Opening and closing device

Abstract

The application discloses an opening and closing device, and relates to the technical field of medical devices, which comprises a device end assembly, wherein the device end assembly comprises a base, an opening and closing mechanism and a driving mechanism arranged on the base; the base is detachably connected with a transmission assembly; the opening and closing mechanism is in transmission connection with the driving mechanism; the base can be detachably mounted on the transmission assembly; when the base and the transmission assembly are mounted and matched together, the driving mechanism is matched with a rotating shaft on the transmission assembly; one end of the transmission assembly is provided with a rotating shaft which can be matched with the driving mechanism, so that the rotating shaft can rotate around the axis direction of the transmission assembly to drive the driving mechanism, and the opening and closing mechanism can be opened and closed. The application can solve the problem that the device end assembly is inconvenient to detach from the rear-end transmission assembly, and can ensure that the device end assembly can be opened and closed.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an opening and closing device. Background Technology

[0002] In recent years, with the application and development of robotics technologies, especially computing technology, the role of surgical robots in clinical practice has received increasing attention. Minimally invasive surgical robot systems, in particular, can reduce the physical labor of surgeons during operations through interventional treatment, while achieving precise surgical goals. This allows patients to experience less trauma, less blood loss, fewer postoperative infections, and faster postoperative recovery. The design quality of the surgical instruments used in the robot directly determines the success or failure of the minimally invasive surgical robot system. These instruments can better assist surgeons in performing surgical procedures, and their performance is a key factor affecting the performance level of the minimally invasive surgical robot system.

[0003] Surgical instruments are generally categorized into single-use, reusable, and long-term reusable types. The lifespan of the instrument tip varies depending on the type of surgery, usage conditions, and structural design. For example, scissors are prone to blade damage during arc scissor surgery, making them unsuitable for multiple uses. Similarly, monopolar arc scissors are prone to charring tissue adhering to the instrument during surgery, making cleaning and sterilization difficult. Furthermore, the insulating components at the instrument tip are easily damaged by high temperatures, thus these instruments are also unsuitable for multiple uses. However, the transmission structure at the rear end of the opening and closing instrument tip can typically be used multiple times. Therefore, there is an urgent need for an opening and closing instrument tip that allows for easy detachment of the front end from the rear transmission assembly while still enabling the opening and closing of the instrument tip. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide an opening and closing device that can solve the problem that the device end component is inconvenient to be disassembled from the transmission component at the rear end, and can ensure that the device end component can be opened and closed.

[0005] The specific technical solution of this invention is as follows:

[0006] An opening and closing device, the opening and closing device comprising:

[0007] The instrument end effector assembly includes: a base; an opening / closing mechanism and a drive mechanism disposed on the base;

[0008] The opening and closing mechanism is connected to the driving mechanism by transmission. The base can be detachably mounted on the transmission assembly. The driving mechanism is used to cooperate with the rotating shaft on the transmission assembly so that the rotating shaft drives the driving mechanism when rotating around the axis of the transmission assembly, thereby realizing the opening and closing of the opening and closing mechanism.

[0009] Preferably, the base has a first locking portion at one end facing away from the opening and closing mechanism, and the transmission assembly has a second locking portion at one end. The base can slide into the second locking portion in the radial direction of the second locking portion through the first locking portion, thereby allowing the base to be detachably installed at the end of the transmission assembly.

[0010] Preferably, the base has a through hole along its own axis; the driving mechanism includes a drive shaft passing through the through hole, the drive shaft being used to cooperate with the rotating shaft for transmission;

[0011] The rotating shaft on the transmission assembly can extend and retract in the axial direction of the transmission assembly; when the first locking part is fully slid into the second locking part of the transmission assembly, the rotating shaft can extend in the axial direction of the transmission assembly so that the rotating shaft enters the transmission hole of the drive shaft.

[0012] Preferably, the base has a through hole along its own axis; the driving mechanism includes a driving shaft passing through the through hole and a transmission mechanism connected to the driving shaft, the driving shaft being used to cooperate with the rotating shaft for transmission; the rotating shaft can drive the driving shaft to rotate around the axis of the transmission assembly so that the driving shaft drives the transmission mechanism to move, thereby causing the transmission mechanism to drive the opening and closing mechanism to open and close.

[0013] Preferably, the opening and closing mechanism includes: two clamping members disposed on the base via shafts, at least one clamping member having a guide groove; the base having a limiting groove; the transmission mechanism includes a transmission member, the transmission member having a threaded hole and a guide post extending in a radial direction, at least a portion of the outer side wall of the drive shaft having an external thread, the drive shaft being screwed into the threaded hole via the external thread, the guide post extending into the limiting groove and the guide groove, and when the drive shaft drives the transmission member to move along the axial direction of the drive shaft, the guide post drives the clamping members to open and close.

[0014] Preferably, the drive shaft has a slot on its side wall; the drive mechanism further includes a retaining ring disposed in the slot, the retaining ring abutting against the base to keep the drive shaft in the through hole.

[0015] Preferably, the transmission mechanism includes: a transmission component threadedly connected to the drive shaft, wherein the drive shaft can drive the transmission component to move along the axial direction of the drive shaft; a first linkage; and a second linkage.

[0016] The opening and closing mechanism includes two clamping members mounted on the base via shafts. One clamping member has a first linkage part, and the other clamping member has a second linkage part. One end of the first linkage link and one end of the second linkage link are hinged to the transmission member. The other end of the first linkage link is hinged to the first linkage part, and the other end of the second linkage link is hinged to the second linkage part.

[0017] Preferably, the opening and closing mechanism includes two clamping members mounted on the base via shafts; the transmission mechanism includes a transmission member, with the drive shaft fixedly connected to the transmission member; the transmission member has an external thread, the first clamping member is hinged to the base via a first shaft, the second clamping member is hinged to the base via a second shaft, the first clamping member has a rotating tooth that meshes with the external thread of the transmission member at a point of rotation about the first shaft, the second clamping member has a rotating tooth that meshes with the external thread of the transmission member at a point of rotation about the second shaft, and the rotating teeth of the first clamping member and the second clamping member are respectively located on both sides of the transmission member.

[0018] Preferably, the opening and closing mechanism includes two clamping members mounted on the base via shafts; the transmission between the transmission mechanism and the opening and closing mechanism is achieved by a groove structure cooperating with the clamping members to rotate around the axis of the transmission mechanism.

[0019] Preferably, the transmission mechanism includes: a transmission member, wherein the transmission member has two first transmission grooves on its end face facing the clamping member, and the two first transmission grooves are symmetrically arranged relative to the axis of the transmission member;

[0020] Each of the two clamping members has a transmission portion disposed in one of the two first transmission grooves at one end facing the transmission member;

[0021] The drive shaft can drive the transmission component to rotate around the axis of the transmission assembly.

[0022] Preferably, the transmission part is at least partially spherical; or,

[0023] The transmission mechanism further includes spherical rollers respectively sleeved on the transmission part, the rollers being able to rotate around the axis of the transmission part.

[0024] Preferably, the base has two opposing support portions at the end opposite to the transmission assembly, and the two clamping members are hinged together by the shaft, with the two ends of the shaft respectively passing through the two support portions; the outer wall of the transmission member has a limiting boss extending in its own radial direction, and the base has a limiting portion; when the two clamping members are opened to the maximum or minimum angle, the limiting boss abuts against the limiting portion.

[0025] Preferably, the base has a blocking portion located on the circumferential outer side of the transmission member. When the two clamping members are opened to their maximum angle, the blocking portion abuts against the transmission member or the roller.

[0026] Preferably, the transmission mechanism includes:

[0027] The transmission component has two rotating grooves extending radially on its end face facing the clamping component, and the two rotating grooves are symmetrically arranged with respect to the axis of the transmission component.

[0028] Rotating columns are respectively arranged in the two rotating slots. The rotating columns can rotate around the axis of the rotating column in the rotating slots. Each of the two rotating columns has a second transmission groove.

[0029] Each of the two clamping members has a transmission portion disposed in one of the two second transmission grooves at one end facing the transmission member.

[0030] Preferably, the drive shaft has a transmission hole at one end facing the transmission assembly; the rotating shaft can extend and retract along the axial direction of the transmission assembly to enter the transmission hole, thereby driving the drive shaft to rotate.

[0031] The technical solution of the present invention has the following significant beneficial effects:

[0032] In this application, the instrument end assembly of the opening and closing instrument can be detached from the transmission assembly. This allows for the replacement or functional processing of only the instrument end assembly, such as disinfection or cleaning, without replacing or processing the entire instrument, thus reducing surgical costs. Furthermore, utilizing the rotating shaft in the transmission assembly, when the instrument end assembly is assembled with the transmission assembly, the shaft at one end of the transmission assembly can cooperate with the drive mechanism. By driving the rotation of the shaft, the shaft drives the drive mechanism, enabling the opening and closing mechanism to open and close. The rotating shaft in the transmission assembly can disengage from the drive mechanism, therefore not affecting the detachment of the instrument end assembly from the transmission assembly.

[0033] Specific embodiments of the invention are disclosed in detail below with reference to the description and accompanying drawings, indicating how the principles of the invention can be employed. It should be understood that the embodiments of the invention are not therefore limited in scope. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0034] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, guided by the teachings of this invention, can select various possible shapes and proportions to implement the invention according to specific circumstances.

[0035] Figure 1 This is a schematic diagram of the opening and closing device in an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the instrument end assembly and the bending control assembly in an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the disassembled end effector assembly and transmission assembly in an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the connection between the instrument end component and the transmission component in an embodiment of the present invention;

[0039] Figure 5a and Figure 5b These are schematic diagrams showing the first and second latching parts in their first and second states, respectively.

[0040] Figure 6 This is an exploded view of the instrument end effector assembly in the first embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the instrument end effector assembly in the first embodiment of the present invention when it is opened to its maximum angle.

[0042] Figure 8 This is a schematic diagram of the instrument end effector assembly in the first embodiment of the present invention when it is closed;

[0043] Figure 9 This is a cross-sectional schematic diagram of the instrument end effector assembly in the first embodiment of the present invention;

[0044] Figure 10This is another cross-sectional schematic diagram of the instrument end effector assembly in the first embodiment of the present invention;

[0045] Figure 11 This is a schematic diagram of the principle of the instrument end effector assembly in the second embodiment of the present invention;

[0046] Figure 12 This is a schematic diagram of the principle of the instrument end effector assembly in the third embodiment of the present invention;

[0047] Figure 13 This is a schematic diagram of the structure of the instrument end effector assembly in the fourth embodiment of the present invention;

[0048] Figure 14 This is an exploded view of the instrument end effector assembly in the fourth embodiment of the present invention;

[0049] Figure 15 This is a schematic diagram of the disassembly structure of the instrument end-effector assembly in the fourth embodiment of the present invention, showing the opening and closing mechanism in the closed state.

[0050] Figure 16 This is a schematic diagram of the disassembly structure of the instrument end component in the fourth embodiment of the present invention, showing the opening and closing mechanism in the open state.

[0051] Figure 17 This is a cross-sectional schematic diagram of the instrument end effector assembly in the fourth embodiment of the present invention;

[0052] Figure 18 This is another cross-sectional schematic diagram of the instrument end effector assembly in the fourth embodiment of the present invention;

[0053] Figure 19 This is an exploded view of the device end effector assembly in the fourth embodiment of the present invention, showing the drive shaft in a different structure.

[0054] Figure 20 This is an exploded view of the instrument end effector assembly in a fourth embodiment of the present invention, showing the transmission part in a different structure.

[0055] Figure 21 This is an exploded view of the instrument end effector assembly in a fourth embodiment of the present invention, showing the transmission part in a different structure.

[0056] Figure 22 for Figure 21 A schematic diagram of the opening and closing mechanism at its maximum opening angle;

[0057] Figure 23 This is a schematic diagram of the structure of the instrument end effector assembly in the fifth embodiment of the present invention;

[0058] Figure 24 This is an exploded view of the instrument end effector assembly in the fifth embodiment of the present invention;

[0059] Figure 25 This is a schematic diagram of the disassembly structure of the instrument end-effector assembly in the fifth embodiment of the present invention, showing the opening and closing mechanism in the closed state.

[0060] Figure 26 This is a schematic diagram of the disassembly structure of the instrument end component in the fifth embodiment of the present invention, showing the opening and closing mechanism in the open state.

[0061] Figure 27 This is a partial structural diagram of the instrument end effector assembly in the fifth embodiment of the present invention, showing the opening and closing mechanism in the open state.

[0062] Figure 28 This is a cross-sectional schematic diagram of the instrument end effector assembly in the fifth embodiment of the present invention;

[0063] Figure 29 This is another cross-sectional view of the instrument end-effector assembly in the fifth embodiment of the present invention. Detailed Implementation

[0064] The details of the present invention can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art can conceive of any possible modifications based on the invention, all of which should be considered within the scope of the invention. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "mounted," "connected," and "connected" should be interpreted broadly, for example, they can refer to mechanical or electrical connections, or internal communication between two elements, and can be direct or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0066] To address the issue of the inconvenience of detaching the end effector from the rear transmission assembly while ensuring its opening and closing, this application proposes an opening and closing mechanism, such as... Figures 1 to 4 As shown, the opening and closing device may include: device end assembly 100, including: base 1; opening and closing mechanism 2 and drive mechanism 3 disposed on base 1; the opening and closing mechanism 2 and drive mechanism 3 are connected by transmission, base 1 can be detachably mounted on transmission assembly 200, and drive mechanism 3 is used to cooperate with rotating shaft 2004 on transmission assembly 200 so that rotating shaft 2004 drives drive mechanism 3 to realize opening and closing of opening and closing mechanism 2 when rotating around the axis of transmission assembly 200.

[0067] In this application, the instrument end component 100 of the opening and closing instrument can be detached from the transmission assembly 200. This allows for the replacement or functional treatment of only the instrument end component 100, such as disinfection or cleaning, without replacing or treating the entire opening and closing instrument, thus reducing surgical costs. Furthermore, utilizing the rotating shaft 2004 in the transmission assembly 200, when the instrument end component 100 is assembled with the transmission assembly 200, the rotating shaft 2004 at one end of the transmission assembly 200 can cooperate with the drive mechanism 3. By driving the rotation of the rotating shaft 2004, the shaft can drive the drive mechanism 3, enabling the opening and closing mechanism 2 to open and close. The rotating shaft 2004 in the transmission assembly 200 can disengage from the drive mechanism 3, thus not affecting the detachment of the instrument end component 100 from the transmission assembly 200.

[0068] like Figure 1As shown, the opening and closing device may include an end effector assembly 100. Further, the opening and closing device may also include a transmission assembly 200. The transmission assembly 200 can be any type of device that transmits power to the end effector assembly 100 via mechanical transmission. The end effector assembly 100 is a device that receives the mechanical power transmitted by the transmission assembly 200 and uses that power to perform the opening and closing operation. For example, the transmission assembly 200 may include an instrument rod 2002 for extension, a bending control assembly 2001 for turning, and an instrument housing 2003. The instrument rod 2002 is mounted on the instrument housing 2003, which is then directly or indirectly mounted on the robotic arm of the surgical robot. The instrument housing 2003 can provide mechanical power.

[0069] like Figure 2 As shown, in order to enable the opening and closing device to turn, a bending control component 2001 is typically installed at the end of the device lever 2002, and then the device end assembly 100 is connected to the end of the bending control component 2001. Figure 3 As shown, the instrument end assembly 100 and the transmission assembly 200 are detachably connected. Therefore, the instrument end assembly 100 of the opening and closing instrument can be detached from the transmission assembly 200. This allows for the replacement or functional treatment of only the instrument end assembly 100 in the opening and closing instrument, such as disinfection or cleaning, without the need to replace or treat the entire opening and closing instrument. This helps reduce surgical costs.

[0070] Specifically, the end effector assembly 100 may include: a base 1; an opening / closing mechanism 2 and a drive mechanism 3 disposed on the base 1. In this application, the base 1 can be detachably mounted on the transmission assembly 200, thereby achieving a detachable connection between the end effector assembly 100 and the transmission assembly 200. When the base 1 and the transmission assembly 200 are installed together, the drive mechanism 3 engages with the rotating shaft 2004 on the transmission assembly 200. The opening / closing mechanism 2 and the drive mechanism 3 are connected by a transmission mechanism. Figure 4 As shown, one end of the transmission assembly 200 has a rotating shaft 2004 that can cooperate with the drive mechanism 3. When the base 1 and the transmission assembly 200 are installed together, the rotating shaft 2004 can rotate around the axis of the transmission assembly 200 to drive the drive mechanism 3 so that the opening and closing mechanism 2 can open and close.

[0071] like Figure 3 and Figure 4As shown, one end of the transmission assembly 200 has a second engaging portion 2005, and the end of the base 1 facing the transmission assembly 200 (i.e., the end facing away from the opening and closing mechanism 2) has a first engaging portion 11. The first engaging portion 11 can slide into the second engaging portion 2005 in the radial direction, thereby realizing a detachable connection between the base 1 and the transmission assembly 200. The second engaging portion 2005 can be located at the end of the instrument rod 2002 or at the end of the bending control assembly 2001, and is not limited thereto in this application. The rotating shaft 2004 can be inserted into the transmission assembly 200, and can be a flexible rotating shaft 2004 or a rigid rotating shaft 2004. When the first engaging portion 11 slides into the second engaging portion 2005, the rotating shaft 2004 can cooperate with the drive mechanism 3 to enable transmission between the two.

[0072] Furthermore, the first locking portion 11 can be in a limiting shape, so that after the first locking portion 11 slides into the second locking portion 2005, it cannot rotate, thereby ensuring the angle of the opening and closing mechanism 2. The limiting shape is, for example, a racetrack shape, including parallel structures on opposite sides of the first locking portion 11. This structure can also ensure that the first locking portion 11 can slide into the second locking portion 2005 from two directions, making it easier for the instrument end effector to be installed onto the transmission assembly 200.

[0073] In another implementation, Figure 5a and Figure 5b These are schematic diagrams showing the first and second latching parts in their first and second states, respectively. Figure 5a and Figure 5b As shown, the first engaging portion 11 can slide into the second engaging portion 2005 from the radial direction of the transmission assembly 200. After the first engaging portion 11 slides into the second engaging portion 2005, the first engaging portion 11 can rotate relative to the second engaging portion 2005 by a preset angle, so that the first engaging portion 11 and the second engaging portion 2005 have a first state and a second state. In the first state, the first engaging portion 11 can slide out of the second engaging portion 2005 along the radial direction of the transmission assembly 200. In the second state, the first engaging portion 11 remains in the second engaging portion 2005 and cannot slide out of the second engaging portion 2005 along the radial direction of the transmission assembly 200. Specifically, after the first latching part 11 is fully slid into the second latching part 2005, the second latching part 2005 has a limiting notch 20051 for the first latching part 11 to rotate at a preset angle. After at least a part of the first latching part 11 is rotated into the limiting notch 20051, it can no longer rotate, nor can it slide out of the second latching part 2005 in the radial direction of the transmission assembly 200.

[0074] Furthermore, a resistance-increasing structure may be provided between the first engaging portion 11 and the second engaging portion 2005. The resistance-increasing structure may include a protrusion on the first engaging portion 11 and a corresponding recess on the second engaging portion 2005. Alternatively, the resistance-increasing structure may include a recess on the first engaging portion 11 and a corresponding protrusion on the second engaging portion 2005. In the second state, the protrusion engages with the recess, thereby hindering the first engaging portion 11 and the second engaging portion 2005 from returning to the first state to a certain extent, requiring a greater force of rotation to restore them from the second state to the first state.

[0075] To enable the rotating shaft 2004 to rotate around the axis of the transmission assembly 200 to drive the drive mechanism 3 so that the opening and closing mechanism 2 can open and close, as a feasible method is... Figure 4 As shown, the opening and closing mechanism 2 may include two clamping members 21 disposed on the base 1 via a shaft 22.

[0076] The two clamping parts 21 can be clamping structures from scissors, arc shears, electrocautery pliers, single-pole arc shears, grippers, needle holders, etc. A through hole 12 is provided on the base 1 along its own axis. The drive mechanism 3 may include a drive shaft 31 passing through the through hole 12 and a transmission mechanism 32 connected to the drive shaft 31. When the first engaging part 11 slides into the second engaging part 2005, the drive shaft 31 is used to cooperate with the rotating shaft 2004 for transmission. The rotating shaft 2004 can drive the drive shaft 31 to rotate around the axis of the transmission assembly 200, so that the drive shaft 31 drives the transmission mechanism 32 to move, thereby causing the transmission mechanism 32 to drive the opening and closing mechanism 2 to open and close.

[0077] like Figure 6 and Figure 9 As shown, the drive shaft 31 has a stepped structure on its side wall, and the inner side wall of the through hole 12 of the base 1 also has a stepped structure corresponding to the stepped structure of the drive shaft 31. This structure prevents the drive shaft 31 from disengaging from the clamping member 21 side of the through hole 12. The drive shaft 31 may have a slot 311 on its side wall. The drive mechanism 3 also includes a retaining ring 312 disposed in the slot 311. The retaining ring 312 is located on the side of the base 1 facing the clamping member 21. The retaining ring 312 abuts against the base 1 to keep the drive shaft 31 in the through hole 12, preventing the drive shaft 31 from disengaging from the transmission assembly 200 side of the through hole 12.

[0078] For example, the drive shaft 31 has a transmission hole 313 at one end facing the transmission assembly 200. The rotating shaft 2004 can extend and retract along the axial direction of the transmission assembly 200. When the first engaging part 11 slides into the second engaging part 2005, the rotating shaft 2004 can extend into the transmission hole 313. For example, the protruding shape at the end of the rotating shaft 2004 can be inserted into or extend into the transmission hole 313, thereby forming a lock, which allows the rotating shaft 2004 to drive the drive shaft 31 to rotate. The rotating shaft 2004 on the transmission assembly 200 can extend and retract along the axial direction of the transmission assembly 200. When the first engaging part 11 slides completely into the second engaging part 2005 of the transmission assembly 200, the rotating shaft 2004 can extend along the axial direction of the transmission assembly 200 so that the rotating shaft 2004 enters the transmission hole 313 of the drive shaft 31, thereby keeping the instrument end assembly 100 on the transmission assembly 200. Based on the above structure, the guide portion can effectively prevent the instrument end assembly 100 from sliding out and falling off from the second locking portion 2005 of the transmission assembly 200. Alternatively, the end of the rotating shaft 2004 may have a guide portion, and the protrusion shape of the end of the rotating shaft 2004 may be a guide portion. As the first locking part 11 slides into the second locking part 2005 of the transmission assembly 200, the base 1 presses down the guide part so that the rotating shaft 2004 retracts in the axial direction of the transmission assembly 200 and the first locking part 11 can continue to slide into the second locking part 2005 of the transmission assembly 200. When it is necessary to remove the instrument end assembly 100 from the second locking part 2005 of the transmission assembly 200, simply increase the force to slide the first locking part 11 of the instrument end assembly 100 out of the second locking part 2005 of the transmission assembly 200. During this process, the base 1 will press down the guide part again so that the rotating shaft 2004 retracts in the axial direction of the transmission assembly 200, thereby allowing the first locking part 11 to slide out of the second locking part 2005 of the transmission assembly 200. In other feasible embodiments, before the first locking part 11 slides into the second locking part 2005 of the transmission assembly 200, the rotating shaft 2004 can be retracted in the axial direction of the transmission assembly 200 by operating the button, so that the first locking part 11 can slide smoothly into the second locking part 2005 of the transmission assembly 200; after the first locking part 11 slides into the second locking part 2005 of the transmission assembly 200, the rotating shaft 2004 can be extended in the axial direction of the transmission assembly 200 by operating the button, so that the guide part enters the transmission hole 313 of the drive shaft 31, thereby keeping the instrument end assembly 100 on the transmission assembly 200.

[0079] The base 1 has two opposing support portions 13 at the end opposite to the transmission assembly 200. The support portions 13 extend along the axial direction of the base 1, and there is a gap between the two support portions 13 to accommodate the clamping member 21 and the transmission mechanism 32. The two clamping members 21 are mounted on the support portions 13 of the base 1 via shafts 22. For example, the shaft 22 passes through the first support portion 13 in sequence, then through the two clamping members 21 and the second support portion 13 in sequence. Alternatively, there can be two shafts 22. The first shaft 22 passes through the first support portion 13, the first clamping member 21 and the second support portion 13 in sequence, and the second shaft 22 passes through the first support portion 13, the second clamping member 21 and the second support portion 13 in sequence.

[0080] The transmission mechanism 32 can take various forms to drive the opening and closing mechanism 2 to achieve opening and closing. For example, the transmission between the rotating shaft 2004 and the opening and closing mechanism 2 can be achieved by a threaded structure or by a groove structure that cooperates with the clamping member 21 to rotate around the axis of the transmission mechanism 32.

[0081] In the first embodiment, the transmission between the rotating shaft 2004 and the opening / closing mechanism 2 can be achieved through a threaded structure, such as... Figures 6 to 10 As shown, the two clamping members 21 are hinged together by a shaft 22. The two ends of the shaft 22 are respectively inserted into the two support parts 13. The clamping members 21 can rotate around the shaft 22, thereby opening and closing.

[0082] like Figures 6 to 10 As shown, at least one clamping member 21 has a guide groove 211. The extending direction of the guide groove 211 has a predetermined angle with the axial direction of the drive shaft 31. The guide groove 211 is located on the side of the rotating shaft 2004 near the transmission assembly 200. The base 1 has a limiting groove 131. Further, the limiting groove 131 extends along the axial direction of the drive shaft 31. The limiting groove 131 can be provided on the support portion 13 of the base 1, and the limiting groove 131 is located on the side of the rotating shaft 2004 near the transmission assembly 200. The transmission mechanism 32 may include a transmission member 321, which has a threaded hole and a guide post 3211 extending in the radial direction. At least a portion of the outer sidewall of the drive shaft 31 has external threads, and the drive shaft 31 is screwed into the threaded hole through the external threads. The rotation of the drive shaft 31 allows the transmission member 321 to move back and forth in the axial direction of the drive shaft 31.

[0083] like Figures 6 to 10As shown, the guide post 3211 extends into the limiting groove 131 and the guide groove 211. When the drive shaft 31 drives the transmission member 321 to move along the axial direction of the drive shaft 31, the guide post 3211 is limited by the limiting groove 131. It can only move back and forth in the axial direction of the drive shaft 31 and cannot move in the radial direction of the drive shaft 31. At this time, since the extension direction of the guide groove 211 has a preset angle with the axial direction of the drive shaft 31, when the guide post 3211 moves back and forth in the axial direction of the drive shaft 31, the guide post 3211 can push the clamping member 21 with the guide groove 211 to deflect around the shaft 22. The degree of deflection is determined by the size of the preset angle and the specific back and forth movement of the guide post 3211 in the axial direction of the drive shaft 31.

[0084] When the guide post 3211 controls one clamping member 21 to rotate, the other clamping member 21 only needs to be fixed to the base 1, and the two clamping members 21 can also open and close.

[0085] Furthermore, each of the two support portions 13 has a limiting groove 131. The transmission member 321 has a guide post 3211 on each of its opposite sides. Each of the two clamping members 21 has a guide groove 211. The two guide posts 3211 pass through their respective corresponding limiting grooves 131 and guide grooves 211. In this manner, the transmission member 321 can control the simultaneous rotation of the two clamping members 21 via the guide posts 3211, achieving opening and closing. Of course, the extension directions of the guide grooves 211 on the clamping members 21 need to be symmetrically arranged. Additionally, the top end of the drive shaft 31 can pass through the shaft body 22, thereby preventing the shaft body 22 from slipping out.

[0086] In the above embodiments, the transmission mechanism 32 only needs one transmission component 321 to drive the opening and closing mechanism 2 to achieve opening and closing, thereby giving the instrument end component 100 the advantages of simple structure and high transmission efficiency.

[0087] In the second embodiment, the transmission between the rotating shaft 2004 and the opening / closing mechanism 2 can be achieved through a threaded structure, such as... Figure 11As shown, the transmission mechanism 32 can include: a transmission component 321 threadedly connected to the drive shaft 31, which can drive the transmission component 321 to move along the axial direction of the drive shaft 31; a first linkage 322; and a second linkage 323. The transmission component 321 can be inserted into the drive shaft 31 or sleeved outside the drive shaft 31. One clamping member 21 has a first linkage part 212, and the other clamping member 21 has a second linkage part 213. One end of the first linkage 322 and one end of the second linkage 323 are hinged to the transmission component 321, the other end of the first linkage 322 is hinged to the first linkage part 212, and the other end of the second linkage 323 is hinged to the second linkage part 213. When the drive shaft 31 rotates, the transmission member 321 is restricted by the first linkage 322 and the second linkage 323 and cannot rotate together. Therefore, the transmission member 321 will move in the axial direction of the drive shaft 31, thereby increasing or decreasing the included angle between the first linkage 322 and the second linkage 323, and consequently increasing or decreasing the included angle between the first linkage part 212 and the second linkage part 213, thus realizing the opening and closing of the two clamping members 21. As a feasible option, the distance from the hinge point of one end of the first linkage 322 to the transmission member 321 to the hinge point of the other end of the first linkage 322 to the first linkage part 212 is equal to the distance from the hinge point of one end of the second linkage 323 to the transmission member 321 to the hinge point of the other end of the second linkage 323 to the second linkage part 213. Similarly, the distance from the hinge point of one end of the second linkage 323 to the hinge point of the transmission member 321 is equal to the distance from the hinge point of the other end of the second linkage 323 to the hinge point of the second linkage part 213.

[0088] In the third embodiment, the transmission between the rotating shaft 2004 and the opening / closing mechanism 2 can be achieved through a threaded structure, as shown below. Figure 12As shown, the transmission mechanism 32 may include a transmission member 321. The drive shaft 31 is fixedly connected to the transmission member 321, for example, the transmission member 321 is fixedly sleeved outside the drive shaft 31. The transmission member 321 has an external thread. In this embodiment, there are two shafts 22. The first clamping member 21 is hinged to the base 1 via the first shaft 22, and the second clamping member 21 is hinged to the base 1 via the second shaft 22. There is a certain gap between the two shafts 22 to accommodate the transmission member 321. The first clamping member 21 has a rotating tooth 214 that meshes with the external thread of the transmission member 321 at its rotation point around the first shaft 22, and the second clamping member 21 has a rotating tooth 214 that meshes with the external thread of the transmission member 321 at its rotation point around the second shaft 22. The rotating teeth 214 of the first clamping member 21 and the rotating teeth 214 of the second clamping member 21 are located on opposite sides of the transmission member 321. When the drive shaft 31 drives the transmission component 321 to rotate, the rotating gear 214 rotates around the shaft 22, thereby causing the clamping component 21 to rotate. The opening or closing of the two clamping components 21 can be controlled according to the rotation direction of the drive shaft 31.

[0089] In the fourth embodiment, the transmission between the rotating shaft 2004 and the opening / closing mechanism 2 is achieved by the groove structure cooperating with the clamping member 21 to rotate around the axis of the transmission mechanism 32. For example... Figures 13 to 19 As shown, the transmission mechanism 32 may include a transmission member 321. The drive shaft 31 can drive the transmission member 321 to rotate about the axis of the transmission assembly 200. The end face of the transmission member 321 facing the drive shaft 31 can be mated with the end face of the drive shaft 31 facing the transmission member 321 through a mating structure to achieve a transmission connection. For example, as... Figure 14 and Figure 17 As shown, the mating structure may include: a connecting hole formed on the transmission member 321, and a rod portion formed on the drive shaft 31 that can be inserted into the connecting hole. There may be one or more connecting holes and rod portions. When there are two or more connecting holes and rod portions, the transmission between the drive shaft 31 and the transmission member 321 is smoother and more seamless. There may also be only one connecting hole and rod portion; the cross-section of the connecting hole and rod portion may be non-circular, or the connecting hole and rod portion may not be located at the rotation center of the drive shaft 31 and the transmission member 321.

[0090] like Figure 19 As shown, the mating structure may further include: a groove or boss formed on the transmission member 321; and a boss or groove formed on the drive shaft 31 corresponding to the groove or boss formed on the transmission member 321. The specific shape of the groove and boss is not limited in this application, as long as it can realize transmission, and it can be straight, triangular, quadrilateral, cross-shaped, etc.

[0091] like Figures 14 to 16 , Figure 18As shown, the transmission member 321 has two first transmission grooves 3214 on its end face facing the clamping member 21. The two first transmission grooves 3214 are symmetrically arranged relative to the axis of the transmission member 321. The first transmission grooves 3214 can extend radially along the transmission member 321. Each of the two clamping members 21 has a transmission portion 215 disposed in one of the two first transmission grooves 3214 at its end facing the transmission member 321. The drive shaft 31 can rotate the transmission member 321 about the axis of the transmission assembly 200. When the transmission member 321 rotates, it causes the transmission portion 215 of the clamping member 21 to rotate about the shaft 22 via the first transmission grooves 3214, and the two clamping members 21 rotate in opposite directions, thus enabling the two clamping members 21 to open and close. Figure 15 As shown, at the angle of the transmission component 321 at this time, the two clamping components 21 are in a closed state. Figure 16 As shown, at the angle of the transmission member 321 at this time, the two clamping members 21 are in an open state. The groove structure includes a first transmission groove 3214. With the above structure, the drive shaft 31 only needs a small rotation angle to realize the opening and closing of the opening and closing mechanism, which makes the control of the opening and closing mechanism faster and more efficient.

[0092] When the two clamping members 21 are in a closed state, the distance from the center of the transmission part 215 to the axis of the transmission member 321 is m / 2; when the two clamping members 21 are in an open state, the distance from the center of the transmission part 215 to the axis of the transmission member 321 is n / 2; where n / 2 > m / 2.

[0093] Furthermore, such as Figure 15 and Figure 16 As shown, the transmission part 215 can be at least partially spherical. The diameter of the transmission part 215 is d, and the width of the first transmission groove 3214 is s, where s is greater than or equal to d. When the transmission member 321 drives the transmission part 215 of the clamping member 21 to rotate around the shaft 22 via the first transmission groove 3214, the first transmission groove 3214 of the transmission member 321 contacts the spherical part of the transmission part 215. The inner surface of the first transmission groove 3214 pushes the clamping member 21 to rotate around the shaft 22, while the center of the spherical part of the transmission part 215 moves away from the axis of the drive shaft 31. The transmission part 215, being at least partially spherical, can prevent the non-spherical part of the transmission part 215 from getting stuck with the side wall of the first transmission groove 3214 during the rotation of the clamping member 21, thereby making the entire rotation process smoother and ensuring that the clamping member 21 has a large rotation angle.

[0094] like Figure 20As shown, as an option, the transmission mechanism 32 may further include: spherical rollers 324 respectively sleeved on the transmission part 215, the rollers 324 being rotatable about the axis of the transmission part 215. Since the rollers 324 can rotate about the axis of the transmission part 215, when the rollers 324 come into contact with the inner wall of the first transmission groove 3214, the original sliding friction can be converted into rolling friction, further reducing frictional resistance, improving transmission efficiency and smoothness during rotation.

[0095] like Figure 15 and Figure 16 As shown, as a feasible embodiment, the outer wall of the transmission member 321 has a limiting boss 3212 extending radially therein, and the base 1 has a limiting portion 14; when the two clamping members 21 are opened to their maximum or minimum angle, the limiting boss 3212 abuts against the limiting portion 14. In this manner, the limiting portion 14 controls the range of rotation angle of the clamping member 21. Furthermore, the limiting portion 14 prevents the clamping member 21 from rotating too much. If the clamping member 21 rotates too much, the transmission portion 215 of the clamping member 21 may disengage from the first transmission groove 3214. After the transmission portion 215 of the clamping member 21 disengages from the first transmission groove 3214, the transmission connection between the clamping members 21 is lost, and the transmission member 321 loses its transmission control over the clamping member 21. The limiting part 14 can be a new structure formed on the base 1, such as a step formed on the outer periphery of the end face of the base 1 that can abut against the limiting boss 3212. The limiting part 14 can abut against the limiting boss 3212 when the two clamping members 21 are in the open state and reach the maximum opening angle. The limiting part 14 can also be the support part 13 originally present on the base 1, and the side wall of the support part 13 can also abut against the limiting boss 3212 when the two clamping members 21 are in the closed state.

[0096] As a feasible option, such as Figure 21 and Figure 22 As shown, the base 1 may have a blocking portion 15. The blocking portion 15 is located on the circumferential outer side of the transmission member 321, for example, the blocking portion 15 may be provided on the support portion 13. When the two clamping members 21 are opened to their maximum angle, the blocking portion 15 abuts against the transmission portion 215 or the roller 324, thereby preventing the clamping members 21 from opening to a larger angle, causing the transmission portion 215 or the roller 324 of the clamping member 21 to disengage from the first transmission groove 3214 of the transmission member 321, resulting in the transmission member 321 losing transmission control over the clamping members 21. On the other hand, the transmission portion 215 or the roller 324 may partially disengage from the first transmission groove 3214, but is blocked by the blocking portion 15 to ensure that it does not completely disengage from the first transmission groove 3214. Thus, the above structure can increase the maximum angle θ that the clamping members 21 can open to a certain extent.

[0097] Among the above embodiments, the instrument end effector 100 has the most compact structure, fewer parts, and higher space utilization. In particular, the dimension of the transmission component 321 in its axial direction can be very small. Therefore, the dimension of the base 1 in the axial direction of the transmission component 321 can be even smaller, which is beneficial for the instrument end effector 100 to perform more precise control and has higher transmission efficiency.

[0098] In the fifth embodiment, the transmission between the rotating shaft 2004 and the opening / closing mechanism 2 is achieved by the groove structure cooperating with the clamping member 21 to rotate around the axis of the transmission mechanism 32. For example... Figures 23 to 29 As shown, the transmission mechanism 32 may include a transmission component 321 and a rotating column 325. The drive shaft 31 is connected to the transmission component 321, and rotation of the drive shaft 31 causes the transmission component 321 to rotate. The transmission connection between the drive shaft 31 and the transmission component 321 can be similar to that described above, and will not be repeated here.

[0099] like Figures 23 to 28 As shown, the transmission member 321 has two rotating grooves 3213 extending radially on its end face facing the clamping member 21. The two rotating grooves 3213 are symmetrically arranged relative to the axis of the transmission member 321. There can be two rotating pillars 325, which are respectively disposed in the two rotating grooves 3213. The side of the two rotating pillars 325 facing the clamping member 21 needs to protrude from the rotating grooves 3213. The rotating pillars 325 can rotate around their axes in the rotating grooves 3213. Each of the two rotating pillars 325 has a second transmission groove 3251, which can be located on the side wall of the rotating pillar 325 and can extend along the axis of the rotating pillar 325. The ends of the two clamping members 21 facing the transmission member 321 each have a transmission part 215 disposed in the two second transmission grooves 3251. Similarly, under the above structure, the drive shaft 31 only needs a small rotation angle to realize the opening and closing of the opening and closing mechanism, which makes the control of the opening and closing mechanism faster and more efficient. With the presence of the rotating column 325, it can rotate around its own axis, thereby compensating for the offset of the clamping member 21 due to the rotation of the transmission part 215 during the opening and closing process. Therefore, the transmission part can be cylindrical, which can still ensure the smoothness of the opening and closing of the opening and closing mechanism by the rotation of the transmission member 321 without jamming, and the included angle of the opening and closing mechanism can be further increased when it is in the open state.

[0100] like Figure 25 and Figure 26As shown, when the two clamping members 21 are in a closed state, the distance from the center of the transmission part 215 to the axis of the transmission member 321 is m / 2; when the two clamping members 21 are in an open state, the distance from the center of the transmission part 215 to the axis of the transmission member 321 is n / 2; where n / 2 > m / 2.

[0101] When the drive shaft 31 drives the transmission component 321 to rotate around its axis, the transmission component 321 rotates, and simultaneously, the rotating column 325 also rotates around the axis of the transmission component 321. The transmission part 215, located in the second transmission groove 3251 of the rotating column 325, rotates around the shaft 22. During this process, the rotating column 325 deflects around its own axis, thereby changing the orientation of the second transmission groove 3251 to meet the requirement of the transmission part 215 rotating around the shaft 22. For example, as... Figure 24 , Figure 27 and Figure 28 As shown, when the two clamping members 21 are in the closed state, the axis of the transmission part 215 on the clamping member 21 is parallel to the axis of the transmission member 321. Figure 25 and Figure 26 As shown, when the transmission component 321 rotates clockwise, the two clamping components 21 are in an open state. The axes of the transmission parts 215 on the two clamping components 21 are at an angle to the axis of the transmission component 321. The rotation directions of the transmission parts 215 on the two clamping components 21 around the shaft 22 are opposite, and the directions of the deflection of the two rotating columns 325 around their own axes are also opposite.

[0102] like Figure 24 and Figure 25 As shown, similar to the structure of the fourth embodiment, the outer wall of the transmission member 321 has a limiting boss 3212 extending in its own radial direction, and the base 1 has a limiting part 14; when the two clamping members 21 are opened to the maximum angle or the minimum angle, the limiting boss 3212 abuts against the limiting part 14.

[0103] In the above embodiments, the instrument end effector 100 has a compact structure and high space utilization. In particular, the dimension of the transmission member 321 in its axial direction can be very small. Therefore, the dimension of the base 1 in the axial direction of the transmission member 321 can be smaller, which is beneficial for the instrument end effector 100 to perform more precise control and has higher transmission efficiency. In addition, since the transmission part 215 on the clamping member 21 is inserted into the second transmission groove 3251 of the rotating column 325, and the rotation of the rotating column 325 around its own axis satisfies the rotation of the transmission part 215 of the clamping member 21, the diameter of the transmission part 215 of the clamping member 21 can be basically the same as the width S of the second transmission groove 3251 of the rotating column 325, and the gap between the two can be very small. This makes it difficult for the transmission part 215 to disengage from the second transmission groove 3251 during the rotation of the shaft 22.

[0104] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An opening and closing device, characterized in that, The opening and closing device includes: The instrument end effector assembly includes: a base; an opening / closing mechanism and a drive mechanism disposed on the base; The opening / closing mechanism and the driving mechanism are connected by a transmission. The base can be detachably mounted on the transmission assembly. The driving mechanism is used to cooperate with the rotating shaft on the transmission assembly, so that the rotating shaft drives the driving mechanism when rotating about the axis of the transmission assembly, thereby realizing the opening and closing of the opening / closing mechanism. The driving mechanism includes a drive shaft and a transmission mechanism that is transmissionally connected to the drive shaft. The drive shaft is used to cooperate with the rotating shaft for transmission. The opening / closing mechanism includes two clamping members that are mounted on the base via shafts. The transmission between the transmission mechanism and the opening / closing mechanism is achieved by a groove structure that cooperates with the clamping members to rotate about the axis of the transmission mechanism. The transmission mechanism includes: a transmission member, which has two first transmission grooves on its end face facing the clamping member, the two first transmission grooves being symmetrically arranged relative to the axis of the transmission member; each of the two clamping members has a transmission part at one end facing the transmission member, the transmission parts of the two clamping members being respectively disposed in the two first transmission grooves; the drive shaft is capable of driving the transmission member to rotate around the axis of the transmission assembly. or, The transmission mechanism includes: a transmission member, which has two rotating grooves extending radially on its end face facing the clamping member, the two rotating grooves being symmetrically arranged relative to the axis of the transmission member; rotating columns respectively disposed in the two rotating grooves, the rotating columns being able to rotate around their axis in the rotating grooves, and each of the two rotating columns having a second transmission groove; and each of the two clamping members having a transmission part at one end facing the transmission member, the transmission parts of the two clamping members being respectively disposed in the two second transmission grooves.

2. The opening and closing device according to claim 1, characterized in that, The base has a first locking portion at one end facing away from the opening and closing mechanism, and the transmission assembly has a second locking portion at one end. The base can slide into the second locking portion in the radial direction of the second locking portion through the first locking portion, thereby allowing the base to be detachably installed at the end of the transmission assembly.

3. The opening and closing device according to claim 2, characterized in that, The base has a through hole along its own axis; the driving mechanism includes a driving shaft passing through the through hole, the driving shaft being used to cooperate with the rotating shaft for transmission; The rotating shaft on the transmission assembly can extend and retract in the axial direction of the transmission assembly; when the first locking part is fully slid into the second locking part of the transmission assembly, the rotating shaft can extend in the axial direction of the transmission assembly so that the rotating shaft enters the transmission hole of the drive shaft.

4. The opening and closing device according to claim 1, characterized in that, The base has a through hole along its own axis; the drive shaft passes through the through hole; the rotating shaft can drive the drive shaft to rotate around the axis of the transmission assembly so that the drive shaft drives the transmission mechanism to move, thereby causing the transmission mechanism to drive the opening and closing mechanism to open and close.

5. The opening and closing device according to claim 4, characterized in that, The drive shaft has a slot on its side wall; the drive mechanism also includes a retaining ring disposed in the slot, the retaining ring abutting against the base to keep the drive shaft in the through hole.

6. The opening and closing device according to claim 1, characterized in that, The transmission part is at least partially spherical; or... The transmission mechanism further includes spherical rollers respectively sleeved on the transmission part, the rollers being able to rotate around the axis of the transmission part.

7. The opening and closing device according to claim 1, characterized in that, The base has two opposing support portions at the end opposite to the transmission assembly. The two clamping members are hinged together by the shaft, and the two ends of the shaft pass through the two support portions respectively. The outer wall of the transmission member has a limiting boss extending in its own radial direction, and the base has a limiting portion. When the two clamping members are opened to the maximum or minimum angle, the limiting boss abuts against the limiting portion.

8. The opening and closing device according to claim 6, characterized in that, The base has a blocking part located on the circumferential outer side of the transmission member. When the two clamping members are opened to their maximum angle, the blocking part abuts against the transmission member or the roller.

9. The opening and closing device according to claim 1, characterized in that, When the transmission member rotates, the transmission member causes the transmission part of the clamping member to rotate around the shaft through the first transmission groove, and the two clamping members rotate in opposite directions.

10. The opening and closing device according to claim 4, characterized in that, The drive shaft has a transmission hole at one end facing the transmission assembly; the rotating shaft can extend and retract along the axial direction of the transmission assembly to enter the transmission hole, thereby driving the drive shaft to rotate.

11. The opening and closing device according to claim 1, characterized in that, The two rotating columns facing the clamping member can protrude from the rotating groove.

12. The opening and closing device according to claim 1, characterized in that, When the two clamping members are in a closed state, the distance from the center of the transmission part to the axis of the transmission member is m / 2; when the two clamping members are in an open state, the distance from the center of the transmission part to the axis of the transmission member is n / 2; where n / 2 > m / 2.

13. The opening and closing device according to claim 1, characterized in that, When the two clamping members are in a closed state, the axis of the transmission part on the clamping member is parallel to the axis of the transmission member.

14. The opening and closing device according to claim 13, characterized in that, When the transmission component rotates clockwise, the two clamping components are in an open state. The axes of the transmission parts on the two clamping components are at an angle to the axis of the transmission component. The rotation directions of the transmission parts on the two clamping components around the shaft are opposite, and the two rotating columns deflect in opposite directions around their own axes.

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