A tool loading and unloading device

Abstract

This application discloses an instrument loading and unloading device, including a loading and unloading mechanism, a moving mechanism, a track mechanism, and an instrument storage compartment. The moving mechanism is located on the track mechanism and connected to the loading and unloading mechanism. The instrument storage compartment includes at least one ready-to-use instrument compartment and at least one return compartment, the ready-to-use instrument compartment being used to store ready-to-use instruments. The operating table, the ready-to-use instrument compartment, and the return compartment are arranged along the moving direction of the track mechanism. The moving mechanism is configured to drive the loading and unloading mechanism to move along the moving direction of the track mechanism, switching between an instrument retrieval station, an instrument loading and unloading station, and an instrument return station. The loading and unloading mechanism is configured to retrieve instruments from the ready-to-use instrument compartment at the instrument retrieval station, install the retrieved instruments onto the operating table or disassemble instruments installed on the operating table at the instrument loading and unloading station, and send disassembled instruments into the return compartment at the instrument return station. This device can realize the automatic retrieval, installation, disassembly, and return of instruments, thereby improving the efficiency of instrument loading and unloading.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to a device loading and unloading device. Background Technology

[0002] In endoscopic examinations and treatments, long, straight instruments are indispensable tools for procedures such as obtaining pathological specimens. Specifically, long, straight instruments are slender, flexible instruments that can be inserted into the human body through the endoscopic forceps channel. These generally include, but are not limited to, clamps, electrocoagulation and electrocautery instruments, baskets, injection instruments, guiding instruments, and sensor-type flexible instruments. The sterilization and storage procedures for long, straight instruments are relatively cumbersome, and even slight negligence can cause secondary cross-infection to patients upon reuse. Therefore, disposable long, straight instruments are widely used.

[0003] In recent years, box-type instruments, which encapsulate disposable, long, straight instruments in small boxes, have been developed. These instruments are operated by endoscopic nurse / technician robots assisted by physicians and have gained widespread attention due to their advantages such as sterility, readiness for use, and no risk of cross-contamination. Currently, the installation, removal, and subsequent retrieval of these box-type instruments on the endoscopic nurse / technician robot's operating table are all performed manually. This manual handling of box-type instruments is not only inefficient but also prone to human contamination, posing a safety risk.

[0004] Therefore, how to provide a solution to overcome or alleviate the above-mentioned defects remains a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide an instrument loading and unloading device that enables the automatic removal, installation, disassembly, and recycling of instruments, thereby improving instrument loading and unloading efficiency, reducing human contamination, and thus enhancing operational safety.

[0006] To solve the above-mentioned technical problems, this application provides an instrument loading and unloading device for loading and unloading instruments on an operating table, including a loading and unloading mechanism, a moving mechanism, a track mechanism, and an instrument storage.

[0007] The moving mechanism is mounted on the track mechanism, and the moving mechanism is connected to the loading and unloading mechanism;

[0008] The instrument storage includes at least one ready-to-use instrument compartment and at least one return compartment, wherein the ready-to-use instrument compartment is used to store the ready-to-use instruments; the operating table, the ready-to-use instrument compartment and the return compartment are arranged along the moving direction of the track mechanism;

[0009] The moving mechanism is configured to drive the loading and unloading mechanism to move along the moving direction of the track mechanism to switch between the instrument retrieval station, the instrument loading and unloading station, and the instrument recovery station.

[0010] The loading and unloading mechanism is configured to be able to remove the instruments from the instrument storage compartment at the instrument removal station, install the removed instruments onto the operating table or disassemble the instruments installed on the operating table at the instrument loading and unloading station, and send the disassembled instruments into the recycling compartment at the instrument recycling station.

[0011] Optionally, the loading and unloading mechanism includes a lifting drive assembly, a rotating drive assembly, and a clamping assembly; the clamping assembly includes an opening and closing drive assembly and a gripper assembly.

[0012] The lifting drive assembly is fixedly connected to the moving mechanism, the rotation drive assembly is connected to the output end of the lifting drive assembly, the opening and closing drive assembly is connected to the output end of the rotation drive assembly, and the gripper assembly is connected to the output end of the opening and closing drive assembly.

[0013] The lifting drive assembly is used to drive the gripper assembly to lift and lower, and the rotation drive assembly is used to drive the gripper assembly to rotate; the opening and closing drive assembly is used to drive the gripper assembly to close or open in order to clamp or release the instrument.

[0014] Optionally, the lifting drive assembly includes a mounting base, a lifting drive component, a first screw, a lifting plate, a fixing plate, at least one first guide shaft, and at least one second guide shaft;

[0015] The mounting base, the lifting plate, and the fixing plate are arranged sequentially from top to bottom; the lifting drive component is fixed to the lower side of the mounting base; one end of the first screw is fixedly connected to the output end of the lifting drive component; the lifting plate is sleeved on the first screw and forms a screw-nut pair with the first screw; the other end of the first screw is rotatably connected to the fixing plate.

[0016] One end of the first guide shaft is connected to the mounting base, and the other end is connected to the fixed plate; the first guide shaft is movably inserted through the lifting plate;

[0017] One end of the second guide shaft is connected to the lifting plate, and the other end is connected to the rotary drive assembly; the second guide shaft is movably inserted through the fixed plate;

[0018] The lifting drive component is used to drive the first screw to rotate, thereby causing the lifting plate to rise and fall.

[0019] Optionally, the opening and closing drive assembly includes an opening and closing drive component, a second bracket, a second screw, a nut, a first bearing, a bearing fixing seat, and a second bearing; the gripper assembly includes a nut fixing seat, a gripping disc, multiple connecting rods, and multiple grippers.

[0020] The upper end of the second bracket is fixedly connected to the output end of the rotary drive assembly; the opening and closing drive component is disposed on the second bracket; the second bracket, the bearing fixing seat and the gripper are fixedly connected in sequence from top to bottom; one end of the second screw is fixedly connected to the output end of the opening and closing drive component, and the other end is rotatably connected to the gripper through the second bearing, and the second screw is rotatably inserted through the bearing fixing seat through the first bearing;

[0021] The nut is sleeved on the second screw and forms a lead screw and nut pair with the second screw; the nut is located between the bearing fixing seat and the gripper plate; the nut fixing seat is sleeved and fixed to the nut;

[0022] Multiple connecting rods are evenly spaced along the circumference of the nut fixing seat; the number of connecting rods and the number of grippers are the same and they correspond one-to-one; one end of each connecting rod is hinged to the nut fixing seat and the other end is hinged to one end of each gripper; each gripper is hinged to the gripping disc and the other end of each gripper is used to hold the instrument.

[0023] Optionally, the clamping assembly further includes a first pressure sensor, a top plate, and a retaining ring; the first pressure sensor is fixed to the lower surface of the gripping plate, and the first pressure sensing surface of the first pressure sensor is located below the gripping plate; the outer peripheral wall of the top plate is provided with a first annular step, the step surface of the first annular step facing downwards; the lower surface of the gripping plate is provided with an annular groove surrounding the first pressure sensor; the upper surface of the top plate is provided with a first pressing groove, and the portion of the top plate outside the first pressing groove is movably inserted into the annular groove; the retaining ring is fixed to the lower surface of the gripping plate and sleeved on the top plate, and in the initial state, the upper surface of the retaining ring abuts against the step surface of the first annular step; in the initial state, the upper surface of the top plate has a gap with the bottom surface of the annular groove; and / or,

[0024] The clamping assembly further includes a second pressure sensor, a contact block, and a cover plate; the end of the gripper is provided with a through mounting hole; the contact block is movably inserted into the mounting hole and partially located inside the gripping surface of the gripper; the side of the contact block away from the gripping surface is provided with a second top pressure groove; the cover plate is fixed to the side of the gripper away from the gripping surface and covers the mounting hole; the second pressure sensor is disposed in the mounting hole, and the second pressure sensing surface of the second pressure sensor is located in the second top pressure groove; the second pressure sensor is fixed to the cover plate; the inner peripheral wall of the mounting hole is provided with a second annular step with a stepped surface facing the cover plate, and the outer peripheral wall of the contact block is provided with a third annular step with a stepped surface facing away from the cover plate; in the initial state, the stepped surface of the third annular step abuts against the stepped surface of the second annular step, and the end face of the contact block away from the gripping surface has a gap with the cover plate; and / or,

[0025] The opening and closing drive assembly is equipped with a magnetic induction sensor, and the instrument is equipped with a magnet; the magnetic induction sensor is used to detect the position of the magnet during the rotation of the clamping assembly, and after the magnetic induction sensor detects the magnet, it controls the rotation drive assembly to close.

[0026] Optionally, the track mechanism includes a track body located above the instrument magazine, and the lower surface of the track body has at least one guide channel extending along the direction of movement.

[0027] The moving mechanism includes a fixed frame, a rolling drive assembly, and at least one slider; the rolling drive assembly is disposed on the fixed frame and rolls in cooperation with the lower surface of the track body; the slider is disposed on the upper end of the fixed frame and is slidably connected to the guide channels in a one-to-one correspondence; the loading and unloading mechanism is connected to the lower end of the fixed frame.

[0028] The rolling drive assembly is configured to roll along the track body to drive the slider to slide along the guide channel, thereby driving the loading and unloading mechanism to move along the guide channel.

[0029] Optionally, the rolling drive assembly includes a rolling drive element, a transmission assembly, and a roller;

[0030] The rolling drive is fixed to the fixed frame, and the output end of the rolling drive is connected to the transmission assembly. The output end of the transmission assembly is connected to the roller. The roller is at least partially located on the upper side of the fixed frame, the rolling surface of the roller abuts against the lower surface of the track body, and the axis of the roller is perpendicular to the moving direction of the guide channel. The rolling drive is configured to drive the roller to rotate via the transmission assembly.

[0031] Optionally, the moving mechanism further includes a first baffle; the track mechanism further includes multiple photoelectric switches;

[0032] The first baffle is disposed on the side of the fixed frame and is at least partially located on one side of the track body; the photoelectric switch is disposed on the side of the track body, and the first baffle can block the outgoing light path of the photoelectric switch during the moving stroke of the moving mechanism;

[0033] Above the operating table, the ready-to-use instrument compartment, and the recycling compartment, there is a photoelectric switch; when the first baffle blocks the photoelectric switch, the rolling drive assembly is controlled to turn off.

[0034] Optionally, the moving mechanism further includes at least one positioning and mating component; the track mechanism further includes multiple magnet assemblies, each magnet assembly including at least one electromagnet and at least one third support; and each of the above the operating table, the ready-to-use equipment compartment, and the recycling compartment has a corresponding magnet assembly above it.

[0035] The positioning fitting is located at the upper end of the fixing frame;

[0036] The electromagnet is fixed to the upper side of the track body by the third bracket;

[0037] The positioning fitting is made of ferromagnetic material. The number of electromagnets in the positioning fitting and the magnet assembly are the same and correspond one-to-one. The electromagnets are located above the movement trajectory of the positioning fitting.

[0038] When the first baffle blocks the photoelectric switch, the corresponding electromagnet is energized.

[0039] Optionally, there are three guide channels, which are spaced apart along the width direction of the track body. The first and second sliders are also spaced apart along the width direction of the track body, and the third slider is located between the first and second sliders on one side of the length direction of the track body; and / or,

[0040] The moving mechanism further includes at least one third bearing and at least one retaining ring; the number of the third bearing, the retaining ring and the slider are the same and correspond one-to-one; the third bearing is rotatably sleeved on the slider; the retaining ring is fixedly sleeved on the slider and located above the third bearing; two rolling track grooves are symmetrically provided on both sides of the guide channel, and the third bearing is located in the guide channel and is rotatably disposed in the two rolling track grooves.

[0041] Optionally, the instrument library includes at least one pushing component; the pushing component includes a fourth support, a pushing drive, a lead screw, a lead nut, and a moving frame;

[0042] The fourth support includes a top plate, a bottom plate, and two side plates; the two sides of the top plate are respectively fixed to the upper ends of the two side plates; the lower ends of the two side plates are respectively fixed to the two sides of the bottom plate.

[0043] The upper end of the lead screw is rotatably connected to the top plate; the push drive is located on the lower side of the bottom plate, and the output shaft of the push drive is rotatably inserted through the bottom plate and fixedly connected to the lower end of the lead screw.

[0044] A tray is provided on one side of the movable frame, and a screw nut mounting hole is provided on the movable frame; the screw nut is fixed in the screw nut mounting hole; the screw nut is sleeved on the screw and forms a screw nut pair with the screw;

[0045] The number of push components and the number of ready-to-use instrument compartments are the same and correspond one-to-one. The tray is located at least partially inside the ready-to-use instrument compartment and is used to hold the ready-to-use instruments.

[0046] Optionally, the pushing component further includes a second baffle and multiple photoelectric sensors; the multiple photoelectric sensors are evenly spaced from top to bottom on one side of the side plate, and the spacing is consistent with the height of the instrument to be used; one end of the second baffle is fixedly connected to the moving frame, and the second baffle can block the outgoing light path of the photoelectric sensor during its upward movement.

[0047] The instrument loading and unloading device provided in this application includes a loading and unloading mechanism, a moving mechanism, a track mechanism, and an instrument storage compartment. The moving mechanism is located on the track mechanism and is connected to the loading and unloading mechanism. The instrument storage compartment includes at least one ready-to-use instrument compartment and at least one return compartment, wherein the ready-to-use instrument compartment is used to store ready-to-use instruments. The operating table, the ready-to-use instrument compartment, and the return compartment are arranged along the moving direction of the track mechanism. The moving mechanism is configured to drive the loading and unloading mechanism to move along the moving direction of the track mechanism to switch between an instrument retrieval station, an instrument loading and unloading station, and an instrument return station. The loading and unloading mechanism is configured to retrieve instruments from the ready-to-use instrument compartment at the instrument retrieval station, and to install the retrieved instruments onto the operating table or disassemble instruments installed on the operating table at the instrument loading and unloading station, and to send the disassembled instruments into the return compartment at the instrument return station. 。 When in use, the various mechanisms work together to enable the automatic removal, installation, disassembly, and recycling of instruments, thereby improving instrument loading and unloading efficiency, reducing human contamination, and thus enhancing operational safety. Attached Figure Description

[0048] Figure 1A schematic diagram of the instrument loading and unloading device provided in an embodiment of the present invention from one perspective;

[0049] Figure 2 A schematic diagram of the instrument loading and unloading device provided in an embodiment of the present invention from another perspective;

[0050] Figure 3 This is a schematic diagram of the structure of the device provided in an embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the overall structure of the loading and unloading mechanism in the instrument loading and unloading device provided in an embodiment of the present invention;

[0052] Figure 5 for Figure 4 The front view of the loading and unloading mechanism shown;

[0053] Figure 6 for Figure 4 The diagram shows the loading and unloading mechanism when the gripper releases the device.

[0054] Figure 7 for Figure 4 A schematic diagram showing the disassembled structure of the lifting drive component in the loading and unloading mechanism;

[0055] Figure 8 for Figure 4 A schematic diagram showing the disassembled structure of the rotary drive assembly and the clamping assembly in the loading and unloading mechanism shown.

[0056] Figure 9 for Figure 4 A sectional view of the loading and unloading mechanism along the axial direction;

[0057] Figure 10 for Figure 9 An enlarged view of the loading and unloading mechanism at point A;

[0058] Figure 11 for Figure 10 An enlarged view of the clamping assembly at point B;

[0059] Figure 12 This is a schematic diagram of the moving mechanism in the instrument loading and unloading device provided in an embodiment of the present invention;

[0060] Figure 13 for Figure 12 A bottom view of the moving mechanism shown;

[0061] Figure 14 for Figure 12 Top view of the moving mechanism shown;

[0062] Figure 15 for Figure 12 Side view of the moving mechanism shown;

[0063] Figure 16 for Figure 12 A cross-sectional view of the centerline of the two positioning and mating parts arranged along the direction of movement of the moving mechanism shown.

[0064] Figure 17 for Figure 12 Exploded view of the moving mechanism shown;

[0065] Figure 18 A bottom view of the track mechanism in the instrument loading and unloading device provided in an embodiment of the present invention;

[0066] Figure 19 for Figure 18 Top view of the track mechanism shown;

[0067] Figure 20 This is a side view of the track body in the track mechanism provided in an embodiment of the present invention;

[0068] Figure 21 for Figure 18 Cross-sectional view at the center of the bearing;

[0069] Figure 22 for Figure 21 An enlarged view of the track mechanism at point C;

[0070] Figure 23 for Figure 22 Enlarged view at point E;

[0071] Figure 24 for Figure 21 An enlarged view of the track mechanism at point D;

[0072] Figure 25 for Figure 24 Enlarged view at point F;

[0073] Figure 26 for Figure 19 A schematic diagram of the disassembled structure of the track mechanism shown;

[0074] Figure 27 This is a schematic diagram of the overall structure of the instrument storage unit in the instrument loading and unloading device provided in an embodiment of the present invention;

[0075] Figure 28 for Figure 27 The front view of the instrument library shown;

[0076] Figure 29 for Figure 27 Side view of the instrument library shown;

[0077] Figure 30 for Figure 27 The instrument storage area shown is a cross-sectional view along the main channel axis.

[0078] Figure 31for Figure 27 The diagram shows the breakdown structure of the instrument library.

[0079] Figure 32 This is a schematic diagram of the push component in the instrument library provided in an embodiment of the present invention;

[0080] Figure 33 for Figure 32 The main view of the push component is shown below;

[0081] Figure 34 for Figure 32 The side view of the push component shown;

[0082] Figure 35 for Figure 32 The diagram shows the split structure of the push component.

[0083] The reference numerals in the above figures are explained as follows:

[0084] 1-Loading / unloading mechanism, 11-Lifting drive assembly, 111-Mounting base, 112-Lifting drive component, 113-First coupling, 114-First screw, 115-Lifting plate, 115a-First guide shaft hole, 116-Fixing plate, 116a-Second guide shaft hole, 117-First guide shaft, 118-Second guide shaft, 12-Rotation drive assembly, 121-Rotation drive component, 122-First bracket, 13-Clamping assembly, 131-Opening / closing drive assembly, 1311-Opening / closing drive component, 1312-Second bracket, 1313-Second coupling, 1314-Second screw, 1316-First bearing, 1317-Bearing mounting base, 13 17a-Bearing mounting hole, 1318-Second bearing, 132-Gripper assembly, 1321-Nut fixing seat, 13211-Fixing ear, 1322-Connecting rod, 1323-Gripper, 1323a-Mounting hole, 1324-Grip plate, 1324a-Annular groove, 13241-Connecting ear, 133-First pressure sensor, 133a-First pressure sensing surface, 134-Top plate, 134a-First annular step, 134b-First top pressure groove, 135-Fixing ring, 136-Second pressure sensor, 136a-Second pressure sensing surface, 137-Contact block, 137a-Second top pressure groove, 138-Cover plate, 139-Detection sensor;

[0085] 2-Moving mechanism, 21-Fixed frame, 22-Rolling drive assembly, 221-Rolling drive component, 222-Transmission assembly, 2221-First gear, 2222-Second gear, 223-Roller, 23-Slider, 24-Positioning mating component, 25-First baffle, 26-Third bearing, 27-Retaining ring;

[0086] 3- Track mechanism, 31- Guide channel, 31a- Rolling track groove, 32- Track body, 33- Electromagnet, 34- Third support, 35- Photoelectric switch, 36- Connecting plate, 37- Track housing;

[0087] 4-Instrument storage, 41-Ready-for-use instrument compartment, 41a-Ready-for-use instrument entrance / exit, 41b-Main channel, 41c-First sub-channel, 41d-Second sub-channel, 42-Recycling compartment, 42a-Recycling instrument entrance / exit, 43-Main housing, 44-Rear cover, 45-Top cover, 46-Opening drive, 47-Pushing assembly, 471-Fourth bracket, 4711-Top plate, 4712-Side plate, 4713-Bottom plate, 4713a-Through hole, 472-Pushing drive, 473-Lead screw, 474-Lead nut, 475-Moving frame, 4751-Tray, 475a-Lead nut mounting hole, 475b-Third guide shaft hole, 476-Third coupling, 477-Third guide shaft, 478-Photoelectric sensor, 479-Second baffle;

[0088] 5-Machine, 51-Main body, 52-Extending part, 53-Limiting part;

[0089] 6-Technician robot, 61-Operating console, 611-Joystick, 612-Button, 62-Instrument channel, 63-Printing equipment, 64-Matching part;

[0090] 7-Laparoscope;

[0091] 8-Mounting bracket, 81-Base, 82-Support plate. Detailed Implementation

[0092] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0093] It should be noted that in this application, the terms "first" and "second" are used only to facilitate the description of two or more structures or components that are identical or similar in structure and / or function, and do not indicate any special limitation on order and / or importance.

[0094] In this application, "and / or" merely describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0095] In this application, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal connection between two components; it can be a mechanical connection or a communication connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0096] In this application, "multiple" means two or more.

[0097] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 27 and Figure 30 , Figure 1 A schematic diagram of the instrument loading and unloading device provided in an embodiment of the present invention from one perspective; Figure 2 A schematic diagram of the instrument loading and unloading device provided in an embodiment of the present invention from another perspective; Figure 3 This is a schematic diagram of the structure of the device provided in an embodiment of the present invention; Figure 27 This is a schematic diagram of the overall structure of the instrument storage unit in the instrument loading and unloading device provided in an embodiment of the present invention; Figure 30 for Figure 27 The instrument storage unit shown is a cross-sectional view along the main channel axis.

[0098] The instrument loading and unloading device provided in this embodiment is used for loading and unloading instrument 5 on the operating table 61. Instrument 5 can be a box-type instrument that encapsulates a disposable, long, straight instrument into a box, such as... Figure 3 As shown, it may specifically include a main body 51, an extension 52, and a limiting part 53. The main body 51 includes a box, in which the flexible body of a disposable, long, straight instrument is housed. The side wall of the box has an instrument outlet and a limiting part 53. The flexible body can extend from the instrument outlet to form the extension 52. The structure of the operating table 61 is not limited; for example, it can be as follows: Figure 1 and Figure 2 The operator console 61 of the technician robot 6 shown has an instrument channel 62, a mating part 64, and an instrument drive device. During installation, the instrument 5 mates with the instrument drive device, and the limiting part 53 and the mating part 64 cooperate to position the instrument 5 on the operator console 61. At the same time, the protrusion part 52 aligns with the instrument channel 62. After installation, the instrument drive device can provide driving force to the instrument 5 to realize the conveying operation of the flexible body and the rotation or opening and closing operation of the flexible body's remote actuator. After the flexible body extends from the instrument outlet, it can be sent into the endoscope 7 through the instrument channel 62.

[0099] In the embodiments provided in this application, such as Figure 1 and Figure 2As shown, the instrument loading and unloading device includes a loading and unloading mechanism 1, a moving mechanism 2, a track mechanism 3, and an instrument storage 4. The moving mechanism 2 is located on the track mechanism 3 and is connected to the loading and unloading mechanism 1. Figure 27 and Figure 30 As shown, the instrument storage 4 includes at least one ready-to-use instrument compartment 41 and at least one return compartment 42. The ready-to-use instrument compartment 41 is used to store ready-to-use instruments 5. The operating table 61, the ready-to-use instrument compartment 41, and the return compartment 42 are arranged along the movement direction of the track mechanism 3. The moving mechanism 2 is configured to drive the loading and unloading mechanism 1 to move along the movement direction of the track mechanism 3 to switch between an instrument retrieval station, an instrument loading and unloading station, and an instrument return station. The loading and unloading mechanism 1 is configured to retrieve the instrument 5 from the ready-to-use instrument compartment 41 at the instrument retrieval station, install the retrieved instrument 5 onto the operating table 61 or remove the instrument 5 installed on the operating table 61 at the instrument loading and unloading station, and send the removed instrument 5 into the return compartment 42 at the instrument return station.

[0100] In use, the moving mechanism 2 first drives the loading and unloading mechanism 1 to move on the track mechanism 3 to the instrument retrieval station. At the instrument retrieval station, the loading and unloading mechanism 1 retrieves the instrument 5 from the ready-to-use instrument compartment 41. Then, the moving mechanism 2 drives the loading and unloading mechanism 1 to move on the track mechanism 3 to the instrument loading and unloading station. At the instrument loading and unloading station, the loading and unloading mechanism 1 installs the retrieved instrument 5 onto the operating table 61. After the instrument 5 is used, the loading and unloading mechanism 1 disassembles the used instrument 5 at the instrument loading and unloading station. Then, the moving mechanism 2 drives the loading and unloading mechanism 1 to move on the track mechanism 3 to the instrument recycling station. At the instrument recycling station, the loading and unloading mechanism 1 sends the disassembled used instrument 5 into the recycling compartment 42.

[0101] Thus, the coordination of loading / unloading mechanism 1, moving mechanism 2, and track mechanism 3 enables loading / unloading mechanism 1 to freely switch between the instrument retrieval station, instrument loading / unloading station, and instrument recycling station. Combined with the configuration of loading / unloading mechanism 1, this achieves automatic retrieval, installation, disassembly, and recycling of instrument 5, improving the loading / unloading efficiency of instrument 5, reducing human contamination, and thus enhancing operational safety. Furthermore, at least one ready-to-use instrument compartment 41 and at least one recycling compartment 42 are provided in the instrument storage 4, enabling unified management of the instruments.

[0102] Please refer to this as well. Figures 4 to 6 , Figure 4 This is a schematic diagram of the overall structure of the loading and unloading mechanism in the instrument loading and unloading device provided in an embodiment of the present invention; Figure 5 for Figure 4 The front view of the loading and unloading mechanism shown; Figure 6 for Figure 4 The diagram shows the loading and unloading mechanism when the gripper releases the device.

[0103] In actual setup, the specific structure of loading and unloading mechanism 1 is not limited.

[0104] In the embodiments provided in this application, such as Figure 4 and Figure 5 As shown, the loading and unloading mechanism 1 includes a lifting drive assembly 11, a rotation drive assembly 12, and a clamping assembly 13. The clamping assembly 13 includes an opening and closing drive assembly 131 and a gripper assembly 132. The lifting drive assembly 11 is fixedly connected to the moving mechanism 2; the rotation drive assembly 12 is connected to the output end of the lifting drive assembly 11; the opening and closing drive assembly 131 is connected to the output end of the rotation drive assembly 12; and the gripper assembly 132 is connected to the output end of the opening and closing drive assembly 131. The lifting drive assembly 11 drives the gripper assembly 132 to lift and lower, and the rotation drive assembly 12 drives the gripper assembly 132 to rotate. Figure 6 As shown, the opening and closing drive assembly 131 is used to drive the gripper assembly 132 to close or open in order to grip or release the instrument 5.

[0105] During the instrument retrieval process, the moving mechanism 2 drives the loading and unloading mechanism 1 to the instrument retrieval station. The opening and closing drive assembly 131 drives the gripper assembly 132 to open, and the lifting drive assembly 11 drives the clamping assembly 13 to descend above the instrument 5. Then, the opening and closing drive assembly 131 drives the gripper assembly 132 to close, so that the gripper assembly 132 clamps the instrument 5. Then, the lifting drive assembly 11 drives the clamping assembly 13 to rise, removing the instrument 5 from the ready-to-use instrument compartment 41, completing the instrument retrieval operation.

[0106] During instrument installation, the moving mechanism 2 drives the loading and unloading mechanism 1, along with the instrument 5 taken out from the clamping assembly 13, to move above the operating table 61. The rotation drive assembly 12 drives the clamping assembly 13 to rotate the instrument 5, aligning the limiting part 53 and the protruding part 52 on the instrument 5 with the mating part 64 and the instrument channel 62 on the operating table 61, respectively. The lifting drive assembly 11 drives the instrument 5 to descend for docking and installation. The clamping assembly 13 docks the instrument 5 with the instrument drive device on the operating table 61, aligning the instrument outlet of the instrument 5 with the instrument channel 62. The opening and closing drive assembly 131 drives the gripper assembly 132 to open, and the lifting drive assembly 11 drives the clamping assembly 13 to rise, completing the docking and installation of the instrument 5 with the operating table 61. The operator operates the instrument 5 using the rocker arm 611 and / or button 612 on the operating table 61, causing the flexible body inside the main body 51 to enter the endoscope 7 through the instrument channel 62, completing the docking and installation of the instrument 5 with the endoscope 7.

[0107] During the disassembly and retrieval of the instrument, the operator uses the rocker arm 611 and / or button 612 on the control panel 61 to operate the used instrument 5, causing the flexible body to retract into the main body 51. Then, the printing device 63 on the control panel 61 is activated to print a label on the used instrument 5. After the label is printed, the lifting drive assembly 11 drives the clamping assembly 13 to descend above the instrument 5. Next, the opening and closing drive assembly 131 drives the gripper assembly 132 to close, so that the gripper assembly 132 clamps the instrument 5. Then, the lifting drive assembly 11 drives the clamping assembly 13 to rise, and after the limiting part 53 of the instrument 5 leaves the mating part 64 of the control panel 61, the disassembly operation of the instrument 5 is completed. Subsequently, the moving mechanism 2 drives the loading and unloading mechanism 1, together with the used instrument 5 gripped by the clamping assembly 13, to move to the instrument retrieval station. The rotation drive assembly 12 drives the clamping assembly 13 to rotate so that the position of the instrument 5 matches the shape of the retrieval chamber 42. The lifting drive assembly 11 drives the clamping assembly 13 to descend to the recycling device inlet 42a of the recycling bin 42. The opening and closing drive assembly 131 drives the gripper assembly 132 to release the device 5, so that the used device 5 falls into the recycling bin 42, completing the recycling operation of the device 5.

[0108] In this way, the cooperation of the various components of the loading and unloading mechanism 1 makes the entire process of taking out, installing, disassembling and recycling the instrument 5 smoother, and further improves the operating efficiency.

[0109] Please refer to this as well. Figure 7 and Figure 9 , Figure 7 for Figure 4 A schematic diagram showing the disassembled structure of the lifting drive component in the loading and unloading mechanism; Figure 9 for Figure 4 The loading and unloading mechanism shown is a cross-sectional view along the axial direction.

[0110] In actual setup, the specific structure of the lifting drive component 11 is not limited.

[0111] In the embodiments provided in this application, the lifting drive assembly 11 includes a mounting base 111, a lifting drive component 112, a first screw 114, a lifting plate 115, a fixing plate 116, at least one first guide shaft 117, and at least one second guide shaft 118. The mounting base 111, lifting plate 115, and fixing plate 116 are arranged sequentially from top to bottom; the lifting drive component 112 is fixed to the lower side of the mounting base 111; one end of the first screw 114 is fixedly connected to the output end of the lifting drive component 112; the lifting plate 115 is sleeved on the first screw 114 and forms a lead screw and nut pair with the first screw 114; the other end of the first screw 114 is rotatably connected to the fixing plate 116. One end of the first guide shaft 117 is connected to the mounting base 111, and the other end is connected to the fixed plate 116; the first guide shaft 117 is movably inserted through the lifting plate 115; one end of the second guide shaft 118 is connected to the lifting plate 115, and the other end is connected to the rotary drive assembly 12; the second guide shaft 118 is movably inserted through the fixed plate 116. The lifting drive assembly 112 is used to drive the first screw 114 to rotate, so as to drive the lifting plate 115 to rise and fall.

[0112] It is easy to understand that the lifting drive assembly 11 controls the raising and lowering of the lifting plate 115 through the lifting drive component 112. The lifting drive component 112 can be a motor, but this embodiment does not specify a particular motor. In use, the lifting drive component 112 drives the first screw 114 to rotate, thereby causing the lifting plate 115 to move up and down between the lifting drive component 112 and the fixed plate 116. During the movement of the lifting plate 115, the first guide shaft 117 provides guidance, ensuring a more stable and smooth up-and-down movement. The second guide shaft 118 also moves with the lifting plate 115, providing guidance and maintaining a more stable and smooth up-and-down movement, and also driving the lower rotary drive assembly 12 and the clamping assembly 13 to move up and down.

[0113] Thus, the lifting drive assembly 11 drives the clamping assembly 13 to rise and fall, allowing for flexible control of the clamping assembly 13's height. Simultaneously, the cooperation between the first guide shaft 117 and the lifting plate 115, and the cooperation between the second guide shaft 118 and the fixed plate 116, improves the stability and smoothness of the lifting plate 115's movement. Furthermore, the connections between the various parts of the lifting drive assembly 11 are more stable, and the overall structure is more compact, which helps save installation space.

[0114] It should be noted that, in the embodiments provided in this application, such as Figure 7As shown, preferably, there are two first guide shafts 117 and two second guide shafts 118. The two first guide shafts 117 are evenly spaced along the circumference of the lifting plate 115, and the two second guide shafts 118 are evenly spaced along the circumference of the fixed plate 116, which can further improve the stability of the lifting process.

[0115] Please refer to this as well. Figure 8 and Figure 10 , Figure 8 for Figure 4 A schematic diagram showing the disassembled structure of the rotary drive assembly and the clamping assembly in the loading and unloading mechanism shown. Figure 10 for Figure 9 An enlarged view of the loading and unloading mechanism at point A.

[0116] In actual setup, the specific structure of the opening and closing drive assembly 131 and the gripper assembly 132 is not limited.

[0117] In the embodiments provided in this application, such as Figures 4 to 6 as well as Figures 8 to 10 As shown, the opening / closing drive assembly 131 includes an opening / closing drive component 1311, a second bracket 1312, a second screw 1314, a nut (not shown), a first bearing 1316, a bearing fixing seat 1317, and a second bearing 1318; the gripper assembly 132 includes a nut fixing seat 1321, a gripping disc 1324, multiple connecting rods 1322, and multiple grippers 1323. The upper end of the second bracket 1312 is fixedly connected to the output end of the rotary drive assembly 12; the opening / closing drive component 1311 is disposed on the second bracket 1312; the second bracket 1312, the bearing fixing seat 1317, and the gripping disc 1324 are fixedly connected sequentially from top to bottom; one end of the second screw 1314 is fixedly connected to the output end of the opening / closing drive component 1311, and the other end is rotatably connected to the gripping disc 1324 via the second bearing 1318. Specifically, as shown... Figure 10 and Figure 11 As shown, the second bearing 1318 is fixed to the inner wall of the stepped hole at the top of the gripper plate 1324. The second screw 1314 is rotatably mounted in the bearing mounting seat 1317 via the first bearing 1316. Specifically, as shown... Figure 8 and Figure 10As shown, the bearing mounting base 1317 has an axially penetrating bearing mounting hole 1317a, and the first bearing 1316 is fixedly installed in the bearing mounting hole 1317a. A nut is sleeved on the second screw 1314, forming a screw-nut pair with the second screw 1314; the nut is located between the bearing mounting base 1317 and the gripper plate 1324; the nut mounting base 1321 is sleeved and fixed to the nut. Multiple connecting rods 1322 are evenly spaced along the circumference of the nut mounting base 1321; the number of connecting rods 1322 and grippers 1323 are the same and correspond one-to-one; one end of the connecting rod 1322 is hinged to the nut mounting base 1321, and the other end is hinged to one end of the gripper 1323; the gripper 1323 is hinged to the gripper plate 1324, and the other end of the gripper 1323 is used to hold the instrument 5. The opening and closing drive component 1311 can be a motor, but this embodiment does not specifically limit it.

[0118] It is easy to understand that the clamping assembly 13 controls the opening and closing of the gripper assembly 132 through the opening and closing drive assembly 131. In use, the opening and closing drive assembly 1311 drives the second screw 1314 to rotate, which can drive the nut to move up and down along the second screw 1314, thereby driving the nut fixing seat 1321 to move up and down. When the nut fixing seat 1321 moves upward, the nut fixing seat 1321 pulls the connecting rod 1322 upward, and the connecting rod 1322 drives the gripper 1323 to rotate, causing the ends of the gripper 1323 to move inward, thereby causing each gripper 1323 to retract inward, so that the gripper assembly 132 closes, thereby clamping the instrument 5. Conversely, when the nut fixing seat 1321 moves downward, it pushes the connecting rod 1322 downward, and the connecting rod 1322 drives the gripper 1323 to rotate, causing the ends of the gripper 1323 to move outward, thereby causing each gripper 1323 to unfold outward, thereby opening the gripper assembly 132, thereby releasing the instrument 5.

[0119] Thus, the second screw 1314, the nut fixing seat 1321, the connecting rod 1322 and the gripper 1324 work together to more accurately control the opening and closing action of the gripper 1323, and also make the opening and closing motion of the gripper 1323 more stable. Moreover, only one opening and closing drive component 1311 is needed to realize the clamping and releasing operation of the instrument 5, making the structure of the clamping assembly 13 compact.

[0120] It should be noted that, in the embodiments provided in this application, such as Figure 4 , Figure 5 , Figure 6 , Figure 8 and Figure 10 As shown, the bearing mounting base 1317 includes a mounting portion and a plurality of connecting portions extending downward from the mounting portion. The mounting portion is used to mount the first bearing 1316. The plurality of connecting portions are spaced apart circumferentially along the mounting portion and their lower ends are connected to the gripper plate 1324. Each gripper 1323 extends out from the gap between adjacent connecting portions.

[0121] like Figure 10 As shown, the nut fixing seat 1321 may have multiple fixing ears 13211 spaced circumferentially on its outer peripheral wall. The fixing ears 13211 extend radially along the nut fixing seat 1321, and the multiple fixing ears 13211 are respectively used to hinge with multiple connecting rods 1322.

[0122] like Figure 10 As shown, the gripper 1324 may have multiple connecting ears 13241 spaced circumferentially on its outer peripheral wall. The multiple connecting ears 13241 extend radially along the gripper 1324 and are used to hinge with multiple grippers 1323 respectively.

[0123] In actual installation, the specific structure of the rotary drive assembly 12 is not limited. In the embodiment provided in this application, the rotary drive assembly 12 includes a rotary drive member 121 and a first bracket 122. The first bracket 122 and the second guide shaft 118 are fixedly connected, the rotary drive member 121 is disposed on the first bracket 122, and the second bracket 1312 is connected to the output end of the rotary drive member 121.

[0124] The rotary drive component 121 can be a motor. In use, the rotary drive component 121 drives the second bracket 1312 to rotate, and the second bracket 1312 then drives the clamping assembly 13 to rotate.

[0125] Thus, the rotary drive assembly 12 provided in this application can more accurately control the rotation angle of the gripper 1323, and can also make the removal, installation, disassembly and recycling operations of the instrument 5 more precise, and can also make the structure of the loading and unloading mechanism 1 more compact.

[0126] Please refer to this as well. Figure 11 , Figure 11 for Figure 10 The enlarged view of the clamping assembly at point B.

[0127] In the embodiments provided in this application, such as Figure 10 and Figure 11As shown, the clamping assembly 13 also includes a first pressure sensor 133, a top plate 134, and a retaining ring 135. The first pressure sensor 133 is fixed to the lower surface of the gripping plate 1324, and the first pressure sensing surface 133a of the first pressure sensor 133 is located below the gripping plate 1324. The outer peripheral wall of the top plate 134 is provided with a first annular step 134a, with the step surface of the first annular step 134a facing downwards. The lower surface of the gripping plate 1324 is provided with an annular groove 1324a surrounding the first pressure sensor 133. The upper surface of the top plate 134 is provided with a first pressing groove 134b, and the portion of the top plate 134 outside the first pressing groove 134b is movably inserted into the annular groove 1324a. The retaining ring 135 is fixed to the lower surface of the gripping plate 1324 and sleeved on the top plate 134. In the initial state, the upper surface of the retaining ring 135 abuts against the step surface of the first annular step 134a. In the initial state, the upper surface of the top plate 134 and the bottom surface of the annular groove 1324a are spaced apart.

[0128] It is easy to understand that when the top plate 134 does not touch the device 5, the top plate 134 is in a natural downward state under its own gravity, and the step surface of the first annular step 134a of the top plate 134 abuts against the fixing ring 135.

[0129] In use, as the lifting drive assembly 11 drives the gripper assembly 132 to move downward, when the top plate 134 touches the instrument 5, it generates relative pressure with the instrument 5, causing the top plate 134 to move upward. The bottom surface of the first pressure groove 134b presses against the first pressure sensing surface 133a. The first pressure sensor 133 is used to detect the pressure here. When the pressure value reaches the preset pressure threshold, the lifting drive assembly 11 is turned off, causing the gripper assembly 132 to stop descending. Then, the opening and closing drive assembly 1311 is activated to drive the gripper assembly 132 to close together to clamp the instrument 5.

[0130] Thus, the first pressure sensor 133 can detect whether the gripper assembly 132 is in contact with the instrument 5, and can promptly shut off the lifting drive assembly 11 and activate the gripper assembly 132 to grasp the instrument 5 under appropriate contact force, thereby improving the instrument grasping efficiency. In addition, the first top pressure groove 134b and the annular groove 1324a make the structure of the clamping assembly 13 more compact.

[0131] In the embodiments provided in this application, such as Figure 10 and Figure 11As shown, the clamping assembly 13 also includes a second pressure sensor 136, a contact block 137, and a cover plate 138. The end of the gripper 1323 has a through mounting hole 1323a; the contact block 137 is movably inserted into the mounting hole 1323a and partially located inside the clamping surface of the gripper 1323; a second pressure groove 137a is provided on the side of the contact block 137 away from the clamping surface; the cover plate 138 is fixed to the side of the gripper 1323 away from the clamping surface and covers the mounting hole 1323a; the second pressure sensor 136 is disposed within the mounting hole 1323a, and the second pressure sensing surface 136a of the second pressure sensor 136 is located within the second pressure groove 137a. The second pressure sensor 136 is fixed to the cover plate 138; the inner peripheral wall of the mounting hole 1323a is provided with a second annular step with the stepped surface facing the cover plate 138, and the outer peripheral wall of the contact block 137 is provided with a third annular step with the stepped surface facing away from the cover plate 138; in the initial state, the stepped surface of the third annular step abuts against the stepped surface of the second annular step, and the end face of the contact block 137 away from the clamping surface has a gap with the cover plate 138.

[0132] It is easy to understand that when the contact block 137 touches the instrument 5 and generates relative pressure with the instrument 5, the contact block 137 moves away from the clamping surface under the pressure, thereby applying pressure to the second pressure sensing surface 136a.

[0133] During use, as the grippers 1323 close, the gripping part of the grippers 1323 retracts inward. When the contact block 137 touches the instrument 5 and generates relative pressure on the instrument 5, the contact block 137 moves towards the cover plate 138. The bottom surface of the second pressure groove 137a presses against the second pressure sensing surface 136a. The second pressure sensor 136 detects the pressure at this point. When the pressure value reaches the set pressure threshold, the opening and closing drive 1311 is closed, completing the gripping action.

[0134] Thus, the second pressure sensor 136 can detect whether the gripper 1323 is gripping the instrument 5, which can improve the stability of the gripping action of the instrument 5. In addition, the second top pressure groove 137a makes the structure of the clamping assembly 13 more compact.

[0135] In the embodiments provided in this application, such as Figure 5 and Figure 10 As shown, the opening and closing drive assembly 131 is equipped with a magnetic induction sensor 139, and the instrument 5 is equipped with a magnet. The magnetic induction sensor 139 is used to detect the position of the magnet during the rotation of the clamping assembly 13. After the magnetic induction sensor 139 detects the magnet, it controls the rotation drive assembly 12 to close.

[0136] During the instrument removal process, the rotary drive assembly 12 can be activated to drive the clamping assembly 13 to rotate. The clamping assembly 13 drives the detection sensor 139 to rotate. During the rotation, the detection sensor 139 is used to detect the magnet on the instrument 5. When the detection sensor 139 detects the magnet on the instrument 5, the rotary drive assembly 12 is controlled to close, and then the clamping assembly 13 is controlled to grab the instrument. Thus, the relative position between the loading and unloading mechanism 1 and the instrument 5 can be determined by the detection sensor 139.

[0137] During the instrument installation process, the rotary drive assembly 12 can be activated to drive the clamping assembly 13 to rotate, aligning the limiting part 53 on the instrument 5 with the mating part 64 on the operating table 61, and aligning the protruding part 52 on the instrument 5 with the instrument channel 62 on the operating table 61. After the above alignment operation is completed, the rotary drive assembly 12 is controlled to close, and then the lifting drive assembly 11 drives the clamping assembly 13 to descend, docking the instrument 5 with the instrument drive device on the operating table 61. Thus, the accuracy of docking between the instrument 5 and the instrument drive device on the operating table 61 can be improved by the detection sensor 139.

[0138] During the disassembly and retrieval of the instrument, the relative position between the loading / unloading mechanism 1 and the instrument 5 is first determined by the detection sensor 139, and then the loading / unloading mechanism 1 moves the instrument 5 to the instrument retrieval station. Finally, the rotation drive assembly 12 drives the clamping assembly 13 to rotate so that the position of the instrument 5 matches the shape of the retrieval chamber 42.

[0139] Thus, by setting a magnetic induction sensor 139 on the opening and closing drive assembly 131, this application can not only ensure the accuracy of removal and installation during the removal and installation of the instrument 5, but also improve the success rate of recovery during the disassembly and recovery of the instrument 5.

[0140] Please refer to this as well. Figures 12 to 19 , Figure 12 This is a schematic diagram of the moving mechanism in the instrument loading and unloading device provided in the embodiment of the present invention; Figure 13 for Figure 12 A bottom view of the moving mechanism shown; Figure 14 for Figure 12 Top view of the moving mechanism shown; Figure 15 for Figure 12 Side view of the moving mechanism shown; Figure 16 for Figure 12 A cross-sectional view of the centerline of the two positioning and mating parts arranged along the direction of movement of the moving mechanism shown. Figure 17 for Figure 12 Exploded view of the moving mechanism shown; Figure 18 A bottom view of the track mechanism in the instrument loading and unloading device provided in an embodiment of the present invention ( Figure 18The image shows the state of the moving mechanism 2 when it moves along the track mechanism 3 to the starting point, the turning point, and the ending point, respectively. This does not imply that there are three moving mechanisms 2; there is only one moving mechanism 2. Figure 19 for Figure 18 The top view of the track mechanism shown.

[0141] In actual setup, the specific structures of track mechanism 3 and moving mechanism 2 are not limited.

[0142] In the embodiments provided in this application, such as Figure 1 and Figure 18 As shown, the track mechanism 3 includes a track body 32, which is located above the instrument magazine 4. At least one guide channel 31 extending along the direction of movement is formed on the lower surface of the track body 32. Figures 12 to 17 As shown, the moving mechanism 2 includes a fixed frame 21, a rolling drive assembly 22, and at least one slider 23. The rolling drive assembly 22 is disposed on the fixed frame 21 and rolls in engagement with the lower surface of the track body 32; the slider 23 is disposed on the upper end of the fixed frame 21 and is slidably connected to the guide channels 31 in the same number and corresponding manner; the loading and unloading mechanism 1 is connected to the lower end of the fixed frame 21; the rolling drive assembly 22 is configured to roll along the track body 32 to drive the slider 23 to slide along the guide channel 31, thereby driving the loading and unloading mechanism 1 to move along the guide channel 31.

[0143] In use, the rolling drive assembly 22 on the moving mechanism 2 is activated. Under the rolling cooperation of the rolling drive assembly 22 and the track body 32 on the track mechanism 3, the slider 23 slides along the guide channel 31, thereby moving the entire moving mechanism 2 in the moving direction of the track mechanism 3, and subsequently driving the loading / unloading mechanism 1 to move along the guide channel 31. The moving direction of the track mechanism 3 is the length direction of the guide channel 31. After the moving mechanism 2 reaches the target position, the rolling drive assembly 22 is deactivated. The target position is one of the following: the instrument retrieval station, the instrument loading / unloading station, or the instrument recovery station.

[0144] Thus, the rolling drive assembly 22 drives the loading and unloading mechanism 1 to move along the guide channel 31, allowing the loading and unloading mechanism 1 to switch more flexibly between different workstations, which helps improve the efficiency of instrument loading and unloading operations. At the same time, the sliding cooperation between the guide channel 31 and the slider 23 guides the movement of the moving mechanism 2, ensuring the stability of the movement process. In addition, the above-mentioned structural design of the track mechanism 3 and the moving mechanism 2 makes the overall structure of the device more compact, which helps to save installation space for the instrument loading and unloading device.

[0145] In actual setup, the specific structure of the rolling drive component 22 is not limited.

[0146] In the embodiments provided in this application, such as Figures 12 to 17As shown, the rolling drive assembly 22 includes a rolling drive member 221, a transmission assembly 222, and a roller 223. The rolling drive member 221 is fixed to the fixed frame 21, and its output end is connected to the transmission assembly 222. The output end of the transmission assembly 222 is connected to the roller 223. The roller 223 is at least partially located on the upper side of the fixed frame 21, its rolling surface abuts against the lower surface of the track body 32, and its axis is perpendicular to the direction of movement of the guide channel 31. The rolling drive member 221 is configured to drive the roller 223 to rotate via the transmission assembly 222.

[0147] It is easy to understand that the rolling drive 221 provides the driving force for the displacement of the moving mechanism 2. In use, the rolling drive 221 outputs the driving force, and the transmission component 222 transmits the driving force to the roller 223. Since the roller 223 rolls against the track body 32 on the track mechanism 3, the moving mechanism 2 is displaced on the track mechanism 3 under the drive of the roller 223.

[0148] Thus, the setting of the rolling drive component 22 can realize the stable, flexible and controllable movement of the moving mechanism 2 on the track mechanism 3, thereby enabling the loading and unloading mechanism 1 to move stably and flexibly along the track mechanism 3, and the movement position can be precisely controlled to the corresponding work station.

[0149] It should be noted that, in the embodiments of this application, as Figure 12 and Figure 17 As shown, the transmission assembly 222 includes a first gear 2221 and a second gear 2222. The rolling drive 221 can be a motor. The roller 223 is rotatably mounted on the fixed frame 21 via a rotating shaft. The first gear 2221 is connected to the output end of the rolling drive 221, and the second gear 2222 is fixed on the rotating shaft of the roller 223. The first gear 2221 and the second gear 2222 mesh. In this way, the rolling drive 221 drives the first gear 2221 to rotate, and the power is transmitted to the roller 223 more accurately and stably via the second gear 2222.

[0150] In the embodiments provided in this application, such as Figures 12 to 17 As shown, the moving mechanism 2 also includes a first baffle 25. Figure 18 and Figure 19 As shown, the track mechanism 3 also includes multiple photoelectric switches 35. A first baffle 25 is located on the side of the fixed frame 21, and at least partially on one side of the track body 32; the photoelectric switches 35 are located on the side of the track body 32, and the first baffle 25 can block the light path emitted by the photoelectric switches 35 during the movement stroke of the moving mechanism 2; a photoelectric switch 35 is located above the operating table 61, the standby instrument compartment 41, and the recovery compartment 42, respectively. When the first baffle 25 blocks the photoelectric switches 35, the rolling drive assembly 22 is closed, thereby stopping the movement of the moving mechanism 2.

[0151] In use, when the moving mechanism 2 passes by each photoelectric switch 35, the photoelectric switch 35 will send a signal to the controller because the first baffle 25 blocks the light path emitted by the photoelectric switch 35. When the controller determines that the received signal is sent by the photoelectric switch 35 at the target position, it controls the moving mechanism 2 to stop moving.

[0152] Thus, the cooperation between the photoelectric switch 35 and the first baffle 25 can position the moving mechanism 2 to the target position, thereby improving the positioning accuracy of the loading and unloading mechanism 1 at the instrument retrieval station, the instrument recovery station, and the instrument loading and unloading station.

[0153] Please refer to this as well. Figure 26 , Figure 26 for Figure 19 The diagram shows the disassembled structure of the track mechanism.

[0154] In the embodiments provided in this application, such as Figures 12 to 17 As shown, the moving mechanism 2 also includes at least one positioning mating member 24. (As indicated...) Figure 26 As shown, the track mechanism 3 also includes multiple magnet assemblies, each magnet assembly including at least one electromagnet 33 and at least one third bracket 34. A magnet assembly 33 is located above each of the operating table 61, each standby instrument compartment 41, and each recovery compartment 42; a positioning fitting 24 is located at the upper end of the fixing frame 21; the electromagnet 33 is fixed to the upper side of the track body 32 via the third bracket 34.

[0155] The positioning fitting 24 is made of a ferromagnetic material, such as iron; however, this embodiment does not specify a particular material. The number of electromagnets 33 in the positioning fitting 24 and the magnet assembly are the same and correspond one-to-one. The electromagnets 33 are located above the moving trajectory of the positioning fitting 24. When the first baffle 25 blocks the photoelectric switch 35, the corresponding electromagnet 33 is energized.

[0156] In use, the moving mechanism 2 drives the positioning mating part 24 to move along the track mechanism 3. When the moving mechanism 2 moves to the target position, such as above the waiting instrument compartment 41, the recovery compartment 42, or the operating table 61, the first baffle 25 blocks the photoelectric switch 35, controls the electromagnet 33 to be energized so that it can attract the positioning mating part 24, and at the same time, controls the moving mechanism 2 to stop moving.

[0157] Thus, by cooperating with the electromagnet 33 and the positioning fitting 24, this application can fix the moving mechanism 2 after it stops moving, making the loading and unloading operation of the loading and unloading mechanism 1 more stable and less prone to shaking.

[0158] In the embodiments provided in this application, such as Figure 12 , Figure 14 and Figure 17As shown, there are two positioning and mating parts 24, such as... Figure 26 As shown, the magnet assembly includes two electromagnets 33. One positioning fitting 24 is set separately, and the other positioning fitting 24 is coaxially inserted into the top of one of the sliders 23. The two positioning fittings 24 are arranged along the moving direction, and the two electromagnets 33 are arranged along the moving direction.

[0159] When in use, when the moving mechanism 2 moves to the target position, such as above the waiting instrument compartment 41, the recovery compartment 42, or the operating table 61, the corresponding two electromagnets 33 are simultaneously energized, so that the two positioning mating parts 24 arranged along the moving direction are simultaneously attracted.

[0160] Thus, by setting two positioning mating parts 24 arranged along the moving direction, and two electromagnets 33 corresponding to the positioning mating parts 24, the stability of the moving mechanism 2 after it stops moving and is fixed at the target position can be further improved, thereby further improving the stability of the loading and unloading mechanism 1 in the instrument take-out station, instrument recovery station and instrument loading and unloading station.

[0161] Please refer to this as well. Figures 20 to 25 , Figure 20 This is a side view of the track body in the track mechanism provided in an embodiment of the present invention; Figure 21 for Figure 18 Cross-sectional view at the center of the bearing; Figure 22 for Figure 21 An enlarged view of the track mechanism at point C; Figure 23 for Figure 22 Enlarged view at point E; Figure 24 for Figure 21 An enlarged view of the track mechanism at point D; Figure 25 for Figure 24 Enlarged view at point F.

[0162] In the embodiments provided in this application, such as Figure 20 and Figure 21 As shown, there are three guide channels 31, which are spaced apart along the width direction of the track body 32. The first slider 23 and the second slider 23 are spaced apart along the width direction of the track body 32, and the third slider 23 is located between the first slider 23 and the second slider 23 on one side of the length direction of the track body 32.

[0163] In use, the three sliders 23 slide simultaneously in the three guide channels 31, causing the moving mechanism 2 to move in the moving direction of the track mechanism 3.

[0164] Thus, the combination of the three sliders 23 and the three guide channels 31 in this application can not only increase the number of engagement points between the moving mechanism 2 and the track mechanism 3, but also further improve the stability of the moving mechanism 2 during its movement along the guide channel 31 and ensure the levelness of the moving mechanism 2.

[0165] In the embodiments provided in this application, such as Figure 12 and Figure 14 As shown, the moving mechanism 2 also includes at least one third bearing 26 and at least one retaining ring 27. The number of third bearings 26, retaining rings 27, and sliders 23 are the same and correspond one-to-one; the third bearing 26 is rotatably sleeved on the slider 23; the retaining ring 27 is fixedly sleeved on the slider 23 and located above the third bearing 26. Figure 20 As shown, two rolling track grooves 31a are symmetrically provided on both sides of the guide channel 31, and the third bearing 26 is located in the guide channel 31 and is rolled on the two rolling track grooves 31a.

[0166] Thus, by utilizing the rolling engagement of the third bearing 26 and the rolling track grooves 31a on both sides of the guide channel 31, this application can reduce the frictional resistance between the slider 23 and the guide channel 31, thereby reducing the resistance experienced by the rolling drive assembly 22 and improving the flexibility of the moving mechanism 2 on the track mechanism 3. Simultaneously, the abutting engagement between the end face of the third bearing 26 and the side wall of the rolling track groove 31a ensures the stability and reliability of the moving mechanism 2 on the track mechanism 3.

[0167] It should be noted that, in the embodiments provided in this application, such as Figures 21 to 25 As shown, the track mechanism 3 can be an L-shaped curved structure, such as... Figure 18 and Figure 19 As shown, the three guide channels 31 and three sliders 23 cooperate to allow the moving mechanism 2 to adapt to different track shapes during movement. The moving mechanism 2 moves along the track mechanism 3 to the starting point, the turning point, and the ending point. The end corresponding to the short side of the L-shaped structure is the starting point, and the end corresponding to the long side is the ending point. The operating platform 61 can be placed below the starting point, and the waiting equipment compartments 41 and the recovery compartments 42 can be arranged sequentially along the long side. During the above movement process, as... Figure 22 and Figure 23 As shown, when the moving mechanism 2 performs linear motion, the third bearing 26 in the two guide channels 31 on both sides and the outer wall of the corresponding guide channel 31 are in tangential rolling contact; as Figure 24 and Figure 25 As shown, when the moving mechanism 2 turns, the third bearing 26 in the two guide channels 31 on both sides rolls tangentially with the inner wall of the corresponding guide channel 31. In a specific configuration, space can be left between the inner wall of the guide channel 31 and the third bearing 26 to facilitate the turning of the moving mechanism 2.

[0168] In the embodiments provided in this application, such as Figure 1 and Figure 2 As shown, the instrument loading and unloading device also includes a mounting frame 8. Multiple connecting plates 36 are provided on one side of the track body 32. The instrument storage 4 is fixed to the mounting frame 8, and the multiple connecting plates 36 are connected to the mounting frame 8. The mounting frame 8 specifically includes a base 81 and multiple support plates 82. The bottom ends of the multiple support plates 82 are fixedly connected to the base 81, and the instrument storage 4 can be installed on the base 81. The ends of the multiple connecting plates 36 of the track mechanism 3 are respectively connected to the top ends of the multiple support plates 82.

[0169] In use, the connecting plate 36 is used to suspend the track mechanism 3, providing support for it. The mounting bracket 8 provides support for the instrument magazine 4. Thus, the above structural design achieves a compact structure while also improving the stability of instrument loading and unloading operations.

[0170] In the embodiments provided in this application, such as Figure 1 , Figure 2 , Figure 19 and Figure 26 As shown, the track mechanism 3 also includes a track housing 37, the lower end of which is open and fixed above the track body 32.

[0171] Specifically, the aforementioned electromagnetic components are located inside the track housing 37. In this way, the track housing 37 can cover the electromagnetic components to shield them from electromagnetic interference from the external environment, ensuring the smooth operation of the electromagnet 33.

[0172] Please refer to this as well. Figures 31 to 35 , Figure 31 for Figure 27 The diagram shows the breakdown structure of the instrument library. Figure 32 This is a schematic diagram of the push component in the instrument library provided in an embodiment of the present invention; Figure 33 for Figure 32 The main view of the push component is shown below; Figure 34 for Figure 32 The side view of the push component shown; Figure 35 for Figure 32 The diagram shows the split structure of the push component.

[0173] In the embodiments provided in this application, such as Figure 31 As shown, the instrument library 4 includes at least one pusher component 47. Figures 32 to 35As shown, the pushing assembly 47 includes a fourth bracket 471, a pushing drive component 472, a lead screw 473, a lead screw nut 474, and a moving frame 475. The fourth bracket 471 includes a top plate 4711, a bottom plate 4713, and two side plates 4712; the two sides of the top plate 4711 are fixed to the upper ends of the two side plates 4712 respectively; the lower ends of the two side plates 4712 are fixed to the two sides of the bottom plate 4713 respectively. The upper end of the lead screw 473 is rotatably connected to the top plate 4711; the bottom plate 4713 is provided with a through hole 4713a, and the push drive 472 is provided on the lower side of the bottom plate 4713. The output shaft of the push drive 472 is rotatably passed through the bottom plate 4713 through the through hole 4713a and is fixedly connected to the lower end of the lead screw 473; a tray 4751 is provided on one side of the moving frame 475, and a lead screw nut mounting hole 475a is provided on the moving frame 475; the lead screw nut 474 is fixed in the lead screw nut mounting hole 475a; the lead screw nut 474 is sleeved on the lead screw 473 and forms a lead screw nut pair with the lead screw 473; the number of push components 47 and the number of ready-to-use instrument compartments 41 are the same and correspond one-to-one. The tray 4751 is at least partially located inside the ready-to-use instrument compartment 41, and the tray 4751 is used to hold ready-to-use instruments 5.

[0174] It is easy to understand that the pushing component 47 is used to push the instruments 5 to be used upwards within the instrument storage compartment 41, making it convenient for the loading and unloading mechanism 1 to grasp the instruments 5. In use, multiple instruments 5 are stacked on the tray 4751 from top to bottom. The pushing drive component 472 can be a motor. Activating the pushing drive component 472 drives the lead screw 473 to rotate, causing the lead screw nut 474 to rise, thereby causing the moving frame 475 to rise, and further causing the instruments 5 to be used on the tray 4751 to move upwards as well. When the topmost instrument 5 on the tray 4751 is pushed to a preset position, for example, with the upper part of the instrument access 41a exposed, the pushing drive component 472 is deactivated.

[0175] Thus, the push component 47 can accurately push the instrument 5 to the preset position, making it easier for the loading and unloading mechanism 1 to take out the instrument 5.

[0176] In the embodiments provided in this application, such as Figures 32 to 35 As shown, the pushing component 47 also includes a third guide shaft 477; the upper end of the third guide shaft 477 is fixed to the top plate 4711 and the lower end is fixed to the bottom plate 4713; the third guide shaft 477 is movably inserted through the movable frame 475.

[0177] In use, the movable frame 475 moves up and down along the direction of the third guide shaft 477. In this way, the third guide shaft 477 can provide guidance for the movement of the movable frame 475 to improve the stability of the movable frame 475 during the movement process, thereby improving the stability of pushing the ready-to-use device 5 on the tray 4751 and reducing the risk of the ready-to-use device 5 getting stuck in the ready-to-use device compartment 41.

[0178] In the embodiments provided in this application, such as Figures 32 to 35 As shown, the pushing assembly 47 also includes a second baffle 479 and multiple photoelectric sensors 478. The multiple photoelectric sensors 478 are evenly spaced from top to bottom on one side of the side plate 4712, and the spacing is consistent with the height of the instrument 5 to be used; one end of the second baffle 479 is fixedly connected to the moving frame 475, and the second baffle 479 can block the light path emitted by the photoelectric sensor 478 during its upward movement.

[0179] In use, when the pushing component 47 pushes the device 5 upward by the height of the device 5, the second baffle 479 blocks the output light path of the photoelectric sensor 478 at the corresponding position. The photoelectric sensor 478 sends a blocking signal to the controller, and the controller generates a shut-off signal and sends it to the pushing drive 472. When the pushing drive 472 receives the shut-off signal, it stops working.

[0180] Thus, the arrangement of multiple photoelectric sensors 478 and the second baffle 479 improves the pushing accuracy of the instrument 5 in the instrument compartment 41, enhances the convenience of instrument retrieval, and improves the smoothness of instrument retrieval.

[0181] Please refer to this as well. Figure 28 and Figure 29 , Figure 28 for Figure 27 The front view of the instrument library shown; Figure 29 for Figure 27 The side view of the instrument library shown.

[0182] In actual setup, the specific structure of instrument library 4 is not limited.

[0183] In the embodiments provided in this application, the instrument storage 4 further includes a main housing 43, multiple top covers 45, and multiple opening drive units 46. The top of the main housing 43 is open, and a retrieval chamber 42 is detachably disposed within the main housing 43, with its open top forming a retrieval instrument inlet / outlet 42a. A standby instrument chamber 41 is located within the main housing 43, with its open top forming a standby instrument inlet / outlet 41a. Multiple top covers 45 are placed over the top of the main housing 43, and each standby instrument inlet / outlet 41a and each retrieval instrument inlet / outlet 42a corresponds to one top cover 45. The number of opening drive units 46 and the number of top covers 45 are the same and correspond one-to-one. The opening drive units 46 are fixed to the main housing 43, and their output ends are fixedly connected to the top covers 45. The opening drive units 46 are used to drive the top covers 45 to rotate, thereby opening or closing the top covers 45.

[0184] It is easy to understand that the installation of covers 45 at each ready-to-use instrument inlet / outlet 41a and each recycled instrument inlet / outlet 42a ensures a hygienic environment for the instrument storage 4. In use, when the photoelectric switch 35 detects the moving mechanism 2 in position, it controls the corresponding cover-opening drive 46 to open the corresponding cover 45. Then, ready-to-use instruments 5 can be retrieved from the ready-to-use instrument inlet / outlet 41a, or used instruments 5 can be placed into the recycled instrument inlet / outlet 42a. When the recycled instrument bin 42 is full of instruments 5, the cover 45 can be opened, the recycled instrument bin 42 removed from the main housing 43, and a new recycled instrument bin 42 can be inserted into the main housing 43.

[0185] In this way, the top cover 45 of the ready-to-use instrument compartment 41 or the retrieval compartment 42 corresponding to the instrument grabbing operation can be automatically controlled to open, so as to ensure the efficiency of instrument grabbing and retrieval operations while maintaining a hygienic environment within the instrument storage 4. At the same time, the instrument storage 4 can replenish the ready-to-use instruments 5 after they are used up in the ready-to-use instrument compartment 41, and can replace the retrieval compartment 42 when it is full, thereby improving the reuse rate of the instrument storage 4 and reducing the operating cost of the instrument loading and unloading device.

[0186] In the embodiments of this application, such as Figure 31 As shown, the standby instrument compartment 41 has a standby instrument accommodating space. The upper end of the standby instrument accommodating space is open, forming the standby instrument inlet / outlet 41a. The standby instrument accommodating space includes a main channel 41b, a first sub-channel 41c, and a second sub-channel 41d that are interconnected. The first sub-channel 41c extends to the rear side wall of the main housing 43. During installation, the tray 4751 of the pushing assembly 47 enters the main channel 41b through the first sub-channel 41c. The main body 51 of the instrument 5 is located in the main channel 41b, the limiting part 53 is located in the first sub-channel 41c, and the protruding part 52 is located in the second sub-channel 41d. During the lifting and lowering of the instrument 5, each part of the instrument 5 moves along its corresponding channel, which can improve the stability of the instrument 5 in the standby instrument accommodating space and facilitate the loading and unloading mechanism 1 to grasp it. It also helps to protect the protruding part 52 from collision and damage during the movement of the instrument 5.

[0187] In this embodiment of the application, the recycling instrument inlet 42a of the recycling bin 42 is flush with the upper surface of the main housing 43, which facilitates the recycling operation of the loading and unloading mechanism 1.

[0188] It should be noted that, in the embodiments provided in this application, such as Figure 30 and Figure 31 As shown, the instrument storage 4 is equipped with multiple ready-to-use instrument bins 41 and multiple return bins 42. The multiple ready-to-use instrument bins 41 are arranged along the length of the track mechanism 3, and the multiple return bins 42 are arranged along the length of the track mechanism 3.

[0189] In use, the instrument storage 4 can also be equipped with corresponding ready-to-use instrument compartments 41 and / or retrieval compartments 42 according to the types of instruments 5, to adapt to different endoscopic examination and treatment needs. Before endoscopic examination or treatment, the types of instruments 5 to be used and their storage locations in the instrument storage 4 can be determined, i.e., the location of the target ready-to-use instrument compartment 41 can be determined. Then, the moving mechanism 2 drives the loading and unloading mechanism 1 to the target instrument retrieval station corresponding to the location of the target ready-to-use instrument compartment 41; and then the loading and unloading mechanism 1 retrieves the target type of instrument 5 from the target ready-to-use instrument compartment 41.

[0190] Thus, by classifying the instrument storage compartment 41 and / or the recovery compartment 42 in the instrument storage compartment 4, this application can adapt to different endoscopic examination and treatment needs, thereby improving the utilization rate of the instrument loading and unloading device.

[0191] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the apparatus and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A device for loading and unloading instruments (5) on an operating table (61), characterized in that, It includes a loading and unloading mechanism (1), a moving mechanism (2), a track mechanism (3), and an equipment storage (4); The moving mechanism (2) is located on the track mechanism (3), and the moving mechanism (2) is connected to the loading and unloading mechanism (1); The instrument storage (4) includes at least one ready-to-use instrument compartment (41) and at least one recycling compartment (42), wherein the ready-to-use instrument compartment (41) is used to store the ready-to-use instruments (5); the operating table (61), the ready-to-use instrument compartment (41) and the recycling compartment (42) are arranged along the moving direction of the track mechanism (3); The moving mechanism (2) is configured to drive the loading and unloading mechanism (1) to move along the moving direction of the track mechanism (3) to switch between the instrument take-out station, the instrument loading and unloading station and the instrument recovery station. The loading and unloading mechanism (1) is configured to be able to take out the instrument (5) in the instrument standby compartment (41) at the instrument take-out station, and to install the taken-out instrument (5) onto the operating table (61) or to disassemble the instrument (5) installed on the operating table (61) at the instrument loading and unloading station, and to send the disassembled instrument (5) into the recycling compartment (42) at the instrument recycling station.

2. The instrument loading and unloading device according to claim 1, characterized in that, The loading and unloading mechanism (1) includes a lifting drive assembly (11), a rotation drive assembly (12), and a clamping assembly (13); the clamping assembly (13) includes an opening and closing drive assembly (131) and a gripper assembly (132). The lifting drive assembly (11) is fixedly connected to the moving mechanism (2), the rotation drive assembly (12) is connected to the output end of the lifting drive assembly (11), the opening and closing drive assembly (131) is connected to the output end of the rotation drive assembly (12), and the gripper assembly (132) is connected to the output end of the opening and closing drive assembly (131). The lifting drive assembly (11) is used to drive the gripper assembly (132) to lift and lower, and the rotation drive assembly (12) is used to drive the gripper assembly (132) to rotate; the opening and closing drive assembly (131) is used to drive the gripper assembly (132) to close or open, so as to clamp or release the instrument (5).

3. The instrument loading and unloading device according to claim 2, characterized in that, The lifting drive assembly (11) includes a mounting base (111), a lifting drive component (112), a first screw (114), a lifting plate (115), a fixing plate (116), at least one first guide shaft (117), and at least one second guide shaft (118). The mounting base (111), the lifting plate (115), and the fixing plate (116) are arranged sequentially from top to bottom; the lifting drive component (112) is fixed to the lower side of the mounting base (111); one end of the first screw (114) is fixedly connected to the output end of the lifting drive component (112); the lifting plate (115) is sleeved on the first screw (114) and forms a screw-nut pair with the first screw (114); the other end of the first screw (114) is rotatably connected to the fixing plate (116); One end of the first guide shaft (117) is connected to the mounting base (111), and the other end is connected to the fixing plate (116); the first guide shaft (117) is movably inserted through the lifting plate (115). One end of the second guide shaft (118) is connected to the lifting plate (115), and the other end is connected to the rotary drive assembly (12); the second guide shaft (118) is movably inserted through the fixed plate (116). The lifting drive component (112) is used to drive the first screw (114) to rotate, so as to drive the lifting plate (115) to rise and fall.

4. The instrument loading and unloading device according to claim 3, characterized in that, The opening and closing drive assembly (131) includes an opening and closing drive component (1311), a second bracket (1312), a second screw (1314), a nut, a first bearing (1316), a bearing fixing seat (1317), and a second bearing (1318); the gripper assembly (132) includes a nut fixing seat (1321), a gripper plate (1324), multiple connecting rods (1322), and multiple grippers (1323). The upper end of the second bracket (1312) is fixedly connected to the output end of the rotary drive assembly (12); the opening and closing drive member (1311) is disposed on the second bracket (1312); the second bracket (1312), the bearing fixing seat (1317) and the gripper plate (1324) are fixedly connected from top to bottom; one end of the second screw (1314) is fixedly connected to the output end of the opening and closing drive member (1311), and the other end is rotatably connected to the gripper plate (1324) through the second bearing (1318), and the second screw (1314) is rotatably passed through the bearing fixing seat (1317) through the first bearing (1316). The nut is sleeved on the second screw (1314) and forms a screw-nut pair with the second screw (1314); the nut is located between the bearing fixing seat (1317) and the gripper plate (1324); the nut fixing seat (1321) is sleeved and fixed on the nut; Multiple connecting rods (1322) are evenly spaced along the circumference of the nut fixing seat (1321); the number of connecting rods (1322) and the number of grippers (1323) are the same and correspond one-to-one; one end of the connecting rod (1322) is hinged to the nut fixing seat (1321), and the other end is hinged to one end of the gripper (1323); the gripper (1323) is hinged to the gripper plate (1324), and the other end of the gripper (1323) is used to hold the instrument (5).

5. The instrument loading and unloading device according to claim 4, characterized in that, The clamping assembly (13) further includes a first pressure sensor (133), a top plate (134), and a retaining ring (135); the first pressure sensor (133) is fixed to the lower surface of the gripping plate (1324), and the first pressure sensing surface (133a) of the first pressure sensor (133) is located below the gripping plate (1324); the outer peripheral wall of the top plate (134) is provided with a first annular step (134a), and the step surface of the first annular step (134a) faces downward; the lower surface of the gripping plate (1324) is provided with an annular groove (135) surrounding the first pressure sensor (133). 24a); the upper surface of the top plate (134) is provided with a first pressing groove (134b), and the portion of the top plate (134) outside the first pressing groove (134b) is movably inserted into the annular groove (1324a); the fixing ring (135) is fixed to the lower surface of the gripper plate (1324) and sleeved on the top plate (134), and in the initial state, the upper surface of the fixing ring (135) abuts against the step surface of the first annular step (134a); in the initial state, the upper surface of the top plate (134) and the bottom surface of the annular groove (1324a) have a gap; and / or, The clamping assembly (13) further includes a second pressure sensor (136), a contact block (137), and a cover plate (138); the end of the gripper (1323) is provided with a through mounting hole (1323a); the contact block (137) is movably inserted into the mounting hole (1323a) and is partially located inside the clamping surface of the gripper (1323); a second top pressure groove (137a) is provided on the side of the contact block (137) away from the clamping surface; the cover plate (138) is fixed to the side of the gripper (1323) away from the clamping surface and covers the mounting hole (1323a); the second pressure sensor (136) is located in the mounting hole (1323a). a) Inside, and the second pressure sensing surface (136a) of the second pressure sensor (136) is located inside the second top pressure groove (137a); the second pressure sensor (136) is fixed to the cover plate (138); the inner peripheral wall of the mounting hole (1323a) is provided with a second annular step with a stepped surface facing the cover plate (138), and the outer peripheral wall of the contact block (137) is provided with a third annular step with a stepped surface facing away from the cover plate (138); in the initial state, the stepped surface of the third annular step abuts against the stepped surface of the second annular step, and the end face of the contact block (137) away from the clamping surface has a gap with the cover plate (138); and / or, The opening and closing drive assembly (131) is provided with a magnetic induction sensor (139), and the instrument (5) is provided with a magnet; the magnetic induction sensor (139) is used to detect the position of the magnet during the rotation of the clamping assembly (13), and after the magnetic induction sensor (139) detects the magnet, it controls the rotation drive assembly (12) to close.

6. The instrument loading and unloading device according to any one of claims 1 to 5, characterized in that, The track mechanism (3) includes a track body (32), which is located above the instrument magazine (4). The lower surface of the track body (32) is provided with at least one guide channel (31) extending along the moving direction. The moving mechanism (2) includes a fixed frame (21), a rolling drive assembly (22), and at least one slider (23); the rolling drive assembly (22) is disposed on the fixed frame (21) and rolls in cooperation with the lower surface of the track body (32); the slider (23) is disposed on the upper end of the fixed frame (21) and is slidably connected to the guide channels (31) in the same number and in a one-to-one correspondence; the loading and unloading mechanism (1) is connected to the lower end of the fixed frame (21); The rolling drive assembly (22) is configured to roll along the track body (32) to drive the slider (23) to slide along the guide channel (31), thereby driving the loading and unloading mechanism (1) to move along the guide channel (31).

7. The instrument loading and unloading device according to claim 6, characterized in that, The rolling drive assembly (22) includes a rolling drive component (221), a transmission assembly (222), and a roller (223). The rolling drive (221) is fixed to the fixed frame (21), and the output end of the rolling drive (221) is connected to the transmission assembly (222). The output end of the transmission assembly (222) is connected to the roller (223). The roller (223) is at least partially located on the upper side of the fixed frame (21), the rolling surface of the roller (223) abuts against the lower surface of the track body (32), and the axis of the roller (223) is perpendicular to the moving direction of the guide channel (31). The rolling drive (221) is configured to drive the roller (223) to rotate through the transmission assembly (222).

8. The instrument loading and unloading device according to claim 6, characterized in that, The moving mechanism (2) also includes a first baffle (25); the track mechanism (3) also includes a plurality of photoelectric switches (35); The first baffle (25) is located on the side of the fixed frame (21) and at least partially on one side of the track body (32); the photoelectric switch (35) is located on the side of the track body (32), and the first baffle (25) can block the outgoing light path of the photoelectric switch (35) during the moving stroke of the moving mechanism (2). Above the operating table (61), the ready-to-use instrument compartment (41), and the recycling compartment (42), there is a photoelectric switch (35); when the first baffle (25) blocks the photoelectric switch (35), the rolling drive assembly (22) is controlled to close.

9. The instrument loading and unloading device according to claim 8, characterized in that, The moving mechanism (2) also includes at least one positioning fitting (24); the track mechanism (3) also includes multiple magnet assemblies, each magnet assembly including at least one electromagnet (33) and at least one third bracket (34); each of the operating table (61), the ready-to-use equipment compartment (41) and the recycling compartment (42) has a corresponding magnet assembly (33) above it. The positioning fitting (24) is located at the upper end of the fixing frame (21); The electromagnet (33) is fixed to the upper side of the track body (32) by the third bracket (34); The positioning fitting (24) is made of ferromagnetic material. The number of the positioning fitting (24) and the electromagnets (33) in the magnet assembly are the same and correspond one-to-one. The electromagnets (33) are located above the moving trajectory of the positioning fitting (24). When the first baffle (25) blocks the photoelectric switch (35), the corresponding electromagnet (33) is energized.

10. The instrument loading and unloading device according to claim 6, characterized in that, There are three guide channels (31), which are spaced apart along the width direction of the track body (32). The first slider (23) and the second slider (23) are spaced apart along the width direction of the track body (32). The third slider (23) is located between the first slider (23) and the second slider (23) on one side of the length direction of the track body (32); and / or, The moving mechanism (2) further includes at least one third bearing (26) and at least one retaining ring (27); the number of the third bearing (26), the retaining ring (27) and the slider (23) are the same and correspond one-to-one; the third bearing (26) is rotatably sleeved on the slider (23); the retaining ring (27) is fixedly sleeved on the slider (23) and located above the third bearing (26); the two side walls of the guide channel (31) are symmetrically provided with two rolling track grooves (31a), and the third bearing (26) is located in the guide channel (31) and is rotatably disposed in the two rolling track grooves (31a).

11. The instrument loading and unloading device according to any one of claims 1 to 5, characterized in that, The instrument library (4) also includes at least one push assembly (47); the push assembly (47) includes a fourth support (471), a push drive (472), a lead screw (473), a lead nut (474), and a moving frame (475). The fourth support (471) includes a top plate (4711), a bottom plate (4713), and two side plates (4712); the two sides of the top plate (4711) are respectively fixed to the upper ends of the two side plates (4712); the lower ends of the two side plates (4712) are respectively fixed to the two sides of the bottom plate (4713). The upper end of the lead screw (473) is rotatably connected to the top plate (4711); the push drive (472) is located on the lower side of the bottom plate (4713), and the output shaft of the push drive (472) is rotatably inserted through the bottom plate (4713) and fixedly connected to the lower end of the lead screw (473). The movable frame (475) has a tray (4751) on one side and a screw nut mounting hole (475a) on the movable frame (475); the screw nut (474) is fixed in the screw nut mounting hole (475a); the screw nut (474) is sleeved on the screw rod (473) and forms a screw rod nut pair with the screw rod (473); The number of push components (47) and the number of ready-to-use instrument compartments (41) are the same and correspond one-to-one. The tray (4751) is at least partially located inside the ready-to-use instrument compartments (41) and is used to hold the ready-to-use instruments (5).

12. The instrument loading and unloading device according to claim 11, characterized in that, The pushing component (47) also includes a second baffle (479) and a plurality of photoelectric sensors (478); the plurality of photoelectric sensors (478) are evenly spaced from top to bottom on one side of the side plate (4712), and the spacing is consistent with the height of the instrument (5) to be used; one end of the second baffle (479) is fixedly connected to the moving frame (475), and the second baffle (479) can block the outgoing light path of the photoelectric sensor (478) during its upward movement.

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