CN211460393U - Clamping device and clamping system - Google Patents

Abstract

The utility model provides a clamping device and clamping system, clamping device includes the bracing piece, the bracing piece is inside hollow structure, be equipped with the transfer line in the bracing piece, the distal end of transfer line is equipped with first pincers body, the distal end of bracing piece is equipped with the second pincers body with first pincers body matched with, be equipped with the inserted bar that passes the transfer line in the radial direction of transfer line, the lateral wall of bracing piece is equipped with and inserts first track of pole motion matched with and second track, first track extends around the circumferencial direction of bracing piece, and be close to the distal end of bracing piece gradually according to its extending direction, first track and second track are central symmetry distribution, be equipped with the cavity in the bracing piece, be equipped with the elasticity piece that resets that can drive the transfer line along its axial reciprocating motion in the cavity, the transfer line drives for bracing piece reciprocating motion first pincers body and second pincers body open and shut. The problem that clamping device and the terminal advancing device of robot arm can't match among the prior art is solved to this application, easy operation, convenient to use.

Description

Clamping device and clamping system

Technical Field

The utility model relates to the field of medical equipment, especially, relate to a clamping device and clamping system.

Background

The realization of the clamping function is very important for the smooth implementation of the operation. In current clinical practice, doctors mainly use different types of surgical forceps to clamp different organs and tissues at different surgical sites. The clinician realizes the opening and closing of the jaws by controlling the opening and closing of the handle so as to assist the operation. After the handle opening and closing actions are repeated for a long time, fatigue and trembling of an operator hand of a doctor inevitably occur, so that the operation fineness is reduced, and therefore, operation operations with extremely high precision requirements are not easy to develop at the moment, or the development at the moment is easier to cause complications. At present, in clinic, doctors mostly adopt robot-assisted operation to overcome the limitation of manual operation. Most of the robot mechanical arms which can be clinically applied at present have a device similar to a push rod at the tail end, but a clamping device matched with the end effector is lacked, so that a plurality of surgical operations are difficult to smoothly carry out by using a robot.

The existing surgical clamping apparatus (various types of clamping devices such as surgical forceps and the like) is designed for manual operation, and the opening and closing of the jaws are controlled by controlling the opening and closing of handles by hands. The instrument handle and the end effector of the robot arm cannot be matched.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a clamping device for solving the problems of the prior art. To achieve the above and other related objects, the present invention provides a clamping device, which comprises a support rod, the support rod is of a hollow structure, a transmission rod is arranged in the support rod, a first clamp body is arranged at the far end of the transmission rod, the far end of the supporting rod is provided with a second clamp body matched with the first clamp body, the radial direction of the transmission rod is provided with an inserting rod penetrating through the transmission rod, the side wall of the supporting rod is provided with a first track and a second track which are matched with the insertion rod in a moving way, the first track extends around the circumferential direction of the supporting rod, and gradually approaches the far end of the supporting rod according to the extending direction thereof, the first track and the second track are distributed in central symmetry, the support rod is provided with a cavity, the cavity is internally provided with an elastic reset piece which can drive the transmission rod to reciprocate along the axial direction of the transmission rod, the transmission rod reciprocates relative to the support rod to drive the first clamp body and the second clamp body to open and close.

In some embodiments of the present invention, the clamping device further comprises a connecting member, the connecting member comprises a cavity penetrating along the axial direction, the connecting member is used for connecting the proximal end of the support rod and the propelling device, the propelling rod of the propelling device can push through the connecting member to move the proximal end of the transmission rod.

In some embodiments of the present invention, the holding device further comprises a pushing block, the pushing block can be disposed in the cavity along the axial direction, the pushing block is connected to the proximal end of the transmission rod, and the pushing rod of the pushing device can push through the connecting member to push the pushing block and drive the transmission rod to move.

In some embodiments of the present invention, the proximal ends of the first track and the second track are further respectively provided with a first track extending section and a second track extending section, and the first track extending section and the second track extending section are consistent with the axial direction of the support rod.

In some embodiments of the present invention, the first forceps body and the second forceps body are provided with a mating biting edge on a side contacting each other.

In some embodiments of the present invention, one end of the elastic restoring member abuts against the pushing block, and the other end of the elastic restoring member is close to the insertion rod.

In some embodiments of the present invention, the elastic restoring member is a spring.

In some embodiments of the present invention, a thrust block position limiting member for limiting a position of the thrust block is disposed in the cavity.

Another aspect of the present invention provides a clamping system, including advancing device and clamping device, advancing device is used for advancing clamping device moves.

In some embodiments of the invention, the propulsion device comprises a propulsion lever for driving the movement of the rod.

The utility model discloses a clamping device has realized the closed back centre gripping object of the first pincers body and the second pincers body. The problem of among the prior art instrument handle and robot arm end effector can't match is solved, easy operation, convenient to use.

Drawings

Fig. 1 is a schematic structural view of the closed state of the clamping device of the present invention.

Fig. 2 is a schematic structural view of the open state of the clamping device of the present invention.

Fig. 3 is a schematic structural view of the clamping device of the present invention.

Fig. 4 is a schematic view of the local enlarged structure of the clamping device of the present invention.

Fig. 5 is a schematic structural view of an embodiment of the transmission rod of the present invention.

Fig. 6 is a schematic structural diagram of an embodiment of the first rail and the second rail of the present invention.

Element numbers in the figures:

1. support rod

2. Transmission rod

3. First clamp body

4. Second clamp body

5. Insertion rod

6. First rail

61. First track extension

7. Second rail

71. Second track extension

8. Elastic reset piece

9. Propelling block

10. Hollow cavity

11. Pushing block limiting piece

Detailed Description

The following describes the present invention in further detail with reference to the accompanying drawings. These embodiments are provided only for illustrating the present invention and are not intended to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

As shown in FIGS. 1-3, the present invention is an embodiment of a clamping device. The clamping device comprises a support rod 1, the support rod 1 is of a hollow structure, a transmission rod 2 is arranged in the support rod 1, the far end of the transmission rod 2 is provided with a first clamp body 3, the far end of the support rod 1 is provided with a second clamp body 4 matched with the first clamp body 3, an inserting rod 5 penetrating through the transmission rod 2 is arranged on the transmission rod 2 in the radial direction, a first rail 6 and a second rail 7 matched with the inserting rod 5 in a moving mode are arranged on the side wall of the supporting rod 1, the first rail 6 extends around the circumferential direction of the supporting rod 1, and is close to the far end of the supporting rod 1 according to the extending direction, the first track 6 and the second track 7 are distributed in central symmetry, a cavity 10 is arranged in the support rod 1, an elastic reset piece 8 is arranged in the cavity 10, the elastic reset piece 8 is close to the insert rod 5, the transmission rod 2 reciprocates relative to the support rod 1 to drive the first clamp body 3 and the second clamp body 4 to open and close. The far end of the transmission rod 2 is one end connected with the first caliper body 3, the near end of the transmission rod 2 is one end far away from the first caliper body 3, the far end of the support rod 1 is one end connected with the second caliper body 4, and the near end of the support rod 1 is one end far away from the second caliper body 4. The utility model discloses a clamping device, under the initial condition, first pincers body 3 and second pincers body 4 open, when needing the centre gripping object, external force promotes the near-end of transfer line 2 and makes transfer line 2 move towards the direction of first pincers body 3, and makes insert 5 along the extending direction motion of first track 6 and second track 7, insert 5 drives transfer line 2 rotates around the axle of bracing piece 1 for bracing piece 1, transfer line 2 drives first pincers body 3 and second pincers body 4 are closed. After the centre gripping is ended, elasticity piece 8 resets the in-process and drives insert 5 and keep away from the direction motion of bracing piece 1 distal end along first track 6 and second track 7, and insert 5 drives transfer line 2 rotates for the axle of bracing piece 1, makes transfer line 2 drives first pincers body 3 and the second pincers body 4 opens. In the process of opening and unfolding the first clamp body 3 and the second clamp body 4, the second clamp body 4 is connected with the support rod 1, the second clamp body 4 is not moved relative to the support rod 1, and the first clamp body 3 moves relative to the support rod 1 along with the drive rod 2.

The utility model provides a clamping device, the centre gripping unit includes bracing piece 1, bracing piece 1 is inside hollow structure, bracing piece 1 is cylindrical, the length of bracing piece 1 is 130 ~ 150mm, in a specific embodiment, the length of bracing piece 1 is 140mm, the internal diameter of bracing piece 1 is 0.81mm, and the external diameter is 2 mm.

The utility model provides a clamping device, the centre gripping unit still includes transfer line 2, transfer line 2 is located in bracing piece 1, unanimous with bracing piece 1's extending direction, in an embodiment, the external diameter of transfer line is 0.8 mm.

The utility model provides a clamping device, the centre gripping unit still includes the first pincers body 3 and the second pincers body 4, the distal end of transfer line 2 is located to the first pincers body 3, the distal end of bracing piece 1 is located to the second pincers body 4. The first and second forceps bodies may be forceps, scissors, or the like. And one sides of the first clamp body 3 and the second clamp body 4 which are contacted with each other are respectively provided with a biting edge which is matched with each other.

The utility model provides a clamping device, the centre gripping unit is still including inserting pole 5, insert pole 5 and locate 2 radial directions of transfer line, and wear to establish transfer line 2. As shown in fig. 5, the transmission rod 2 is provided with a through hole in a radial direction to be fitted with the insertion rod 5. The length of the insertion rod 5 is 3-10 mm, and in a specific embodiment, the length of the insertion rod 5 is 3 mm. The longitudinal direction of the insertion rod 5 is a direction that coincides with the axial extension direction of the insertion rod 5.

The utility model provides a clamping device, as shown in fig. 3 and 4, the centre gripping unit still includes first track 6 and second track 7, the lateral wall of bracing piece 1 is equipped with and inserts 5 motion matched with first track 6 and second track 7 of pole, first track 6 extends around the circumferencial direction of bracing piece 1, just the extending direction of first track 6 is close to the distal end of bracing piece 1, first track 6 and second track 7 are central symmetry and distribute. The two ends of the insertion rod 5 extend out of a first track 6 and a second track 7, respectively, and rotate around the axis of the support rod 1 in the first track 6 and the second track 7 and move with the transmission rod 2 in the axial direction thereof. In a preferred embodiment, as shown in fig. 6, the proximal ends of the first rail 6 and the second rail 7 are further provided with a first rail extending section 61 and a second rail extending section 71, respectively, the extending directions of the first rail 6 and the second rail 7 are around the circumference and gradually approach the distal end of the support rod 1 according to the extending directions thereof, and the proximal ends of the first rail 6 and the second rail 7 refer to the starting positions of the extending of the first rail 6 and the second rail 7 when the first forceps body 3 and the second forceps body 4 are opened in the initial state. The first track extension 61 and the second track extension 71 are aligned with the axial direction of the support bar 1. In the initial state, the first caliper body 3 and the second caliper body 4 are spread apart, and the insertion rod 5 is located between the first rail extension 61 and the second rail extension 71. When the external force pushes the proximal end of the transmission rod 2, the insertion rod 5 moves in the first track 6 and the second track 7 toward the extending direction of the first track 6 and the second track 7 near the distal end of the support rod 1, and the insertion rod 5 drives the transmission rod 2 to rotate relative to the axis of the support rod 1, so that the first pincer body 3 and the second pincer body 4 are closed.

The utility model provides a clamping device still includes connecting piece (not pictured), the connecting piece includes the cavity that link up along the axial, the connecting piece can be used to the near-end and the advancing device of lug connection bracing piece 1, advancing device's propulsion pole can pass the connecting piece and promote the second end motion of transfer line 2. The connecting member of the present embodiment may be any structure suitable for connecting the propulsion device and the support rod 1, which is known to those skilled in the art.

In a preferred embodiment, the clamping device further comprises a pushing block 9, the pushing block 9 is connected with the proximal end of the transmission rod 2, the pushing block 9 is axially movably arranged in the cavity 10, the pushing block 9 is radially fixed and axially moves in the cavity 10, and the diameter of the pushing block 9 is slightly smaller than that of the cavity, so that the pushing block 9 can axially move in the cavity 10. The connecting element can be used to connect the cavity 10 to a propulsion device, whose propulsion lever can push the propulsion block 9 through the connecting element and move the transmission rod 2. Further, in some embodiments, the proximal end of the driving rod 2 can be embedded in the thrust block 9, and the fixation of the driving rod 2 and the thrust block 9 is accomplished by welding.

Further, be equipped with propulsion piece locating part 11 in the cavity 10 for the direction of keeping away from bracing piece 2 of restriction propulsion piece 9 removes, propulsion piece locating part 9 can be along a plurality of boss structures of cavity inner wall setting, one side that the bracing piece 1 was kept away from to propulsion piece 9 cooperatees with propulsion piece locating part 8 and realizes the spacing of propulsion piece 9.

The utility model provides a clamping device still includes elasticity piece 8 that resets, elasticity resets 8 and locates in the cavity 10 of bracing piece 1, elasticity resets 8 and can drive transfer line 2 along transfer line 2's axial reciprocating motion. The elastic return element 8 may be a spring, for example. In an embodiment, as shown in fig. 1, an insertion rod 5 penetrates through the support rod 1 in a radial direction, an elastic resetting member 8 and a pushing block 9 are arranged in the cavity 10, one end of the elastic resetting member 8 abuts against the pushing block 9, and the other end of the elastic resetting member 8 is close to the insertion rod 5. A thrust block limiting piece 11 used for limiting the thrust block 9 is arranged between the proximal ends of the supporting rods 1. The elastic reset piece 8 drives the insertion rod 5 to move along the first track 6 and the second track 7 in the reset process towards the direction far away from the far end of the support rod 1, and the insertion rod 5 drives the transmission rod 2 to rotate relative to the shaft of the support rod 1, so that the transmission rod 2 drives the first clamp body 3 and the second clamp body 4 to be opened. The elastic reset piece 8 can be arranged close to the insertion rod 5 and located between the distal ends of the insertion rod 5 and the transmission rod 2, the insertion rod 5 is pulled to move along the rail in the reset process of the elastic reset piece 8, and the insertion rod 5 drives the transmission rod 2 to rotate relative to the shaft of the support rod 1, so that the transmission rod 2 drives the first clamp body 3 and the second clamp body 4 to be opened.

A second aspect of the present invention provides a clamping system. Comprising a propelling device and the clamping device, wherein the propelling device is used for propelling the clamping device to move. The propulsion device comprises a propulsion lever for propelling the drive rod 2 into motion. In a preferred embodiment, the pusher rod is used to advance the movement of the pusher block 9. The propulsion device can be a mechanical arm propulsion device, the mechanical arm propulsion device can be a mechanical arm propulsion rod and is located at the tail end of a mechanical arm, the mechanical arm propulsion unit can control propulsion and contraction of the mechanical arm through a propulsion button of the mechanical arm, the mechanical arm can be various mechanical arms with the propulsion rods, which are well known in the field, and the mechanical arm can be a RBT1000 mechanical arm of a RobOtol otology robot of collin company.

The utility model discloses clamping system's theory of operation:

when an object needs to be clamped, the pushing device pushes the transmission rod 2 to move towards the direction of the first clamp body 3, the insertion rod 5 moves along the extending direction of the first rail 6 and the second rail 7, the transmission rod 2 is driven to rotate relative to the support rod 1, and the transmission rod 2 drives the first clamp body 3 to move towards the direction of the second clamp body 4 and close the second clamp body 4. Since the first track 6 extends around the circumferential direction of the support rod 1, and the extending direction of the first track 6 is close to the distal end of the support rod 1, the transmission rod 2 moves toward the first caliper body 3 along the axial direction of the support rod 1 when rotating relative to the support rod 1.

After the object is put down after the clamping is finished, the propelling device is separated from the clamping unit, the elastic resetting piece drives the insertion rod 5 to move in the first track 6 and the second track 7 towards the direction far away from the far end of the support rod 1 and drive the transmission rod 2 to rotate relative to the support rod 1, so that the transmission rod 2 drives the first clamp body 3 and the second clamp body 4 to be opened. Since the first track 6 extends around the circumferential direction of the support rod 1, and the extending direction of the first track 6 is close to the distal end of the support rod 1, the transmission rod 2 moves in the axial direction of the support rod 1 toward the direction away from the first caliper body 3 when rotating relative to the support rod 1.

The utility model discloses a clamping device has realized the closed back centre gripping object of the first pincers body 3 and the second pincers body 4. The problem of among the prior art clamping device and the terminal advancing device of robot arm unable matching is solved, easy operation, convenient to use.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. The clamping device is characterized by comprising a supporting rod (1), wherein the supporting rod (1) is of an internal hollow structure, a transmission rod (2) is arranged in the supporting rod (1), a first clamp body (3) is arranged at the far end of the transmission rod (2), a second clamp body (4) matched with the first clamp body (3) is arranged at the far end of the supporting rod (1), an insertion rod (5) penetrating through the transmission rod (2) is arranged in the radial direction of the transmission rod (2), a first track (6) and a second track (7) matched with the insertion rod (5) in a moving mode are arranged on the side wall of the supporting rod (1), the first track (6) extends around the circumferential direction of the supporting rod (1) and is gradually close to the far end of the supporting rod (1) according to the extending direction of the first track (6) and the second track (7) in central symmetry distribution, a cavity (10) is arranged in the supporting rod (1), the cavity is internally provided with an elastic reset piece (8) which can drive the transmission rod (2) to reciprocate along the axial direction of the transmission rod, and the transmission rod (2) drives the first clamp body (3) and the second clamp body (4) to open and close relative to the support rod (1) in a reciprocating motion mode.

2. Clamping device according to claim 1, characterized in that it further comprises a connecting element comprising a cavity running through in the axial direction for connecting the proximal end of the support rod (1) with a pushing device whose pushing rod can push the proximal end of the transmission rod (2) through the connecting element.

3. The clamping device according to claim 2, characterized in that the clamping device further comprises a pushing block (9), the pushing block (9) is movably arranged in the cavity (10) along the axial direction, the pushing block (9) is connected with the proximal end of the transmission rod (2), and a pushing rod of the pushing device can push the pushing block (9) through a connecting piece and drive the transmission rod (2) to move.

4. Clamping device according to claim 1, characterized in that the proximal ends of the first track (6) and the second track (7) are further provided with a first track extension (61) and a second track extension (71), respectively, said first track extension (61) and second track extension (71) coinciding with the axial direction of the support bar (1).

5. A holding device as claimed in claim 1, characterized in that the sides of the first jaw body (3) which are in contact with the second jaw body (4) are provided with a mating biting edge, respectively.

6. Clamping device according to claim 1, characterized in that one end of said elastic return member (8) abuts against the thrust block (9) and the other end of said elastic return member (8) is close to the insertion rod (5).

7. Clamping device according to claim 1, characterized in that the elastic return member (8) is a spring.

8. Clamping device according to claim 1, characterized in that a thrust block stop (11) for limiting the position of the thrust block (9) is provided in the cavity (10).

9. A clamping system comprising an advancing means for advancing the movement of the clamping means and a clamping means according to any of claims 1 to 8.

10. Clamping system according to claim 9, wherein the pushing means comprise a push rod for driving the movement of the rod (2).

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