0085] In some optional implementations, such as Figure 4 , Figure 6 and Figure 8 As shown, the first transmission assembly 1600 may include a first transmission component 1610 , a second transmission component 1620 and a third transmission component 1630 .

[0086] The first transmission component 1610 can be installed on the first frame plate 1110 through components such as the bearing 1640, so that the first transmission component 1610 can be rotatably connected to the first frame plate 1110. In addition, the first transmission component 1610 can be transmission-connected to the aforementioned first power input shaft 1300, so that the first power input shaft 1300 can drive the first transmission component 1610 to rotate. Figure 2 and Figure 6 As shown, the first power input shaft 1300 and the first transmission component 1610 may be driven by bevel gears to adapt to the situation that the central axis of the first power input shaft 1300 and the central axis of the first transmission component 1610 are set at an angle and the two rotate in different directions. In addition, the first power input shaft 1300 and the first transmission component 1610 may also be driven by a worm gear, etc., so as to adapt to the situation that the first power input shaft 1300 and the first transmission component 1610 rotate in different directions.

[0087] The first transmission component 1610 may be cylindrical, and the flexible device 5000 may be inserted into the first transmission component 1610. In this way, the first transmission component 1610 may also guide the flexible device 5000, thereby improving the installation reliability and movement stability of the flexible device 5000.

[0088] like Figure 8 As shown, the second transmission component 1620 may also be cylindrical, and the flexible device 5000 may also be inserted into the second transmission component 1620 so as to be guided by the second transmission component 1620. The first transmission component 1610 may be provided with a first rotational matching portion 1611, and the second transmission component 1620 may be provided with a first rotational matching groove 1621. The cross-sections of the first rotational matching portion 1611 and the first rotational matching groove 1621 perpendicular to the axial direction may be non-circular, such as hexagonal, etc. In this way, after the first rotational matching portion 1611 is inserted into the first rotational matching groove 1621, the first transmission component 1610 and the second transmission component 1620 can realize synchronous rotation.

[0089] The second transmission component 1620 may be at least partially located in the rotating frame 1200 so as to introduce power into the rotating frame 1200 .

[0090] The third transmission component 1630 can be installed on the rotating frame 1200 through the bearing 1640 to realize the rotation connection between the third transmission component 1630 and the rotating frame 1200. The second transmission component 1620 can be transmission-connected with the third transmission component 1630, and the specific transmission connection mode can also be a bevel gear connection, a worm gear connection, etc., so as to adapt to the different rotation directions of the second transmission component 1620 and the third transmission component 1630.

[0091] The third transmission component 1630 can be in transmission connection with the active roller 1510 so as to transmit the driving force to the active roller 1510. Figure 6 In the implementation mode, the central axis of the third transmission component 1630 and the central axis of the active roller 1510 can be parallel, so a spur gear can be used to connect the two for transmission.

[0092] It should be understood that the above description of the specific structural form of the first transmission component 1600 is only an exemplary description of the embodiment of the present invention, and it cannot be used as a limitation on the scope of implementation of the actuator 1000 provided by the embodiment of the present invention. Under the condition of satisfying the functions, the first transmission component 1600 can also adopt other structural forms. For example, the first transmission component 1610 and the second transmission component 1620 can also be connected by a coupling or the like. For another example, the third transmission component 1630 and the active roller 1510 can also be connected by a pulley connection, a sprocket connection, etc. For another example, the second transmission component 1620 can also be directly connected to the active roller 1510 through a bevel gear, etc., in which case the third transmission component 1630 can be omitted. For another example, the first power input shaft 1300 may also be directly connected to the active roller 1510 for transmission. In this case, the aforementioned first transmission component 1610, the second transmission component 1620 and the third transmission component 1630 may not be provided, and the first transmission assembly 1600 may only include gears, sprockets, pulleys and other components provided on the first power input shaft 1300 and the active roller 1510.

[0093] In some optional implementations, such as Figure 2-Figure 4 , Figure 6 and Figure 8 As shown, the actuator 1000 provided in the embodiment of the present invention may further include a second transmission assembly 1700 , and the second power input shaft 1400 may be specifically connected to the rotating frame 1200 through the second transmission assembly 1700 to drive the rotating frame 1200 to rotate.

[0094] The second transmission assembly 1700 may include a fourth transmission component 1710. The fourth transmission component 1710 may be connected to the second frame plate 1120 through components such as a bearing 1640 to achieve a rotational connection between the fourth transmission component 1710 and the second frame plate 1120. The fourth transmission component 1710 and the second power input shaft 1400 may be connected using a bevel gear, a worm gear, etc., so as to adapt to the different rotation directions of the fourth transmission component 1710 and the second power input shaft 1400.

[0095] The fourth transmission component 1710 may be provided with a second rotational matching portion 1711, and the rotating frame 1200 may be provided with a second rotational matching groove (not shown in the figure), and the cross-sections of the second rotational matching portion 1711 and the second rotational matching groove perpendicular to the axial direction may be non-circular, such as hexagonal, etc. In this way, after the second rotational matching portion 1711 is inserted into the second rotational matching groove, the fourth transmission component 1710 and the rotating frame 1200 can realize synchronous rotation.

[0096] The fourth transmission component 1710 may also be cylindrical, and the flexible device 5000 may also be inserted into the fourth transmission component 1710 so as to be guided by the fourth transmission component 1710 for transmission.

[0097] It should be understood that the above description of the specific structural form of the second transmission component 1700 is only an exemplary description of the embodiment of the present invention, and it cannot be used as a limitation on the implementation scope of the actuator 1000 provided by the embodiment of the present invention. Under the condition of satisfying the function, the second transmission component 1700 can also adopt other structural forms. For example, the fourth transmission component 1710 can also be connected to the rotating frame 1200 through a coupling or the like.

[0098] Please refer to Figure 9-12 , Fig. 9 is a structural schematic diagram of the driving mechanism; Fig.10 for Fig. 9 A top view of Fig.11 for Fig.10 Cross-sectional view in DD direction; Fig.12 for Fig.10 Cross-sectional view in the EE direction.

[0099] like Figure 9-12 As shown, the driving mechanism 2000 may include a housing 2100 , a first power output unit 2200 , a second power output unit 2300 , a first power generating unit 2600 , and a second power generating unit 2700 .

[0100] The housing 2100 is the external structure of the driving mechanism 2000, and other components can be directly or indirectly mounted on the housing 2100, so as to realize integrated assembly through the housing 2100. Fig. 9 and Fig.10 As shown, the housing 2100 may include a housing body 2110 and a second cover plate 2120 , and the second cover plate 2120 may be located on a side of the housing body 2110 facing the actuator 1000 .

[0101] The first power output unit 2200 and the second power output unit 2300 can be mounted on the second cover plate 2120 by bearings, etc., so as to realize the rotational connection between the first power output unit 2200 and the second power output unit 2300 and the housing 2100. The first power output unit 2200 can be connected to the first power input shaft 1300, and the second power output unit 2300 can be connected to the second power input shaft 1400, so as to realize the transmission of driving force to the first power input shaft 1300 and the second power input shaft 1400.

[0102] Here, the embodiment of the present invention does not limit the specific structural form of the first power output part 2200 and the second power output part 2300. In practical applications, those skilled in the art can determine it according to the structure of the power connection end of the first power input shaft 1300 and the second power input shaft 1400. For example, when the power connection end described in the aforementioned implementation is a spline, the first power output part 2200 and the second power output part 2300 can be provided with a spline groove to achieve power transmission through the cooperation of the spline and the spline groove.

[0103] The first power generating unit 2600 and the second power generating unit 2700 can both be motors, and both can be installed in the housing 2100 through a motor bracket or the like. The first power generating unit 2600 can be connected to the first power output unit 2200 in a transmission manner, which can be directly connected or indirectly connected. When an indirect connection is adopted, a transmission component in the form of a gear, a pulley, a sprocket, etc. can be arranged between the first power generating unit 2600 and the first power output unit 2200. The second power generating unit 2700 can be connected to the second power output unit 2300 in a transmission manner, which can be directly connected or indirectly connected. When an indirect connection is adopted, a transmission component in the form of a gear, a pulley, a sprocket, etc. can be arranged between the second power generating unit 2700 and the second power output unit 2300.

[0104] In the embodiment of the present invention, the first power generating unit 2600 and the second power generating unit 2700 can be started at the same time, that is, the flexible device 5000 can synchronously perform axial displacement and circumferential rotation. Alternatively, the first power generating unit 2600 and the second power generating unit 2700 can also be started separately, so that the flexible device 5000 can also perform axial displacement and circumferential rotation separately.

[0105] In some optional implementations, the aforementioned fixing frame 1100 may be provided with a snap-fitting portion 1131, and the driving mechanism 2000 may be provided with a snap-fitting portion 2400, and the snap-fitting portion 1131 can be snap-fitted with the snap-fitting portion 2400 to achieve snap-fit ​​assembly of the actuator 1000 and the driving mechanism 2000.

[0106] like Fig.12As shown, the second cover plate 2120 may be provided with a plug-in hole 2121. The snap-fitting portion 2400 may include a card plate 2410. The card plate 2410 may be provided with a card slot 2411, the card plate 2410 is slidably connected to the housing 2100, and the card plate 2410 has a portion extending out of the housing 2100, which may be referred to as a pressing portion (not marked in the figure). The card plate 2410 has a first working position and a second working position. In the first working position, the snap-fitting portion 1131 can extend from the plug-in hole 2121 into or leave the card slot 2411, that is, the card plate 2410 is not snap-fitted with the snap-fitting portion 1131. In the second working position, the snap-fitting portion 1131 can snap-fit ​​into the card slot 2411.

[0107] The snap-fitting part 2400 may further include a second elastic component 2420. The specific type of the second elastic component 2420 may be the same as the first elastic component 1900, and a repeated description is not given here. In the embodiment of the present invention, the second elastic component 2420 is used to interact with the card plate 2410 to drive the card plate 2410 to move to the second working position.

[0108] When preparing to connect the actuator 1000 and the drive mechanism 2000, the card plate 2410 can be pressed by the pressing part to switch the card plate 2410 to the first working position, so as to facilitate the insertion of the clamping part 1131 from the insertion hole 2121 into the clamping groove 2411; at this time, the second elastic component 2420 can be compressed to accumulate elastic potential energy. After the insertion of the clamping part 1131 is completed, the force on the pressing part can be released; at this time, the elastic potential energy accumulated by the second elastic component 2420 can be released to switch the card plate 2410 to the second working position, thereby completing the clamping between the card plate 2410 and the clamping part 1131.

[0109] It should be understood that during the above-mentioned connection process, a guide surface can also be set on the card plate 2410, so that when the card portion 1131 is inserted through the plug hole 2121, the card portion 1131 can contact the guide surface, so as to drive the card plate 2410 to switch to the first working position by itself through the guide surface, thereby completing the extension of the card portion 1131 into the card slot 2411; in this way, the process of pressing the card plate by the pressing portion can be omitted.

[0110] When preparing to separate the actuator 1000 and the driving mechanism 2000, the pressing portion may be used to press the card plate 2410 to switch the card plate 2410 to the first working position, so that the clamping portion 1131 and the clamping slot 2411 can be easily separated, thereby completing the separation of the actuator 1000 and the driving mechanism 2000.

[0111] It should be understood that the connection method between the actuator 1000 and the driving mechanism 2000 is not limited to the above-mentioned snap connection, and the two can also be connected by other connection methods, such as screw connection, etc., which is not limited here, as long as it can meet the requirements of use.

[0112] In some optional implementations, the driving mechanism 2000 may also be configured with an elastic abutment component 2500, which may be, for example, an elastic ejector pin, etc. The elastic abutment component 2500 is used to abut against the fixing frame 1100 to effectively eliminate the gap between the actuator 1000 and the driving mechanism 2000, thereby improving the connection reliability and stability of the actuator 1000 and the driving mechanism 2000.

[0113] In some optional implementations, the driving mechanism 2000 may also be provided with an identification sensor 2900, and the identification sensor 2900 is used to identify whether the actuator 1000 and the driving mechanism 2000 are installed in place.

[0114] Here, the embodiment of the present invention does not limit the specific type of the above-mentioned identification sensor 2900. In practical applications, those skilled in the art can select it according to specific needs, as long as it can meet the requirements of use. For example, the identification sensor 2900 can be a magnetic induction sensor such as a Hall sensor. At this time, a permanent magnet can also be set in the actuator 1000. When the actuator 1000 and the drive mechanism 2000 are installed in place, the identification sensor 2900 can identify the above-mentioned permanent magnet so as to output a control signal installed in place. For another example, the identification sensor 2900 can also be a distance sensor, etc., and the distance sensor can specifically be an ultrasonic distance sensor, an infrared distance sensor, an electromagnetic wave distance sensor, etc., to determine whether it is installed in place by detecting the distance between the actuator 1000 and the drive mechanism 2000. For another example, the identification sensor 2900 can also be a trigger component such as a travel switch. When the actuator 1000 and the drive mechanism 2000 are installed in place, the trigger component can be triggered to output a control signal installed in place to the outside.

[0115] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An actuator, used in a delivery device for a flexible device, characterized in that: It comprises a fixed frame, a rotating frame, a first power input shaft, a second power input shaft and a driving roller assembly, wherein the first power input shaft and the second power input shaft are both rotatably connected to the fixed frame; The driving roller assembly is mounted on the rotating frame, and the driving roller assembly includes at least two driving rollers, the flexible device is inserted between the driving rollers, and the first power input shaft is drivingly connected to the driving roller assembly, and is used to directly or indirectly drive the driving rollers to rotate, so as to drive the flexible device to move along its axial direction; The second power input shaft is in driving connection with the rotating frame, and is used to drive the rotating frame to rotate, so as to drive the flexible device to rotate around its own axis; There are two driving rollers, namely an active roller and a driven roller, the active roller and the driven roller are arranged opposite to each other, the actuator further comprises a first transmission assembly, and the first power input shaft is connected to the active roller via the first transmission assembly; The fixed frame includes a first frame plate and a second frame plate which are arranged opposite to each other along the axial direction of the flexible device, and the rotating frame is arranged between the first frame plate and the second frame plate; The first transmission assembly includes a first transmission component, a second transmission component and a third transmission component, the first transmission component and the second transmission component are both cylindrical, the first transmission component is rotatably connected to the first frame plate, at least part of the second transmission component is located in the rotating frame, the second transmission component is connected to the first transmission component, and the second transmission component and the first transmission component can rotate synchronously, the flexible device is interspersed with the first transmission component and the second transmission component, the third transmission component is installed on the rotating frame, the first power input shaft is transmission-connected to the first transmission component, the second transmission component is transmission-connected to the third transmission component, and the third transmission component is transmission-connected to the active roller.

2. The actuator according to claim 1, characterized in that: The outer wall surfaces of the active roller and the driven roller are both provided with an annular groove, and the inner wall surfaces of the annular groove are used to contact the outer wall surface of the flexible device.

3. The actuator according to claim 1, characterized in that: It also includes a moving frame and a first elastic component, the driven roller is rotatably connected to the moving frame, the moving frame is slidably connected to the rotating frame, and the first elastic component is used to interact with the moving frame to drive the moving frame to move toward the active roller.

4. The actuator according to claim 3, characterized in that: The rotating frame is provided with a guide hole, and the moving frame is equipped with a guide part, the guide part is slidably connected to the guide hole, and the guide part has a part extending from the guide hole to the rotating frame.

5. The actuator according to claim 1, characterized in that: It also includes a second transmission assembly, which includes a fourth transmission component, which is also cylindrical. The fourth transmission component is rotatably connected to the second frame plate, and the fourth transmission component can rotate synchronously with the rotating frame. The flexible device is inserted into the fourth transmission component, and the second power input shaft is transmission-connected to the fourth transmission component.

6. The actuator according to any one of claims 1 to 5, characterized in that: The fixing frame is provided with a clamping portion; and / or, The fixing frame is also provided with a limiting portion.

7. A delivery device for a flexible device, characterized in that: It includes a driving mechanism and an actuator, the actuator is the actuator as described in any one of claims 1 to 6, the driving mechanism includes a first power output part and a second power output part, the first power output part is connected to the first power input shaft, and the second power output part is connected to the second power input shaft.

8. The delivery device of the flexible device according to claim 7, characterized in that: The fixing frame is provided with a clamping portion, and the driving mechanism is provided with a clamping matching portion, and the clamping portion can be clamped with the clamping matching portion.

9. The delivery device of the flexible device according to claim 8, characterized in that: The driving mechanism comprises a housing, the housing is provided with a plug hole, the card-fitting part comprises a card plate and a second elastic component, the card plate is provided with a card slot, the card plate is slidably connected to the housing, and the card plate has a portion extending out of the housing; The card plate has a first working position and a second working position; in the first working position, the engaging portion can extend from the plug-in hole into or leave the card slot; in the second working position, the engaging portion can be engaged with the card slot; the second elastic component is used to drive the card plate to move toward the second working position.

10. The delivery device of the flexible device according to claim 8, characterized in that: The driving mechanism is provided with an elastic abutting component, and the elastic abutting component is used for abutting against the fixing frame.

11. The delivery device of the flexible device according to claim 8, characterized in that: The driving mechanism is also provided with an identification sensor, and the identification sensor is used to identify whether the actuator and the driving mechanism are installed in place.

12. The delivery device of the flexible device according to any one of claims 7 to 11, characterized in that: It also includes a base portion, and the driving mechanism is directly or indirectly mounted on the base portion.

13. The delivery device of the flexible device according to any one of claims 7 to 11, characterized in that: It also includes a six-dimensional sensor and a start switch, and the six-dimensional sensor and the start switch are both installed on the driving mechanism.

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