Retraction mechanism and cutting and stapling device

Abstract

This invention relates to a retraction mechanism and a cutting and sewing device. The retraction mechanism includes a support, a transmission component, a drive assembly, and a retraction assembly. The transmission component is slidably connected to the support and includes multiple first transmission teeth and multiple second transmission teeth. The drive assembly includes a driven gear and a motor. When the driven gear is in the meshing position, it is connected to the multiple first transmission teeth. When the driven gear is in the disengaged position, it is disengaged from the multiple first transmission teeth. The retraction assembly is driven by the driven gear and includes a drive rod and a drive gear. The drive rod is rotatably connected to the support, and the drive gear is driven by the drive rod. When the drive gear is controlled by the drive rod to switch from a first position to a second position, the driven gear switches from the meshing position to the disengaged position, and the drive gear is connected to the multiple second transmission teeth. By converting the rotation of the drive gear into the movement of the transmission component, the retraction of the transmission component is achieved, thus improving the retraction efficiency of the transmission component.

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 jaws may be clamping tissue. In this case, the transmission mechanism connected to the stapler 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 a plurality of first transmission teeth and a plurality of second 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 first transmission teeth and driven by the motor; when the driven gear is in the disengaged position, it is disengaged from the plurality of first transmission teeth and from the motor; and,

[0008] A retraction assembly is connected to the driven gear. The retraction assembly includes a drive rod and a drive gear. The drive rod is rotatably connected to the bracket, and the drive gear is connected to the drive rod.

[0009] The drive gear has a first position and a second position. The drive gear can be operably controlled to switch from the first position to the second position via the drive rod. When the drive gear switches from the first position to the second position, the driven gear switches from the engaged position to the disengaged position, and the drive gear is connected to the plurality of second transmission teeth.

[0010] In one embodiment, the outer periphery of the drive rod is provided with a first thread, the drive gear is sleeved on the drive rod, and is threadedly connected to the first thread;

[0011] The drive rod is configured to rotate about its own axis to drive the drive gear to move, so that the drive gear switches from the first position to the second position.

[0012] In one embodiment, the retraction assembly further includes at least one guide rod, each guide rod being parallel to and spaced apart from the drive rod on the bracket, and each guide rod cooperating with the drive gear to limit the rotation of the drive gear within a preset stroke of the drive gear's movement.

[0013] In one embodiment, the extension direction of the guide rod is perpendicular to the arrangement direction of the plurality of second transmission teeth, and a preset gap is provided between the guide rod and the plurality of second transmission teeth in the extension direction of the guide rod, the preset gap being greater than or equal to the thickness of the drive gear.

[0014] In one embodiment, the drive rod is provided with a stepped wall for abutting against the drive gear to restrict the movement of the drive gear relative to the drive rod.

[0015] In one embodiment, the drive assembly further includes a support frame and a rotating shaft. One end of the support frame is rotatably connected to the bracket via the rotating shaft, and the other end is drively connected to the retraction assembly. The driven gear is rotatably connected to the support frame, and the motor is connected to the bracket.

[0016] When the drive gear switches from the first position to the second position, the support frame rotates relative to the bracket to drive the driven gear to switch from the engaged position to the disengaged position.

[0017] In one embodiment, the driving component further includes:

[0018] A connector, one end of which is connected to the support frame and the other end of which abuts against the drive gear;

[0019] A first elastic element is used to apply a force toward the transmission element to the support frame.

[0020] In one embodiment, one end of the first elastic element is connected to the support frame and the other end is connected to the bracket; or, the first elastic element is sleeved on the rotating shaft.

[0021] In one embodiment, the drive assembly further includes a transmission block, which is tractively connected to the support frame, and the outer periphery of the drive rod is provided with a second thread that mates with the transmission block;

[0022] When the drive gear switches from the first position to the second position, the transmission block, which was previously threadedly connected to the drive rod via the second thread, switches to a rotatable connection with the drive rod, thereby disengaging the threaded transmission between the transmission block and the drive rod.

[0023] The present invention also provides a cutting and stitching device that can solve at least one of the above-mentioned technical problems.

[0024] 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 tractively connected to the transmission member.

[0025] Beneficial effects:

[0026] 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 first transmission teeth and multiple second 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 first transmission teeth and driven by the motor. When the driven gear is in the disengaged position, it is disengaged from the multiple first transmission teeth and disengaged from the motor. The retraction assembly is driven by the driven gear and includes a drive rod and a drive gear. The drive rod is rotatably connected to the bracket, and the drive gear is driven by the drive rod. The drive gear has a first position and a second position. The drive rod can be operably controlled to switch the drive gear from the first position to the second position. When the drive gear switches from the first position to the second position, the driven gear switches from the engaged position to the disengaged position, and the drive gear is connected to the multiple second transmission teeth.

[0027] In this application, the drive rod is rotatably connected to the bracket, and the drive gear is driven by the drive rod. The drive gear can be operably controlled to switch from a first position to a second position, so that the driven gear switches from the meshing position to the disengaged position, that is, the driven gear is disengaged from multiple first transmission teeth and from the motor, thereby disconnecting the driven gear from the transmission component. At the same time, the drive gear is connected to multiple second transmission teeth, so that the rotation of the drive gear itself can be converted into the movement of the transmission component, causing the transmission component to retract. That is, for every one revolution of the drive gear, the transmission component can retract the circumference of the drive gear, thereby greatly improving the retraction efficiency of the transmission component and achieving efficient retraction.

[0028] 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

[0029] Figure 1 This is a schematic diagram of a retraction mechanism provided in an embodiment of the present invention.

[0030] Figure 2 This is a partially exploded view of a retraction mechanism provided in an embodiment of the present invention.

[0031] Figure 3 Partial top view of a retraction mechanism provided in an embodiment of the present invention. Figure 1 .

[0032] Figure 4 Partial top view of a retraction mechanism provided in an embodiment of the present invention. Figure 2 .

[0033] Figure 5 This is a schematic diagram of a retraction component in a retraction mechanism provided in an embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the retraction mechanism provided in an embodiment of the present invention with the support removed.

[0035] Figure 7 This is a partial schematic diagram of the drive component in a retraction mechanism provided in an embodiment of the present invention.

[0036] Figure 8 This is a top view of the cover plate and drive rod cooperating in a retraction mechanism provided in an embodiment of the present invention.

[0037] Figure 9 This is a schematic diagram of the cover plate in a retraction mechanism provided in an embodiment of the present invention.

[0038] Figure 10This is a schematic diagram of a cutting and stitching device provided in an embodiment of the present invention.

[0039] Figure 11 This is a schematic diagram of the cutting and sewing device provided in an embodiment of the present invention with the shell removed.

[0040] Icon labels:

[0041] 100 - Transmission component; 110 - First transmission gear; 120 - Second transmission gear; 130 - Limiting wall; 140 - First side surface; 150 - Second side surface; 200 - Drive assembly; 210 - Drive gear; 220 - Motor; 230 - Support frame; 240 - Driven gear; 250 - Rotating shaft; 260 - Connector; 261 - Connecting rod; 262 - First bend; 263 - Second bend; 300 - Retraction assembly; 310 - Drive rod; 311 - First screw 312-Step wall; 313-Boss; 314-Second thread; 315-Allowing section; 316-Limiting protrusion; 320-Drive gear; 321-Guide hole; 330-Guide rod; 340-Transmission block; 350-Second elastic element; 400-Bracket; 410-First mounting groove; 420-Second mounting groove; 430-Limiting channel; 510-Cover plate; 511-Unlocking element; 520-Housing; 530-First elastic element; 600-End actuator. Detailed Implementation

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] See Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 1 This is a schematic diagram of a retraction mechanism provided in an embodiment of the present invention. Figure 2 This is a partially exploded view of a retraction mechanism provided in an embodiment of the present invention. Figure 3 Partial top view of a retraction mechanism provided in an embodiment of the present invention. Figure 1 . Figure 4 Partial top view of a retraction mechanism provided in an embodiment of the present invention. Figure 2 An embodiment of the present invention provides a retraction mechanism, including 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 first transmission teeth 110 and a plurality of second transmission teeth 120; the drive assembly 200 includes a driven gear 240 and a motor 220, the driven gear 240 having 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 first 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 connected to the plurality of first 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 connected to the plurality of first transmission teeth 110 and is drively connected to the motor 220. 10 is disengaged and disconnected from motor 220; the retraction assembly 300 is drivenly connected to driven gear 240, the retraction assembly 300 includes drive rod 310 and drive gear 320, drive rod 310 is rotatably connected to bracket 400, and drive gear 320 is drivenly connected to drive rod 310; drive gear 320 has a first position and a second position, and drive gear 320 can be operably controlled to switch from the first position to the second position by drive rod 310; when drive gear 320 switches from the first position to the second position, driven gear 240 switches from the meshing position to the disengaged position, and drive gear 320 is connected to multiple second transmission teeth 120.

[0049] Specifically, in this application, the drive rod 310 is rotatably connected to the bracket 400, and the drive gear 320 is drivenly connected to the drive rod 310. The drive rod 310 can operably control the drive gear 320 to switch from a first position to a second position, causing the driven gear 240 to switch from an engaged position to a disengaged position. That is, the driven gear 240 is disengaged from the multiple first transmission teeth 110 and from the motor 220, thereby disengaging the driven gear 240 from the transmission member 100. At the same time, the drive gear 320 is connected to the multiple second transmission teeth 120, thereby converting the rotation of the drive gear 320 into the movement of the transmission member 100, causing the transmission member 100 to retract. That is, for every revolution of the drive gear 320, the transmission member 100 can retract the circumference of the drive gear 320, thereby greatly improving the retraction efficiency of the transmission member 100 and achieving efficient retraction.

[0050] Specifically, when the drive gear 320 is in the first position and the driven gear 240 is in the meshing position (as per the instruction manual)... Figure 3 The driven gear 240 is connected to the motor 220 and meshes with multiple first transmission teeth 110. At the same time, there is a gap between the drive gear 320 and the transmission component 100. Thus, under the drive of the motor 220, the interference of the retraction component 300 on the transmission component 100 can be reduced during the forward movement of the driven gear 240 driving the transmission component 100. This allows the driven gear 240 to stably drive the transmission component 100 forward, improving the reliability of the retraction mechanism.

[0051] When the drive gear 320 is in the second position, the driven gear 240 is in the disengaged position. The driven gear 240 is disengaged from the multiple first transmission teeth 110 and from the motor 220. At the same time, the drive gear 320 meshes with the multiple second transmission teeth 120 on the transmission component 100. Thus, under the drive of the drive rod 310, the drive gear 320 can reduce the interference of the drive assembly 200 on the transmission component 100 during the retraction process, so that the drive gear 320 can stably drive the transmission component 100 to retract, thereby improving the reliability of the retraction mechanism.

[0052] See Figure 1 , Figure 2 , Figure 3 and Figure 4 In one embodiment, a first thread 311 is provided on the outer periphery of the drive rod 310, and the drive gear 320 is sleeved on the drive rod 310 and threadedly connected to the first thread 311; the drive rod 310 is configured to rotate about its own axis to drive the drive gear 320 to move so that the drive gear 320 switches from a first position to a second position.

[0053] Specifically, when the drive gear 320 is in the first position, there is a certain gap between the drive gear 320 and the transmission member 100. The drive gear 320 and the drive rod 310 are driven by the first thread 311, so that the drive gear 320 moves along the extension direction of the drive rod 310 under the drive of the drive rod 310, so that the drive gear 320 moves closer to the transmission member 100, so that the drive gear 320 switches from the first position to the second position, thereby making the drive gear 320 mesh with the multiple second transmission teeth 120 on the transmission member 100.

[0054] See Figure 3 and Figure 4 In one embodiment, the retraction assembly 300 further includes at least one guide rod 330, each guide rod 330 being parallel to and spaced apart from the drive rod 310 on the bracket 400, each guide rod 330 cooperating with the drive gear 320 to limit the rotation of the drive gear 320 within a preset stroke of the drive gear 320.

[0055] Specifically, the drive gear 320 is provided with at least one guide hole 321. When the drive gear 320 is in the first position, each guide rod 330 can pass through the guide hole 321, thereby restricting the rotation of the drive gear 320. During the rotation of the drive rod 310 relative to the bracket 400, the drive gear 320 does not rotate synchronously with the drive rod 310, thus ensuring that the drive gear 320 stably approaches the transmission member 100 along the extension direction of the drive rod 310, improving the stability of the retraction mechanism. The preset stroke refers to the distance the drive gear 320 moves relative to the drive rod 310 when the drive gear 320 is in the first position.

[0056] Furthermore, the guide rods 330 are arranged circumferentially around the drive gear 320, thereby providing a stable guiding force to the drive gear 320. Preferably, there are two guide rods 330.

[0057] See Figure 3 and Figure 4 In one embodiment, the extension direction of the guide rod 330 is perpendicular to the arrangement direction of the plurality of second transmission teeth 120. In the extension direction of the guide rod 330, there is a preset gap between the guide rod 330 and the plurality of second transmission teeth 120. The preset gap is greater than or equal to the thickness of the drive gear 320.

[0058] Specifically, since the preset gap is greater than or equal to the thickness of the drive gear 320, in the extension direction of the guide rod 330, when the drive gear 320 approaches the second transmission teeth 120, the guide rod 330 can release the restriction on the rotation of the drive gear 320. This allows the drive gear 320 to rotate axially relative to the drive rod 310 when it slides into and begins to mesh with the multiple second transmission teeth 120. This enables the drive gear 320 to passively and adaptively rotate during meshing, allowing some of the tooth grooves on the drive gear 320 to smoothly slide into the multiple second transmission teeth 120. This ensures that the drive gear 320 can smoothly mesh with the multiple second transmission teeth 120 regardless of the position of the transmission member 100, improving the reliability and adaptability of the retraction mechanism. Preferably, the preset gap is equal to the thickness of the drive gear 320.

[0059] Furthermore, the edge of the drive gear 320 is provided with a first guide section with a partially enlarged diameter, and / or, the side of the plurality of second transmission teeth 120 near the drive gear 320 is provided with a second guide section with a partially enlarged diameter, thereby facilitating the meshing of the drive gear 320 with the plurality of second transmission teeth 120 and providing a certain guiding effect to ensure smooth meshing.

[0060] See Figure 3 and Figure 4In one embodiment, the retraction assembly 300 further includes a second elastic member 350, which is sleeved on the drive rod 310 and located on the side of the transmission gear opposite to the transmission member 100. One end of the first elastic member 530 is connected to the drive rod 310, and the other end is connected to the side of the drive gear 320 opposite to the transmission member 100. The first elastic member 530 is used to apply a thrust toward the transmission member 100 to the drive gear 320, so that the drive gear 320 can move stably relative to the drive rod 310 in the first position.

[0061] See Figure 3 and Figure 4 In one embodiment, when the drive gear 320 switches from the first position to the second position, the drive gear 320 moves to the end of the first thread 311, causing the threaded transmission between the drive gear 320 and the drive rod 310 to be interrupted. This allows the drive gear 320 and the drive rod 310 to rotate synchronously when the drive rod 310 rotates further. Since the drive gear 320 meshes with multiple second transmission gears 120, the transmission member 100 can be driven to retract through the drive gear 320.

[0062] See Figure 3 , Figure 4 and Figure 5 , Figure 5 This is a schematic diagram of a retraction component in a retraction mechanism according to an embodiment of the present invention. In one embodiment, a stepped wall 312 is provided on the drive rod 310, the stepped wall 312 being used to abut against the drive gear 320 to restrict the movement of the drive gear 320 relative to the drive rod 310.

[0063] Specifically, when the drive gear 320 meshes with multiple second transmission teeth 120, that is, when the drive gear 320 is in the second position, one side of the drive gear 320 abuts against the step wall 312, thereby restricting the movement of the drive gear 320 relative to the drive rod 310. Then, under the drive of the drive rod 310, the drive gear 320 and the drive rod 310 can rotate stably and synchronously, thereby stably driving the transmission component 100 to retract, improving the reliability of the retraction mechanism.

[0064] Furthermore, the retraction assembly 300 also includes a boss 313 on the drive rod 310. The boss 313 is arranged around the circumference of the drive rod 310 and is arranged around the entire circumference. The side of the boss 313 near the drive gear 320 is configured as a stepped wall 312.

[0065] See Figure 1 and Figure 2In one embodiment, the transmission member 100 includes a main body having adjacent first side 140 and second side 150. A plurality of first transmission teeth 110 are disposed on the first side 140, and a plurality of second transmission teeth 120 are disposed on the second side 150. The intersection line between the first side 140 and the second side 150 forms a limiting wall 130. When the drive gear 320 is in the second position, the limiting wall 130 can abut against the drive gear 320 to limit the movement of the drive gear 320 relative to the drive rod 310.

[0066] Furthermore, the transmission component 100 includes multiple toothed plates, which are spaced apart along the extension direction of the transmission component 100. The portion of the toothed plate located on the first side 140 is configured as a first transmission tooth 110, and the portion of the toothed plate located on the second side 150 is configured as a second transmission tooth 120. The first transmission tooth 110 and the second transmission tooth 120 are configured as a single toothed plate, which reduces the size of the transmission component 100, simplifies the structure of the transmission component 100, and improves adaptability.

[0067] See Figure 1 , Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the retraction mechanism provided in an embodiment of the present invention with the support removed. Figure 7 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 and a rotating shaft 250. One end of the support frame 230 is rotatably connected to the bracket 400 via the rotating shaft 250, and the other end is drively connected to the retraction assembly 300. A driven gear 240 is rotatably connected to the support frame 230, and a motor 220 is connected to the bracket 400. When the drive gear 320 switches from a first position to a second position, the support frame 230 rotates relative to the bracket 400 to drive the driven gear 240 to switch from an engaged position to a disengaged position.

[0068] Specifically, the support frame 230 is connected to the retraction assembly 300. During the rotation of the drive rod 310 to switch the drive gear 320 from the first position to the second position, the retraction assembly 300 can drive the support frame 230 to rotate relative to the bracket 400. This causes the support frame 230 to drive the driven gear 240 to move relative to the transmission member 100, thereby separating the driven gear 240 from the motor 220 and the multiple first transmission teeth 110. This disconnects the transmission between the driven gear 240 and the motor 220 and the transmission member 100, thus moving the driven gear 240 from the meshing position to the disengaged position.

[0069] Furthermore, the drive assembly 200 also includes a drive gear 210, which is located on the same side of the driven gear 240 as the transmission component 100. The motor 220 is driven by the drive gear 210 meshing with the driven gear 240. When the driven gear 240 rotates relative to the bracket 400 under the transmission of the retraction assembly 300, the driven gear 240 can move away from the drive gear 210, thereby disengaging the driven gear 240 from the drive gear 210, thus interrupting the transmission between the driven gear 240 and the motor 220.

[0070] See Figure 1 , Figure 3 and Figure 4 In one embodiment, the drive assembly 200 further includes a connector 260 and a first elastic member 530. One end of the connector 260 is connected to the support frame 230 and the other end abuts against the drive gear 320. The first elastic member 530 is used to apply a force toward the transmission member 100 to the support frame 230.

[0071] Specifically, the side of the connector 260 away from the support frame 230 abuts against the drive gear 320. When the drive rod 310 rotates relative to the bracket 400 to drive the drive gear 320 to move, so that the drive gear 320 switches from the first position to the second position, the drive gear 320 can push the support frame 230 through the connector 260, so that the support frame 230 rotates relative to the bracket 400, thereby causing the support frame 230 to drive the driven gear 240 to move relative to the transmission member 100, so that the driven gear 240 is separated from the motor 220 and the multiple first transmission teeth 110, thereby disconnecting the transmission between the driven gear 240 and the motor 220 and the transmission member 100, that is, the driven gear 240 moves from the meshing position to the disengaged position.

[0072] Since the side of the connector 260 away from the support frame 230 abuts against the drive gear 320, when the drive gear 320 is in the second position and rotates under the drive of the drive rod 310, it does not interfere with the connector 260, thus improving the reliability of the retraction mechanism.

[0073] Furthermore, the connector 260 includes a connecting rod 261 and a first bent portion 262. One end of the connecting rod 261 is connected to the support frame 230, and the other end is connected to the first bent portion 262. The side of the first bent portion 262 facing the drive gear 320 is arc-shaped. The first bent portion 262 is used to abut against the drive gear 320, thereby avoiding stress concentration and improving the reliability of the retraction mechanism during the process of the drive gear 320 pushing the connector 260 to move.

[0074] See Figure 1 , Figure 3 and Figure 4In one embodiment, one end of the first elastic member 530 is connected to the support frame 230 and the other end is connected to the bracket 400.

[0075] Specifically, the first elastic element 530 is a spring. When the first elastic element 530 is in a compressed state, it applies a force toward the transmission element 100 to the support frame 230, so that when the driven gear 240 is in the meshing position, it can stably drive the transmission element 100 forward.

[0076] Furthermore, the connector 260 also includes a second bend 263, which is connected to the end of the connecting rod 261 away from the first bend 262 and extends away from the support frame 230. The end of the spring away from the bracket 400 is connected to the second bend 263, thereby avoiding interference of the spring with the support frame 230 and improving the adaptability of the retraction mechanism.

[0077] See Figure 1 and Figure 6 In one embodiment, the first elastic element 530 is sleeved on the rotating shaft 250. Specifically, the first spring is a torsion spring, one end of which is connected to the rotating shaft 250 and the other end is connected to the support frame 230. The torsion spring is in a compressed state, thereby applying a stable force toward the transmission element 100 to the support frame 230.

[0078] See Figure 4 , Figure 5 and Figure 6 In other embodiments, the drive assembly 200 further includes a transmission block 340, which is drively connected to the support frame 230. The outer periphery of the drive rod 310 is provided with a second thread 314 that cooperates with the transmission block 340. When the drive gear 320 switches from the first position to the second position, the transmission block 340 is switched from being threadedly connected to the drive rod 310 through the second thread 314 to being rotatably connected to the drive rod 310, so that the threaded transmission between the transmission block 340 and the drive rod 310 is disconnected.

[0079] Specifically, the transmission block 340 is sleeved on the drive rod 310. When the drive gear 320 is in the first position, the transmission block 340 is connected to the second thread 314. When the drive rod 310 rotates relative to the bracket 400 to drive the drive gear 320 to switch from the first position to the second position, the transmission block 340 moves along the extension direction of the drive rod 310 under the drive of the drive rod 310, thereby driving the support frame 230 to move so that the support frame 230 rotates relative to the bracket 400.

[0080] When the drive gear 320 moves to the second position, it needs to be rotated by the drive rod 310 to drive the drive gear 320 to rotate. Since the transmission block 340 is rotatably connected to the drive rod 310 at this time, the transmission block 340 will not rotate synchronously with the drive rod 310, and will not continue to push the support frame 230 to rotate relative to the bracket 400.

[0081] Furthermore, the drive rod 310 is provided with a clearance section 315, which is located on the side of the second thread 314 away from the step wall 312. The diameter of the clearance end is not greater than the inner diameter of the second thread 314. Thus, when the drive gear 320 switches from the first position to the second position, the transmission block 340 switches from being threadedly connected to the second thread 314 to being rotatably connected to the clearance section 315.

[0082] Furthermore, a limiting protrusion 316 is provided at the end of the clearance section 315 away from the second thread 314. The limiting protrusion 316 is arranged around the circumference of the drive rod 310. The limiting protrusion 316 is used to abut against the transmission block 340 to restrict the movement of the transmission block 340 relative to the drive rod 310 in the clearance section 315, thereby improving the reliability of the retraction mechanism.

[0083] In addition, the drive assembly 200 also includes a mating part (not marked), one end of which is connected to the transmission block 340 and the other end is rotatably connected to the support frame 230, thereby enabling stable transmission. At the same time, when the driven gear 240 is in the meshing position, it is connected to the transmission block 340 through the mating part, which enables the driven gear 240 to mesh stably with the transmission component 100.

[0084] It should be noted that in this embodiment, the support frame 230 can be connected to the drive gear 320, the transmission block 340, or both the drive gear 320 and the transmission block 340.

[0085] See Figure 1 and Figure 2In 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 stably move forward and backward under the transmission of the drive gear 320 and the driven gear 240. The first mounting groove 410 faces the first side surface 140 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 first transmission teeth 110. The second mounting groove 420 faces the second side surface 150 of the transmission member 100, and the drive gear 320 is mounted on the second mounting groove 420, thereby facilitating the engagement of the drive gear 320 with multiple second transmission teeth 120. 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.

[0086] See Figure 8 , Figure 9 , Figure 10 and Figure 11 , Figure 8 This is a top view of the cover plate and drive rod cooperating in a retraction mechanism provided in an embodiment of the present invention. Figure 9 This is a schematic diagram of the cover plate in a retraction mechanism provided in an embodiment of the present invention. Figure 10 This is a schematic diagram of a cutting and stitching device provided in an embodiment of the present invention. Figure 11 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 retraction mechanism further includes a housing 520 and a cover plate 510. The housing 520 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 520 corresponding to the drive gear 320 has an observation port. The cover plate 510 is connected to the housing 520 and is used to cover the observation port.

[0087] Furthermore, the drive rod 310 has a mating groove on the side away from the support frame 230, and one end of the cover plate 510 has an unlocking member 511. When it is necessary to control the retraction of the transmission member 100, the cover plate 510 can be removed, and the unlocking member 511 on one side of the cover plate 510 can be inserted into the mating groove on the drive rod 310 to control the rotation of the cover plate 510, thereby realizing the rotation of the drive rod 310. This makes the retraction of the transmission member 100 more efficient and convenient. The cover plate 510 is larger than the unlocking member 511, which also helps to save effort. Preferably, the mating groove is a straight groove.

[0088] In other embodiments, the drive rod 310 can also be rotated by other operating components such as a wrench.

[0089] See Figure 1 , Figure 2 , Figure 9 and Figure 10 In one embodiment, the present invention also provides a cutting and stitching 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.

[0090] Specifically, in this application, the drive rod 310 is rotatably connected to the bracket 400, and the drive gear 320 is drivenly connected to the drive rod 310. The drive rod 310 can operably control the drive gear 320 to switch from a first position to a second position, causing the driven gear 240 to switch from an engaged position to a disengaged position. That is, the driven gear 240 is disengaged from the multiple first transmission teeth 110 and from the motor 220, thereby disengaging the driven gear 240 from the transmission member 100. At the same time, the drive gear 320 is connected to the multiple second transmission teeth 120, thereby converting the rotation of the drive gear 320 itself into the movement of the transmission member 100, causing the transmission member 100 to retract. That is, for every revolution of the drive gear 320, the transmission member 100 can retract the circumference of the drive gear 320, thereby greatly improving the retraction efficiency of the transmission member 100, achieving efficient retraction, and improving the adaptability of the cutting and sewing device.

[0091] 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.

[0092] 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 first transmission teeth (110) and a plurality of second transmission teeth (120). 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 first 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 first transmission teeth (110) and is disengaged from the motor (220); and, The retraction assembly (300) is connected to the driven gear (240) in a transmission manner. The retraction assembly (300) includes a drive rod (310) and a drive gear (320). The drive rod (310) is rotatably connected to the bracket (400), and the drive gear (320) is connected to the drive rod (310). The drive gear (320) has a first position and a second position. The drive gear (320) can be operably controlled by the drive rod (310) to switch from the first position to the second position. When the drive gear (320) switches from the first position to the second position, the driven gear (240) switches from the meshing position to the disengaged position, and the drive gear (320) is connected to the plurality of second transmission teeth (120). The drive assembly (200) further includes a support frame (230) and a rotating shaft (250). One end of the support frame (230) is rotatably connected to the bracket (400) via the rotating shaft (250), and the other end is drively connected to the retraction assembly (300). The driven gear (240) is rotatably connected to the support frame (230), and the motor (220) is connected to the bracket (400). When the drive gear (320) switches from the first position to the second position, the support frame (230) rotates relative to the bracket (400) to drive the driven gear (240) to switch from the engaged position to the disengaged position.

2. The retraction mechanism according to claim 1, characterized in that, The drive rod (310) has a first thread (311) on its outer periphery, and the drive gear (320) is sleeved on the drive rod (310) and threadedly connected to the first thread (311). The drive rod (310) is configured to rotate about its own axis to drive the drive gear (320) to move so that the drive gear (320) switches from the first position to the second position.

3. The retraction mechanism according to claim 2, characterized in that, The retraction assembly (300) further includes at least one guide rod (330), each guide rod (330) being parallel to and spaced apart from the drive rod (310) on the bracket (400), each guide rod (330) cooperating with the drive gear (320) to limit the rotation of the drive gear (320) within a preset stroke of the drive gear (320).

4. The retraction mechanism according to claim 3, characterized in that, The extension direction of the guide rod (330) is perpendicular to the arrangement direction of the plurality of second transmission teeth (120). In the extension direction of the guide rod (330), there is a preset gap between the guide rod (330) and the plurality of second transmission teeth (120), and the preset gap is greater than or equal to the thickness of the drive gear (320).

5. The retraction mechanism according to claim 2, characterized in that, The drive rod (310) is provided with a stepped wall (312), which is used to abut against the drive gear (320) to restrict the movement of the drive gear (320) relative to the drive rod (310).

6. The retraction mechanism according to any one of claims 1-5, characterized in that, The drive component (200) also includes: A connector (260) is connected at one end to the support frame (230) and at the other end to the drive gear (320). A first elastic element (530) is used to apply a force toward the transmission element (100) to the support frame (230).

7. The retraction mechanism according to claim 6, characterized in that, One end of the first elastic element (530) is connected to the support frame (230), and the other end is connected to the bracket (400); or, the first elastic element (530) is sleeved on the rotating shaft (250).

8. The retraction mechanism according to any one of claims 1-5, characterized in that, The drive assembly (200) further includes a transmission block (340), which is connected to the support frame (230). The outer periphery of the drive rod (310) is provided with a second thread (314) that mates with the transmission block (340). When the drive gear (320) switches from the first position to the second position, the transmission block (340) is switched from being threadedly connected to the drive rod (310) through the second thread (314) to being rotatably connected to the drive rod (310), so that the threaded transmission between the transmission block (340) and the drive rod (310) is disconnected.

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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