Transport actuator and transport device

Abstract

The present invention relates to a transport actuator and a transport device. The transport actuator includes a swing base, a first clamp arm, a second clamp arm, and a link mechanism. The swing base is rotatably connected to a pedestal. In the link mechanism, the first link and the second link are hinged, and the first link and the second link form an X-shaped scissor link structure. The hinge connection axis of the first link and the second link is hinged to the swing base. The first link and the second link have their first ends hinged to the first clamp arm and the second clamp arm respectively, and their second ends hinged to the first ends of the third link and the fourth link. The second ends of the third link and the fourth link are hinged. The first ends of the fifth link and the sixth link are hinged to the first clamp arm and the second clamp arm respectively, and the second ends of the fifth link and the sixth link are hinged and also hinged to the swing base. A guide groove is provided on the swing base, and the direction of the guide groove is parallel to the first clamp arm and the second clamp arm. The hinge connection axis of the third link and the fourth link is installed in the guide groove and can slide along the guide groove.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a transport actuator and a transport device.

Background Art

[0002] Atrial fibrillation is one of the most common arrhythmias clinically. Stroke caused by atrial fibrillation has very severe sequelae, and the mortality and disability rates can reach 70%. In patients with valvular atrial fibrillation, 57% of the atrial thrombi originate from the left atrial appendage. In patients with non-valvular atrial fibrillation, 90% of the left atrial thrombi originate from the left atrial appendage. Even when sinus rhythm returns to normal, the left atrial appendage has delayed contraction and there is a possibility of reformation of thrombi.

[0003] Currently, there are mainly three methods for preventing atrial fibrillation ischemic stroke clinically. The first is to take anticoagulants such as warfarin. However, the application of warfarin has a certain bleeding risk, requires frequent monitoring, has many contraindications, is difficult for clinical application, and warfarin may also cause osteoporosis and soft tissue necrosis. The second is to directly excise or suture the atrial appendage together with cardiac surgery. Such a method mainly has the disadvantage of a low complete closure rate of the left atrial appendage. According to previous studies, the success rate of completely excising the left atrial appendage is about 80%. The third is to close the left atrial appendage with a device such as an atrial appendage clip and perform a percutaneous transcatheter left atrial appendage closure procedure. However, the transporter of such a product has complex operation, high risk, and it is necessary to verify its safety and effectiveness.

[0004] The atrial appendage clip transported by the conventional atrial appendage clip transport device generally includes two parallel clip arms and further has two spring portions. The two spring portions are located at both ends of the atrial appendage clip, and the two spring portions can hold the clamping of the two clip arms. Generally, a substantially square outer frame is installed at the tip of the atrial appendage clip transport device to restrain the atrial appendage clip therein. The outer frame of the transport device uses a traction rope to pull the clip arms of the atrial appendage clip. By firmly pulling the traction rope, the atrial appendage clip can be opened to carry the atrial appendage clip to the lesion to perform an extracardiac occlusion operation on the left atrial appendage.

[0005] In the above atrial appendage clip transport device, with a simple structure, how to open and close the two clip arms of the atrial appendage clip in parallel is a problem to be solved.

Summary of the Invention

Problems to be Solved by the Invention

[0006] The present invention provides a transport actuator and a transport device to solve the technical problems existing in the above prior art.

Means for Solving the Problems

[0007] The transport actuator provided by the present invention includes a swing table, a first clamp arm, a second clamp arm, and a link mechanism. The swing table is connected to a pedestal and is rotatably connected to the pedestal. The link mechanism includes a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, and a seventh link. The first link and the second link are hinged, and the hinged connection end of the first link and the second link is located between the first end and the second end of the first link and between the first end and the second end of the second link, forming an X-shaped scissor link structure between the first link and the second link. The first ends of the first link and the second link are respectively hinged to the first clamp arm and the second clamp arm. The second ends of the first link and the second link are respectively hinged to the first ends of the third link and the fourth link. The second ends of the third link and the fourth link are hinged to the swing table, and the third link and the fourth link are in the same axial direction as the axis to which the swing table is hinged. The first ends of the fifth link and the sixth link are respectively hinged to the first clamp arm and the second clamp arm. The second ends of the fifth link and the sixth link are hinged to the first end of the seventh link. The second end of the seventh link is hinged to the hinged connection end between the first link and the second link. A guide groove is provided on the swing table, and the direction of the guide groove is parallel to the first clamp arm and the second clamp arm. The seventh link is installed in the guide groove and can slide along the guide groove.

[0008] Here, the plane of movement of the first clamp arm and the second clamp arm relative to the swing table and the plane of rotation of the swing table relative to the pedestal are coplanar or perpendicular to each other.

[0009] Here, a first linear restraint portion is provided on the first clamp arm, the opening of the first linear restraint portion faces the second clamp arm, a second linear restraint portion is provided on the second clamp arm, and the opening of the second linear restraint portion faces the first clamp arm.

[0010] Here, a first fixing groove in contact with the first linear restraint portion is provided in the first clamp arm, and a second fixing groove in contact with the second linear restraint portion is provided in the second clamp arm.

[0011] Here, the number of the first fixing grooves is at least two, and the number of the second fixing grooves is at least two.

[0012] Here, a first notch is provided in the first clamp arm, the first notch is provided at the tail end of the first clamp arm, a second notch is provided in the second clamp arm, and the second notch is provided at the tail end of the second clamp arm.

[0013] The transport device provided by the present invention includes a controller and the above-mentioned transport actuator.

[0014] Here, the controller includes a first control mechanism, the first control mechanism is connected to the control end of the link mechanism of the transport actuator, the first control mechanism includes a first connection line and a first winding member, the first connection line is wound around the first winding member, and is connected to the control end.

[0015] Here, a stopper is connected to the first end of the first connection line, the stopper is abutted and fixed to a fixing hole provided on the swing table, the first connection line passes through the fixing hole and winds around the control end, and the first connection line forms a pulley structure at the control end.

[0016] Here, the transport device further includes a second control mechanism, the second control mechanism is connected to the swing table, and is used to control the rotation of the swing table relative to the pedestal.

[0017] Here, the second control mechanism includes a second winding member and at least two second connection lines. The first ends of the at least two second connection lines are respectively connected to the first side and the second side of the swing table. The first side and the second side of the swing table are both sides located on the rotation path of the hinge connection end between the swing table and the pedestal. The second ends of the second connection lines are wound around the second winding member, or the second control mechanism includes a link. The first end of the link is connected to the swing table, and the connection location between the link and the swing table is located outside the hinge connection axis between the swing table and the pedestal. The second end of the link is connected to a handheld operation part installed at the rear end of the transport device.

[0018] Here, a fixing part is installed on the swing table. The transport device includes a third connection line. The third connection line includes a first sub-control line and a second sub-control line. The first sub-control line and the second sub-control line include a restraint part, a control part, and a connection part connecting the restraint part and the control part. The restraint part of the first sub-control line movably restrains an insert in the first clamp arm. The control part is connected and fixed to the fixing part of the swing table. The control part is used to be triggered to release the restraint of the restraint part. The restraint part of the second sub-control line movably restrains an insert in the second clamp arm. The control part is connected and fixed to the fixing part of the swing table. The control part is used to be triggered to release the restraint of the restraint part.

[0019] Here, a plurality of wire grooves are installed on the swing table, and an opening part is installed at the tail end of at least a part of the wire grooves.

Advantages of the Invention

[0020] The above transport actuator and transport device provided by the embodiments of the present invention have the following advantages compared with the prior art.

[0021] The transport actuator provided in the embodiment of the present invention, based on its link mechanism, uses the hinge connection ends of its first link and second link as control ends, the hinge connection end of its first link and first clamp arm as the first front connection end, the hinge connection end of its fifth link and first clamp arm as the first rear connection end, the hinge connection end of its second link and second clamp arm as the second front connection end, the hinge connection end of its sixth link and second clamp arm as the second rear connection end, the connection ends of its third link, fourth link and swing table, and the first end and second end of the seventh link as the third connection end. By operating and controlling the control end of the control mechanism connected to the control end, the first front connection end and the first rear connection end act on the first clamp arm, and the second front connection end and the second rear connection end act on the second clamp arm, so that the first clamp arm and the second clamp arm can be clamped or opened in parallel. Also, the above link structure has a simple structure, and the process of operating to open and close the first clamp arm and the second clamp arm in parallel is simple.

[0022] The transport device provided in the embodiment of the present invention includes the above transport actuator and has beneficial effects consistent with those of the above transport actuator, and the description thereof is omitted here.

Brief Description of the Drawings

[0023] The drawings here are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention and used to interpret the principles of the present invention together with the specification.

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings necessary for the description of the embodiments or the prior art are briefly introduced below. Obviously, for those skilled in the art, on the premise of not performing creative labor, other drawings can be obtained based on these drawings.

[0025]

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Embodiments for Carrying Out the Invention

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will refer to the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] The following will describe embodiments of the transport actuator and transport device provided by the present invention with reference to the drawings.

[0028] (1) Embodiment of the transport actuator Referring to FIGS. 1 to 4, the transport actuator provided in this embodiment is attached to the tip of the transport device and is used to connect and fix the container M of the object to be transported. The container M transported by the transport device may be, for example, an atrial clip. Taking the atrial clip as an example, after fixing the atrial clip to the transport actuator, the transport device is operated to make the transport actuator enter the target position in the human body, that is, the left atrium. At this target position, the atrial clip closes the left atrium. Subsequently, the connection and fixation between the transport actuator and the atrial clip are released, the atrial clip is released from the transport actuator, and finally the transport device is operated to withdraw the transport actuator from the human body.

[0029] Generally, a transportation device includes a hand-held operation part, a transportation actuator, and a connection part that connects the two between the hand-held operation part and the transportation actuator. As described above, the transportation actuator is used to fix a container such as an atrial clip, and the hand-held operation part is used to grip and operate and control members such as the transportation actuator during use. For the transportation actuator, it enters the human body during use, while the hand-held operation part is located outside the human body. The connection part generally has a rod-shaped structure or a tubular structure, and both ends thereof are directly connected to the transportation actuator and the hand-held operation part respectively, or are connected to the transportation actuator and the hand-held operation part by accessory members such as corresponding connection members. In this embodiment, the direction of the transportation actuator with respect to the hand-held operation part is called the front, and the direction of the hand-held operation part with respect to the transportation actuator is called the rear. When explaining the solution of the present invention, azimuth terms having meanings such as the head end, the tip end, and other similar meanings mean that the member defined by the azimuth term is located on the front side of the reference object, while azimuth terms having meanings such as the tail end, the rear end, and other similar meanings mean that the member defined by the azimuth term is located on the rear side of the reference object.

[0030] In this embodiment, as shown in FIGS. 1 to 4, the transportation actuator includes a pedestal 10, a swing base 20, a link mechanism 30, a first clamp arm 40, and a second clamp arm 50. The swing base 20 is connected to the pedestal 10 and is rotatably connected to the pedestal 10. Specifically, the pedestal 10 can be fixedly connected to the connection part on the front side of the connection part.

[0031] As shown in FIGS. 5 to 7, the link mechanism 30 has a first front connection end A1, a first rear connection end A2, a second front connection end B1, a second rear connection end B2, a third connection end C, and a control end D. Here, the control end D is connected to a control mechanism. The first front connection end A1 and the first rear connection end A2 are respectively connected to two positions along the head and tail direction of the first clamp arm 40 and the first clamp arm 40. The second front connection end B1 and the second rear connection end B2 are respectively connected to two positions along the head and tail direction of the second clamp arm 50 and the second clamp arm 50. The third connection end C is connected to the swing base 20. The link mechanism 30 can respond to the operation control of the control mechanism connected to the control end D with respect to the control end D, and the first front connection end A1 and the first rear connection end A2 act on the first clamp arm 40, and the second front connection end B1 and the second rear connection end B2 act on the second clamp arm 50, so that the first clamp arm 40 and the second clamp arm 50 are clamped or opened in parallel.

[0032] The link mechanism 30 has a first front connection end A1 and a first rear connection end A2 connected to the first clamp arm 40. Based on these two connection ends, the link mechanism 30 can apply equal or corresponding acting forces to two positions on the first clamp arm 40. The acting force is directed towards or away from the second clamp arm 50, thereby enabling the first clamp arm 40 to approach or move away from the second clamp arm 50 in parallel, and maintaining no change in the angle between the first clamp arm 40 and the second clamp arm 50 during this process. Similarly, the link mechanism 30 has a second front connection end B1 and a second rear connection end B2 connected to the second clamp arm 50. Based on these two connection ends, the link mechanism 30 can apply equal or corresponding acting forces to two positions on the second clamp arm 50. The acting force is directed towards or away from the first clamp arm 40, thereby enabling the second clamp arm 50 to approach or move away from the first clamp arm 40 in parallel, and maintaining no change in the angle between the second clamp arm 50 and the first clamp arm 40 during this process. Therefore, based on the above two modes, by installing a control mechanism and applying an appropriate biasing force to the control end D, the link mechanism 30 can be controlled to approach or move away from each other in parallel between the first clamp arm 40 and the second clamp arm 50, so that the space between the first clamp arm 40 and the second clamp arm 50 tends to be in a closed state or an open state.

[0033] Specifically, as shown in FIGS. 5 to 7, the link mechanism 30 includes a first link 301, a second link 302, a third link 303, a fourth link 304, a fifth link 305, a sixth link 306, and a seventh link 307.

[0034] The first link 301 and the second link 302 are hinged, and the hinged connection ends of the first link 301 and the second link 302 are located between the first end 301a and the second end 301b of the first link 301, and between the first end 302a and the second end 302b of the second link 302, forming an X-shaped scissor link structure between the first link 301 and the second link 302. The first end 301a of the first link 301 and the first end 302a of the second link 302 are respectively hinged to the first clamp arm 40 and the second clamp arm 50. The second end 301b of the first link 301 and the second end 302b of the second link 302 are respectively hinged to the first end 304a of the fourth link 304 and the first end 303a of the third link 303. The second end 303b of the third link 303 and the second end 304b of the fourth link 304 are hinged to the swing base 20, and the axial direction in which the third link 303 and the fourth link 304 are hinged to the swing base 20 is the same. The first end 305a of the fifth link 305 and the first end 306a of the sixth link 306 are respectively hinged to the first clamp arm 40 and the second clamp arm 50. The second end 305b of the fifth link 305 and the second end 306b of the sixth link 306 are hinged to the first end 307a of the seventh link 307. The second end 307b of the seventh link 307 is hinged to the hinged connection end between the first link 301 and the second link 301 and the second link 302. As shown in FIG. 8, a guide groove 201 is provided in the swing base 20. The direction of the guide groove 201 is parallel to the first clamp arm 40 and the second clamp arm 50. The seventh link 307 is installed in the guide groove 201 and can slide along the guide groove 201.

[0035] As shown in Fig. 7, the hinge connection ends of the first link 301 and the second link 302 are the control end D. The hinge connection end of the first link 301 and the first clamp arm 40, i.e., the first end 301a of the first link 301, is the first front connection end A1, and the hinge connection end of the fifth link 305 and the first clamp arm 40, i.e., the first end 305a of the fifth link 305, is the first rear connection end A2. The hinge connection end of the second link 302 and the second clamp arm 50, i.e., the first end 302a of the second link 302, is the second front connection end B1, and the hinge connection end of the sixth link 306 and the second clamp arm 50, i.e., the first end 306a of the sixth link, is the second rear connection end B2. The third connection end C includes the connection ends of the third link 303, the fourth link 304, and the swing table 20, i.e., the second end 303b of the third link 303 and the second end 304b of the fourth link 304, and further includes the first end 307a and the second end 307b of the seventh link 307.

[0036] Regarding the link mechanism 30 in this embodiment, when the control mechanism applies a tensile force from the rear side of the control end D to the control end D and towards the tail end of the transport actuator from the rear side, since the second end 303b of the third link 303 and the second end 304b of the fourth link 304 are hinge-connected to the swing table 20, their positions are fixed. In the four-link structure composed of four connection ends such as the second end 301b of the first link 301 (the first end 304a of the fourth link 304), the second end 302b of the second link 302 (the first end 303a of the third link 303), the second end 303b of the third link 303 (the second end 304b of the second link 304), and the hinge connection end of the first link 301 and the second link 302, the second end 301b of the first link 301 (the first end 304a of the fourth link 304) and the second end 302b of the second link 302 (the first end 303a of the third link 303) move outward and are separated from each other, but the hinge connection end of the first link 301 and the second link 302 moves in the direction of the second end 303b of the third link 303 (the second end 304b of the second link 304) and approaches each other. Accordingly, the first end 301a of the first link 301 and the first end 302a of the second link 302 also move away from each other in the opposite direction, that is, at the first front connection end A1, the first clamp arm 40 receives a biasing force in the direction away from the second clamp arm 50 and tends to move away from the second clamp arm 50, but at the second front connection end B1, the second clamp arm 50 receives a biasing force in the direction away from the first clamp arm 40 and tends to move away from the first clamp arm 40.

[0037] A parallelogram four-link structure is formed between the first end 301a of the first link 301, the first end 305a of the fifth link 305, the first end 307a of the seventh link 307 (the hinge connection end between the fifth link 305 and the sixth link 306), and the second end 307b of the seventh link 307 (the hinge connection end between the first link 301 and the second link 302). When the seventh link 307 is constrained in the guide groove 201 located on the swing table 20 and moves only in the direction of the tail end of the transport actuator along the guide groove 201, the first link 301 moves in a direction away from the second clamp arm 50 with the first clamp arm 40 at its first end 301a, that is, the first front connection end A1. During the movement, the above four-link structure maintains the shape of a parallelogram. Thereby, at the first rear connection end A2, the first clamp arm 40 also moves in a direction away from the second clamp arm 50, maintaining the parallel state between the first clamp arm 40 and the seventh link 307.

[0038] Similarly, a parallelogram four-link structure is also formed between the first end 302a of the second link 302, the first end 306a of the sixth link 306, the first end 307a of the seventh link 307 (the hinge connection end between the fifth link 305 and the sixth link 306), and the second end 307b of the seventh link 307 (the hinge connection end between the first link 301 and the second link 302). The second link 302 moves in a direction away from the first clamp arm 40 with the second clamp arm 50 at its first end 302a, that is, the second front connection end B1. During the movement, the above four-link structure maintains the shape of a parallelogram. Thereby, at the second rear connection end B2, the second clamp arm 50 also moves in a direction away from the first clamp arm 40, maintaining the parallel state between the second clamp arm 50 and the seventh link 307.

[0039] Therefore, according to the above description, if a tensile force in the rearward direction is applied to the control end D by the control mechanism, the first clamp arm 40 and the second clamp arm 50 can be separated in parallel and tend to be in an open state.

[0040] Conversely, when the control mechanism does not apply a tensile force to the control end D from the rear side of the control end D, the control mechanism releases the control end D. In this case, the container connected and fixed to the first clamp arm 40 and the second clamp arm 50 of the transport actuator can apply a biasing force to the first clamp arm 40 and the second clamp arm 50 that are opposed to each other (for example, specifically, it can be realized by installing an elastic member in a stretched state on the container). With this biasing force, the first clamp arm 40 and the second clamp arm 50 tend to approach each other and change to a closed state. The process of changing to the closed state is the same as the process in which the first clamp arm 40 and the second clamp arm 50 change to the open state, so the description of this process is omitted. Finally, it is realized in a state where the seventh link 307 moves along the guide groove 201 in the swing base 20 to the initial position in the front direction.

[0041] Due to the seventh link 307, the second end of the first link 307 is actually, that is, the hinge connection end of the first link 301 and the second link 302, and the first end of the first link 307 is actually, that is, the hinge connection end of the fifth link 305 and the sixth link 306. As shown in FIG. 14, referring to FIG. 7, in another embodiment of the transport actuator, the hinge connection end of the fifth link 305 and the second link 306 can be used as the control end D, which is equivalent to the embodiment in which the hinge connection end of the first link 301 and the second link 302 is used as the control end D.

[0042] In this embodiment, the swing base 20 rotates in one plane with respect to the pedestal 10 and does not swing freely in three-dimensional space. In this way, for the swing base 20, fewer control members are required to control its rotation with respect to the pedestal 10, so that the equipment cost can be reduced. Also, there are fewer control nodes for the swing base 20 to rotate with respect to the pedestal 10, so that the probability of failure occurring in the control process can be reduced and the certainty of motion control can be improved.

[0043] In addition, the link mechanism 30 in this embodiment has a simple structure and a small volume, does not require a large operating space to realize the parallel approach or separation of the first clamp arm 40 and the second clamp arm 50, and can reduce the operation difficulty when transporting the container.

[0044] Referring to FIGS. 1 to 4, the plane of the movement of the first clamp arm 40 and the second clamp arm 50 relative to the swing table 20 and the rotation plane of the swing table 20 relative to the pedestal 10 are flush with each other. In other words, the two planes are substantially one plane, and the rotation of the first clamp arm 40 and the second clamp arm 50 relative to the swing table 20 and the rotation of the swing table 20 relative to the pedestal 10 are movements in the same plane.

[0045] In this embodiment, the plane of the relative movement of the first clamp arm 40 and the second clamp arm 50 relative to the swing table 20 and the rotation plane of the swing table 20 relative to the pedestal 10 are the same plane. Installed in this way, it is easy to move the container to the target position in one plane, and it is easy to close or open the first clamp arm 40 and the second clamp arm 50 in the same plane at the target position. Generally, the movement direction at the target position of the container is determined. Based on the determined movement direction, since the rotation direction of the swing table 20 relative to the pedestal 10 has a correlation with the determined movement direction, the determined movement direction can be used as a reference when controlling the rotation of the swing table 20 relative to the pedestal 10. Thereby, it is easy to accurately control the rotation of the swing table 20 relative to the pedestal 10, and it is easy to accurately move the first clamp arm 40, the second clamp arm 50 and the container fixed thereon to the target position.

[0046] In this embodiment, as shown in FIG. 9, a first linear restraint portion 401 is installed on the first clamp arm 40, and the opening of the first linear restraint portion 401 faces the second clamp arm 50. The first linear restraint portion 401 can be used to restrain the clip arm of the container M such as an atrial appendage clip. Between the first linear restraint portion 401 and the clip arm of the container M, the clip arm of the container M can be fixed within the first linear restraint portion with a line that meets the predetermined requirements. A second linear restraint portion 501 is installed on the second clamp arm 50, and the opening of the second linear restraint portion 501 faces the first clamp arm 40. The second linear restraint portion 501 can be used to restrain the clip arm of the container M such as an atrial appendage clip. Between the second linear restraint portion 501 and the clip arm of the container M, the clip arm of the container M can be fixed within the second linear restraint portion with a line that meets the predetermined requirements.

[0047] The first linear restraint portion 401 and the second linear restraint portion 501 are used to connect to the container M, so as to connect and fix the container M to the transport actuator. Taking the container M as an atrial appendage clip as an example, the first linear restraint portion 401 and the second linear restraint portion 501 are respectively connected to the two clip arms of the atrial appendage clip, thereby fixing the atrial appendage clip to the transport actuator. After the atrial appendage clip is fixed to the transport actuator, the opening and closing of the first clamp arm 40 and the second clamp arm 50 can bring the two clamp arms of the atrial appendage clip closer or farther away in parallel. When at the target position, with the parallel approach of the first clamp arm 40 and the second clamp arm 50, the left atrial appendage can be clamped and closed.

[0048] The shapes of the first linear restraint portion 401 and the second linear restraint portion 501 may be linear grooves corresponding to the shapes of the clip arms of the container M. The clip arm of the container M and the linear groove are used as the basis for being integrally connected and fixed by the corresponding relationship in shape. The first linear restraint portion 401 and the second linear restraint portion 501 may also be non-groove structures such as a planar structure. The clip arm of the container M can be restrained and fixed with a line in such non-groove structures such as the planar structure.

[0049] Specifically, a first fixing groove 402 in contact with the first linear restraint portion 401 is provided on the first clamp arm 40. The first fixing groove 402 penetrates the connection line and is used to restrain and fix the container with the first linear restraint portion 401. A second fixing groove 502 in contact with the second linear restraint portion 501 is provided on the second clamp arm 50. The second fixing groove 502 similarly penetrates the connection line and is used to restrain and fix the container with the second linear restraint portion 501.

[0050] The number of the first fixing grooves 402 is at least two, and the number of the second fixing grooves 502 is at least two. By installing in this way, the container can be restrained and fixed at at least two positions of the first linear restraint portion 401, and the container can be restrained and fixed at at least two positions of the second linear restraint portion 501. Thereby, the restraint and fixation between the container, the first linear restraint portion 401, and the second linear restraint portion 501 in the longitudinal direction of the first clamp arm 40 and the second clamp arm 50 can be made stronger.

[0051] A first notch 403 is provided on the first clamp arm 40, and the first notch 403 is provided at the tail end of the first clamp arm 40. A second notch 503 is provided on the second clamp arm 50, and the second notch 503 is provided at the tail end of the second clamp arm 50. The first notch 403 and the second notch 503 are used to accommodate the protruding portions of the container towards the first clamp arm 40 and the second clamp arm 50. Taking the atrial clip as an example, the elastic connection portion connected between the two clip arms of the atrial clip protrudes in the directions of the first clamp arm 40 and the second clamp arm 50 at the positions in contact with the two clip arms. The first notch 403 and the second notch 503 can accommodate this part, and interference between the atrial clip, the first clamp arm 40, and the second clamp arm 50 can be avoided.

[0052] For the implementation of the present invention, it can be further simply converted on the basis of the above embodiments to form alternative embodiments. In the alternative embodiments, as shown in FIGS. 10 to 13, the plane of the movement of the first clamping arm 40 and the second clamping arm 50 relative to the swing base 20 and the rotation plane of the swing base 20 relative to the pedestal 10 are perpendicular to each other, which is different from the general surface-flush relationship in Embodiment 1 above. However, similar to Embodiment 1 above, there are fewer control members required to control its rotation relative to the pedestal 10 of the swing base 20, and there are also fewer control nodes for the swing base 20 to rotate relative to the pedestal 10. Moreover, its link mechanism 30 has a simple structure and a small volume, does not require a large operating space to realize the parallel approach or separation of the first clamping arm 40 and the second clamping arm 50, and can reduce the operation difficulty when transporting the container. Similar to Embodiment 1 above, a similar relationship is determined between the rotation direction of the swing base 20 relative to the pedestal 10 and the movement direction at the target position of the determined container. Based on this relationship, when controlling the rotation of the swing base 20 relative to the pedestal 10, the determined movement direction is used as a reference, and the rotation of the swing base 20 relative to the pedestal 10 can be accurately controlled, thereby easily and accurately moving the first clamping arm 40, the second clamping arm 50, and the container fixed thereon to the target position.

[0053] In other alternative embodiments of the present invention, the structures of the first clamping arm 40 and the second clamping arm 50 may be, for example, the structures shown in FIGS. 16 to 17 and FIGS. 21 to 23. In the structures shown in FIGS. 16 to 17 and FIGS. 21 to 23, a first linear restraint portion 401, a second linear restraint portion 501 for accommodating the container M are similarly provided on the first clamping arm 40 and the second clamping arm 50, and a groove hole for fixing the container M is installed.

[0054] In another alternative embodiment of the present invention, the link mechanism 30 may be different from the link mechanism in the above embodiment. As shown in FIGS. 16 to 19, in this alternative embodiment, the link mechanism 30 includes a first link 301, a second link 302, a third link 303, a fourth link 304, a fifth link 305, and a sixth link 306. The first link 301 and the second link 302 are hinged, and the hinged connection end of the first link 301 and the second link 302 is located between the first end 301a and the second end 301b of the first link 301, and between the first end 302a and the second end 302b of the second link 302, forming an X-shaped scissor link structure between the first link 301 and the second link 302. The hinged connection axis of the first link 301 and the second link 302 is hinged to the swing base 20. The first ends 301a and 302a of the first link 301 and the second link 302 are respectively hinged to the first clamping arm 40 and the second clamping arm 50. The second ends 301b and 302b of the first link 301 and the second link 302 are respectively hinged to the first ends 303a and 304a of the third link 303 and the fourth link 304, and the second ends 303b and 304b of the third link 303 and the fourth link 304 are hinged. The first ends 305a and 306a of the fifth link 305 and the sixth link 306 are respectively hinged to the first clamping arm 40 and the second clamping arm 50. The second ends 305b and 306b of the fifth link 305 and the sixth link 306 are hinged, and the hinged connection axis of the fifth link 305 and the sixth link 306 is hinged to the swing base 20. A guide groove 201 is provided on the swing base 20. The direction of the guide groove 201 is parallel to the first clamping arm 40 and the second clamping arm 50. The hinged connection axis of the third link 303 and the fourth link 304 is installed in the guide groove 201 and can slide along the guide groove 201. The hinged connection end of the third link 303 and the fourth link 304 is the control end D. The hinged connection end of the first link 301 and the first clamping arm 40 is the first front connection end A1. The hinged connection end of the fifth link 305 and the first clamping arm 40 is the first rear connection end A2. The hinged connection end of the second link 302 and the second clamping arm 50 is the second front connection end B1. The hinged connection end of the sixth link 306 and the second clamping arm 50 is the second rear connection end B2.

[0055] In this alternative embodiment, by applying a forward force to the control end D (when applying this force, it can be realized by a wire structure such as a wire. Specifically, a wire structure such as a wire is drawn out from the hand-held operation part at the rear end, and the wire structure such as a wire is wound around the hinge connection axis of the first link 301 and the second link 302, or the hinge connection axis of the fifth link 305 and the sixth link 306, and then folded back and connected to the control end D for fixation. In this way, when the wire structure such as a wire is pulled backward at the hand-held operation part and acts on the control end D, it is a forward biasing force), the opening of the first clamp arm 40 and the second clamp arm 50 is controlled, and by releasing the tensile force on the control end D, the first clamp arm 40 and the second clamp arm 50 are clamped. Specifically, when applying a tensile force towards the front to the hinge connection end of the control end D, that is, the third link 303 and the fourth link 304, the hinge connection end of the first link 301 and the fourth link 304, and the hinge connection end of the second link 302 and the third link 303 are moved forward together to first open outward, and further act on the hinge connection end (the first front connection end A1) of the first link 301 and the first clamp arm 40, and the hinge connection end (the second front connection end B1) of the second link 302 and the second clamp arm 50, opening both of them outward, and, by the fifth link 305 and the sixth link 306, the hinge connection end (the first rear connection end A2) of the fifth link 305 and the first clamp arm 40 and the hinge connection end (the second rear connection end B2) of the sixth link 306 and the second clamp arm 50 are synchronously led, and both of them are synchronously opened outward, thereby opening the first clamp arm 40 and the second clamp arm 50 in parallel. When the application of the forward biasing force to the control end D stops, the container connected and fixed to the first clamp arm 40 and the second clamp arm 50 of the transport actuator can apply a biasing force (for example, specifically, it can be realized by installing an elastic member in a stretched state in the container) to the first clamp arm 40 and the second clamp arm 50 that opposes them. Due to this biasing force, the first clamp arm 40 and the second clamp arm 50 tend to approach each other and change to a closed state. The process of changing to the closed state is the same as the process of the first clamp arm 40 and the second clamp arm 50 changing to the open state, so the description of this process is omitted.

[0056] In this embodiment, the structure of the link mechanism 30 is simple, and the process of opening and closing in parallel with respect to the first clamp arm 40 and the second clamp arm 50 is more convenient. Compared with the above embodiment, the link mechanism in this embodiment has a better number of links. In the link mechanism 30, the control end is located more rearward, which is easy to operate and control, and the opening and closing process is more convenient, stable and reliable.

[0057] (2) Embodiment of the transport device In this embodiment, the transport device includes a controller and the transport actuator described in the embodiment of the above transport actuator.

[0058] The controller is used to control the state between the first clamp arm 40 and the second clamp arm 50 of the transport actuator, and to control the rotation of the swing table 20 relative to the pedestal 10. Further, it is used to control the container connected and fixed to the transport actuator.

[0059] Specifically, the controller includes a first control mechanism, a second control mechanism and a third control mechanism.

[0060] Based on the embodiment of the transport actuator shown in FIGS. 1 to 13, the first control mechanism is connected to the control end D of the link mechanism 30 of the transport actuator. As shown in FIG. 14, the first control mechanism includes a first connection line L1 and a first winding member (not shown). The first connection line L1 is wound around the first winding member and connected to the control end D. The first connection line L1 may specifically be a wire.

[0061] The first connection line L1 is connected to the control end D. When the first connection line L1 pulls the control end D and applies a pulling force to the rear side of the control end D, it acts on the link mechanism 30 to control the distance between the first clamp arm 40 and the second clamp arm 50 to increase, tending to change to an open state. However, when the first connection line releases the control end D and does not apply a pulling force to the rear side of the control end D, due to the action of the container, the distance between the first clamp arm 40 and the second clamp arm 50 becomes smaller, tending to change to a closed state. The specific process is described in detail in the embodiment of the above transport actuator and will not be elaborated here.

[0062] The first winding member can wind or release the first connection line L1 in a rotational manner, for example. When the first winding member winds the first connection line L1, the first connection line L1 pulls the control end D and applies a pulling force to the rear side of the control end D. When the first winding member releases the first connection line L1, the first connection line L1 correspondingly releases the control end D and stops applying a pulling force to the rear side of the control end D.

[0063] Specifically, the connection of the control end D of the first connection line L1 may be such that one end of the first connection line L1 is directly connected to the hinge connection end between the first link 301 and the second link 302. Additionally, further, a stopper 204 is connected to the first end of the first connection line L1, and the stopper 204 abuts and is fixed to a fixing hole 202 provided on the swing base 20. The first connection line L1 passes through the fixing hole 202 and surrounds the control end D, and the first connection line L1 forms a pulley structure at the control end D.

[0064] The second control mechanism is connected to the swing table 20 and is used to control the rotation of the swing table 20 relative to the pedestal 10. As shown in FIG. 15, the second control mechanism includes a second winding member (not shown) and at least two second connection lines L2. The first ends of the at least two second connection lines L2 are respectively connected to the first side and the second side of the swing table 20, and the first side and the second side of the swing table 20 are both sides located on the rotation path of the hinge connection end between the swing table 20 and the pedestal 10 (in FIGS. 1 and 3, that is, the lower left side and the upper right side of the illustrated swing table 20). Specifically, as shown in FIG. 20, a stopper 205 is connected to the first end of the second connection line L2, and the stopper 205 is stopped and fixed to the swing table 20, thereby fixing the first end of the second connection line L2 to the swing table 20. The second ends of the second connection lines L2 are wound around the second winding member.

[0065] Referring to FIGS. 1 and 3, when the second connection line L2 connected to the first side of the swing table 20 applies a tensile force to the first side of the swing table 20, the swing table 20 can be pulled to rotate it in the first side direction. However, when the second connection line L2 connected to the second side of the swing table 20 applies a tensile force to the second side of the swing table 20, the swing table 20 can be pulled to rotate it in the second side direction.

[0066] Specifically, the number of the second winding members may be one or more. When the number of the second winding members is one, the second ends of each of the second connection lines L2 may all be wound around the second winding member. However, the winding directions of the second connection lines L2 connected to the first side and the second side of the swing table 20 should be opposite. In this way, by rotating the second winding member along different directions to respectively apply tensile forces to the second connection lines connected to the first side and the second side of the swing table 20, the rotation of the swing table 20 in different directions can be controlled.

[0067] The third control mechanism is connected to a container that is connected to the transport actuator and is used to control the state between the container and the first clamp arm 40 and the second clamp arm 50 of the transport actuator. Specifically, the third control mechanism includes a third connection line (not shown), the third connection line includes a first sub-control line and a second sub-control line, and the first sub-control line and the second sub-control line include a restraint part, a control part, and a connection part connecting the restraint part and the control part. A fixing part is installed on the swing table 20. The restraint part of the first sub-control line movably restrains the container to the first clamp arm 40 at the first clamp arm 40, the control part is connected and fixed to the fixing part of the swing table 20, and the control part is used to be triggered to release the restraint of the restraint part. The restraint part of the second sub-control line movably restrains the container to the second clamp arm 50 at the second clamp arm 50, the control part is connected and fixed to the fixing part of the swing table 20, and the control part is used to be triggered to release the restraint of the restraint part. Specifically, as shown in FIGS. 25 and 26, the fixing part can be in the structural form of a wire groove 203, and the control parts of the first sub-control line and the second sub-control line are connected and fixed to the wire groove 203. For example, the fixing part for fixing the first sub-control line may be the wire groove 203d, and the fixing part for fixing the second sub-control line may be the wire groove 203e.

[0068] By the restraint parts of the first sub-control line and the second sub-control line, before the container moves to the target position and during the process of moving to the target position, the container is restrained by the first clamp arm 40 and the second clamp arm 50 of the transport actuator. After the container moves to the target position, taking the atrial clip as an example, when the atrial clip moves to the left atrium and closes the left atrium, the control parts of the first sub-control line and the second sub-control line passing through at this time can release the restraint of the atrial clip from the first clamp arm 40 and the second clamp arm 50 outside the human body. Thereby, after the process of putting the container is completed, the transport actuator can be easily moved out from inside the human body.

[0069] In one embodiment of the conveying device, as shown in FIGS. 21 to 24, the second control mechanism can further include a link 206. The first end of the link 206 is connected to the swing table 20, and the connection point between the link 206 and the swing table 20 is located outside the hinge connection axis between the swing table 20 and the pedestal 10. With such an installation, when the first end of the link 206 acts on the swing table 20, the swing table 20 can be rotated relative to the pedestal 10. The second end of the link 206 is connected to a hand-held operation part installed at the rear end of the conveying device. When using the conveying device of this embodiment, the second end of the link 206 can be pulled at the hand-held operation part. When the second end of the link 206 moves under the action of an external force, the corresponding biasing force is transmitted to the first end of the link 206 and the swing table 20, whereby the swing table 20 can be rotated in a predetermined direction around the hinge connection axis between it and the pedestal 10.

[0070] In this embodiment, as shown in FIGS. 25 and 26, a plurality of wire grooves 203 are installed on the swing table 20. The plurality of wire grooves are used to penetrate or connect and fix the first connection wire, the second connection wire, the third connection wire, etc. Specifically, in this embodiment, the number of wire grooves 203 is five, namely wire grooves 203a, 203b, 203c, 203d, and 203e. Here, the wire groove 203a is used to penetrate the first connection wire, and the wire grooves 203b and 203c are respectively used to penetrate the second connection wire connected to the first side and the second side of the swing table 20. The wire grooves 203d and 203e are respectively used to connect and fix the first sub-control wire and the second sub-control wire of the third connection wire.

[0071] In this embodiment, each wire groove 203 generally includes a thin body part 2031. For the body part 2031, it is only necessary to be able to accommodate the first connection wire, the second connection wire, the third connection wire, etc. Also, when this requirement is met, the aperture diameter of the body part 2031 should be made as thin as possible to easily limit the swing width of the first connection wire, the second connection wire, the third connection wire, etc. In the plurality of wire grooves 203, an opening part 2032 is further installed at the tail end of at least some of the wire grooves 203, and the width of the opening part 2032 increases in the direction approaching the rear part.

[0072] In the embodiment of the transport device by the transport actuator shown in FIGS. 1 to 4, the wire groove 203 can be as shown in FIGS. 27 and 28. Taking the wire groove 203d as an example, as shown in FIG. 28, it includes a main body portion 2031 and a mouth opening portion 2032, and is used to connect and fix the first sub-control wire. When the swing table 20 deflects to one side, the rear end of the swing table 20 faces the side of the pedestal 10. At this time, the space between the swing table 20 and the pedestal 10 becomes smaller, and correspondingly, the space of the first sub-control wire is compressed. However, when the mouth opening portion 2032 is installed in the circumferential direction along the rotation of the swing table 20, the mouth opening portion 2032 can form a notch for accommodating the first sub-control wire at the position of the rear end of the swing table 20. In this way, even when the swing table 20 rotates and its rear end faces the side of the pedestal 10, the first sub-control wire is not clamped between the pedestal 10 and the swing table 20 and does not affect the normal operation.

[0073] In the embodiment of the transport device by the transport actuator shown in FIGS. 1 to 4, at least two of the plurality of wire grooves 203 may be installed in the circumferential direction along the rotation of the swing table 20, and the at least two wire grooves 203 may share the mouth opening portion 2032. As shown in FIG. 25, the wire grooves 203a, 203b, and 203c are installed in the circumferential direction along the rotation of the swing table 20, and the three have a common mouth opening portion 2032. In this way, the number of grooves formed at the rear end of the swing table 20 can be reduced, thereby saving processing time and processing costs.

[0074] As described above, as shown in FIG. 28, referring to FIGS. 25 and 26, the swing table 20 has a first side and a second side, and the first side and the second side are both located on both sides of the rotation path of the hinge connection end between the swing table 20 and the pedestal 10. The opening 2032 of the linear groove 203 located on the first side of the swing table 20 is located on the second side of the main body 2031 of the linear groove 203, and the opening 2032 of the linear groove 203 located on the second side of the swing table 20 is located on the first side of the main body 2031 of the linear groove 203. By installing in this way, for the linear groove 203 located on the first side of the swing table 20, a part of the structure located on the first side of the main body 2031 of the linear groove 203 of the swing table 20 can be retained, and for the linear groove 203 located on the second side of the swing table 20, a part of the structure located on the second side of the main body 2031 of the linear groove 203 of the swing table 20 can be retained. The part of the structure retained on the swing table 20 does not interfere with the connection line passing through the linear groove 203 during the rotation process of the swing table 20, and the retention of these structures can increase the structural strength of the rear end of the swing table 20, especially the structural strength in the direction perpendicular to the rotation plane of the swing table 20.

[0075] In the embodiment of the transport device by the transport actuator shown in FIGS. 10 to 13, the linear groove 203 can be as shown in FIGS. 29 to 32. Taking the linear groove 203d as an example, as shown in FIG. 32, it includes a main body 2031 and an opening 2032, and is used to connect and fix the first sub-control line. When the swing table 20 deflects to one side, the rear end of the swing table 20 faces the side of the pedestal 10. At this time, the space between the swing table 20 and the pedestal 10 becomes smaller, and correspondingly, the space of the first sub-control line is compressed. However, when the opening 2032 is installed circumferentially along the rotation of the swing table 20, the opening 2032 can form a notch for accommodating the first sub-control line at the position of the rear end of the swing table 20. In this way, even when the swing table 20 rotates and its rear end faces the side of the pedestal 10, the first sub-control line is not pinched between the pedestal 10 and the swing table 20 and does not affect the normal operation.

[0076] In addition, in this specification, relative terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not require or imply any such actual relationship or order between these entities or operations. Also, the terms "comprise", "include" or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article or apparatus that comprises a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article or apparatus. Without more limitations, an element limited by the phrase "comprising one..." does not exclude the presence of further identical elements in the process, method, article or apparatus that comprises the element.

[0077] What has been described above are only specific embodiments of the present invention, and those skilled in the art can understand or implement the present invention. Various modifications to these examples will be apparent to those skilled in the art, and the general principles defined in this specification can be implemented in other examples without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to these examples shown in this specification, but conforms to the broadest scope consistent with the principles and novel features filed in this specification.

Description of Reference Numerals

[0078] 10 - pedestal, 20 - swing base, 201 - guide groove, 202 - fixing hole, 203, 203a, 203b, 203c, 203d, 203e - wire groove, 204 - stopper, 205 - stopper, 206 - link, 2031 - main body portion, 2032 - opening portion, 30 - link mechanism, 301 - first link, 301a - first end, 301b - second end, 302 - second link, 302a - first end, 302b - second end, 303 - third link, 303a - first end, 303b - second end, 304 - Fourth Link, 304a - First End, 304b - Second End, 305 - Fifth Link, 305a - First End, 305b - Second End, 306 - Sixth Link, 306a - First End, 306b - Second End, 307 - Seventh Link, 307a - First End, 307b - Second End, 40 - First Clamping Arm, 401 - First Linear Restraint Portion, 402 - First Fixed Groove, 403 - First Notch, 50 - Second Clamping Arm, 501 - Second Linear Restraint Portion, 502 - Second Fixed Groove, 503 - Second Notch, A1 - First Front Connection End, A2 - First Rear Connection End, B1 - Second Front Connection End, B2 - Second Rear Connection End, C - Third Connection End, D - Control End, M - Container.

Claims

1. Comprising a swing table, a first clamp arm, a second clamp arm and a link mechanism, The swing table is connected to the pedestal and is rotatably connected to the pedestal, The link mechanism includes a first link, a second link, a third link, a fourth link, a fifth link and a sixth link, The first link and the second link are hinged, and the hinge connection end of the first link and the second link is located between the first end and the second end of the first link and between the first end and the second end of the second link, forming an X-shaped scissor link structure between the first link and the second link, and the hinge connection axis of the first link and the second link is hinged to the swing table, The first ends of the first link and the second link are respectively hinged to the first clamp arm and the second clamp arm, the second ends of the first link and the second link are respectively hinged to the first ends of the third link and the fourth link, and the second ends of the third link and the fourth link are hinged, The first ends of the fifth link and the sixth link are respectively hinged to the first clamp arm and the second clamp arm, the second ends of the fifth link and the sixth link are hinged, and the hinge connection axis of the fifth link and the sixth link is hinged to the swing table, A guide groove is provided on the swing table, the direction of the guide groove is parallel to the first clamp arm and the second clamp arm, the hinge connection axis of the third link and the fourth link is installed in the guide groove and can slide along the guide groove. A transport actuator characterized by this.

2. The plane of movement of the first clamp arm and the second clamp arm relative to the swing table and the rotation plane of the swing table relative to the pedestal are flush with each other or perpendicular to each other. The transport actuator according to claim 1, characterized by this.

3. A first linear restraint portion is provided on the first clamp arm, the opening of the first linear restraint portion faces the second clamp arm, a second linear restraint portion is provided on the second clamp arm, and the opening of the second linear restraint portion faces the first clamp arm. The transport actuator according to claim 1, characterized by this.

4. A first fixing groove in contact with the first linear restraint portion is provided on the first clamp arm, and a second fixing groove in contact with the second linear restraint portion is provided on the second clamp arm. The transport actuator according to claim 3, characterized by this.

5. The number of the first fixing grooves is at least two, and the number of the second fixing grooves is at least two, the transport actuator according to claim 4, wherein.

6. A first notch is provided in the first clamping arm, and the first notch is provided at the tail end of the first clamping arm, A second notch is provided in the second clamping arm, and the second notch is provided at the tail end of the second clamping arm, the transport actuator according to claim 3, wherein.

7. A transport device, characterized by comprising a controller and the transport actuator according to any one of claims 1 to 6.

8. The controller includes a first control mechanism, and the first control mechanism is connected to a control end of a link mechanism of the transport actuator, The first control mechanism includes a first connection line and a first winding member, the first connection line is wound around the first winding member and connected to the control end, the transport device according to claim 7, wherein.

9. A stopper is connected to a first end of the first connection line, the stopper is fixed in contact with a fixing hole provided in the swing table, the first connection line passes through the fixing hole and goes around the control end, and the first connection line forms a pulley structure at the control end, the transport device according to claim 8, wherein.

10. The transport device further includes a second control mechanism, and the second control mechanism is connected to the swing table and is used to control the rotation of the swing table relative to the pedestal, the transport device according to claim 7, wherein.

11. The second control mechanism includes a second winding member and at least two second connection lines, the first ends of the at least two second connection lines are respectively connected to the first side and the second side of the swing table, and the first side and the second side of the swing table are both located on both sides of the rotation path of the hinge connection end between the swing table and the pedestal, and the second ends of the second connection lines are wound around the second winding member, or The second control mechanism includes a link, the first end of the link is connected to the swing table, and the connection position between the link and the swing table is located outside the hinge connection axis between the swing table and the pedestal, and the second end of the link is connected to a hand-held operation portion provided at the rear end of the transport device, the transport device according to claim 10, wherein.

12. A fixing portion is provided on the swing table, The transport device includes a third connection line, and the third connection line includes a first sub-control line and a second sub-control line. The first sub-control line and the second sub-control line include a restraint portion, a control portion, and a connection portion connecting the restraint portion and the control portion. The restraint portion of the first sub-control line movably restrains an insert in the first clamp arm in the first clamp arm, the control portion is connected to and fixed to the fixing portion of the swing table, and the control portion is used to be triggered to release the restraint of the restraint portion. The restraint portion of the second sub-control line movably restrains an insert in the second clamp arm in the second clamp arm, the control portion is connected to and fixed to the fixing portion of the swing table, and the control portion is used to be triggered to release the restraint of the restraint portion. The transport device according to claim 7, characterized in that.

13. A plurality of wire grooves are installed in the swing table, and an opening portion is installed at the tail end of at least a part of the wire grooves. The transport device according to any one of claims 8 to 12, characterized in that.

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