Clamping devices and surgical robots

Abstract

This utility model relates to the field of surgical robot technology, and discloses a clamping device and a surgical robot. The clamping device includes a housing, a clamping arm, a sliding member, and an operating member. The clamping arm is movably disposed within the housing; the sliding member is slidably disposed within the housing, and the sliding member and the clamping arm are arranged in a direction perpendicular to the sliding direction of the sliding member. A sliding surface is formed on the side wall of the sliding member facing the clamping arm, allowing the clamping arm to slide against it. The sliding surface includes an inclined surface arranged along the sliding direction and a self-locking surface. The inclined surface is inclined to the sliding direction, and the self-locking surface extends along the sliding direction and connects to the inclined surface. The operating member is movably connected to the housing and at least partially disposed outside the housing. The operating member can drive the sliding member to slide between a locked position and an unlocked position, thereby driving the clamping arm to clamp or release the object to be clamped that extends through the opening of the housing. This utility model reduces the possibility of the object to be clamped detaching from the clamping device, ensuring that the clamping device can reliably clamp the object to be clamped.

Description

Technical Field

[0001] This utility model relates to the field of surgical robot technology, and in particular to a clamping device and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. The patient end of a surgical robot includes a surgical arm. A gripping device on the surgical arm holds a mounting base for attaching a trocar. The trocar passes through the patient's abdomen. The instrument case of the surgical instruments is attached to a drive box on the surgical arm, and the end effector of the surgical instruments can be inserted into the patient's abdominal cavity through the trocar.

[0003] In the prior art, the clamping device includes a housing, a slider, grippers, and an operating handle. One end of the housing is open, allowing the mounting base to enter or exit the housing through this opening. The slider is slidably disposed within the housing, and its side wall has an inclined surface that slopes in the sliding direction of the slider. The gripper is rotatably disposed within the housing, with one end sliding against the aforementioned inclined surface, and the other end used to clamp or release the mounting base. The operating handle is rotatably or slidably connected to the housing, with one end connected to the slider and the other end extending out of the housing. The operator can slide the slider along the aforementioned sliding direction by manipulating the operating handle. During the sliding of the slider, the inclined surface allows the gripper to rotate relative to the housing, thereby clamping or releasing the mounting base that extends into the housing through the opening.

[0004] When the clamping device holds the mounting base, if the operator accidentally touches the operating handle or the clamping device is shaken due to a collision, the slider is prone to slight slippage. The inclined plane and the jaws will then slide relative to each other, changing the opening and closing angle of the jaws. This increases the possibility of the mounting base and the clamping device separating, and also increases the risk of the mounting base and the puncture card falling off, affecting surgical safety, reducing the efficiency of preoperative preparation, and increasing maintenance costs.

[0005] Therefore, there is an urgent need for a clamping device and a surgical robot to solve the problems mentioned above. Utility Model Content

[0006] The purpose of this invention is to provide a clamping device and a surgical robot to reduce the possibility of the workpiece being clamped detaching from the clamping device and to ensure that the clamping device can reliably clamp the workpiece.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] The clamping device includes:

[0009] The casing has an opening at one end;

[0010] A clamping arm is placed inside the housing and is movably connected to the housing;

[0011] A slider is slidably disposed within the housing to switch between a locked position and an unlocked position. The slider and the clamping arm are arranged in a direction perpendicular to the sliding direction of the slider. A sliding surface is formed on the sidewall of the slider facing the clamping arm. The clamping arm slidably abuts against the sliding surface. The sliding surface includes an inclined surface and a self-locking surface arranged along the sliding direction. The inclined surface is inclined to the sliding direction, and the self-locking surface extends along the sliding direction and connects to the inclined surface. When the slider is configured in the locked position, the clamping arm abuts against the self-locking surface and can clamp the part to be clamped that extends into the opening. When the slider is configured in the unlocked position, the clamping arm abuts against the inclined surface and can release the part to be clamped.

[0012] An operating element is movably connected to the housing and at least partially located outside the housing. The operating element is connected to the slider and is capable of driving the slider to slide between the locked position and the unlocked position.

[0013] As an optional technical solution for the clamping device, the clamping device further includes a first elastic element, which is connected to the sliding element and can reset the sliding element to the locked position.

[0014] As an optional technical solution for the clamping device, a receiving groove is provided on the end face of the sliding member, the first elastic member is placed in the receiving groove, and the two ends of the first elastic member abut against the sliding member and the housing respectively.

[0015] As an optional technical solution for the clamping device, the receiving groove is formed on the end face of the slider at one end along the sliding direction. The clamping device also includes a detection component connected to the housing. The detection component includes a through rod and a detection switch. The through rod can move relative to the housing along the sliding direction. One end of the through rod along the sliding direction is positioned toward the detection switch. The clamping member extending through the opening abuts against the other end of the through rod along the sliding direction, so that the end of the through rod toward the detection switch triggers the detection switch.

[0016] The first elastic element is a spring, and a through hole is provided on the bottom surface of the receiving groove. The through hole passes through the sliding element along the sliding direction, and the through rod is movably inserted through the through hole and the first elastic element.

[0017] As an optional technical solution for the clamping device, the clamping device further includes a second elastic element, which is connected to the clamping arm and can cause the clamping arm to release the object to be clamped.

[0018] As an optional technical solution for the clamping device, the clamping arm is rotatably connected to the housing. One end of the clamping arm is used to clamp the part to be clamped, and one side of the other end of the clamping arm is provided with an abutment portion that abuts against the sliding surface. A positioning groove is provided on the side of the clamping arm opposite to the abutment portion. One end of the second elastic member is placed in the positioning groove and abuts against the clamping arm, and the other end of the second elastic member extends out of the positioning groove and abuts against the inner sidewall of the housing.

[0019] As an optional technical solution for the clamping device, the clamping device further includes a lubricating pad, which is attached to the outer side wall of at least one side of the sliding member perpendicular to the sliding direction, and the lubricating pad slides in contact with the inner wall of the housing.

[0020] As an optional technical solution for the clamping device, the end of the operating member is connected to the first side wall of the sliding member, and the lubricating pad is provided on the second side wall of the sliding member opposite to the first side wall.

[0021] As an optional technical solution for the clamping device, a stepped surface is formed on the side wall of the sliding member. The stepped surface is located on the side of the self-locking surface away from the inclined surface. The stepped surface is arranged perpendicular to the sliding direction and can stop the clamping arm.

[0022] Surgical robot, including the gripping device described above.

[0023] The beneficial effects of this utility model are:

[0024] This invention provides a clamping device and a surgical robot. The clamping device includes a housing, a clamping arm, a sliding member, and an operating member. The surgical robot includes the aforementioned clamping device. When the sliding member is in the locked position, the clamping arm abuts against the self-locking surface, and the clamping arm can clamp the part to be clamped that extends through the opening. If the clamping device collides with other structures or the operator accidentally touches the operating member, because the clamping arm abuts against the self-locking surface extending along the sliding direction of the sliding member, even if relative sliding occurs between the clamping arm and the self-locking surface, the possibility of the opening and closing angle of the clamping arm changing is reduced, thus preventing the part to be clamped from detaching from the clamping device and reducing the risk of the part to be clamped falling. This ensures that the clamping device can stably and reliably clamp the part to be clamped, improves surgical safety, ensures the smooth implementation of the surgery, improves the efficiency of preoperative preparation or postoperative storage, and helps reduce maintenance costs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the assembled clamping device, isolation cover, and mounting base provided in this embodiment of the utility model;

[0026] Figure 2This is an exploded view of the clamping device, isolation cover, and mounting base provided in an embodiment of the present utility model;

[0027] Figure 3 This is a partial structural schematic diagram of the clamping device provided in this embodiment of the utility model;

[0028] Figure 4 This is a first-view cross-sectional view of the clamping device provided in this embodiment of the present invention when the slider is in the locked position;

[0029] Figure 5 This is a cross-sectional view from a second perspective of the clamping device provided in this embodiment of the present invention when the slider is in the locked position;

[0030] Figure 6 This is a first-view cross-sectional view of the slider in the unlocked position according to an embodiment of the present invention;

[0031] Figure 7 This is a cross-sectional view from a second perspective of the slider in the unlocked position provided in this embodiment of the utility model;

[0032] Figure 8 This is a first-view structural schematic diagram of the slider provided in an embodiment of the present invention;

[0033] Figure 9 This is a structural schematic diagram of the slider provided in an embodiment of the present invention from a second perspective;

[0034] Figure 10 This is a schematic diagram of the structure of the shell provided in an embodiment of the present utility model;

[0035] Figure 11 yes Figure 10 A magnified view of a portion of point A in the middle.

[0036] In the picture:

[0037] 20. Mounting base; 201. Mounting protrusion; 202. Clamping groove; 204. Base;

[0038] 1. Housing; 11. Opening; 12. Through hole; 121. Shaft groove;

[0039] 2. Clamping arm; 21. Abutment part; 22. Positioning groove; 23. Rotary shaft hole;

[0040] 3. Sliding component; 301. First sidewall; 302. Second sidewall; 31. Sliding surface; 311. Inclined surface; 312. Self-locking surface; 32. Stepped surface; 33. Receiving groove; 331. Through hole;

[0041] 4. Operating component; 41. Adapter; 42. Connecting rod; 43. Operating shaft;

[0042] 5. First elastic element; 6. Second elastic element;

[0043] 7. Detection component; 71. Through rod; 72. Detection switch; 8. Lubricating pad;

[0044] 9. Isolation cover; 91. Clamping parts; 92. Inspection holes; 94. Flanged edge. Detailed Implementation

[0045] To make the technical problems solved by this utility model, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0046] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0047] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0048] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0049] This embodiment provides a surgical robot. The surgical robot includes a doctor's control unit and a patient's surgical unit. The patient's surgical unit includes a surgical arm, and a drive box on the surgical arm is used to mount surgical instruments. During the surgical procedure, the doctor controls the surgical instruments to perform the surgical operation through the input handle on the doctor's control unit.

[0050] The patient surgical end also includes a clamping device, which is located at the end of the surgical arm and is used to clamp or release the patient's surgical arm. Figure 1 The mounting base 20 is shown. The trocar can be mounted to the mounting base 20. The trocar is used to pass through the patient's abdominal wall and create a surgical channel for the end of a surgical instrument to enter the patient's abdominal cavity.

[0051] The puncture card and other structures of the surgical robot not mentioned can be referred to in the prior art and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0052] Specifically, such as Figures 1-11 As shown, the clamping device includes a housing 1, a clamping arm 2, a sliding member 3, and an operating member 4. One end of the housing 1 has an opening 11, allowing the clamped part to extend into or exit the inner cavity of the housing 1 through the opening 11. The clamping arm 2 is placed inside the housing 1 and is movably connected to the housing 1. The sliding member 3 is placed inside the housing 1 and can slide within the housing 1 to switch between a locked position and an unlocked position. The sliding member 3 and the clamping arm 2 are arranged in a direction perpendicular to the sliding direction of the sliding member 3. A sliding surface 31 is formed on the sidewall of the sliding member 3 facing the clamping arm 2. The clamping arm 2 slides against the sliding surface 31. The sliding surface 31 includes an inclined surface 311 and a self-locking surface 312, which are arranged along the aforementioned sliding direction. The inclined surface 311 is inclined to the aforementioned sliding direction, and the self-locking surface 312 extends along the aforementioned sliding direction and connects to the inclined surface 311. When the slider 3 is in the locked position, the clamping arm 2 abuts against the self-locking surface 312 and is in a clamping state capable of clamping the part to be clamped that extends through the opening 11. When the slider 3 is in the unlocked position, the clamping arm 2 abuts against the inclined surface 311 and is in a relaxed state capable of releasing the part to be clamped. The operating member 4 is movably connected to the housing 1 and is at least partially located on the outside of the housing 1. The operating member 4 is connected to the slider 3 and can drive the slider 3 to slide between the locked position and the unlocked position.

[0053] This embodiment provides a clamping device and a surgical robot. The clamping device includes a housing 1, a clamping arm 2, a sliding member 3, and an operating member 4. The surgical robot includes the aforementioned clamping device. When the sliding member 3 is in the locked position, the clamping arm 2 abuts against the self-locking surface 312, and the clamping arm 2 is in a clamping state capable of clamping the part to be clamped that extends through the opening 11. If the clamping device collides with other structures or the operator accidentally touches the operating member 4, since the clamping arm 2 abuts against the self-locking surface 312 extending along the sliding direction of the sliding member 3, even if relative sliding occurs between the clamping arm 2 and the self-locking surface 312, the possibility of the opening and closing angle of the clamping arm 2 changing is reduced. This avoids the part to be clamped from detaching from the clamping device and also reduces the risk of the part to be clamped falling. This ensures that the clamping device can stably and reliably clamp the part to be clamped, improves surgical safety, ensures the smooth implementation of the surgery, improves the efficiency of preoperative preparation or postoperative storage, and also helps to reduce maintenance costs.

[0054] For ease of description, we define a first direction, a second direction, and a third direction that are mutually perpendicular. The housing 1 has the aforementioned opening 11 at one end along the first direction, and the other end of the housing 1 along the first direction is connected to the holding arm; that is, the end of the housing 1 opposite to the holding arm has the opening 11. The sliding member 3 slides along the first direction; that is, the sliding direction of the sliding member 3 is the first direction. The sliding member 3 and the clamping arm 2 are arranged along the second direction. In this embodiment, the housing 1 is generally rectangular, with its length direction being the first direction, its width direction being the second direction, and its height direction being the third direction.

[0055] Specifically, the mounting base 20 includes a base 204 and a mounting protrusion 201. The base 204 is annular, and a tamper can pass through the base 204 to mount the tamper onto the mounting base 20. The mounting protrusion 201 is the clamping element described above. The mounting protrusion 201 is connected to the base 204 and protrudes from the outer peripheral wall of the base 204. A clamping groove 202 is provided on the side wall of the mounting protrusion 201. The mounting protrusion 201 can extend into or exit the inner cavity of the housing 1 through the opening 11 of the housing 1. The clamping arm 2 clamps the mounting protrusion 201 through the clamping groove 202, thereby enabling the clamping device to clamp the mounting base 20.

[0056] Preferably, two clamping arms 2 are provided, arranged along the second direction, and a sliding member 3 is disposed between the two clamping arms 2, that is, both clamping arms 2 and the sliding member 3 are arranged along the second direction. Sliding surfaces 31 are formed on the sidewalls of the sliding member 2 on opposite sides along the second direction, and the two clamping arms 2 slide against the corresponding sliding surfaces 31. When the clamping arms 2 abut against the inclined surface 311, the two clamping arms 2 can rotate synchronously with the sliding member 3, and the opening angle between the two clamping arms 2 changes, thereby clamping or releasing the object to be clamped. The mounting protrusion 201 has clamping grooves 202 on both sidewalls along the second direction.

[0057] Specifically, a protruding abutment portion 21 is provided on the clamping arm 2, which abuts against the sliding surface 31. The abutment portion 21 protrudes from the sidewall of the clamping arm 2 facing the sliding member 3. In this embodiment, when the clamping arm 2 is in the relaxed state, the abutment portion 21 abuts against the inclined surface 311, and the abutment portion 21 is spaced apart from the self-locking surface 312. When the clamping arm 2 is in the clamping state, the abutment portion 21 abuts against the self-locking surface 312, and the abutment portion 21 is spaced apart from the inclined surface 311.

[0058] It should be noted that during the reciprocating sliding of the slider 3 between the locked position and the unlocked position, the clamping arm 2 slides relative to the slider 3 along the sliding surface 31, and the clamping arm 2 is always in contact with the sliding surface 31, specifically through the contact part 21 which is always in contact with the sliding surface 31.

[0059] Furthermore, the inclined surface 311 of the sliding surface 31 extends along a third direction, and the inclined surface 311 is inclined in both the first and second directions. Two inclined surfaces 311 are arranged along the second direction, both connected to the end face of the sliding member 3 facing the opening 11, and the ends of the two inclined surfaces 311 near the opening 11 are inclined towards each other. That is, the smaller end of the "V" structure formed by the two inclined surfaces 311 is positioned close to the opening 11, and the larger end is positioned away from the opening 11. It can be understood that the smaller end of the "V" structure is the end where the two inclined surfaces 311 are close to each other, and the larger end is the end where the two inclined surfaces 311 are far apart. The inclined surface 311 is located on the side of the self-locking surface 312 near the opening 11.

[0060] In other embodiments, the sliding surface 31 may also extend along the second direction and be inclined to the first direction and the third direction; the inclined surface 311 may also be located on the side of the self-locking surface 312 away from the opening 11; the “eight” structure formed by the two inclined surfaces 311 may also be set with the large end close to the opening 11 and the small end away from the opening 11, and there are no limitations on this.

[0061] As a preferred embodiment, the clamping device further includes a first elastic element 5, which is connected to the sliding element 3. The first elastic element 5 can apply an elastic force along the first direction to the sliding element 3. The first elastic element 5 can reset the sliding element 3 to the locked position, ensuring that the clamping arm 2 can reliably clamp the object to be clamped, which is conducive to reliably fixing the stamp card. Moreover, by setting the first elastic element 5, the sliding element 3 can automatically slide to the locked position, thereby driving the clamping arm 2 to move to the clamping state to clamp the object to be clamped, avoiding manual pushing of the sliding element 3 and improving the convenience of operation.

[0062] In this embodiment, the unlocked position of the slider 3 is on the side away from the opening 11 from the locked position. When the slider 3 is in the unlocked position, the first elastic member 5 can move the slider 3 toward the opening 11 and reach the locked position.

[0063] Preferably, a receiving groove 33 is formed on the end face of the slider 3, and the first elastic member 5 is placed in the receiving groove 33. The two ends of the first elastic member 5 abut against the slider 3 and the housing 1, respectively. By providing the receiving groove 33, the position of the first elastic member 5 is defined, reducing the possibility of the first elastic member 5 disengaging from the slider 3. This allows the first elastic member 5 to reliably apply elastic force to the slider 3, ensuring that the slider 3 can move to the locked position in time, and also ensuring that the clamping arm 2 can reliably clamp the object to be clamped. In this embodiment, the first elastic member 5 is a spring.

[0064] When the slider 3 is in the unlocked position, the end face of the slider 3 is in contact with the inner wall of the housing 1 at the end away from the opening 11. Preferably, the receiving groove 33 is formed on the end face of the slider 3 at the end along the first direction, which facilitates the application of an elastic force along the first direction by the first elastic member 5 to the slider 3. Further, the receiving groove 33 is formed on the end face of the slider 3 away from the opening 11, which facilitates the contact between the end face of the slider 3 in the unlocked position and the inner wall of the housing 1 at the end away from the opening 11, thereby limiting the range of motion of the slider 3 within the housing 1 and preventing interference or collision between the slider 3 and the structure within the housing 1.

[0065] Preferably, the clamping device further includes a detection component 7 connected to the housing 1. The detection component 7 is used to detect whether the part to be clamped is installed on the clamping device, that is, to detect whether the mounting base 20 is installed on the clamping device. The detection component 7 includes a through rod 71 and a detection switch 72. The through rod 71 is movable relative to the housing 1 in a first direction, and one end of the through rod 71 in the first direction is positioned toward the detection switch 72. The part to be clamped, extending through the opening 11, abuts against the other end of the through rod 71 in the first direction, so that the end of the through rod 71 toward the detection switch 72 triggers the detection switch 72.

[0066] Normally, the puncture card and mounting base 20 are sterile, while the surgical arm is sterile. In this embodiment, the detection switch 72 is connected to the housing 1 and disposed on the outside of the housing 1, with the detection switch 72 located at the end away from the opening 11 along the first direction. The through rod 71 is movably inserted through the housing 1, with its axis extending along the first direction. One end of the through rod 71, which is used to contact the object to be clamped, is placed inside the housing 1, while the other end extends out of the housing 1 and is used to trigger the detection switch 72. The puncture card and mounting base 20 are both installed at one end of the opening 11 in the housing 1. The electronic components of the detection switch 72 are inconvenient to sterilize. The above arrangement keeps the detection switch 72 away from the opening 11, ensuring the safety of the surgery. The detection switch 72 is a contact switch or proximity switch, and its triggering principle and structure are existing technologies, not the focus of this embodiment, and will not be described further here.

[0067] As a preferred embodiment, the bottom surface of the receiving groove 33 is provided with a through hole 331, through which the sliding member 3 passes along the first direction, and the through rod 71 is movably inserted through the through hole 331 and the first elastic member 5. This arrangement improves the structural compactness of the sliding member 3 and the detection component 7, shortens the dimension of the housing 1 perpendicular to the first direction, facilitates the miniaturization of the clamping device, improves the flexibility of the clamping device and the surgical robot, reduces the possibility of collisions between the clamping device and other structures, and ensures the safety of the surgery. Simultaneously, the through rod 71 also ensures that the first elastic member 5 provides elastic force to the sliding member 3 along its first direction, further ensuring that the sliding member 3 can move to the locking position in a timely manner, and also ensuring that the clamping arm 2 can reliably clamp the object to be clamped. In this embodiment, the bottom surface of the receiving groove 33 is the end face of the receiving groove 33 facing the opening 11.

[0068] The patient operating end also includes a trolley, which includes a liftable column and wheels at the bottom. The top of the column is connected to the surgical arm. In this embodiment, the surgical robot also includes a controller. When the detection switch 72 is triggered, it transmits a signal to the controller, which then keeps the wheels and column stationary. When the mounting base 20 is not held by the clamping device, the detection switch 72 does not transmit a signal to the controller, and the wheels can move and the column can be raised and lowered. The controller can be a microcontroller. The structure, control principle, and signal transmission method between the controller and the detection switch 72 can refer to existing technologies and are not the focus of this embodiment, so they will not be described further here.

[0069] The guide rod 71 is configured with a trigger position and an idle position. When the guide rod 71 is in the trigger position, it abuts against the detection switch 72 and triggers the detection switch 72; when the part to be clamped is not installed on the clamping device, the guide rod 71 is in the idle position. Preferably, the detection assembly 7 further includes a detection reset component (not shown in the figure). The detection reset component is used to reset the guide rod 71 to the idle position. When the part to be clamped is not installed on the clamping device, the above configuration can prevent the detection switch 72 from being triggered, ensuring smooth movement of the trolley when it needs to be moved and smooth raising and lowering of the column when it needs to be raised and lowered, ensuring the smooth progress of preoperative preparation; at the same time, the setting of the detection reset component also avoids manually moving the guide rod 71 to the idle position, improving the automation level of the clamping device and improving the ease of use.

[0070] In this embodiment, the detection reset element is a spring, which is disposed on the outside of the housing 1. One end of the spring abuts against the end of the through rod 71 extending out of the housing 1, and the other end abuts against an external structure disposed on the outside of the housing 1, which is fixedly connected to the housing 1. In other embodiments, the detection reset element may also be disposed on the inside of the housing 1, which is not limited here.

[0071] The first end of the clamping arm 2 faces the opening 11. The first end of the clamping arm 2 is used to clamp the workpiece to be clamped, and the second end of the clamping arm 2 away from the first end is used to slide against the sliding surface 31. The abutment part 21 is provided at the second end of the clamping arm 2. The clamping arm 2 is rotatably connected to the housing 1, and the clamping arm 2 and the housing 1 are rotatably connected by a rotating shaft extending in a third direction. Specifically, a rotating shaft hole 23 is provided through the middle of the clamping arm 2 in a third direction, and the rotating shaft hole 23 is located between the first end and the second end of the clamping arm 2. The rotating shaft passes through the rotating shaft hole 23 and extends out of the clamping arm 2 at both ends and is fixedly connected to the housing 1.

[0072] Preferably, the sliding member 3 has stepped surfaces 32 formed on its sidewalls along the second direction. The stepped surfaces 32 are connected to the self-locking surface 312, and the stepped surfaces 32 are located on the side of the self-locking surface 312 away from the inclined surface 311, that is, on the side of the self-locking surface 312 away from the opening 11. The stepped surfaces 32 are perpendicular to the first direction. The stepped surfaces 32 can stop the clamping arm 2, specifically the abutment part 21. When the sliding member 3 is in the locked position, if the mounting protrusion 201 extends into the housing 1 through the opening 11, that is, the mounting protrusion 201 is clamped by the clamping arm 2, the mounting protrusion 201 restricts the position of the clamping arm 2. By setting the stepped surfaces 32 that can stop the clamping arm 2, the relative position between the clamping arm 2 and the sliding member 3 is restricted, thereby restricting the position of the sliding member 3 in the housing 1, preventing the sliding member 3 from sliding too far towards the opening 11 and causing collision with other structures, thus reducing maintenance costs.

[0073] In this embodiment, when the slider 3 is in the locked position, the clamping arm 2 is in a clamping state, and the abutment portion 21 contacts the edge formed between the step surface 32 and the outer side wall of the slider 3. Preferably, when the slider 3 is in the locked position, the elastic force of the first elastic member 5 is greater than zero, so that the abutment portion 21 abuts against the edge formed between the step surface 32 and the outer side wall of the slider 3, ensuring that the slider 3 is in the locked position.

[0074] As a preferred embodiment, the clamping device further includes a second elastic element 6, which is connected between the clamping arm 2 and the housing 1. The second elastic element 6 is used to apply an elastic force to the clamping arm 2, so that the clamping arm 2 can rotate around the pivot and return to the relaxed state, ensuring that the clamping arm 2 can release the clamped part in time, which is conducive to quick replacement or disassembly of the mounting base 20. Moreover, by setting the second elastic element 6, the clamping arm 2 can automatically rotate to the relaxed state, avoiding manual rotation of the clamping arm 2 and improving the convenience of operation.

[0075] A positioning groove 22 is formed on the side wall of the clamping arm 2 opposite to the abutment portion 21. A second elastic member 6 is disposed inside the housing 1. One end of the second elastic member 6 is placed in the positioning groove 22 and abuts against the clamping arm 2, while the other end of the second elastic member 6 extends out of the positioning groove 22 and abuts against the inner side wall of the housing 1. The positioning groove 22 limits the position of the second elastic member 6, reducing the possibility of the second elastic member 6 disengaging from the clamping arm 2, so that the second elastic member 6 can reliably apply elastic force to the clamping arm 2, ensuring that the clamping arm 2 can rotate to the relaxed state in time, and also ensuring that the mounting base 20 can disengage from the clamping device in time; at the same time, the positioning groove 22 also ensures that the elastic force applied by the second elastic member 6 to the clamping arm 2 ensures that the clamping arm 2 is always in contact with the sliding surface 31.

[0076] Understandably, when the slider 3 is in the locked position, the second elastic member 6 applies a force to the clamping arm 2 that can relax the mounting base 20. However, due to the positional limitation of the sliding surface 31, the second elastic member 6 causes the clamping arm 2 to slide against the sliding surface 31, preventing the clamping arm 2 from relaxing the mounting base 20 and ensuring that the clamping arm 2 can reliably clamp the mounting protrusion 201.

[0077] In order to ensure that the slider 3 can reliably slide along the first direction, the inner wall of the housing 1 extends along the first direction on at least one side of the second direction and the third direction. The slider 3 is in contact with at least one of the inner walls, and the slider 3 can slide along the inner wall. The inner wall is used to guide the slider 3 to slide along the first direction, that is, to guide the slider 3.

[0078] As a preferred embodiment, the clamping device further includes a lubricating pad 8. The lubricating pad 8 is attached to the outer wall of at least one side of the sliding member 3 perpendicular to the sliding direction, and the lubricating pad 8 slides in contact with the inner wall of the corresponding side of the housing 1. By providing the lubricating pad 8, the frictional force between the sliding member 3 and the inner wall of the housing 1 is reduced, thus reducing the resistance of friction to the sliding member 3 and ensuring smooth sliding. This allows the clamping arm 2 to clamp or release the workpiece in a timely manner, and also reduces the wear of the sliding member 3, thereby reducing maintenance costs. The lubricating pad 8 can be made of polytetrafluoroethylene (PTFE). The lubricating pad 8 is bonded and fixed to the sliding member 3.

[0079] Preferably, the two opposite sidewalls of the slider 3 along the third direction are a first sidewall 301 and a second sidewall 302, respectively. The operating member 4 is connected to the first sidewall 301 of the slider 3, and a lubricating pad 8 is provided on the second sidewall 302. Compared with the operating member 4 and the lubricating pad 8 being connected to the same sidewall of the slider 3, the above arrangement is beneficial to reducing the surface area of ​​the sidewall of the slider 3, thereby reducing the volume of the slider 3 and the housing 1.

[0080] Furthermore, a through hole 12 is provided through the side wall of the housing 1 along the third direction. The operating member 4 passes through the through hole 12, so that one end of the operating member 4 is placed outside the housing 1 and the other end is placed inside the housing 1. The operating end of the operating member 4 is set to be placed outside the housing 1, and the operating end is used for the operator to turn it. The end of the operating member 4 placed inside the housing 1 is the rotating end, and the rotating end of the operating member 4 is connected to the operating shaft 43 extending along the second direction. The operating shaft 43 is rotatably connected to the housing 1. The operating shaft 43 and the operating member 4 are both located on the same side of the sliding member 3 facing the through hole 12. A transition part 41 is provided protruding on the side wall of the operating member 4 opposite to the opening 11. One end of the connecting rod 42 is rotatably connected to the transition part 41, and the other end of the connecting rod 42 is rotatably connected to the first side wall 301 of the sliding member 3. The rotation axes between the connecting rod 42, the sliding member 3, and the operating member 4 are all set along the second direction.

[0081] Rotary shaft grooves 121 are respectively formed on the walls of the through hole 12 on both sides along the second direction. The two ends of the operating shaft 43 protrude from the operating member 4 and are respectively placed in the corresponding rotary shaft grooves 121. The rotary shaft grooves 121 are spaced apart from the side wall of the through hole 12 near the opening 11. In some embodiments, when the sliding member 3 is in the locked position, the operating member 4 abuts against the edge formed between the side wall of the through hole 12 near the opening 11 and the outer side wall of the housing 1, thereby limiting the operation member 4 and the sliding member 3, thereby limiting the relative position between the clamping arm 2 and the sliding member 3, limiting the position of the sliding member 3 in the housing 1, preventing the sliding member 3 from sliding too far towards the opening 11 and colliding with other structures, and reducing maintenance costs.

[0082] When the slider 3 is in the locked position, the operating member 4 extends approximately along the third direction. As the operator moves the operating member 4 to the unlocked position, the operator rotates the operating end of the operating member 4 away from the opening 11. That is, during the rotation of the operating member 4, the operator applies pressure to the slider 3 through the operating member 4 and the connecting rod 42. This pressure extends along the third direction and points away from the side of the housing 1 where the through hole 12 is located, resulting in greater friction between the second sidewall 302 of the slider 3 and the inner sidewall of the housing 1. By providing a lubricating pad 8 on the second sidewall 302, the resistance of friction to the slider 3 is further reduced, ensuring smooth sliding of the slider 3. This allows the clamping arm 2 to clamp or release the object to be clamped in a timely manner, and also reduces the wear of the slider 3, thus reducing maintenance costs. In this embodiment, only the second sidewall 302 is in contact with the corresponding inner sidewall of the housing 1 through the lubricating pad 8.

[0083] When the mounting base 20 is installed on the clamping device and clamped by the clamping arm 2, if it is necessary to remove the mounting base 20, the operator needs to move the operating component 4 to move the sliding component 3 from the locked position to the unlocked position, that is, the sliding component 3 is in contact with the inner wall of the housing 1 away from the opening 11, and the second elastic component 6 opens the two clamping arms 2 to release the mounting protrusion 201; when it is necessary to install the mounting base 20 on the clamping device, the operator needs to move the operating component 4 to move the sliding component 3 from the locked position to the unlocked position, the two clamping arms 2 open, and the mounting protrusion 201 is inserted into the opening 11. At this time, the operator releases the operating component 4, the first elastic component 5 moves the sliding component 3 from the unlocked position to the locked position, and the operating component 4 can also abut against the edge formed between the through hole 12 and the outer wall of the housing 1, and the two clamping arms 2 close to clamp the mounting protrusion 201.

[0084] Furthermore, the clamping device also includes an isolation cover 9, which is used to mount the sterile bag. The isolation cover 9 is positioned over the mounting protrusion 201, which is located within the opening 11 of the housing 1 through the isolation cover 9, and is clamped by the clamping arm 2. The isolation cover 9 is located within the opening 11 and is detachably connected to the housing 1. The isolation cover 9 can be detached from the housing 1 through the opening 11 for easy replacement. The detachable connection structure between the isolation cover 9 and the housing 1 can be a snap-fit ​​structure or a structure found in the prior art; this is not the focus of this embodiment and is not limited thereto.

[0085] The isolation cover 9 has an opening for accommodating the mounting protrusion 201, which faces outward from the opening 11. The edge of the isolation cover 9 extends beyond the opening and bends to form a flange 94. The flange 94 is attached to the end face of the opening 11 and used to mount a sterile bag; that is, the shell 1 and the base 204 are located on opposite sides of the flange 94. The flange 94 is circumferentially arranged around the isolation cover 9. The sterile bag is circumferentially connected to the flange 94. The flange 94 and the sterile bag can be connected by adhesive bonding or other structures. The sterile bag can be attached to the end face of the flange 94 facing the shell 1 or the end face opposite to the shell 1; this is not limited here.

[0086] The isolation cover 9 has clamping through holes on both sides along the second direction, and clamping members 91 are movably inserted into each clamping through hole. The end of the clamping arm 2 contacts the clamping member 91, and the clamping arm 2 can push the clamping member 91 to move and enter the clamping groove 202, so as to clamp the mounting protrusion 201 through the clamping member 91.

[0087] It should be noted that when the mounting base 20 is installed on the clamping device, the mounting base 20 extends into the opening 11 and is clamped by the clamping arm 2, and the clamping member 91 is placed in the clamping groove 202. At this time, the detection switch 72 is triggered.

[0088] It is understandable that when the slider 3 slides in the housing 1 along the sliding direction, the clamping arm 2 can rotate relative to the housing 1, thereby changing the opening and closing angle of the two clamping arms 2, so that the two clamping arms 2 can move away from the clamping member 91 or push the clamping member 91 into the clamping groove 202, thus realizing the clamping or loosening of the installation protrusion 201. In other words, when the slider 3 is in the locked position, the clamping arm 2 is in a clamping state. One end of the clamping arm 2 abuts against the self-locking surface 312, and the other end of the clamping arm 2 abuts against the clamping member 91, so that the clamping member 91 is placed in the clamping groove 202 and abuts against the mounting protrusion 201, thereby enabling the clamping arm 2 to clamp the part to be clamped that extends into the opening 11. When the slider 3 is in the unlocked position, the clamping arm 2 is in a relaxed state. One end of the clamping arm 2 abuts against the inclined surface 311, and the other end of the clamping arm 2 is away from the clamping member 91, so that the clamping member 91 can be released from the clamping groove 202, thereby enabling the clamping member 91 to relax the mounting protrusion 201, and thus enabling the clamping arm 2 to relax the part to be clamped that extends into the opening 11.

[0089] It is understandable that the clamping arm 2 is used to clamp or release the mounting protrusion 201. The isolation cover 9 and the housing 1 are detachably connected by other structures. When the mounting protrusion 201 is disengaged from the opening, the isolation cover 9 and the housing 1 can still remain connected.

[0090] As described above, the step surface 32 can also prevent the sliding member 3 from sliding too far towards the opening 11 and colliding with the isolation cover 9, thus preventing the isolation cover 9 from detaching from the shell 1, ensuring the antibacterial function of the isolation cover 9, improving the safety of the operation, reducing the risk of damage to the isolation cover 9, and reducing maintenance costs.

[0091] To ensure the isolation function of the isolation shield 9, a first sealing membrane (not shown in the figure) is attached to the outer wall of the isolation shield 9. The first sealing membrane can completely cover the clamping through hole to seal the gap formed between the clamping member 91 and the side wall of the clamping through hole. The above arrangement prevents bacteria inside the shell 1 from entering the sterile environment through the gap, further ensuring the antibacterial function of the isolation shield 9, reducing the risk of patient infection, and improving the safety of the operation.

[0092] In this embodiment, the first sealing membrane can be an elastic plastic membrane such as a silicone rubber membrane, PE membrane, or TPU membrane, and is bonded to the outer wall of the isolation cover 9 by an adhesive.

[0093] Preferably, a detection hole 92 is provided through the end face of the isolation cover 9 facing the slider 3, and the end of the through rod 71 can pass through the detection hole 92 and abut against the mounting protrusion 201. When the mounting base 20 is installed on the clamping device, the base 204 of the mounting base 20 abuts against the flange 94, the mounting protrusion 201 abuts against one end of the through rod 71, and the other end of the through rod 71 abuts against the detection switch 72 and triggers the detection switch 72.

[0094] Specifically, when the through rod 71 is in the triggered position, the through rod 71 passes through the detection hole 92, and the end of the through rod 71 extends out of the detection hole 92 by a first distance; when the through rod 71 is in the idle position, the end of the through rod 71 extends out of the detection hole 92 by a second distance. The first distance is greater than or equal to zero, and the second distance is greater than the first distance.

[0095] To ensure the isolation function of the isolation shield 9, a second sealing membrane is attached to the inner wall of the isolation shield 9. The second sealing membrane completely covers the detection hole 92, sealing the gap formed between the through rod 71 and the side wall of the detection hole 92. This design prevents bacteria inside the housing 1 from entering the sterile environment through the gap, further ensuring the antibacterial function of the isolation shield 9, reducing the risk of patient infection, and improving the safety of the surgery.

[0096] In this embodiment, the second sealing membrane can be an elastic plastic membrane such as a silicone rubber membrane, PE membrane, or TPU membrane, and is bonded to the inner wall of the isolation cover 9 by an adhesive.

[0097] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A clamping device, characterized in that, include: The casing has an opening at one end; A clamping arm is placed inside the housing and is movably connected to the housing; A slider is slidably disposed within the housing to switch between a locked position and an unlocked position. The slider and the clamping arm are arranged in a direction perpendicular to the sliding direction of the slider. A sliding surface is formed on the sidewall of the slider facing the clamping arm. The clamping arm slidably abuts against the sliding surface. The sliding surface includes an inclined surface and a self-locking surface arranged along the sliding direction. The inclined surface is inclined to the sliding direction, and the self-locking surface extends along the sliding direction and connects to the inclined surface. When the slider is configured in the locked position, the clamping arm abuts against the self-locking surface and can clamp the part to be clamped that extends into the opening. When the slider is configured in the unlocked position, the clamping arm abuts against the inclined surface and can release the part to be clamped. An operating element is movably connected to the housing and at least partially located outside the housing. The operating element is connected to the slider and is capable of driving the slider to slide between the locked position and the unlocked position.

2. The clamping device according to claim 1, characterized in that, The clamping device further includes a first elastic element, which is connected to the slider and can reset the slider to the locked position.

3. The clamping device according to claim 2, characterized in that, A receiving groove is formed on the end face of the sliding member, and the first elastic member is placed in the receiving groove. The two ends of the first elastic member abut against the sliding member and the housing, respectively.

4. The clamping device according to claim 3, characterized in that, The receiving groove is formed on the end face of the slider along the sliding direction. The clamping device also includes a detection component connected to the housing. The detection component includes a through rod and a detection switch. The through rod is movable relative to the housing along the sliding direction. One end of the through rod along the sliding direction is positioned toward the detection switch. The clamping member extending through the opening abuts against the other end of the through rod along the sliding direction, so that the end of the through rod toward the detection switch triggers the detection switch. The first elastic element is a spring, and the bottom surface of the receiving groove is provided with a through hole. The through hole passes through the sliding element along the sliding direction, and the through rod is movably inserted through the through hole and the first elastic element.

5. The clamping device according to claim 1, characterized in that, The clamping device further includes a second elastic element, which is connected to the clamping arm and enables the clamping arm to release the object to be clamped.

6. The clamping device according to claim 5, characterized in that, The clamping arm is rotatably connected to the housing. One end of the clamping arm is used to clamp the part to be clamped. One side of the other end of the clamping arm is provided with an abutment portion that abuts against the sliding surface. A positioning groove is provided on the side of the clamping arm opposite to the abutment portion. One end of the second elastic member is placed in the positioning groove and abuts against the clamping arm. The other end of the second elastic member extends out of the positioning groove and abuts against the inner sidewall of the housing.

7. The clamping device according to any one of claims 1-6, characterized in that, The clamping device further includes a lubricating pad, which is attached to the outer side wall of at least one side of the slider perpendicular to the sliding direction, and the lubricating pad slides in contact with the inner wall of the housing.

8. The clamping device according to claim 7, characterized in that, The end of the operating member is connected to the first side wall of the sliding member, and the lubricating pad is provided on the second side wall of the sliding member opposite to the first side wall.

9. The clamping device according to any one of claims 1-6, characterized in that, A stepped surface is formed on the side wall of the slider. The stepped surface is located on the side of the self-locking surface away from the inclined surface. The stepped surface is arranged perpendicular to the sliding direction and can stop the clamping arm.

10. A surgical robot, characterized in that, Includes the clamping device as described in any one of claims 1-9.

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