CN211534668U - Opening and closing device and opening and closing system - Google Patents
Opening and closing device and opening and closing system Download PDFInfo
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- CN211534668U CN211534668U CN201921381924.5U CN201921381924U CN211534668U CN 211534668 U CN211534668 U CN 211534668U CN 201921381924 U CN201921381924 U CN 201921381924U CN 211534668 U CN211534668 U CN 211534668U
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- rod
- clamp body
- transmission rod
- opening
- support rod
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Abstract
The utility model relates to the field of medical equipment, especially relate to an opening and shutting device and system that opens and shuts. The opening and closing device comprises a supporting rod, a transmission rod, a first clamp body, a second clamp body and a connecting piece; the support rod is axially communicated; the transmission rod can axially reciprocate along the support rod; the first clamp body is arranged at the first end of the support rod, the second clamp body is arranged at the first end of the transmission rod, the second clamp body is hinged with the transmission rod, and the second clamp body is hinged with the first clamp body; the connecting piece comprises a cavity which is through along the axial direction, the connecting piece is used for connecting the second end of the supporting rod and the propelling device, and the propelling rod of the propelling device can push the second end of the transmission rod to move through the connecting piece. The transmission rod axially reciprocates along the support rod and drives the first clamp body and the second clamp body to open and close, so that the defect that the existing biting and cutting clamp cannot be well adapted to an end effector of a mechanical arm with a push rod and cannot be directly applied to the mechanical arm of the robot is overcome.
Description
Technical Field
The utility model relates to the field of medical equipment, especially relate to an opening and shutting device and system that opens and shuts.
Background
The realization of the clamping and clamping functions of the surgical instruments is very important for the smooth implementation of the whole operation, and the lack of related machinery can seriously delay the operation progress and even directly lead to poor operation effect. With the development of the robot technology, the robot technology is applied to assist the operation in clinical trials so as to further improve the operation effect. In clinical practice, most of the robot mechanical arms at the tail end have a device similar to a push rod, and a clamping device matched with the end effector is lacked at present, which seriously influences the popularization of the robot technology in clinical application. At present, the clinically used surgical tissue biting and cutting forceps can well realize the functions of clamping, cutting and the like under the operation of bare hands of doctors, is favorable for clamping pathological tissues and clamping surgical related instruments in the operation, and is clinically applied to make some surgical operations easier to implement. However, the handle end of the robot is not matched with the execution tail end of the mechanical arm, so that the robot cannot be directly loaded on the robot for clinical application.
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 an opening and closing device for solving the problems in the prior art.
In order to achieve the above and other related objects, one aspect of the present invention provides an opening and closing device, which includes a hollow support rod, a transmission rod, a first clamp body, a second clamp body and a connecting member; the support rod is axially communicated; the transmission rod is positioned in the support rod, the extending direction of the transmission rod is consistent with that of the support rod, and the transmission rod can axially reciprocate along the support rod; the first clamp body is arranged at the first end of the support rod, the second clamp body is arranged at the first end of the transmission rod, the second clamp body is hinged with the transmission rod, and the second clamp body is hinged with the first clamp body; the connecting piece comprises a cavity which is through along the axial direction, the connecting piece is used for connecting the second end of the supporting rod and the propelling device, and the propelling rod of the propelling device can push the second end of the transmission rod to move through the connecting piece.
In some embodiments of the present invention, the opening and closing device further comprises a pushing block, the pushing block is connected to the second 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.
The utility model discloses an in some embodiments, the second end of bracing piece is equipped with the room of holding, room and bracing piece fixed connection hold, the room of holding is including holding the chamber that holds of propelling block, propelling block can be located along axial activity and hold in the chamber.
In some embodiments of the present invention, the opening and closing device further comprises an elastic restoring member, and the elastic restoring member is disposed in the accommodating cavity.
In some embodiments of the present invention, the 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 second end of the supporting rod.
In some embodiments of the present invention, the elastic restoring member is a spring.
In some embodiments of the present invention, the elastic restoring member is fixedly connected to the propelling block.
In some embodiments of the present invention, the propulsion block is fixedly connected to the transmission rod.
In some embodiments of the present invention, the side of the accommodating cavity away from the support rod is provided with a thrust block position limiting part for limiting the position of the thrust block.
The utility model discloses another aspect provides an open-close system, including advancing device and the open-close device of this invention, advancing device is used for advancing the open-close device motion.
The utility model has the advantages that:
the utility model discloses a device and the system that opens and shuts open and shut, through the transfer line is followed bracing piece axial reciprocating motion and is driven first pincers body and second pincers body open and shut. The defects that the existing biting and cutting pliers cannot be well adapted to the existing mechanical arm end effector containing a push rod and cannot be directly applied to a mechanical arm of a robot are overcome.
Drawings
Fig. 1 is a schematic view of the open state structure of the opening and closing device of the present invention.
Fig. 2 is a schematic view of the structure of the open/close device of the present invention in a closed state.
Fig. 3 is a schematic structural diagram of an embodiment of the support rod and the transmission rod of the present invention.
Fig. 4 is a schematic structural view of another embodiment of the support rod and the transmission rod of the present invention before being pushed.
Fig. 5 is a schematic structural view of the support rod and the transmission rod according to another embodiment of the present invention.
Element numbers in the figures:
1. support rod
11. First support rod
12. Transition part of support rod
13. Second support rod
2. Transmission rod
21. First driving rod
22. Transfer bar transition
23. Second transmission rod
3. First clamp body
4. Second clamp body
5. Propelling block
6. Containing chamber
61. Containing cavity
7. Elastic reset piece
8. 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 fig. 1-2, an embodiment of the opening and closing device of the present invention. The opening and closing device comprises a hollow support rod 1, a transmission rod 2, a first clamp body 3, a second clamp body 4 and a connecting piece (not shown), and the support rod 1 penetrates through the hollow support rod along the axial direction; the transmission rod 2 is positioned in the support rod 1, the extending direction of the transmission rod 2 is consistent with that of the support rod 1, and the transmission rod 2 can axially reciprocate along the support rod 1; the first clamp body 3 is arranged at the first end of the support rod 1, the second clamp body 4 is arranged at the first end of the transmission rod 2, the second clamp body 4 is hinged with the transmission rod 2, and the second clamp body 4 is hinged with the first clamp body 3; the connecting piece comprises a cavity which is through along the axial direction, the connecting piece is used for connecting the second end of the supporting rod 1 and the propelling device, and the propelling rod of the propelling device can push the second end of the transmission rod 2 to move through the connecting piece. The utility model discloses an opening and closing device can be used to with thrust unit supporting use, under the natural state, first pincers body 3 and second pincers body 4 are in the open mode, when needing centre gripping, pincers to get the object, thrust unit's propelling rod promotes transfer line 2, make transfer line 2 move towards second pincers body 4 along 1 axial direction of bracing piece, transfer line 2 can drive second pincers body 4 to rotate for first pincers body 3 towards the direction of first pincers body 3, first pincers body 3 and second pincers body 4 are in the closed state this moment, realize the centre gripping of object, pincers get or cut; when the transmission rod 2 moves away from the second caliper body 4 along the axial direction of the support rod 1, the transmission rod 2 can drive the second caliper body 4 to rotate relative to the first caliper body 3 in the direction away from the first caliper body 3, and at the moment, the first caliper body 3 and the second caliper body 4 are in an open state.
Further, the opening and closing device further comprises a pushing block 5, the pushing block 5 is connected with the second end of the transmission rod 2, the pushing rod of the pushing device can penetrate through a connecting piece to push the pushing block 5 and drive the transmission rod 2 to move, the pushing block 5 is fixedly connected with the second end of the transmission rod 2, further, the second end of the transmission rod 2 can be embedded into the pushing block 5, and the transmission rod 2 and the pushing block 5 are fixed through welding.
Further, the second end of the supporting rod 1 is provided with an accommodating chamber 6, the accommodating chamber 6 is fixedly connected with the supporting rod and is used for accommodating an accommodating cavity 61 of the propelling block 5, and the propelling block 5 can be movably arranged in the accommodating cavity 61 along the axial direction. The pushing block 5 is fixed in the containing cavity 61 in the radial direction and moves in the axial direction, and the diameter of the pushing block 5 is slightly smaller than that of the containing cavity 61, so that the pushing block 5 can move in the containing cavity 61 in the axial direction.
Further, the connection piece can be used to connect the receiving chamber 6 with a pushing device, the pushing rod of which can push the pushing block to move through the connection piece.
Preferably, one side of holding the chamber 61 and keeping away from bracing piece 1 is equipped with propulsion piece locating part 8 for the restriction impels piece 5 to remove towards the direction of keeping away from bracing piece 1, impel piece locating part 8 can be along holding a plurality of boss structures that one side of chamber 61 keeping away from bracing piece 1 set up, one side of impelling piece 5 keeping away from bracing piece 1 cooperatees with propulsion piece locating part 8 and realizes impelling piece 5 spacing.
Further, the opening and closing device further comprises an elastic resetting piece 7, the elastic resetting piece 7 is arranged in the accommodating cavity 61, one end of the elastic resetting piece 7 abuts against the propelling block 5, the other end of the elastic resetting piece 7 is close to the second end of the supporting rod 1, and the elastic resetting piece 7 can be a spring. Preferably, elasticity resets 7 and propulsion block 5 fixed connection, when needing the centre gripping object, the propulsion pole promotes propulsion block 5, and propulsion block 5 drives elasticity and resets 7 compression, and after the centre gripping was accomplished, the propulsion pole contracts back advancing device, and elasticity resets 7 and resets the in-process, drives propulsion block 5 and keeps away from bracing piece 1 motion, and then drives the transfer line 2 of being connected with propulsion block 5 and move along 1 axial direction of bracing piece, realizes opening of first pincers body 3 and second pincers body 4, accomplishes the release of object.
Further, the first forceps body 3 and the second forceps body 4 may be toothless forceps, forceps with teeth, polypus forceps, scissors, or the above-mentioned instruments with radian.
Furthermore, the first pincer body 3 is fixedly connected with the first end of the support rod 1, the first pincer body 3 is provided with a biting blade, and the biting blade of the first pincer body 3 is arranged on one side which is contacted with the second pincer body 4 when being closed and is matched with the biting blade of the second pincer body 4.
Furthermore, the second clamp body 4 is hinged to the transmission rod 2, the transmission rod 2 can drive the second clamp body 4 to move, the second clamp body 4 is hinged to the first clamp body 3 through a clamp body rotating shaft, and the second clamp body 4 can rotate relative to the first clamp body 3 along the clamp body rotating shaft to realize the opening and closing of the first clamp body and the second clamp body.
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. The connecting piece is a structure which is through along the axial direction and can be used for directly connecting the second end of the supporting rod and the propelling device, in a preferred embodiment, the connecting rod is used for connecting the accommodating chamber 6 and the propelling device, and the accommodating chamber 6 is fixedly connected with the second end of the supporting rod. The connector may be, for example, a RobOtol RBT 1000.
The utility model discloses in, bracing piece 1 and transfer line 2's structure can have multiple selection, for example can be as shown in fig. 3 structure, also can be as shown in fig. 4, bracing piece 1 is including first bracing piece 11 and the second bracing piece 13 that connects gradually and the bracing piece transition portion 12 of connecting first bracing piece 11 and second bracing piece 13, bracing piece transition portion 12 and first bracing piece 11 form certain angle towards between the second bracing piece 13, form certain angle between second bracing piece 13 and the bracing piece transition portion 12, bracing piece transition portion 12 makes and forms certain difference in height between the axial direction of first bracing piece 11 and the axial direction of second bracing piece 13. The transmission rod 2 comprises a first transmission rod 21, a transmission rod transition portion 22 and a second transmission rod 23 which are sequentially connected, the first transmission rod 21 is located in the first support rod 11, the extending direction of the first transmission rod is consistent with that of the first support rod 11, the transmission rod transition portion 22 is located in the support rod transition portion 12, the extending direction of the transmission rod transition portion is consistent with that of the support rod transition portion 12, and the second transmission rod 23 is located in the second support rod 13, and the extending direction of the second transmission rod is consistent with that of the second support rod 13. The driving rod 2 can move in the supporting rod 1 as shown in fig. 5, in the structure of the supporting rod 1 and the driving rod 2 shown in fig. 4 and 5, the accommodating chamber 6 is arranged outside the second supporting rod 13, the second driving rod 23 is connected with the propelling block 5, the first supporting rod 11 and the second supporting rod 13 are connected through the transition part of the supporting rod 21 to form a certain angle, and after the driving rod is connected with the propelling device in operation, the obstruction of the operation visual field can not be formed.
The operation of the opening and closing device of the present embodiment is as follows.
The utility model discloses a device opens and shuts can be used to and the thrust unit supporting use.
In a natural state, the pushing device is not connected with the opening and closing device, and the first clamp body 3 and the second clamp body 4 are in an opening state.
When the clamp is used, the second end of the supporting rod 1 is connected with the pushing device through the connecting piece, then the pushing button on the pushing device is pressed, the pushing rod is in contact with the pushing block 5 of the opening and closing device and pushes the pushing block 5 to drive the transmission rod 2 to move towards the second clamp body 4, the second clamp body 4 is hinged with the transmission rod 2, the transmission rod 2 drives the second clamp body 4 to rotate relative to the first clamp body 3, the first clamp body 3 and the second clamp body 4 are closed, and clamping, clamping or shearing of an object is completed.
After the clamping is finished, the opening and closing device is separated from the pushing device, the elastic resetting piece 7 drives the pushing block 5 to move in the direction deviating from the second clamp body 4 in the resetting process, the transmission rod 2 moves along with the pushing block 5 and drives the second clamp body 4 to rotate relative to the first clamp body 3, and the first clamp body 3 and the second clamp body 4 are in an opening state.
The utility model also provides a system of opening and shutting, including advancing device with the device that opens and shuts, advancing device with the device that opens and shuts cooperatees and is used for advancing the device motion that opens and shuts. The propulsion device may be a robotic arm propulsion device, for example, the robotic arm propulsion device is model number RBT1000, manufactured by colin.
To sum up, the utility model discloses a device and the system that opens and shuts open and shut, through transfer line 2 drives along 1 axial reciprocating motion of bracing piece first pincers body 3 and the second pincers body 4 open and shut. The defects that the existing biting and cutting pliers cannot be well adapted to the existing mechanical arm end effector containing a push rod and cannot be directly applied to a mechanical arm of a robot are overcome.
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 (8)
1. The opening and closing device is characterized by comprising a hollow support rod (1), a transmission rod (2), a first clamp body (3), a second clamp body (4) and a connecting piece;
the support rod (1) is communicated along the axial direction of the support rod;
the transmission rod (2) is positioned in the support rod (1), the extending direction of the transmission rod is consistent with that of the support rod (1), and the transmission rod (2) can axially reciprocate along the support rod (1);
the first clamp body (3) is arranged at the first end of the support rod (1), the second clamp body (4) is arranged at the first end of the transmission rod (2), the second clamp body (4) is hinged with the transmission rod (2), and the second clamp body (4) is hinged with the first clamp body (3); the connecting piece comprises a cavity which is through along the axial direction, the connecting piece is used for connecting the second end of the supporting rod (1) and the propelling device, and the propelling rod of the propelling device can push the second end of the driving rod (2) to move through the connecting piece;
the opening and closing device further comprises a pushing block (5), the pushing block (5) is connected with the second end of the transmission rod (2), and a pushing rod of the pushing device can push the pushing block (5) through a connecting piece and drive the transmission rod (2) to move;
the second end of bracing piece (1) is equipped with and holds room (6), hold room (6) and bracing piece (1) fixed connection, hold room (6) including holding chamber (61) that hold that impel piece (5), impel piece (5) to locate in holding chamber (61) along axial activity.
2. The opening and closing device according to claim 1, further comprising an elastic return member (7), wherein the elastic return member (7) is disposed in the accommodating chamber (61).
3. The opening and closing device according to claim 2, characterized in that one end of said elastic return member (7) abuts against said pushing block (5), and the other end of said elastic return member (7) is close to the second end of said supporting rod (1).
4. The switching device according to claim 2, characterised in that said elastic return member (7) is a spring.
5. The opening and closing device according to claim 2, characterized in that said elastic return element (7) is fixedly connected to the pusher block (5).
6. Opening and closing device according to claim 1, characterized in that the thrust block (5) is fixedly connected to the transmission rod (2).
7. The opening and closing device according to claim 1, characterized in that the side of the receiving cavity (61) remote from the support rod (1) is provided with a thrust block stop (8) for limiting the position of the thrust block (5).
8. A switching system, characterized in that it comprises a propulsion device for propelling the movement of the switching device and the switching device according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921381924.5U CN211534668U (en) | 2019-08-23 | 2019-08-23 | Opening and closing device and opening and closing system |
| PCT/CN2020/110744 WO2021036973A1 (en) | 2019-08-23 | 2020-08-24 | Surgical robot execution device and connection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921381924.5U CN211534668U (en) | 2019-08-23 | 2019-08-23 | Opening and closing device and opening and closing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211534668U true CN211534668U (en) | 2020-09-22 |
Family
ID=72488467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921381924.5U Active CN211534668U (en) | 2019-08-23 | 2019-08-23 | Opening and closing device and opening and closing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211534668U (en) |
-
2019
- 2019-08-23 CN CN201921381924.5U patent/CN211534668U/en active Active
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