Motion device and robot

Abstract

A motion device and a robot. The motion device comprises a motion mechanism and a clamping mechanism, wherein the motion mechanism comprises a base, a bearing module, and at least two motion members capable of drivingly clamping a first instrument, the bearing module being rotatably arranged on the base, the motion members being rotatably arranged on the bearing module, and at least one motion member being a driving motion member; and the clamping mechanism comprises two clamping members, each clamping member being movably connected to the base, and each clamping member having a clamping portion. In an initial state, in response to a second instrument moving towards the position between the two clamping portions, the second instrument drives each clamping member to move, such that the two clamping portions clamp the second instrument, and the clamping mechanism switches to a first state. In the first state, in response to each clamping member moving to make the two clamping portions away from each other, the two clamping portions release the second instrument, and the clamping mechanism switches to a second state.

Description

Motion device and robot

[0001] This application claims priority to Chinese Patent Application No. 202411484498.3, filed on October 23, 2024, and Chinese Patent Application No. 202510644849.0, filed on May 19, 2025, the contents of which are incorporated herein by reference in their entirety as part of this application. TECHNICAL FIELD

[0002] Embodiments of the present disclosure relate to a motion device and a robot. BACKGROUND

[0003] In a surgical operation, some instruments are often used to assist the surgeon to complete the operation. The surgeon holds the instrument and constantly adjusts the position and angle of the instrument as the operation progresses to adapt to the operation requirements. For example, during the operation, an endoscope is inserted into the abdominal cavity to collect image information of the operation site. The surgeon can observe the operation progress and the lesion condition in the abdominal cavity collected by the endoscope in real time on the display screen, and adjust the position and angle of the effective image collection of the endoscope according to the use needs. Therefore, the surgeon needs to rotate and lift the endoscope to enable the endoscope to collect image information of different parts. SUMMARY

[0004] Embodiments of the present disclosure aim to provide a motion device and a robot.

[0005] The present disclosure is implemented by the following technical solutions: a motion device, comprising:

[0006] a motion mechanism, the motion mechanism comprising a seat body, a bearing module, and at least two motion pieces arranged oppositely to driveably clamp a first instrument, the bearing module being rotatably arranged on the seat body, the motion pieces being rotatably arranged on the bearing module, at least one of the motion pieces being a driving motion piece;

[0007] a clamping mechanism, the clamping mechanism comprising two clamping pieces, each of the clamping pieces being movably connected with the seat body, each of the clamping pieces having a clamping portion;

[0008] the clamping mechanism having an initial state, a first state, and a second state;

[0009] in the initial state, a second instrument is separated from the clamping mechanism, in response to the second instrument moving towards between the two clamping portions, the second instrument drives each of the clamping pieces to move to make the two clamping portions clamp the second instrument, and the clamping mechanism switches to the first state;

[0010] In the first state, in response to each of the clamping members moving to make the two clamping portions move away from each other, the two clamping portions release the second instrument, and the clamping mechanism switches to the second state;

[0011] When the clamping mechanism is in the first state, in response to the active moving member rotating around the central axis relative to the bearing module, the first instrument is driven to move in the second instrument, and in response to the bearing module rotating around the first axis relative to the seat body, the first instrument is driven to rotate in the second instrument.

[0012] For example, the clamping mechanism comprises a pushing structure, each of the clamping members has a connecting portion, and the connecting portion of each of the clamping members is connected with the pushing structure.

[0013] In the initial state, in response to the second instrument moving towards the space between the two clamping portions, the second instrument pushes the pushing structure, so that each of the clamping members moves.

[0014] For example, the clamping portion of each of the clamping members is connected with the connecting portion, the pushing structure comprises the clamping portion of each of the clamping members, and each of the clamping members is configured to have a tendency of the clamping portion approaching the other clamping portion.

[0015] In the initial state, in response to the second instrument moving towards the space between the two clamping portions to push each of the clamping members, each of the clamping members moves to make the two clamping portions move away from each other, thereby allowing the second instrument to enter the space between the two clamping portions to be clamped by the two clamping portions.

[0016] For example, the movement device further has a first stop structure, and each of the clamping members further has a first abutting portion connected with the clamping portion.

[0017] In the initial state, the first abutting portion of each of the clamping members abuts against the first stop structure to limit the movement of each of the clamping members in a direction of making the clamping portion approach the other clamping portion.

[0018] For example, the movement device further has a second stop structure, and each of the clamping members further has a second abutting portion connected with the clamping portion.

[0019] In the second state, the second abutting portion of each of the clamping members abuts against the second stop structure to limit the movement of each of the clamping members in a direction of making the clamping portion move away from the other clamping portion.

[0020] For example, the second device has an engaging groove; in response to the second device moving to its engaging groove between the two clamping portions, the two clamping portions are close to each other to be clamped with the engaging groove.

[0021] For example, the clamping mechanism further comprises a resilient assembly, each clamping member is connected with the resilient assembly, the resilient assembly applies force to the clamping member connected therewith, so that each clamping member has a tendency to move its clamping portion close to another clamping portion.

[0022] For example, each clamping member further has a connecting structure, the clamping portion is connected with the connecting structure; the seat body further comprises a positioning structure; the connecting structure movably cooperates with the positioning structure.

[0023] In response to each clamping member moving to make its clamping portion close to or away from another clamping portion, the connecting structure moves along the positioning structure to limit the movement of the clamping member.

[0024] For example, the seat body is further provided with a blocking structure; the second device further has a cooperating portion.

[0025] In the first state, the blocking structure abuts against the cooperating portion of the second device to limit the movement of the second device in a direction perpendicular to the first axis.

[0026] For example, the clamping mechanism further comprises a pressing module, at least one clamping member is connected with the pressing module.

[0027] In the first state, in response to applying force to the pressing module, each clamping member moves to make each clamping portion away from the second device, and the clamping mechanism switches to the second state.

[0028] For example, in the first state, in response to applying force to the pressing module, the pressing module drives the first clamping member and the second clamping member to move, so that each clamping portion is away from the second device, and the clamping mechanism switches to the second state.

[0029] The pressing module driving the first clamping member and the second clamping member to move comprises:

[0030] The pressing module drives the first clamping member connected therewith to move, and drives the second clamping member connected with the first clamping member to move through the first clamping member, or the pressing module drives the first clamping member connected therewith and the second clamping member connected therewith to move.

[0031] For example, the pressing module comprises a first pressing part and a second pressing part, one of the clamping members is a first clamping member, and the other is a second clamping member; the first clamping member is connected with the first pressing part, and the second clamping member is connected with the second pressing part.

[0032] The first pressing part and the clamping part of the second clamping member are located on the same side of the second pressing part, and the second pressing part and the clamping part of the first clamping member are located on the same side of the first pressing part.

[0033] In response to the force applied to the first pressing part to move the first clamping member and the force applied to the second pressing part to move the second clamping member, the first pressing part and the second pressing part are close to each other, and the two clamping parts are far away from each other.

[0034] For example, the pressing module comprises a first pressing part and a second pressing part, one of the clamping members is a first clamping member, and the other is a second clamping member; the first clamping member is connected with the first pressing part, and the second clamping member is connected with the second pressing part.

[0035] The movement device further comprises a linkage structure, and the first clamping member and the second clamping member are movably connected with the linkage structure.

[0036] In the first state, in response to the force applied to the pressure control part to move the first clamping member, the first clamping member drives the linkage structure to move to drive the second clamping member to move, so that the two clamping parts are away from the second instrument, and the clamping mechanism switches to the second state.

[0037] For example, the linkage structure is configured as:

[0038] In the first state, in response to the force applied to the pressure control part to move first clamping member, the first clamping member drives the linkage structure to move, and the linkage structure drives the second clamping member to move in the opposite direction of the first clamping member to move to make the two clamping parts far away from each other, and the clamping mechanism switches to the second state.

[0039] In the second state, in response to the second instrument being separated from the clamping mechanism, the first clamping member and the second clamping member move in opposite directions to reset to make the two clamping parts close to each other, and the linkage structure moves with the first clamping member and the second clamping member, and the clamping mechanism switches to the initial state.

[0040] For example, the linkage structure comprises a linkage member, a first linkage part and a second linkage part, the linkage member is movably connected with the seat body, the first linkage part is arranged on the first clamping member, and the second linkage part is arranged on the second clamping member.

[0041] The first linkage part and the second linkage part are movably connected with the linkage member; in the first state, in response to the force applied to the pressure control part, the first clamping member drives the linkage member to move via the first linkage part, so that the linkage member drives the second clamping member to move in the direction opposite to the moving direction of the first clamping member via the second linkage part.

[0042] For example, the linkage member is rotatably connected with the first linkage part and the second linkage part; the movement of the linkage member is rotational movement, and the first linkage part and the second linkage part are connected with the linkage member at two opposite positions in the radial direction of the rotational track of the linkage member, so that when the first clamping member moves to drive the linkage member to move, the second clamping member moves in the direction opposite to the moving direction of the first clamping member.

[0043] For example, the first position of the linkage member is hingedly connected with the first linkage part, the second position of the linkage member is hingedly connected with the second linkage part, and the third position of the linkage member is hingedly connected with the seat body, the first position, the second position and the third position are located on the same straight line, and the third position is located between the first position and the second position.

[0044] For example, the first linkage part and the second linkage part are meshingly connected with the linkage member.

[0045] For example, the movement device further comprises a guide plate, and the clamping part of each clamping member is at least partially arranged between the guide plate and the seat body.

[0046] The guide plate has a guide surface; in the initial state, the guide surface extends obliquely towards the space between the two clamping parts to guide the movement of the second instrument towards the space between the two clamping parts.

[0047] For example, the movement mechanism further comprises a driving gear set, a rotating driving member and a lifting mechanism; the driving gear set is drivingly connected with the main driving member; the rotating driving member is drivingly connected with the bearing module; the lifting mechanism comprises a lifting driving member and a lifting transmission member drivingly connected with the lifting driving member, and the lifting transmission member is drivingly connected with the driving gear set.

[0048] The movement mechanism has a first working mode and a second working mode.

[0049] When the clamping mechanism is in the first state and the motion device is in the first working mode, in response to the rotation of the lifting driving element to drive the lifting transmission element to rotate around the first axis relative to the carrier module, the relative position between the lifting transmission element and the driving gear set changes to drive the driving gear set to move, so that the driving gear set drives the main driving element to rotate around the central axis relative to the carrier module, thereby driving the first instrument to move.

[0050] When the clamping mechanism is in the first state and the motion device is in the second working mode, in response to the rotation of the rotation driving element to drive the carrier module to rotate around the first axis, the carrier module drives the first instrument to rotate; and in response to the rotation of the lifting driving element to drive the lifting transmission element to rotate around the first axis synchronously with the carrier module, the lifting transmission element and the driving gear set maintain the relative position so that the lifting transmission element is limited to drive the driving gear set.

[0051] For example, the lifting transmission element has an end face tooth; the driving gear set is engaged with the end face tooth.

[0052] For example, the lifting transmission element further has radial teeth distributed on the outer periphery thereof, and the lifting mechanism further comprises at least one lifting gear, and the output shaft of the lifting driving element is configured to be engaged with the radial teeth of the lifting transmission element via the at least one lifting gear.

[0053] For example, the carrier module has a carrier driving tooth, and the motion mechanism further comprises at least one rotation gear, and the output shaft of the rotation driving element is configured to be engaged with the rotation transmission tooth of the carrier module via the at least one rotation gear.

[0054] A robot comprising a mechanical arm and the motion device described above, wherein the motion device is arranged on the mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0055] FIG. 1 is a structural schematic diagram of the motion device of the present disclosure, showing a state in which the motion device clamps the second instrument;

[0056] FIG. 2 is a partial area schematic diagram of the second instrument of the present disclosure;

[0057] FIG. 3 is a structural schematic diagram of the motion device and the second instrument cooperating in some embodiments of the present disclosure;

[0058] FIG. 4 is a cross-sectional view of the motion device and the second instrument cooperating in some embodiments of the present disclosure;

[0059] FIG. 5 is a structural schematic diagram of the motion device of some embodiments of the present disclosure, in which the clamping mechanism is in an initial state;

[0060] Fig. 6 is a sectional view of the motion device of some embodiments of the present disclosure, in which the clamping mechanism is in the initial state, mainly to show the cooperation of the guide surface and the guide surface;

[0061] Fig. 7 is a structural schematic view of the motion device of some embodiments of the present disclosure, in which the clamping mechanism is in the initial state;

[0062] Figs. 8-9 are structural schematic views of the clamping mechanism of some embodiments of the present disclosure;

[0063] Fig. 10 is a structural schematic view of the first clamping piece of the clamping mechanism of some embodiments of the present disclosure;

[0064] Fig. 11 is a structural schematic view of the second clamping piece of the clamping mechanism of some embodiments of the present disclosure;

[0065] Fig. 12 is a structural schematic view of the seat body of some embodiments of the present disclosure, mainly showing the first stop structure, the positioning structure;

[0066] Fig. 13 is a structural schematic view of the motion device of some embodiments of the present disclosure, in which the clamping mechanism is in the initial state, and only the first clamping piece is shown;

[0067] Fig. 14 is a structural schematic view of the motion device of some embodiments of the present disclosure, in which the clamping mechanism is in the initial state, and only the second clamping piece is shown;

[0068] Figs. 15-16 are structural schematic views of the motion device of some embodiments of the present disclosure, in which the clamping mechanism is in the second state;

[0069] Fig. 17 is a structural schematic view of the motion device of some embodiments of the present disclosure, in which the clamping mechanism is in the first state, and only the first clamping piece is shown;

[0070] Fig. 18 is a structural schematic view of the motion device of some embodiments of the present disclosure, in which the clamping mechanism is in the first state, and only the second clamping piece is shown;

[0071] Fig. 19 is a sectional view of the motion device of some embodiments of the present disclosure, mainly showing the cooperation of the second abutting part of the first clamping piece and the second stop structure;

[0072] Fig. 20 is a sectional view of the motion device of some embodiments of the present disclosure, mainly showing the cooperation of the second abutting part of the second clamping piece and the second stop structure;

[0073] Fig. 21 is a structural schematic view of the motion device of some other embodiments of the present disclosure, in which the clamping mechanism is in the initial state;

[0074] Fig. 22 is another angle of Fig. 21;

[0075] Fig. 23 is a structural schematic view of a motion device of some other embodiments of the present disclosure, in which the clamping mechanism is in the second state;

[0076] Fig. 24 is a structural schematic view of a first clamping piece of some other embodiments of the present disclosure;

[0077] Fig. 25 is a partial schematic view of a motion device of some other embodiments of the present disclosure, mainly for showing a positioning structure;

[0078] Fig. 26 is a structural schematic view of a first angle of a motion device of some embodiments of the present disclosure;

[0079] Fig. 27 is a structural schematic view of a second angle of a motion device of some embodiments of the present disclosure;

[0080] Fig. 28 is a structural schematic view of a second angle of a motion mechanism of some embodiments of the present disclosure, in which part of the seat body is not shown;

[0081] Fig. 29 is a structural schematic view of a fourth angle of a motion mechanism of some embodiments of the present disclosure, in which the seat body is not shown;

[0082] Fig. 30 is a structural schematic view of a fifth angle of a motion mechanism of some embodiments of the present disclosure, in which the seat body is not shown;

[0083] Fig. 31 is a schematic view of a cooperation of a motion piece with a first instrument of some embodiments of the present disclosure;

[0084] Figs. 32-37 are partial structural schematic views of a motion mechanism of some embodiments of the present disclosure;

[0085] Figs. 38-39 are structural schematic views of a bearing seat of some embodiments of the present disclosure;

[0086] Figs. 40-41 are structural schematic views of a lifting transmission piece of some embodiments of the present disclosure;

[0087] Fig. 42 is a structural schematic view of a seat body of some embodiments of the present disclosure;

[0088] Fig. 43 is a schematic view of a cooperation between a bearing seat, a lifting transmission piece and a seat body of some embodiments of the present disclosure;

[0089] Fig. 44 is a structural schematic view of a robot of some embodiments of the present disclosure;

[0090] Fig. 45 is a structural schematic view of some other embodiments of the present disclosure, mainly for showing a linkage structure, in which the clamping mechanism is in the first state;

[0091] Fig. 46 is a structural schematic of further embodiments of the present disclosure, primarily to show a linkage structure in which the clamping mechanism is in the second state;

[0092] Fig. 47 is a structural schematic of further embodiments of the present disclosure, primarily to show a structure of a linkage member of a linkage structure;

[0093] Fig. 48 is a structural schematic of further embodiments of the present disclosure, primarily to show another linkage structure in which the clamping mechanism is in the first state;

[0094] Fig. 49 is a structural schematic of further embodiments of the present disclosure, primarily to show another linkage structure in which the clamping mechanism is in the second state;

[0095] Fig. 50 is a structural schematic of further embodiments of the present disclosure, primarily to show a structure of a linkage member of another linkage structure;

[0096] Reference signs of the above drawings: 1-movement mechanism; 100-base body; 103-assembly groove; 104-notch; 106-abutting portion; 120-rotary gear; 121-bearing seat; 122-bearing transmission tooth; 123-housing groove; 124-annular blocking wall; 125-bearing plate; 126-rotary driving member; 130-lifting gear; 131-lifting transmission member; 132-end surface tooth; 133-radial tooth; 134-avoidance groove; 135-end plate; 136-blocking ring; 137-lifting driving member; 140-conversion gear; 141-transmission gear; 142-switching gear; 143-clamping gear; 144-intermediate gear; 150-supporting member; 151-rotary shaft; 152-moving member; 1521-first moving member; 1522-second moving member; 1523-third moving member; 1524-fourth moving member; 160-bearing; 170-positioning member; 171-positioning groove; 2-clamping mechanism; 200-clamping member; 201-clamping portion; 2011-guiding surface; 2051-first clamping member; 2052-second clamping member; 2060-clamping segment; 2061-first connecting segment; 2062-second connecting segment; 2063-third connecting segment; 2064-first abutting portion; 2065-second abutting portion; 2066-third abutting portion; 2070-pressing portion; 2071-first pressing portion; 2072-second pressing portion; 2073-extension portion; 2074-avoidance groove; 260-elastic element; 261-first elastic element; 262-second elastic element; 202-sliding member; 2020-sliding segment; 2021-first abutting wall; 2022-second abutting wall; 3-second instrument; 300-sleeve; 301-gas connecting device; 302-engaging groove; 3020-first clamping wall; 3021-second clamping wall; 303-fitting portion; 304-end surface portion; 305-abutting wall; 4-first instrument; 5-robot; 510-main control console; 520-mechanical arm; 6-first axis; 801-first stop portion; 802-second stop portion; 9-guiding plate; 901-guiding surface; 1001-first blocking block; 1002-second blocking block; 1003-first blocking ring; 1004-second blocking ring; 1005-blocking portion; 1011-first mounting portion; 1012-second mounting portion; 1006-positioning portion; 1007-limiting member; 1008-limiting groove; 1009-first stop wall; 1010-second stop wall. DETAILED DESCRIPTION

[0097] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, further detailed description will be made to the present disclosure in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and should not be used to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present disclosure.

[0098] In the present disclosure, unless otherwise explicitly specified and limited, the terms such as "connected", "linked" and the like shall be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, can be movably connected, or can be integrated; can be directly connected, or can be indirectly connected through an intermediate medium, can be internal connection of two elements or interaction relationship such as abutment between two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances. It should be noted that when the terms "connected" and "linked" are limited by adjectives, they have the meaning limited by the adjectives, and only exclude the cases obviously excluded, without excluding other possible cases, for example, "detachably connected" refers to detachable connection, which does not include integration, but movable connection is not excluded.

[0099] In a surgical operation, if the doctor always holds the first instrument 4 with his hand to perform the operation, it is inevitable that the distance or angle between the first instrument 4 and the operation area will change due to fatigue or tremor during the operation, so that the first instrument 4 cannot accurately act on the expected part, which brings trouble to the operation. In order to improve the positioning accuracy of the position of the first instrument 4, some embodiments of the present disclosure provide a movement device which can stably hold the first instrument 4, keep the position of the first instrument 4 unchanged, and adjust the position and angle of the first instrument 4 within a certain range to adapt to the operation requirements.

[0100] When using the movement device, the first instrument 4 is first inserted between the at least two movement pieces 152 of the movement mechanism 1, and then the first instrument 4 is inserted through the sleeve 300 of the second instrument 3 to enter the abdominal cavity of the human body. After the second instrument 3 is inserted into the abdominal cavity of the human body, due to the elasticity of the human body tissue, it is difficult for the second instrument 3 to be arranged along the expected direction. When the first instrument is inserted into the sleeve 300 of the second instrument 3, it is difficult for the first instrument 4 to be aligned with the second instrument 3, which leads to the inconvenience of inserting the first instrument 4 and brings inconvenience to the operation of the doctor. Some embodiments of the present disclosure provide a movement device which can clamp the second instrument 3 so as to align the second instrument 3 with the first instrument 4, and the first instrument 4 can be smoothly inserted into the sleeve 300 of the second instrument 3, so that the operation is convenient.

[0101] Please refer to FIG. 1, the movement device comprises a movement mechanism 1 and a clamping mechanism 2.

[0102] The motion mechanism 1 comprises a seat body 100, a carrying module and at least two motion members 152 oppositely arranged to driveably clamp the first instrument 4. The carrying module is rotatably arranged on the seat body 100, and the motion members 152 are rotatably arranged on the carrying module. At least one of the motion members 152 is a driving motion member.

[0103] The clamping mechanism 2 comprises two clamping members 200, each of which has a clamping portion 201, and each of which is movably connected with the seat body 100.

[0104] The clamping mechanism 2 has an initial state, a first state and a second state. In the initial state, the second instrument 3 is separated from the clamping mechanism, and the second instrument 3 does not enter between the two clamping portions 201 of the clamping mechanism 2. In response to the movement of the second instrument 3 towards between the two clamping portions 201, the second instrument 3 drives each clamping member 200 to move so that the two clamping portions 201 clamp the second instrument 3, and the clamping mechanism switches to the first state.

[0105] In the first state, in response to each clamping member 200 moving so that the two clamping portions 201 move away from each other, the two clamping portions 201 release the second instrument 3, and the clamping mechanism switches to the second state.

[0106] When the clamping mechanism 2 is in the first state, in response to the driving motion member rotating about the central axis relative to the carrying module, the first instrument 4 is driven to move in the second instrument 3. In response to the carrying module rotating about the first axis 6 relative to the seat body 100, the first instrument 4 is driven to rotate in the second instrument 3.

[0107] The motion member 152 of the motion mechanism 1 is configured to stably clamp the first instrument 4, so that the doctor does not need to hold the first instrument 4, which provides convenience for the doctor and avoids unexpected shaking of the first instrument 4 during the operation, so that the first instrument 4 can accurately act on the intended operation site. At the same time, in response to the driving motion member rotating about the central axis relative to the first instrument 4, the first instrument 4 is driven to move to adjust the position of the first instrument 4 relative to the operation site. In response to the carrying module rotating about the first axis 6, the carrying module drives the first instrument 4 to rotate to adjust the acting angle of the first instrument 4 on the operation site, thereby realizing stable holding of the first instrument 4 while realizing automatic adjustment of the position and angle of the first instrument 4, improving the operation efficiency and facilitating the operation. For example, when the first instrument 4 is an endoscope, the motion member 152 of the motion mechanism 1 can stably clamp the endoscope, thereby avoiding image blurring, distortion and inaccurate captured image position caused by shaking of the endoscope. The motion device can also adjust the position and acting angle of the endoscope, so that the endoscope can collect image information of different parts.

[0108] When the second instrument 3 is installed, the state of the clamping mechanism 2 does not need to be adjusted in advance, and the second instrument 3 is directly pushed towards the clamping mechanism 2, so that the second instrument 3 drives each clamping piece 200 to move to automatically clamp the second instrument 3, and the operation process is simple and easy to operate.

[0109] When the clamping mechanism 2 is in the first state, the two clamping portions 201 clamp the second instrument 3 to fix the second instrument 3, so that the second instrument 3 is kept in a direction parallel to the first axis 6, thereby when the first instrument 4 moves towards the second instrument 3 after passing through the movement mechanism 1, the second instrument 3 can be aligned with the first instrument 4 smoothly, so that the first instrument 4 can be smoothly inserted into the second instrument 3, and the operation is more convenient.

[0110] For example, referring to FIG. 1, the second instrument 3 is a puncture device, and the puncture device has a sleeve 300 which provides a channel for a surgical instrument (for example, the first instrument 4, for example, an endoscope) to enter the abdominal cavity. When the clamping mechanism 2 is in the first state, the two clamping portions 201 clamp the puncture device to fix the puncture device, so that the puncture device is kept in a direction parallel to the first axis 6, so that the first instrument 4 can be smoothly inserted into the sleeve 300 of the puncture device.

[0111] When the clamping mechanism 2 is in the second state, the two clamping portions 201 release the second instrument 3, so that the clamping mechanism 2 no longer generates resistance to the movement of the second instrument 3, thereby the second instrument 3 can be easily separated from the movement device, and the second instrument 3 is convenient to be taken out from the abdominal cavity of the human body.

[0112] The clamping mechanism includes a pushing structure, and each clamping piece 200 has a connecting portion, and the connecting portion of each clamping piece 200 is connected with the pushing structure. In the initial state, in response to the movement of the second instrument 3 towards the two clamping portions 201, the second instrument pushes the pushing structure, so that each clamping piece 200 moves.

[0113] In some embodiments of the present disclosure, the clamping portion 201 of each clamping piece 200 is connected with the connecting portion thereof, and the pushing structure includes the clamping portion 201 of each clamping piece 200. Each clamping piece 200 is configured to have a tendency of the clamping portion 201 thereof approaching the other clamping portion 201.

[0114] In the initial state, in response to the movement of the second instrument 3 towards the two clamped portions 201 to push each clamping portion 201, each clamping piece 200 moves to make the two clamping portions 201 move away from each other, thereby allowing the second instrument 3 to enter between the two clamping portions 201 to be clamped by the two clamping portions 201.

[0115] When the second instrument 3 is installed, the second instrument 3 is directly pushed towards the clamping mechanism 2 without adjusting the state of the clamping mechanism 2 in advance, so that the two clamping portions 201 automatically move away from each other under the action of the second instrument 3 to enable the second instrument 3 to enter between the two clamping portions 201, and the two clamping portions 201 automatically clamp the second instrument 3, and the operation process is simple and easy to operate.

[0116] Referring to FIG. 2, in some embodiments of the present disclosure, the second instrument 3 has an engagement groove 302. In response to the second instrument 3 moving towards between the two clamping portions 201 to the engagement groove 302 of the second instrument 3 entering between the two clamping portions 201, the two clamping portions 201 move close to each other to be clamped with the engagement groove 302.

[0117] The engagement groove 302 of the second instrument 3 can rotate relative to the two clamping portions 201 around the first axis 6. The engagement groove 302 is, for example, an annular groove extending along the circumferential direction of the second instrument 3. In the first state, the clamping portion 201 of each clamping piece 200 is at least partially clamped into the annular groove of the second instrument 3. Referring to FIG. 2 in combination with FIG. 4, the engagement groove 302 has a first clamping wall 3020 and a second clamping wall 3021 opposite in the direction parallel to the first axis 6. In the first state, each clamping portion is located between the first clamping wall 3020 and the second clamping wall 3021 and abuts against the first clamping wall 3020, so that the two clamping portions 201 are clamped with the engagement groove 302, and the second instrument 3 can rotate relative to the clamping mechanism. The two clamping portions 201 are clamped with the annular groove, which can limit the movement of the second instrument 3 in the direction parallel to the first axis 6, so that the second instrument 3 cannot fall off from the clamping mechanism 2.

[0118] When the clamping mechanism 2 is in the first state, the clamping portion 201 of each clamping piece 200 is clamped with the second instrument 3 to rotate, so that the second instrument 3 can rotate relative to the clamping portion 201 and the movement of the second instrument 3 in the direction parallel to the first axis 6 is limited. Thus, the clamping mechanism 2 can stably clamp the second instrument 3 to prevent the second instrument 3 from falling off from the clamping mechanism 2, and the second instrument 3 can be rotated as needed to adjust the angle of the second instrument 3 to meet the operation needs. For example, the second instrument 3 is connected with a gas connecting device 301, and gas is injected into the second instrument 3 through the gas connecting device 301 to inject gas into the abdominal cavity. By rotating the second instrument 3, the second instrument 3 is rotated relative to the clamping mechanism 2, so that the setting position of the gas connecting device 301 is adjusted to facilitate the operation.

[0119] As described above, each clamping piece 200 is configured such that its clamping portion 201 has a tendency to approach the other clamping portion 201. For example, the clamping mechanism 2 further comprises a resilient assembly, each clamping piece 200 is connected to the resilient assembly, the resilient assembly applies a force to the clamping piece 200 connected thereto, so that each clamping piece 200 has a tendency to move its clamping portion 201 to approach the other clamping portion 201.

[0120] The resilient assembly comprises a resilient element 260. Referring to FIGS. 4, 7 and 21-23, in some embodiments, a resilient element 260 is provided between each clamping piece 200 and the seat body 100, so that each clamping piece 200 has a tendency to move its clamping portion 201 to approach the other clamping portion 201.

[0121] In the initial state, in response to the second instrument 3 moving towards the two clamping portions 201 to push each clamping portion 201, each clamping piece 200 moves to move the two clamping portions 201 away from each other, so that the engagement groove 302 of the second instrument 3 enters between the two clamping portions 201, and each resilient element 260 is deformed to store energy. In response to the resilient element 260 releasing energy, each clamping piece 200 moves to move the two clamping portions 201 to approach each other, so that each clamping portion 201 is clamped with the engagement groove 302 to clamp the second instrument 3, thereby the clamping mechanism 2 switches from the initial state to the first state.

[0122] Referring to FIGS. 5, 7, 9 and 21-23, in the initial state, in response to the second instrument 3 pushing each clamping portion 201 to move each clamping piece 200 in the opening direction, so that the two clamping portions 201 move away from each other to enable the second instrument 3 to enter between the two clamping portions 201, each resilient element 260 is compressed. At the moment when the engagement groove 302 of the second instrument 3 enters between the two clamping portions 201, each resilient element 260 releases energy, so that each clamping piece 200 moves in the closing direction to move the two clamping portions 201 to approach each other, so that each clamping portion 201 is clamped with the engagement groove 302, thereby the clamping mechanism 2 switches from the initial state to the first state. Thus, without first adjusting the position of each clamping piece 200, when the second instrument 3 is inserted, the clamping portions 201 of the two clamping pieces 200 automatically move away to enable the engagement groove 302 to enter between the two clamping portions 201, and at the moment when the engagement groove 302 enters between the two clamping portions 201, the clamping portions 201 of the two clamping pieces 200 automatically move to approach each other to clamp the engagement groove 302.

[0123] Wherein, the opening direction refers to the direction of movement that causes the two clamping portions 201 to move away from each other, and the closing direction refers to the direction of movement that causes the two clamping portions 201 to move towards each other. The opening direction of the two clamping pieces is opposite, and the closing direction is also opposite.

[0124] Referring to FIG. 4, the seat body 100 is further provided with a blocking structure. The second instrument 3 is further provided with a cooperating portion 303. In the initial state, the blocking structure abuts against the cooperating portion 303 of the second instrument 3 to limit the movement of the second instrument 3 in a direction perpendicular to the first axis 6.

[0125] Referring to FIG. 4, the blocking structure comprises at least two oppositely arranged blocking portions 1005. In the initial state, in response to the movement of the second instrument 3 to its engaging groove 302 between the two clamping portions 201, the cooperating portion 303 is located between the two blocking portions 1005 to further limit the second instrument 3.

[0126] Referring to FIG. 4 and FIG. 12, the seat body 100 is further provided with a first stop ring 1003. In the embodiments of the present disclosure, the first stop ring 1003 and the second stop ring 1004 are relatively independent, and the first stop ring 1003 and the second stop ring 1004 are oppositely arranged in the second direction. In other embodiments, the first stop ring 1003 and the second stop ring 1004 can be extended to be connected.

[0127] As described above, the first side wall of the second stop ring 1004 constitutes the second stop portion 802 of the second stop structure, and the second side wall of the second stop ring 1004 constitutes one of the blocking portions 1005. One of the side walls of the first stop ring 1003 constitutes the other blocking portion 1005. When the second instrument 3 is clamped between the two clamping members 200, the cooperating portion 303 of the second instrument 3 is located between the first stop ring 1003 and the second stop ring 1004, so that the cooperating portion 303 of the second instrument 3 abuts against the two blocking portions 1005, respectively.

[0128] The movement device is further provided with a first stop structure. Referring to FIG. 7, FIG. 10-FIG. 11, FIG. 13-FIG. 14 and FIG. 24, each clamping member 200 is further provided with a first abutting portion 2064 connected with the clamping portion 201.

[0129] In the initial state, the first abutting portion 2064 of each clamping member 200 abuts against the first stop structure to limit the movement of each clamping member 200 in a direction that makes the clamping portion 201 of each clamping member 200 close to the clamping portion 201 of the other clamping member 200. Referring to FIG. 4, FIG. 7 and FIG. 21-FIG. 23, each clamping member 200 is provided with an elastic element 260 between the clamping member 200 and the seat body 100. Each clamping member 200 has a tendency to move its clamping portion 201 to close to the clamping portion 201 of the other clamping member 200, so that in the initial state, the first abutting portion 2064 of each clamping member 200 is abutted against the first stop structure, so that each clamping member 200 is limited to move in a direction that makes its clamping portion 201 close to the clamping portion 201 of the other clamping member 200.

[0130] Referring to FIG. 4, the second instrument 3 has an end face portion 304. When the second instrument 3 is inserted between the two clamping portions 201, the end face portion 304 of the second instrument 3 is first placed between the two clamping portions 201, and then a force is applied to the second instrument 3, so that the second instrument 3 moves towards the two clamping portions 201 to push the two clamping portions 201, thereby enabling the second instrument 3 to continue to move towards the two clamping portions 201 until the engaging groove 302 of the second instrument 3 enters between the two clamping portions 201.

[0131] Referring to FIG. 4 and FIG. 7, in the initial state, if the distance between the two clamping portions 201 is too small, the end face portion 304 of the second instrument 3 is located at the upper end of the two clamping portions 201 and cannot enter between the two clamping portions 201, resulting in that the second instrument 3 cannot smoothly push each clamping piece 200 to move.

[0132] Embodiments of the present disclosure enable each clamping portion 201 to have a first abutting portion 2064 and a first stop structure, and the first abutting portion 2064 of each clamping piece 200 abuts against the first stop structure in the initial state to limit the movement of each clamping piece 200 in a direction in which the clamping portion 201 of each clamping piece 200 approaches the other clamping portion 201, so that the distance between each clamping portion 201 is not too small, and the distance between the two clamping portions 201 allows the end face portion 304 of the second instrument 3 to enter between the two clamping portions 201, thereby enabling the second instrument 3 to smoothly push each clamping piece 200 to move, and enabling the engaging groove 302 of the second instrument 3 to smoothly enter between the two clamping portions 201 to engage with the two clamping portions 201.

[0133] Referring to FIG. 5-6 and FIG. 10-11, each clamping portion 201 has a guide surface 2011. In the initial state, the distance between the two clamping portions 201 allows the second instrument 3 to enter between the guide surfaces 2011 of the two clamping portions 201. In response to the second instrument 3 pushing the guide surfaces 2011 of each clamping portion 201, the second instrument 3 moves along the guide surfaces 2011 until the engaging groove 302 enters between the two clamping portions 201. By providing the guide surfaces 2011, the movement resistance of the second instrument 3 pushing the clamping portions 201 is reduced, so that the second instrument 3 can smoothly move until the engaging groove 302 enters between the two clamping portions 201.

[0134] Referring to FIG. 4 and FIG. 5 and FIG. 7, the second instrument 3 has an end face portion 304 and a circumferentially arranged pushing wall 305. In the initial state, if the distance between the two clamping portions 201 is too small, when the second instrument 3 moves towards the two clamping portions 201, the second instrument 3 cannot enter between the guide surfaces 2011 of the two clamping portions 201, so that the end face portion 304 of the second instrument 3 abuts against the two clamping portions 201, resulting in that the second instrument 3 cannot push each clamping piece 200 to move.

[0135] Referring to FIGS. 5, 7 and 21-22, in the initial state, the spacing between the two clamping portions 201 allows the second instrument 3 to be accommodated between the guide surfaces 2011 of the two clamping portions 201. Thus, when the second instrument 3 moves toward the two clamping portions 201, the spacing between the two clamping portions 201 allows the second instrument 3 to enter between the guide surfaces 2011 of the two clamping portions 201, so that the push wall 305 of the second instrument 3 abuts against the guide surfaces 2011 of the two clamping portions 201, thereby enabling the second instrument 3 to smoothly push each clamping piece 200 to move.

[0136] The movement device also has a second stop structure. Referring to FIGS. 10-11, 19-20 and 24, each clamping piece 200 also has a second abutting portion 2065 connected with the clamping portion 201. In the second state, the second abutting portion 2065 of each clamping piece 200 abuts against the second stop structure to limit the movement of each clamping piece 200 in a direction away from the other clamping portion 201. The second stop structure can limit the movement of the clamping piece 200, so that the clamping piece 200 moves within a limited range, avoids the clamping piece 200 from deviating from the preset movement route, and guarantees the stability of the overall operation of the clamping mechanism 2.

[0137] Referring to FIGS. 3 and 5-6, the movement device also includes a guide plate 9, and each clamping piece 200 is arranged between the guide plate 9 and the seat body 100, so as to limit the movement of each clamping piece 200 in a direction away from the seat body 100 and parallel to the first axis 6. Thus, each clamping piece 200 cannot fall off the seat body 100.

[0138] Referring to FIGS. 5-6, the clamping portion 201 of each clamping piece 200 is at least partially arranged between the guide plate 9 and the seat body 100. The guide plate 9 has a guide surface 901. In the initial state, the guide surface 901 extends obliquely toward between the two clamping portions 201 to guide the movement of the second instrument toward between the two clamping portions. In the initial state, in response to the movement of the second instrument 3 toward between the two clamping portions 201, the second instrument 3 moves along the guide surface 901 to abut against the two clamping portions 201 to push the two clamping portions 201. By arranging the guide surface 901, the second instrument 3 can be guided to the two clamping portions 201, thereby facilitating the insertion of the second instrument 3 between the two clamping portions 201.

[0139] As described above, each clamping portion 201 has a guide surface 2011. Referring to FIGS. 5-6, in the initial state, the guide surface 901 of the guide plate 9 extends obliquely to each guide surface 2011, thereby facilitating the guidance of the second instrument 3 to the guide surface 2011.

[0140] In some embodiments of the present disclosure, each clamping piece 200 further has a connecting structure, and the clamping portion 201 is connected with the connecting structure. The seat body 100 further comprises a positioning structure. The connecting structure movably cooperates with the positioning structure. In response to the movement of each clamping piece 200 to make its clamping portion 201 close to or away from the other clamping portion 201, the connecting structure moves along the positioning structure to limit the movement of the clamping piece 200, so that each clamping piece 200 moves along the preset path without deviation, guaranteeing the normal function of the clamping mechanism 2.

[0141] For the convenience of clear description, one of the clamping pieces 200 is defined as a first clamping piece 2051, and the other clamping piece 200 is defined as a second clamping piece 2052. With reference to the angle of FIG. 8, the first clamping piece 2051 is arranged at the upper end of the second clamping piece 2052.

[0142] The opening direction refers to the movement direction of the two clamping portions 201 of the first clamping piece 2051 and the second clamping piece 2052 away from each other, and the closing direction refers to the movement direction of the two clamping portions 201 of the first clamping piece 2051 and the second clamping piece 2052 close to each other. The movement direction of the first clamping piece 2051 and the second clamping piece 2052 is opposite. The opening direction of the first clamping piece 2051 is the second direction, and the closing direction is the reverse of the second direction. The opening direction of the second clamping piece 2052 is the reverse of the second direction, and the closing direction is the second direction. The first clamping piece 2051 moves along the second direction, and the second clamping piece 2052 moves along the reverse of the second direction, so that the two clamping portions 201 move away from each other. The first clamping piece 2051 moves along the reverse of the second direction, and the second clamping piece 2052 moves along the second direction, so that the two clamping portions 201 move close to each other.

[0143] As described above, with reference to FIG. 1, the extension direction of the first axis 6 is the up-down direction, and the first direction is perpendicular to the extension direction of the first axis 6. With reference to FIGS. 3-4, the second direction is perpendicular to the extension direction of the first axis 6, and the second direction is perpendicular to the first direction. With reference to the angle of FIG. 15, the second direction is the left-right direction and is the direction from right to left, and the first direction is the direction from top to bottom.

[0144] With reference to FIGS. 10-11 and 24, in some embodiments of the present disclosure, each clamping piece 200 comprises a first connecting segment 2061, a second connecting segment 2062, a third connecting segment 2063, and a clamping segment 2060. The first connecting segment 2061 is arranged opposite to the clamping segment 2060, and the second connecting segment 2062 and the third connecting segment 2063 are arranged opposite to each other. The two ends of the second connecting segment 2062 are connected with one end of the first connecting segment 2061 and the clamping segment 2060, respectively, and the two ends of the third connecting segment 2063 are connected with the other end of the first connecting segment 2061 and the clamping segment 2060, respectively. Thus, each clamping piece 200 is generally in a ring structure.

[0145] Referring to FIGS. 10-11 and 24, the clamping portion 201 of each clamping piece 200 is arranged at the clamping segment 2060 thereof. As described above, the clamping portion 201 of each clamping piece 200 is connected with the connecting portion thereof. The second connecting segment 2062 and / or the third connecting segment 2063 of each clamping piece 200 constitutes the connecting portion thereof.

[0146] Referring to FIGS. 10-11 and 24, the first clamping piece 2051 is arranged at the upper end of the second clamping piece 2052. Referring to FIGS. 9 and 21-22, in the initial state, the clamping segment 2060 of the second clamping piece 2052 is located between the clamping segment 2060 and the first connecting segment 2061 of the first clamping piece 2051, and the clamping segment 2060 of the second clamping piece 2052 is located between the second connecting segment 2062 and the third connecting segment 2063 of the first clamping piece 2051, so that the clamping portion 201 of the first clamping piece 2051 and the clamping portion 201 of the second clamping piece 2052 are arranged in the second direction.

[0147] Referring to FIG. 9, the thickness of the clamping segments 2060 of the first clamping piece 2051 and the second clamping piece 2052 is arranged to be the same as the arrangement height of the clamping portion 201 of the second clamping piece 2052 and the clamping portion 201 of the first clamping piece 2051 in the direction parallel to the first axis 6, so that both clamping portions 201 can be clamped in the engagement groove 302 of the second instrument 3.

[0148] The clamping mechanism further comprises a pressing module, and at least one clamping piece 200 is connected with the pressing module. In the first state, in response to the force applied to the pressing module, each clamping piece 200 moves so that each clamping portion 201 moves away from the second instrument 3, and the clamping mechanism switches to the second state.

[0149] In the first state, in response to the force applied to the pressing module, the pressing module drives the first clamping piece 2051 and the second clamping piece 2052 to move so that each clamping portion 201 moves away from the second instrument 3, and the clamping mechanism switches to the second state.

[0150] The pressing module driving the first clamping piece 2051 and the second clamping piece 2052 to move includes that the pressing module drives the first clamping piece 2051 connected therewith to move, and drives the second clamping piece 2052 connected with the first clamping piece 2051 to move through the first clamping piece 2051, or the pressing module drives the first clamping piece 2051 connected therewith and the second clamping piece 2052 connected therewith to move.

[0151] In some embodiments of the present disclosure, the pressing module comprises two pressing portions, the first clamping piece 2051 is connected with one of the pressing portions, and the second clamping piece 2052 is connected with the other pressing portion. The pressing portion 2070 connected with the first clamping piece 2051 is defined as the first pressing portion 2071, and the pressing portion 2070 connected with the second clamping piece 2052 is defined as the second pressing portion 2072.

[0152] Referring to FIGS. 7 and 9, in the first state, the first pressing portion 2071 and the clamping portion 201 of the second clamping piece 2052 are located on the same side of the second pressing portion 2072, and the second pressing portion 2072 and the clamping portion 201 of the first clamping piece 2051 are located on the same side of the first pressing portion 2071. In response to the force applied to the first pressing portion 2071 and the second pressing portion 2072 to move the first clamping piece 2051 and the second clamping piece 2052, the first pressing portion 2071 and the second pressing portion 2072 are close to each other, and the two clamping portions 201 are away from each other. Thus, only one hand is needed to control the clamping mechanism 2 to switch the clamping mechanism 2 from the first state to the second state, for example, the first pressing portion 2071 is pressed by the thumb, and the second pressing portion 2072 is pressed by the index finger, that is, the two pressing portions 2070 are squeezed at the same time, so that the two clamping portions 201 are away from each other, which is simple and labor-saving.

[0153] Referring to FIGS. 9-10, the pressing portion 2070 of each clamping piece 200 is arranged on the first connecting segment 2061 thereof. The pressing portion 2070 of each clamping piece 200 is connected with the first connecting segment 2061 thereof via an extension portion 2073.

[0154] Referring to FIG. 13, the extension portion 2073 of the first clamping piece 2051 extends from between the two first stops 1001 of the first stop unit and is connected with the first pressing portion 2071. The extension portion 2073 of the first clamping piece 2051 is arranged above the second mounting portion 1012.

[0155] Referring to FIG. 14, the extension portion 2073 of the second clamping piece 2052 extends from between the two second stops 1002 of the second stop unit and is connected with the second pressing portion 2072. The extension portion 2073 of the second clamping piece 2052 is provided with a relief groove 2074 for avoiding the first mounting portion 1011, and the first mounting portion 1011 is located in the relief groove 2074. The extension portion 2073 of the second clamping piece 2052 can move relative to the first mounting portion 1011 in the second direction or the reverse direction of the second direction.

[0156] In some embodiments of the present disclosure, in the first state, in response to an external force applied to the pressing module, the pressing module drives the first clamping member 2051 connected thereto to move, and drives the second clamping member 2052 connected to the first clamping member 2051 to move through the first clamping member 2051. The pressing module comprises a pressure control part 2075. The first clamping member 2051 is connected to the pressure control part 2075.

[0157] Referring to FIGS. 45-50, the movement device further comprises a linkage structure. The first clamping member 2051 and the second clamping member 2052 are movably connected to the linkage structure. In the first state, in response to the force applied to the pressure control part 2075 to move the first clamping member 2051, the first clamping member 2051 drives the linkage structure to move to drive the second clamping member 2052 to move, so that the two clamping parts 201 move away from each other to move away from the second instrument 3, and the clamping mechanism 2 switches to the second state.

[0158] By arranging the linkage structure, the linkage between the movement of the first clamping member 2051 and the second clamping member 2052 is achieved, so that the movement of the second clamping member 2052 can be driven by the movement of the first clamping member 2051. Thus, only one pressure control part 2075 needs to be arranged to control the movement of the two clamping members 200, further simplifying the operation mode of the user on the pressing module. At the same time, by arranging the linkage structure, the high consistency of the movement of the two clamping parts 201 is ensured, further improving the precision and stability of the movement of the two clamping members 200.

[0159] The linkage structure is configured to: in the first state, in response to the force applied to the pressure control part to move the first clamping member 2051, the first clamping member 2051 drives the linkage structure to move, and the linkage structure drives the second clamping member 2052 to move in a direction opposite to the movement direction of the first clamping member 2051 to move the two clamping parts 201 away from each other, and the clamping mechanism 2 switches to the second state. In the second state, in response to the second instrument 3 being separated from the clamping mechanism, the first clamping member 2051 and the second clamping member 2052 move in opposite directions to reset to move the two clamping parts 201 close to each other, and the linkage structure moves with the first clamping member 2051 and the second clamping member 2052, and the clamping mechanism 2 switches to the initial state.

[0160] Referring to FIGS. 45-50, the linkage structure comprises a linkage member 210, a first linkage portion 2041 and a second linkage portion 2042, the linkage member 210 is movably connected with the seat body 100, the first linkage portion 2041 is arranged on the first clamping member 2051, and the second linkage portion 2042 is arranged on the second clamping member 2052. The first linkage portion 2041 and the second linkage portion 2042 are movably connected with the linkage member 210. In the first state, in response to the force applied to the pressure control portion 2075 to move the first clamping member 2051, the first clamping member 2051 drives the linkage member 210 to move through the first linkage portion 2041, so that the linkage member 210 drives the second clamping member 2052 to move in the opposite direction of the first clamping member 2051 through the second linkage portion 2042.

[0161] Referring to FIGS. 45-46 and 48-49, the linkage member 210 is rotatably connected with the seat body 100, and the linkage member 210 is rotatably connected with the first linkage portion 2041 and the second linkage portion 2042. The first linkage portion 2041 and the second linkage portion 2042 are connected with the linkage member 210 at two diametrically opposite positions of the rotation track of the linkage member 210, so that when the first clamping member 2051 moves to drive the linkage member 210 to move, the second clamping member 2052 moves in the opposite direction of the first clamping member 2051. The movement track of the linkage member 210 is a circular arc. The movement tracks of the first linkage portion 2041 and the second linkage portion 2042 are tangent to the circular arc movement track of the linkage member 210.

[0162] In the first state, in response to the force applied to the pressure control portion 2075 to move the first clamping member 2051, the first clamping member 2051 drives the linkage member to rotate to drive the second clamping member 2052 to move, so that the two clamping portions 201 move away from each other to move away from the second instrument 3, and in this process, the elastic elements 260 are deformed to store energy. After the third instrument 3 is removed from the clamping mechanism 2, the pressure control portion 2075 is released, and the elastic elements 260 release the energy, and under the action of the elastic elements 260, the two clamping portions 201 move to the reset position, and at the same time, the linkage member 210 also rotates to the reset position, so that the clamping mechanism 2 switches to the initial state.

[0163] By arranging the linkage member 210 to be rotatably connected with the first clamping member 2051 and the second clamping member 2052, the linear movement of the first clamping member 2051 is converted into the rotational movement of the linkage member 210, and then the rotational movement of the linkage member 210 is converted into the linear movement of the second clamping member 2052, so that the overall movement process is smooth and natural.

[0164] As described above, in the initial state, in response to the second instrument 3 moving towards the two clamping portions 201 to push each clamping portion 201, the two clamping portions 201 are moved away from each other, so that the engaging groove 302 of the second instrument 3 enters between the two clamping portions 201, and each elastic element 260 is deformed to store energy. When the engaging groove 302 of the second instrument 3 enters between the two clamping portions 201, in response to the elastic element 260 releasing energy, each clamping piece 200 moves to make the two clamping portions 201 close to each other, so that each clamping portion 201 is clamped with the engaging groove 302 to clamp the second instrument 3, so that the clamping mechanism 2 is switched from the initial state to the first state.

[0165] In the first state, in response to applying force to the pressure control portion 2075, so that each clamping portion 201 is away from the second instrument 3, the clamping mechanism is switched to the second state, and each elastic element 260 is deformed to store energy. In the second state, in response to releasing the pressure control portion 2075, the elastic element 260 releases energy, so that the two clamping pieces are moved to reset, so that the clamping mechanism 2 is switched to the initial state.

[0166] Referring to FIGS. 45 and 49, the seat body 100 is provided with a hinged portion 2043, and the hinged portion 2043 includes two extension portions 2045. The linkage 210 is located between the two extension portions 2045 and is rotatably connected to the two extension portions 2045 through a shaft 223. The shaft 223 passes through the two extension portions 2045 and the linkage 210.

[0167] Referring to FIGS. 45-46, in some embodiments, a first part of the linkage 210 is hinged with the first linkage portion 2041, a second part of the linkage 210 is hinged with the second linkage portion 2042, and a third part of the linkage 210 is hinged with the seat body 100, the first part, the second part and the third part are located on the same straight line, and the third part is located between the first part and the second part.

[0168] Referring to FIGS. 45-46, the linkage 210 is a rod body. The linkage 210 has opposite first and second ends, the first end of the linkage is hinged with the first linkage portion 2041 of the first clamping piece 2051 via a first shaft 221, the second end of the linkage 210 is hinged with the second linkage portion 2042 of the second clamping piece 2052 via a second shaft 222, and a part between the first and second ends of the linkage 210 is hinged with the seat body 100 via a shaft 223. In the first state, in response to the movement of the first clamping piece 2051, the first clamping piece 2051 drives the linkage 210 to rotate around the shaft 223 via the first linkage portion 2041, so that the two ends of the linkage 221 swing towards opposite directions, so that the second clamping piece 2052 moves to make the two clamping portions 201 move away from each other to be away from the second instrument 3, and the clamping mechanism 2 is switched to the second state.

[0169] Referring to FIG. 47, the first end of the linkage 210 is provided with a first shaft hole 2101, and the second end is provided with a second shaft hole 2102. The first shaft hole 2101 and the second shaft hole 2102 are both waist-shaped holes, and the first shaft hole 2101 and the second shaft hole 2102 both extend along the length direction of the linkage 210. The first shaft body 221 is movably penetrated in the first shaft hole 2101, and the second shaft body 222 is movably penetrated in the second shaft hole 2102. Thus, when the first clamping piece 2051 moves, the first shaft body 221 rotates relative to the first shaft hole 2101, and the first shaft body 221 moves in the first shaft hole 2101 along the extension direction thereof, while the second shaft body 222 rotates relative to the second shaft hole 2102, and the second shaft body 222 moves in the second shaft hole 2102 along the extension direction thereof.

[0170] Referring to FIG. 47, the linkage 210 further has a third shaft hole 2103, which is a circular hole. The shaft piece 223 is movably penetrated in the third shaft hole 2103. When the first clamping piece 2051 moves, the third shaft hole 2103 rotates relative to the shaft piece 223.

[0171] When the first clamping piece 2051 drives the linkage 210 to rotate, the linkage 210 takes the shaft piece 223 as the rotation fulcrum, and the two ends of the linkage 210 swing towards opposite directions, thereby forming a stable lever transmission structure, ensuring the high synchronism of the movements of the first clamping piece 2051 and the second clamping piece 2052, and making the two clamping portions 201 always maintain a stable movement track in the process of moving away from each other, avoiding shaking or deviation, greatly improving the stability and reliability of the movement.

[0172] Referring to FIGS. 45-46, the first linkage portion 2041 is arranged at the connecting portion of the first clamping piece 2051, and the second linkage portion 2042 is arranged at the connecting portion of the second clamping piece 2052. The first linkage portion 2041 includes two extension portions 2044, and the second linkage portion 2042 also includes two extension portions 2044.

[0173] Referring to FIGS. 45-46, the first end of the linkage 210 is arranged between the two extension portions 2044 of the first linkage portion 2041, and the first shaft body 221 penetrates the first end of the linkage 210 and the two extension portions 2044 of the first linkage portion 2041. The second end of the linkage 210 is arranged between the two extension portions 2044 of the second linkage portion 2042, and the second shaft body 222 penetrates the second end of the linkage 210 and the two extension portions 2044 of the second linkage portion 2042. A position between the two ends of the linkage 210 is arranged between the two extension portions 2045 of the hinged portion 2043, and the shaft piece 223 penetrates the linkage 210 and the two extension portions 2045 of the hinged portion 2043.

[0174] Referring to FIGS. 48-50, in some other embodiments, the first linkage 2081 and the second linkage 2082 are both meshingly connected with the linkage 210, so that the overall transmission structure is more compact. Meanwhile, by virtue of the stable transmission ratio characteristics between the first linkage 2081, the second linkage 2082 and the linkage 210, it can be ensured that the two clamping portions 201 move away from each other at a precise and synchronous speed, thereby improving the reliability and stability of the device.

[0175] Referring to FIGS. 48-50, the linkage 210 is a gear member. The seat body 100 is provided with a hinged portion 2043 including two extension portions 2045. The linkage 210 is located between the two extension portions 2045, and the shaft member 224 passes through the center of the linkage 210 and the two extension portions 2045. The first linkage 2081 is arranged at the connecting portion of the first clamping member 2051. The second linkage 2082 is arranged at the connecting portion of the second clamping member 2052. The first linkage 2081 and the second linkage 2082 are both rack structures.

[0176] In response to the movement of the first clamping member 2051, the first linkage 2081 of the first clamping member 2051 is meshingly connected with the linkage 210 to drive the linkage 210 to rotate, and the linkage 210 is meshingly connected with the second linkage 2082 of the second clamping member 2052 to drive the second clamping member 2052 to move, so that the two clamping portions 201 move away from each other to move away from the second instrument 3, and the clamping mechanism 2 switches to the second state.

[0177] The structure of some embodiments of the present disclosure will be further described below in conjunction with FIGS. 6-20.

[0178] As described above, in the initial state, the first stop structure limits the movement of the first abutting portion 2064 in the closing direction.

[0179] The first stop structure includes a first stop unit and a second stop unit. When the clamping mechanism is in the initial state, the first abutting portion 2064 of the first clamping member 2051 abuts against the first stop unit, and the first abutting portion 2064 of the second clamping member 2052 abuts against the second stop unit. The first stop unit and the second stop unit are oppositely arranged.

[0180] Referring to FIGS. 10-11, the first abutting portion 2064 is arranged at the first connecting segment 2061 thereof. The outer side surface of the first connecting segment 2061 of each clamping member 200 constitutes the first abutting portion 2064. When the clamping mechanism is in the initial state, the outer side surface of the first connecting segment 2061 of the first clamping member 2051 abuts against the first stop unit, and the outer side surface of the first connecting segment 2061 of the second clamping member 2052 abuts against the first stop unit.

[0181] Referring to FIGS. 7 and 12-14, the first stop unit includes two first blocks 1001, and the second stop unit includes two second blocks 1002. The seat body 100 is further provided with a first mounting portion 1011 and a second mounting portion 1012, and the second mounting portion 1012 is arranged between the two first blocks 1001 of the first stop unit. The first mounting portion 1011 is arranged between the two second blocks 1002 of the second stop unit.

[0182] Referring to FIGS. 4 and 7, each clamping piece 200 is provided with an elastic element 260 between the seat body 100, so that the clamping portion 201 of each clamping piece 200 has a movement tendency close to the other clamping portion 201. For the purpose of clear description, the two elastic elements 260 are defined as a first elastic element 261 and a second elastic element 262. Referring to FIGS. 7 and 13-14, one end of the first elastic element 261 is connected with the first mounting portion 1011, and the other end is connected with the clamping segment 2060 of the first clamping piece 2051. One end of the second elastic element 262 is connected with the second mounting portion 1012, and the other end is connected with the clamping segment 2060 of the second clamping piece 2052.

[0183] The first elastic element 261 applies a force in the reverse direction of the second direction to the clamping segment 2060 of the first clamping piece 2051, so that the first clamping piece 2051 has a movement tendency in the reverse direction of the second direction. The second elastic element 262 applies a force in the second direction to the clamping segment 2060 of the second clamping piece 2052, so that the second clamping piece 2052 has a movement tendency in the second direction, thereby the clamping portion 201 of the first clamping piece 2051 and the clamping portion 201 of the second clamping piece 2052 have a movement tendency close to each other.

[0184] Referring to FIGS. 7 and 13-14, in the initial state, the first elastic element 261 applies a force in the reverse direction of the second direction to the clamped segment 2060 of the first clamping piece 2051, so that the first abutting portion 2064 of the first clamping piece 2051 abuts against the two first blocks 1001 of the first stop unit. The second elastic element 262 applies a force in the second direction to the clamping segment2060 of the second clamping piece 2052, so that the first abutting portion 2064 of the second clamping piece 2052 abuts against the two second blocks 1002 of the second stop unit.

[0185] Referring to FIG. 13, the first elastic element 261 is connected with the outer side of the clamping segment 2060 of the first clamping piece 2051. Referring to FIG. 14, the second elastic element 262 is connected with the outer side of the clamping segment 2060 of the second clamping piece 2052. Referring to FIG. 4, the engagement groove 302 of the second instrument 3 is located at the inner side of each clamping segment 2060 and engaged with each clamping portion 201.

[0186] As mentioned above, the motion device has a second stop structure. Each clamping member 200 also has a second abutting portion 2065. When the clamping mechanism is in the second state, the second stop structure limits the movement of the second abutting portion 2065 in the opening direction.

[0187] The second stop structure includes a first stop portion 801 and a second stop portion 802. When the clamping mechanism is in the second state, the second abutting portion 2065 of the first clamping member 2051 abuts against the first stop portion 801, and the second abutting portion 2065 of the second clamping member 2052 abuts against the second stop portion 802.

[0188] Referring to FIGS. 10-11 and 13-14, the inner side surface of the first connecting segment 2061 of each clamping member constitutes its second abutting portion 2065. Referring to FIG. 12, the seat body 100 is provided with a second stop ring 1004, which is arranged close to the second stop unit of the first stop structure. Referring to FIGS. 14 and 20, the first connecting segment 2061 of the second clamping member 2052 is arranged between the second stop unit and the second stop ring 1004, and the first side wall of the second stop ring 1004 constitutes the second stop portion 802. The first side wall of the second stop ring 1004 faces the second stop unit. Referring to FIGS. 9, 11 and 19, the outer side surface of the clamping segment 2060 of the second clamping member 2052 constitutes the first stop portion 801.

[0189] Referring to FIGS. 18 and 20, when the clamping mechanism 2 is in the second state, under the action of an external force, the inner side surface (second abutting portion 2065) of the first connecting segment 2061 of the second clamping member 2052 abuts against the first side wall (second stop portion 802) of the second stop ring 1004, thereby limiting the continued movement of the second clamping member 2052 in its opening direction. Referring to FIGS. 15-16 and 19, the inner side surface (second abutting portion 2065) of the first connecting segment

[0190] Referring to FIGS. 7, 12-18, the positioning structure includes two oppositely arranged positioning portions 1006. The connecting structure of each clamping member 200 is located between the two positioning portions 1006. In response to the movement of each clamping member 200 to have its clamping portion 201 close to or away from the other clamping portion 201, the connecting structure of each clamping member 200 moves between the two positioning portions 1006 to limit the movement of the clamping member 200.

[0191] Referring to FIGS. 10-11, the connecting structure of each clamping piece 200 includes two third abutting portions 2066, which are respectively arranged on the second connecting segment 2062 and the third connecting segment 2063. Referring to FIGS. 13-14, each clamping piece 200 is partially located between two positioning portions 1006, so that one of the third abutting portions 2066 of each clamping piece 200 is movably connected with one of the positioning portions 1006, and the other third abutting portion 2066 is movably connected with the other positioning portion 1006. In response to the movement of each clamping piece 200 to the state that the clamping portion 201 of each clamping piece 200 is close to or away from the other clamping portion 201, each third abutting portion 2066 of each clamping piece 200 moves along the extension direction of the positioning portion 1006 abutting therewith.

[0192] Referring to FIGS. 10-11, the second connecting segment 2062 of each clamping piece 200 constitutes one of the third abutting portions 2066, and the third connecting segment 2063 constitutes the other third abutting portion 2066. That is, the second connecting segment 2062 and the third connecting segment 2063 of each clamping piece 200 constitute the connecting structure of the clamping piece 200.

[0193] The two third abutting portions 2066 of each clamping piece 200 are oppositely arranged along the first direction. The two positioning portions 1006 of the positioning structure are also oppositely arranged along the first direction, and each positioning portion 1006 extends along the second direction, so that each clamping piece 200 moves along the opening direction or the closing direction.

[0194] Referring to FIG. 9 in the angle of FIG. 4, when the clamping mechanism is in the initial state, one of the third abutting portions 2066 of the first clamping piece 2051 is arranged on the upper end surface of one of the third abutting portions 2066 of the second clamping piece 2052, and the other third abutting portion 2066 of the first clamping piece 2051 is arranged on the upper end surface of the other third abutting portion 2066 of the second clamping piece 2052. The two third abutting portions 2066 abutting with the same positioning portion 1006 abut with different positions of the positioning portion 1006, respectively.

[0195] The clamping piece 200 is generally in a ring structure. The inner side of each part of the clamping piece 200 described above refers to the inner side of the ring structure, the outer side refers to the outer side of the ring structure, the inner side surface refers to the side surface located inside the ring structure, and the outer side surface refers to the side surface located outside the ring structure.

[0196] The structures of other embodiments of the present disclosure will be further described below with reference to FIGS. 21-25.

[0197] As described above, each clamping piece 200 further has a connecting structure, and the seat body 100 further comprises a positioning structure, the connecting structure movably cooperates with the positioning structure. In response to the movement of each clamping piece 200, the connecting structure moves along the positioning structure to limit the movement of the clamping piece 200.

[0198] Referring to FIGS. 21-24, the connecting structure of each clamping piece 200 comprises a sliding piece 202. The positioning structure comprises a plurality of limiting pieces 1007, the number of the limiting pieces 1007 corresponding to the number of the sliding pieces 202. Referring to FIG. 25, each limiting piece 1007 is provided with a limiting slot 1008. Each sliding piece 202 is movably arranged in the limiting slot 1008 of the corresponding limiting piece 1007, so as to realize the movably cooperation between the connecting structure of each clamping piece 200 and the positioning structure. In response to the movement of each clamping piece 200, the sliding piece 202 of each clamping piece 200 moves along the limiting slot 1008 of the limiting piece 1007 where it is arranged, thereby limiting the movement of each clamping piece 200.

[0199] As described above, the movement device further has a first stop structure, and each clamping piece 200 further has a first abutting portion 2064. In the initial state, the first abutting portion 2064 of each clamping piece 200 abuts against the first stop structure to limit the movement of each clamping piece 200 in the direction of making the clamping portion 201 of each clamping piece 200 close to the clamping portion 201 of another clamping piece 200. The movement device further has a second stop structure, and each clamping piece 200 further has a second abutting portion 2065. In the second state, the second abutting portion 2065 of each clamping piece 200 abuts against the second stop structure to limit the movement of each clamping piece 200 in the direction of making the clamping portion 201 of each clamping piece 200 away from the clamping portion 201 of another clamping piece 200.

[0200] Referring to FIG. 24, each sliding piece 202 has a first abutting wall 2021 and a second abutting wall 2022. Referring to FIG. 25, each limiting piece 1007 is provided with a first stop wall 1009 and a second stop wall 1010. Each sliding piece 202 is movably arranged in the limiting slot 1008 of the corresponding limiting piece 1007, and the limiting piece 1007 is located between the first abutting wall 2021 and the second abutting wall 2022 of the sliding piece 202 cooperating with it.

[0201] In the initial state, the first abutting wall 2021 of each sliding piece 202 abuts against the first stop wall 1009 of the limiting piece 1007 cooperating with it, thereby limiting the movement of each clamping piece 200 in the direction of making the clamping portion 201 of each clamping piece 200 close to the clamping portion 201 of another clamping piece 200. In the second state, the second abutting wall 2022 of each sliding piece 202 abuts against the second stop wall 1010 of the limiting piece 1007 cooperating with it, thereby limiting the movement of each clamping piece 200 in the direction of making the clamping portion 201 of each clamping piece 200 away from the clamping portion 201 of another clamping piece 200.

[0202] The first stop wall 1009 of each limiting member 1007 constitutes a first stop structure, and the first abutting wall 2021 of each sliding member 202 constitutes a first abutting portion 2064. The second stop wall 1010 of each limiting member 1007 constitutes a second stop structure, and the second abutting wall 2022 constitutes a second abutting portion 2065.

[0203] Referring to FIG. 24, each sliding member 202 has a sliding segment 2020 located between the first stop wall 1009 and the second stop wall 1010. The sliding segment 2020 is movably arranged in the limiting groove 1008 of the corresponding limiting member 1007.

[0204] Referring to FIG. 24, the connecting structure of each clamping member 200 includes two sliding members 202. Referring to FIG. 25, the positioning structure includes four limiting members 1007, two of which define first limiting members cooperating with the first clamping member 2051, and the other two define second limiting members cooperating with the second clamping member.

[0205] As described above, each clamping member 200 includes a second connecting segment 2062 and a third connecting segment 2063. The first connecting segment 2061 of each clamping member 200 is arranged opposite to the clamping segment 2060. Referring to FIG. 24, one of the sliding members 202 of each clamping member 200 is connected to the second connecting segment 2062 and arranged at one end of the second connecting segment 2062 close to the clamping segment 2060 thereof, and the other sliding member 202 is connected to the third connecting segment 2063 and arranged at one end of the third connecting segment 2063 close to the clamping segment 2060 thereof.

[0206] Referring to FIGS. 21-23, the two first limiting members are arranged close to the clamping segment 2060 of the first clamping member 2051 and on both sides of the clamping segment 2060 of the first clamping member 2051. One of the sliding members 202 of the first clamping member 2051 movably cooperates with one of the first limiting members, and the other sliding member 202 movably cooperates with the other first limiting member.

[0207] The two second limiting members are arranged close to the clamping segment 2060 of the second clamping member 2052 and on both sides of the clamping segment 2060 of the second clamping member 2052. One of the sliding members 202 of the second clamping member 2052 movably cooperates with one of the second limiting members, and the other sliding member 202 movably cooperates with the other second limiting member.

[0208] As described above, the elastic element 260 is arranged between each clamping member 200 and the seat body 100, so that each clamping member 200 has a tendency to move to the clamping portion 201 thereof close to the other clamping portion 201. Referring to FIGS. 21-23, the elastic element 260 is arranged between each sliding member 202 and the limiting member 1007. Referring to FIGS. 21-22, when the clamping mechanism is in the initial state, the first abutting portion 2064 of each sliding member 202 is in abutment with the first stop wall 1009 of the limiting member 1007 under the action of the elastic element 260.

[0209] Referring to FIGS. 26-30, the movement mechanism 1 further comprises a driving gear set, a lifting mechanism, and a rotating driving member 126. The driving gear set is in driving connection with the active movement member. The rotating driving member 126 is in driving connection with the carrier module. The lifting mechanism comprises a lifting driving member 137 and a lifting transmission member 131 in driving connection with the lifting driving member 137, and the lifting transmission member 131 is in driving connection with the driving gear set.

[0210] The movement mechanism 1 has a first working mode and a second working mode.

[0211] When the clamping mechanism 2 is in the first state and the movement device is in the first working mode, in response to the rotation of the lifting driving member 137 to drive the lifting transmission member 131 to rotate about the first axis 6 relative to the carrier module, the relative position of the lifting transmission member 131 and the driving gear set changes to drive the driving gear set to move, so that the driving gear set drives the active movement member to rotate about the central axis relative to the carrier module, thereby driving the first instrument 4 to move.

[0212] When the clamping mechanism 2 is in the first state and the movement device is in the second working mode, in response to the rotation of the rotating driving member 126 to drive the carrier module to rotate about the first axis 6, the carrier module drives the first instrument 4 to rotate; and in response to the rotation of the lifting driving member 137 to drive the lifting transmission member 131 to rotate about the first axis 6 synchronously with the carrier module, the lifting transmission member 131 and the driving gear set maintain the relative position so that the lifting transmission member 131 is limited to drive the driving gear set, thereby the driving gear set does not move, and the driving gear set does not drive the active movement member to move. The lifting transmission member 131 and the driving gear set maintain the relative position means that the lifting transmission member 131 and the driving gear set do not have relative movement and will not have relative displacement.

[0213] ​​​​​In the second working mode, when the carrier module rotates around the first axis 6, the driving gear set rotates around the first axis 6, if the lifting transmission member 131 does not rotate, the relative position between the lifting transmission member 131 and the driving gear set will change, thereby causing the transmission between the lifting transmission member 131 and the driving gear set, so that the driving gear set drives the driving movement member to rotate around its central axis, causing the first instrument 4 to move while rotating, and the doctor cannot accurately adjust the first instrument 4.

[0214] In order to eliminate this effect, in the second working mode, the lifting transmission member 131 rotates around the first axis 6 synchronously with the carrier module, so that the lifting transmission member 131 and the driving gear set maintain the relative position, avoiding the transmission between the lifting transmission member 131 and the driving gear set, thereby preventing the driving movement member from rotating around its central axis, so that the moving motion and the rotating motion of the first instrument 4 are decoupled, the first instrument 4 only rotates without moving, and the axial displacement adjustment and the circumferential angle adjustment of the first instrument 4 are realized.

[0215] In the first working mode, since the movement member 152 rotates relative to the carrier module, the carrier module does not need to rotate, so the first working mode does not need to decouple the lifting motion and the rotating motion of the first instrument 4.

[0216] In some embodiments of the present disclosure, part of the movement members 152 are driving movement members, and part of the movement members 152 are driven movement members. The movement members 152 that are in drivable connection with the driving gear set are driving movement members, and the movement members 152 that are not in drivable connection with the driving gear set are driven movement members. In the first working mode, in response to the rotation of the lifting driving member 137 to drive the lifting transmission member 131 to rotate, the driving gear set moves to drive the driving movement members to rotate around their central axes. Under the action of the friction between the driving movement members and the first instrument 4, the driving movement members drive the first instrument 4 to move, and the driven movement members are driven to rotate by the first instrument 4 along with the movement of the first instrument 4.

[0217] In some other embodiments of the present disclosure, each movement member 152 is a driving movement member, and each movement member 152 is in drivable connection with the driving gear set. In the first working mode, in response to the rotation of the lifting driving member 137 to drive the lifting transmission member 131 to rotate, the driving gear set moves to drive each movement member 152 to rotate around its central axis.

[0218] The central axis of the first instrument 4 is perpendicular to the central axis of the movement member 152. For example, referring to FIG. 31, the central axis of the movement member 152 is perpendicular to the first axis 6, and the central axis of the first instrument 4 is parallel to the first axis 6.

[0219] In the first working mode, the moving direction of the first instrument 4 includes a first moving direction and a second moving direction, which are opposite to each other and parallel to the first axis 6. In the first working mode, the first instrument 4 moves along the first moving direction or the second moving direction in response to the rotation of the lifting driving member 137 in different directions. When the driving motion member rotates around its own axis, the driving motion member can apply a friction force to the first instrument 4 in a direction parallel to the first axis 6, so that the first instrument 4 moves.

[0220] Referring to FIG. 27 and combining with FIG. 31, the first instrument 4 moves along the first moving direction, i.e., the first instrument 4 moves upward, and the first instrument 4 moves along the second moving direction, i.e., the first instrument 4 moves downward.

[0221] In the second working mode, the first instrument 4 rotates around the first axis 6. The rotating direction of the first instrument 4 includes a first rotating direction and a second rotating direction, which are opposite to each other. In the second working mode, the first instrument 4 rotates along the first rotating direction or the second rotating direction in response to the rotation of the rotating driving member 126 in different directions.

[0222] The motion mechanism 1 includes at least one pair of motion assemblies, each pair of motion assemblies including two motion members 152, the first instrument 4 being clamped between the two motion members 152 of each pair of motion assemblies, and the two motion members 152 being located at the first side and the second side of the first instrument 4, respectively. In the first working mode, the rotating directions of the motion members 152 located at the same side of the first instrument 4 are the same, and the rotating directions of the motion members 152 located at different sides of the first instrument 4 are opposite.

[0223] As described above, the motion mechanism 1 further includes a driving gear set, which is in driving connection with each driving motion member. Referring to FIGS. 32-34, 36 and 40-41, the end surface of the lifting transmission member 131 is provided with annularly distributed end surface teeth 132, which are in meshing connection with the driving gear set, so that the lifting transmission member 131 is in driving connection with the driving gear set.

[0224] In the first working mode, in response to the rotation of the lifting transmission member 131 around the first axis 6, the relative positions of the end surface teeth 132 of the lifting transmission member 131 and the driving gear set change to enable the end surface teeth 132 to meshingly drive the driving gear set, so that the driving gear set moves to drive the driving motion member to rotate around the central axis relative to the carrier module, thereby driving the first instrument 4 to move;

[0225] In the second working mode, in response to the synchronous rotation of the lifting transmission member 131 around the first axis 6 with the carrier module, the relative positions of the end surface teeth 132 of the lifting transmission member 131 and driving gear set are kept, so that the lifting transmission member 131 is limited to drive the driving gear set.

[0226] The driving gear set comprises a first gear set. Referring to FIGS. 32-33 and 36, the first gear set comprises a conversion gear 140, and the end face teeth 132 of the lifting transmission member 131 are engaged with the conversion gear 140. One of the active movement members is a first active movement member, and the conversion gear 140 is drivingly connected with the first active movement member.

[0227] In the first working mode, in response to the rotation of the lifting transmission member 131, the end face teeth 132 rotate around the first axis 6, and the relative position of the end face teeth 132 and the conversion gear 140 changes, so that the end face teeth 132 and the conversion gear 140 are engaged and driven to rotate the conversion gear 140 around the second axis, so as to rotate the first active movement member around the central axis to drive the first instrument 4 to move. When the active movement members are only the first active movement member, and the other movement members 152 are all driven movement members, the first instrument 4 can also be normally driven to move.

[0228] In the second working mode, in response to the rotation of the bearing module around the first axis 6, the bearing module drives the first instrument 4 to rotate, at this time the conversion gear 140 is driven by the bearing module to rotate around the first axis 6; and in response to the rotation of the lifting transmission member 131, the end face teeth 132 rotate around the first axis 6 synchronously with the conversion gear 140, so that the end face teeth 132 and the conversion gear 140 maintain the relative position, so that the end face teeth 132 are limited to drive the conversion gear 140, so that the first active movement member does not rotate, and the first instrument 4 only rotates without moving, thereby realizing the separate axial displacement adjustment and the separate circumferential angle adjustment of the first instrument 4, facilitating the doctor to predict the position and angle change of the first instrument 4, so as to accurately adjust the first instrument 4.

[0229] By providing the end face of the lifting transmission member 131 with the annularly distributed end face teeth 132, in the first working mode, when the end face teeth 132 rotate around the first axis 6 to drive the conversion gear 140 to rotate around the second axis, the conversion gear 140 can continuously maintain the engagement and driving with the end face teeth 132 of the lifting transmission member 131, and the conversion gear 140 and the end face teeth 132 will not be disengaged, which guarantees the stability of the structure, and realizes the conversion of the driving direction between the lifting transmission member 131 and the movement members 152, so that the driving direction conversion setting between the conversion gear 140 and the movement members 152 is not needed, and the complicated design is reduced.

[0230] In some embodiments of the present disclosure, the second axis is perpendicular to the first axis 6. Referring to FIGS. 32-34 and 36, the central axis of the conversion gear 140 is perpendicular to the end face teeth 132. The engagement between the end face teeth 132 and the conversion gear 140 realizes the conversion of the movement direction, facilitates the arrangement of each component, and makes the structure of the movement mechanism 1 more compact.

[0231] In some embodiments of the present disclosure, the first gear set further comprises a switching gear 142 and a transmission gear 141 engaged with each other. The conversion gear 140 is engaged with the transmission gear 141, such that the switching gear 142 is drivingly engaged with the conversion gear 140 via the transmission gear 141, and the switching gear 142 is fixedly connected with the first end of the first driving member in a circumferential direction, thereby achieving the drivingly connectable connection between the conversion gear 140 and the first driving member.

[0232] The driving gear set further comprises a second gear set. Referring to FIGS. 32-33 and 36-37, the first gear set is connected with the first end of the first driving member, and the second gear set is connected with the second end of the first driving member. The other driving member refers to the driving member other than the first driving member. That is, the first gear set can drive the first driving member to rotate, such that the first driving member drives the second gear set to rotate, thereby causing the other driving member connected with the second gear set to rotate.

[0233] The first gear set achieves the drivingly connectable connection between the lifting driving member 131 and the first driving member, and the second gear set achieves the drivingly connectable connection between the driving members, thereby achieving the drivingly connectable connection between the lifting driving member 131 and each driving member by the driving gear set.

[0234] Referring to FIGS. 32-33 and 36-37, the second end of the first driving member is drivingly connectable with the other driving member via the second gear set. In the first working mode, in response to the conversion gear 140 rotating around the second axis, the conversion gear 140 is drivingly engaged with the switching gear 142 via the transmission gear 141, such that the first driving member rotates around the central axis, thereby causing the driving members drivingly connectable with the first driving member via the second gear set to rotate around the central axis.

[0235] Referring to FIGS. 31, 32-35, in some embodiments of the present disclosure, the movement mechanism 1 comprises two pairs of movement assemblies. One pair of movement assemblies comprises two movement members 152, i.e., a first movement member 1521 and a second movement member 1522, and the other pair of movement assemblies comprises two movement members 152, i.e., a third movement member 1523 and a fourth movement member 1524. The first movement member 1521 and the third movement member 1523 are both located on the first side of the first instrument 4, and the second movement member 1522 and the fourth movement member 1524 are both located on the second side of the first instrument 4.

[0236] Referring to FIGS. 34-37, the first moving member 1521 is a first active moving member, and the second moving member 1522, the third moving member 1523 and the fourth moving member 1524 are other active moving members. The third moving member 1523 is drivingly connected to the second end of the first moving member 1521 via a second gear set. The second gear set includes four clamping gears 143 and at least two intermediate gears 144. One of the clamping gears 143 is fixedly connected to the second end of the first moving member 1521 in a circumferential direction, and the other three clamping gears 143 are fixedly connected to the second moving member 1522, the third moving member 1523 and the fourth moving member 1524 in the circumferential direction, respectively. The four clamping gears 143 are engaged via the at least two intermediate gears 144. For example, the clamping gear 143 provided on the first moving member 1521 is engaged with the clamping gear 143 provided on the third moving member 1523 via one of the intermediate gears 144, the clamping gear 143 provided on the second moving member 1522 is engaged with the clamping gear 143 provided on the fourth moving member 1524 via the other intermediate gear 144, and the two intermediate gears 144 are engaged with each other.

[0237] In the first working mode, in response to the rotation of the conversion gear 140 about the second axis, the conversion gear 140 drives the first moving member 1521 to rotate about the central axis via the driving gear 141 and the switching gear 142, so that the clamping gear 143 fixedly connected to the first moving member 1521 rotates, and the four clamping gears 143 are drivingly engaged via the intermediate gears 144, so that the first moving member 1521, the second moving member 1522, the third moving member 1523 and the fourth moving member 1524 rotate about the central axis, respectively, and the rotation directions of the first moving member 1521 and the third moving member 1523 are the same, the rotation directions of the second moving member 1522 and the fourth moving member 1524 are the same, and the rotation directions of the first moving member 1521 and the second moving member 1522 are opposite.

[0238] Referring to FIGS. 36-37, the driving gear set includes two driving gears 141 coaxially and fixedly connected in the circumferential direction. One of the driving gears 141 is drivingly engaged with the conversion gear 140, and the other driving gear 141 is drivingly engaged with the switching gear 142.

[0239] Referring to FIGS. 29-30 and 40, the lifting transmission member 131 has radial teeth 133 distributed along the outer periphery thereof. Referring to FIGS. 29-30, the lifting mechanism further comprises at least one lifting gear 130, the output shaft of the lifting drive member 137 is configured to be engaged with the radial teeth 133 of the lifting transmission member 131 via the at least one lifting gear 130. For example, in some embodiments of the present disclosure, the number of the lifting gears 130 is two, the two lifting gears 130 are engaged with each other, one of the two lifting gears 130 is sleeved on the output shaft of the lifting drive member 137, and the other is engaged with the radial teeth 133 of the lifting transmission member 131. In response to the rotation of the lifting drive member 137 to drive the lifting gear 130 sleeved on the output shaft thereof to rotate synchronously, the at least two lifting gears 130 are engaged with each other to drive and are engaged with the lifting transmission member 131 to drive, so that the lifting transmission member 131 rotates around the first axis 6.

[0240] By providing the lifting transmission member 131 with the radial teeth 133 and the end surface of the lifting transmission member 131 with the end surface teeth 132 distributed in the annular direction, the transmission between the lifting drive member 137 and the drive gear set is realized by one lifting transmission member 131, the transmission structure is simple, the number of parts is reduced, the overall structure is simpler, and the stability of the motion mechanism 1 is increased.

[0241] Referring to FIGS. 29-30 and 38, the carrying module has carrying transmission teeth 122. The motion mechanism 1 further comprises at least one rotation gear 120. The output shaft of the rotation drive member 126 is configured to be engaged with the carrying transmission teeth 122 of the carrying module via the at least one rotation gear 120. For example, in some embodiments of the present disclosure, the number of the rotation gears 120 is two, the two rotation gears 120 are engaged with each other, one of the two rotation gears 120 is sleeved on the output shaft of the rotation drive member 126, and the other is engaged with the carrying transmission teeth 122 of the carrying module. In response to the rotation of the rotation drive member 126 to drive the rotation gear 120 sleeved on the output shaft thereof to rotate synchronously, the at least two rotation gears 120 are engaged with each other to drive and are engaged with the carrying transmission teeth 122 of the carrying module to drive, so that the carrying module rotates around the first axis 6.

[0242] By directly providing the carrying transmission teeth 122 on the carrying module for carrying the motion member 152, the rotation drive member 126 and the carrying transmission teeth 122 of the carrying module are drivingly connected to drive the carrying module to rotate around the first axis 6, without the need to additionally and separately provide a transmission mechanism between the rotation drive member 126 and the carrying module, the number of parts is reduced, the overall structure is simpler, and the stability of the motion mechanism 1 is increased.

[0243] Referring to Figures 30 and 32, the support module includes a support base 121 and a support member 150 disposed on the support base 121. Movable components 152 are rotatably disposed on the support member 150. The support base 121 is provided with a support transmission gear 122.

[0244] Referring to Figure 38, the support 121 also has a receiving groove 123. A support member 150 is disposed on the support 121. The support member 150, together with the moving member 152 and the drive gear set disposed thereon, constitute a clamping module. The clamping module is at least partially received in the receiving groove 123. As a result, the size of the motion mechanism 1 in the direction parallel to the first axis 6 is reduced, the length occupied by the motion mechanism 1 on the first instrument 4 is reduced, the first instrument 4 can be used more to extend into the human abdomen to assist in surgery, and the structure of the motion mechanism 1 is compact and smaller in size, reducing the space occupied by the motion mechanism 1.

[0245] In the first operating mode, all moving parts 152 rotate relative to the support 150 around their central axis to drive the first instrument 4 to move. Since the moving parts 152 rotate relative to the support 150, neither the support 150 nor the carrier 121 needs to rotate. Therefore, the first operating mode does not require decoupling the moving and rotating motions of the first instrument 4. In the second operating mode, the carrier 121 rotates around the first axis 6 to drive the support 150 to rotate around the first axis 6, thereby causing the first instrument 4 to rotate.

[0246] The motion mechanism 1 also includes a rotating shaft 151. A moving component 152 is mounted on a support member 150 via the rotating shaft 151. The rotating shaft 151 passes through the support member 150, and the rotating shaft 151 is rotatably connected to the support member 150. The moving component 152 is sleeved on the rotating shaft 151 and moves synchronously with it. A drive gear set is connected to the rotating shaft 151 to drive the rotating shaft 151 to rotate, causing the moving component 152 to rotate around its central axis to drive the first instrument 4 to move. The conversion gear 140, transmission gear 141, and intermediate gear 144 are all rotatably mounted on the support member 150 via shafts.

[0247] Referring to Figures 29 and 40-41, the lifting transmission component 131 also has a clearance groove 134. The bearing seat 121 and the lifting transmission component 131 are arranged opposite to each other in the first direction. The first device 4 passes through the receiving groove 123 and the clearance groove 134 and extends out of the seat body 100, and then passes into the sleeve 300 of the second device 3. That is, the first device 4 passes through the inside of the motion mechanism 1, so that the overall space occupied is small.

[0248] Referring to Figure 42, the base 100 has an assembly groove 103. Both the support seat 121 and the lifting transmission component 131 are accommodated in the assembly groove 103. The support seat 121 and the lifting transmission component 131 are arranged opposite to each other along a first direction, and both are rotatably connected to the base 100. For example, both the support seat 121 and the lifting transmission component 131 are rotatably connected to the base 100 via a bearing 160.

[0249] Referring to Figure 42, a bearing 160 is provided between the bearing seat 121 and the inner wall of the assembly groove 103, and a bearing 160 is also provided between the lifting transmission component 131 and the inner wall of the assembly groove 103, thereby further improving the rotational stability of the bearing seat 121 and the lifting transmission component 131. In some embodiments of this disclosure, the bearing seat 121 and the lifting transmission component 131 are also connected via bearings 160, allowing relative rotation between the bearing seat 121 and the lifting transmission component 131. Existing rolling bearings can be used for the bearing 160. The bearing 160 shown in the figures is for illustrative purposes only and its specific structure is not shown.

[0250] Referring to Figure 26, the motion mechanism 1 also includes a positioning member 170, which has a positioning groove 171. The positioning member 170 is disposed on the seat 100 and located outside the seat 100. The positioning groove 171 corresponds to the position of the motion member 152, so that when the first instrument 4 is inserted into the interior of the seat 100 through the positioning groove 171 of the positioning member 170, the first instrument 4 can enter between the two opposing motion members 152, pass through the clearance groove 134, and then extend out of the seat 100.

[0251] In the first working mode, the first instrument 4 moves along the positioning groove 171. In the second working mode, the first instrument 4 rotates within the positioning groove 171. By setting a portion of the first instrument 4 to pass through the positioning groove 171, the movement of the first instrument 4 can be further limited, improving the positioning accuracy of the first instrument 4. This allows the first instrument 4 to move precisely along a set trajectory, enabling it to function stably and reliably. For example, it allows the endoscope first instrument 4 to accurately acquire image information of the intended location.

[0252] Referring to Figures 38-39, the support 121 has an annular baffle 124, and a receiving groove 123 is formed inside the annular baffle 124. The bearing transmission gear 122 of the support 121 is disposed on the outer peripheral surface of its annular baffle 124. The support 121 also includes a support plate 125. The support plate 125 is disposed in the receiving groove 123 and connected to the inner wall of the annular baffle 124, and the support member 150 is partially received inside the annular baffle 124 and connected to the support plate 125.

[0253] Referring to Figures 40-41, the lifting transmission component 131 includes an end plate 135 and a retaining ring 136. The end plate 135 is disposed within the retaining ring 136. End face teeth 132 are disposed on the end face of the end plate 135 and located within the retaining ring 136, and radial teeth 133 are disposed on the outer peripheral surface of the retaining ring 136. A clearance groove 134 is formed in the end plate 135, and the end face teeth 132 are disposed around the clearance groove 134.

[0254] A bearing 160 is provided between the outer side of the annular baffle 124 of the support seat 121 and the inner wall of the assembly groove 103 of the seat body 100. A bearing 160 is also provided between the inner side of the annular baffle 124 of the support seat 121 and the outer wall of the retaining ring 136 of the lifting transmission component 131. At the same time, a bearing 160 is also provided between the outer wall of the retaining ring 136 of the lifting transmission component 131 and the inner wall of the assembly groove 103 of the seat body 100.

[0255] Both the lifting gear 130 and the rotating gear 120 are rotatably mounted on the base 100 via shafts. Referring to Figures 28 and 42, one side of the base 100 has a notch 104 to avoid engagement between the lifting gear 130 and the lifting transmission member 131, and to avoid engagement between the rotating gear 120 and the support seat 121.

[0256] The bearing seat 121 and the lifting transmission component 131 are coaxially arranged. The end face teeth 132, radial teeth 133 and bearing transmission teeth 122 are also coaxially arranged.

[0257] In some embodiments of this disclosure, the moving component 152 is a soft elastomer roller, such as a rubber-coated roller. That is, the outer surface of the roller is covered with a layer of elastic material. This allows the moving component 152 to better conform to the surface of the first instrument 4, thereby clamping the first instrument 4 more stably.

[0258] When using the motion mechanism 1, the first instrument 4 is inserted between the moving parts 152 via the positioning groove 171. Each moving part 152 can be an active moving part, or only some of them can be active moving parts. By rotating the moving parts 152, the first instrument 4 can move along the first axis 6 until it passes through the clearance groove 134 and then enters the sleeve 300 of the second instrument 3. At this time, the position and angle of the first instrument 4 can be adjusted by the motion mechanism 1.

[0259] The motion mechanism 1 also includes a control unit, which is electrically connected to both the lifting drive 137 and the rotary drive 126. The control unit includes an input module and a processing module that are electrically connected. The lifting drive 137 has a first motor control module. The rotary drive 126 has a second motor control module.

[0260] In response to inputting a first command into the input module, the motion mechanism 1 enters the first working mode. The processing module sends a lifting signal to the first motor control module, causing the lifting drive component 137 to rotate to drive the lifting transmission component 131 to rotate around the first axis 6. The relative position of the lifting transmission component 131 and the drive gear set changes, thereby driving the gear set to move to drive the active motion component to rotate around the central axis, thereby causing the first instrument 4 to move.

[0261] In response to the input of a second command to the input module, the motion mechanism 1 enters the second working mode. The processing module sends a rotation signal to the second motor control module, causing the rotation drive 126 to rotate to drive the load-bearing module to rotate around the first axis 6, thereby causing the first instrument 4 to rotate around the first axis 6. The processing module also sends a lifting signal to the first motor control module, causing the lifting drive 137 to rotate to drive the lifting transmission 131 to rotate synchronously with the load-bearing module around the first axis 6, so that the lifting transmission 131 and the drive gear set maintain a relative position, thereby restricting the lifting transmission 131 from transmitting power to the drive gear set.

[0262] Both the lifting drive 137 and the rotating drive 126 have a start state and a stop state.

[0263] In response to inputting a first command into the input module, the motion mechanism 1 enters the first working mode, and the processing module sends a lifting signal to the first motor control module to make the lifting drive 137 rotate, and the lifting drive 137 enters the start state.

[0264] In response to inputting a second command into the input module, the motion mechanism 1 enters the second working mode. The processing module sends a rotation signal to the second motor control module to make the rotation drive 126 rotate, and the processing module sends a lifting signal to the first motor control module to make the lifting drive 137 rotate. Both the rotation drive 126 and the lifting drive 137 enter the start state.

[0265] When the lifting drive unit 137 is in the start state, in response to the input of a first stop command to the input module, the processing module inputs a stop signal to the first motor control module, thereby switching the lifting drive unit 137 to the stop state.

[0266] When both the lifting drive 137 and the rotating drive 126 are in the start state, in response to the input of a second stop command to the input module, the processing module inputs a stop signal to both the first motor control module and the second motor control module, thereby switching both the lifting drive 137 and the rotating drive 126 to the stop state.

[0267] The first instruction includes a first movement instruction and a second movement instruction, and the lifting signal includes a first lifting signal and a second lifting signal. The second instruction includes a first rotation instruction and a second rotation instruction, and the rotation signal includes a first rotation signal and a second rotation signal.

[0268] In response to inputting a first movement command into the input module, the motion mechanism 1 enters a first working mode. The processing module sends a first lifting signal to the first motor control module, causing the lifting drive 137 to rotate along the first rotation direction. The lifting drive 137 drives the lifting transmission 131 to rotate, causing the drive gear set to drive the active motion component to rotate around the central axis, thereby driving the first instrument 4 to move along the first movement direction.

[0269] In response to the input of a second movement command to the input module, the motion mechanism 1 enters the first working mode. The processing module sends a second lifting signal to the first motor control module, causing the lifting drive 137 to rotate in the second rotation direction. The lifting drive 137 drives the lifting transmission 131 to rotate, causing the drive gear set to drive the active motion component to rotate around the central axis, thereby driving the first instrument 4 to move in the second movement direction.

[0270] In response to the input of a first rotation command to the input module, the motion mechanism 1 enters the second working mode. The processing module sends a first rotation signal to the second motor control module, causing the rotation drive 126 to rotate in the third rotation direction. The rotation drive 126 drives the bearing module to rotate around the first axis 6, causing the first instrument 4 to be driven to rotate in the first rotation direction. The processing module also sends a first lifting signal to the first motor control module, causing the lifting drive 137 to rotate in the first rotation direction, so that the lifting transmission 131 rotates synchronously with the bearing module around the first axis 6. The lifting transmission 131 is restricted from transmitting power to the drive gear set.

[0271] In response to the input of a second rotation command to the input module, the motion mechanism 1 enters the second working mode. The processing module sends a second rotation signal to the second motor control module, causing the rotation drive 126 to rotate in the fourth rotation direction. The rotation drive 126 drives the bearing module to rotate around the first axis 6, causing the first instrument 4 to be driven to rotate in the second rotation direction. The processing module also sends a second lifting signal to the first motor control module, causing the lifting drive 137 to rotate in the second rotation direction, so that the lifting transmission 131 rotates synchronously with the bearing module around the first axis 6. The lifting transmission 131 is restricted from transmitting power to the drive gear set.

[0272] Referring to Figure 44, an embodiment of this disclosure also provides a robot 5. The robot 5 includes a main control console 510 and a robotic arm 520. One end of the robotic arm 520 is disposed on the main control console 510. The main control console 510 primarily serves to install, support, and control the robotic arm 520. A motion device is disposed on the robotic arm 520; for example, the base 100 of the motion mechanism 1 is connected to the robotic arm 520. In use, the position of the robotic arm 520 is adjusted so that the motion device is in a suitable position, and then the first instrument 4 is clamped in the motion mechanism 1. The angle and position of the first instrument 4 can then be adjusted through the motion mechanism 1 to assist in the surgery.

[0273] In summary, when the clamping mechanism 2 is in the first state, the two clamping parts 201 clamp the second instrument 3 so that the second instrument 3 is aligned with the first instrument 4. Therefore, when the first instrument 4 moves toward the second instrument 3 after passing through the motion mechanism 1, there is no need to adjust the direction of the second instrument 3, and the first instrument 4 can smoothly pass into the second instrument 3, making the operation more convenient. When the clamping mechanism 2 is in the second state, the clamping parts 201 release the second instrument 3, thereby separating the second instrument 3 from the motion device, facilitating the removal of the second instrument 3 from the abdominal cavity.

[0274] It should be understood that although this disclosure describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0275] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this disclosure and are not intended to limit the scope of protection of this disclosure. All equivalent implementations or modifications made without departing from the spirit of the art of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A motion device, comprising: A motion mechanism, comprising a base, a support module, and at least two opposing motion members for drivably clamping a first instrument, wherein the support module is rotatably disposed on the base, the motion members are rotatably disposed on the support module, and at least one of the motion members is an active motion member; A clamping mechanism comprising two clamping members, each clamping member being movably connected to the base body, and each clamping member having a clamping portion; The clamping mechanism has an initial state, a first state, and a second state; In the initial state, the second instrument is separated from the clamping mechanism. In response to the second instrument moving toward the two clamping parts, the second instrument drives each clamping member to move so that the two clamping parts clamp the second instrument, and the clamping mechanism switches to the first state. In the first state, in response to each of the clamping members moving to move the two clamping parts away from each other, the two clamping parts release the second instrument, and the clamping mechanism switches to the second state; When the clamping mechanism is in the first state, in response to the active moving member rotating about the central axis relative to the bearing module, the first instrument is driven to move in the second instrument; in response to the bearing module rotating about the first axis relative to the seat, the first instrument is driven to rotate in the second instrument.

2. The motion device according to claim 1, wherein, The clamping mechanism includes a pushing structure, each of the clamping members has a connecting portion, and the connecting portion of each of the clamping members is connected to the pushing structure; In the initial state, in response to the movement of the second instrument toward the two clamping parts, the second instrument pushes against the pushing structure, causing each of the clamping parts to move.

3. The motion device according to claim 2, wherein, The clamping portion of each of the clamping members is connected to the connecting portion, and the pushing structure includes the clamping portion of each clamping member; each of the clamping members is configured such that its clamping portion tends to move closer to the other clamping portion; In the initial state, in response to the second instrument moving toward the two clamping portions to push against each of the clamping portions, each of the clamping members moves to move the two clamping portions away from each other, thereby allowing the second instrument to enter between the two clamping portions to be clamped by the two clamping portions.

4. The motion device according to claim 3, wherein, The motion device also has a first stop structure; each of the clamping members also has a first abutting part, the first abutting part being connected to the clamping part; In the initial state, the first abutting portion of each clamping member abuts against the first stop structure to restrict the movement of each clamping member in the direction that brings its clamping portion closer to another clamping portion.

5. The motion device according to claim 3 or 4, wherein, The motion device also has a second stop structure; each of the clamping members also has a second abutment portion, the second abutment portion being connected to the clamping portion; In the second state, the second abutment portion of each clamping member abuts against the second stop structure to restrict the movement of each clamping member in the direction that moves its clamping portion away from the other clamping portion.

6. The motion device according to any one of claims 1-5, wherein, The second instrument has an engagement groove; in response to the second instrument moving toward the two clamping portions until its engagement groove enters between the two clamping portions, the two clamping portions move closer to each other to engage with the engagement groove.

7. The motion device according to any one of claims 1-6, wherein, The clamping mechanism further includes an elastic component, and each of the clamping members is connected to the elastic component. The elastic component applies a force to the clamping member connected to it, such that each of the clamping members tends to move its clamping portion closer to another clamping portion.

8. The motion device according to any one of claims 1-7, wherein, Each of the clamping members also has a connecting structure, and the clamping part is connected to the connecting structure; the base also includes a positioning structure; the connecting structure and the positioning structure are movably engaged; In response to each of the clamping members moving to bring its clamping portion closer to or away from the other clamping portion, the connecting structure moves along the positioning structure to limit the movement of the clamping members.

9. The motion device according to any one of claims 1-8, wherein, The base body is also provided with a blocking structure; the second device is also provided with a mating part; In the first state, the blocking structure abuts against the mating part of the second instrument to restrict the movement of the second instrument in a direction perpendicular to the first axis.

10. The motion device according to any one of claims 1-9, wherein, The clamping mechanism further includes a pressing module, and at least one of the clamping members is connected to the pressing module; In the first state, in response to applying a force to the pressing module, causing each of the clamping members to move so that each of the clamping portions moves away from the second instrument, the clamping mechanism switches to the second state.

11. The motion device according to claim 10, wherein, In the first state, in response to applying force to the pressing module, the pressing module drives both the first clamping member and the second clamping member to move, so that each of the clamping parts moves away from the second instrument, and the clamping mechanism switches to the second state; The pressing module drives both the first clamping member and the second clamping member to move, including: The pressing module drives the first clamping member connected to it to move, and drives the second clamping member connected to the first clamping member to move through the first clamping member, or the pressing module drives both the first clamping member connected to it and the second clamping member connected to it to move.

12. The motion device according to claim 10 or 11, wherein, The pressing module includes a first pressing part and a second pressing part, wherein one of the clamping members is a first clamping member and the other clamping member is a second clamping member; the first clamping member is connected to the first pressing part, and the second clamping member is connected to the second pressing part; The first pressing part and the clamping part of the second clamping member are located on the same side of the second pressing part; and the second pressing part and the clamping part of the first clamping member are located on the same side of the first pressing part. In response to applying force to the first pressing portion to move the first clamping member and applying force to the second pressing portion to move the second clamping member, the first pressing portion and the second pressing portion move closer to each other and the two clamping portions move further apart.

13. The motion device according to claim 10 or 11, characterized in that, The pressing module includes a pressure control unit, wherein one of the clamping members is a first clamping member and the other clamping member is a second clamping member; the first clamping member is connected to the pressure control unit; The motion device also includes a linkage structure, wherein the first clamping member and the second clamping member are both movably connected to the linkage structure; In the first state, in response to applying force to the pressure control part to move the first clamping member, the first clamping member drives the linkage structure to move in order to drive the second clamping member to move, thereby causing both clamping parts to move away from the second instrument, and the clamping mechanism switches to the second state.

14. The motion device according to claim 13, characterized in that, The linkage structure is constructed as follows: In the first state, in response to applying force to the pressure control part to move the first clamping member, the first clamping member drives the linkage structure to move, and the linkage structure drives the second clamping member to move in the opposite direction to the movement direction of the first clamping member so that the two clamping parts move away from each other, and the clamping mechanism switches to the second state; In the second state, in response to the second instrument disengaging from the clamping mechanism, the first clamping member and the second clamping member move in opposite directions to reset so that the two clamping parts move closer to each other, the linkage structure follows the movement of the first clamping member and the second clamping member, and the clamping mechanism switches to the initial state.

15. The motion device according to claim 13 or 14, characterized in that, The linkage structure includes a linkage component, a first linkage part, and a second linkage part. The linkage component is movably connected to the base body. The first linkage part is disposed on the first clamping component, and the second linkage part is disposed on the second clamping component. Both the first linkage and the second linkage are movably connected to the linkage member; in the first state, in response to applying force to the pressure control part, the first clamping member drives the linkage member to move via the first linkage, so that the linkage member drives the second clamping member to move in the opposite direction to the movement direction of the first clamping member via the second linkage.

16. The motion device according to claim 15, characterized in that, The linkage is rotatably connected to both the first linkage part and the second linkage part; the movement of the linkage is a rotational movement, and the first linkage part and the second linkage part are respectively connected to two radially opposite points on the rotation trajectory of the linkage, so that when the first clamping member moves to drive the linkage to move, the second clamping member moves in the opposite direction to the movement direction of the first clamping member.

17. The motion device according to claim 15 or 16, characterized in that, The first point of the linkage is hinged to the first linkage part, the second point of the linkage is hinged to the second linkage part, and the third point of the linkage is hinged to the seat body. The first point, the second point and the third point are located on the same straight line, and the third point is located between the first point and the second point.

18. The motion device according to claim 15 or 16, characterized in that, Both the first linkage part and the second linkage part are engaged with the linkage component.

19. The motion device according to any one of claims 1-18, further comprising a guide plate, wherein the clamping portion of each of the clamping members is at least partially disposed between the guide plate and the base; The guide plate has a guide surface; in the initial state, the guide surface extends obliquely between the two clamping portions to guide the movement of the second instrument between the two clamping portions.

20. The motion device according to any one of claims 1-19, wherein, The motion mechanism further includes a drive gear set, a rotary drive component, and a lifting mechanism; the drive gear set is tractably connected to the active motion component; the rotary drive component is tractably connected to the load-bearing module; the lifting mechanism includes a lifting drive component and a lifting transmission component tractably connected to the lifting drive component, and the lifting transmission component is tractably connected to the drive gear set. The motion mechanism has a first working mode and a second working mode; When the clamping mechanism is in the first state and the motion device is in the first working mode, in response to the rotation of the lifting drive member, the lifting transmission member is driven to rotate relative to the bearing module around the first axis. The relative position of the lifting transmission member and the drive gear set changes to drive the drive gear set to move, so that the drive gear set drives the active motion member to rotate relative to the bearing module around the central axis, thereby driving the first instrument to move. When the clamping mechanism is in the first state and the motion device is in the second working mode, in response to the rotation of the rotary drive member, the bearing module is driven to rotate around the first axis, and the bearing module drives the first instrument to rotate; and in response to the rotation of the lifting drive member, the lifting transmission member is driven to rotate around the first axis synchronously with the bearing module, and the lifting transmission member and the drive gear set are kept in relative positions so that the lifting transmission member is restricted from transmitting power to the drive gear set.

21. The motion device according to claim 20, wherein, The lifting transmission component has end face teeth; the drive gear set meshes with the end face teeth.

22. The motion device according to claim 20 or 21, wherein, The lifting transmission member also has radial teeth distributed around its outer periphery, and the lifting mechanism further includes at least one lifting gear. The output shaft of the lifting drive member is configured to mesh with the radial teeth of the lifting transmission member via at least one of the lifting gears.

23. The motion device according to any one of claims 20-22, wherein, The load-bearing module has load-bearing drive teeth, and the motion mechanism further includes at least one rotary gear. The output shaft of the rotary drive is configured to mesh with the rotary transmission teeth of the load-bearing module via at least one of the rotary gears.

24. A robot comprising a robotic arm and a motion device as described in any one of claims 1-23, the motion device being disposed on the robotic arm.

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