Gripping mechanism and gua sha device
By adjusting the connection position between the elastic body and the support body in the clamping mechanism, the clamping force is changed, which solves the problem of insufficient adaptability of the clamp to scraping boards of different thicknesses, and achieves stable clamping and improved compatibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-26
- Publication Date
- 2026-08-04
AI Technical Summary
The existing clamping force adjustment mechanism limits its adaptability to gua sha boards of different thicknesses. Excessive clamping force can easily damage the gua sha board, while insufficient clamping force cannot provide stable clamping.
By coordinating the support body, the first clamping body, the second clamping body, the first elastic body, and the second elastic body, the connection position between the first elastic body, the second elastic body, and the support body can be adjusted to change the elastic force, thereby adjusting the clamping force to adapt to gua sha boards of different thicknesses.
This improves the compatibility and adaptability of the clamping mechanism to gua sha boards of different thicknesses, and reduces the risk of damage or unstable clamping of the gua sha board due to excessive or insufficient clamping force.
Smart Images
Figure CN224585014U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical device technology, and in particular to a clamping mechanism and a scraping device. Background Technology
[0002] Gua sha is a traditional green therapy that can improve blood circulation, promote metabolism, and enhance the body's immune function. Gua sha boards are a non-drug, non-invasive natural health therapy tool for treating and preventing diseases.
[0003] Currently, robotic arms are commonly used to drive clamps holding scraping boards to perform automated and precise scraping operations according to planned paths and forces.
[0004] In related technologies, the clamping structure used to hold gua sha boards is relatively simple, and the clamping force of the clamp is difficult to adjust. When the clamp holds a thin gua sha board, it is easy to damage the gua sha board due to excessive clamping force. When it holds a thick gua sha board, it is easy to fail to hold it stably due to insufficient clamping force. The clamping force adjustment mechanism of the clamp limits its adaptability to gua sha boards of different thicknesses. Utility Model Content
[0005] This application aims to solve the problem that the clamping force adjustment mechanism of the existing clamps limits their adaptability to gua sha boards of different thicknesses. To this end, this application provides a clamping mechanism and a gua sha device.
[0006] In a first aspect, this application provides a clamping mechanism, comprising:
[0007] Support structure;
[0008] A first clamp is rotatably connected to the support body, and a first elastic body is connected between the first clamp and the support body;
[0009] The second clamp is rotatably connected to the support and distributed opposite to the first clamp, and a second elastic body is connected between the second clamp and the support;
[0010] The first elastic body has a first preload force that causes the first clamp to abut against the second clamp, the second elastic body has a second preload force that causes the second clamp to abut against the first clamp, and the connection position of at least one of the first elastic body and the second elastic body with the support body is adjustable.
[0011] The clamping mechanism according to the first aspect of this application has at least the following beneficial effects:
[0012] The clamping mechanism of this application, through the coordinated arrangement of a support body, a first clamping body, a second clamping body, a first elastic body, and a second elastic body, adjusts the connection position between at least one of the first and second elastic bodies and the support body, thereby adjusting the elastic force formed by at least one of the first and second elastic bodies. This changes the clamping force of the first and second clamping bodies on the gua sha board located between them, thus adapting the clamping force between the first and second clamping bodies to gua sha boards of different thicknesses. This reduces the risk of the gua sha board being damaged due to excessive clamping force or being unable to be stably clamped due to insufficient clamping force, and improves the compatibility and adaptability of the clamping mechanism to gua sha boards of different thicknesses.
[0013] In some embodiments, the first clamp and the second clamp are symmetrically distributed; and / or, the first elastomer and the second elastomer are symmetrically distributed.
[0014] In some embodiments, the first clamp is rotatably connected to the support body via a first rotating shaft, the first elastic body is configured as a torsion spring sleeved on the first rotating shaft, one end of the first elastic body is connected to the first clamp, the support body is provided with a plurality of first connecting parts, all of the first connecting parts are distributed at intervals along a first preset trajectory, and the other end of the first elastic body is connected to one of the first connecting parts.
[0015] In some embodiments, the first clamp is provided with a first limiting portion, and one end of the first elastic body abuts against and is limited to the first limiting portion.
[0016] In some embodiments, the second clamp is rotatably connected to the support body via a second rotating shaft, the second elastic body is configured as a torsion spring sleeved on the second rotating shaft, one end of the second elastic body is connected to the second clamp, the support body is provided with a plurality of second connecting parts, all the second connecting parts are distributed at intervals along a second preset trajectory, and the other end of the second elastic body is connected to one of the second connecting parts.
[0017] In some embodiments, the first connecting portion connecting the first elastomer and the second connecting portion connecting the second elastomer are symmetrically distributed.
[0018] In some embodiments, the first preset trajectory and the second preset trajectory are symmetrically distributed, and the first preset trajectory is arc-shaped.
[0019] In some embodiments, the second clamping body is provided with a second limiting portion, and one end of the second elastic body abuts against and is limited to the second limiting portion.
[0020] In some embodiments, a first elastic anti-slip sleeve is provided on the outer wall of the first clamp, and a second elastic anti-slip sleeve is provided on the outer wall of the second clamp.
[0021] Secondly, this application provides a scraping device, which includes the clamping mechanism described in any of the above claims.
[0022] The scraping device according to the second aspect of this application has at least the following beneficial effects:
[0023] The scraping device of this application, due to the configuration of the above-mentioned clamping mechanism, also has the same technical effect brought by the clamping mechanism, that is, it can reduce the risk of the scraping board being damaged due to excessive clamping force or being unable to be stably clamped due to insufficient clamping force, and improve the compatibility and adaptability of the clamping mechanism to scraping boards of different thicknesses.
[0024] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application 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 application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description
[0025] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:
[0026] Figure 1 This is a schematic diagram of the clamping mechanism according to an embodiment of this application.
[0027] Figure 2 This is a schematic diagram of the cooperation structure between the clamping mechanism and the scraping board in an embodiment of this application.
[0028] Figure 3 This is a schematic diagram of the structure of the first clamp in an embodiment of this application.
[0029] Figure 4 This is a schematic diagram of the structure of the support body according to an embodiment of this application.
[0030] Figure 5 This is a schematic diagram of the mating structure of the first elastic anti-slip sleeve, the second elastic anti-slip sleeve, and the positioning body according to an embodiment of this application.
[0031] Explanation of reference numerals in the attached drawings: Support body 10; First connecting part 11; Second connecting part 12; First mounting hole 13; Second mounting hole 14; First rotating shaft 20; Second rotating shaft 30; First clamping body 100; First limiting part 110; First elastic anti-slip sleeve 120; Third mounting hole 130; Second clamping body 200; Second limiting part 210; Second elastic anti-slip sleeve 220; First elastic body 300; Second elastic body 400; Positioning body 500; Gua Sha board 600. Detailed Implementation
[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0033] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0034] Furthermore, where the terms "first" and "second" appear, these terms are 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 with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0036] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0037] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.
[0038] Gua sha is a traditional green therapy that can improve blood circulation, promote metabolism, and enhance the body's immune function. Gua sha boards are a non-drug, non-invasive natural health therapy tool for treating and preventing diseases.
[0039] Currently, robotic arms are commonly used to drive clamps holding scraping boards to perform automated and precise scraping operations according to planned paths and forces.
[0040] In related technologies, the clamping structure used to hold gua sha boards is relatively simple, and the clamping force of the clamp is difficult to adjust. When the clamp holds a thin gua sha board, it is easy to damage the gua sha board due to excessive clamping force. When it holds a thick gua sha board, it is easy to fail to hold it stably due to insufficient clamping force. The clamping force adjustment mechanism of the clamp limits its adaptability to gua sha boards of different thicknesses.
[0041] Based on this, this application provides a clamping mechanism that, through the coordinated arrangement of a support body, a first clamping body, a second clamping body, a first elastic body, and a second elastic body, adjusts the connection position between at least one of the first and second elastic bodies and the support body, thereby adjusting the elastic force formed by at least one of the first and second elastic bodies. This changes the clamping force of the first and second clamping bodies on the gua sha board located between them, thus adapting the clamping force between the first and second clamping bodies to gua sha boards of different thicknesses. This reduces the risk of the gua sha board being damaged due to excessive clamping force or being unable to be stably clamped due to insufficient clamping force, and improves the compatibility and adaptability of the clamping mechanism to gua sha boards of different thicknesses.
[0042] See Figure 1 and Figure 2 This application provides a clamping mechanism, which includes a support body 10, a first clamping body 100, and a second clamping body 200.
[0043] The first clamp 100 is rotatably connected to the support 10, and a first elastic body 300 is connected between the first clamp 100 and the support 10. The second clamp 200 is rotatably connected to the support 10 and is distributed opposite to the first clamp 100, and a second elastic body 400 is connected between the second clamp 200 and the support 10.
[0044] The first elastic body 300 has a first preload force that causes the first clamp 100 to abut against the second clamp 200, the second elastic body 400 has a second preload force that causes the second clamp 200 to abut against the first clamp 100, and the connection position between at least one of the first elastic body 300 and the second elastic body 400 and the support body 10 is adjustable.
[0045] It should be noted that in this application, the support body 10 is a structural component used to bear and support the first clamp 100 and the second clamp 200. Its specific shape and structure are not limited, and it can be a columnar structure, a U-shaped plate structure, etc.
[0046] In this application, the first clamp 100 can be rotatably connected to the support 10 via the first rotating shaft 20, and the first elastic body 300 is correspondingly disposed on the first rotating shaft 20, with the two ends of the first elastic body 300 respectively connected to the support 10 and the first clamp 100. The first elastic body 300 can be, but is not limited to, an elastic component such as a torsion spring or a threaded spring.
[0047] In this application, the second clamp 200 can be rotatably connected to the support 10 via the second rotating shaft 30, and the second elastic body 400 is correspondingly disposed on the second rotating shaft 30, with the two ends of the second elastic body 400 respectively connected to the support 10 and the second clamp 200. The second elastic body 400 can be, but is not limited to, elastic components such as torsion springs and threaded springs.
[0048] It should also be noted that in this application, both the first clamping body 100 and the second clamping body 200 can be constructed as plate-like structures, and are distributed opposite each other, with the first clamping body 100 and the second clamping body 200 correspondingly forming two opposing clamping portions of the clamping structure. When the clamping mechanism is in the initial state of not clamping the scraping board 600, the first elastic body 300 remains in a compressed and deformed state, forming a first preload, and the first clamping body 100 abuts against the surface of the second clamping body 200 under the action of the first preload of the first elastic body 300. Similarly, the second elastic body 400 remains in a compressed and deformed state, forming a second preload, and the second clamping body 200 abuts against the surface of the first clamping body 100 under the action of the second preload of the second elastic body 400. Thus, the first clamping body 100 and the second clamping body 200 abut against each other, forming a V-shape with a certain angle. It is easy to understand that the size of this angle depends on the magnitude of the first preload of the first elastic body 300 and the second preload of the second elastic body 400.
[0049] When the first clamp 100 rotates relative to the support 10 away from the second clamp 200 under the action of an external force (such as being pried open by the user), the first clamp 100 and the second clamp 200 open relative to each other, the first elastic body 300 is compressed, and the scraping board 600 is placed between the first clamp 100 and the second clamp 200. After the external force is removed, the first clamp 100 is held against one side of the scraping board 600 by the first pre-tightening force and the compressive elastic force of the first elastic body 300, and the second clamp 200 is held against the other side of the scraping board 600 by the second pre-tightening force of the second elastic body 400. In this way, the scraping board 600 is stably clamped.
[0050] Similarly, when the second clamp 200 rotates relative to the support 10 away from the first clamp 100 under the action of external force (such as being pried open by the user), the principle of its clamping of the scraping board 600 is similar to the above process, and will not be repeated here.
[0051] In this application, the adjustable connection position between at least one of the first elastic body 300 and the second elastic body 400 and the support body 10 can be in three cases: First, the connection position between the first elastic body 300 and the support body 10 is adjustable, but the connection position between the second elastic body 400 and the support body 10 is not adjustable; Second, the connection position between the second elastic body 400 and the support body 10 is adjustable, but the connection position between the first elastic body 300 and the support body 10 is not adjustable; Third, both the connection positions between the first elastic body 300 and the support body 10 and the connection positions between the second elastic body 400 and the support body 10 are adjustable.
[0052] It should be understood that, since the connection position between the first elastic body 300 and the first clamping body 100 remains unchanged, when the connection position between the first elastic body 300 and the support body 10 is adjusted, the compression amount of the first elastic body 300 changes accordingly, and the elastic force of the first elastic body 300 on the first clamping body 100 changes accordingly. Similarly, when the connection position between the second elastic body 400 and the support body 10 is adjusted, the elastic force of the second elastic body 400 on the second clamping body 200 changes accordingly.
[0053] Thus, by adjusting the connection position between at least one of the first elastic body 300 and the second elastic body 400 and the support body 10, the elastic force formed by at least one of the first elastic body 300 and the second elastic body 400 is adjusted accordingly. This changes the clamping force of the first clamping body 100 and the second clamping body 200 on the scraping board 600 located between them. This allows the clamping force between the first clamping body 100 and the second clamping body 200 to be adapted to scraping boards 600 of different thicknesses. This reduces the risk of the scraping board 600 being damaged due to excessive clamping force or being unable to be stably clamped due to insufficient clamping force, and improves the compatibility and adaptability of the clamping mechanism to scraping boards 600 of different thicknesses.
[0054] See also some embodiments of this application. Figure 1 and Figure 2 The first clamping body 100 and the second clamping body 200 are symmetrically distributed, and the first elastic body 300 and the second elastic body 400 are symmetrically distributed.
[0055] Specifically, the support body 10 is constructed as an axisymmetric structure. For example, the support body 10 is a U-shaped plate with the opening facing downwards. The first clamp 100 and the second clamp 200 are symmetrically distributed with respect to the vertical plane of the support body 10. Similarly, the first elastic body 300 and the second elastic body 400 are symmetrically distributed with respect to the vertical plane of the support body 10.
[0056] Furthermore, the first preload formed by the first elastic body 300 and the second preload formed by the second elastic body 400 are equal.
[0057] Thus, when the scraping board 600 is clamped between the first clamping body 100 and the second clamping body 200, the clamping force of the first clamping body 100 and the clamping force of the second clamping body 200 on the scraping board 600 are approximately equal, so that the scraping board 600 is subjected to uniform force, thereby improving the stability of the scraping board 600.
[0058] See also some embodiments of this application. Figure 1 and Figure 2The first clamp 100 is rotatably connected to the support body 10 via the first rotating shaft 20. The first elastic body 300 is constructed as a torsion spring sleeved on the first rotating shaft 20. One end of the first elastic body 300 is connected to the first clamp 100. The support body 10 is provided with a plurality of first connecting parts 11. All the first connecting parts 11 are distributed at intervals along a first preset trajectory. The other end of the first elastic body 300 is connected to one of the first connecting parts 11.
[0059] The second clamp 200 is rotatably connected to the support 10 via the second rotating shaft 30. The second elastic body 400 is constructed as a torsion spring sleeved on the second rotating shaft 30. One end of the second elastic body 400 is connected to the second clamp 200. The support 10 is provided with a plurality of second connecting parts 12. All the second connecting parts 12 are distributed at intervals along the second preset trajectory. The other end of the second elastic body 400 is connected to one of the second connecting parts 12.
[0060] Specifically, see Figure 2 and Figure 4 The support body 10 is a U-shaped plate with the opening facing downwards. The U-shaped cavity of the support body 10 is used to accommodate and avoid the first elastic body 300 and the second elastic body 400. The bottom left and right sides of the support body 10 are respectively provided with a first mounting hole 13 and a second mounting hole 14. There are two of each first mounting hole 13 and second mounting hole 14. The two first mounting holes 13 are respectively located on the front and rear sides of the support body 10. Similarly, the two second mounting holes 14 are respectively located on the front and rear sides of the support body 10.
[0061] Correspondingly, see Figure 3 The first clamping body 100 has third mounting holes 130 at its front and rear ends, respectively, and the second clamping body 200 has fourth mounting holes (not shown in the figure) at its front and rear ends, respectively. One end of the first rotating shaft 20 is rotatably connected to the first mounting hole 13 of the support body 10 and the third mounting hole 130 of the first clamping body 100 via a bearing. The other end of the first rotating shaft 20 is also rotatably connected to another first mounting hole 13 of the support body 10 and another third mounting hole 130 of the first clamping body 100 via a bearing. When the first elastic body 300 is a torsion spring, the two free ends of the first elastic body 300 are respectively connected to one of the first connecting parts 11 on the first clamping body 100 and the support body 10.
[0062] Similarly, one end of the second rotating shaft 30 is rotatably connected to the second mounting hole 14 of the support body 10 and the fourth mounting hole of the second clamp 200 via a bearing component, and the other end of the second rotating shaft 30 is also rotatably connected to another second mounting hole 14 of the support body 10 and another fourth mounting hole of the second clamp 200 via a bearing component. The first rotating shaft 20 and the second rotating shaft 30 are at the same height and are arranged parallel to each other. When the second elastic body 400 is a torsion spring, the two free ends of the second elastic body 400 are respectively connected to one of the second connecting parts 12 on the second clamp 200 and the support body 10.
[0063] This configuration allows the first clamp 100 and the second clamp 200 to be symmetrically distributed relative to the central vertical plane of the support 10, making the contact areas of the first clamp 100 and the second clamp 200 with the opposite sides of the scraping board 600 approximately equal, thereby improving the clamping stability of the scraping board 600.
[0064] Furthermore, on the support body 10, any two of the first connecting parts 11 have a height difference, and the first connecting part 11 can be constructed as a locking hole, a locking groove, etc., that can engage with the free end of the first elastic body 300.
[0065] Similarly, on the support body 10, any two of the second connecting parts 12 have a height difference, and the second connecting part 12 can be constructed as a locking hole, a locking groove, etc., that can engage with the free end of the second elastic body 400.
[0066] From the above explanation, it is easy to understand that when it is necessary to adjust the clamping force on the scraping board 600 according to different thickness specifications, one free end of the first elastic body 300 can be connected to the corresponding first connecting part 11 on the first preset track, and one free end of the second elastic body 400 can be connected to the corresponding second connecting part 12 on the second preset track. This changes the elastic deformation of the first elastic body 300 and the second elastic body 400, and correspondingly changes the clamping force of the first clamping body 100 and the second clamping body 200 on the scraping board 600, so that the scraping board 600 is subjected to a suitable clamping force and is stably clamped.
[0067] Specifically, when the thickness of the scraping board 600 is small, the free ends of the first elastic body 300 and the second elastic body 400 can be connected to the first connecting part 11 and the second connecting part 12 at corresponding positions by reducing the elastic deformation of the first elastic body 300 and the second elastic body 400, so that the scraping board 600 can be stably clamped under a small clamping force. When the thickness of the scraping board 600 is large, the free ends of the first elastic body 300 and the second elastic body 400 can be connected to the first connecting part 11 and the second connecting part 12 at corresponding positions by increasing the elastic deformation of the first elastic body 300 and the second elastic body 400, so that the scraping board 600 can be stably clamped under a large clamping force.
[0068] Furthermore, see also Figure 1 and Figure 2 The first connecting portion 11 connecting the first elastic body 300 and the second connecting portion 12 connecting the second elastic body 400 are symmetrically distributed.
[0069] It should be noted that in this application, the first elastic body 300 and the second elastic body 400 are elastic components with the same structure and material. The first preload formed by the first elastic body 300 and the second preload formed by the second elastic body 400 are equal in magnitude, that is, the preload deformation of the two is the same.
[0070] When the connection position between the first elastic body 300 and the second elastic body 400 and the support body 10 needs to be adjusted according to the thickness specification of the scraping board 600, before adjustment, the first connecting part 11 connecting the first elastic body 300 and the second connecting part 12 connecting the second elastic body 400 are symmetrically distributed. After adjustment, the first connecting part 11 connecting the first elastic body 300 and the second connecting part 12 connecting the second elastic body 400 are still symmetrically distributed. In this way, the elastic deformation of the first elastic body 300 and the second elastic body 400 can be equal, so that the scraping board 600 is subjected to the clamping force of the first clamp 100 and the clamping force of the second clamp 200, making the scraping board 600 uniformly stressed, thereby improving the stability of the scraping board 600.
[0071] Furthermore, see also Figure 1 , Figure 2 and Figure 4 The first preset trajectory and the second preset trajectory are symmetrically distributed, and the first preset trajectory is arc-shaped.
[0072] Specifically, both the first connecting part 11 and the second connecting part 12 are circular holes. The center line of all the first connecting parts 11 forms a first arc-shaped trajectory, and the center line of all the second connecting parts 12 forms a second arc-shaped trajectory. The first arc-shaped trajectory and the second arc-shaped trajectory are symmetrically distributed. The first arc-shaped trajectory corresponds to the first preset trajectory, and the second arc-shaped trajectory corresponds to the second preset trajectory.
[0073] By constructing the first and second preset tracks as arcs, on the one hand, the distribution range of all the first connecting parts 11 and the second connecting parts 12 can be increased, thereby increasing the adjustment range of the elastic deformation of the first elastic body 300 and the second elastic body 400, so that the clamping mechanism can be adapted to scraping boards 600 of various thicknesses. On the other hand, since the first elastic body 300 and the second elastic body 400 are both torsion spring structures sleeved on corresponding rotating shafts, the connection position between the free end of the first elastic body 300 and the support body 10 can be adjusted by rotating the first elastic body 300, so that the corresponding free end of the first elastic body 300 can accurately rotate along the arc-shaped first preset track and finally connect with one of the first connecting parts 11 on the first preset track. Similarly, the connection position between the free end of the second elastic body 400 and the support body 10 can be adjusted by rotating the second elastic body 400, so that the corresponding free end of the second elastic body 400 can accurately rotate along the arc-shaped second preset track and finally connect with one of the second connecting parts 12 on the second preset track. In this way, the adjustment process is simplified.
[0074] In some embodiments of this application, see Figure 1 , Figure 2 and Figure 3 The first clamp 100 is provided with a first limiting part 110, and one end of the first elastic body 300 abuts against and is limited in the first limiting part 110.
[0075] Specifically, the first limiting part 110 is a slot provided on the top side wall of the first clamp 100, and the first elastic body 300 is constructed as a torsion spring, with the corresponding free end of the first elastic body 300 abutting and limiting within the slot.
[0076] It should be understood that the first limiting part 110 provides support and positioning for the corresponding end of the first elastic body 300, so that the corresponding end of the first elastic body 300 is stably connected to the first clamp 100. By limiting the corresponding end of the first elastic body 300, the probability of the corresponding end of the first elastic body 300 sliding or disengaging from the first clamp 100 during the movement and adjustment process of the other end of the first elastic body 300 (movably connected to a first connecting part 11 on the support body) can be reduced.
[0077] Similarly, the second clamp 200 is provided with a second limiting part 210, and one end of the second elastic body 400 abuts against and is limited in the second limiting part 210.
[0078] The second limiting part 210 is a slot provided on the top side wall of the second clamp 200. The second elastic body 400 is constructed as a torsion spring, and the corresponding free end of the second elastic body 400 abuts against and is limited in the slot.
[0079] It should be understood that the second limiting part 210 provides support and positioning for the corresponding end of the second elastic body 400, so that the corresponding end of the second elastic body 400 is stably connected to the second clamp 200. By limiting the corresponding end of the second elastic body 400, the probability of the corresponding end of the second elastic body 400 sliding or disengaging relative to the second clamp 200 during the movement of the other end of the second elastic body 400 (moving to a second connecting part 12 on the support body) can be reduced.
[0080] In some embodiments of this application, a first elastic anti-slip sleeve 120 is fitted on the outer wall of the first clamp 100, and a second elastic anti-slip sleeve 220 is fitted on the outer wall of the second clamp 200.
[0081] Specifically, see Figure 2 and Figure 5 The clamping mechanism of this application further includes a positioning body 500, which is an arched elastic structure. The first elastic anti-slip sleeve 120 and the second elastic anti-slip sleeve 220 are respectively connected to opposite sides of the positioning body 500. Exemplarily, the positioning body 500, the first elastic anti-slip sleeve 120, and the second elastic anti-slip sleeve 220 are all made of silicone or rubber and are integrally molded to facilitate the overall assembly and disassembly of the first elastic anti-slip sleeve 120 and the second elastic anti-slip sleeve 220.
[0082] Before the clamping mechanism clamps the scraping board 600, the first elastic anti-slip sleeve 120 and the second elastic anti-slip sleeve 220 are respectively fitted onto the outer wall of the first clamping body 100 and the outer wall of the second clamping body 200, which are close to the support body 10. At this time, the positioning body 500, the first elastic anti-slip sleeve 120 and the second elastic anti-slip sleeve 220 form a clamping cavity. The positioning body 500 provides a stop for the clamping and placement of the scraping board 600. After the scraping board 600 is placed in the clamping cavity, it is stably clamped by the first clamping body 100 and the second clamping body 200 on opposite sides.
[0083] This increases the contact friction between the first clamp 100 and the second clamp 200 and the scraping board 600, reducing the probability of relative sliding between the scraping board 600 and the first clamp 100 and the second clamp 200. This reduces the risk of the scraping board 600 falling off during scraping operations, ensuring the continuity of the scraping action. At the same time, it also avoids direct hard contact between the first clamp 100 and the second clamp 200 and the patient's skin, which could harm the patient.
[0084] Furthermore, the first elastic anti-slip sleeve 120 and the second elastic anti-slip sleeve 220 can be compressed and deformed by the elastic force of the first elastic body 300 and the second elastic body 400, respectively. The elastic deformation portion of the first elastic anti-slip sleeve 120 and the second elastic anti-slip sleeve 220 can fill the contact gap between the first elastic anti-slip sleeve 120 and the second elastic anti-slip sleeve 220 and the scraping board 600, thereby increasing the clamping contact area between the clamping mechanism as a whole and the scraping board 600. This not only improves the clamping stability of the scraping board 600, but also enables compatibility and adaptation to scraping boards 600 with irregular shapes.
[0085] In addition, this application also provides a scraping device, which includes the clamping mechanism of any of the above embodiments.
[0086] Specifically, the scraping device includes a robotic arm and a controller. The clamping mechanism is installed at the end of the robotic arm. The controller controls the robotic arm to drive the clamping mechanism holding the scraping board to perform automated and precise scraping operations according to the planned path and force.
[0087] The scraping device of this application, due to the configuration of the above-mentioned clamping mechanism, also has the same technical effect brought by the clamping mechanism, that is, it can reduce the risk of the scraping board 600 being damaged due to excessive clamping force or being unable to be stably clamped due to insufficient clamping force, and improve the compatibility and adaptability of the clamping mechanism to scraping boards 600 of different thicknesses.
[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0089] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A clamping mechanism, characterized by, include: Support structure; A first clamp is rotatably connected to the support body, and a first elastic body is connected between the first clamp and the support body; The second clamp is rotatably connected to the support and distributed opposite to the first clamp, and a second elastic body is connected between the second clamp and the support; The first elastic body has a first preload force that causes the first clamp to abut against the second clamp, the second elastic body has a second preload force that causes the second clamp to abut against the first clamp, and the connection position of at least one of the first elastic body and the second elastic body with the support body is adjustable.
2. The clamping mechanism of claim 1, wherein, The first clamp and the second clamp are symmetrically distributed; and / or, the first elastic body and the second elastic body are symmetrically distributed.
3. The clamping mechanism of claim 1, wherein, The first clamp is rotatably connected to the support body via a first rotating shaft. The first elastic body is constructed as a torsion spring sleeved on the first rotating shaft. One end of the first elastic body is connected to the first clamp. The support body is provided with a plurality of first connecting parts. All the first connecting parts are distributed at intervals along a first preset trajectory. The other end of the first elastic body is connected to one of the first connecting parts.
4. The clamping mechanism of claim 3, wherein The first clamp is provided with a first limiting part, and one end of the first elastic body abuts against and is limited to the first limiting part.
5. The clamping mechanism of claim 3, wherein The second clamp is rotatably connected to the support body via a second rotating shaft. The second elastic body is constructed as a torsion spring sleeved on the second rotating shaft. One end of the second elastic body is connected to the second clamp. The support body is provided with a plurality of second connecting parts, all of which are distributed at intervals along a second preset trajectory. The other end of the second elastic body is connected to one of the second connecting parts.
6. The clamping mechanism according to claim 5, characterized in that, The first connecting portion connecting the first elastic body and the second connecting portion connecting the second elastic body are symmetrically distributed.
7. A clamping mechanism according to claim 5 or 6, characterised in that, The first preset trajectory and the second preset trajectory are symmetrically distributed, and the first preset trajectory is arc-shaped.
8. The chucking mechanism of claim 3, wherein The second clamp is provided with a second limiting part, and one end of the second elastic body abuts against and is limited to the second limiting part.
9. The clamping mechanism according to any one of claims 1 to 6, characterized in that The outer wall of the first clamp is fitted with a first elastic anti-slip sleeve, and the outer wall of the second clamp is fitted with a second elastic anti-slip sleeve.
10. A gua sha device, characterized in that, Includes the clamping mechanism as described in any one of claims 1 to 9.