Clamping device

Abstract

The invention provides a clamping device. The clamping device comprises a first supporting arm and a second supporting arm, a rotating part rotationally connected with the matching part of the first supporting arm is formed on the second supporting arm, N uniformly arranged arc-shaped rails are formed on the rotating part, each arc-shaped rail bends and extends from the edge of the rotating part to the rotating axis of the second supporting arm in the first direction, and N is a positive integer larger than or equal to 2; the fixing piece is arranged on the matching part, N linear rails extending in the radial direction are formed on the fixing piece, and each linear rail at least partially covers one arc-shaped rail; the N clamping parts are respectively arranged on the N arc-shaped rails and respectively extend out of the N linear rails; and the mounting hole penetrates through the matching part, the rotating part and the fixing piece, the mounting hole is used for containing the wire sheath, and the N clamping parts are made to be close to or away from the wire sheath by operating the second supporting arm to rotate around the first supporting arm in the first direction or the second direction opposite to the first direction.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a clamping device. BACKGROUND

[0002] In the wire transmission system of the surgical robot end effector, the mechanical crimping connection process of the wire and the wire sheath is crucial to ensure the transmission accuracy and long-term reliability. As a key technology to achieve this connection, the quality of mechanical crimping directly affects the accuracy, efficiency and service life of the entire transmission system.

[0003] However, in the related art, the double-sided extrusion process uses a crimping tool to extrude the wire sheath from both sides, which is simple to operate and low in cost, but can cause uneven deformation, stress concentration, wear risk and difficulty in controlling the extrusion force; the three-sided groove crimping process uses a crimping die with three-sided grooves, and by applying pressure to the three sides of the wire sheath through hydraulic or electric tools, more uniform annular deformation can be achieved, and the connection strength and fatigue resistance can be improved, but due to the dependence on high-precision custom molds and automated equipment, there are disadvantages of high complexity and cost; the four-sided closed stamping process can provide optimal connection quality and durability through full-wrapping extrusion, but requires micron-level precision molds and complex operations, and has the disadvantage of high processing and maintenance costs. SUMMARY

[0004] Therefore, the present disclosure provides a clamping device, which comprises: a first branch arm; a second branch arm, which is formed with a rotating part connected with a matching part of the first branch arm, the rotating part is formed with N evenly arranged arc-shaped tracks, each arc-shaped track is curved and extended along a first direction from an edge of the rotating part to an axis of rotation of the second branch arm, and N is a positive integer greater than or equal to 2; a fixing part, which is arranged at the matching part, the fixing part is formed with N radial straight tracks, each straight track at least partially covers one arc-shaped track; N clamping parts, which are respectively arranged in the N arc-shaped tracks and respectively extend out of the N straight tracks; and a mounting hole, which penetrates through the matching part, the rotating part and the fixing part, the mounting hole is used to accommodate a wire sheath, and by operating the second branch arm to rotate around the first branch arm along a first direction or a second direction opposite to the first direction, the N clamping parts are respectively close to or away from the wire sheath.

[0005] Optionally, the clamping part comprises: a sliding bearing arranged in the arc-shaped track; and an extrusion head connected with an inner ring of the sliding bearing and extending out of the straight track, wherein, in the case that the second branch arm rotates around the first branch arm along the first direction or the second direction, the sliding bearing drives the extrusion head to be close to or away from the wire sheath.

[0006] Optionally, the clamping part further comprises a connecting piece arranged between the sliding bearing and the extrusion head, and the extrusion head is detachably connected with the connecting piece.

[0007] Optionally, a side of the extrusion head close to the rotation axis is gradually narrowed towards the rotation axis.

[0008] Optionally, the fitting part is formed with a boss, the fixing piece is arranged on the boss, the boss and the fixing piece enclose a receiving space, and the rotating part is arranged in the receiving space.

[0009] Optionally, the receiving space is provided with a rotating bearing, and a side of the rotating part away from the fixing piece is formed with a rotating shaft matched with the rotating bearing.

[0010] Optionally, an elastic piece is arranged between the first supporting arm and the second supporting arm, and the second supporting arm rotates around the first supporting arm under the elastic force of the elastic piece.

[0011] Optionally, the clamping device further comprises a force sensor arranged on the first supporting arm or the second supporting arm, and the elastic piece passes through the first supporting arm or the second supporting arm and is connected with the force sensor.

[0012] Optionally, the clamping device further comprises a display part connected with the force sensor, and the display part is configured to display the detection result of the force sensor.

[0013] Optionally, the first supporting arm and / or the second supporting arm is formed with a gripping area, and an edge of the gripping area is formed with a plurality of recesses matched with the contour of a hand.

[0014] According to the embodiments of the present disclosure, a plurality of arc-shaped tracks are uniformly arranged on the rotating part, and a plurality of straight tracks are arranged on the fixing piece, each straight track at least partially covers one arc-shaped track, and the arc-shaped track and the straight track cooperate to form a guide channel accommodating the clamping part. When the second supporting arm is controlled to rotate around the first supporting arm, the arc-shaped track can push the clamping part to slide along the straight track in the radial direction, so that all the clamping parts are synchronously close to or away from the wire sheath, thereby the wire and the wire sheath can be more accurately crimped. In the process of crimping the wire and the wire sheath, the rotational motion is directly converted into linear displacement, so that the transmission is accurate and continuous, and it can be ensured that the clamping force of the N clamping parts is uniformly applied to the wire sheath, thereby the local deformation or damage of the wire sheath can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0015] The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which:

[0016] Figure 1 A perspective view of a clamping device according to an embodiment of the present disclosure is schematically shown.

[0017] Figure 2 Fig. 6 schematically shows a perspective view of another angle of the clamping device according to an embodiment of the present disclosure.

[0018] Figure 3 Fig. 7 schematically shows an exploded view of the clamping device according to an embodiment of the present disclosure.

[0019] Figure 4 Fig. 8 schematically shows an exploded view of another angle of the clamping device according to an embodiment of the present disclosure.

[0020] Figure 5 Fig. 9 schematically shows a perspective view of the first arm according to an embodiment of the present disclosure.

[0021] Figure 6 Fig. 10 schematically shows a perspective view of the second arm according to an embodiment of the present disclosure.

[0022] Reference signs

[0023] 1. first arm;

[0024] 11. fitting part;

[0025] 12. boss;

[0026] 2. second arm;

[0027] 21. rotating part;

[0028] 22. arc-shaped track;

[0029] 3. fixing part;

[0030] 31. straight track;

[0031] 4. clamping part;

[0032] 41. sliding bearing;

[0033] 42. extrusion head;

[0034] 43. connecting part;

[0035] 5. mounting hole;

[0036] 6. rotating bearing;

[0037] 7. elastic part;

[0038] 8. force sensor;

[0039] 9. display part;

[0040] 10. gripping area. DETAILED DESCRIPTION

[0041] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood, however, that the description is merely exemplary of the present disclosure, and is not intended to limit the scope of the present disclosure. In the following detailed description of the embodiments of the present disclosure, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, it would be apparent to one skilled in the art that the present disclosure can be practiced without these specific details. In other instances, well known structures and functions have not been described in detail in order to avoid obscuring aspects of the present disclosure.

[0042] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the term "comprises" or "comprising" and the like are meant to be inclusive in a manner that specifies that the method, composition, or apparatus includes the stated features, steps, operations, and / or components, but does not exclude the presence or addition of one or more other features, steps, operations, or components.

[0043] All terms used herein, including technical and scientific terms, have the meanings commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein are defined as having meanings that are consistent with the context of the specification in which the terms are used and should not be interpreted in an overly idealized or overly formal manner.

[0044] In the case of using expressions similar to "at least one of A, B, and C, etc.", it is generally construed that the expression means one or more of the listed items, unless specifically defined otherwise. In other words, such an expression means that "including at least one of the items A, B, or C, etc." or "including any one of the items A, B, and C, etc." or "including combinations of the items A, B, and C, etc." or the like.

[0045] Figure 1 A perspective view of a clamping device according to an embodiment of the present disclosure is schematically illustrated. Figure 2 A perspective view of a clamping device according to an embodiment of the present disclosure is schematically illustrated. Figure 3 An exploded view of a clamping device according to an embodiment of the present disclosure is schematically illustrated. Figure 4 An exploded view of a clamping device according to an embodiment of the present disclosure is schematically illustrated. Figure 5 A perspective view of a first arm according to an embodiment of the present disclosure is schematically illustrated. Figure 6 A perspective view of a second arm according to an embodiment of the present disclosure is schematically illustrated.

[0046] As Figures 1-6 illustrated, an embodiment of the present disclosure provides a clamping device. In this embodiment, Figure 1 a front surface of the clamping device can be displayed, Figure 2The back of the clamping device can be shown. The clamping device can include a first arm 1, a second arm 2, a fixing member 3, N clamping portions 4 and a mounting hole 5. The second arm 2 can be formed with a rotating portion 21 rotatably connected with a cooperating portion 11 of the first arm 1. The rotating portion 21 can be formed with N arc-shaped tracks 22 uniformly arranged. N can be a positive integer greater than or equal to 2, for example, N can be 2, 3 or 4. Each arc-shaped track 22 can extend from the edge of the rotating portion 21 to the rotating axis of the second arm 2 in a first direction (for example, the counterclockwise direction as shown). Figure 3 The rotating axis can coincide with the central axis of the rotating portion 21. The fixing member 3 can be arranged on the cooperating portion 11 and cover the rotating portion 21. The fixing member 3 is formed with N radial straight tracks 31, that is, the number of straight tracks 31 is the same as the number of arc-shaped tracks 22. Each straight track 31 at least partially covers one arc-shaped track 22. N clamping portions 4 are respectively arranged on N arc-shaped tracks 22 and respectively extend out of N straight tracks 31. The part of the straight track 31 covering the arc-shaped track 22 and the part of the arc-shaped track 22 covered by the straight track 31 can form a guide channel accommodating the clamping portion 4, and the position of the guide channel changes as the rotating portion 21 rotates, so that the position of the clamping portion 4 changes. The mounting hole 5 can pass through the cooperating portion 11, the rotating portion 21 and the fixing member 3. The mounting hole 5 can be used to accommodate a filament sheath, that is, the filament sheath can pass through the cooperating portion 11, the rotating portion 21 and the fixing member 3 through the mounting hole 5. By operating the second arm 2 to rotate around the first arm 1 in a first direction or a second direction opposite to the first direction, that is, the rotating portion 21 rotates around the rotating axis in the first direction or the second direction, N clamping portions 4 are respectively close to or away from the filament sheath. The first direction can be consistent with the bending direction of the arc-shaped track 22 from the edge of the rotating portion 21 to the rotating axis, for example, in the case of clockwise bending of the arc-shaped track 22 from the edge of the rotating portion 21 to the rotating axis, the first direction can be clockwise, and correspondingly, the second direction can be counterclockwise. In the case of counterclockwise bending of the arc-shaped track 22 from the edge of the rotating portion 21 to the rotating axis, the first direction can be counterclockwise, and correspondingly, the second direction can be clockwise.

[0047] According to the embodiments of the present disclosure, a plurality of arc-shaped tracks 22 are uniformly arranged on the rotating part 21, and a plurality of straight tracks 31 are arranged on the fixing part 3, each of the straight tracks 31 at least partially covers one arc-shaped track 22, and the arc-shaped track 22 and the straight track 31 cooperate to form a guide channel for accommodating the clamping part 4. When the second arm 2 is controlled to rotate around the first arm 1, the arc-shaped track 22 can push the clamping part 4 to slide along the straight track 31 in the radial direction, so that all the clamping parts 4 are synchronized to move close to or away from the wire sheath, thereby the wire and the wire sheath can be more accurately crimped. In the process of crimping the wire and the wire sheath, the rotation motion is directly converted into linear displacement, so that the transmission is accurate and continuous, and the clamping force of the N clamping parts 4 can be uniformly applied to the wire sheath, thereby the local deformation or damage of the wire sheath can be avoided.

[0048] As shown in Figures 1-4 some embodiments, the clamping part 4 can include a sliding bearing 41 and a pressing head 42. The sliding bearing 41 can be arranged on the arc-shaped track 22. The pressing head 42 can be connected with the inner ring of the sliding bearing 41 and extend out of the straight track 31. In the case that the second arm 2 rotates around the first arm 1 in the first direction or the second direction, the sliding bearing 41 can drive the pressing head 42 to move close to or away from the wire sheath.

[0049] As shown in Figures 1-4 some embodiments, the clamping part 4 can further include a connecting part 43 arranged between the sliding bearing 41 and the pressing head 42. The pressing head 42 is detachably connected with the connecting part 43, so that in the case that the pressing head 42 is damaged, the fixing part 3 does not need to be disassembled, and the pressing head 42 can be conveniently replaced.

[0050] In some embodiments, the side of the pressing head 42 close to the rotation axis gradually narrows towards the rotation axis, so that the wire sheath can be guided to align with the center of the rotation axis, to ensure that the wire sheath remains in the center position during crimping, and to improve the symmetry and uniformity of crimping.

[0051] As shown in Figures 1-5 some embodiments, the cooperation part 11 is formed with a boss 12. The fixing part 3 is installed on the boss 12. The boss 12 and the fixing part 3 enclose an accommodation space. The rotating part 21 is arranged in the accommodation space.

[0052] As shown in Figures 1-4 some embodiments, the accommodation space is provided with a rotating bearing 6. The rotating part 21 is formed with a rotating shaft which cooperates with the rotating bearing 6 on the side away from the fixing part 3. The rotating part 21 is connected with the cooperation part 11 through the cooperation of the rotating shaft and the rotating bearing 6, so that the second arm 2 can more smoothly rotate around the first arm 1.

[0053] As shown in Figure 1 and Figure 2As shown, in some embodiments, an elastic element 7 is provided between the first arm 1 and the second arm 2. The elastic element 7 may include elastic components such as torsion springs, tension springs, or compression springs. The second arm 2 rotates around the first arm 1 under the elastic force of the elastic element 7. By providing the elastic element 7, when the user releases the second arm 2, the elastic force automatically drives the second arm 2 back to its initial position, and the clamping part 4 can release the silk sheath relatively quickly without the need for an additional reset mechanism, thus keeping the clamping device compact. Furthermore, by providing the elastic element 7, the deformation of the elastic element 7 can absorb some of the impact energy, preventing damage to the silk sheath or the clamping part 4 due to sudden pressure.

[0054] like Figure 1 and Figure 2 As shown, in some embodiments, the clamping device may further include a force sensor 8. The force sensor 8 may be disposed on the first arm 1 or the second arm 2. The elastic element 7 passes through the first arm 1 or the second arm 2 and is connected to the force sensor 8. By setting the force sensor 8, the deformation or stress state of the elastic element 7 can be detected in real time, thereby enabling more precise control of the clamping force and avoiding excessive clamping force that could cause deformation or breakage of the sheath.

[0055] like Figure 1 and Figure 2 As shown, in some embodiments, the clamping device may further include a display unit 9. The display unit 9 may be connected to the force sensor 8. The display unit 9 can be used to display the detection results of the force sensor 8, which is convenient for the user to observe. The user can adjust the clamping force according to the display results of the display unit 9. The display unit 9 may be a digital display screen.

[0056] In some embodiments, the first arm 1 and / or the second arm 2 form a gripping area 10. The edge of the gripping area 10 has a plurality of recesses that match the contour of the hand, thereby increasing the contact area and friction between the hand and the gripping area 10, improving user comfort, preventing slippage due to hand sweat or liquid splashes, and ensuring the stability of the clamping device during the crimping process.

[0057] According to embodiments of this disclosure, the operation of the clamping device may include an initial state, a pressing process, and a reset process. In the initial state, when the user applies no force, the clamping device is in an outward-expanding state, i.e., the clamping part 4 is located away from the silk sheath. During the pressing process, the user drives the second arm 2 around the first arm 1 along... Figure 1The driving rotating part 21 rotates in the clockwise direction, thus driving the rotating part 21 to rotate in the clockwise direction. The arc-shaped track 22 of the rotating part 21 drives the clamping parts 4 to move along the linear tracks 31 towards the filament holder respectively, thus exerting uniform pressing force on the filament holder. In this process, the force sensor 8 detects the force on the elastic member 7 in real time, and feeds back to the user through the display part 9. The user adjusts the clamping force according to the detection result of the force sensor 8. In the resetting process, the user stops exerting force, the elastic member 7 rebounds, and the driving rotating part 21 rotates in the counterclockwise direction as shown, thus the clamping device returns to the expanded state. Figure 1

[0058] Those skilled in the art can understand that the features described in various embodiments and / or claims of the present disclosure can be combined or / and integrated in various combinations, even if such combinations or integrations are not explicitly described in the present disclosure. In particular, the features described in various embodiments and / or claims of the present disclosure can be combined and / or integrated in various combinations without departing from the spirit and teachings of the present disclosure. All these combinations and / or integrations fall within the scope of the present disclosure.

[0059] The above describes embodiments of the present disclosure. However, these embodiments are only for illustrative purposes, and are not intended to limit the scope of the present disclosure. Although each embodiment is described above separately, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present disclosure is defined by the appended claims and their equivalents. Those skilled in the art can make various substitutions and modifications without departing from the scope of the present disclosure, and all these substitutions and modifications shall fall within the scope of the present disclosure.​

Claims

1. A clamping device, characterized in that, include: First arm; The second arm has a rotating part that is rotatably connected to the mating part of the first arm. The rotating part has N evenly arranged arc tracks. Each arc track extends from the edge of the rotating part along a first direction toward the rotation axis of the second arm. N is a positive integer greater than or equal to 2. A fastener is provided at the mating part, the fastener forming N radially extending straight tracks, each of the straight tracks at least partially covering one of the arc-shaped tracks; N clamping parts are respectively set on N arc-shaped tracks, and each extends into N straight tracks; as well as The mounting hole extends through the mating part, the rotating part, and the fixing member. The mounting hole is used to accommodate the silk sheath. By operating the second arm to rotate around the first arm in a first direction or a second direction opposite to the first direction, the N clamping parts are respectively moved closer to or away from the silk sheath.

2. The clamping device according to claim 1, characterized in that, The clamping part includes: A sliding bearing is provided on the arc-shaped track; and The extrusion head is connected to the inner ring of the sliding bearing and extends out of the linear track, wherein, when the second arm rotates about the first arm in a first direction or a second direction, the sliding bearing drives the extrusion head to move closer to or away from the silk sheath.

3. The clamping device according to claim 2, characterized in that, The clamping part further includes a connector disposed between the sliding bearing and the extrusion head, and the extrusion head is detachably connected to the connector.

4. The clamping device according to claim 2, characterized in that, The extrusion head gradually narrows towards the axis of rotation on the side closest to the axis of rotation.

5. The clamping device according to claim 1, characterized in that, The mating part has a boss, the fixing member is installed on the boss, the boss and the fixing member form a receiving space, and the rotating part is provided in the receiving space.

6. The clamping device according to claim 1, characterized in that, The accommodating space is provided with a rotating bearing, and the rotating part has a rotating shaft that cooperates with the rotating bearing on the side away from the fixed member.

7. The clamping device according to claim 1, characterized in that, An elastic element is provided between the first arm and the second arm, and the second arm rotates around the first arm under the elastic force of the elastic element.

8. The clamping device according to claim 7, characterized in that, Also includes: A force sensor is disposed on the first arm or the second arm, and the elastic element passes through the first arm or the second arm and is connected to the force sensor.

9. The clamping device according to claim 8, characterized in that, Also includes: A display unit is connected to the force sensor and is configured to display the detection result of the force sensor.

10. The clamping device according to claim 1, characterized in that, The first arm and / or the second arm form a gripping area, and the edge of the gripping area has a plurality of recesses that match the contour of the hand.

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