Retraction mechanism and cutting and stapling device

Abstract

The application relates to a back-off mechanism and a cutting and suturing device. The back-off mechanism comprises a support, a transmission member, a driving assembly and a back-off assembly; the transmission member is slidingly connected to the support, and the transmission member comprises a plurality of transmission teeth; the driving assembly comprises a driven gear and a motor; when the driven gear is in an engaged position, the driven gear is connected with the plurality of transmission teeth and is drivingly connected with the motor; when the driven gear is in a disengaged position, the driven gear is disengaged from the plurality of transmission teeth; the back-off assembly comprises a driving wheel and an adapter; the driving wheel is rotatably connected to the support; the adapter is connected to the transmission member and is drivingly connected to the driving wheel; when the driven gear is in the disengaged position, the driving wheel is configured to rotate around its own axis to drive the transmission member to move through the adapter. The rotation of the driving wheel is converted into the movement of the transmission member, that is, the transmission member can move the length of the circumference of the driving wheel every time the driving wheel rotates one round, so that the back-off efficiency of the transmission member is greatly improved, and efficient back-off is realized.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a retraction mechanism and a cutting and suturing device. Background Technology

[0002] Electric staplers combine a DC motor, circuit board, and mechanical components to achieve all the functions of a laparoscopic stapler under electric control. Their simple operation and core advantage of reducing accidental tissue damage caused by human error during surgery have been widely recognized in clinical practice. However, the motor, as the primary drive unit, is prone to malfunctions, including those occurring under special circumstances, which can lead to the jaws failing to open and release the gripped tissue. When a malfunction occurs during use, the stapler jaws may be clamping tissue. In this case, the transmission mechanism connected to the jaws needs to be driven to retract, causing the blade to retract and the jaws to open and release the tissue. However, most current electric staplers use an eccentric pusher to drive the transmission mechanism back, resulting in low retraction efficiency and affecting the speed and effectiveness of forced retraction during surgery. Summary of the Invention

[0003] Therefore, it is necessary to provide a retraction mechanism to address the technical problem that most current electric staplers use eccentric push rods to drive the transmission components back, resulting in low retraction efficiency and affecting the speed and effectiveness of forced retraction operations during surgery.

[0004] A rollback mechanism, comprising:

[0005] support

[0006] A transmission component is slidably connected to the bracket, and the transmission component includes multiple transmission teeth;

[0007] A drive assembly includes a driven gear and a motor; the driven gear has an engaged position and a disengaged position; when the driven gear is in the engaged position, it is connected to the plurality of transmission teeth and driven by the motor; when the driven gear is in the disengaged position, it is disengaged from the plurality of transmission teeth and from the motor; and...

[0008] The retraction assembly includes a drive wheel and an adapter. The drive wheel is rotatably connected to the bracket, and the adapter is connected to the transmission member and is also drively connected to the drive wheel. When the driven gear is in the disengaged position, the drive wheel is configured to rotate about its own axis to drive the transmission member to move via the adapter.

[0009] In one embodiment, the adapter is disposed around the outer periphery of the drive wheel, and the two ends of the adapter are respectively connected to the two ends of the transmission member.

[0010] In one embodiment, a guide groove is provided around the outer periphery of the drive wheel for accommodating the adapter.

[0011] In one embodiment, the adapter is connected to the drive wheel, and the length of the portion of the adapter surrounding the drive wheel is a preset length, which is greater than the outer circumference length of the drive wheel.

[0012] In one embodiment, the drive assembly further includes a support frame rotatably connected to the bracket, and the driven gear rotatably connected within the support frame;

[0013] The bracket is equipped with a limit lock, and the support frame is equipped with a connecting hook. The limit lock is operably connected to the connecting hook. When the driven gear is in the meshing position, the limit lock is connected to the connecting hook to lock the driven gear in the meshing position. When the driven gear is in the disengaged position, the limit lock is disengaged from the connecting hook to switch the driven gear from the meshing position to the disengaged position.

[0014] In one embodiment, the limiting lock includes a knob portion and a locking hook portion connected to each other. The knob portion is rotatably connected to the bracket, and the locking hook portion is used to connect with the connecting hook. The knob portion is configured to rotate relative to the bracket when the locking hook portion is connected with the connecting hook, so as to drive the locking hook portion to rotate synchronously, so as to disengage the locking hook portion from the connecting hook.

[0015] In one embodiment, a limiting protrusion is provided at the end of the knob portion away from the locking hook portion, the limiting protrusion extends out of the bracket, and a first slot is provided on the limiting protrusion.

[0016] In one embodiment, the limiting lock further includes an elastic element, one end of which is connected to the knob portion and the other end of which abuts against the bracket. The elastic element is used to apply a force away from the connecting hook to the knob portion.

[0017] In one embodiment, the retraction assembly further includes a drive rod rotatably connected to the bracket, a drive wheel sleeved on and connected to the drive rod, and one end of the drive rod having a second slot and extending beyond the bracket.

[0018] The present invention also provides a cutting and stitching device that can solve at least one of the above-mentioned technical problems.

[0019] A cutting and stitching device includes an end effector and the aforementioned retraction mechanism. The end effector includes a movable cutting member for cutting an object located in the end effector, the cutting member being throttledly connected to the transmission member.

[0020] Beneficial effects:

[0021] The retraction mechanism provided in this embodiment of the invention includes a bracket, a transmission component, a drive assembly, and a retraction assembly. The transmission component is slidably connected to the bracket and includes multiple transmission teeth. The drive assembly includes a driven gear and a motor. The driven gear has an engaged position and a disengaged position. When the driven gear is in the engaged position, it is connected to the multiple transmission teeth and driven by the motor. When the driven gear is in the disengaged position, it is disengaged from the multiple transmission teeth and from the motor. The retraction assembly includes a drive wheel and a connecting component. The drive wheel is rotatably connected to the bracket, and the connecting component is connected to the transmission component and driven by the drive wheel. When the driven gear is in the disengaged position, the drive wheel is configured to rotate around its own axis to drive the transmission component to move via the connecting component. In this application, the drive wheel is rotatably connected to the bracket, and the rotating component is connected to the drive wheel. When the driven gear is in the disengaged position, the drive wheel rotates around its own axis, which can drive the transmission component to move through the adapter. This converts the rotation of the drive wheel into the movement of the transmission component, so that the transmission component moves. That is, for every revolution of the drive wheel, the transmission component can move the circumference of the drive wheel, thereby greatly improving the retraction efficiency of the transmission component and achieving efficient retraction.

[0022] The present invention also provides a cutting and stitching device, including an end effector and the aforementioned retraction mechanism. The end effector includes a movable cutting member for cutting an object located in the end effector, and the cutting member is throttledly connected to a transmission member. This cutting and stitching device can achieve at least one of the aforementioned technical effects. Attached Figure Description

[0023] Figure 1 This is a first schematic diagram of a retraction mechanism provided in an embodiment of the present invention.

[0024] Figure 2 This is a second schematic diagram of a retraction mechanism provided in an embodiment of the present invention.

[0025] Figure 3 This is a partially exploded view of a retraction mechanism provided in an embodiment of the present invention.

[0026] Figure 4 This is a partial schematic diagram of the retraction component in a retraction mechanism provided in an embodiment of the present invention.

[0027] Figure 5 This is a partial schematic diagram of the drive component in a retraction mechanism provided in an embodiment of the present invention.

[0028] Figure 6 Partial top view of a retraction mechanism provided in an embodiment of the present invention. Figure 1 .

[0029] Figure 7 Partial top view of a retraction mechanism provided in an embodiment of the present invention. Figure 2 .

[0030] Figure 8 This is a schematic diagram of the cover plate in a retraction mechanism provided in an embodiment of the present invention.

[0031] Figure 9 This is a schematic diagram of a cutting and stitching device provided in an embodiment of the present invention.

[0032] Figure 10 This is a schematic diagram of the cutting and sewing device provided in an embodiment of the present invention with the shell removed.

[0033] Icon labels:

[0034] 100 - Transmission component; 110 - Transmission gear; 120 - First side surface; 130 - Second side surface; 140 - Mounting hole; 200 - Drive assembly; 210 - Drive gear; 220 - Motor; 230 - Support frame; 240 - Driven gear; 250 - Connecting hook; 251 - Connecting rod; 252 - Bending part; 300 - Retraction assembly; 310 - Drive rod; 311 - Second slot; 320 - Drive wheel; 321 - Guide groove; 330 - Adapter; 400 - Bracket; 410 - First mounting groove; 420 - Second mounting groove; 430 - Limiting channel; 440 - Limiting lock; 441 - Lock hook part; 442 - Knob part; 443 - Limiting protrusion; 444 - First slot; 500 - Housing; 510 - Cover plate; 511 - Unlocking component; 600 - End actuator. Detailed Implementation

[0035] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0041] See Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a first schematic diagram of a retraction mechanism provided in an embodiment of the present invention; Figure 2 This is a second schematic diagram of a retraction mechanism provided in an embodiment of the present invention; Figure 3 This is a partially exploded view of a retraction mechanism provided in an embodiment of the present invention. The retraction mechanism provided in an embodiment of the present invention includes a bracket 400, a transmission member 100, a drive assembly 200, and a retraction assembly 300; the transmission member 100 is slidably connected to the bracket 400, and includes a plurality of transmission teeth 110; the drive assembly 200 includes a driven gear 240 and a motor 220; the driven gear 240 has an engaged position and a disengaged position. When the driven gear 240 is in the engaged position, it is connected to the plurality of transmission teeth 110 and is drively connected to the motor 220. When the driven gear 240 is in the disengaged position, the driven gear 240 is disengaged from the multiple transmission teeth 110 and from the motor 220; the retraction assembly 300 includes a drive wheel 320 and an adapter 330. The drive wheel 320 is rotatably connected to the bracket 400, and the adapter 330 is connected to the transmission member 100 and is also connected to the drive wheel 320. When the driven gear 240 is in the disengaged position, the drive wheel 320 is configured to rotate around its own axis so as to drive the transmission member 100 to move through the adapter 330.

[0042] Specifically, in this application, the drive wheel 320 is rotatably connected to the bracket 400, and the rotating component is connected to the drive wheel 320. When the driven gear 240 is in the disengaged position, the drive wheel 320 rotates around its own axis, which can drive the transmission component 100 to move through the adapter 330. This converts the rotation of the drive wheel 320 into the movement of the transmission component 100, so that the transmission component 100 can move the circumference of the drive wheel 320 for every one revolution of the drive wheel 320. This greatly improves the retraction efficiency of the transmission component 100 and achieves efficient retraction.

[0043] When the driven gear 240 is in the engaged position, the driven wheel drives the transmission component 100 to move under the drive of the motor 220. The transmission component 100 then drives the adapter 330 to move, thereby causing the drive wheel 320 to rotate. When the driven gear 240 is in the disengaged position, the driven gear 240 is disengaged from the transmission component 100. When the drive wheel 320 rotates around its own axis to drive the transmission component 100 to move via the adapter 330, the interference of the drive assembly 200 on the transmission component 100 is reduced. This allows the drive wheel 320 to stably drive the transmission component 100 to retract, improving the reliability of the retraction mechanism.

[0044] See Figure 1 , Figure 3 and Figure 4 , Figure 4 This is a partial schematic diagram of the retraction component in a retraction mechanism provided in one embodiment of the present invention. In one embodiment, the adapter 330 is disposed around the outer periphery of the drive wheel 320, and the two ends of the adapter 330 are respectively connected to the two ends of the transmission member 100.

[0045] Specifically, when the drive wheel 320 rotates, friction causes one side of the rotating component to move, which in turn pulls the transmission component 100 to move via the adapter 330. (See attached instruction manual) Figure 1 Taking the example, when the drive wheel 320 rotates counterclockwise, under the action of friction, the adapter 330 located on the left side of the drive wheel 320 is subjected to a pulling force towards the drive wheel 320, thereby driving the adapter 330 to move to the right, so that the adapter 330 drives the transmission component 100 to move to the right, realizing the retraction of the transmission component 100.

[0046] Furthermore, the adapter 330 is a steel wire rope. In other embodiments, the adapter 330 may also be a belt.

[0047] Furthermore, the two ends of the adapter 330 extend from the side of the drive wheel 320 near the transmission member 100, thereby reducing the angle between the two ends of the adapter 330 and the transmission member 100, enabling the two ends of the adapter 330 to transmit a larger component force to the transmission member 100, thereby improving the service life of the adapter 330.

[0048] In addition, the two ends of the adapter 330 are respectively connected to the two ends of the transmission component 100, thereby further reducing the included angle between the two ends of the adapter 330 and the transmission component 100, so that the two ends of the adapter 330 can transmit a larger component force to the transmission component 100 and improve the service life of the adapter 330.

[0049] See Figure 1 , Figure 3 and Figure 4In one embodiment, a guide groove 321 is provided around the outer periphery of the drive wheel 320. The guide groove 321 is used to accommodate the adapter 330, so that the adapter 330 is always accommodated in the guide groove 321 during the movement of the drive wheel 320 driving the adapter 330. This ensures that the tightness of the adapter 330 is the same, so that the force applied to the transmission member 100 is always the same. This reduces the interference of the adapter 330 on the transmission member 100, makes the movement of the transmission member 100 more stable, and improves the adaptability of the retraction mechanism.

[0050] See Figure 1 , Figure 3 and Figure 4 In one embodiment, the adapter 330 is connected to the drive wheel 320, and the length of the portion of the adapter 330 surrounding the drive wheel 320 is a preset length, which is greater than the outer circumference length of the drive wheel 320.

[0051] Specifically, the adapter 330 is disposed at least once around the drive wheel 320, thereby enabling stable transmission between the adapter 330 and the drive wheel 320. A portion of the adapter 330 is fixedly connected to the drive wheel 320, thus preventing transmission failure due to slippage between the adapter 330 and the drive wheel 320.

[0052] Furthermore, the preset length is greater than the maximum displacement of the transmission member 100, thereby reducing the limitation on the movement distance of the transmission member 100 when it moves forward and the limitation on the movement distance of the transmission member 100 when it moves backward, and improving the adaptability of the retraction mechanism.

[0053] See Figure 1 and Figure 3 In one embodiment, the transmission member 100 includes a main body with a first side surface 120 and a second side surface 130. Multiple transmission teeth 110 are disposed on the first side surface 120. Two mounting holes 140 are respectively provided at both ends of the second side surface 130. The two ends of the adapter 330 extend into the two mounting holes 140 and connect with the transmission member 100, thereby protecting the connection between the adapter 330 and the transmission member 100 and improving the stability of the connection. By placing the transmission teeth 110 and the mounting holes 140 on different sides, interference with the meshing transmission between the driven wheel and the multiple transmission teeth 110 can be reduced, improving the adaptability of the retraction mechanism.

[0054] See Figure 1 and Figure 3In one embodiment, the bracket 400 has a limiting channel 430, a first mounting groove 410, and a second mounting groove 420, both of which communicate with the limiting channel 430. A transmission member 100 is mounted on the limiting channel 430 and abuts against a portion of the sidewall of the limiting channel 430, enabling the transmission member 100 to move forward and backward stably under the transmission of the drive wheel 320 and the driven gear 240. The first mounting groove 410 faces the first side surface 120 of the transmission member 100, and a support frame 230 is mounted on the first mounting groove 410, thereby facilitating the engagement of the driven gear 240 mounted on the support frame 230 with multiple transmission teeth 110. The second mounting groove 420 faces the second side surface 130 of the transmission member 100, and the drive wheel 320 is mounted on the second mounting groove 420, facilitating the connection of the drive wheel 320 to the second side surface 130 via an adapter 330. The setting of the limiting channel 430, the first mounting slot 410 and the second mounting slot 420 enables the drive component 200, the retraction component 300 and the like to be stably connected to the bracket 400 while cooperating with the transmission component 100, thereby improving the adaptability of the retraction component 300.

[0055] See Figure 1 , Figure 3 and Figure 5 , Figure 5 This is a partial schematic diagram of the drive assembly in a retraction mechanism according to an embodiment of the present invention. In one embodiment, the drive assembly 200 further includes a support frame 230, which is rotatably connected to a bracket 400, and a driven gear 240 is rotatably connected within the support frame 230. A limit lock 440 is provided on the bracket 400, and a connecting hook 250 is provided on the support frame 230. The limit lock 440 is operably connected to the connecting hook 250. When the driven gear 240 is in the engaged position, the limit lock 440 is connected to the connecting hook 250 to lock the driven gear 240 in the engaged position. When the driven gear 240 is in the disengaged position, the limit lock 440 is disengaged from the connecting hook 250 to switch the driven gear 240 from the engaged position to the disengaged position.

[0056] Specifically, when the limit lock 440 is connected to the connecting hook 250, the limit lock 440 can apply a stable pulling force to the support frame 230 through the connecting hook 250, so that the driven gear 240 and the transmission component 100 are stably engaged, thereby stably driving the transmission component 100 forward. When the limit lock 440 is disengaged from the connecting hook 250, the limit lock 440 can release the support frame 230. During the process of the drive wheel 320 driving the transmission component 100 to move, the driven gear 240 will be subjected to the force of multiple transmission teeth 110, thereby causing the support frame 230 to rotate relative to the bracket 400, causing the driven gear 240 to separate from the transmission component 100, thus disengaging the driven gear 240 from the transmission component 100, and placing the driven gear 240 in the disengaged position.

[0057] Furthermore, the drive assembly 200 also includes a drive gear 210, which is connected to the output shaft of the motor 220, and the drive gear 210 and the transmission member 100 are located on the same side of the driven gear 240. The motor 220 drives the driven gear 240 through the meshing of the drive gear 210 and the driven gear 240. When the support frame 230 drives the driven gear 240 to rotate relative to the support 400, the driven gear 240 is separated from the transmission member 100. When the driven gear 240 is in the disengaged position, the driven gear 240 is disengaged from the drive gear 210, thus interrupting the transmission between the driven gear 240 and the motor 220.

[0058] See Figure 3 , Figure 6 and Figure 7 , Figure 6 Partial top view of a retraction mechanism provided in an embodiment of the present invention. Figure 1 . Figure 7 Partial top view of a retraction mechanism provided in an embodiment of the present invention. Figure 2 In one embodiment, the limit lock 440 includes a knob portion 442 and a locking hook portion 441 connected to each other. The knob portion 442 is rotatably connected to the bracket 400, and the locking hook portion 441 is used to connect with the connecting hook 250. The knob portion 442 is configured to rotate relative to the bracket 400 when the locking hook portion 441 is connected with the connecting hook 250, so as to drive the locking hook portion 441 to rotate synchronously, so as to disengage the locking hook portion 441 from the connecting hook 250.

[0059] Specifically, the connecting hook 250 abuts against the side of the locking hook portion 441 near the rotating part, thereby applying a pulling force towards the knob portion 442 to the connecting hook 250 through the locking hook portion 441, so that the driven gear 240 is stably engaged with the multiple transmission teeth 110. When the knob portion 442 rotates relative to the bracket 400, causing the locking hook portion 441 to rotate away from the connecting hook 250, the locking hook portion 441 separates from the connecting hook 250, thereby releasing the restriction on the connecting hook 250, allowing the support frame 230 to rotate relative to the bracket 400, and causing the driven gear 240 to separate from the transmission member 100, that is, the driven gear 240 moves to the disengaged position.

[0060] Furthermore, the connecting hook 250 includes a connecting rod 251 and a bent portion 252. One end of the connecting rod 251 is connected to the support frame 230, and the other end is connected to the bent portion 252, which is used to hook onto the connecting hook 250. The connecting rod 251 reduces interference with other components and improves the adaptability of the retraction mechanism.

[0061] See Figure 2 , Figure 3 , Figure 8 , Figure 9 and Figure 10 , Figure 8 This is a schematic diagram of the cover plate in a retraction mechanism provided in an embodiment of the present invention. Figure 9 This is a schematic diagram of a cutting and stitching device provided in an embodiment of the present invention. Figure 10 This is a schematic diagram of the cutting and sewing device provided in one embodiment of the present invention with the housing removed. In one embodiment, the knob part 442 has a limiting protrusion 443 at one end away from the locking hook part 441. The limiting protrusion 443 extends beyond the bracket 400, and a first slot 444 is provided on the limiting protrusion 443.

[0062] Specifically, the first slot 444 is compatible with common tools such as wrenches, meaning that common tools such as wrenches can be inserted into the first slot 444, and the rotation of the wrench or other common tools will drive the knob part 442 to rotate, thereby disengaging the locking hook part 441 from the connecting hook 250.

[0063] Furthermore, the retraction mechanism also includes a cover plate 510, which is detachably connected to the bracket 400. The end of the cover plate 510 is provided with an unlocking element 511 that matches the first slot 444. When it is necessary to control the retraction of the transmission component 100, the cover plate 510 can be removed, and the unlocking element 511 on one side of the cover plate 510 can be inserted into the first slot 444 to control the rotation of the cover plate 510, thereby rotating the knob 442. This makes the retraction of the transmission component 100 more efficient and convenient. The cover plate 510 is larger than the unlocking element 511, which also helps to reduce effort. The first slot 444 can be a flat slot or an internal hexagonal slot.

[0064] Furthermore, the retraction mechanism also includes a housing 500, which is connected to the bracket 400 and is used to cover the retraction assembly 300 and the drive assembly 200. The area on the housing 500 corresponding to the drive wheel 320 has an observation port, and a cover plate 510 is connected to the housing 500 and is used to cover the observation port.

[0065] See Figure 2 , Figure 3 and Figure 6 In one embodiment, the limit lock 440 further includes an elastic element, one end of which is connected to the knob portion 442 and the other end of which abuts against the bracket 400. The elastic element is used to apply a force to the knob portion 442 away from the connecting hook 250.

[0066] Specifically, the elastic element is sleeved on the knob portion 442, and the end of the elastic element away from the locking hook portion 441 abuts against the limiting protrusion 443, with the elastic element in a compressed state. By applying a force away from the connecting hook 250 to the knob portion 442 through the elastic element, a certain pressure is formed between the driven gear 240 and the multiple transmission teeth 110 when the driven gear 240 is in the meshing position. Thus, when the driven gear 240 is overloaded, the driven gear 240 can move relative to the driving member, causing the transmission between the driven gear 240 and the transmission member 100 to be interrupted, thereby forming overload protection and improving the adaptability of the retraction mechanism.

[0067] See Figure 1 , Figure 2 , Figure 3 and Figure 4 In one embodiment, the retraction assembly 300 further includes a drive rod 310, which is rotatably connected to the bracket 400. A drive wheel 320 is sleeved on the drive rod 310 and connected to the drive rod 310. One end of the drive rod 310 is provided with a second slot 311 and extends out of the bracket 400.

[0068] Specifically, the second slot 311 is located on the same side as the first slot 444, and the shape and size of the second slot 311 are the same as those of the first slot 444. This allows the drive rod 310 to rotate via the unlocking element 511 on the cover plate 510, thereby driving the drive wheel 320. In other embodiments, the drive rod 310 can also be rotated via other operating elements such as a wrench.

[0069] See Figure 1 , Figure 2 , Figure 3 , Figure 9 and Figure 10 The present invention also provides a cutting and sewing device, including an end actuator 600 and the above-mentioned retraction mechanism. The end actuator 600 includes a movable cutting member for cutting an object located in the end actuator 600, and the cutting member is tractively connected to the transmission member 100.

[0070] In this application, the drive wheel 320 is rotatably connected to the bracket 400, and the rotating component is connected to the drive wheel 320. When the driven gear 240 is in the disengaged position, the drive wheel 320 rotates around its own axis, which can drive the transmission component 100 to move through the adapter 330. This converts the rotation of the drive wheel 320 into the movement of the transmission component 100, so that the transmission component 100 can move the circumference of the drive wheel 320 for every one revolution of the drive wheel 320. This greatly improves the retraction efficiency of the transmission component 100, achieves efficient retraction, and improves the adaptability of the cutting and sewing device.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A retraction mechanism, characterized in that, The rollback mechanism includes: Support (400) A transmission component (100) is slidably connected to the bracket (400), and the transmission component (100) includes a plurality of transmission teeth (110). A drive assembly (200) includes a driven gear (240) and a motor (220); the driven gear (240) has an engaged position and a disengaged position; when the driven gear (240) is in the engaged position, the driven gear (240) is connected to the plurality of transmission teeth (110) and is drively connected to the motor (220); when the driven gear (240) is in the disengaged position, the driven gear (240) is disengaged from the plurality of transmission teeth (110) and is disengaged from the motor (220); and, The retraction assembly (300) includes a drive wheel (320) and an adapter (330). The drive wheel (320) is rotatably connected to the bracket (400), and the adapter (330) is connected to the transmission member (100) and is also connected to the drive wheel (320). When the driven gear (240) is in the disengaged position, the drive wheel (320) is configured to rotate about its own axis to drive the transmission member (100) to move via the adapter (330). The drive assembly (200) further includes a support frame (230) rotatably connected to the bracket (400), and the driven gear (240) rotatably connected within the support frame (230); The bracket (400) is provided with a limit lock (440), and the support frame (230) is provided with a connecting hook (250). The limit lock (440) is operably connected to the connecting hook (250). When the driven gear (240) is in the meshing position, the limit lock (440) is connected to the connecting hook (250) to lock the driven gear (240) in the meshing position. When the driven gear (240) is in the disengaged position, the limit lock (440) is disengaged from the connecting hook (250) to switch the driven gear (240) from the meshing position to the disengaged position.

2. The retraction mechanism according to claim 1, characterized in that, The adapter (330) is wrapped around the outer periphery of the drive wheel (320), and the two ends of the adapter (330) are respectively connected to the two ends of the transmission member (100).

3. The retraction mechanism according to claim 2, characterized in that, The drive wheel (320) has a guide groove (321) around its outer periphery, and the guide groove (321) is used to accommodate the adapter (330).

4. The retraction mechanism according to claim 2, characterized in that, The adapter (330) is connected to the drive wheel (320). The length of the portion of the adapter (330) that is wrapped around the drive wheel (320) is a preset length, which is greater than the outer circumference length of the drive wheel (320).

5. The retraction mechanism according to any one of claims 1-4, characterized in that, The limiting lock (440) includes a knob part (442) and a locking hook part (441) connected to each other. The knob part (442) is rotatably connected to the bracket (400). The locking hook part (441) is used to connect with the connecting hook (250). The knob part (442) is configured to rotate relative to the bracket (400) when the locking hook part (441) is connected with the connecting hook (250) so as to drive the locking hook part (441) to rotate synchronously so as to disengage the locking hook part (441) from the connecting hook (250).

6. The retraction mechanism according to claim 5, characterized in that, The knob part (442) is provided with a limiting protrusion (443) at one end away from the locking hook part (441). The limiting protrusion (443) extends out of the bracket (400), and a first slot (444) is provided on the limiting protrusion (443).

7. The retraction mechanism according to claim 5, characterized in that, The limit lock (440) also includes an elastic element, one end of which is connected to the knob (442) and the other end of which abuts against the bracket (400). The elastic element is used to apply a force to the knob (442) away from the connecting hook (250).

8. The retraction mechanism according to any one of claims 1-4, characterized in that, The retraction assembly (300) also includes a drive rod (310), which is rotatably connected to the bracket (400). The drive wheel (320) is sleeved on the drive rod (310) and connected to the drive rod (310). One end of the drive rod (310) is provided with a second slot (311) and extends out of the bracket (400).

9. A cutting and sewing device, characterized in that, Includes an end effector (600) and a retraction mechanism as described in any one of claims 1-8, wherein the end effector (600) includes a movable cutting member for cutting an object located in the end effector (600), the cutting member being drively connected to the transmission member (100).

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