Automatic rebound conveying actuator of clip applier and auricular appendage clip conveyor

Abstract

The utility model discloses an automatic rebound conveying actuator of a clip applier and an auricular appendage clip conveyor. The actuator comprises a body device with one end provided with a control area; the clamping device is arranged at the other end of the body device and comprises a first clamping arm assembly and a second clamping arm assembly which are used for clamping an object to be placed; the elastic device is arranged on the clamping device and has pre-tightening resultant force in an assembling state; when the clamping device is completely separated from the object to be placed, the first clamping arm assembly and the second clamping arm assembly move mutually under the action of pre-tightening resultant force to form a closed and attached whole. According to the scheme, automatic closing of the clamping arms can be achieved after the clamping arms are completely separated from a to-be-implanted object, the size of the formed closed and attached whole is smaller than the size of the to-be-implanted object in the clamping state, it is guaranteed that the closed and attached whole is stabilized at the minimum size, damage to human tissue is effectively reduced, the surgical operation difficulty is reduced, the surgical risk is reduced, and the surgical time is shortened.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and in particular to an automatic springback delivery actuator for a clamp applicator and a heart and ear clamp delivery device. Background Technology

[0002] In existing technology, the atrial appendage clip delivery device is mainly used to deliver the atrial appendage clip to the left atrial appendage for closure during cardiac surgery. The delivery device has two arms at its front end for securing the atrial appendage clip. The clip consists of two parallel clamping arms, held together by two springs at both ends. The two arms of the delivery device are held in place by traction ropes. After the clip is delivered to the lesion, the traction ropes are first opened by external force, then the clip is used to close the lesion, and finally, the clip is released, completing the implantation procedure. During the surgery, to facilitate the release of the clip, additional ties are used to control the two arms to open to a greater extent, allowing the clip to detach from the ties, at which point the delivery device is in a free state.

[0003] Currently, the removal of the device relies on the doctor's experience. During the removal process, the device's jaws are slowly and carefully rotated and adjusted under the influence of external forces such as collisions and contact, gradually closing to a smaller size before being removed from the target incision. However, due to the unstable size of the device's jaws, damage to surrounding tissues is often caused, resulting in longer operation times and higher surgical risks. This not only requires a high level of clinical experience from the doctor but also increases the risk of additional infection for the patient. Furthermore, because the opening and closing state of the clamping device's jaws is unstable, sometimes direct removal is not possible after assessment. In such cases, auxiliary instruments are inserted into the corresponding position on the body to assist in closing the clamping device's jaws to a smaller size before removal from the target incision. However, using auxiliary instruments can also puncture tissue, greatly increasing the risk of tissue damage. Utility Model Content

[0004] In view of this, the present disclosure provides an automatic rebound conveying actuator for the clamp applicator and a cardiac ear clamp conveyor, which at least partially solves the problems existing in the prior art, such as the conveyor's inability to maintain stability after detaching from the cardiac ear clamp, high resistance during withdrawal, difficult operation, and easy tissue damage.

[0005] In a first aspect, embodiments of this disclosure provide an automatic springback conveying actuator for a clamping device, comprising the following solutions:

[0006] The main unit has a control area at one end;

[0007] A clamping device is installed at the other end of the main body device. The clamping device includes a first clamping arm assembly and a second clamping arm assembly arranged symmetrically. The first clamping arm assembly and the second clamping arm assembly are used to clamp the object to be inserted.

[0008] An elastic device installed in the clamping device, wherein the elastic device has a pre-tightening closing force in the assembled state;

[0009] As the clamping device completely disengages from the object to be inserted, the first clamping arm assembly and the second clamping arm assembly move relative to each other under the action of the pre-tightening closing force to form a closed and tightly fitted whole.

[0010] Optionally, when the clamping device clamps the object to be inserted, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L1;

[0011] When the clamping device is completely detached from the object to be inserted, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L2.

[0012] When the first clamping arm assembly and the second clamping arm assembly move relative to each other under the action of the pre-tightening closing force to form a closed and tight whole, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L3;

[0013] The target cut size is L4;

[0014] L3 < L1 < L4;

[0015] L2≥2L1>L4.

[0016] Optionally, the main body device includes a conveying rod and a connecting seat mounted on the end of the conveying rod:

[0017] The connecting seat includes a transition section and two cantilever sections respectively connected to both ends of the transition section, and the two cantilever sections are symmetrically arranged.

[0018] The cantilever section is provided with a first through hole and a through groove. The first through hole is located in a region away from the conveying rod, and the longitudinal axis of the through groove is parallel to the longitudinal axis of the cantilever section.

[0019] The first clamping arm assembly includes a first arm body and a first connecting rod assembly connected to the first arm body;

[0020] The second clamping arm assembly includes a second arm body and a second link assembly connected to the second arm body. The end of the second link assembly away from the second arm body and the end of the first link assembly away from the first arm body are mounted in the through groove by a sliding pin, and the sliding pin has a degree of freedom to move along the longitudinal axis of the through groove.

[0021] Optionally, the elastic device includes an elastic body and a first overhang and a second overhang connected to both ends of the elastic body, respectively.

[0022] The first link assembly has a first adapter for mounting the first overhang;

[0023] The second link assembly has a second adapter for mounting the second overhang;

[0024] The first cantilever portion installed in the first adapter portion, the second cantilever portion installed in the second adapter portion, and the elastic body form an integral whole with a pre-tightening closing force.

[0025] Optionally, the first linkage assembly includes a first active rod and a first follower rod. One end of the first active rod is connected to the first arm body, and the other end is connected to one end of the first follower rod. The first active rod has a rotational degree of freedom at its connection with the first arm body, and the first follower rod has a rotational degree of freedom at its connection with the first active rod.

[0026] The second linkage assembly includes a second active rod and a second follower rod. One end of the second active rod is connected to the second arm body, and the other end is connected to one end of the second follower rod. The second active rod has a rotational degree of freedom at its connection with the second arm body, and the second follower rod has a rotational degree of freedom at its connection with the second active rod.

[0027] The second active rod and the first active rod are mounted in the first through hole through the first common pin. Both the second active rod and the first active rod have the degree of freedom to rotate about the longitudinal axis of the first common pin.

[0028] The first active rod, the second active rod, and the first common pin form an X-shaped component. The first adapter is disposed between the first common pin and the first arm body, the second adapter is disposed between the first common pin and the second arm body, and the elastic body is sleeved on the first common pin.

[0029] The other end of the second follower rod and the other end of the first follower rod are mounted in the through groove via the sliding pin.

[0030] Optionally, the distance between the end of the first cantilever and the first common pin is A1, and the distance from the connection between the first active rod and the first arm body to the first common pin is A2, where 1 / 2A2≤A1<A2;

[0031] The distance between the end of the second cantilever and the first common pin is B1, and the distance from the connection point of the second drive rod and the second arm body to the first common pin is B2.

[0032] B1 = A1, B2 = A2.

[0033] Optionally, the first adapter includes a first groove, a first receiving groove, and a first limiting groove formed in the first active rod, wherein the first receiving groove is connected to the first groove and the first limiting groove;

[0034] The second adapter includes a second groove, a second receiving groove, and a second limiting groove formed in the second active rod. The second receiving groove is connected to the second groove and the second limiting groove. The first groove and the second groove are disposed opposite to each other and form a cavity for mounting the elastic body.

[0035] The first cantilever portion includes a first extension section and a first limiting section connected to each other. The first limiting section is located at the end of the first extension section away from the elastic body, and the first limiting section is not parallel to the first extension section. The first extension section is disposed in the first receiving groove, and the length of the first extension section is greater than the length of the first receiving groove. The first limiting section is disposed in the first limiting groove.

[0036] The second cantilever portion includes a second extension section and a second limiting section connected to each other. The second limiting section is located at the end of the second extension section away from the elastic body, and the second limiting section is not parallel to the second extension section. The second extension section is disposed in the second receiving groove, and the length of the first extension section is greater than the length of the second receiving groove. The second limiting section is disposed in the second limiting groove.

[0037] The longitudinal axis of the first extended section and the longitudinal axis of the region of the first active rod located between the first common pin and the first arm are parallel to each other;

[0038] The longitudinal axis of the second extension segment and the longitudinal axis of the region segment of the second drive rod located between the first common pin and the second arm are parallel to each other.

[0039] Optionally, the first adapter includes a first receiving groove and a first limiting hole formed in the first active rod, wherein the first limiting hole is located in the first receiving groove;

[0040] The second adapter includes a second receiving groove and a second limiting hole formed in the second active rod. The second limiting hole is located in the second receiving groove, and the second receiving groove is disposed opposite to the first receiving groove.

[0041] The first cantilever portion is a first straight segment, and the free end of the first straight segment engages with the first limiting hole;

[0042] The second cantilever portion is a second straight section, and the free end of the second straight section engages with the second limiting hole;

[0043] The orientation of the first straight line segment relative to the elastic body is opposite to the orientation of the second straight line segment relative to the elastic body;

[0044] The elastic body is a linear elastic body, and the longitudinal axis of the first linear segment and the longitudinal axis of the second linear segment are both perpendicular to the elastic deformation direction of the linear elastic body.

[0045] Optionally, two elastic devices are provided, one of which is located between the first arm body and the first connecting rod assembly and has a pre-tightening closing force that drives the first arm body to move inward.

[0046] Another elastic device is disposed between the second arm body and the second linkage assembly, and has a pre-tightening closing force that drives the second arm body to move inward;

[0047] As the clamping device completely disengages from the object to be inserted, the first arm and the second arm move relative to each other under the pre-tightening closing force of the two elastic devices to form a closed and tightly fitted whole.

[0048] Optionally, the first arm body is provided with a first receiving hole, and the first connecting rod assembly is provided with a first receiving groove;

[0049] An elastic device includes a first elastic body and a first free portion and a second free portion respectively connected to both ends of the first elastic body. The first free portion is engaged with the first receiving hole, and the second free portion is received in the first receiving groove.

[0050] The second arm body is provided with a second receiving hole, and the second connecting rod assembly is provided with a second receiving groove;

[0051] Another elastic device includes a second elastic body and a third free part and a fourth free part respectively connected to both ends of the second elastic body. The third free part is engaged with the second receiving hole, and the fourth free part is accommodated in the second receiving groove.

[0052] Optionally, the first linkage assembly includes a first active rod and a first follower rod. One end of the first active rod is connected to the first arm body via a first pin, and the other end is connected to one end of the first follower rod. The first active rod has a rotational degree of freedom at the first pin, and the first follower rod has a rotational degree of freedom at its connection point with the first active rod.

[0053] The first elastic body is sleeved on the first pin;

[0054] The second linkage assembly includes a second driving rod and a second follower rod. One end of the second driving rod is connected to the second arm body via a second pin, and the other end is connected to one end of the second follower rod. The second driving rod has a rotational degree of freedom at the second pin, and the second follower rod has a rotational degree of freedom at its connection point with the second driving rod.

[0055] The second elastic body is sleeved on the second pin;

[0056] The second active rod and the first active rod are mounted in the first through hole through the first common pin. Both the second active rod and the first active rod have the degree of freedom to rotate about the longitudinal axis of the first common pin.

[0057] The first active rod, the second active rod, and the first common pin form an X-shaped component. The first adapter is disposed between the first common pin and the first arm body, the second adapter is disposed between the first common pin and the second arm body, and the elastic body is sleeved on the first common pin.

[0058] The other end of the second follower rod and the other end of the first follower rod are mounted in the through groove via the sliding pin.

[0059] Secondly, this application discloses a cardiac clamp delivery device, including a controller and an automatic rebound delivery actuator for the clamp applicator, wherein the controller has a gripping part for the operator to grip.

[0060] The automatic rebound delivery actuator for the clamping device disclosed in this embodiment, through the matching clamping device and elastic device, as the clamping device completely disengages from the object to be implanted, that is, as the clamping device is freed from the constraint of the closing force of the object to be implanted, the first clamping arm assembly and the second clamping arm assembly automatically move relative to each other under the action of the pre-tightening closing force to form a closed and tight whole. The size of the closed and tight whole is smaller than the size when the object to be implanted is clamped, ensuring that the closed and tight whole is stable at the minimum size, effectively reducing damage to human tissue, reducing the difficulty of surgical operation, effectively reducing surgical risks, and shortening the operation time.

[0061] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0062] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 This is a perspective view of a first embodiment of the automatic springback conveying actuator for clamping device in this application.

[0064] Figure 2 for Figure 1 Assembly diagram of the clamping device and the connecting seat.

[0065] Figure 3 for Figure 1 A three-dimensional schematic diagram of the clamping device.

[0066] Figure 4 for Figure 1 Assembly diagram of the first driving rod, the second driving rod, the first follower rod, and the second follower rod.

[0067] Figure 5 for Figure 1 A schematic diagram of the assembly of the first active rod and the elastic device.

[0068] Figure 6 for Figure 1 A schematic diagram of the assembly of the second active rod and the elastic device.

[0069] Figure 7 This is a perspective view of a second embodiment of the automatic springback conveying actuator for clamping device in this application.

[0070] Figure 8 for Figure 7 A schematic diagram of the assembly of the clamping device and the elastic device.

[0071] Figure 9 for Figure 7 A schematic diagram of the assembly of the first driving rod, the second driving rod, the first follower rod, the second follower rod, and the elastic device.

[0072] Figure 10 for Figure 7 A schematic diagram of the assembly of the first active rod and the elastic device.

[0073] Figure 11 for Figure 7 A schematic diagram of the assembly of the second active rod and the elastic device.

[0074] Figure 12 This is a perspective view of a third embodiment of the automatic springback conveyor actuator for clamping device in this application.

[0075] Figure 13 for Figure 12 A schematic diagram of the assembly of the first arm, the first active rod, and the elastic device.

[0076] Figure 14 for Figure 12 A schematic diagram of the assembly of the first active rod and the elastic device.

[0077] Figure 15 for Figure 12 A schematic diagram of the assembly of the second arm, the second active rod, and the elastic device.

[0078] Figure 16 for Figure 12 A schematic diagram of the assembly of the second active rod and the elastic device.

[0079] Explanation of reference numerals in the attached figures:

[0080] 110. Conveying rod; 120. Connecting seat; 121. Cantilever section; 1211. Through groove; 122. Transition section; 200. Elastic device; 210. Elastic body; 220. First cantilever section; 221. First extension section; 222. First limiting section; 230. Second cantilever section; 231. Second extension section; 232. Second limiting section; 300. First connecting rod assembly; 310. First driving rod; 311. First groove; 312. First receiving groove; 313. First limiting groove; 314. First receiving groove; 315. First receiving groove; 32. 0. First follower rod; 330. First driven rod; 400. Second connecting rod assembly; 410. Second driving rod; 411. Second groove; 412. Second receiving groove; 413. Second limiting groove; 414. Second receiving groove; 415. Second receiving groove; 420. Second follower rod; 430. Second driven rod; 500. First arm body; 600. Second arm body; 710. First pin; 720. Second pin; 730. Third pin; 740. Fourth pin; 810. First common pin; 820. Second common pin; 830. Sliding pin. Detailed Implementation

[0081] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0082] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0083] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0084] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0085] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0086] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0087] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0088] Example 1

[0089] Reference Figure 1 This application discloses an automatic rebound conveying actuator for a clamping device, including a main body, a clamping device installed at the end of the main body, and an elastic device 200 installed on the clamping device. The main body includes a conveying rod 110 and a connecting seat 120 installed at the end of the conveying rod 110. The outer end of the conveying rod 110 (i.e. the end away from the clamping device) is provided with a control area for easy operation by the operator.

[0090] Furthermore, an elastic protective sleeve (not shown in the figure) can be provided on the outside of the main body device. The elastic protective sleeve has resilience, which can improve the overall sealing and durability; at the same time, it can prevent internal parts from being exposed, reduce the friction of the instrument edges on body tissues, and make the instrument move more smoothly in and out of the surgical channel.

[0091] The clamping device includes a first clamping arm assembly and a second clamping arm assembly arranged symmetrically. The first clamping arm assembly and the second clamping arm assembly are used to clamp the object to be inserted. The elastic device 200 has a pre-tightening closing force in the assembled state. The area that clamps the object to be inserted can be called the jaws.

[0092] As the clamping device completely disengages from the object to be inserted, the first clamping arm assembly and the second clamping arm assembly move relative to each other under the action of the pre-tightening closing force to form a closed and tightly fitted whole, that is, the first clamping arm assembly and the second clamping arm assembly form a stable whole with the smallest size.

[0093] In this application, when the first clamping arm assembly and the second clamping arm assembly are in a closed and tight state, the elastic device 200 is still in a stretched state, that is, the elastic device 200 still has a certain pre-tightening closing force to ensure that the state of the first clamping arm assembly and the second clamping arm assembly is maintained stably.

[0094] When the clamping device holds the object to be inserted (not shown in the figure), the clamping device maintains a first state under the force of the object itself. In this state, the operator controls the conveying rod 110 to send the object to be inserted through the incision in the preset area of ​​the human body to the preset tissue area inside the human body. After the object to be inserted is delivered into place, the jaws of the clamping device are opened under the action of external force to control the complete separation of the object to be inserted from the clamping device. At this time, the clamping device is in a second state.

[0095] In the first state, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L1, which is smaller than the size L4 of the target cut, so as to facilitate rapid transport from the target cut without damaging the target cut.

[0096] In the second state, when the clamping device is completely detached from the object to be inserted, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L2. In order to satisfy the complete detachment of the object to be inserted from the clamping device, after being manipulated by external force, the jaw opening size of the clamping device at this time is greater than the jaw opening size in the first state, and greater than the size of the target cut. Specifically, L2≥2L1>L4.

[0097] It should be noted that if the jaws of the clamping device are not opened wide enough during the process of detaching the clamping device from the object to be inserted, the relative movement of the atrial appendage clamp and the tissue will occur when the clamping device is withdrawn, causing the atrial appendage clamp to shift and the diverticulum inside the atrial appendage to enlarge, thereby increasing the risk of thrombosis. Therefore, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is generally L2 during this process.

[0098] The existing solutions cannot control the opening and closing state of the clamping device in its second state. Therefore, when withdrawing the clamping device, the surgeon's experience is relied upon to slowly and carefully rotate and adjust the clamping device during withdrawal. Under the action of external forces such as collision and contact, the clamping device's jaws are gradually closed to a small size before being removed from the target incision. During this process, due to the unstable size of the clamping device's jaws, damage to surrounding tissues is highly likely, leading to prolonged operation time and high surgical risks. This not only requires a high level of clinical experience from the surgeon but also increases the risk of additional infection for the patient. Furthermore, because the opening and closing state of the clamping device's jaws is unstable, sometimes when direct withdrawal is not possible after assessment, auxiliary instruments are inserted into the corresponding position in the body to assist in the withdrawal of the clamping device. However, the use of auxiliary instruments can also puncture tissue, greatly increasing the risk of tissue damage.

[0099] In this embodiment, as the clamping device completely disengages from the object to be inserted, the first clamping arm assembly and the second clamping arm assembly move relative to each other under the action of the pre-tightening closing force to form a closed and tight whole. The distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L3; L3 < L1 < L4.

[0100] In the example surgery, L1 is generally 10mm-10.5mm, L2 is generally 20mm-27mm, and the target incision size L4 is generally 13mm. Since L3 is smaller than L1, there is more margin during withdrawal, which facilitates quick and efficient withdrawal and greatly reduces the risk of damaging surrounding tissues.

[0101] The automatic rebound delivery actuator for the clamping device disclosed in this embodiment, through the matching clamping device and elastic device, as the clamping device completely disengages from the object to be implanted, that is, as the clamping device is freed from the constraint of the closing force of the object to be implanted, the first clamping arm assembly and the second clamping arm assembly automatically move relative to each other under the action of the pre-tightening closing force to form a closed and tight whole. The size of the closed and tight whole is smaller than the size when the object to be implanted is clamped, ensuring that the closed and tight whole is stable at the minimum size, effectively reducing damage to human tissue, reducing the difficulty of surgical operation, effectively reducing surgical risks, and shortening the operation time.

[0102] Reference Figure 2 and Figure 3 The connecting seat 120 includes a transition portion 122 and two cantilever portions 121 connected to both ends of the transition portion 122 respectively. The two cantilever portions 121 are symmetrically arranged. The cantilever portion 121 is provided with a first through hole, a second through hole and a through groove 1211. The first through hole is located in the area away from the conveying rod 110. The longitudinal axis of the through groove 1211 is parallel to the longitudinal axis of the cantilever portion 121. The second through hole is located between the first through hole and the through groove 1211.

[0103] In this embodiment, the transition portion 122 and the two cantilever portions 121 are preferably integrally formed.

[0104] The first clamping arm assembly includes a first arm body 500 and a first linkage assembly 300 connected to the first arm body 500. The first linkage assembly 300 includes a first driving rod 310 and a first follower rod 320. One end of the first driving rod 310 is rotatably connected to the first arm body 500 via a first pin 710, and the other end is rotatably connected to one end of the first follower rod 320 via a pin. That is, the first driving rod 310 has a rotational degree of freedom at its connection with the first arm body 500 (i.e., the first pin 710), and the first follower rod 320 has a rotational degree of freedom at its connection with the first driving rod 310.

[0105] Furthermore, the first linkage assembly 300 also includes a first driven rod 330, one end of which is rotatably connected to the first arm body 500 via a second pin 720, that is, the first driven rod 330 has a rotational degree of freedom at the second pin 720.

[0106] The second clamping arm assembly includes a second arm body 600 and a second link assembly 400 connected to the second arm body 600. The end of the second link assembly 400 away from the second arm body 600 and the end of the first link assembly 300 away from the first arm body 500 are mounted in the through groove 1211 by a sliding pin 830, and the sliding pin 830 has a degree of freedom to move along the longitudinal axis of the through groove 1211.

[0107] Specifically, the second linkage assembly 400 includes a second driving rod 410 and a second follower rod 420. One end of the second driving rod 410 is connected to the second arm body 600 via a third pin 730, and the other end is connected to one end of the second follower rod 420. The second driving rod 410 has a rotational degree of freedom at its connection with the second arm body 600, and the second follower rod 420 has a rotational degree of freedom at its connection with the second driving rod 410.

[0108] The second active rod 410 and the first active rod 310 are installed in the first through hole through the first common pin 810. Both the second active rod 410 and the first active rod 310 have the degree of freedom to rotate about the longitudinal axis of the first common pin 810.

[0109] The other end of the second follower rod 420 and the other end of the first follower rod 320 are mounted in the through groove 1211 via the sliding pin 830, and both the second follower rod 420 and the first follower rod 320 have the degree of freedom to rotate about the longitudinal axis of the sliding pin 830.

[0110] Furthermore, the second linkage assembly 400 also includes a second driven rod 430. One end of the second driven rod 430 is rotatably connected to the second arm body 600 via a fourth pin 740, meaning that the second driven rod 430 has a rotational degree of freedom at the fourth pin 740. The other end of the second driven rod 430 and the other end of the first driven rod 330 are mounted in the second through hole via a second common pin 820, and both the first driven rod 330 and the second driven rod 430 have a rotational degree of freedom about the second common pin 820.

[0111] Simultaneously refer to Figure 4 The elastic device 200 includes an elastic body 210 and a first cantilever portion 220 and a second cantilever portion 230 respectively connected to both ends of the elastic body 210. The elastic body 210 is a multi-turn helical spring. In this embodiment, the elastic body 210, the first cantilever portion 220 and the second cantilever portion 230 are preferably integrally formed.

[0112] The first active rod 310 in the first linkage assembly 300 has a first adapter for mounting the first overhang 220, and the second active rod 410 in the second linkage assembly 400 has a second adapter for mounting the second overhang 230. The first overhang 220 and the second overhang 230 form a peripheral thrust on the first active rod 310 and the second active rod 410, that is, the first overhang 220 acts on the outside of the first active rod 310, and the second overhang 230 acts on the outside of the second active rod 410.

[0113] The first cantilever 220 installed in the first adapter, the second cantilever 230 installed in the second adapter, and the elastic body 210 form an integral unit with a pre-tightening closing force. The pre-tightening closing force that exists in the assembled state exerts a pushing force on the first active rod 310 and the second active rod 410 to move inward (closer to each other), thereby synchronously driving the first arm 500 and the second arm 600 to move closer and stick to each other, forming a state with minimal space occupation.

[0114] The first active rod 310, the second active rod 410, and the first common pin 810 form an X-shaped component. The first adapter is located between the first common pin 810 and the first arm 500, and the second adapter is located between the first common pin 810 and the second arm 600. The elastic body 210 is sleeved on the first common pin 810. With this assembly structure, when the elastic device 200 acts on the front half of the first active rod 310 and the second active rod 410, that is, under the action of the pre-tightening closing force, the first active rod 310 drives the first arm 500 to rotate clockwise around the first common pin 810, and the second active rod 410 drives the second arm 600 to rotate counterclockwise around the first common pin 810. Through the pushing of the first follower rod 320 and the second follower rod 420, the sliding pin 830 will be pushed to move outward in the groove, that is, move closer to the conveying rod 110.

[0115] Furthermore, the length of the first active rod 310 portion located between the first common pin 810 and the first pin shaft 710 is H1, and the length of the first active rod 310 portion located between the first common pin 810 and the connection point with the first follower rod 320 is H2, where H1 > H2, thereby increasing the opening / closing dimension range of the first arm body 500 and the second arm body 600 to meet the size requirements of different sized objects to be inserted.

[0116] Furthermore, the spiral of the elastic body 210 is preferably set to 3-4 turns, with an effective number of turns or working turns of 1.5-2.5 turns. The addition of non-working turns in the middle makes it easier to fix the whole body and prevent instability.

[0117] Reference Figure 5The first adapter includes a first groove 311, a first receiving groove 312, and a first limiting groove 313 formed in the first active rod 310. The first receiving groove 312 connects the first groove 311 and the first limiting groove 313. The first groove 311 is used to receive the elastic body 210. The length of the first receiving groove 312 is greater than the length of the first limiting groove 313. The inner size of the first receiving groove 312 is smaller than the inner size of the first limiting groove 313. The first receiving groove 312 and the first limiting groove 313 are both connected to the side of the first active rod 310 away from the second arm body 600. That is, the outer sides of the first receiving groove 312 and the first limiting groove 313 are open to facilitate the assembly of the first cantilever 220.

[0118] The first cantilever 220 includes a first extension 221 and a first limiting section 222 connected to each other. The first limiting section 222 is located at the end of the first extension 221 away from the elastic body 210, and the first limiting section 222 and the first extension 221 are not parallel. In this embodiment, the first limiting section 222 and the first extension 221 are both straight segments and are perpendicular to each other to increase the area of ​​interaction with the first active rod 310, thereby providing a better thrust to the first active rod 310 and making the closing force more effective.

[0119] The first extension segment 221 is disposed in the first receiving groove 312 and the length of the first extension segment 221 is greater than the length of the first receiving groove 312; the first limiting segment 222 is disposed in the first limiting groove 313 and the free end of the first limiting segment 222 is preferably located in the area of ​​the first limiting groove 313 between the first receiving groove 312 and the lower side of the first active rod 310.

[0120] Simultaneously refer to Figure 6 The second adapter includes a second groove 411, a second receiving groove 412, and a second limiting groove 413 formed in the second active rod 410. The second receiving groove 412 is connected to the second groove 411 and the second limiting groove 413. The first groove 311 is disposed opposite to the second groove 411 and forms a cavity for mounting the elastic body 210.

[0121] Specifically, the length of the second receiving groove 412 is greater than the length of the second limiting groove 413, and the inner dimension of the second receiving groove 412 is smaller than the inner dimension of the second limiting groove 413; both the second receiving groove 412 and the second limiting groove 413 are connected to the side of the second active rod 410 away from the first arm body 500, that is, the outer sides of the second receiving groove 412 and the second limiting groove 413 are open, which facilitates the assembly of the second cantilever 230.

[0122] The second extension 230 includes a second extension segment 231 and a second limiting segment 232 connected to each other. The second limiting segment 232 is located at the end of the second extension segment 231 away from the elastic body 210, and the second limiting segment 232 and the second extension segment 231 are not arranged parallel to each other. In this embodiment, the second limiting segment 232 and the second extension segment 231 are both straight segments and are arranged perpendicular to each other to increase the working area with the second active rod 410 and to provide better thrust to the second active rod 410.

[0123] The second extension segment 231 is disposed in the second receiving groove 412 and the length of the first extension segment 221 is greater than the length of the second receiving groove 412; the second limiting segment 232 is disposed in the second limiting groove 413, and the free end of the second limiting segment 232 is preferably located in the area of ​​the second limiting groove 413 between the second receiving groove 412 and the lower side of the second active rod 410.

[0124] The longitudinal axis of the first extension section 221 and the longitudinal axis of the section of the first active rod 310 located between the first common pin 810 and the first arm body 500 are parallel to each other, ensuring the thrust effect of the first cantilever section 220 on the first active rod 310 under the action of pre-tightening closing force.

[0125] The longitudinal axis of the second extension section 231 and the longitudinal axis of the section of the second active rod 410 located between the first common pin 810 and the second arm 600 are parallel to each other, ensuring the thrust effect of the second cantilever section 230 on the second active rod 410 under the action of pre-tightening closing force.

[0126] In this embodiment, the distance between the end of the first cantilever 220 and the first common pin 810 is A1, and the distance from the connection point of the first active rod 310 and the first arm 500 to the first common pin 810 is A2, where 1 / 2A2≤A1<A2.

[0127] The distance between the end of the second cantilever 230 and the first common pin 810 is B1, and the distance from the connection point of the second active rod 410 and the second arm 600 to the first common pin 810 is B2, where B1 = A1 and B2 = A2.

[0128] In this embodiment, the first overhang 220 and the second overhang 230 are provided to extend the lever arm of the force point as much as possible, thereby achieving more effective closure of the parallel clamping arm with minimal force.

[0129] In Example 1, the assembly method of the automatic springback conveying actuator for the clamping device specifically includes the following steps:

[0130] A100, the front pin hole of the first arm body 500 is connected to the front pin hole of the first active rod 310 through the first pin shaft 710.

[0131] The front pin hole of the second arm body 600 is connected to the front pin hole of the second drive rod 410 through the third pin shaft 730.

[0132] A200, the first active rod 310, the elastic device 200, and the second active rod 410 are connected by tooling pins; wherein, the first active rod 310 and the second active rod 410 are in a cross shape, and the first cantilever 220 and the second cantilever 230 of the elastic device 200 are in a cross natural state.

[0133] Specifically, a pin with the same diameter as the first common pin 810 and the same length as the inner cavity height of the connecting seat 120 is used as a tool. The tool pin is then inserted into the middle pin hole of the first active rod 310, the elastic device 200, and the middle pin hole of the second active rod 410 in sequence. At this time, the first cantilever 220 and the second cantilever 230 of the elastic device 200 are in a natural cross-shaped state free from external forces.

[0134] A300, the first overhang 220 and the second overhang 230 are pried apart in opposite directions (i.e., pried apart outward from the crossed state at a certain angle), and the first overhang 220 is placed in the first receiving groove 312, and the second overhang 230 is placed in the second receiving groove 412.

[0135] The first cantilever 220 and the second cantilever 230, which are opened in opposite directions, have a relative motion tendency force. Under the action of the relative motion tendency force, the first active rod 310 and the second active rod 410 are in a side-adhering state.

[0136] A400, place the installed components into the inner cavity of the connector 120, align the tooling pin with the front pin hole of the connector 120, and push the tooling pin out by passing the first common pin 810 through the aligned front pin hole until the two end faces of the first common pin 810 are aligned with the upper and lower outer end faces of the connector 120.

[0137] A500, the rear pin hole of the first arm body 500 is connected to the front pin hole of the first driven rod 330 through the second pin 720;

[0138] The rear pin hole of the second arm body 600 is connected to the front pin hole of the second driven rod 430 through the fourth pin 740.

[0139] A600, the second common pin 820 is passed sequentially through the rear pin hole of the connecting seat 120, the rear pin hole of the first driven rod 330, the pulley, and the rear pin hole of the second driven rod 430, until the two end faces of the second common pin 820 are flush with the upper and lower sides of the connecting seat 120.

[0140] A700, the rear pin hole of the first driving rod 310 is rotatably connected to the front pin hole of the first follower rod 320 by means of a pin; the rear pin hole of the second driving rod 410 is rotatably connected to the front pin hole of the second follower rod 420 by means of a pin.

[0141] A800, the first follower rod 320 and the second follower rod 420 are connected by a sliding pin 830, and the sliding pin 830 is located in the through groove 1211 of the connecting seat 120.

[0142] Specifically, the sliding pin 830 is passed sequentially through the through groove 1211 of the connecting seat 120, the rear pin hole of the first follower rod 320, the pulley, and the rear pin hole of the second follower rod 420 until the two end faces of the sliding pin 830 are aligned with the upper and lower end faces of the outer side of the connecting seat 120 and can slide smoothly in the through groove 1211.

[0143] Example 2

[0144] Unlike Embodiment 1, the arrangement of the elastic device 200, the first adapter, and the second adapter is different in this embodiment. The remaining components are the same as in Embodiment 1, so they will not be described in detail here.

[0145] specifically refer to Figure 7 and Figure 8 In this embodiment, the first adapter is disposed in the inner region of the first active rod 310, the second adapter is disposed in the inner region of the second active rod 410, and the elastic device 200 is installed between the first active rod 310 and the second active rod 410 and has a pre-tightening closing force, that is, the force acting on the first active rod 310 and the second active rod 410 at the same time is a tension force.

[0146] As the clamping device completely disengages from the object to be inserted, the first active rod 310 and the second active rod 410, under the action of the pre-tightening closing force, simultaneously drive the first arm 500 and the second arm 600 to move closer to each other until they are pressed together. In the pressed state, the elastic device 200 still has a certain pre-tightening closing force.

[0147] Reference Figure 9 and Figure 10 The first adapter includes a first receiving groove 314 and a first limiting hole opened in the first active rod 310, with the first limiting hole located in the first receiving groove 314.

[0148] The first cantilever 220 is a first straight segment, and the free end of the first straight segment engages with the first limiting hole to fix it to the first active rod 310.

[0149] In this embodiment, the elastic body 210 is a linear elastic body, and the longitudinal axis of the first linear segment is set perpendicular to the elastic deformation direction of the linear elastic body, which improves the connection stability with the first active rod 310, that is, ensures the effect of the force (i.e. the tension) on the first active rod 310.

[0150] Reference Figure 11 The second adapter includes a second receiving groove 414 and a second limiting hole opened in the second active rod 410. The second limiting hole is located in the second receiving groove 414, and the second receiving groove 414 is disposed opposite to the first receiving groove 314.

[0151] The second cantilever 230 is a second straight section, and the free end of the second straight section engages with the second limiting hole to fix it to the second active rod 410.

[0152] The orientation of the second straight segment relative to the elastic body 210 is opposite to that of the first straight segment relative to the elastic body 210, and the longitudinal axis of the second straight segment is perpendicular to the elastic deformation direction of the straight elastic body, thereby improving the connection stability with the second active rod 410, that is, ensuring the effect of the force (i.e., tension) on the second active rod 410.

[0153] In Example 2, the assembly method of the automatic springback conveying actuator for the clamping device specifically includes the following steps:

[0154] B100, the front pin hole of the first arm body 500 is connected to the front pin hole of the first drive rod 310 through the first pin shaft 710; the front pin hole of the second arm body 600 is connected to the front pin hole of the second drive rod 410 through the third pin shaft 730.

[0155] B200, the rear pin hole of the first arm body 500 is connected to the front pin hole of the first driven rod 330 through the second pin 720;

[0156] The rear pin hole of the second arm body 600 is connected to the front pin hole of the second driven rod 430 through the fourth pin 740.

[0157] B300 connects the connecting seat 120, the first driving rod 310, and the second driving rod 410 through the first common pin 810, and the two end faces of the first common pin 810 are aligned with the upper and lower outer end faces of the connecting seat 120.

[0158] Specifically, the first common pin 810 is inserted sequentially into the front pin hole of the connecting seat 120, the middle pin hole of the first driving rod 310, and the middle pin hole of the second driving rod 410, until the two end faces of the first common pin 810 are aligned with the upper and lower end faces of the outer side of the connecting seat 120.

[0159] B400 connects the connecting seat 120, the first driven rod 330, and the second driven rod 430 through the second common pin 820, and the two end faces of the second common pin 820 are aligned with the upper and lower outer end faces of the connecting seat 120.

[0160] Specifically, the second common pin 820 is passed sequentially through the rear pin hole of the connecting seat 120, the rear pin hole of the first driven rod 330, the pulley, and the rear pin hole of the second driven rod 430, until the two end faces of the second common pin 820 are aligned with the upper and lower end faces of the outer side of the connecting seat 120.

[0161] B500, the rear pin hole of the first driving rod 310 and the front pin hole of the first follower rod 320 are rotatably connected by a pin shaft;

[0162] The rear pin hole of the second driving rod 410 and the front pin hole of the second follower rod 420 are rotatably connected by a pin.

[0163] B600 connects the connecting seat 120, the first follower rod 320, and the second follower rod 420 via a sliding pin 830, with the two end faces of the sliding pin 830 aligned with the upper and lower outer end faces of the connecting seat 120.

[0164] Specifically, the sliding pin 830 is passed sequentially through the through groove 1211 of the connecting seat 120, the rear pin hole of the first follower rod 320, the pulley, and the rear pin hole of the second follower rod 420 until the two end faces of the sliding pin 830 are aligned with the upper and lower end faces of the outer side of the connecting seat 120 and can slide smoothly in the through groove 1211.

[0165] B700, insert the first overhang 220 into the first limiting hole in the first receiving groove 314.

[0166] B800, insert the second overhang 230 into the second limiting hole in the second receiving groove 414.

[0167] Example 3

[0168] Unlike Embodiment 1, the arrangement of the elastic device 200, the first adapter, and the second adapter is different in this embodiment. The remaining components are the same as in Embodiment 1, so they will not be described in detail here.

[0169] Reference Figures 12 to 14In this embodiment, two elastic devices 200 are provided. One elastic device 200 is provided between the first arm body 500 and the first active rod 310 in the first connecting rod assembly 300, and has a pre-tightening closing force to drive the first arm body 500 to move inward. The other elastic device 200 is provided between the second arm body 600 and the second active rod 410 in the second connecting rod assembly 400, and has a pre-tightening closing force to drive the second arm body 600 to move inward. As the clamping device is completely disengaged from the object to be inserted, the first arm body 500 and the second arm body 600 move towards each other (i.e. move closer to each other) under the push of the pre-tightening closing force of the two elastic devices 200 to form a closed and tight whole.

[0170] Specifically, the first arm body 500 is provided with a first receiving hole, and the first active rod 310 is provided with a first receiving groove 315 for fitting with the elastic device 200 on one side.

[0171] An elastic device 200 includes a first elastic body 210 and a first free part and a second free part respectively connected to the two ends of the first elastic body 210. The first free part is engaged with a first receiving hole, and the second free part is accommodated in a first receiving groove 315. The first elastic body 210 is sleeved on a first pin 710.

[0172] In this embodiment, the first elastic body 210 is a multi-stage helical spring, and the first free part and the second free part are both straight segments. In the assembled state, the first free part and the second free part are in a parallel state and are both located on the same side of the first elastic body 210. In this embodiment, the first free part and the second free part in the parallel state are both located on the outer side.

[0173] In the free state, the first free part and the second free part form a V-shape; in the assembled state, the first free part and the second free part are both far away from each other. Therefore, the pre-tightening closing force of the elastic device 200 is the force of the first free part and the second free part moving closer to each other. Thus, the first free part can drive the first arm 500 to move inward.

[0174] Further reference Figure 15 and Figure 16 The second arm body 600 is provided with a second receiving hole, and the second connecting rod assembly 400 is provided with a second receiving groove 415 for fitting with the elastic device 200 on the other side.

[0175] Another elastic device 200 includes a second elastic body 210 and a third free part and a fourth free part respectively connected to both ends of the second elastic body 210. The third free part is engaged with the second receiving hole, and the fourth free part is accommodated in the second receiving groove 415. The second elastic body 210 is sleeved on the third pin 730. The third pin 730 is symmetrically arranged with the first pin 710. That is, the stability of the closing force can be effectively increased by these two elastic devices 200, avoiding dead points caused by force bias, and not affecting the rebound of the parallel clamping arm.

[0176] In this embodiment, the second elastic body 210 is a multi-stage helical spring, and the third and fourth free parts are both straight segments. In the assembled state, the third and fourth free parts are in a parallel state and are both located on the same side of the second elastic body 210. In this embodiment, the third and fourth free parts in the parallel state are both located on the outer side.

[0177] In the free state, the third and fourth free parts form a V-shape; in the assembled state, the third and fourth free parts are both far apart from each other. Therefore, the pre-tightening closing force of the elastic device 200 is the force that brings the third and fourth free parts closer to each other. Thus, the second arm 600 can be driven to move inward through the third free part.

[0178] In existing technologies, the object to be inserted is typically fixed to the clamping device by a slipknot with a binding thread. One end of the slipknot passes through the conveyor rod and extends outside the body. The clamping device maintains a stable clamping state under the force of the object itself. After the object is conveyed into place by the clamping device, the binding to the clamping device can be released by pulling the slipknot of the binding thread outside the body. However, the untied binding thread remains between the object and the arms of the clamping device. Therefore, the additional string provided in existing technologies can pull the sliding pin away from the conveyor rod, controlling the two arms to open to a larger extent. The solution disclosed in this application can achieve automatic closure of the clamping device after the object is completely separated from the clamping device. It is simple and efficient, and requires minimal improvement to existing products without affecting the original function or size.

[0179] In Example 3, the assembly method of the automatic springback conveying actuator for the clamping device specifically includes the following steps:

[0180] C100, the first free part is inserted into the first receiving hole of the first arm body 500, and the first elastic body 210 is located inside the first free part.

[0181] C200, insert the second free part into the first receiving groove 315.

[0182] C300, the front pin hole of the first arm body 500, the front pin hole of the first elastic body 210 and the front pin hole of the first active rod 310 are connected by the first pin 710, and the two ends of the first pin 710 are aligned with the upper and lower end faces of the first arm body 500.

[0183] C400, the third free part is inserted into the second receiving hole, and the second elastic body 210 is located inside the third free part.

[0184] C500, insert the fourth free part into the second receiving groove 415.

[0185] C600 connects the second arm body 600, the second elastic body 210, and the second active rod 410 via a third pin 730, with both ends of the third pin 730 aligned with the upper and lower end faces of the second arm body 600.

[0186] C700 connects the rear pin hole of the first arm body 500 and the front pin hole of the first driven rod 330 through the second pin 720.

[0187] The rear pin hole of the second arm body 600 and the front pin hole of the second driven rod 430 are connected by the fourth pin 740.

[0188] C800 connects the connecting seat 120, the first active rod 310, and the second active rod 410 through the first common pin 810, and the two end faces of the first common pin 810 are aligned with the upper and lower outer end faces of the connecting seat 120.

[0189] C900 connects the connecting seat 120, the first driven rod 330, and the second driven rod 430 through the second common pin 820, and the two end faces of the second common pin 820 are aligned with the upper and lower outer end faces of the connecting seat 120.

[0190] Specifically, the second common pin 820 is passed sequentially through the rear pin hole of the connecting seat 120, the rear pin hole of the first driven rod 330, the pulley, and the rear pin hole of the second driven rod 430, until the two end faces of the second common pin 820 are aligned with the upper and lower end faces of the outer side of the connecting seat 120.

[0191] C1000, the rear pin hole of the first driving rod 310 is rotatably connected to the front pin hole of the first follower rod 320, and the rear pin hole of the second driving rod 410 is rotatably connected to the front pin hole of the second follower rod 420.

[0192] C1100 connects the connecting seat 120, the first follower rod 320, and the second follower rod 420 through a sliding pin 830, and the two end faces of the sliding pin 830 are aligned with the upper and lower outer end faces of the connecting seat 120.

[0193] Specifically, the sliding pin 830 is passed sequentially through the through groove 1211 of the connecting seat 120, the rear pin hole of the first follower rod 320, the pulley, and the rear pin hole of the second follower rod 420 until the two end faces of the sliding pin 830 are aligned with the upper and lower end faces of the outer side of the connecting seat 120 and can slide smoothly in the through groove 1211.

[0194] The second aspect of this application discloses a cardiac ear clip delivery device, including a controller and an automatic springback delivery actuator for the clip applicator. The controller has a gripping part for the operator to hold. The specific scheme of the automatic springback delivery actuator for the clip applicator disclosed in the first aspect of this application is applicable to the cardiac ear clip delivery device disclosed in the second aspect of this application, so it will not be described again here.

[0195] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0196] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0197] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. An automatic springback conveying actuator for a clamping device, characterized in that, include: The main unit has a control area at one end; A clamping device is installed at the other end of the main body device. The clamping device includes a first clamping arm assembly and a second clamping arm assembly arranged symmetrically. The first clamping arm assembly and the second clamping arm assembly are used to clamp the object to be inserted. An elastic device installed in the clamping device, wherein the elastic device has a pre-tightening closing force in the assembled state; As the clamping device completely disengages from the object to be inserted, the first clamping arm assembly and the second clamping arm assembly move relative to each other under the action of the pre-tightening closing force to form a closed and tightly fitted whole.

2. The automatic springback conveying actuator for clamping device according to claim 1, characterized in that, When the clamping device clamps the object to be inserted, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L1. When the clamping device is completely detached from the object to be inserted, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L2. When the first clamping arm assembly and the second clamping arm assembly move relative to each other under the action of the pre-tightening closing force to form a closed and tight whole, the distance between the outer side of the first clamping arm assembly and the outer side of the second clamping arm assembly is L3; The target cut size is L4; L3 < L1 < L4; L2≥2L1>L4.

3. The automatic springback conveying actuator for clamping device according to claim 2, characterized in that, The main body device includes a conveying rod and a connecting seat installed at the end of the conveying rod: The connecting seat includes a transition section and two cantilever sections respectively connected to both ends of the transition section, and the two cantilever sections are symmetrically arranged. The cantilever section is provided with a first through hole and a through groove. The first through hole is located in a region away from the conveying rod, and the longitudinal axis of the through groove is parallel to the longitudinal axis of the cantilever section. The first clamping arm assembly includes a first arm body and a first connecting rod assembly connected to the first arm body; The second clamping arm assembly includes a second arm body and a second link assembly connected to the second arm body. The end of the second link assembly away from the second arm body and the end of the first link assembly away from the first arm body are mounted in the through groove by a sliding pin, and the sliding pin has a degree of freedom to move along the longitudinal axis of the through groove.

4. The automatic springback conveying actuator for clamping device according to claim 3, characterized in that, The elastic device includes an elastic body and a first cantilever and a second cantilever connected to both ends of the elastic body, respectively. The first link assembly has a first adapter for mounting the first overhang; The second link assembly has a second adapter for mounting the second overhang; The first cantilever portion installed in the first adapter portion, the second cantilever portion installed in the second adapter portion, and the elastic body form an integral whole with a pre-tightening closing force.

5. The automatic springback conveying actuator for clamping device according to claim 4, characterized in that, The first linkage assembly includes a first active rod and a first follower rod. One end of the first active rod is connected to the first arm body, and the other end is connected to one end of the first follower rod. The first active rod has a rotational degree of freedom at its connection with the first arm body, and the first follower rod has a rotational degree of freedom at its connection with the first active rod. The second linkage assembly includes a second active rod and a second follower rod. One end of the second active rod is connected to the second arm body, and the other end is connected to one end of the second follower rod. The second active rod has a rotational degree of freedom at its connection with the second arm body, and the second follower rod has a rotational degree of freedom at its connection with the second active rod. The second active rod and the first active rod are mounted in the first through hole through the first common pin. Both the second active rod and the first active rod have the degree of freedom to rotate about the longitudinal axis of the first common pin. The first active rod, the second active rod, and the first common pin form an X-shaped component. The first adapter is disposed between the first common pin and the first arm body, the second adapter is disposed between the first common pin and the second arm body, and the elastic body is sleeved on the first common pin. The other end of the second follower rod and the other end of the first follower rod are mounted in the through groove via the sliding pin.

6. The automatic springback conveying actuator for clamping device according to claim 5, characterized in that, The distance between the end of the first cantilever and the first common pin is A1, and the distance from the connection point of the first active rod and the first arm body to the first common pin is A2. 1 / 2A2≤A1<A2; The distance between the end of the second cantilever and the first common pin is B1, and the distance from the connection point of the second active rod and the second arm body to the first common pin is B2. B1=A1, B2=A2.

7. The automatic springback conveying actuator for clamping device according to claim 6, characterized in that, The first adapter includes a first groove, a first receiving groove, and a first limiting groove formed in the first active rod, wherein the first receiving groove is connected to the first groove and the first limiting groove; The second adapter includes a second groove, a second receiving groove, and a second limiting groove formed in the second active rod. The second receiving groove is connected to the second groove and the second limiting groove. The first groove and the second groove are disposed opposite to each other and form a cavity for mounting the elastic body. The first cantilever portion includes a first extension section and a first limiting section connected to each other. The first limiting section is located at the end of the first extension section away from the elastic body, and the first limiting section is not parallel to the first extension section. The first extension section is disposed in the first receiving groove, and the length of the first extension section is greater than the length of the first receiving groove. The first limiting section is disposed in the first limiting groove. The second cantilever portion includes a second extension section and a second limiting section connected to each other. The second limiting section is located at the end of the second extension section away from the elastic body, and the second limiting section is not parallel to the second extension section. The second extension section is disposed in the second receiving groove, and the length of the first extension section is greater than the length of the second receiving groove. The second limiting section is disposed in the second limiting groove. The longitudinal axis of the first extended section and the longitudinal axis of the region of the first active rod located between the first common pin and the first arm are parallel to each other; The longitudinal axis of the second extension segment and the longitudinal axis of the region segment of the second drive rod located between the first common pin and the second arm are parallel to each other.

8. The automatic springback conveying actuator for clamping device according to claim 6, characterized in that, The first adapter includes a first receiving groove and a first limiting hole formed in the first active rod, wherein the first limiting hole is located in the first receiving groove; The second adapter includes a second receiving groove and a second limiting hole formed in the second active rod. The second limiting hole is located in the second receiving groove, and the second receiving groove is disposed opposite to the first receiving groove. The first cantilever portion is a first straight segment, and the free end of the first straight segment engages with the first limiting hole; The second cantilever is a second straight segment, and the free end of the second straight segment engages with the second limiting hole; The orientation of the first straight line segment relative to the elastic body is opposite to the orientation of the second straight line segment relative to the elastic body; The elastic body is a linear elastic body, and the longitudinal axis of the first linear segment and the longitudinal axis of the second linear segment are both perpendicular to the elastic deformation direction of the linear elastic body.

9. The automatic springback conveying actuator for clamping device according to claim 3, characterized in that, Two elastic devices are provided. One elastic device is disposed between the first arm body and the first connecting rod assembly, and has a pre-tightening closing force to drive the first arm body to move inward. The first connecting rod assembly has a first adapter part. The second connecting rod assembly has a second adapter part. Another elastic device is disposed between the second arm body and the second linkage assembly, and has a pre-tightening closing force that drives the second arm body to move inward; As the clamping device completely disengages from the object to be inserted, the first arm and the second arm move relative to each other under the pre-tightening closing force of the two elastic devices to form a closed and tightly fitted whole.

10. The automatic springback conveying actuator for clamping device according to claim 9, characterized in that, The first arm body is provided with a first receiving hole, and the first connecting rod assembly is provided with a first receiving groove; An elastic device includes a first elastic body and a first free portion and a second free portion respectively connected to both ends of the first elastic body. The first free portion is engaged with the first receiving hole, and the second free portion is received in the first receiving groove. The second arm body is provided with a second receiving hole, and the second connecting rod assembly is provided with a second receiving groove; Another elastic device includes a second elastic body and a third free part and a fourth free part respectively connected to both ends of the second elastic body. The third free part is engaged with the second receiving hole, and the fourth free part is accommodated in the second receiving groove.

11. The automatic springback conveying actuator for clamping device according to claim 10, characterized in that, The first linkage assembly includes a first active rod and a first follower rod. One end of the first active rod is connected to the first arm body via a first pin, and the other end is connected to one end of the first follower rod. The first active rod has a rotational degree of freedom at the first pin, and the first follower rod has a rotational degree of freedom at its connection point with the first active rod. The first elastic body is sleeved on the first pin; The second linkage assembly includes a second driving rod and a second follower rod. One end of the second driving rod is connected to the second arm body via a second pin, and the other end is connected to one end of the second follower rod. The second driving rod has a rotational degree of freedom at the second pin, and the second follower rod has a rotational degree of freedom at its connection point with the second driving rod. The second elastic body is sleeved on the second pin; The second active rod and the first active rod are mounted in the first through hole through the first common pin. Both the second active rod and the first active rod have the degree of freedom to rotate about the longitudinal axis of the first common pin. The first active rod, the second active rod, and the first common pin form an X-shaped component. The first adapter is disposed between the first common pin and the first arm body, the second adapter is disposed between the first common pin and the second arm body, and the elastic body is sleeved on the first common pin. The other end of the second follower rod and the other end of the first follower rod are mounted in the through groove via the sliding pin.

12. A cardiac auricle clamp delivery device, characterized in that, The device includes a controller and an automatic springback conveyor actuator for clamping as described in any one of claims 1-11, wherein the controller has a grip for gripping by an operator.

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