Execution end operating mechanism and control method thereof

Abstract

The invention relates to the field of surgical instruments, and discloses an execution end operating mechanism and a control method thereof. The execution end operating mechanism comprises a connecting component, a wheel disc and a tong head assembly. Opening and closing operation of the tong head assembly is adjusted by operating the rotating wheel disc to rotate relative to the connecting component. When an object is clamped, the wheel disc rotates in the first rotating direction, and the tong head assembly makes contact with the object and generates clamping force. After the driving force is removed, the self-locking part of the tong head assembly is in self-locking fit with the locking contour surface through the acting force transmitted by the clamping force, so that the current opening and closing angle of the locking tong head is maintained, and the locking tong head assembly is directly locked to keep the closed locking state of the clamped object; the clamping position of the instrument executing end can be maintained without continuously applying external force, the operation fatigue of a doctor can be reduced, and self-adaptive opening and closing angle locking is achieved; the device has the advantages that the control precision is improved, the adjusting and locking efficiency is high, the structure operation is reliable, and the requirement for continuous and stable locking of a use occasion is well met.

Description

Technical Field

[0001] The present invention relates to the field of surgical instruments, and particularly to an operating mechanism for an execution end and a control method thereof. Background Art

[0002] For medical surgical instruments, precise and stable control and adjustment by the user are required during operation to ensure the quality and precision of the surgery and reduce the surgical risk. When controlling the execution end of the instrument remotely, the user continuously manually controls the execution end. For example, implementing the closing force of the jaw assembly, which poses relatively high requirements on the doctor's hand strength and stability. In addition, during some delicate surgical procedures, the jaw assembly needs to maintain a stable closed state during operation, otherwise it will affect the surgical effect and even pose unnecessary risks to the patient.

[0003] In related technologies, for execution end instruments, such as forceps-like instruments, more rely on the user applying force through the fingers or palm of the handle control end to keep the jaws of the execution end closed. Traditional wire-controlled instruments mostly directly implement opening and closing by pulling the jaws through a control wire. During long-term operation, the user is prone to fatigue and may cause the jaws to loosen, affecting the operation precision. Especially in high-difficulty surgeries, doctors need the surgical instruments to work stably without excessive force intervention. For another example, forceps-like instruments can achieve locking of the execution end through a ratchet structure by the handle control end. Although there is no continuous control operation of the palm, the locking force is transmitted through the locking member on the forceps rod by the handle control end. There is actually a risk of low locking force efficiency and easy failure of the mechanism transmission, and it has extremely high requirements for the stability of the forceps rod, making it difficult to meet the requirement of continuous and stable locking of the execution end in the use scenario. Summary of the Invention

[0004] In view of this, the present invention provides an operating mechanism for an execution end and a control method thereof to solve the problems raised in the above background art.

[0005] In a first aspect, the present invention provides an operating mechanism for an execution end, including:

[0006] A connecting member with an assembly cavity provided inside;

[0007] A disk rotatably arranged in the assembly cavity, the disk including at least one locking portion, and a locking profile surface with a gradually increasing height along a first rotation direction is provided on the outer wall of the locking portion;

[0008] A jaw assembly rotatably connected to the connecting member, the jaw assembly including a self-locking portion, and the locking portion is correspondingly slidably arranged with the self-locking portion through the locking profile surface;

[0009] Among them, under the action of a driving force, the roulette can rotate in a first rotation direction, and slide-contacts the self-locking portion through the locking profile surface, so that the distal end of the jaw assembly rotates relative to the connecting member to clamp an object; when the driving force is removed, the self-locking portion is adapted to maintain frictional contact with the locking profile surface, so that the jaw assembly maintains the closed and locked state of clamping the object.

[0010] Under the action of the driving force, the roulette can also rotate and reset in a second rotation direction, and slide-contacts the self-locking portion through the locking profile surface, so that the distal end of the jaw assembly rotates relative to the connecting member, and the jaw assembly is switched to the unlocked state to withdraw from clamping the object. The first rotation direction and the second rotation direction are set to be opposite to each other.

[0011] Beneficial effects: By operating and rotating the roulette relative to the connecting member, the opening and closing operation of the jaw assembly is adjusted; when clamping an object, the roulette is rotated in the first rotation direction, and the jaw assembly contacts the object and generates a clamping force; after the driving force is removed, the self-locking portion of the jaw assembly is self-locked with the locking profile surface through the acting force transmitted by the clamping force, so that the locking jaw maintains the current opening and closing angle, thereby directly locking the jaw assembly to maintain the closed and locked state of clamping the object; when it is necessary to keep the jaw assembly in the state of clamping the object, in this way, there is no need to continuously apply an external force to maintain the clamping position of the execution end of the instrument, which is beneficial to reducing the operating fatigue of the doctor, adaptively locking the opening and closing angle, reducing the operating burden of the doctor, and enhancing the reliability and accuracy of the instrument during the operation; this kind of self-locking positioning can avoid the unstable influence in the related art that depends on the force application operation of the control end, can reduce the risk of tearing human tissues, and is well adapted to minimally invasive surgery or high-risk surgical scenarios that require fine operation; the static friction torque generated by the normal pressure of the contact surface between the locking profile surface and the self-locking portion can resist external disturbances, and the tapered angle effect is formed on the closed and locked state of the tapered profile surface, so that the contact pressure automatically increases with the increase of the reverse acting force, and dynamic self-locking strengthening can be realized; when it is necessary to withdraw from clamping the object, by rotating the roulette in the second rotation direction, the jaw assembly is separated from the object to complete the unlocking of the clamping, and its working process is convenient. Compared with the traditional wire-controlled pulling displacement, the present application adopts the circumferential rotation displacement of the roulette to act on the jaw assembly to adjust the opening and closing angle. This method is beneficial to extending the control stroke and improving the control accuracy. Compared with the traditional ratchet locking method, the rotation angle of the jaw assembly in the present application depends on the discontinuous ratchet locking, but depends on the friction self-locking, and can realize continuous clamping angle locking, with high adjustment and locking efficiency and reliable structure operation, which well meets the requirements of continuous stable locking in the use occasion.

[0012] In an alternative embodiment, a locking portion is provided on the roulette wheel. The locking portion is spaced apart from the locking portion, and the extending direction of the locking portion is spaced parallel to the rotation axis direction of the roulette wheel;

[0013] A limiting portion is provided at the proximal end of the jaw assembly. The limiting portion is arranged on the rotation trajectory of the locking portion and is arranged on the distal side of the self-locking portion; the limiting portion is used to limit the rotation position of the roulette wheel.

[0014] Beneficial effects: The basic holding force is provided by the frictional contact between the locking profile surface and the self-locking portion. Through the limiting contact between the locking portion and the limiting portion, the sliding trajectories of the locking portion and the self-locking portion are always in a coplanar contact state, thereby strengthening the self-locking ability of the mechanism to clamp an object, which is beneficial to significantly improving the anti-vibration interference ability of the operating mechanism when clamping an object, reducing the operating error, and improving the clamping stability performance, surgical quality and precision; integrating the locking portion and the locking portion on the roulette wheel and integrating the self-locking portion and the limiting portion on the jaw assembly is beneficial to achieving a compact layout of the operating mechanism in the transmission part and the self-locking part.

[0015] In an alternative embodiment, a self-locking profile surface extending towards the locking portion is provided on the outer wall of the proximal end of the self-locking portion, and the self-locking profile surface is slidably arranged corresponding to the locking profile surface;

[0016] A sliding profile surface is provided on the distal wall surface of the self-locking portion. The sliding profile surface is adapted to slidably contact the outer wall surface of the locking portion, and there is an acting force suitable for damping the sliding of the two between the sliding profile surface and the outer wall surface of the locking portion;

[0017] The self-locking portion is bent and deviated from the rotation axis of the roulette wheel and extends towards the locking portion, so that the self-locking profile surface extends to abut against the locking profile surface, and the sliding profile surface extends to abut against the limiting portion.

[0018] Beneficial effects: The self-locking portion extends towards the locking portion by bending and deviating from the rotation axis of the roulette wheel, which can form an asymmetric geometric layout. On the one hand, a spatial cross relationship is formed between the self-locking profile surface and the locking profile surface, and between the sliding profile surface and the limiting portion, which promotes the close contact between the roulette wheel and the jaw assembly, increases the contact pressure, strengthens the self-locking force condition, and improves the stability of the self-locking when the jaw assembly clamps an object; on the other hand, it is beneficial to optimize and reduce the structural space, especially the axial space, and avoid the axial dimension redundancy caused by the traditional linear arrangement.

[0019] In an optional embodiment, the limiting portion includes a first constraint wall and a second constraint wall, the first constraint wall is arranged on the rotation path of the locking portion along the second rotation direction to stop the wheel disc from acting on the expanded position of the pliers head assembly, and the first constraint wall is conformally arranged to the outer wall surface of the locking portion; the second constraint wall is arranged on the rotation path of the locking portion along the first rotation direction to constrain the wheel disc from acting on the closed position of the pliers head assembly, and the second constraint wall is conformally arranged to the outer wall surface of the locking portion.

[0020] Beneficial effects: Through the layout of the first constraint wall and the second constraint wall on the limit part, a bidirectional rotating lateral constraint surface is formed, and the spatial layout is compact; specifically, the first constraint wall limits the fully unlocked position to avoid rotational resetting and constrain the expansion position; the second constraint wall limits the maximum clamping stroke to avoid overpressure of clamping force, thereby improving the reliability of clamping locking and unlocking operations, so as to constrain the opening and closing angles of the clamp head assembly to move within the expected range of expansion and closing; the first constraint wall, the second constraint wall and the outer wall of the locking part are conformally matched to eliminate the concentrated stress of line contact between the traditional block and the locking part, reduce structural fatigue and increase the service life.

[0021] In an optional embodiment, the limiting portion further includes a limiting wall surface, and the limiting wall surface is arranged on a rotation path of the locking portion along the second rotation direction to limit the maximum expansion position of the wheel disc acting on the pliers assembly.

[0022] Beneficial effect: The limiting wall is used to limit the extreme position of the rotation of the locking part, corresponding to the maximum expansion position of the clamp head assembly acting on the limiting wheel, thereby improving the reliability of the unlocking operation and reducing the risk of excessive force by the user.

[0023] In an optional embodiment, when the limit position of the closed state is switched to the unlocked state, a partial section of the locking portion in the entry direction toward the limiting portion is configured with a sliding gap.

[0024] Beneficial effect: This design of the sliding gap is conducive to reducing the resistance of the locking portion to rotate along the second rotation direction, and is convenient for unlocking and expanding the clamp head assembly to withdraw from clamping the object.

[0025] In an optional embodiment, a contact protrusion is provided on the self-locking portion, and the contact protrusion is protruding in the direction of the self-locking portion away from the self-locking contour surface; in the extreme position of the closed state, the end face of the contact protrusion toward the wheel disc is suitable for limiting and abutting with the radial end face of the wheel disc, and the lateral end face of the contact protrusion toward the connecting member is suitable for limiting and abutting with the proximal side face of the connecting member.

[0026] Beneficial effects: At the extreme position of clamping and closing, the contact protrusions respectively abut against the wheel disc and the connecting member, which is beneficial to ensure the contact reliability at the closing position; and the contact protrusions can be used as a weight design to increase the proximal end of the jaw assembly, prompting the locking profile surface to abut against the self-locking profile surface to form a static friction force with stable contact; in addition, it is also beneficial to optimize the structure and strengthen the compact design.

[0027] In an alternative embodiment, at least a part of the locking portion protrudes from the outer edge side of the wheel disc, so that the locking profile surface can be close to and abut against the self-locking profile surface of the self-locking portion.

[0028] Beneficial effects: Designing the locking portion to protrude and extend, so that the locking profile surface abuts against the self-locking profile surface. This design, on the one hand, is beneficial to reducing the radial dimension and arranging the structure in the axial dimension to meet the small and thin diameter configuration of minimally invasive surgical instruments. On the other hand, by using the outer edge extension, a more favorable contact position and a larger contact area between the locking profile surface and the self-locking profile surface can be obtained, so as to facilitate the implementation of self-locking when clamping an object and improve the clamping stability.

[0029] In an alternative embodiment, the wheel disc includes a first disc body and a second disc body arranged coaxially, and the locking portion is arranged on any one of the disc bodies; the jaw assembly includes a first jaw and a second jaw arranged in combination, and the first jaw and the second jaw are rotationally connected through a hinge portion in the middle section of the two, and the self-locking portion is arranged on any one of the jaws;

[0030] The first disc body and the second disc body are arranged between the self-locking portions of the first jaw and the second jaw, and the locking portion is arranged on one side of any one of the disc bodies facing the self-locking portion.

[0031] Beneficial effects: The wheel disc adopts a combined structure of a first disc body and a second disc body, and the jaw assembly is a double-jaw structure. When the wheel disc rotates, the jaw assembly moves symmetrically and synchronously, which is beneficial to improving the operation accuracy and efficiency; when clamping an object, a more stable self-locking effect can be obtained by using the friction contact of double self-locking up and down; arranging the wheel disc between the first jaw and the second jaw is beneficial to strengthening the compact design of the structure.

[0032] In an alternative embodiment, the connecting member is provided with connecting ribs, and the connecting ribs and the connecting member together form a first groove body and a second groove body arranged at intervals, and any one of the groove bodies is communicated with the assembly cavity. The first groove body is used to avoid the first disc body, and the second groove body is used to avoid the second disc body;

[0033] A positioning portion is provided on the outer peripheral side of the wheel disc, and the positioning portion is arranged between the first disc body and the second disc body. The positioning portion is extended in a direction parallel to the radial plane of the wheel disc, and the connecting rib and the positioning portion are arranged to avoid each other; the positioning portion is suitable for being connected to an external drive component.

[0034] Beneficial effect: The first groove body and the second groove body respectively accommodate the locking parts on the two rotating disk bodies. This design is conducive to enhancing the compactness of the structure and matching the minimally invasive surgical operation environment; the positioning part is connected to the external driving component so that the driving force of the driving component drives the wheel to rotate, thereby acting on the clamp head component to adjust the opening and closing angle.

[0035] In an optional embodiment, a mounting portion is provided at the distal end of the connecting member, and the mounting portion and the hinge portion are used to assemble a hinge shaft so that the connecting member and the clamp head assembly are rotatably connected.

[0036] Beneficial effect: The hinge shaft is assembled by utilizing the mounting portion and the hinge portion, so that the connecting member and the clamp head assembly are rotatably connected; on the one hand, the connection support of the connecting member to the clamp head assembly can be guaranteed, and on the other hand, it is also convenient for the installation and assembly of the execution assembly. During the assembly stage, the mounting portion and the hinge portion are directly coaxially connected to connect the connecting member and the execution assembly.

[0037] In an optional embodiment, a connecting member is provided with a connecting portion, and the connecting portion is arranged on a side of the connecting member facing the pliers head assembly; a connecting portion is provided on the wheel disc, and the connecting portion is passed through the wheel disc, and the connecting portion is arranged in an extension direction of the connecting portion away from the wheel disc, and the connecting portion is used to rotate the connecting connecting shaft, and the connecting portion is used to fix the connecting connecting shaft.

[0038] Beneficial effects: The adapter shaft is assembled through the adapter part and the connecting part to configure a rotational connection between the connecting component and the wheel disc, which has a simple structure and quick assembly.

[0039] In an optional embodiment, the connecting portion includes a connecting position and an assembly position, the connecting position is arranged in the central side area of the wheel disc, one side of the assembly position is connected to the connecting position, and the other side of the assembly position extends toward the outer peripheral side of the wheel disc.

[0040] Beneficial effect: The design of the slotted connection position of the assembly position facilitates the assembly combination of the adapter shaft and the wheel disc, which is beneficial to improving the assembly efficiency.

[0041] In an optional embodiment, a avoidance portion is provided on the connecting member, and the avoidance portion is arranged on a side of the connecting member facing the pliers assembly, and the avoidance portion is used to avoid the movement stroke of the pliers assembly and the wheel disc.

[0042] Beneficial effects: By means of the avoidance part, the movement of the wheel disc and the jaw head assembly is avoided, so as to avoid structural interference, which is beneficial to optimizing the structural tolerance.

[0043] In an optional implementation manner, the area of the locking profile surface decreases along the first rotation direction.

[0044] Beneficial effects: According to the design of the asymptote of the curved surface of the locking profile surface, the area of the gradually increasing region on the end face of the wheel disc is reduced to ensure that the locking profile surface is in the desired size and avoid structural interference caused by exceeding the limit.

[0045] In an optional implementation manner, the rotation axis of the wheel disc and the rotation axis of the jaw head assembly are arranged in a skew perpendicular manner.

[0046] Beneficial effects: The rotation axes of the wheel disc and the jaw head assembly are arranged in a skew perpendicular manner, allowing a more compact spatial layout, reducing interference between components, and improving space utilization; arranging the axes of the two in a skew perpendicular manner may reduce the coupling effect by decomposing the degrees of freedom of motion, making the motion of each rotation axis more independent, thereby improving the control accuracy. The wheel disc is responsible for rotation, and the jaw head assembly is responsible for clamping, without interfering with each other and reducing error transmission; the arrangement of the skew perpendicular axes is beneficial to enhancing the rigidity of the structure. When clamping irregular objects, forces in different directions can be shared by two different axes, which is beneficial to reducing stress concentration on a single axis, thereby improving the overall stability and torsional resistance.

[0047] In a second aspect, the present invention further provides a control method for an operating mechanism of an execution end as described above, including:

[0048] By applying a driving force to the wheel disc to make it rotate along the first rotation direction, and slidingly contacting the self-locking part through the locking profile surface, the distal end of the jaw head assembly rotates relative to the connecting member to clamp an object; when the driving force is removed, the self-locking part is adapted to maintain frictional contact with the locking profile surface to keep the jaw head assembly in a closed and locked state for clamping the object;

[0049] By applying a driving force to the wheel disc to make it rotate and reset along the second rotation direction, and slidingly contacting the self-locking part through the locking profile surface, the distal end of the jaw head assembly rotates relative to the connecting member to switch the jaw head assembly to an unlocked state to withdraw from clamping the object, and the first rotation direction and the second rotation direction are arranged in a reverse manner.

[0050] Beneficial effects: In the manipulation method of such an operating mechanism at the execution end, when clamping an object, the turntable is rotated along the first rotation direction, and the jaw assembly contacts the object and generates a clamping force; after the driving force is removed, the self-locking part of the jaw assembly and the locking profile surface are self-locked and matched through the acting force transmitted by the clamping force, so that the locking jaw maintains the current opening and closing angle, thereby directly locking the jaw assembly to maintain the closed locking state of clamping the object; when it is necessary for the jaw assembly to maintain the state of clamping the object, in this way, there is no need to continuously apply an external force to maintain the clamping position of the instrument execution end, which is beneficial to reducing the operation fatigue of the doctor, adaptively locking the opening and closing angle, reducing the operation burden of the doctor, and enhancing the reliability and accuracy of the instrument during the operation. Description of the Drawings

[0051] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0052] Figure 1 Schematic diagram of the operating mechanism at the execution end of the embodiment of the present invention;

[0053] Figure 2 Schematic diagram of the connecting member in the operating mechanism at the execution end of the embodiment of the present invention;

[0054] Figure 3 Structural diagram of the connecting member in the operating mechanism at the execution end of the embodiment of the present invention;

[0055] Figure 4 Schematic diagram of the turntable and the jaw assembly in the operating mechanism at the execution end of the embodiment of the present invention;

[0056] Figure 5 Structural diagram of the turntable and the jaw assembly in the operating mechanism at the execution end of the embodiment of the present invention;

[0057] Figure 6 Stereogram of the turntable and the jaw assembly in the operating mechanism at the execution end of the embodiment of the present invention;

[0058] Figure 7 Schematic diagram of the turntable in the operating mechanism at the execution end of the embodiment of the present invention;

[0059] Figure 8 Structural diagram of the turntable in the operating mechanism at the execution end of the embodiment of the present invention;

[0060] Figure 9 Schematic diagram of the jaw assembly in the operating mechanism at the execution end of the embodiment of the present invention;

[0061] Figure 10 It is a schematic diagram of a second clamp head in the operating mechanism of the execution end according to an embodiment of the present invention;

[0062] Figure 11 It is a structural diagram of the second clamp head in the operating mechanism of the execution end of an embodiment of the present invention;

[0063] Figure 12 It is a schematic diagram of the principle of self-locking of the operating mechanism of the execution end according to an embodiment of the present invention;

[0064] Description of reference numerals:

[0065] 10. Connecting member; 101. Adapter; 102. Avoiding portion; 103. Mounting portion; 104. Connecting rib; 1041. First slot body; 1042. Second slot body;

[0066] 20, wheel disc; 201, first disc body; 202, second disc body; 203, locking portion; 2031, locking contour surface; 204, connecting portion; 2041, connecting position; 2042, assembly position; 205, locking portion; 206, positioning portion;

[0067] 30. Clamp head assembly; 301. First clamp head; 302. Second clamp head; 303. Self-locking portion; 3031. Self-locking contour surface; 3032. Sliding contour surface; 3033. Contact protrusion; 304. Limiting portion; 3041. First constraint wall surface; 3042. Second constraint wall surface; 3043. Limiting wall surface; 305. Hinge portion. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0069] Combine the following Figures 1 to 12 , describing an embodiment of the present invention.

[0070] According to an embodiment of the present invention, on the one hand, an execution end operating mechanism is provided. Figure 1, which includes a connecting member 10, a wheel disc 20 and a jaw assembly 30. An assembly cavity is provided inside the connecting member 10. The wheel disc 20 is rotatably arranged in the assembly cavity. The wheel disc 20 includes one or more locking portions 203, and a locking profile surface 2031 which is arranged with a gradually increasing height along the first rotation direction is provided on the outer wall of the locking portion 203; the jaw assembly 30 is rotatably connected to the connecting member 10, and the jaw assembly 30 includes a self-locking portion 303. The locking portion 203 is correspondingly slidably arranged with the self-locking portion 303 through the locking profile surface 2031;

[0071] In this embodiment, when the wheel disc 20 is under the action of a driving force, it can rotate along the first rotation direction. By slidingly contacting the self-locking portion 303 through the locking profile surface 2031, the distal end of the jaw assembly 30 rotates relative to the connecting member 10 to clamp an object; when the driving force is removed, the self-locking portion 303 is adapted to maintain frictional contact with the locking profile surface 2031, so that the jaw assembly 30 maintains the closed and locked state of clamping the object; when the wheel disc 20 is under the action of a driving force, it can also rotate and reset along the second rotation direction. By slidingly contacting the self-locking portion 303 through the locking profile surface 2031, the distal end of the jaw assembly 30 rotates relative to the connecting member 10, and the jaw assembly 30 is switched to the unlocked state to withdraw from clamping the object. The first rotation direction and the second rotation direction are set to be opposite to each other.

[0072] The operating mechanism of the execution end provided in this embodiment adjusts the opening and closing operation of the jaw assembly 30 by operating and rotating the wheel disc 20 relative to the connecting member 10; when clamping an object, the wheel disc 20 is rotated along the first rotation direction, and the jaw assembly 30 contacts the object and generates a clamping force; after the driving force is removed, the acting force transmitted through the clamping force causes the self-locking portion 303 of the jaw assembly 30 to be self-locked and matched with the locking profile surface 2031, so that the locking jaw maintains the current opening and closing angle, thereby directly locking the jaw assembly 30 to maintain the closed and locked state of clamping the object; when it is necessary to keep the jaw assembly 30 in the state of clamping the object, in this way, there is no need to continuously apply an external force to maintain the position of the instrument execution end, which is beneficial to reducing the doctor's operation fatigue, adaptively locking the opening and closing angle, reducing the doctor's operation burden, and enhancing the reliability and accuracy of the instrument during the operation; this kind of self-locking positioning can avoid the unstable influence in the related art that depends on the force application operation of the control end, can reduce the risk of tearing human tissues, and is well adapted to the minimally invasive surgery or high-risk surgery scenarios that require fine operation; the static friction torque generated by the normal pressure of the contact surface between the locking profile surface 2031 and the self-locking portion 303 can resist external disturbances, and the gradually increasing profile surface forms a wedge angle effect in the closed and locked state, so that the contact pressure automatically increases with the increase of the reverse acting force, and dynamic self-locking strengthening can be realized; when it is necessary to withdraw from clamping the object, by rotating the wheel disc 20 along the second rotation direction, the jaw assembly 30 is separated from the object to complete the unlocking of the clamping, and its working process is convenient.

[0073] Compared with the displacement of traditional wire-controlled pulling, the present application adopts the circumferential rotation displacement of the wheel 20 to act on the clamp head assembly 30 to adjust the opening and closing angle. This method is conducive to extending the control stroke and improving the control accuracy. Compared with the traditional ratchet locking method, the rotation angle of the clamp head assembly 30 in the present application relies on discontinuous ratchet locking and friction self-locking, which can achieve continuous clamping angle locking. It has high adjustment and locking efficiency, reliable structural operation, and well meets the needs of continuous and stable locking in the use occasion. The traditional split ratchet structure is replaced by the gradual design of the locking contour surface 2031, which reduces the number of redundant parts and optimizes the internal space utilization of the assembly cavity.

[0074] In the actuator operating mechanism provided in this embodiment, the height of the locking contour surface 2031 gradually increases along the first rotation direction, forming a ramp-like transmission mode. When the wheel 20 is rotated by the driving force, the tangential component of the contact point between the locking contour surface 2031 and the self-locking part 303 changes linearly with the height gradient, so that the closing displacement of the distal end of the clamp head is proportional to the input torque, thereby achieving precise control of the clamping force.

[0075] In one embodiment, see Figure 2 The connecting member 10 is configured as a sleeve-shaped structure, the proximal end of the sleeve-shaped structure is fixed to a fixed base of an external device; the internal space of the sleeve-shaped structure is suitable for passing a first control line (not shown in the figure) and a second control line (not shown in the figure) of the external device, wherein the first control line is used to apply force to the wheel disc 20 to transmit a driving force that drives the wheel disc 20 along a first rotation direction, and the second control line is used to apply force to the wheel disc 20 to transmit a driving force that drives the wheel disc 20 along a second rotation direction.

[0076] In one embodiment, see Figure 2 and Figure 3 The connecting member 10 is provided with an adapter 101, which is arranged on the side of the connecting member 10 facing the clamp assembly 30; the wheel disc 20 is provided with a connecting portion 204, which is arranged through the wheel disc 20, and the adapter 101 is arranged in the extending direction of the connecting portion 204 away from the wheel disc 20. The adapter 101 is used to rotate and connect the adapter shaft, and the connecting portion 204 is used to fix and connect the adapter shaft. The adapter shaft is assembled by the adapter 101 and the connecting portion 204 to configure the rotating connection between the connecting member 10 and the wheel disc 20, which has a simple structure and is quick to assemble.

[0077] In one embodiment, see Figure 2 and Figure 3, an avoidance portion 102 is provided on the connecting member 10. The avoidance portion 102 is arranged on the side of the connecting member 10 facing the jaw assembly 30, and the avoidance portion 102 is used to avoid the movement strokes of the jaw assembly 30 and the wheel disc 20. By the avoidance of the wheel disc 20 and the jaw assembly 30 by the avoidance portion 102, structural interference is avoided, which is beneficial to optimizing the structural tolerance.

[0078] In one embodiment, refer to Figure 2 and Figure 3 , a mounting portion 103 is provided at the distal end of the connecting member 10. The mounting portion 103 and the hinge portion 305 are used to assemble a hinge shaft so that the connecting member 10 is rotatably connected to the jaw assembly 30. By using the mounting portion 103 and the hinge portion 305 to assemble the hinge shaft, the connecting member 10 is rotatably connected to the jaw assembly 30. On the one hand, the connection and support of the connecting member 10 to the jaw assembly 30 can be ensured. On the other hand, it is also convenient for the installation and assembly of the execution assembly. During the assembly stage, the mounting portion 103 and the hinge portion 305 are coaxially connected directly to connect the connecting member 10 to the execution assembly.

[0079] In one embodiment, refer to Figure 7 and Figure 8 , the connecting portion 204 includes a connecting position 2041 and an assembling position 2042. The connecting position 2041 is arranged in the central side area of the wheel disc 20. One side of the assembling position 2042 is communicated with the connecting position 2041, and the other side of the assembling position 2042 extends towards the outer peripheral side of the wheel disc 20. Through the design of the slot in the assembling position 2042 to communicate with the connecting position 2041, it is convenient for the assembly combination of the transfer shaft and the wheel disc 20, which is beneficial to improving the assembly efficiency.

[0080] In an exemplary embodiment, the jaw assembly 30 is arranged as a rotatable double-activity jaw structure; refer to Figure 5 , the jaw assembly 30 includes a first jaw 301 and a second jaw 302 which are combined. The first jaw 301 and the second jaw 302 are rotatably connected through the hinge portion 305 in the middle section between them, and a self-locking portion 303 is arranged on any one of the jaws.

[0081] As a further embodiment, refer to Figure 6, the roulette wheel 20 includes a first disk body 201 and a second disk body 202 arranged coaxially, and a locking portion 203 is provided on any one of the disk bodies; the first disk body 201 and the second disk body 202 are arranged between the self-locking portions 303 of the first clamping head 301 and the second clamping head 302, and the locking portion 203 is arranged on one side of any one of the disk bodies facing the self-locking portion 303. The roulette wheel 20 adopts a combined structure of the first disk body 201 and the second disk body 202, and the clamping head assembly 30 is a double-clamping head structure. When the roulette wheel 20 rotates, the clamping head assembly 30 moves symmetrically and synchronously, which is beneficial to improving the operation accuracy and efficiency; when clamping an object, a more stable self-locking effect can be obtained by using the friction contact of double self-locking up and down; arranging the roulette wheel 20 between the first clamping head 301 and the second clamping head 302 is beneficial to strengthening the compact design of the structure.

[0082] In one embodiment, referring to Figure 2 , the connecting member 10 is provided with connecting ribs 104, and the connecting ribs 104 and the connecting member 10 together form a first groove body 1041 and a second groove body 1042 arranged at intervals, and any one of the groove bodies is communicated with the assembly cavity. The first groove body 1041 is used to avoid the first disk body 201, and the second groove body 1042 is used to avoid the second disk body 202; a positioning portion 206 is provided on the outer peripheral side of the roulette wheel 20, and the positioning portion 206 is arranged between the first disk body 201 and the second disk body 202. The positioning portion 206 extends along a direction parallel to the radial plane of the roulette wheel 20, and the connecting ribs 104 and the positioning portion 206 are arranged to avoid each other; the positioning portion 206 is adapted to be connected to an external driving assembly.

[0083] For the operating mechanism of the execution end provided in this embodiment, by respectively accommodating the locking portions 203 on the two rotating disks through the first groove body 1041 and the second groove body 1042, this design is beneficial to strengthening the structural compactness and matching the minimally invasive surgical operation environment; the positioning portion 206 is connected to an external driving assembly, so that the driving force of the driving assembly drives the roulette wheel 20 to rotate, so as to act on the clamping head assembly 30 to adjust the opening and closing angle.

[0084] In one embodiment, referring to Figure 4 and Figure 7 , the roulette wheel 20 is provided with a locking portion 205, the locking portion 205 is arranged at an interval from the locking portion 203, and the extending direction of the locking portion 205 is arranged at an interval and parallel to the rotation axis direction of the roulette wheel 20; a limiting portion 304 is provided at the proximal end of the clamping head assembly 30, and the limiting portion 304 is arranged on the rotation trajectory of the locking portion 205, and the limiting portion 304 is arranged on the distal side of the self-locking portion 303; the limiting portion 304 is used to limit the rotation position of the roulette wheel 20.

[0085] The operating mechanism of the execution end provided in this embodiment provides a basic holding force through the frictional contact between the locking profile surface 2031 and the self-locking part 303. Through the limiting contact between the locking part 205 and the limiting part 304, it is ensured that the sliding trajectories of the locking part 203 and the self-locking part 303 are always in a coplanar contact state, thereby strengthening the self-locking ability of the mechanism to clamp an object, which is beneficial to significantly improving the anti-vibration interference ability of the operating mechanism when clamping an object, reducing the operating error, and improving the clamping stability performance, surgical quality and precision; integrating the locking part 203 and the locking part 205 on the wheel disc 20, and integrating the self-locking part 303 and the limiting part 304 on the jaw assembly 30 is beneficial to realizing a compact layout of the operating mechanism in the transmission part and the self-locking part 303.

[0086] Moreover, in this way, it can be ensured that when there is no clamped object in the jaw assembly 30, the opening and closing angle of the jaw assembly 30 and the opening and closing angle of the handle of the external control end can form a desired proportional relationship, which conforms to the user's usage habit.

[0087] In one embodiment, refer to Figure 6 , on the proximal outer wall of the self-locking part 303, there is a self-locking profile surface 3031 extending towards the locking part 203, and the self-locking profile surface 3031 is slidably arranged corresponding to the locking profile surface 2031; on the distal wall surface of the self-locking part 303, there is a sliding profile surface 3032, and the sliding profile surface 3032 is adapted to slidably contact the outer wall surface of the locking part 205, and there is a force suitable for damping the sliding between the sliding profile surface 3032 and the outer wall surface of the locking part 205; the self-locking part 303 is bent away from the rotation axis of the wheel disc 20 and extends towards the locking part 205, so that the self-locking profile surface 3031 extends to abut against the locking profile surface 2031, and the sliding profile surface 3032 extends to abut against the limiting part 304.

[0088] For the operating mechanism of the execution end provided in this embodiment, the self-locking part 303 forms an asymmetric geometric layout by bending away from the rotation axis of the wheel disc 20 and extending towards the locking part 205. On the one hand, a spatial cross relationship is formed between the self-locking profile surface 3031 and the locking profile surface 2031, and between the sliding profile surface 3032 and the limiting part 304, which promotes the close contact between the wheel disc 20 and the jaw assembly 30, increases the contact pressure, strengthens the self-locking force condition, and improves the self-locking stability when the jaw assembly 30 clamps an object; on the other hand, it is beneficial to optimize and reduce the structural space, especially the axial space, and avoid the axial dimension redundancy caused by the traditional linear arrangement.

[0089] In one embodiment, refer to Figure 7 , at least part of the locking part 203 protrudes from the outer edge side of the wheel disc 20, so that the locking profile surface 2031 can be close to and abut against the self-locking profile surface 3031 of the self-locking part 303.

[0090] The operating mechanism of the actuator provided in this embodiment has the locking portion 203 designed to protrude and extend, so that the locking profile surface 2031 abuts against the self-locking profile surface 3031. This design, on the one hand, is beneficial to reducing the radial dimension and arranging the structure in the axial dimension to meet the requirements of miniaturization and thin diameter of minimally invasive surgical instruments. On the other hand, by using the outer edge extension, a more favorable contact position and a larger contact area between the locking profile surface 2031 and the self-locking profile surface 3031 can be obtained, so as to facilitate the implementation of self-locking when clamping an object and improve the clamping stability.

[0091] In one embodiment, referring to Figure 8 , the area of the locking profile surface 2031 decreases along the first rotation direction. According to the design of the curved asymptote of the locking profile surface 2031, the area of the gradually increasing region on the end face of the reducing wheel 20 is reduced to ensure that the locking profile surface 2031 is within the desired size and avoid structural interference caused by exceeding the limit.

[0092] In a specific embodiment, referring to Figure 10 and Figure 11 , the limiting portion 304 includes a first constraint wall surface 3041 and a second constraint wall surface 3042. The first constraint wall surface 3041 is arranged on the rotation path of the locking portion 205 along the second rotation direction to stop the expansion position of the reducing wheel 20 acting on the jaw assembly 30, and the first constraint wall surface 3041 is conformally arranged with the outer wall surface of the locking portion 205; the second constraint wall surface 3042 is arranged on the rotation path of the locking portion 205 along the first rotation direction to constrain the closing position of the reducing wheel 20 acting on the jaw assembly 30, and the second constraint wall surface 3042 is conformally arranged with the outer wall surface of the locking portion 205.

[0093] In a specific implementation manner, the first constraint wall surface 3041 extends in a curved surface away from the proximal end of the jaw assembly 30 along the direction in which the locking portion 205 enters the limiting portion 304 to limit and constrain the locking portion 205; the second constraint wall surface 3042 extends in a curved surface close to the proximal end of the jaw assembly 30 along the direction in which the locking portion 205 exits the limiting portion 304 to limit and constrain the locking portion 205.

[0094] The actuator operating mechanism provided in this embodiment forms a bidirectional rotating lateral constraint surface through the layout of the first constraint wall 3041 and the second constraint wall 3042 on the limit portion 304, and the spatial layout is compact; specifically, the first constraint wall 3041 limits the fully unlocked position to avoid rotational reset and constrain the expanded position; the second constraint wall 3042 limits the maximum clamping stroke to avoid overpressure of the clamping force, thereby improving the reliability of the clamping locking and unlocking operations, so as to constrain the opening and closing angles of the clamp head assembly 30 to move within the desired range of expansion and closure; the first constraint wall 3041, the second constraint wall 3042 and the outer wall of the locking portion 205 are conformally matched to eliminate the concentrated stress of the line contact between the traditional block and the locking portion 205, reduce structural fatigue, and increase the service life.

[0095] In one embodiment, see Figure 11 The limiting portion 304 further includes a limiting wall surface 3043, which is disposed on the rotation path of the locking portion 205 along the second rotation direction to limit the maximum expansion position of the clamp head assembly 30 by the limiting wheel 20. The limiting wall surface 3043 is used to limit the rotation limit position of the locking portion 205, corresponding to the maximum expansion position of the clamp head assembly 30 by the limiting wheel 20, thereby improving the reliability of the unlocking operation and reducing the risk of excessive force by the user.

[0096] In a specific implementation, the limiting wall surface 3043 is connected in a curved transitional manner between the first constraining wall surface 3041 and the second constraining wall surface 3042 .

[0097] In one embodiment, when the limit position of the closed state is switched to the unlocked state, a sliding gap is configured in a partial section of the locking portion 205 in the direction of entry toward the limiting portion 304. The design of such a sliding gap is conducive to reducing the resistance of the locking portion 205 to rotate along the second rotation direction, and facilitates the unlocking and expansion of the clamp head assembly 30 to exit the clamping of the object.

[0098] In one embodiment, see Figure 11 A contact protrusion 3033 is provided on the self-locking portion 303, and the contact protrusion 3033 is protrudingly arranged in the direction of the self-locking portion 303 away from the self-locking contour surface 3031; in the extreme position of the closed state, the end face of the contact protrusion 3033 facing the wheel disc 20 is suitable for limiting and abutting with the radial end face of the wheel disc 20, and the lateral end face of the contact protrusion 3033 facing the connecting member 10 is suitable for limiting and abutting with the proximal side face of the connecting member 10.

[0099] The operating mechanism of the actuator provided in this embodiment, at the extreme position of clamping and closing, respectively abuts against the wheel disc 20 and the connecting member 10 through the contact protrusion 3033, which is beneficial to ensuring the contact reliability at the closing position; and the contact protrusion 3033 can be used as a counterweight design to increase the proximal end of the jaw assembly 30, prompting the locking profile surface 2031 to abut against the self-locking profile surface 3031 to form a static friction force with stable contact; in addition, it is also beneficial to optimize the structure and strengthen the compact design.

[0100] In one embodiment, the rotation axis of the wheel disc 20 and the rotation axis of the jaw assembly 30 are arranged in a skew perpendicular manner. The operating mechanism of the actuator provided in this embodiment arranges the rotation axes of the wheel disc 20 and the jaw assembly 30 in a skew perpendicular manner, allowing a more compact spatial layout, reducing interference between components, and improving space utilization; arranging the axes of the two in a skew perpendicular manner may reduce the coupling effect by decomposing the degrees of freedom of motion, making the motion of each rotation axis more independent, thereby improving the control accuracy. The wheel disc 20 is responsible for rotation, and the jaw assembly 30 is responsible for clamping, without interference and reducing error transmission; the setting of the skew perpendicular axes is beneficial to enhancing the rigidity of the structure. When clamping an irregular object, forces in different directions can be borne by two different axes, which is beneficial to reducing stress concentration on a single axis, thereby improving the overall stability and torsional resistance.

[0101] In other embodiments, the jaw assembly 30 is provided with a single fixed jaw and a rotatable movable jaw, and a self-locking portion 303 is provided on the movable jaw.

[0102] Regarding the description of the operating mechanism of the actuator provided in this embodiment, in which the self-locking portion 303 of the jaw assembly 30 is self-locked and engaged with the locking profile surface 2031 through the acting force transmitted by the clamping force, so as to maintain the current opening and closing angle of the locking jaw and lock the jaw assembly 30 to maintain the closed locking state of the clamped object: Refer to Figure 12 , when the jaw assembly 30 clamps an object, the locking profile surface 2031 of the wheel disc 20 and the self-locking profile surface 3031 of the self-locking portion 303 on the jaw assembly 30 come into contact and generate friction and locking force; the object exerts a reaction force F0 on the jaw assembly 30, and a force F is generated at the proximal end of the jaw assembly 30. After the force F is decomposed, it has Fx in the horizontal direction and Fy in the vertical direction. The angle between F and Fx is the friction angle The static friction force is f, and the friction coefficient between the locking profile surface 2031 and the self-locking profile surface 3031 is μ; to achieve self-locking balance:

[0103] Fx < f

[0104]

[0105] The condition for self-locking contact between the locking profile surface 2031 and the self-locking profile surface 3031 is that the friction coefficient is greater than the self-locking angle.

[0106] In a second aspect, the present invention further provides a method for controlling an operating mechanism of an execution end as described above, including:

[0107] By applying a driving force to the turntable 20 to rotate it in a first rotation direction, and slidingly contacting the self-locking portion 303 through the locking profile surface 2031, the distal end of the jaw assembly 30 rotates relative to the connecting member 10 to clamp an object; when the driving force is removed, the self-locking portion 303 is adapted to maintain frictional contact with the locking profile surface 2031, so that the jaw assembly 30 maintains the closed and locked state of clamping the object;

[0108] By applying a driving force to the turntable 20 to enable it to rotate and reset in a second rotation direction, and slidingly contacting the self-locking portion 303 through the locking profile surface 2031, the distal end of the jaw assembly 30 rotates relative to the connecting member 10 to switch the jaw assembly 30 to the unlocked state to withdraw from clamping the object, and the first rotation direction and the second rotation direction are set to be opposite to each other.

[0109] In this method for controlling the operating mechanism of the execution end, when clamping an object, the turntable 20 is rotated in the first rotation direction, and the jaw assembly 30 contacts the object and generates a clamping force; after the driving force is removed, the acting force transmitted by the clamping force causes the self-locking portion 303 of the jaw assembly 30 to be self-locked with the locking profile surface 2031, so that the locking jaw maintains the current opening and closing angle, thereby directly locking the jaw assembly 30 to maintain the closed and locked state of clamping the object; when it is necessary to maintain the state of the jaw assembly 30 clamping the object, in this way, it is not necessary to continuously apply an external force to maintain the position of the instrument execution end, which is beneficial to reducing the operation fatigue of the doctor, adaptively locking the opening and closing angle, reducing the operation burden of the doctor, and enhancing the reliability and accuracy of the instrument during the operation.

[0110] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. An end - effector operating mechanism, characterized in that, Comprising: A connecting member (10) with an assembly cavity provided therein; A wheel disc (20) rotatably disposed in the assembly cavity. The wheel disc (20) includes at least one locking portion (203), and a locking profile surface (2031) that increases in height along a first rotation direction is provided on the outer wall of the locking portion (203); A jaw assembly (30) rotatably connected to the connecting member (10). The jaw assembly (30) includes a self-locking portion (303), and the locking portion (203) is correspondingly slidably arranged with the self-locking portion (303) through the locking profile surface (2031); Wherein, when the wheel disc (20) is under the action of a driving force, it can rotate along the first rotation direction, and slide in contact with the self-locking portion (303) through the locking profile surface (2031), so that the distal end of the jaw assembly (30) rotates relative to the connecting member (10) to clamp an object; when the driving force is removed, the self-locking portion (303) is adapted to maintain frictional contact with the locking profile surface (2031), so that the jaw assembly (30) maintains the closed and locked state of clamping the object; When the wheel disc (20) is under the action of a driving force, it can also rotate and reset along a second rotation direction, and slide in contact with the self-locking portion (303) through the locking profile surface (2031), so that the distal end of the jaw assembly (30) rotates relative to the connecting member (10), and the jaw assembly (30) is switched to an unlocked state to withdraw from clamping the object. The first rotation direction and the second rotation direction are reversely arranged.

2. The actuator operating mechanism according to claim 1, wherein A locking portion (205) is provided on the wheel disc (20), and the locking portion (205) is spaced from the locking portion (203). The extending direction of the locking portion (205) is spaced and parallel to the rotation axis direction of the wheel disc (20); A limiting portion (304) is provided at the proximal end of the jaw assembly (30). The limiting portion (304) is arranged on the rotation trajectory of the locking portion (205), and the limiting portion (304) is arranged on the distal side of the self-locking portion (303); the limiting portion (304) is used to limit the rotation limit position of the wheel disc (20).

3. The actuator operating mechanism according to claim 2, characterized in that, A self-locking profile surface (3031) extending towards the locking portion (203) is provided on the outer wall of the proximal end of the self-locking portion (303), and the self-locking profile surface (3031) is correspondingly slidably arranged with the locking profile surface (2031); A sliding profile surface (3032) is provided on the distal wall surface of the self-locking portion (303). The sliding profile surface (3032) is adapted to slidably contact the outer wall surface of the locking portion (205), and there is an acting force suitable for damping the sliding of the two between the sliding profile surface (3032) and the outer wall surface of the locking portion (205); The self-locking portion (303) is bent and deviated from the rotation axis of the wheel disc (20) and extends towards the locking portion (205), so that the self-locking profile surface (3031) extends to abut against the locking profile surface (2031), and the sliding profile surface (3032) extends to abut against the limiting portion (304).

4. The actuator operating mechanism according to claim 2, wherein, The limiting portion (304) comprises a first constraint wall surface (3041) and a second constraint wall surface (3042); the first constraint wall surface (3041) is arranged on the rotation path of the locking portion (205) along the second rotation direction to stop the wheel disc (20) from acting on the pliers head assembly (30) in an expanded position, and the first constraint wall surface (3041) is conformally arranged with an outer wall surface of the locking portion (205); the second constraint wall surface (3042) is arranged on the rotation path of the locking portion (205) along the first rotation direction to constrain the wheel disc (20) from acting on the pliers head assembly (30) in a closed position, and the second constraint wall surface (3042) is conformally arranged with an outer wall surface of the locking portion (205); and / or, The limiting portion (304) further comprises a limiting wall surface (3043), wherein the limiting wall surface (3043) is arranged on a rotation path of the locking portion (205) along the second rotation direction so as to limit the maximum expansion position of the wheel disc (20) acting on the clamp head assembly (30); and / or, When the limit position of the closed state is switched to the unlocked state, a partial section of the locking portion (205) in the entry direction toward the limiting portion (304) is provided with a sliding gap.

5. The actuator operating mechanism according to claim 3, wherein The self-locking portion (303) is provided with a contact protrusion (3033), and the contact protrusion (3033) is protrudingly arranged in the direction of the self-locking portion (303) away from the self-locking contour surface (3031); in the extreme position of the closed state, the end surface of the contact protrusion (3033) facing the wheel disc (20) is suitable for being limitedly abutted with the radial end surface of the wheel disc (20), and the lateral end surface of the contact protrusion (3033) facing the connecting member (10) is suitable for being limitedly abutted with the proximal side surface of the connecting member (10).

6. The actuator operating mechanism according to claim 1, wherein The locking portion (203) is arranged to at least partially protrude from the outer edge of the wheel disc (20) so that the locking contour surface (2031) can be in close contact with the self-locking contour surface (3031) of the self-locking portion (303).

7. The actuator operating mechanism according to any one of claims 1-6, characterized in that, The wheel (20) comprises a first disk body (201) and a second disk body (202) arranged coaxially, and the locking portion (203) is arranged on either disk body; the clamp head assembly (30) comprises a first clamp head (301) and a second clamp head (302) arranged in combination, the first clamp head (301) and the second clamp head (302) are rotatably connected to each other via a hinged portion (305) in the middle section thereof, and the self-locking portion (303) is arranged on either clamp head; The first disk body (201) and the second disk body (202) are arranged between the self-locking part (303) of the first clamp head (301) and the self-locking part (303) of the second clamp head (302), and the locking part (203) is arranged on a side of any disk body facing the self-locking part (303).

8. The actuator operating mechanism according to claim 7, wherein The connecting member (10) is provided with a connecting rib (104), and the connecting rib (104) and the connecting member (10) are jointly constructed to form a first slot body (1041) and a second slot body (1042) which are arranged at intervals, and any one of the slot bodies is connected to the assembly cavity, and the first slot body (1041) is used to avoid the first disk body (201), and the second slot body (1042) is used to avoid the second disk body (202); A positioning portion (206) is provided on the outer peripheral side of the wheel disc (20); the positioning portion (206) is arranged between the first disc body (201) and the second disc body (202); the positioning portion (206) is extended in a direction parallel to a radial plane of the wheel disc (20); the connecting rib (104) and the positioning portion (206) are arranged to avoid each other; and the positioning portion (206) is suitable for being connected to an external drive component.

9. The actuator operating mechanism according to claim 7, wherein, The distal end of the connecting member (10) is provided with a mounting portion (103), and the mounting portion (103) and the hinge portion (305) are used to assemble a hinge shaft so that the connecting member (10) and the clamp head assembly (30) are rotatably connected.

10. The actuator operating mechanism according to any one of claims 1-6, characterized in that, The connecting member (10) is provided with a connecting portion (101), and the connecting portion (101) is arranged on a side of the connecting member (10) facing the clamp head assembly (30); the wheel disc (20) is provided with a connecting portion (204), and the connecting portion (204) is arranged through the wheel disc (20); the connecting portion (101) is arranged in an extending direction of the connecting portion (204) away from the wheel disc (20); the connecting portion (101) is used for rotatably connecting the connecting portion shaft, and the connecting portion (204) is used for fixedly connecting the connecting portion shaft.

11. The actuator operating mechanism according to claim 10, wherein The connecting portion (204) comprises a connecting position (2041) and an assembly position (2042); the connecting position (2041) is arranged in a central side area of the wheel disc (20); one side of the assembly position (2042) is connected to the connecting position (2041); and the other side of the assembly position (2042) is extended toward the outer peripheral side of the wheel disc (20).

12. The actuator operating mechanism according to any one of claims 1-6, characterized in that, The connecting member (10) is provided with an avoidance portion (102), the avoidance portion (102) being arranged on a side of the connecting member (10) facing the clamp head assembly (30), the avoidance portion (102) being used to avoid a movement stroke of the clamp head assembly (30) and the wheel disc (20); and / or, The locking contour surface (2031) is arranged to decrease in area along the first rotation direction; and / or, The rotation axis of the wheel disc (20) and the rotation axis of the clamp assembly (30) are arranged in different planes and perpendicularly.

13. A control method for an actuator operating mechanism according to any one of the above claims 1-12, characterized in that, include: By applying a driving force to the wheel disk (20) to make it rotate in the first rotation direction, and by the locking profile surface (2031) slidingly contacting the self-locking portion (303), the distal end of the jaw assembly (30) rotates relative to the connecting member (10) to clamp an object; when the driving force is removed, the self-locking portion (303) is adapted to maintain frictional contact with the locking profile surface (2031) to keep the jaw assembly (30) in a closed and locked state for clamping the object. By applying a driving force to the wheel disk (20) to enable it to rotate and reset in the second rotation direction, and by the locking profile surface (2031) slidingly contacting the self-locking portion (303), the distal end of the jaw assembly (30) rotates relative to the connecting member (10) to switch the jaw assembly (30) to the unlocked state to withdraw from clamping the object, and the first rotation direction and the second rotation direction are set to be opposite to each other.

Images