Gripping mechanism and gua sha device
By using a clamping mechanism that dynamically adjusts the clamping angle and contact area, the problem of insufficient adaptability of existing clamps to scraping boards of different thicknesses is solved, achieving stable clamping and improved compatibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN HENGPENGRUI TECHNOLOGY CO LTD
- Filing Date
- 2025-02-26
- Publication Date
- 2026-08-04
AI Technical Summary
Existing clamps are difficult to adapt to gua sha boards of different thicknesses and specifications. Improper clamping force can easily damage or cause unstable clamping, thus limiting adaptability.
By coordinating the first clamp, the second clamp, and the locking assembly, the clamping angle and contact area are dynamically adjusted to achieve stable clamping of gua sha boards of different thicknesses. The elastic elements of the first and second clamping parts provide pre-tightening force, and the locking and unlocking functions of the locking assembly are combined to adapt to gua sha boards of different thicknesses.
This improves the compatibility and adaptability of the clamping mechanism to scraping boards of different thicknesses, reduces the risk of damage to the scraping board due to excessive or insufficient clamping force, and ensures stable clamping.
Smart Images
Figure CN224585015U_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 difficult to adapt to clamping gua sha boards of different thicknesses. For example, when the clamp holds a thinner gua sha board, it is easy to damage the gua sha board due to excessive clamping force. When it holds a thicker gua sha board, it is easy to fail to hold it stably due to insufficient clamping force. The 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 adjustment mechanism of the existing clamps limits their adaptability to scraping boards of different thicknesses. To this end, this application provides a clamping mechanism and a scraping device.
[0006] In a first aspect, this application provides a clamping mechanism, comprising:
[0007] The first clamping body includes a first connecting part and a first clamping part that are connected together;
[0008] The second clamping body includes a second connecting part and a second clamping part. The second connecting part is rotatably connected to the first connecting part and a first elastic member is provided between the second connecting part and the first connecting part. The second clamping part is rotatably connected to the second connecting part. The first elastic member has a first pre-tightening force that drives the first clamping part and the second clamping part to move closer to each other.
[0009] A locking assembly is used to lock the second clamping part to the second connecting part or to release the locking of the second clamping part, wherein the second clamping part can rotate relative to the second connecting part when it is released from locking.
[0010] The clamping mechanism according to the first aspect of this application has at least the following beneficial effects:
[0011] The clamping mechanism of this application, through the cooperative arrangement of a first clamping body, a second clamping body, and a locking component, is designed to stably clamp scraping boards of different thicknesses. Based on the need for stable clamping of scraping boards of different thicknesses, it dynamically adjusts the clamping angle between the second clamping part and the first clamping part by rotating the first and second connecting parts relative to each other and by rotating the second clamping part independently relative to the second connecting part. This correspondingly changes the contact area between the first and second clamping parts and the scraping board, thereby adjusting the clamping force of the first and second clamping parts on the scraping board. This ensures that the first and second clamping parts stably clamp scraping boards of the corresponding thicknesses, reducing the risk of damage to the scraping board due to excessive clamping force or inability to be stably clamped due to insufficient clamping force. This improves the compatibility and adaptability of the clamping mechanism to scraping boards of different thicknesses.
[0012] In some embodiments, a second elastic member is provided between the second clamping portion and the second connecting portion, and the second elastic member has a second preload force that drives the second clamping portion closer to the first clamping portion.
[0013] In some embodiments, the first elastic member is compressed when the second connecting portion rotates away from the first connecting portion relative to the first connecting portion, and the second elastic member is compressed when the second clamping portion rotates away from the first clamping portion relative to the second connecting portion.
[0014] In some embodiments, the first connecting portion and the first clamping portion are intersecting; and / or, the second connecting portion and the second clamping portion are intersecting.
[0015] In some embodiments, the locking assembly includes an anti-rotation member disposed on the second connecting portion, a locking member disposed on the second clamping portion, and a third elastic member disposed between the locking member and the second clamping portion. The anti-rotation member has a plurality of locking portions distributed along an arc-shaped interval, and the locking member has a locking portion. The locking member is capable of moving relative to the second clamping portion in a direction that compresses or releases the third elastic member, so that the locking portion disengages from or engages with the locking portion.
[0016] In some embodiments, a mounting cavity is formed inside the second clamping portion, and both the locking member and the third elastic member are disposed in the mounting cavity. The two ends of the third elastic member abut against the inner wall of the locking member and the mounting cavity, respectively. The locking member has a pushing portion that extends out of the mounting cavity and protrudes from the outer wall of the second clamping portion.
[0017] In some embodiments, the locking assembly further includes a limiting member fixed within the mounting cavity and close to the anti-rotation member, the limiting member having a limiting channel for the locking member to slide through.
[0018] In some embodiments, a positioning block is provided on the side of the first clamping portion near the second clamping portion, and the positioning block forms a gap with the bottom of the first clamping portion.
[0019] In some embodiments, a first elastic anti-slip sleeve is provided on the outer wall of the first clamping part, and a second elastic anti-slip sleeve is provided on the outer wall of the second clamping part.
[0020] Secondly, this application provides a scraping device, which includes the clamping mechanism described above.
[0021] The scraping device according to the second aspect of this application has at least the following beneficial effects:
[0022] The scraping device of this application, due to the aforementioned clamping mechanism, also has the same technical effect brought by the clamping mechanism, namely, 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.
[0023] 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
[0024] 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:
[0025] Figure 1 This is a schematic diagram of the clamping mechanism according to an embodiment of this application.
[0026] 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. Figure 1 .
[0027] Figure 3 This is a schematic diagram of the cooperation structure between the clamping mechanism and the scraping board in an embodiment of this application. Figure 2 .
[0028] Figure 4 This is a schematic diagram of the cooperation structure between the clamping mechanism and the scraping board in an embodiment of this application. Figure 3 .
[0029] Figure 5 for Figure 4A magnified view of a portion of point A in the middle.
[0030] Explanation of reference numerals in the attached drawings: First clamping body 100; First connecting part 110; First clamping part 120; First elastic element 130; First elastic anti-slip sleeve 140; Positioning block 150; First rotating shaft 160; Second clamping body 200; Second connecting part 210; Second clamping part 220; Mounting cavity 221; Second elastic element 230; Second elastic anti-slip sleeve 240; Second rotating shaft 250; Locking assembly 300; Anti-rotation element 310; Snap-fit part 311; Locking element 320; Snap-fit part 321; Pushing part 322; Third elastic element 330; Limiting element 340; Limiting channel 341; Scraping board 400. Detailed Implementation
[0031] 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.
[0032] 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.
[0033] 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.
[0034] 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.
[0035] 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.
[0036] 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.
[0037] 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.
[0038] 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.
[0039] In related technologies, the clamping structure used to hold gua sha boards is relatively simple and difficult to adapt to clamping gua sha boards of different thicknesses. For example, when the clamp holds a thinner gua sha board, it is easy to damage the gua sha board due to excessive clamping force. When it holds a thicker gua sha board, it is easy to fail to hold it stably due to insufficient clamping force. The adjustment mechanism of the clamp limits its adaptability to gua sha boards of different thicknesses.
[0040] Based on this, this application provides a clamping mechanism. Through the cooperative arrangement of a first clamping body, a second clamping body, and a locking component, based on the stable clamping requirements for scraping boards of different thicknesses, the clamping angle between the second clamping part and the first clamping part can be dynamically adjusted by rotating the first connecting part and the second connecting part relative to each other and by rotating the second clamping part independently relative to the second connecting part. This correspondingly changes the contact area between the first clamping part and the second clamping part and the scraping board, thereby adjusting the clamping force of the first clamping part and the second clamping part on the scraping board. This ensures that the first clamping part and the second clamping part stably clamp the scraping board of the corresponding thickness, reducing the risk of the scraping board being damaged due to excessive clamping force or failing to be stably clamped due to insufficient clamping force. This improves the compatibility and adaptability of the clamping mechanism to scraping boards of different thicknesses.
[0041] See Figure 1 , Figure 2 and Figure 3 This application provides a clamping mechanism, which includes a first clamping body 100, a second clamping body 200, and a locking component 300.
[0042] The first clamping body 100 includes a first connecting portion 110 and a first clamping portion 120 connected to each other. The second clamping body 200 includes a second connecting portion 210 and a second clamping portion 220. The second connecting portion 210 is rotatably connected to the first connecting portion 110, and a first elastic member 130 is provided between the second connecting portion 210 and the first connecting portion 110. The second clamping portion 220 is rotatably connected to the second connecting portion 210. The first elastic member 130 has a first preload force that drives the first clamping portion 120 and the second clamping portion 220 to move closer to each other.
[0043] The locking assembly 300 is used to lock the second clamping part 220 to the second connecting part 210 or to release the locking of the second clamping part 220. When the second clamping part 220 is released from locking, it can rotate relative to the second connecting part 210.
[0044] It should be noted that in this application, for the first clamp 100, the first connecting part 110 and the first clamping part 120 can be integrally connected or detachably connected. There is no specific limitation, as long as the connected first connecting part 110 and the first clamping part 120 are kept relatively stationary and do not slide relative to each other.
[0045] For the second clamp 200, the second connecting part 210 can be rotatably connected to the first connecting part 110 through a structure such as the first rotating shaft 160 and a hinge, so that the second connecting part 210 can rotate relative to the first connecting part 110. The first elastic member 130 can be disposed at the rotatable connection between the second connecting part 210 and the first connecting part 110. The first elastic member 130 can be, but is not limited to, an elastic component such as a torsion spring or a threaded spring. The first elastic member 130 is pre-compressed and can maintain a state with a first preload.
[0046] Similarly, the second clamping part 220 of the second clamping body 200 can be rotatably connected to the second connecting part 210 through a structure such as the second rotating shaft 250 and a hinge, so that the second clamping part 220 can rotate relative to the second connecting part 210.
[0047] The locking assembly 300 may be, but is not limited to, a ratchet mechanism, a pin locking structure, a gear locking structure, or a hydraulic / pneumatic locking structure. It can lock the second clamping part 220 to the second connecting part 210 to restrict the rotation of the second clamping part 220 relative to the second connecting part 210. The locking assembly 300 can also release the locking of the second clamping part 220 so that the second clamping part 220 can rotate relative to the second connecting part 210 when the locking is released.
[0048] It is easy to understand that the locking component 300 enables the second clamping part 220 to have a locked state fixed to the second connecting part 210 and an unlocked state that allows it to rotate relative to the second connecting part 210.
[0049] It should be noted that in the clamping mechanism of this application, when the second clamping part 220 is in the locked state, the second clamping part 220 and the second connecting part 210 remain relatively stationary. At this time, the second clamping body 200 formed by the second clamping part 220 and the second connecting part 210 moves closer to the first clamping body 100 under the action of the first pre-tightening force of the first elastic member 130. Similarly, the first clamping body 100 of the first connecting part 110 and the first clamping part 120 moves closer to the second clamping body 200 under the action of the first pre-tightening force of the first elastic member 130. The first clamping part 120 and the second clamping part 220 are both driven to move closer to each other by the first pre-tightening force.
[0050] Thus, the first clamping part 120 and the second clamping part 220 correspond to form two opposing clamping parts of the clamping mechanism of this application. It should be noted that the magnitude of the first preload can be preset so that the first clamping part 120 and the second clamping part 220 abut against each other under the action of the first preload, forming a V-shaped structure with a certain initial clamping angle.
[0051] When the second clamp 200 and the first clamp 100 are rotated away from each other under the action of external force (such as being pried open by the user), the second clamp 200 and the first clamp 100, the first clamping part 120 and the second clamping part 220 open relative to each other, and the first elastic member 130 is compressed. At this time, the scraping board 400 is placed between the first clamping part 120 and the second clamping part 220. After the external force is removed, the first clamping part 120 and the second clamping part 220 abut against the opposite sides of the scraping board 400 by the first pre-tightening force and the elastic force of the first elastic member 130, thereby stably clamping the scraping board 400.
[0052] Considering that the first clamping part 120 and the second clamping part 220 need to open at different angles to clamp the scraping boards 400 of different thicknesses, and that after the first clamping part 120 and the second clamping part 220 are opened at different angles and then pressed against the opposite sides of the scraping board 400, the contact area between the first clamping part 120 and the second clamping part 220 and the opposite sides of the scraping board 400 changes accordingly due to the change in clamping angle, and the clamping force of the two on the scraping board 400 changes accordingly.
[0053] Based on this, the user can release the locking assembly 300 from locking the second clamping part 220 according to the different thickness specifications of the gua sha board 400, allowing the second clamping part 220 to rotate relative to the second connecting part 210 in a direction away from or towards the first clamping part 120, and simultaneously causing the first connecting part 110 and the second connecting part 210 to rotate relative to each other, so as to adaptively adjust the included angle between the first connecting part 110 and the second connecting part 210, thereby changing the size of the clamping angle formed by the second clamping part 220 and the first clamping part 120, and thus affecting the... The contact area between the first clamping part 120 and the second clamping part 220 and the scraping board 400 should be changed to adjust the clamping force of the first clamping part 120 and the second clamping part 220 on the scraping board 400, so that the first clamping part 120 and the second clamping part 220 can stably clamp the scraping board 400 of the corresponding thickness specification, reduce the risk that the scraping board 400 will be damaged due to excessive clamping force or unable to be stably clamped due to insufficient clamping force, and improve the compatibility and adaptability of the clamping mechanism to scraping boards 400 of different thickness specifications.
[0054] It is understandable that when the clamping angle formed between the first clamping part 120 and the second clamping part 220 is adapted to the scraping board 400 of the corresponding thickness specification, the locking assembly 300 locks the second clamping part 220 onto the second connecting part 210, thereby achieving the effect of adjusting the clamping angle between the first clamping part 120 and the second clamping part 220.
[0055] In addition, it should be noted that, see [link to relevant documentation] Figure 3 and Figure 4When the user needs to remove the gua sha board 400 from between the first clamping part 120 and the second clamping part 220, the locking component 300 can be released from locking the second clamping part 220. The user can then rotate the second clamping part 220 to open the first clamping part 120 and the second clamping part 220 without having to use a large external force to pry open the second clamping body 200 and the first clamping body 100, thus improving the convenience of taking out and putting away the gua sha board 400.
[0056] It is easy to understand that, through the cooperative arrangement of the first clamping body 100, the second clamping body 200, and the locking component 300, this application, based on the stable clamping requirements for scraping boards 400 of different thicknesses, can dynamically adjust the clamping angle between the second clamping part 220 and the first clamping part 120 by rotating the first connecting part 110 and the second connecting part 210 relative to each other and by rotating the second clamping part 220 independently relative to the second connecting part 210, thereby correspondingly changing the clamping angle between the first clamping part 120 and the first clamping part 120. The contact area between the second clamping part 220 and the scraping board 400 is increased, thereby adjusting the clamping force of the first clamping part 120 and the second clamping part 220 on the scraping board 400. This allows the first clamping part 120 and the second clamping part 220 to stably clamp the scraping board 400 of the corresponding thickness, reducing the risk of the scraping board 400 being damaged due to excessive clamping force or unable to be stably clamped due to insufficient clamping force. This improves the compatibility and adaptability of the clamping mechanism to scraping boards 400 of different thicknesses.
[0057] See also some embodiments of this application. Figure 1 and Figure 2 A second elastic member 230 is provided between the second clamping part 220 and the second connecting part 210. The second elastic member 230 has a second pre-tightening force to drive the second clamping part 220 closer to the first clamping part 120.
[0058] Specifically, the second clamping part 220 is rotatably connected to the second connecting part 210 via the second rotating shaft 250. The second elastic member 230 is constructed as a torsion spring structure. The second elastic member 230 is sleeved on the second rotating shaft 250, and the two ends of the second elastic member 230 are respectively the second connecting part 210 and the second clamping part 220. The second elastic member 230 is pre-compressed and can maintain a state with a second pre-tightening force, so that the second clamping part 220 and the first clamping part 120 abut against each other under the action of the first pre-tightening force and the second pre-tightening force, so as to stably clamp the scraping board 400.
[0059] Understandably, when the second clamping part 220 is in the unlocked state, and the second clamping part 220 rotates relative to the second connecting part 210 in a direction away from the first clamping part 120 to adjust the clamping angle between the first clamping part 120 and the second clamping part 220, the second elastic member 230 is compressed. After the adjustment is completed, the second clamping part 220 is locked by the locking component 300 and is in the locked state. At this time, the scraping board 400 located between the first clamping part 120 and the second clamping part 220 is also subjected to the elastic force of the second elastic member 230, so that the scraping board 400 can be further stably clamped.
[0060] Furthermore, see also Figure 1 and Figure 2 The first elastic member 130 is compressed when the second connecting portion 210 rotates away from the first connecting portion 110 relative to the first connecting portion 110, and the second elastic member 230 is compressed when the second clamping portion 220 rotates away from the first clamping portion 120 relative to the second connecting portion 210.
[0061] Specifically, the second connecting part 210 is rotatably connected to the first connecting part 110 via the first rotating shaft 160. The first elastic element 130 is constructed as a torsion spring structure. The first elastic element 130 is sleeved on the first rotating shaft 160, and the two ends of the first elastic element 130 are respectively connected to the first connecting part 110 and the second connecting part 210.
[0062] The second clamping part 220 is rotatably connected to the second connecting part 210 via the second rotating shaft 250. The second elastic member 230 is constructed as a torsion spring structure. The second elastic member 230 is sleeved on the second rotating shaft 250, and the two ends of the second elastic member 230 are respectively the second connecting part 210 and the second clamping part 220.
[0063] It is easy to understand that by setting the second elastic member 230 to be compressed when the second clamping part 220 rotates relative to the second connecting part 210 away from the first clamping part 120, the second clamping part 220 is subjected to the elastic compression force of the second elastic member 230 during the process of rotating relative to the second connecting part 210 in the unlocked state to adapt to the scraping board 400 of the corresponding thickness. Thus, after the position of the second clamping part 220 relative to the second connecting part 210 is adjusted, the scraping board 400 located between the first clamping part 120 and the second clamping part 220 is still subjected to the elastic force of the second elastic member 230, thereby further stabilizing the scraping board 400.
[0064] In some embodiments of this application, see Figure 3 The first connecting portion 110 and the first clamping portion 120 are arranged intersectingly. The second connecting portion 210 and the second clamping portion 220 are also arranged intersectingly.
[0065] Specifically, the first connecting part 110 and the first clamping part 120 are intersecting, meaning they are not on the same straight line and form an intersecting angle between them. The second connecting part 210 and the second clamping part 220 are intersecting, meaning that when the clamping mechanism is not clamping the scraping board 400, the second connecting part 210 and the second clamping part 220 are not on the same straight line and also form an intersecting angle between them.
[0066] With the above configuration, the first pre-tightening force of the first elastic element 130 can make the first clamping part 120 and the second clamping part 220 abut against each other when the scraping board 400 is not clamped, forming a V-shape. When the first clamping part 120 and the second clamping part 220 are opened to clamp the scraping board 400, the contact area between the first clamping part 120 and the second clamping part 220 and the scraping board 400 can be increased accordingly, avoiding the first clamping part 120 and the second clamping part 220 from forming line contact or point contact with the scraping board 400, and further improving the stability of clamping the scraping board 400.
[0067] In some embodiments of this application, see Figure 3 , Figure 4 and Figure 5 The locking assembly 300 includes an anti-rotation member 310 disposed on the second connecting portion 210, a locking member 320 disposed on the second clamping portion 220, and a third elastic member 330 disposed between the locking member 320 and the second clamping portion 220. The anti-rotation member 310 is provided with a plurality of locking portions 311 distributed along an arc-shaped interval, and the locking member 320 is provided with locking portions 321. The locking member 320 can move relative to the second clamping portion 220 in the direction of compressing or releasing the third elastic member 330, so that the locking portion 321 disengages from or engages with the locking portion 311.
[0068] Specifically, see Figure 5 The second clamping part 220 has an installation cavity 221 inside, and the locking member 320 and the third elastic member 330 are both disposed in the installation cavity 221, and the two ends of the third elastic member 330 abut against the locking member 320 and the inner wall of the installation cavity 221 respectively.
[0069] The second clamping part 220 is rotatably connected to the second connecting part 210 via the second rotating shaft 250. The anti-rotation member 310 is a ratchet fixedly sleeved on the second rotating shaft 250, and the locking part 311 is a ratchet tooth formed on the outer periphery of the ratchet. The mounting cavity 221 is a straight channel with one end closed and the other end open. The locking member 320 is a locking bar that is movably inserted into the mounting cavity 221. The locking part 321 is a toothed block provided on the end of the locking bar near the ratchet. The third elastic member 330 is a compression spring. The compression spring is located in the straight channel, and the two ends of the compression spring are respectively connected to the end of the locking bar away from the ratchet and the closed end of the straight channel.
[0070] It should be noted that the compression spring has a third preload force that drives the toothed block at the end of the locking bar to abut against and engage with the corresponding ratchet teeth on the outer periphery of the ratchet. The engagement between the ratchet teeth of the ratchet and the toothed block at the end of the locking bar restricts the rotation of the second clamping part 220 relative to the second connecting part 210, thereby locking the second clamping part 220 onto the second connecting part 210.
[0071] When it is necessary to adjust the position of the second clamping part 220 relative to the first clamping part 120 to accommodate the scraping board 400 of a corresponding thickness, the user can use external force to push the locking rod to move in the direction of compressing the third elastic member 330, so that the toothed block at the end of the locking rod disengages from the ratchet teeth of the ratchet, thereby releasing the rotation restriction on the second clamping part 220. At this time, the second clamping part 220 can be rotated independently, and in conjunction with the elastic force of the second elastic member 230, the clamping force of the second clamping part 220 and the first clamping part 120 on the scraping board of a corresponding thickness can be adaptively adjusted. This allows the first clamping part 120 and the second clamping part 220 to stably clamp the scraping board 400 of a corresponding thickness, reducing the risk that the scraping board 400 may be damaged due to excessive clamping force or unable to be stably clamped due to insufficient clamping force, and improving the compatibility and adaptability of the clamping mechanism to scraping boards 400 of different thicknesses.
[0072] Understandably, when the external force pushing the locking lever is removed, the locking lever will move towards the ratchet under the elastic force of the compressed spring, causing the tooth block at the end of the locking lever to abut against and engage with the corresponding ratchet teeth on the outer circumference of the ratchet.
[0073] In addition, to facilitate the user's operation of the locking member 320 by external force, the locking member 320 has a pushing part 322 that extends out of the mounting cavity 221 and protrudes from the outer wall of the second clamping part 220. Correspondingly, the outer wall of the second clamping part 220 is provided with a clearance channel for avoiding the pushing part 322. The extension direction of the clearance channel coincides with the mounting cavity to avoid the outer wall of the second clamping part 220 interfering with the pushing part 322.
[0074] Understandably, the user can switch the unlocked and locked states of the second clamping part 220 by pushing the pushing part 322 on the locking part 320 relative to the second clamping part 220, thereby disengaging the locking part 321 on the locking part 320 from or engaging the locking part 311 on the anti-rotation part 310.
[0075] Further, see Figure 5 The locking assembly 300 also includes a limiting member 340, which is fixed in the mounting cavity 221 and close to the anti-rotation member 310. The limiting member 340 has a limiting channel 341 for the locking member 320 to slide through.
[0076] Specifically, both the limiting member 340 and the mounting cavity 221 are cylindrical, and the outer wall of the limiting member 340 is threadedly connected to the inner wall of the mounting cavity 221.
[0077] It is easy to understand that by setting a limiting member 340 in the mounting cavity 221 and sliding the locking member 320 through the limiting channel 341 of the limiting member 340, the locking member 320 can be accurately slid along a straight line, improving the accuracy of the locking part 321 on the locking member 320 disengaging from or engaging with the locking part 311 on the anti-rotation member 310.
[0078] In some embodiments of this application, see Figure 2 A positioning block 150 is provided on the side of the first clamping part 120 near the second clamping part 220, and the positioning block 150 forms a gap with the bottom of the first clamping part 120.
[0079] It is easy to understand that the positioning block 150 provides a stop and positioning for the clamping and placement of the scraping board 400.
[0080] See also some embodiments of this application. Figure 2 and Figure 3 A first elastic anti-slip sleeve 140 is fitted on the outer wall of the first clamping part 120, and a second elastic anti-slip sleeve 240 is fitted on the outer wall of the second clamping part 220.
[0081] In this application, both the first clamping part 120 and the second clamping part 220 are plate-shaped structures. Before the clamping mechanism clamps the scraping board 400, the first elastic anti-slip sleeve 140 and the second elastic anti-slip sleeve 240 are respectively fitted onto the outer walls of the first clamping part 120 and the second clamping part 220. The positioning block 150 provides a stop and positioning for the clamping and placement of the scraping board 400. The scraping board 400 is placed between the first clamping part 120 and the second clamping part 220 and is stably clamped.
[0082] In this way, the contact friction between the first clamping part 120 and the second clamping part 220 and the scraping board 400 can be increased, reducing the probability of relative sliding between the scraping board 400 and the first clamping part 120 and the second clamping part 220. This reduces the risk of the scraping board 400 falling off during scraping operations, ensuring the continuity of the scraping action. At the same time, it can also prevent the first clamping part 120 and the second clamping part 220 from directly and rigidly contacting the patient's skin and injuring the patient.
[0083] Furthermore, the first elastic anti-slip sleeve 140 and the second elastic anti-slip sleeve 240 can be compressed and deformed under elastic force. The elastic deformation portion of the first elastic anti-slip sleeve 140 and the second elastic anti-slip sleeve 240 can be filled in the contact gap between the first elastic anti-slip sleeve 140 and the second elastic anti-slip sleeve 240 and the scraping board 400, thereby increasing the clamping contact area between the clamping mechanism as a whole and the scraping board 400. This not only improves the clamping stability of the scraping board 400, but also enables compatibility and adaptation to scraping boards 400 with irregular shapes.
[0084] In addition, this application also provides a scraping device, which includes the clamping mechanism of any of the above embodiments.
[0085] 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 400 to perform automated and precise scraping operations according to the planned path and force.
[0086] The scraping device of this application, due to the aforementioned clamping mechanism, also has the same technical effect brought by the clamping mechanism, namely, it can reduce the risk of the scraping board 400 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 400 of different thicknesses.
[0087] 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.
[0088] 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: The first clamping body includes a first connecting part and a first clamping part that are connected together; The second clamping body includes a second connecting part and a second clamping part. The second connecting part is rotatably connected to the first connecting part and a first elastic member is provided between the second connecting part and the first connecting part. The second clamping part is rotatably connected to the second connecting part. The first elastic member has a first pre-tightening force that drives the first clamping part and the second clamping part to move closer to each other. A locking assembly is used to lock the second clamping part to the second connecting part or to release the locking of the second clamping part, wherein the second clamping part can rotate relative to the second connecting part when it is released from locking.
2. The clamping mechanism of claim 1, wherein, A second elastic element is provided between the second clamping part and the second connecting part, and the second elastic element has a second pre-tightening force to drive the second clamping part closer to the first clamping part.
3. The clamping mechanism of claim 2, wherein, The first elastic member is compressed when the second connecting portion rotates away from the first connecting portion relative to the first connecting portion, and the second elastic member is compressed when the second clamping portion rotates away from the first clamping portion relative to the second connecting portion.
4. The clamping mechanism of claim 1, wherein, The first connecting portion and the first clamping portion are arranged intersectingly; and / or, the second connecting portion and the second clamping portion are arranged intersectingly.
5. The chucking mechanism of claim 1, wherein The locking assembly includes an anti-rotation member disposed on the second connecting portion, a locking member disposed on the second clamping portion, and a third elastic member disposed between the locking member and the second clamping portion. The anti-rotation member has a plurality of locking portions distributed along an arc-shaped interval. The locking member has a locking portion. The locking member can move relative to the second clamping portion in the direction of compressing or releasing the third elastic member, so that the locking portion disengages from or engages with the locking portion.
6. The clamping mechanism of claim 5, wherein, The second clamping part has an installation cavity inside, and the locking member and the third elastic member are both disposed in the installation cavity. The two ends of the third elastic member abut against the locking member and the inner wall of the installation cavity, respectively. The locking member has a pushing part that extends out of the installation cavity and protrudes from the outer wall of the second clamping part.
7. The clamping mechanism according to claim 6, characterized in that, The locking assembly further includes a limiting member, which is fixed in the mounting cavity and close to the anti-rotation member. The limiting member has a limiting channel for the locking member to slide through.
8. The clamping mechanism according to any one of claims 1 to 7, characterized in that A positioning block is provided on the side of the first clamping part near the second clamping part, and the positioning block forms a gap with the bottom of the first clamping part.
9. The clamping mechanism according to any one of claims 1 to 7, characterized in that A first elastic anti-slip sleeve is fitted on the outer wall of the first clamping part, and a second elastic anti-slip sleeve is fitted on the outer wall of the second clamping part.
10. A gua sha device, characterized in that, Includes the clamping mechanism as described in any one of claims 1 to 9.