A delivery device for a flexible device

Abstract

The present invention discloses a delivery device for a flexible instrument, comprising: a first acting mechanism; a second acting mechanism, the second acting mechanism being configured to be switchable between a clamping position and a releasing position; in the clamping position, the second acting mechanism cooperates with the first acting mechanism to drive the flexible instrument to perform a set action; a driving mechanism comprising a driving seat and a driving component, the driving component being installed on the driving seat, the driving component being connected to the second acting mechanism, and being used to drive the second acting mechanism to switch between the clamping position and the releasing position; a separating mechanism comprising a locking component and a first elastic component, the locking component having a locking state and an unlocking state; in the locking state, the locking component can lock the driving seat; in the unlocking state, the first elastic component can drive the driving seat to drive the driving mechanism to move as a whole along a first direction, and the driving mechanism can drive the second acting mechanism to switch to the releasing position.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a delivery device for a flexible device. Background Art

[0002] The digestive tract, respiratory tract, urethra and other natural cavities of the human body are prone to common diseases. Due to the characteristics of the lesions being inside the natural cavities, they usually need to be inspected and treated with flexible instruments such as soft endoscopes. In related technologies, the flexible instruments are generally driven by configuring a delivery device, which usually uses an electric drive component such as a motor as a power source. In this way, once an accident such as a power outage occurs, the flexible instrument is easily stuck and cannot be quickly disassembled, which is not conducive to the normal use of the flexible instrument.

[0003] Therefore, how to provide a solution to overcome or alleviate the above-mentioned defects is still a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The object of the present invention is to provide a delivery device for a flexible instrument, which is equipped with a separation mechanism. Even if the clamping mechanism fails, the first action mechanism and the second action mechanism can be separated, which can reduce the situation where the flexible instrument is stuck and cannot be removed.

[0005] To solve the above technical problems, the present invention provides a delivery device for a flexible instrument, comprising: a first acting mechanism; a second acting mechanism, wherein the second acting mechanism is configured to slide toward or away from the first acting mechanism along a first direction to switch between a pressing position and a releasing position; in the pressing position, the second acting mechanism cooperates with the first acting mechanism to drive the flexible instrument to perform a setting action, wherein the setting action includes at least one of an axial displacement along the axial direction of the flexible instrument and a circumferential rotation along the circumferential direction of the flexible instrument; a driving mechanism, comprising a driving seat and a driving component, wherein the driving component is mounted on the driving seat, and the driving component is connected to the second acting mechanism to drive the second acting mechanism to switch between the pressing position and the releasing position; a separating mechanism, comprising a locking component and a first elastic component, wherein the locking component has a locking state and an unlocking state; in the locking state, the locking component can lock the driving seat; in the unlocking state, the first elastic component can drive the driving seat to drive the driving mechanism to perform an overall displacement along the first direction, and the driving mechanism can drive the second acting mechanism to switch to the releasing position.

[0006] In the above solution, the delivery device of the flexible instrument provided in the embodiment of the present invention is equipped with a separation mechanism, and the separation mechanism includes a locking component and a first elastic component. The locking component has a locked state and an unlocked state.

[0007] In the locked state, the locking component can lock the drive seat to ensure that the position of the drive seat remains unchanged, so that the drive component installed on the drive seat can better achieve position adjustment for the second action mechanism. At this time, the first elastic component can be in a force storage state to accumulate elastic force.

[0008] In the unlocked state, the first elastic component can drive the driving seat to drive the driving mechanism to move as a whole in the first direction, and the driving mechanism can drive the second action mechanism to move to switch to the release position. In this way, the situation where the second action mechanism cannot move and the flexible device is stuck due to the failure of the driving mechanism can be overcome to a large extent, and the flexible device can be easily disassembled, which is conducive to the normal use of the flexible device 5000.

[0009] Optionally, the first acting mechanism includes a first guide component extending along the first direction, and the drive seat is slidably connected to the first guide component; the locking component includes a locking rod and a second elastic component; in the locked state, the locking rod can be inserted into the drive seat and the first guide component to lock the drive seat and the first guide component, and the second elastic component and the locking rod are against each other.

[0010] Optionally, the first guide component is provided with a guide locking hole extending along the first direction, the guide locking hole includes a guide hole section and a locking hole section, the guide hole section and the locking hole section are arranged along the first direction, the axial direction of the guide locking hole is a second direction, the locking hole section includes a thin neck hole portion and a thick neck hole portion arranged along the second direction, and the first guide component forms a locking surface between the thick neck hole portion and the guide hole section; the locking rod includes a thin neck rod portion and a thick neck head portion; in the locked state, at least a part of the thick neck head portion is located in the thick neck hole portion, and the thick neck head portion abuts against the locking surface along the first direction; in the unlocked state, the thick neck head portion is located on the outside of the thick neck hole portion, and the thin neck rod portion can be located in the guide hole section.

[0011] Optionally, the driving seat includes a seat body portion, the seat body portion includes a seat plate portion, a first foot plate portion and a second foot plate portion connected to each other, the first foot plate portion and the second foot plate portion are respectively located on both sides of the first guide component along the second direction, the first foot plate portion is provided with a first mounting hole, and the second foot plate portion is provided with a second mounting hole; in the locked state, the thin neck rod portion is inserted into the first mounting hole, a portion of the thick neck head portion is located in the second mounting hole, and at least a portion of the second elastic component is located in the second mounting hole.

[0012] Optionally, in the locked state, the thin-necked rod portion further includes an operating portion extending from the first mounting hole to the first foot plate portion in a direction away from the second foot plate portion.

[0013] Optionally, the locking rod is provided with a recessed groove on the side where the thick neck head is located, and at least a part of the second elastic component is located in the recessed groove.

[0014] Optionally, the drive seat also includes a plug, which is installed on the second foot plate portion and is used to block the side of the second mounting hole away from the first foot plate portion, one end of the second elastic component is against the plug, and the other end of the second elastic component is against the locking rod.

[0015] Optionally, the first actuating mechanism comprises a bottom plate portion, the bottom plate portion and the first guide component are arranged along the first direction, one end of the first elastic component abuts against the driving seat, and the other end of the first elastic component abuts against the bottom plate portion.

[0016] Optionally, at least one of the seat plate portion and the driving seat is provided with a second guide component, the first elastic component is a spring, and the spring sleeve is assembled on the second guide component.

[0017] Optionally, the first acting mechanism is further configured with a third guide component extending along the first direction, and the second acting mechanism is slidably connected to the third guide component.

[0018] Optionally, the driving component includes a motor, a first driving shaft and a driving plate, the motor and the first driving shaft are drivingly connected, the motor can drive the first driving shaft to rotate, the first driving shaft and the driving plate are threadedly connected, the first driving shaft can drive the driving plate to perform linear displacement, and the driving plate is directly or indirectly connected to the second actuating mechanism.

[0019] Optionally, the driving mechanism further includes a force sensor and a third elastic component, the force sensor is connected to the second acting mechanism, and the driving plate acts on the force sensor through the third elastic component.

[0020] Optionally, the force sensor includes a sensor body and a force transmission plate, the sensor body is connected to the second acting mechanism, the force transmission plate is located on the side of the sensor body away from the second acting mechanism, one end of the third elastic component is against the force transmission plate, and the other end of the third elastic component is against the driving plate.

[0021] Optionally, the force transmission plate is also connected to a fourth guide component, the fourth guide component includes a guide rod portion and a stop head portion, the drive plate is slidably connected to the guide rod portion, and the stop head portion is located on the side of the drive plate away from the force transmission plate; in the unlocked state, the drive plate and the stop head portion are abutted against each other, and the drive plate drives the second acting mechanism to move through the fourth guide component and the force sensor.

[0022] Optionally, the second acting mechanism in the release position has an initial position and a separation position, and in the unlocked state, the first elastic component can drive the second acting mechanism to switch to the separation position; in the initial position, the distance between the first acting mechanism and the second acting mechanism along the first direction is L1; in the process of the second acting mechanism moving from the initial position to the clamping position, the moving distance of the driving plate relative to the second acting mechanism is L2; ​​in the process of the second acting mechanism moving from the clamping position to the separation position, the moving distance of the driving seat is L3; L3≥L1+L2.

[0023] Optionally, the first acting mechanism and the second acting mechanism both include an execution module, and at least one of the first acting mechanism and the second acting mechanism includes a power generation module; the power generation module includes a power generation component, and the execution module includes an execution component, the power generation component and the execution component are transmission-connected, and the execution component is used to drive the flexible device to perform the set action.

[0024] Optionally, the power generation module includes a power frame, the power generation component is installed on the power frame, the execution module includes an execution frame, the execution component is installed on the execution frame, and the execution frame is installed on the power frame.

[0025] Optionally, the actuator includes at least one driving roller, the driving roller includes a roller shaft and a roller drum, the roller drum is axially slidably connected to the roller shaft, and the roller drum and the roller shaft can rotate synchronously.

[0026] Optionally, the actuator also includes a second drive shaft and a transmission part, the transmission part is connected to the roller, the second drive shaft is connected to the transmission part, and the second drive shaft is used to drive the roller to axially displace along the roller axis through the transmission part.

[0027] Optionally, an identification sensor is also included, and the identification sensor is used to identify the position of the roller on the roller shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A three-dimensional structural diagram of the second action mechanism in the delivery device of the flexible device provided by the embodiment of the present invention when it is in the compressed position;

[0029] Figure 2 for Figure 1 a front view along a second direction;

[0030] Figure 3 for Figure 2 Section view in AA direction;

[0031] Figure 4 for Figure 1 A top view of

[0032] Figure 5 for Figure 4 Cross-sectional view in the BB direction;

[0033] Figure 6 The three-dimensional structure diagram of the power frame;

[0034] Figure 7 for Figure 6 A partial enlarged view of the first guide component at the guide locking hole;

[0035] Figure 8 A front view along a second direction of a second action mechanism in a delivery device of a flexible apparatus provided by an embodiment of the present invention when the second action mechanism is in an initial position;

[0036] Fig. 9 A three-dimensional structural diagram of the second action mechanism in the delivery device of the flexible device provided by an embodiment of the present invention when in a separated position;

[0037] Fig.10 for Fig. 9 A front view of

[0038] Fig.11 is a three-dimensional structural diagram of a first execution module;

[0039] Fig.12 for Fig.11 a front view along a first direction;

[0040] Fig.13 for Fig.12 Cross-sectional view in CC direction;

[0041] Fig.14 for Fig.13 The connection structure diagram of the middle roller shaft, roller and transmission part;

[0042] Fig.15 for Fig.12 Cross-sectional view in DD direction.

[0043] Reference numerals:

[0044] 1000-first action mechanism; 1100-first power generation module; 1110-power frame; 1111-housing portion; 1112-vertical plate portion; 1112A-first bayonet; 1113-baffle portion; 1114-bottom plate portion; 1115-second guide component; 1116-third guide component; 1117-buckle; 1120-first guide component; 1121-guide locking hole; 1121A-guide hole section; 1121B-locking hole section; 1121B1-neck hole portion; 1121B2-thick neck hole; 1121B3-locking surface; 1121B4-first step surface; 1200-first execution module; 1210-execution frame; 1211-clamping plate; 1211A-clamping groove; 1220-driving roller; 1221-roller shaft; 1221A-first power input part; 1222-roller; 1230-second driving shaft; 1231-second power input part; 1240-transmission part; 1250-circlip; 1260-bearing; 1270-identification component;

[0045] 2000-second action mechanism; 2100-second power generation module; 2110-guide plate; 2200-second execution module;

[0046] 3000-driving mechanism; 3100-driving seat; 3110-seat body; 3111-seat plate; 3112-first foot plate; 3112A-first mounting hole; 3113-second foot plate; 3113A-second mounting hole; 3120-frame body; 3130-plug; 3200-driving component; 3210-motor; 3220-first driving shaft; 3230-driving plate; 3300-force sensor; 3310-sensor body; 3320-force transmission plate; 3330-fourth guide component; 3331-guide rod; 3332-stop head; 3400-third elastic component;

[0047] 4000-separation mechanism; 4100-locking component; 4110-locking rod; 4111-thin neck rod; 4111A-operating part; 4112-thick neck head; 4113-second step surface; 4114-sink; 4120-second elastic component; 4200-first elastic component;

[0048] 5000-Flexible Equipment. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0050] In the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of the features.

[0051] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, "connected" can be detachably connected or non-detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Among them, "sliding connection" means that they are connected to each other and can slide relative to each other after being connected.

[0052] In the description of the embodiments of the present invention, the term "plurality" refers to two or more than two. Moreover, when "plurality" is used to express the number of different components, it does not indicate the relationship between these components in terms of quantity.

[0053] In the description of the embodiments of the present invention, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0054] Please refer to Figure 1-Figure 10 , Figure 1 A three-dimensional structural diagram of the second action mechanism in the delivery device of the flexible device provided by the embodiment of the present invention when it is in the compressed position; Figure 2 for Figure 1 a front view along a second direction; Figure 3 for Figure 2 Section view in AA direction; Figure 4 for Figure 1 A top view of Figure 5 for Figure 4 Cross-sectional view in the BB direction; Figure 6The three-dimensional structure diagram of the power frame; Figure 7 for Figure 6 A partial enlarged view of the first guide component at the guide locking hole; Figure 8 A front view along a second direction of a second action mechanism in a delivery device of a flexible apparatus provided by an embodiment of the present invention when the second action mechanism is in an initial position; Fig. 9 A three-dimensional structural diagram of the second action mechanism in the delivery device of the flexible device provided by an embodiment of the present invention when in a separated position; Fig.10 for Fig. 9 Front view of .

[0055] like Figure 1 , Figure 2 , Figure 4 , Figure 8-Figure 10 As shown, an embodiment of the present invention provides a delivery device of a flexible instrument 5000 , including a first acting mechanism 1000 , a second acting mechanism 2000 , a driving mechanism 3000 and a separating mechanism 4000 .

[0056] The first acting mechanism 1000 is fixedly arranged.

[0057] The second acting mechanism 2000 is configured to be able to slide toward or away from the first acting mechanism 1000 along the first direction X to switch between the clamping position and the release position. In the clamping position, the distance between the second acting mechanism 2000 and the first acting mechanism 1000 along the first direction X can be relatively small, and the second acting mechanism 2000 and the first acting mechanism 1000 can cooperate with each other to clamp the flexible device 5000 and drive the flexible device 5000 to perform a setting action; the setting action includes at least one of an axial displacement along the axial direction of the flexible device 5000 and a circumferential rotation along the circumference of the flexible device 5000, so as to meet the operation requirements of the flexible device 5000 in clinical practice. In the release position, the distance between the second acting mechanism 2000 and the first acting mechanism 1000 along the first direction X can be relatively large, so that the flexible device 5000 can be easily disassembled and assembled.

[0058] It should be understood that in some other implementations of the embodiments of the present invention, the first acting mechanism 1000 can also be configured to be able to slide along the first direction X. In this case, both the first acting mechanism 1000 and the second acting mechanism 2000 can be movable mechanisms, which can also achieve the compression and release of the flexible device 5000.

[0059] In addition, the above-mentioned clamping position and release position are not the only positions to be determined, and they need to be determined in combination with the radial size of the flexible device 5000. Specifically, for flexible devices 5000 with different radial sizes, when the flexible device 5000 can be clamped, the spacing between the first acting mechanism 1000 and the second acting mechanism 2000 in the first direction X is actually different. Under the condition that the position of the first acting mechanism 1000 remains unchanged, there are more choices for the clamping position of the second acting mechanism 2000. Similarly, for flexible devices 5000 with different radial sizes, when the flexible device 5000 can be released for disassembly, the spacing between the first acting mechanism 1000 and the second acting mechanism 2000 in the first direction X is actually different. Under the condition that the position of the first acting mechanism 1000 remains unchanged, there are more choices for the clamping position of the second acting mechanism 2000.

[0060] In other words, the delivery device provided in the embodiment of the present invention can actually compress and release the flexible devices 5000 of different radial sizes, and its application scope can be wider.

[0061] The driving mechanism 3000 includes a driving seat 3100 and a driving component 3200. The driving component 3200 is mounted on the driving seat 3100, and is connected to the second acting mechanism 2000 to drive the second acting mechanism 2000 to switch between a pressing position and a releasing position.

[0062] The separation mechanism 4000 includes a locking member 4100 and a first elastic member 4200. The locking member 4100 has a locked state and an unlocked state.

[0063] In the locked state, the locking component 4100 can lock the drive seat 3100, and ensure that the position of the drive seat 3100 remains unchanged. In this way, the drive component 3200 installed on the drive seat 3100 can better achieve the position adjustment of the second action mechanism 2000. At this time, the first elastic component 4200 can be in a force storage state to accumulate elastic force. The elastic force of the first elastic component 4200 can be a tensile force or a compressive force, which is specifically related to the installation position of the first elastic component 4200, etc., and is not limited here.

[0064] In the unlocked state, the first elastic component 4200 can drive the driving seat 3100 to drive the driving mechanism 3000 to move as a whole along the first direction X, and the driving mechanism 3000 can drive the second action mechanism 2000 to move to switch to the release position. In this way, the situation that the second action mechanism 2000 cannot move and the flexible device 5000 is stuck due to the failure of the driving mechanism 3000 can be overcome to a large extent, and the flexible device 5000 can be easily disassembled, which is conducive to the normal use of the flexible device 5000.

[0065] Here, the embodiment of the present invention does not limit the specific type of the above-mentioned first elastic component 4200. In practical applications, those skilled in the art can make a selection according to specific needs, as long as it can meet the requirements of use. For example, the first elastic component 4200 can be a spring, and the spring can provide both tensile force and compressive force. For another example, the first elastic component 4200 can be a tension rope, and the tension rope can only provide tensile force. For another example, the first elastic component 4200 can also be an elastomer made of materials with certain elastic deformation capabilities such as rubber, latex, and silicone, and the elastomer can provide both tensile force and compressive force. In short, as long as the first elastic component 4200 can have relatively good elastic deformation ability and elastic reset ability, so as to meet the reliable drive of the aforementioned drive mechanism 3000.

[0066] In addition, the embodiment of the present invention does not limit the specific structural form of the above-mentioned locking component 4100. In practical applications, those skilled in the art can select it according to specific needs, as long as it can meet the requirements of use.

[0067] In some optional implementations, the first acting mechanism 1000 may include a first guide component 1120 extending along the first direction X, the first guide component 1120 may serve as a guide rail, and the drive seat 3100 may be slidably connected to the first guide component 1120 to achieve a sliding setting of the drive seat 3100 along the first direction X.

[0068] Moreover, in the above scheme, the sliding connection between the drive seat 3100 and the first guide component 1120 is equivalent to slidingly connecting the drive seat 3100 to the first acting mechanism 1000, which can realize the integrated assembly of the drive mechanism 3000 and the first acting mechanism 1000, and can improve the integration and structural compactness of the delivery device provided by the embodiment of the present invention, so that the delivery device can have relatively better integrity.

[0069] The locking component 4100 may include a locking rod 4110 and a second elastic component 4120. The specific type of the second elastic component 4120 may be consistent with the first elastic component 4200, and a repeated description thereof will not be given here.

[0070] In the locked state, the locking rod 4110 can be inserted into the driving seat 3100 and the first guide component 1120 to lock the driving seat 3100 to the first guide component 1120. The second elastic component 4120 can abut against the locking rod 4110 to apply an elastic retaining force to the locking rod 4110, so that the locking rod 4110 can be more stably in the above-mentioned locked state, which is conducive to improving the locking reliability of the locking rod 4110 for the driving seat 3100 and the first guide component 1120.

[0071] Combination Figure 3 and Figure 5-Figure 7 The first guide component 1120 may be provided with a guide locking hole 1121 extending along the first direction X, and the guide locking hole 1121 may penetrate the first guide component 1120 along its axial direction. For ease of description, in the embodiment of the present invention, the axial direction of the guide locking hole 1121 may be referred to as the second direction Y, and the second direction Y and the aforementioned first direction X may be set at an angle, and the angle may be, for example, 90 degrees; at the same time, a third direction Z may also be defined, and the third direction Z may be perpendicular to both the first direction X and the second direction Y. In some scenarios, the third direction Z may also be referred to as a vertical direction.

[0072] The guide locking hole 1121 may include a guide hole segment 1121A and a locking hole segment 1121B, and the guide hole segment 1121A and the locking hole segment 1121B may be arranged along the first direction X. The locking hole segment 1121B may be a stepped hole, including a thin neck hole portion 1121B1 and a thick neck hole portion 1121B2 arranged along the second direction Y, and the first guide member 1120 may be formed with a first step surface 1121B4 between the thin neck hole portion 1121B1 and the thick neck hole portion 1121B2.

[0073] The size of the narrow-necked hole portion 1121B1 along the third direction Z may be consistent with the size of the guide hole segment 1121A along the third direction Z, and the projection of the narrow-necked hole portion 1121B1 along the first direction X may coincide with the projection of the guide hole segment 1121A along the first direction X. In this way, there may be no step surface between the narrow-necked hole portion 1121B1 and the guide hole segment 1121A, and the locking rod 4110 may easily slide between the narrow-necked hole portion 1121B1 and the guide hole segment 1121A.

[0074] The size of the thick neck hole portion 1121B2 along the third direction Z may be greater than the size of the guide hole segment 1121A along the third direction Z. In this way, the first guide member 1120 may form a locking surface 1121B3 between the thick neck hole portion 1121B2 and the guide hole segment 1121A. It should be understood that the locking surface 1121B3 may specifically be a part of the inner peripheral wall of the thick neck hole portion 1121B2.

[0075] The locking rod 4110 may include a thin-necked rod portion 4111 and a thick-necked head portion 4112 , and the thick-necked head portion 4112 and the thin-necked rod portion 4111 may be distributed along the second direction Y. The locking rod 4110 may form a second step surface 4113 between the thin-necked rod portion 4111 and the thick-necked head portion 4112 .

[0076] During specific assembly, the locking rod 4110 can be inserted into the driving seat 3100 and the guide locking hole 1121 along the second direction Y.

[0077] In the locked state, the locking rod 4110 may be located in the locking hole section 1121B, at least a portion of the thick neck head portion 4112 may be located in the thick neck hole portion 1121B2, and the thick neck head portion 4112 may abut against the locking surface 1121B3 along the first direction X to achieve locking of the locking rod 4110 and the first guide component 1120, thereby achieving locking of the drive seat 3100 and the first guide component 1120. The second elastic component 4120 may abut against the locking rod 4110 along the second direction Y, specifically, it may abut against the end of the locking rod 4110 provided with the thick neck head portion 4112, thereby reducing the possibility of the thick neck head portion 4112 escaping from the thick neck hole portion 1121B2, thereby improving the locking reliability of the locking rod 4110 for the drive seat 3100 and the first guide component 1120.

[0078] The first step surface 1121B4 is used to abut against the second step surface 4113 along the second direction Y to limit the position of the locking rod 4110 in the locked state relative to the first guide member 1120 and the driving seat 3100 in the second direction Y. Of course, the first step surface 1121B4 and the second step surface 4113 may not abut against each other. This implementation method can be referred to Figure 5 At this time, the position of the locking rod 4110 relative to the first guide member 1120 and the driving seat 3100 in the second direction Y can be limited by other structural designs, such as Figure 5 As shown in the figure, the limitation is achieved by abutting the step surface (not marked in the figure) of the outer wall of the thin neck rod portion 4111 and the step surface (not marked in the figure) of the inner wall of the first mounting hole 3112A, which is also feasible.

[0079] In the unlocked state, the thick neck head 4112 can be located outside the thick neck hole 1121B2, and the abutment lock between the thick neck head 4112 and the locking surface 1121B3 can be released. Under the action of the first elastic component 4200, the thin neck rod 4111 can slide from the thin neck hole 1121B1 into the guide hole section 1121A, and can slide in the guide hole section 1121A along the first direction X. In this way, not only can the sliding guidance of the drive seat 3100 be achieved, but also the situation that the drive seat 3100 slips off the first guide component 1120 can be avoided to a large extent, that is, the reliability and stability of the sliding connection between the drive seat 3100 and the first guide component 1120 can be improved.

[0080] Combination Figure 2 , the driving seat 3100 may include a seat body 3110 and a frame body 3120. The seat body 3110 and the frame body 3120 may be an integral structure formed in one piece; or, the seat body 3110 and the frame body 3120 may be prepared separately and then assembled. The seat body 3110 and the frame body 3120 may be arranged along the third direction Z. The seat body 3110 may be slidably connected to the first guide component 1120, and the frame body 3120 is used to install the driving component 3200.

[0081] Combination Figure 5 The seat body 3110 may include a seat plate portion 3111, a first foot plate portion 3112, and a second foot plate portion 3113 connected to each other. The first foot plate portion 3112 and the second foot plate portion 3113 may be located at two sides of the first guide component 1120 along the second direction Y. The first foot plate portion 3112 is provided with a first mounting hole 3112A, and the second foot plate portion 3113 is provided with a second mounting hole 3113A.

[0082] In the locked state, the thin-necked rod portion 4111 can be inserted into the first mounting hole 3112A, and the thin-necked rod portion 4111 also has a portion extending from the first mounting hole 3112A to the first foot plate portion 3112, which can be referred to as the operating portion 4111A. A portion of the thick-necked head portion 4112 can be located in the second mounting hole 3113A, so that the thick-necked head portion 4112 can be located in the first guide component 1120 and the second foot plate portion 3113 at the same time, which can greatly improve the locking reliability of the locking rod 4110 for the drive seat 3100 and the first guide component 1120. At least a portion of the second elastic component 4120 can be located in the second mounting hole 3113A.

[0083] When unlocking is required, a pressing force along the second direction Y can be applied to the operating portion 4111A to drive the locking rod 4110 to move along the second direction Y, and the thick neck head portion 4112 can gradually break away from the thick neck hole portion 1121B2 and completely enter the second mounting hole 3113A to complete the unlocking between the drive seat 3100 and the first guide member 1120. In this process, the second elastic member 4120 can accumulate elastic force. In this way, when the external force drives the drive seat 3100 to move along the guide hole section 1121A to the locking hole section 1121B with the locking rod 4110, so that the thick neck head portion 4112 can be opposite to the thick neck hole portion 1121B2 along the second direction Y, the elastic force accumulated by the second elastic member 4120 can be released to drive the thick neck head portion 4112 to enter the thick neck hole portion 1121B2 again to complete the automatic locking of the drive seat 3100 and the first guide member 1120.

[0084] It should be understood that the thin-necked rod portion 4111 may not have the above-mentioned operating portion 4111A, that is, the thin-necked rod portion 4111 may not have a portion extending out of the first mounting hole 3112A in a direction away from the second foot plate portion 3113. In this case, the end of the thin-necked rod portion 4111 away from the thick-necked head portion 4112 may be retracted into the first mounting hole 3112A, or may be flush with the wall surface of the first foot plate portion 3112 away from the second foot plate portion 3113. In this implementation, medical personnel can directly use their fingers or operating tools such as screwdrivers to apply a driving force along the second direction Y to the thin-necked rod portion 4111 located in the first mounting hole 3112A, thereby unlocking the locking rod 4110.

[0085] The second mounting hole 3113A may be a through hole. In this case, the drive seat 3100 may further include a plug 3130. The plug 3130 may be mounted on the second foot plate portion 3113 and used to block the side of the second mounting hole 3113A away from the first foot plate portion 3112. One end of the second elastic component 4120 may abut against the plug 3130, and the other end of the second elastic component 4120 may abut against the locking rod 4110. The plug 3130 may partially enter the second mounting hole 3113A. This implementation method may refer to Figure 5 Alternatively, the plug 3130 may be completely inserted into the second mounting hole 3113A, in which case the plug 3130 may be a structure such as a retaining spring. Alternatively, the plug 3130 may be completely located outside the second mounting hole 3113A, which is also feasible.

[0086] In the implementation of the accompanying drawings, Figure 5As shown, the locking rod 4110 may be provided with a recessed groove 4114 on the side where the thick neck head 4112 is located, and at least part of the second elastic component 4120 may be located in the recessed groove 4114. The recessed groove 4114 may guide and limit the telescopic deformation of the second elastic component 4120, which can reduce the radial movement of the second elastic component 4120, and is conducive to ensuring the stability of the second elastic component 4120 during the telescopic process. At the same time, the installation space occupied by the second elastic component 4120 can also be reduced, which is also conducive to improving the compactness of the structure.

[0087] In some other implementations of the embodiments of the present invention, the above-mentioned sinking groove 4114 may also be provided on the plug 3130. Alternatively, the above-mentioned sinking groove 4114 may also not be provided, in which case the second elastic component 4120 may also directly abut against the axial end surface of the thick neck head 4112, which does not affect the functional realization of the second elastic component 4120.

[0088] It should be understood that the description of the specific structural form of the first guiding member 1120 and the locking member 4100 provided in the first acting mechanism 1000 is only an exemplary description of the embodiment of the present invention, and cannot be used as a limitation on the scope of implementation of the delivery device provided by the embodiment of the present invention. Under the condition of satisfying the function, the delivery device provided by the embodiment of the present invention can also adopt other structural forms. For example, the first guiding member 1120 and the first acting mechanism 1000 can be independent of each other, which does not affect the installation and displacement of the driving seat 3100 and the locking member 4100 on the first guiding member 1120. For another example, the locking rod 4110 and the second elastic member 4120 of the locking member 4100 can be combined to form a structure similar to a spring pin, and the first guiding member 1120 can be provided with a locking hole; in the locked state, the second elastic member 4120 can drive the locking rod 4110 to be inserted into the locking hole to achieve locking; and in the unlocked state, the locking rod 4110 will be removed from the locking hole, that is, the locking rod 4110 will no longer be inserted into the first guiding member 1120.

[0089] In some optional implementations, such as Figure 1 As shown, the driving component 3200 may include a motor 3210 , a first driving shaft 3220 , and a driving plate 3230 .

[0090] The motor 3210 and the first drive shaft 3220 can be connected in a transmission manner, and the motor 3210 can drive the first drive shaft 3220 to rotate. The specific driving methods include but are not limited to gear connection, pulley connection, sprocket connection, and coupling connection. The first drive shaft 3220 can be a screw rod, which can be threadedly connected to the drive plate 3230. The first drive shaft 3220 can drive the drive plate 3230 to move linearly. The drive plate 3230 is directly or indirectly connected to the second acting mechanism 2000, so as to directly or indirectly drive the second acting mechanism 2000 to move along the first direction X.

[0091] It should be understood that the displacement form required by the second action mechanism 2000 is linear displacement, and thus, all driving structures that can directly or indirectly output linear displacement can actually be used as the above-mentioned driving component 3200, and are not limited to the combined structure of the motor 3210, the first driving shaft 3220 and the driving plate 3230 shown in the drawings. For example, the driving component 3200 can also adopt a driving structure that can directly output linear displacement, such as a linear cylinder, a linear hydraulic cylinder, etc. For another example, the driving component 3200 can still adopt the motor 3210, but the difference is that the motor 3210 can be used with a transmission structure such as a gear rack structure to indirectly output linear displacement.

[0092] In some optional implementations, such as Figure 2 As shown, the driving mechanism 3000 may further include a force sensor 3300 and a third elastic component 3400. The force sensor 3300 may be connected to the second acting mechanism 2000, and the driving plate 3230 may act on the force sensor 3300 through the third elastic component 3400.

[0093] By adopting this scheme, through the setting of the force sensor 3300, the clamping force of the second acting mechanism 2000 on the flexible device 5000 can be accurately detected, so that medical staff can more intuitively understand the clamping degree of the second acting mechanism 2000 and the first acting mechanism 1000 on the flexible device 5000, and it is also easier to operate the driving component 3200 to adjust the clamping force and clamping effect on the flexible device 5000. It can largely avoid the flexible device 5000 from being too loose, and the resulting drop of the flexible device 5000, and the first acting mechanism 1000 and the second acting mechanism 2000 cannot effectively drive the flexible device 5000 to perform the aforementioned set action. At the same time, it can also largely avoid the flexible device 5000 from being over-clamped and the resulting damage to the flexible device 5000.

[0094] The specific type of the third elastic component 3400 may be consistent with the aforementioned first elastic component 4200 , and a repeated description thereof will not be given here.

[0095] In the embodiment of the present invention, the third elastic component 3400 is provided so that the connection between the driving plate 3230 and the force sensor 3300 is a flexible connection. In the specific transmission process, the third elastic component 3400 can better absorb rigid impact, can reduce damage to the force sensor 3300, and is conducive to ensuring the service life of the force sensor 3300.

[0096] Combination Figure 4 The force sensor 3300 may include a sensor body 3310 and a force transmission plate 3320. The sensor body 3310 bears the main force measurement function, and the sensor body 3310 may be directly connected to the second action mechanism 2000. The force transmission plate 3320 may be located on the side of the sensor body 3310 away from the second action mechanism 2000. One end of the third elastic component 3400 may be against the force transmission plate 3320, and the other end of the third elastic component 3400 may be against the driving plate 3230, and the third elastic component 3400 may be elastically deformed between the force transmission plate 3320 and the driving plate 3230.

[0097] The force transmission plate 3320 may also be connected to a fourth guide component 3330. The fourth guide component 3330 may include a guide rod portion 3331 and a stopper head portion 3332.

[0098] The driving plate 3230 can be slidably connected to the guide rod 3331 to guide the displacement of the driving plate 3230. In addition, in the implementation of the aforementioned threaded connection between the driving plate 3230 and the first driving shaft 3220, the guide rod 3331 can also serve as a limiting component to limit the rotation of the driving plate 3230 with the first driving shaft 3220, which is conducive to ensuring that the driving plate 3230 can stably output linear displacement.

[0099] The stopper head 3332 may be located on a side of the driving plate 3230 away from the force transmission plate 3320, and is used to limit the sliding limit position of the driving plate 3230 along the guide rod 3331. In the unlocked state, the driving plate 3230 and the stopper head 3332 may abut against each other along the first direction X, and the driving plate 3230 may apply a driving force to the fourth guide member 3330 through the stopper head 3332, and the fourth guide member 3330 may apply a driving force to the second acting mechanism 2000 through the force sensor 3300, so as to drive the second acting mechanism 2000 to move.

[0100] It should be understood that in some other implementations of the embodiments of the present invention, the driving plate 3230 and the force sensor 3300 may also be rigidly connected.

[0101] In an embodiment of the present invention, the second acting mechanism 2000 in the release position has an initial position and a separation position. The initial position specifically refers to the position of the second acting mechanism 2000 when the driving mechanism 3000 does not apply a force to the second acting mechanism 2000. The separation position refers to the position where the first elastic member 4200 drives the second acting mechanism 2000 in the unlocked state.

[0102] As Figure 8 shown, in the initial position, the distance between the first acting mechanism 1000 and the second acting mechanism 2000 along the first direction X is L1. At this time, the driving plate 3230 can be in contact with the stop head 3332 along the first direction X. As Figure 2 shown, during the process that the driving mechanism 3000 drives the second acting mechanism 2000 to move from the initial position to the pressing position, the moving distance of the driving plate 3230 relative to the second acting mechanism 2000 is L2. Specifically, L2 can also refer to the distance between the driving plate 3230 and the stop head 3332; the distance between the first acting mechanism 1000 and the second acting mechanism 2000 along the first direction X is L4, L4≥0, L4<L1. As Fig.10 shown, during the process that the second acting mechanism 2000 moves from the pressing position to the separation position, the moving distance of the driving seat 3100 is L3.

[0103] Analysis shows that during the process that the second acting mechanism 2000 moves from the initial position to the pressing position, the displacement amount △L of the driving plate 3230 = L1 - L4 + L2. Then, L3 should be greater than or equal to △L to ensure that the second acting mechanism 2000 returns to the initial position under the action of the separation mechanism 4000. In the extreme case, L4 = 0, △L = L1 + L2. Based on this, in an embodiment of the present invention, the relationship between L1, L2, and L3 can be set as: L3≥L1 + L2. In this way, it can be ensured that the second acting mechanism 2000 can be moved at least to the initial position under the action of the separation mechanism 4000 to ensure the separation effect on the first acting mechanism 1000 and the second acting mechanism 2000.

[0104] In some alternative implementation manners, both the first acting mechanism 1000 and the second acting mechanism 2000 can include a power generation module and an execution module.

[0105] A power generation component in the form of a motor or the like can be arranged in the power generation module to provide a driving force. The execution module can be installed on the power generation module. The execution module is provided with an execution component, and the execution component can be in transmission connection with the power generation component to receive the driving force provided by the power generation component and can perform the foregoing set actions under the drive of this driving force.

[0106] For ease of description, in an embodiment of the present invention, the power generation module and the execution module of the first acting mechanism 1000 may be respectively referred to as the first power generation module 1100 and the first execution module 1200, and the first execution module 1200 may be installed on the first power generation module 1100; the power generation module and the execution module of the second acting mechanism 2000 may be respectively referred to as the second power generation module 2100 and the second execution module 2200, and the second execution module 2200 may be installed on the second power generation module 2100.

[0107] In some optional implementations, such as Figure 6 As shown, the first power generation module 1100 may include a power frame 1110 and a first guide component 1120 , and the first guide component 1120 may be connected to the power frame 1110 .

[0108] The power frame 1110 may include a shell portion 1111, a vertical plate portion 1112, a baffle portion 1113 and a bottom plate portion 1114. The shell portion 1111 may be used to install power generation components in the form of motors, etc. The vertical plate portion 1112 may be located on one side of the shell portion 1111 in the third direction Z. There are two baffle portions 1113, both of which may be connected to the vertical plate portion 1112, and the two baffle portions 1113 may be spaced apart along the second direction Y. The first execution module 1200 may be located on one side of the shell portion 1111 in the third direction Z, and the first execution module 1200 may be located between the two baffle portions 1113, so as to improve the installation reliability of the first execution module 1200.

[0109] The vertical plate portion 1112 may be provided with a first bayonet 1112A, the first execution module 1200 may be provided with a second bayonet (not shown in the figure), and the vertical plate portion 1112 may also be provided with a buckle 1117. Figure 2 As shown, the buckle 1117 may include a hingedly arranged clamping arm (not marked in the figure), one end of the clamping arm is connected to an elastic member (not marked in the figure), and the other end of the clamping arm forms a clamping portion (not shown in the figure), and the clamping portion can pass through the above-mentioned first clamping port and enter the second clamping port to realize the clamping assembly of the first execution module 1200 and the first power generation module 1100. When it is necessary to separate the first execution module 1200 and the first power generation module 1100, one end of the clamping arm connected to the elastic member can be pressed to drive the clamping arm to rotate, so that the clamping portion can be disengaged from the second clamping port, thereby releasing the clamping assembly between the first execution module 1200 and the first power generation module 1100.

[0110] It should be understood that the clamping structure between the first execution module 1200 and the first power generation module 1100 is not limited to the above description. In practical applications, those skilled in the art may also adopt other clamping structures as long as they can achieve the technical effect of the first execution module 1200 and the first power generation module 1100 being clamped together. In fact, the connection method between the first execution module 1200 and the first power generation module 1100 is not limited to the above clamping. For example, the two may also be connected by other connection methods such as welding, riveting, screw connection, etc., as long as they can meet the requirements of use.

[0111] Along the first direction X, the housing portion 1111 , the bottom plate portion 1114 , and the first guide member 1120 may be connected along the first direction X.

[0112] It should be understood that the above description of the specific structural form of the power frame 1110 is only an exemplary description of the embodiment of the present invention, and cannot be used as a limitation on the scope of implementation of the delivery device provided by the embodiment of the present invention. Under the condition of satisfying the function, the above power frame 1110 can also adopt other structural forms. For example, the power frame 1110 may not include the vertical plate portion 1112, the baffle portion 1113 and the bottom plate portion 1114. In this case, the first guide component 1120 can be directly connected to the housing portion 1111, and the first execution module 1200 can be directly installed on the housing portion 1111.

[0113] In some optional implementations, such as Figure 3 As shown, one end of the first elastic component 4200 may be against the driving seat 3100 , and the other end of the first elastic component 4200 may be against the bottom plate 1114 .

[0114] The seat plate portion 3111 may be provided with a second guide member 1115. The first elastic member 4200 may be a spring, and the spring may be a jacket mounted on the second guide member 1115. The second guide member 1115 may guide the expansion and contraction of the first elastic member 4200, reduce the radial movement of the first elastic member 4200, and help ensure the stability of the first elastic member 4200 during the expansion and contraction process.

[0115] It should be understood that in some other implementations of the embodiments of the present invention, a stopper may be provided, the stopper may be fixedly provided, and the stopper and the first action mechanism 1000 may be independent of each other, and then the stopper cooperates with the drive seat 3100 to respectively abut the two ends of the first elastic member 4200, which is also feasible. In addition, the second guide member 1115 may also be provided on the drive seat 3100, which does not affect the functional realization of the second guide member 1115.

[0116] In some optional implementations, the first acting mechanism 1000 may also be configured with a third guide member 1116 extending along the first direction X, and the second acting mechanism 2000 may be slidably connected to the third guide member 1116. In this way, it is equivalent to slidingly connecting the second acting mechanism 2000 to the first acting mechanism 1000, so that the second acting mechanism 2000 and the first acting mechanism 1000 can be integrated and assembled, which can improve the integration and structural compactness of the delivery device provided by the embodiment of the present invention, so that the delivery device can have relatively good integrity.

[0117] The second power generation module 2100 and each of the third guide components 1116 may be provided with a guide matching portion in the corresponding area, and the third guide component 1116 may be inserted into the guide matching portion to guide the second action mechanism 2000 to slide. Figure 1 As shown, the guide matching portion may include two guide plates 2110 , and the two guide plates 2110 may be arranged at intervals along the third direction Z, and the third guide component 1116 may specifically slide between the two guide plates 2110 .

[0118] It should be understood that in some other implementations of the embodiments of the present invention, the guide matching portion may also adopt other structural forms, such as guide grooves, etc. In addition, in practical applications, the third guide component 1116 may be arranged on the second acting mechanism 2000, and the guide matching portion may be arranged on the first acting mechanism 1000, which is also feasible.

[0119] In an embodiment of the present invention, the structural form of the second power generation module 2100 may be similar to that of the first power generation module 1100, and it may also include a shell portion 1111, a vertical plate portion 1112, and a baffle portion 1113. The shell portion 1111 of the second power generation module 2100 may be located on one side of the bottom plate portion 1114 in the third direction Z.

[0120] As for the first execution module 1200 and the second execution module 2200, the structures of the two are basically consistent. The first execution module 1200 will be mainly described below in conjunction with the drawings, and the second execution module 2200 will not be described separately.

[0121] Please refer to Figure 11-Figure 15 , Fig.11 is a three-dimensional structural diagram of a first execution module; Fig.12 for Fig.11 a front view along a first direction X; Fig.13 for Fig.12 Cross-sectional view in CC direction; Fig.14 for Fig.13 The connection structure diagram of the middle roller shaft, roller and transmission part; Fig.15 for Fig.12 Cross-sectional view in DD direction.

[0122] like Figure 11-13 As shown, in an embodiment of the present invention, the first execution module 1200 may include an execution frame 1210, the execution component may be installed on the execution frame 1210, and the execution frame 1210 may be installed on the power frame 1110, for example, it may be assembled on the power frame 1110 by the aforementioned snap-on method.

[0123] The execution frame 1210 may be provided with a clamping plate 1211, and the clamping plate 1211 may be provided with a clamping groove 1211A. The execution frame 1210 may specifically clamp the flexible device 5000 through the clamping groove 1211A of the clamping plate 1211, so as to ensure the position of the flexible device 5000 relative to the execution frame 1210. The flexible device 5000 may specifically perform the aforementioned setting action in the clamping groove 1211A.

[0124] The actuator may include at least one driving roller 1220, and the driving roller 1220 may include a roller shaft 1221 and a roller 1222. The roller 1222 may be slidably connected to the roller shaft 1221 along the axial direction. The roller 1222 may also rotate synchronously with the roller shaft 1221. Specifically, the cross section of the shaft section in the roller shaft 1221 for slidingly cooperating with the roller 1222 may be set to be non-circular, and accordingly, the inner hole of the roller 1222 may also be set to be a non-circular hole, so that the synchronous rotation of the roller 1222 with the roller shaft 1221 can be achieved.

[0125] By adopting the above scheme, when the roller 1222 rotates synchronously with the roller shaft 1221, the roller 1222 can provide a driving force along the axial direction of the flexible device 5000, and can drive the flexible device 5000 to move along the axial direction, thereby realizing the forward or backward movement of the flexible device 5000; and when the roller 1222 slides along the axial direction of the roller shaft 1221, the roller 1222 can provide a driving force along the circumferential direction of the flexible device 5000, and can drive the flexible device 5000 to move along the circumferential direction, thereby realizing the rotation of the flexible device 5000.

[0126] That is to say, in the embodiment of the present invention, the delivery device can drive the flexible instrument 5000 forward or backward, and can also drive the flexible instrument 5000 to rotate, so that the flexible instrument 5000 can have more types of movements and can better meet the operational requirements of the flexible instrument 5000 in clinical practice.

[0127] It should be understood that in some other implementations of the embodiments of the present invention, the delivery device may only drive the flexible device 5000 to displace along its axial direction, or only drive the flexible device 5000 to displace along its circumferential direction, that is, the flexible device 5000 may have only one form of action, which is also feasible and needs to be determined in combination with actual usage needs.

[0128] In actual use, the actuator may include a plurality of driving rollers 1220. In this way, the actuator can provide a greater driving force, which is more conducive to ensuring reliable driving of the flexible device 5000.

[0129] In the implementation of the accompanying drawings, Fig.11 and Fig.12 As shown, the number of driving rollers 1220 can be two, and the roller shaft 1221 of one of the driving rollers 1220 can be provided with a first power input part 1221A. The first power input part 1221A can be connected to the power generation component in the first power generation module 1100 in a transmission manner so as to introduce driving force. In this way, the driving roller 1220 can be used as an active roller, and the other driving roller 1220 can be used as a driven roller. The first power input part 1221A can be specifically a spline, a gear, etc., which is not limited here, as long as it can meet the requirements of power transmission. Both driving rollers 1220 can be configured with a transmission gear, and a direction-changing gear can be configured between the two driving rollers 1220, and the direction-changing gear can be meshed with the two transmission gears to ensure that the two driving rollers 1220 can rotate in the same direction.

[0130] It should be understood that in some other implementations of the embodiment of the present invention, each driving roller 1220 may be transmission-connected to the power generating component of the first power generating module 1100, so that each driving roller 1220 may serve as an active roller.

[0131] The execution component may further include a second driving shaft 1230 and a transmission part 1240 .

[0132] The transmission part 1240 may be connected to the roller 1222 , and the second driving shaft 1230 may be connected to the transmission part 1240 . The second driving shaft 1230 is used to drive the roller 1222 to perform axial displacement along the roller shaft 1221 through the transmission part 1240 .

[0133] In some embodiments, the second drive shaft 1230 may output linear displacement. In this case, the second drive shaft 1230 may be a piston rod of a linear cylinder, a linear hydraulic cylinder, or the like.

[0134] In other embodiments, the second drive shaft 1230 may also output rotational displacement. In this case, the second drive shaft 1230 may be a screw, which may be threadedly connected to the transmission part 1240 to achieve linear displacement drive of the transmission part 1240 through threaded matching; or, the second drive shaft 1230 may also be equipped with a gear rack mechanism to indirectly drive the transmission part 1240 to perform linear displacement. Fig.12 As shown, in this solution, the second driving shaft 1230 can be configured with a second power input part 1231, and the second power input part 1231 can be drivingly connected to the power generating component in the first power generating module 1100 to introduce driving force.

[0135] Combination Fig.14 The transmission part 1240 can be specifically installed on the roller 1222 through the retaining spring 1250 and the bearing 1260. The retaining spring 1250 can ensure the reliable connection between the transmission part 1240 and the roller 1222, and can largely prevent the transmission part 1240 from falling from the roller 1222; the bearing 1260 can realize the relative rotation of the transmission part 1240 and the roller 1222, so as to prevent the influence of the rotation of the roller 1222 on the transmission part 1240.

[0136] In some optional implementations, the embodiments of the present invention may also be provided with an identification sensor, and the identification sensor is used to identify the position of the roller 1222 on the roller shaft 1221 .

[0137] Here, the embodiment of the present invention does not limit the specific type of the above-mentioned identification sensor. In practical applications, those skilled in the art can select it according to specific needs, as long as it can meet the requirements of use. For example, the identification sensor can be a magnetic induction sensor such as a Hall sensor, which can be specifically arranged on the execution frame 1210, and the transmission part 1240 can be installed with an identification component 1270 in the form of a permanent magnet, etc. When the transmission part 1240 moves along the axial direction of the roller shaft 1221 to a position close to the identification sensor, the identification sensor can identify the above-mentioned identification component 1270, so as to output the position signal of the transmission part 1240 (that is, the roller 1222) on the roller shaft 1221; in practical use, the position signal at this time can be used as a zero position signal. For another example, the identification sensor can also be a distance sensor, etc., and the distance sensor can be specifically an ultrasonic distance sensor, an infrared distance sensor, an electromagnetic wave distance sensor, etc., so as to determine the position of the roller 1222 on the roller shaft 1221 by detecting the distance between the transmission part 1240 (or the roller 1222) and the identification sensor. For another example, the identification sensor may also be a trigger component such as a travel switch. When the transmission part 1240 (or the roller 1222 ) moves to a set position, the trigger component may be triggered to output a position signal of the roller 1222 on the roller shaft 1221 .

[0138] It should be understood that in some other implementations of the embodiment of the present invention, on the basis that the first execution module 1200 is configured with the first power generation module 1100, that is, on the basis that the first execution module 1200 can provide driving force, the second action mechanism 2000 may also only include the second execution module 2200, but not the second power generation module 2100, which is also feasible. In other words, at least one of the first power generation module 1100 and the second power generation module 2100 is provided to meet the application requirements of the embodiment of the present invention.

[0139] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A delivery device for a flexible device, characterized in that: include: The first acting mechanism; a second acting mechanism, the second acting mechanism being configured to be able to slide along a first direction toward or away from the first acting mechanism to switch between a clamping position and a releasing position; In the clamping position, the second actuating mechanism cooperates with the first actuating mechanism to drive the flexible device to perform a setting action, wherein the setting action includes at least one of an axial displacement along the axial direction of the flexible device and a circumferential rotation along the circumference of the flexible device; A driving mechanism, comprising a driving seat and a driving component, wherein the driving component is mounted on the driving seat, and the driving component is connected to the second acting mechanism, and is used to drive the second acting mechanism to switch between the pressing position and the releasing position; The separation mechanism comprises a locking component and a first elastic component, wherein the locking component has a locked state and an unlocked state; In the locked state, the locking component can lock the drive seat; In the unlocked state, the first elastic component can drive the driving seat to drive the driving mechanism to move as a whole along the first direction, and the driving mechanism can drive the second acting mechanism to switch to the release position.

2. The delivery device of the flexible device according to claim 1, characterized in that: The first action mechanism comprises a first guide member extending along the first direction, and the driving seat is slidably connected to the first guide member; The locking component includes a locking rod and a second elastic component; in the locked state, the locking rod can be inserted into the driving seat and the first guide component to lock the driving seat and the first guide component, and the second elastic component and the locking rod are against each other.

3. The delivery device of the flexible device according to claim 2, characterized in that: The first guide component is provided with a guide locking hole extending along the first direction, the guide locking hole includes a guide hole segment and a locking hole segment, the guide hole segment and the locking hole segment are arranged along the first direction, the axial direction of the guide locking hole is a second direction, the locking hole segment includes a thin neck hole portion and a thick neck hole portion arranged along the second direction, and the first guide component forms a locking surface between the thick neck hole portion and the guide hole segment; The locking rod includes a thin-necked rod portion and a thick-necked head portion; in the locked state, at least a portion of the thick-necked head portion is located in the thick-necked hole portion, and the thick-necked head portion abuts against the locking surface along the first direction; in the unlocked state, the thick-necked head portion is located outside the thick-necked hole portion, and the thin-necked rod portion can be located in the guide hole section.

4. The delivery device of the flexible device according to claim 3, characterized in that: The driving seat comprises a seat body, the seat body comprises a seat plate portion, a first foot plate portion and a second foot plate portion connected to each other, the first foot plate portion and the second foot plate portion are respectively located at two sides of the first guide component along the second direction, the first foot plate portion is provided with a first mounting hole, and the second foot plate portion is provided with a second mounting hole; In the locked state, the thin-necked rod portion is inserted into the first mounting hole, the thick-necked head portion is partially located in the second mounting hole, and at least a portion of the second elastic component is located in the second mounting hole.

5. The delivery device of the flexible device according to claim 4, characterized in that: In the locked state, the thin-necked rod portion further includes an operating portion extending out of the first foot plate portion from the first mounting hole in a direction away from the second foot plate portion.

6. The delivery device of the flexible device according to claim 4, characterized in that: The locking rod is provided with a recessed groove on the side where the thick neck head is located, and at least a part of the second elastic component is located in the recessed groove.

7. The delivery device of the flexible device according to claim 4, characterized in that: The drive seat also includes a plug, which is installed on the second foot plate portion and is used to block the side of the second mounting hole away from the first foot plate portion, one end of the second elastic component is against the plug, and the other end of the second elastic component is against the locking rod.

8. The delivery device of the flexible device according to claim 4, characterized in that: The first actuating mechanism comprises a bottom plate portion, the bottom plate portion and the first guide member are arranged along the first direction, one end of the first elastic member abuts against the driving seat, and the other end of the first elastic member abuts against the bottom plate portion.

9. The delivery device of the flexible device according to claim 8, characterized in that: At least one of the seat plate portion and the driving seat is provided with a second guide member, the first elastic member is a spring, and the spring housing is mounted on the second guide member.

10. The delivery device of the flexible device according to any one of claims 1 to 9, characterized in that: The first actuating mechanism is further provided with a third guide component extending along the first direction, and the second actuating mechanism is slidably connected to the third guide component.

11. The delivery device of the flexible device according to any one of claims 1 to 9, characterized in that: The driving component includes a motor, a first driving shaft and a driving plate. The motor and the first driving shaft are drivingly connected, the motor can drive the first driving shaft to rotate, the first driving shaft and the driving plate are threadedly connected, the first driving shaft can drive the driving plate to perform linear displacement, and the driving plate is directly or indirectly connected to the second actuating mechanism.

12. The delivery device of the flexible device according to claim 11, characterized in that: The driving mechanism further includes a force sensor and a third elastic component. The force sensor is connected to the second actuating mechanism, and the driving plate acts on the force sensor via the third elastic component.

13. The delivery device of the flexible device according to claim 12, characterized in that: The force sensor includes a sensor body and a force transmission plate, the sensor body is connected to the second acting mechanism, the force transmission plate is located on the side of the sensor body away from the second acting mechanism, one end of the third elastic component is against the force transmission plate, and the other end of the third elastic component is against the driving plate.

14. The delivery device of the flexible device according to claim 13, characterized in that: The force transmission plate is also connected to a fourth guide component, the fourth guide component includes a guide rod and a stop head, the drive plate is slidably connected to the guide rod, and the stop head is located on a side of the drive plate away from the force transmission plate; In the unlocked state, the drive plate and the stop head are in contact with each other, and the drive plate drives the second actuating mechanism to move via the fourth guide component and the force sensor.

15. The delivery device of the flexible device according to claim 12, characterized in that: The second acting mechanism in the release position has an initial position and a separation position. In the unlocked state, the first elastic component can drive the second acting mechanism to switch to the separation position. In the initial position, the distance between the first actuating mechanism and the second actuating mechanism along the first direction is L1; During the process of the second acting mechanism moving from the initial position to the pressing position, the moving distance of the driving plate relative to the second acting mechanism is L2; During the process of the second action mechanism moving from the pressing position to the separation position, the moving distance of the driving seat is L3; L3≥L1+L2.

16. The delivery device of the flexible device according to any one of claims 1 to 8, characterized in that: The first acting mechanism and the second acting mechanism both include an execution module, and at least one of the first acting mechanism and the second acting mechanism includes a power generation module; The power generation module includes a power generation component, and the execution module includes an execution component. The power generation component and the execution component are transmission-connected, and the execution component is used to drive the flexible device to execute the set action.

17. The delivery device of the flexible device according to claim 16, characterized in that: The power generation module includes a power frame, the power generation component is installed on the power frame, the execution module includes an execution frame, the execution component is installed on the execution frame, and the execution frame is installed on the power frame.

18. The delivery device of the flexible device according to claim 16, characterized in that: The actuator comprises at least one driving roller, wherein the driving roller comprises a roller shaft and a roller drum, wherein the roller drum is axially slidably connected to the roller shaft, and the roller drum and the roller shaft can rotate synchronously.

19. The delivery device of the flexible device according to claim 18, characterized in that: The actuator also includes a second drive shaft and a transmission part, the transmission part is connected to the roller, the second drive shaft is connected to the transmission part, and the second drive shaft is used to drive the roller to axially displace along the roller axis through the transmission part.

20. The delivery device of the flexible device according to claim 18, characterized in that: It also includes an identification sensor, which is used to identify the position of the roller on the roller axis.

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