Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the application is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, a first aspect of the present application provides a delivery device for delivering a guidewire and/or catheter, comprising:
A base assembly;
At least one clamping assembly provided to the base assembly for clamping a guide wire and/or a catheter, the clamping assembly being reciprocally movable relative to the base assembly along a direction of conveyance of the guide wire and/or catheter, the clamping assembly comprising:
a clamping assembly seat which is arranged on the base assembly and can reciprocate relative to the base assembly along the conveying direction,
A first clamping mechanism provided to the clamping assembly seat, the first clamping mechanism comprising a clamping channel for clamping the guide wire and/or catheter, the clamping channel extending in the conveying direction, the first clamping mechanism being movable in synchronization with the clamping assembly seat in the conveying direction relative to the base assembly, the first clamping mechanism having a closed state clamping the guide wire and/or catheter and an open state unclamping the guide wire and/or catheter, the clamping channel in the closed state having a smaller width than the clamping channel in the open state, the first clamping mechanism being configured to be rotatable relative to the base assembly about a second axis of rotation, and
A second clamping mechanism provided to the clamping assembly holder and reciprocally movable with respect to the first clamping mechanism in a direction perpendicular to the conveying direction for applying a pressing force to the first clamping mechanism to decrease the width of the clamping passage or withdrawing the pressing force to increase the width of the clamping passage,
Wherein the conveyor is configured such that the first clamping mechanism is in the closed state when the clamping assembly is advanced in the conveying direction; the first clamping mechanism is in the open state when the clamping assembly is retracted in the conveying direction.
According to the delivery device of the present application, the clamping assembly can clamp and deliver the guidewire and/or catheter. In the clamping assembly, the first clamping mechanism directly contacts and clamps the guidewire and/or catheter. The second clamping mechanism applies a compressive force to the first clamping mechanism to cause the first clamping mechanism to clamp the guidewire and/or catheter. By coordinating the opening and closing action of the clamping assembly with the reciprocating movement along the wire delivery direction, the clamping assembly can be moved only a short distance (relative to the length of the wire and/or catheter) to complete the delivery of the wire and/or catheter, thereby reducing the size of the delivery device. Wherein the first clamping mechanism is configured to be rotatable such that the guide wire and/or catheter is twisted for delivery, whereby the guide wire and/or catheter delivery is smoother.
Optionally, the conveying device comprises two clamping assemblies, and the conveying device is configured in such a way that:
The two clamping assemblies can reciprocally move towards and away from each other along the conveying direction;
When the two clamping assemblies are close to each other along the conveying direction, the first clamping mechanism of the clamping assembly advancing along the conveying direction is in the closed state, and the first clamping mechanism of the clamping assembly retreating along the conveying direction is in the open state;
when the two gripper assemblies are away from each other in the conveying direction, the first gripper mechanism of the gripper assembly advancing in the conveying direction is in the closed state, and the first gripper mechanism of the gripper assembly retreating in the conveying direction is in the open state.
According to the conveying device, the two clamping assemblies are arranged at the same time, so that the two clamping assemblies are alternately opened and closed and advanced and retreated, the guide wire and/or the guide tube can be continuously conveyed, and the conveying efficiency of the guide wire and/or the guide tube is improved.
Optionally, the clamping assembly further comprises a first elastic member connected to the first clamping mechanism, and a direction of the elastic force of the first elastic member is parallel to a width direction of the clamping channel, for increasing the width of the clamping channel;
the first clamping mechanism comprises:
a first clamping part connected to the clamping assembly seat,
The second clamping part is connected to the clamping assembly seat and is arranged opposite to the first clamping part, and a gap between the first clamping part and the second clamping part forms the clamping channel;
wherein the first elastic component acts on the first clamping part and/or the second clamping part so as to enable the first clamping part to be far away from the second clamping part.
Further, the first clamping mechanism further comprises two ferrule caps disposed to the clamping assembly seat and spaced apart along the transport direction;
Two ends of the first clamping part along the conveying direction are respectively positioned in the two cuff caps, and two ends of the second clamping part along the conveying direction are respectively positioned in the two cuff caps;
The delivery device is configured such that the ferrule cap is rotatable relative to the base assembly about the second axis of rotation, thereby causing the first and second clamping portions to synchronously rotate relative to the base assembly about the second axis of rotation,
Wherein the cuff cap and the clamping assembly seat are provided with a passage for passing the guide wire and/or catheter.
According to the application, the first clamping mechanism is simple and effective in structure.
Optionally, the ferrule cap of said one of the two first clamping mechanisms for facing a side of said other of the two first clamping mechanisms is provided with a receptacle,
The ferrule cap of the other of the two first clamping mechanisms for facing one side of the one of the two first clamping mechanisms is provided with a plug for insertion into the receptacle to connect the two first clamping mechanisms,
The delivery device is configured such that the receptacle is rotatable relative to the base assembly about the second axis of rotation, thereby causing the plug to rotate synchronously relative to the base assembly about the second axis of rotation.
According to the application, the connection mode of the two first clamping mechanisms is simple and effective.
Optionally, the conveying device further includes:
A second drive assembly provided to the base assembly for providing a driving force for rotating the two first clamping mechanisms relative to the base assembly; and
And the second transmission assembly is used for connecting the second driving assembly and the socket and transmitting the driving force of the second driving assembly to the socket.
Further, the second drive assembly includes a second motor;
The second transmission assembly includes:
A second gear assembly connected to the socket and rotatable in synchronism with the socket about the second axis of rotation relative to the base assembly, and
And the fourth gear assembly is connected to the output shaft of the second motor and synchronously rotates along with the output shaft of the second motor, and the fourth gear assembly is meshed with the second gear assembly.
According to the application, the method for rotating the first clamping mechanism is simple to control and stable in performance.
Optionally, the fourth gear assembly comprises a long gear extending in the conveying direction for meshing with the second gear assembly.
According to the application, the clamping assembly moves along the conveying direction, and the long gear can ensure that the socket is driven to rotate all the time.
Optionally, the first clamping portion includes:
A first clamping member, both ends of the first clamping member in the conveying direction are respectively positioned in the two ferrule caps, a surface of the first clamping member, which faces the second clamping portion, is provided with a first key groove extending in the conveying direction, and
A first key disposed in the first keyway, the first key comprising an elastic material;
The second clamping portion includes:
The two ends of the second clamping piece along the conveying direction are respectively positioned in the two hoop caps, the second clamping piece is arranged opposite to the first clamping piece, a second key groove extending along the conveying direction is arranged on the surface of the second clamping piece, which is used for facing the first clamping part, and the second key groove is arranged opposite to the first key groove,
A second key disposed in the second keyway, the second key comprising an elastomeric material,
Wherein a gap between the first key and the second key forms the grip channel.
Further, the first clamping mechanism further comprises an additional spring;
The additional spring is arranged in the first key groove and is positioned on one side of the first key, which is opposite to the second key, and extends along the depth direction of the first key groove, wherein the sum of the free height of the additional spring and the height of the first key is smaller than or equal to the depth of the first key groove, or
The additional spring is arranged in the second key groove and is positioned on one side of the second key, which is opposite to the first key, and extends along the depth direction of the second key groove, wherein the sum of the free height of the additional spring and the height of the second key is smaller than or equal to the depth of the second key groove.
According to the application, the first clamping means can clamp guide wires and/or catheters of different thickness.
Optionally, the second clamping mechanism is located at the periphery of the first clamping mechanism, the second clamping mechanism is configured to be contractible and expandable in a radial direction of the first clamping mechanism, wherein the radial direction is perpendicular to the conveying direction,
When the second clamping mechanism contracts, the second clamping mechanism applies the pressing force to the first clamping mechanism in the radial direction to reduce the width of the clamping channel; when the second clamping mechanism expands, the second clamping mechanism withdraws the compressive force to increase the width of the clamping channel.
According to the application, the mechanism of the second clamping mechanism for extruding the first clamping mechanism is simple and effective.
Optionally, the second clamping mechanism includes:
the clamping base is arranged on the clamping assembly seat;
A third clamping portion provided to the clamping base and movable in the radial direction with respect to the clamping base, the third clamping portion being located on one side of the first clamping mechanism in the radial direction;
A fourth clamping portion provided to the clamping base and movable in the radial direction with respect to the clamping base, the fourth clamping portion being located on the other side of the first clamping mechanism in the radial direction and being provided opposite to the third clamping portion so as to surround the first clamping mechanism together with the third clamping portion at an outer periphery of the first clamping mechanism; and
And the clamping transmission part is connected to the third clamping part and the fourth clamping part and used for controlling the third clamping part and the fourth clamping part to be close to or far away from each other along the radial direction.
According to the application, the second clamping mechanism is simple in structure.
Optionally, the conveying device further comprises a first transmission body provided to the base assembly, the first transmission body being connected to the two clamping assemblies to alternately retract and retract the two second clamping mechanisms, and reciprocally move the two clamping assembly seats toward and away from each other in the conveying direction,
The first transmission body comprises two conveying transmission components, the two conveying transmission components are respectively and correspondingly arranged with the two clamping components, and the conveying transmission components comprise:
a first conveying transmission part acting on the clamping transmission part for making the third clamping part and the fourth clamping part approach each other or separate from each other along the radial direction;
and the second conveying transmission part acts on the clamping assembly seat and is used for enabling the clamping assembly seat to be movable relative to the base assembly along the conveying direction.
According to the conveying device, the two clamping assemblies are alternately opened and closed and alternately moved in and out through the same transmission part, and the conveying device is compact in structure.
Optionally, the first transmission body is configured as a first shaft, and the conveying device is configured such that the first shaft is rotatable relative to the base assembly about a first rotation axis, the first rotation axis being parallel to the conveying direction.
According to the application, the first transmission body is configured as a first rotary shaft, so that the driving method is simple.
Optionally, the second conveying transmission part is configured as a chute configured as an annular through groove provided at an outer circumferential surface of the first rotating shaft, an extending direction of the chute is not perpendicular to the first rotating axis,
Wherein the extending direction of one of the chute of the two conveyor drive assemblies and the first rotation axis form a first acute angle along a first rotation direction, and the extending direction of the other of the chute of the two conveyor drive assemblies and the first rotation axis form a second acute angle along a second rotation direction, and the first rotation direction is opposite to the second rotation direction;
the clamping assembly seat is further provided with a connection assembly, which is accommodated in the chute.
According to the application, when the first rotating shaft rotates, as the extending direction of the chute is not perpendicular to the first rotating axis, the position of one side of the chute facing the clamping component moves relative to the base component along the conveying direction, so as to drive the connecting component to move relative to the base component along the conveying direction, further drive the clamping component seat to move relative to the base component along the conveying direction, and finally drive the clamping component to move relative to the base component along the conveying direction.
Optionally, the first acute angle is equal to the second acute angle.
According to the application, when the two chutes are symmetrically arranged, the conveying efficiency of the two clamping assemblies is the same.
Optionally, the connection assembly includes:
a connecting shaft extending in a direction perpendicular to the first rotation axis; and
The bearing is sleeved on the connecting shaft, and the outer ring of the bearing is used for contacting the groove wall of the chute.
According to the application, the connecting assembly is designed as a bearing, so that friction between the connecting assembly and the chute can be reduced.
Optionally, the clamping assembly further includes a second elastic member connected between the clamping transmission portion, at least one of the third clamping portion and the fourth clamping portion, and the clamping base, and a direction of an elastic force of the second elastic member is parallel to the radial direction, for causing the second clamping mechanism to apply a pressing force to the first clamping mechanism along the radial direction to reduce the width of the clamping channel.
According to the application, the second elastic member is used for enabling the second clamping mechanism to automatically press the first clamping mechanism.
Optionally, the third clamping portion includes a third rack extending in the radial direction;
the fourth clamping portion comprises a fourth rack extending in the radial direction;
The clamping transmission part comprises:
A clamping rack provided to the clamping base and movable in the radial direction relative to the clamping base, the clamping rack extending in the radial direction, the clamping rack having a clamping rack first end proximate the first axis of rotation and a clamping rack second end opposite the clamping rack first end,
A second protrusion arranged at the first end of the clamping rack and used for acting with the first conveying transmission part,
A third clamping gear provided to the clamping base and engaged with the clamping rack and the third rack, and
A fourth clamping gear provided to the clamping base and engaged with the third clamping gear and the fourth rack;
The second elastic component is connected between the clamping base and at least one of the second end of the clamping rack, the third clamping portion and the fourth clamping portion.
According to the application, when the second bulge is extruded, the clamping rack moves along the direction of the second end of the clamping rack along the radial direction, the clamping rack drives the third clamping gear, and the third clamping gear drives the third rack to move reversely with the clamping rack. The third clamping gear also drives the fourth clamping gear to rotate, and the fourth clamping gear drives the fourth rack to move in the same direction with the clamping rack. Thus, the third clamping portion and the fourth clamping portion are distant from each other in the radial direction. The movement of the above-mentioned members causes the second elastic member to be compressed. When the second protrusion is not pressed, all the members are reversely moved by the second elastic member, and the third clamping portion and the fourth clamping portion are close to each other in the radial direction.
Optionally, the first conveying transmission part is configured as a cam part on the first rotating shaft, and the cam part includes:
A first half wheel, which is a first semicircle having a first radius in a cross section of the cam portion; and
A second half wheel which is a second semicircle with a second radius in the cross section of the cam part,
Wherein the first radius is larger than the second radius, the circle center of the first semicircle coincides with the circle center of the second semicircle, the circle center coincides with the first rotation axis,
Wherein the cam portions of the two conveying transmission assemblies are 180 degrees different on the first rotating shaft, the first radius is larger than the distance between the first rotating axis and the second protrusion, the second radius is smaller than the distance between the first rotating axis and the second protrusion,
When the first half wheel faces the clamping assembly, the cam part contacts the second protrusion, so that the third clamping part and the fourth clamping part are far away from each other along the radial direction; when the second half wheel faces the clamping assembly, the cam part is out of contact with the second protruding part, the third clamping part and the fourth clamping part are mutually close along the radial direction under the action of the second elastic part,
The chute has a near point closest to the cam portion and a far point farthest from the cam portion in a direction of the first rotation axis, wherein the near point and the far point are 180 degrees apart on an outer peripheral surface of the first rotation shaft, and the near point and the far point are located in a plane in which contact surfaces of the first half wheel and the second half wheel are located.
According to the application, the first conveying transmission part is designed as a cam consisting of a large semicircle and a small semicircle, so that the first conveying transmission part contacts the clamping transmission part in one half period and does not contact the clamping transmission part in the other half period, the width of the clamping channel is changed once every half period, and the clamping assembly clamps the guide wire and/or the guide pipe in one half period and releases the guide wire and/or the guide pipe in one half period. The two cam parts are 180 degrees different on the first rotating shaft, so that the two clamping assemblies can just clamp the guide wire and/or the guide tube alternately. The cam part and the chute are matched to enable the two clamping assemblies to alternately open and close and alternately advance and retreat.
Optionally, the conveying device is configured such that the second gripping mechanism is movable relative to the first gripping mechanism in the conveying direction, and the third gripping portion and the fourth gripping portion are moved closer to or farther from each other in the radial direction when the second gripping mechanism is moved relative to the first gripping mechanism in the conveying direction.
According to the application, the second gripper mechanism is configured to press the first gripper mechanism during movement relative to the first gripper mechanism in the conveying direction.
Optionally, the clamping transmission part comprises a clamping connection assembly, the clamping connection assembly is arranged to the clamping base and is connected to the first conveying transmission part, and the conveying device is configured to enable the clamping connection assembly to reciprocate relative to the clamping assembly seat along the conveying direction under the action of the first conveying transmission part, so that the clamping base is driven to synchronously move relative to the clamping assembly seat along the conveying direction.
According to the application, the conveying device moves the second clamping mechanism by moving the clamping connection assembly in the conveying direction.
Optionally, the clamping transmission part further includes:
A third guide groove provided to one of the clamping assembly holder and the third clamping portion, the third guide groove extending in the conveying direction and simultaneously extending in the radial direction;
One end of the third pin is provided with the other one of the clamping assembly seat and the third clamping part, the other end of the third pin is positioned in the third guide groove, and the third pin is movable in the third guide groove, so that the third clamping part can move relative to the clamping assembly seat along the conveying direction and the radial direction;
A fourth guide groove provided to one of the clamping assembly holder and the fourth clamping portion, the fourth guide groove extending in the conveying direction and simultaneously extending in the radial direction; and
And one end of the fourth pin is provided with the other one of the clamping assembly seat and the fourth clamping part, the other end of the fourth pin is positioned in the fourth guide groove, and the fourth pin is movable in the fourth guide groove, so that the fourth clamping part is movable relative to the clamping assembly seat along the conveying direction and the radial direction.
According to the application, the third clamping part and the fourth clamping part are brought closer to each other or away from each other in the radial direction by the cooperation of the third guide groove, the fourth guide groove, the third pin and the fourth pin when the second clamping mechanism is moved in the conveying direction relative to the first clamping mechanism.
Optionally, the first conveying transmission part is configured as an additional groove configured as a through groove provided at an outer circumferential surface of the first rotating shaft, the clamp connection assembly is accommodated in the additional groove,
The conveying device is configured such that the additional groove and the chute are matched with the third guide groove and the fourth guide groove, so that when the chute drives the clamping assembly seat to advance relative to the base assembly along the conveying direction, the third clamping portion and the fourth clamping portion are close to each other along the radial direction, and when the chute drives the clamping assembly seat to retreat relative to the base assembly along the conveying direction, the third clamping portion and the fourth clamping portion are far away from each other along the radial direction.
According to the application, the additional groove drives the second clamping mechanism to move relative to the first clamping mechanism along the conveying direction, and the additional groove, the chute, the third guide groove and the fourth guide groove are matched, so that when the second clamping mechanism moves relative to the first clamping mechanism along the conveying direction, the third clamping part and the fourth clamping part are close to each other or far away from each other along the radial direction.
Optionally, the additional groove has a first axial distance from the chute in the conveying direction at a first circumferential portion of the first shaft, a second axial distance from the chute in the conveying direction at a second circumferential portion of the first shaft, wherein the first circumferential portion and the second circumferential portion differ by 180 degrees on the outer circumference of the first shaft, the first axial distance being different from the second axial distance,
The conveying device is configured such that the relative positions of the additional groove and the chute in the conveying direction are matched with the third guide groove and the fourth guide groove, so that the distance of the third clamping portion and the fourth clamping portion in the radial direction when the first circumferential portion faces the clamping assembly is different from the distance of the third clamping portion and the fourth clamping portion in the radial direction when the second circumferential portion faces the clamping assembly.
According to the application, the additional groove is configured to be at different distances from the chute in the conveying direction at different points, so that the second clamping mechanism is movable in the conveying direction relative to the first clamping mechanism.
Optionally, the third guide groove includes:
a third guide groove first portion extending in the conveying direction, and
A third guide slot second portion in communication with the third guide slot first portion, the third guide slot second portion including a third guide slot second portion first end and a third guide slot second portion second end, the third guide slot second portion first end connected to the third guide slot first portion, the third guide slot second portion first end and the third guide slot second portion second end spaced apart along the conveying direction and the radial direction;
The fourth guide groove includes:
a fourth guide groove first portion extending in the conveying direction, and
A fourth guide slot second portion in communication with the fourth guide slot first portion, the fourth guide slot second portion including a fourth guide slot second portion first end and a fourth guide slot second portion second end, the fourth guide slot second portion first end connected to the fourth guide slot first portion, the fourth guide slot second portion first end and the fourth guide slot second portion second end spaced apart along the conveying direction and the radial direction;
the third guide groove second portion is located on the same side in the conveying direction as the fourth guide groove second portion with respect to the third guide groove first portion.
Further, the third guide groove is provided to the clamping assembly seat, and the third guide groove second portion first end is located inside with respect to the third guide groove second portion second end in the radial direction; and/or
The fourth guide groove is arranged to the clamping assembly seat, and the first end of the second part of the fourth guide groove is located on the inner side relative to the second end of the second part of the fourth guide groove along the radial direction.
According to the application, the third guide groove and the fourth guide groove are simple and effective in design.
Optionally, the extending direction of the additional groove is parallel to the extending direction of the chute, the cross section of the additional groove is a second ellipse, and the parts of the additional groove, which are respectively located at two sides of the long axis of the second ellipse along the radial direction of the first rotating shaft, are staggered along the conveying direction.
According to the application, the design of the additional groove is simple and effective.
Optionally, the clip connection assembly includes:
a clamp connection shaft extending in a direction perpendicular to the first rotation axis; and
The clamping bearing is sleeved on the clamping connecting shaft, and the outer ring of the clamping bearing is used for contacting the groove wall of the additional chute.
According to the application, the clamping connection assembly is configured as a bearing, which reduces friction.
Optionally, the clamping assembly further comprises a first clamping guide arranged to the clamping base and a second clamping guide arranged to the clamping assembly seat, the second clamping guide being connected to the first clamping guide and movable relative to the first clamping guide in the conveying direction.
Further, one of the first clamping guide and the second clamping guide is configured as a slide rail, and the other of the first clamping guide and the second clamping guide is configured as a slide groove, in which the slide rail is disposed.
According to the present application, the first clamping guide and the second clamping guide can stably move the second clamping mechanism relative to the first clamping mechanism in the conveying direction.
Optionally, the second clamping mechanism further comprises:
a first pin disposed to the clamping base and extending in the radial direction, wherein the third clamping portion is connected to the first pin and movable relative to the first pin in the radial direction; and
And the fourth clamping part is connected to the second pin shaft and can move relative to the second pin shaft along the radial direction.
According to the present application, the first pin may stably move the third clamping portion in the radial direction, and the second pin may stably move the fourth clamping portion in the radial direction.
A second aspect of the application provides a surgical robotic system comprising a delivery device according to any of the preceding claims.
According to the surgical robotic system of the present application, the clamping assembly may clamp and deliver the guidewire and/or catheter. In the clamping assembly, the first clamping mechanism directly contacts and clamps the guidewire and/or catheter. The second clamping mechanism applies a compressive force to the first clamping mechanism to cause the first clamping mechanism to clamp the guidewire and/or catheter. By coordinating the opening and closing action of the clamping assembly with the reciprocating movement along the wire delivery direction, the clamping assembly can be moved only a short distance (relative to the length of the wire and/or catheter) to complete the delivery of the wire and/or catheter, thereby reducing the size of the surgical robot. Wherein the first clamping mechanism is configured to be rotatable such that the guide wire and/or catheter is twisted for delivery, whereby the guide wire and/or catheter delivery is smoother.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the application.
In the following description, a detailed description will be given for the purpose of thoroughly understanding the present application. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. It will be apparent that embodiments of the application may be practiced without limitation to the specific details that are familiar to those skilled in the art. Preferred embodiments of the present application are described in detail below, however, the present application may have other embodiments in addition to these detailed descriptions.
Ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component". The use of the words "first," "second," and "third," etc. do not denote any order, and the words are to be interpreted as names.
It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and the like are used in the present application for illustrative purposes only and are not limiting.
The application provides a conveying device for conveying guide wires and/or catheters and a surgical robot system with the conveying device.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings.
In the following description, for the sake of brevity, the delivery of a guidewire by a delivery device is merely illustrated as an example. The delivery device according to the application is equally applicable to delivery catheters and the working mechanism is exactly the same as that of a delivery guidewire. Thus, the term "guidewire" hereinafter means "guidewire and/or catheter".
As shown in fig. 1 and 2, in a first embodiment according to the present application, a delivery device 400 includes a base assembly 410, at least one clamping assembly 450, a first drive assembly 30, and a first transmission assembly 40. Preferably, the delivery device 400 further comprises a second drive assembly 60 and a second transmission assembly 80. Wherein the clamping assembly 450, the first driving assembly 30, the first transmission assembly 40, the second driving assembly 60, and the second transmission assembly 80 are all disposed to the base assembly 410.
The clamping assembly 450 is used to clamp a guidewire. The clamping assembly 450 includes a clamping channel 74 for clamping a guidewire. The clamping channel 74 extends in the direction of delivery DF of the guide wire. The width direction of the grip passage 74 is perpendicular to the conveying direction DF. The clamping assembly 450 is movable relative to the base assembly 410 along the delivery direction DF to deliver the guidewire while clamping the guidewire. The first drive assembly 30 is used to provide a driving force for moving the clamping assembly 450 in the conveying direction DF. The first transmission assembly 40 is connected between the first driving assembly 30 and the clamping assembly 450, thereby transmitting the driving force of the first driving assembly 30 to the clamping assembly 450.
The clamping assembly 450 has a closed condition clamping the guidewire and an open condition unclamping the guidewire, the clamping channel 74 having a smaller width in the closed condition than in the open condition. That is, in the closed state, the clamping assembly 450 (clamping channel 74) clamps the guidewire, and in the open state, the clamping assembly 450 (clamping channel 74) releases the guidewire.
Preferably, the delivery device 400 is configured to twist the guidewire while delivering the guidewire so that the guidewire rotates about its own axis while advancing, thereby allowing the guidewire to more successfully enter body tissue (e.g., a blood vessel). The second drive assembly 60 is used to provide a driving force for twisting the guidewire. The second transmission assembly 80 is connected between the second driving assembly 60 and the clamping assembly 450, thereby transmitting the driving force of the second driving assembly 60 to the clamping assembly 450. Thus, the clamping assembly 450 not only translates relative to the base assembly 410 in the delivery direction DF, but also rotates relative to the base assembly 410 about a second axis of rotation PR2, wherein the second axis of rotation PR2 extends in the delivery direction DF and the second axis of rotation PR2 is located at the axis of the guidewire.
Preferably, the delivery device 400 includes two clamping assemblies 450 (e.g., 450A and 450B), with the two clamping assemblies 450 being spaced apart along the delivery direction DF of the guidewire. The conveying device 400 is configured such that the two clamping assemblies can reciprocally approach each other and depart from each other along the conveying direction DF. When the two gripper assemblies 450 are close to each other in the conveying direction DF, the gripper assembly (e.g., 450A) advancing in the conveying direction DF is in a closed state, and the gripper assembly (e.g., 450B) retreating in the conveying direction is in an open state; when the two gripper assemblies 450 are far from each other in the conveying direction DF, the gripper assembly advancing in the conveying direction (e.g., 450B) is in a closed state, and the gripper assembly retreating in the conveying direction (e.g., 450A) is in an open state. Thus, one of the two clamping assemblies 450 advances with the guide wire and the other is retracted relative to the guide wire, and then the two clamping assemblies 450 exchange roles so that the two clamping assemblies 450A and 450B can alternately deliver the guide wire.
Because the clamping assembly 450 can reciprocate along the conveying direction DF, when the clamping assembly 450 advances along the conveying direction DF, the clamping assembly clamps the guide wire so as to synchronously advance the guide wire and realize the conveying of the guide wire. When the clamping assembly 450 is retracted in the delivery direction DF, it releases the guidewire and retracts alone or relative to the guidewire (when the guidewire is clamped by the other clamping assembly 450 for advancement). When the clamping assembly 450 again clamps the guidewire, it again begins the next advancing motion, at which point the clamping assembly 450 clamps the rearward portion of the guidewire so that the guidewire can be delivered again. The delivery device 400 may reduce the size of the delivery device 400 by coordinating the opening and closing motion of the clamp assembly 450 with the reciprocating motion along the guidewire delivery direction DF so that the clamp assembly 450 may be moved only a short distance (relative to the length of the guidewire) to complete the delivery of the guidewire.
Preferably, in the present application, the first transmission assembly 40 is used to simultaneously make the clamping assembly 450 openable and closable, and make the clamping assembly 450 movable relative to the base assembly 410 along the conveying direction DF, so that the conveying apparatus 400 is more compact in structure. Specifically, the first transmission assembly 40 is simultaneously used to alternately open and close the two clamping assemblies 450A and 450B, and reciprocally move the two clamping assemblies 450A and 450B toward and away from each other with respect to the base assembly 410 along the conveying direction DF.
As shown in fig. 3, the base assembly 410 includes a first guide 71. As shown in fig. 4, the clamping assembly 450 includes a second guide 72. The second guide 72 is connected to the first guide 71 and is movable relative to the first guide 71 in the conveying direction DF such that the clamping assembly 450 is movable relative to the base assembly 410. Specifically, one of the first guide 71 and the second guide 72 is configured as a guide rail (e.g., the first guide 71) extending in the conveying direction DF, and the other of the first guide 71 and the second guide 72 is configured as a slide groove (e.g., the second guide 72) extending in the conveying direction DF, in which the guide rail is accommodated and movable in the conveying direction DF.
The structure of the clamping assembly 450 is described below as an example of the clamping assembly 450A.
As shown in fig. 4-6, the clamping assembly 450 includes a clamping assembly seat 420, a first clamping mechanism 430, and a second clamping mechanism 440. The clamping assembly mount 420 is provided to the base assembly 410 and is movable relative to the base assembly 410 along the conveying direction DF. Wherein the second guide 72 is provided to the clamping assembly seat 420. For example, the clamping assembly seat 420 is formed by a first clamping base 421 and two clamping side seats 422. The two clamping side seats 422 are spaced apart along the conveying direction DF and are respectively connected to two sides of the first clamping base 421 along the conveying direction DF. The second guide 72 is provided to a side of the first clamp base 421 for facing the base assembly 410. The first clamping mechanism 430 is disposed to the clamping assembly seat 420. The first clamping mechanism 430 includes the clamping channel 74 and is movable relative to the clamping assembly seat 420 in a width direction of the clamping channel 74 to vary the width of the clamping channel 74. A second clamping mechanism 440 is also provided to the clamping assembly holder 420 and is movable relative to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF for pressing the first clamping mechanism 430 to reduce the width of the clamping channel 74.
In the present application, the first clamping mechanism 430 is used to directly contact the clamping guidewire. The first clamping mechanism 430 has a closed state clamping the guidewire and an open state unclamping the guidewire. The first clamping mechanism 430 is configured to be rotatable about a second axis of rotation PR2 relative to the clamping assembly mount 420 (i.e., the base assembly 410) to clamp the guidewire for synchronous rotation to effect twisting of the guidewire. The second clamping mechanism 440 is used to cause the first clamping mechanism 430 to clamp or unclamp a guidewire. The second clamping mechanism 440 is reciprocally movable relative to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF for applying a pressing force to the first clamping mechanism 430 to reduce the width of the clamping channel 74 or withdrawing the pressing force to increase the width of the clamping channel 74.
Preferably, the first clamping mechanism 430 is generally configured as a cylinder with an axis of rotation, the second axis of rotation PR2. Preferably, the second clamping mechanism 440 is located at the outer periphery of the first clamping mechanism 430. The second clamping mechanism 440 is configured to be retractable and expandable relative to the first clamping mechanism 430 along a radial direction DR of the first clamping mechanism 430, wherein the radial direction DR is perpendicular to the conveying direction DF. When the second clamping mechanism 440 contracts relative to the first clamping mechanism 430, the second clamping mechanism 440 applies a compressive force to the first clamping mechanism 430 in the radial direction DR of the first clamping mechanism 430 to reduce the width of the clamping channel 74, leaving the first clamping mechanism 430 in a closed state; when the second clamping mechanism 440 expands relative to the first clamping mechanism 430, the second clamping mechanism 440 removes the compressive force to increase the width of the clamping channel 74, leaving the first clamping mechanism 430 in an open state.
Preferably, the clamping assembly 450 further includes a first elastic member 433 and a second elastic member 442. The first elastic member 433 is connected to the first clamping mechanism 430. The direction of the elastic force of the first elastic member 433 is parallel to the width direction of the grip passage 74 for increasing the width of the grip passage 74. Thus, when the pressing force of the second clamping mechanism 440 is removed, the first clamping mechanism 430 can be radially expanded by the first elastic member 433, so that the width of the clamping channel 74 is increased. The second elastic member 442 is connected to the second clamping mechanism 440. The direction of the elastic force of the second elastic member 440 is perpendicular to the conveying direction DF for causing the second clamping mechanism 440 to apply a pressing force to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF to reduce the width of the clamping channel 74. For example, the direction of the elastic force of the second elastic member 440 is parallel to the radial direction DR, so that the second clamping mechanism 440 applies a pressing force to the first clamping mechanism 430 in the radial direction DR.
Specifically, as shown in fig. 6 to 8, the first clamping mechanism 430 (430A) includes a first clamping portion 431 and a second clamping portion 432. The first and second clamping portions 431 and 432 are connected to the clamping assembly holder 420. The first grip portion 431 and the second grip portion 432 each extend in the conveying direction DF. The second clamping portion 432 is disposed opposite to the first clamping portion 431, and a gap therebetween forms the clamping channel 74. Preferably, the first and second clamping portions 431 and 432 are each generally configured as half cylinders with opposite planar sides of the half cylinders that are over-centered. It will be appreciated that the two planar sides are parallel to each other and that the direction perpendicular to the planar sides is the width of the clamping channel 74. Wherein the first elastic member 433 acts on the first clamping portion 431 and/or the second clamping portion 432 to move the first clamping portion 431 away from the second clamping portion 432.
The first clamping mechanism 430 also includes two ferrule caps 435 disposed to the clamping assembly holder 420 and spaced apart along the delivery direction DF. Specifically, the two clamping side seats 422 are provided with through holes 424 for receiving the ferrule caps 435, the boss 423 is fitted around the outer circumference of the ferrule caps 435, and the boss 423 and the ferrule caps 435 are mounted in the through holes 424. Both ends of the first clamping portion 431 in the conveying direction DF are located in the two ferrule caps 435, respectively. Both ends of the second clamping portion 432 in the conveying direction DF are also located in the two ferrule caps 435, respectively. Thus, the two ferrule caps 435C and 435D relatively connect the first clamping portion 431 and the second clamping portion 432 as a single unit. The boss 423 is also considered part of the clamping side seat 422.
Specifically, as shown in fig. 7, the first elastic member 433 includes at least one torsion spring 433, one torsion arm of the torsion spring 433 abuts against the ferrule cap 435, and the other torsion arm abuts against one side of the first grip portion 431 for facing the second grip portion 432 or one side of the second grip portion 432 for facing the first grip portion 431 so as to move the first grip portion 431 away from the second grip portion 432. Preferably, the first resilient member 433 includes four torsion springs 433B, 433C, 433D, and 433E, the four torsion springs 433 being mounted to the ferrule cap 435 by torsion spring shafts 433A, respectively. The torsion spring 433B is mounted to the ferrule cap 435C with one torsion arm abutting against the ferrule cap 435C (e.g., an end wall of the ferrule cap 435C) and the other torsion arm abutting against the first clamp 431. The torsion spring 433C is mounted to the ferrule cap 435C with one torsion arm abutting the ferrule cap 435C (e.g., an end wall of the ferrule cap 435C) and the other torsion arm abutting the second clamp 432. The torsion spring 433D is mounted to the ferrule cap 435D with one torsion arm abutting against the ferrule cap 435D (e.g., an end wall of the ferrule cap 435D) and the other torsion arm abutting against the first clamp 431. The torsion spring 433E is mounted to the ferrule cap 435D with one torsion arm abutting the ferrule cap 435D (e.g., an end wall of the ferrule cap 435D) and the other torsion arm abutting the second clamp 432.
Of course, the first elastic member 433 may be configured as a spring sandwiched between the first and second clamp parts 431 and 432.
Preferably, as shown in fig. 7 and 8, the first clamping portion 431 includes a first clamping member 436 and a first key 437. The first clamping member 436 is located in the two ferrule caps 435 at both ends in the delivery direction DF. The surface of the first clamping member 436 for facing the second clamping portion 432 is provided with a first key groove 436A extending in the conveying direction DF. The first key 437 is disposed in the first keyway 436A. The first key 437 includes an elastomeric material. The second clamp 432 includes a second clamp 438 and a second key 439. The second clamp 438 is located in both ferrule caps 435 at both ends in the delivery direction DF. The second clamping member 438 is disposed opposite the first clamping member 436. The surface of the second clamp 438 for facing the first clamp 431 is provided with a second key groove 438A extending in the conveying direction DF. The second key 439 is disposed in the second keyway 438A. The second key 439 comprises an elastic material. The second key groove 438A is disposed opposite the first key groove 436A such that the first key 437 is disposed opposite the second key 439, and a gap between the first key 437 and the second key 439 forms the clamping channel 74. The first clamping member 436 and the second clamping member 438 are generally configured as semi-cylinders.
Further preferably, the first clamping mechanism 430 also includes an additional spring 434. In the illustrated embodiment, an additional spring 434 is disposed in the first keyway 436A on a side of the first key 437 facing away from the second key 439. The additional spring 434 extends in the depth direction of the first key groove 436A. Wherein the sum of the free height of the additional spring 434 and the height of the first key 437 is less than or equal to the depth of the first key groove 436A. Or an additional spring 434 is disposed in the second keyway 438A on a side of the second key 439 facing away from the first key 437. The additional spring 434 extends in the depth direction of the second key groove 438A. Wherein the sum of the free height of the additional spring 434 and the height of the second key 439 is less than or equal to the depth of the second keyway 438A.
When the second clamping mechanism 440 presses the first clamping mechanism 430 in the radial direction DR, the pressing force overcomes the elastic force of the first elastic member 433, causing the first clamping portion 431 and the second clamping portion 432 to approach each other. The elastic deformability of the first key 437 and the second key 439, and the design of the additional spring 434, allow the first key 437 and the second key 439 to grip guide wires of different thicknesses. When the pressing force of the second clamping mechanism 440 is removed, the first elastic member 433 releases the elastic force, so that the first clamping portion 431 and the second clamping portion 432 are away from each other.
As previously described, the first clamping mechanism 430 is configured to rotate about the second axis of rotation PR2 to effect twisting of the guidewire. The conveyor 400 is configured to connect the first clamping mechanisms 430 of the two clamping assemblies 450 such that one of the two first clamping mechanisms 430 is rotatable about the second axis of rotation PR2 relative to the base assembly 410 and the clamping assembly holder 420, thereby causing the other of the two first clamping mechanisms 430 to rotate about the second axis of rotation PR2 in synchronization relative to the base assembly 410 and the clamping assembly holder 420.
Specifically, as shown in fig. 7 and 9-11, a ferrule cap 435 (e.g., 435C) of one of the two first clamping mechanisms 430 (e.g., 430B) for facing a side of the other of the two first clamping mechanisms 430 (e.g., 430A) is provided with a receptacle 435B. The ferrule cap 435 (e.g., 435D) of the other of the two first clamping mechanisms 430 (e.g., 430A) for facing a side of the one of the two first clamping mechanisms 430 (e.g., 430B) is provided with a plug 435A. The plug 435A is used to plug into the receptacle 435B to connect the two first clamping mechanisms 430.
The delivery device 400 is configured to rotate the ferrule cap 435 about the second axis of rotation PR2 relative to the base assembly 410 and the clamp assembly mount 420, thereby rotating the first clamp 431, the second clamp 432, and the guidewire together. As shown in fig. 7, both end portions of the first and second holders 436, 438 in the conveying direction DF are configured as squares, and the inside of the ferrule cap 435 is provided with receiving grooves (not shown) matching the squares for receiving both end portions of the first and second holders 436, 438 in the conveying direction DF. When the ferrule cap 435 rotates, the accommodating groove drives the two ends of the first clamping member 436 and the second clamping member 438 to synchronously rotate along the conveying direction DF, so that the first clamping member 436, the second clamping member 438 and the guide wire synchronously rotate.
Preferably, the delivery device 400 is configured to rotate the plug 435A or the receptacle 435B relative to the base assembly 410 and the clamp assembly mount 420 about the second axis of rotation PR 2. In the illustrated embodiment, the delivery device 400 is configured such that the receptacle 435B is rotatable relative to the base assembly 410 and the clamp assembly mount 420 about the second axis of rotation PR 2.
To enable the guidewire to extend in a straight line, the cuff cap 435 is provided with a channel 435G for passing the guidewire. The clamping assembly seat 420 is also provided with a passage for the guide wire, specifically a passage 422C including a clamping side seat 422.
As shown in fig. 1 and 2, the second drive assembly 60 is used to provide a driving force that rotates the two first clamping mechanisms 430 relative to the base assembly 410 and the clamping assembly mount 420. The second transmission assembly 80 is for connecting the second driving assembly 60 and the receptacle 435B for transmitting the driving force of the second driving assembly 60 to the receptacle 435B.
Specifically, the second drive assembly 60 includes a second motor 61. The second transmission assembly 80 includes a second gear assembly 82 and a fourth gear assembly 84. As shown in fig. 9, the second gear assembly 82 is connected to the receptacle 435B (e.g., fits around the outer periphery of the receptacle 435B). The fourth gear assembly 84 is connected to the output shaft of the second motor 61 and rotates synchronously with the output shaft of the second motor 61. The fourth gear assembly 84 is meshed with the second gear assembly 82. The second gear assembly 82 and the receptacle 435B rotate about the second axis of rotation PR2 in synchronization with respect to the base assembly 410 and the clamp assembly mount 420. Thus, the receptacle 435B is rotatable relative to the base assembly 410 and the clamp assembly mount 420 about the second axis of rotation PR2 under the drive of the second motor 61 such that the two first clamp mechanisms 430 rotate synchronously relative to the base assembly 410 and the clamp assembly mount 420 about the second axis of rotation PR 2.
The second gear assembly 82 is provided with a second gear assembly passageway 82C for passing a guidewire therethrough. The plug 435A is provided with a plug passageway 435E for passing a guidewire. The plug 435A is provided with a receptacle channel 435F for passing a guidewire. Thus, the guidewire may extend straight through both clamping assemblies 450.
Preferably, the first clamping mechanism 430 has a symmetrical structure.
As previously described, the two clamping assemblies 450 need to be moved in the conveying direction DF, as shown in fig. 1 and 2, in order to keep the fourth gear assembly 84 in engagement with the second gear assembly 82 at all times, the fourth gear assembly 84 comprises a long gear 85 extending in the conveying direction DF for engagement with the second gear assembly.
As shown in fig. 12 and 13, the second clamping mechanism 440 includes a second clamping base 441, a third clamping portion 443, a fourth clamping portion 444, and a clamping transmission portion 470. The second clamping base 441 is disposed to the clamping assembly seat 420. The third grip portion 443, the fourth grip portion 444, and the grip transmission portion 470 are all provided to the second grip base 441.
The third clamping portion 443 is movable relative to the second clamping base 441 in the radial direction DR of the first clamping mechanism 430. For example, the second clamping base 441 is provided with a first pin 443A, the first pin 443A extending in the radial direction DR. The third clamping portion 443 is connected to (sleeved onto) the first pin 443A and is movable in the radial direction DR with respect to the first pin 443A, so that the third clamping portion 443 is movable in the radial direction DR with respect to the second clamping base 441. The third clamping portion 443 is located on one side of the first clamping mechanism 430 in the radial direction DR (see fig. 4 to 6 and 9).
The fourth clamp 444 is also movable relative to the second clamp base 441 in the radial direction DR. For example, the second clamp base 441 is provided with a second pin 444A, the second pin 444A extending in the radial direction DR. The fourth clamp portion 444 is connected to (sleeved onto) the second pin 444A and is movable in the radial direction DR with respect to the second pin 444A, so that the fourth clamp portion 444 is movable in the radial direction DR with respect to the second clamp base 441. The fourth gripping portion 444 is located on the other side of the first gripping mechanism 430 in the radial direction DR (refer to fig. 4 to 6 and 9). The fourth clamping portion 444 is disposed opposite the third clamping portion 443 to surround the first clamping mechanism 430 on the outer periphery of the first clamping mechanism 430 in common with the third clamping portion 443. For example, the third clamping portion 443 and the fourth clamping portion 444 are each provided with a semi-cylindrical recess for matching the outer circumferential shape of the first clamping mechanism 430. The third clamping portion 443 and the fourth clamping portion 444 are formed to entirely surround the first clamping mechanism 430 around the outer periphery of the first clamping mechanism 430.
The clamp transmission 470 is movable in the radial direction DR relative to the second clamp base 441. The grip transmission portion 470 is connected to both the third grip portion 443 and the fourth grip portion 444 for controlling the third grip portion 443 and the fourth grip portion 444 to be close to each other or to be distant from each other in the radial direction DR. The grip transmission portion 470 is connected to the first transmission assembly 40 such that the first transmission assembly 40 controls the third grip portion 443 and the fourth grip portion 444 to be moved toward or away from each other in the radial direction DR by the grip transmission portion 470. In other words, the first transmission assembly 40 controls the contraction or expansion of the second clamping mechanism 440 in the radial direction DR relative to the first clamping mechanism 430 via the clamping transmission 470. Wherein the second elastic member 442 is connected between the second clamping base 441 and at least one of the clamping transmission portion 470, the third clamping portion 443, and the fourth clamping portion 444.
Specifically, the second clamping base 441 includes a radial beam 449 extending in the radial direction DR, the radial beam 449 being provided with radial grooves 449A extending in the radial direction DR. The third clamping portion 443 includes a third rack 445, the third rack 445 extending in the radial direction DR. The fourth clamping portion 444 includes a fourth rack 446, the fourth rack 446 extending in the radial direction DR. The third rack 445 and the fourth rack 446 extend through the radial slot 449A and are movable in the radial direction DR in the radial slot 449A. Thus, the radial beams 449 and the first pins 443A provide support for the third clamping portion 443, and the radial slots 449A and the first pins 443A provide guiding for movement of the third clamping portion 443; the radial beams 449 and the second pins 444A provide support for the fourth clamp 444 and the radial slots 449A and the second pins 444A provide guiding for movement of the fourth clamp 444.
The clamp transmission portion 470 includes a clamp rack 471, a second protrusion 53A, a third clamp gear 473, and a fourth clamp gear 474. The clamping rack 471 is provided to the second clamping base 441 at a side of the second clamping base 441 near the third rack 445 and the fourth rack 446. The clamp rack 471 is movable in the radial direction DR with respect to the second clamp base 441. The clamp rack 471 is movable relative to the second clamp base 441 in a direction perpendicular to the conveying direction DF. The clamping rack 471 extends in the radial direction DR. The gripping rack 471 extends in a direction perpendicular to the conveying direction DF. The third clamping gear 473 is provided to the second clamping base 441 and is engaged with the clamping rack 471 and the third rack 445. The fourth clamp gear 474 is provided to the second clamp base 441, and is engaged with the third clamp gear 473 and the fourth rack 446. The third clamping gear 473 is aligned with the fourth clamping gear 474 in the radial direction DR. The clamping rack 471 has a clamping rack first end 475 and a clamping rack second end 476 disposed opposite in the radial direction DR. For example, the end near the third clamping gear 473 is a clamping rack first end 475 and the end near the fourth clamping gear 474 is a clamping rack second end 476. The second projection 53A is provided to the clamp rack first end 475.
The second elastic member 442 is, for example, connected between the second end 476 of the clamping rack and the second clamping base 441. The second elastic member 442 is configured as a second spring 442B, for example. A side of the second clamping base 441 in the radial direction, which is close to the fourth clamping gear 474, is provided with a second spring holder 442A, for example. The second spring 442B is sandwiched between the rack second end 476 and the second spring seat 442A.
With such a design, the second spring 442B applies a force to the clamp rack second end 476 in the radial direction DR toward the clamp rack first end 475 (leftward in fig. 12 and 13), so that the clamp rack 471 moves in the direction of the radial direction DR toward the clamp rack first end 475 (leftward). At the same time, the holding rack 471 rotates the third holding gear 473 (counterclockwise in fig. 13). The third clamping gear 473 moves the third rack 445 in the radial direction DR in a direction toward the clamping rack second end 475 (rightward in fig. 12 and 13). The third clamping gear 473 also rotates (counter clockwise in fig. 13) the fourth clamping gear 474. The fourth clamping gear 474 moves the fourth rack 446 in a direction (leftward) along the radial direction DR toward the clamping rack first end 476. Thus, the third clamping portion 443 moves rightward and the fourth clamping portion 444 moves leftward, and the third and fourth clamping portions 443, 444 approach each other in the radial direction DR, that is, the second clamping mechanism 440 contracts in the radial direction DR, and the second clamping mechanism 440 applies a pressing force to the first clamping mechanism 430 in the radial direction DR.
At this time, if a force in the radial direction DR toward the clamp rack second end 476 (rightward in fig. 12 and 13) is applied to the second projection 53A, the clamp rack 471 moves in the radial direction DR toward the clamp rack second end 476 (rightward), so that the second spring 442B is compressed. At the same time, the holding rack 471 brings the third holding gear 473 into rotation (clockwise rotation in fig. 13). The third clamping gear 473 moves the third rack 445 in the radial direction DR in a direction toward the clamping rack first end 475 (leftward in fig. 12 and 13). The third clamp gear 473 also rotates (counterclockwise in fig. 13) the fourth clamp gear 474. The fourth clamping gear 474 moves the fourth rack 446 in the radial direction DR (to the right) toward the clamping rack second end 476. Thus, the third clamping portion 443 moves leftward and the fourth clamping portion 444 moves rightward, and the third and fourth clamping portions 443, 444 move away from each other in the radial direction DR, that is, the second clamping mechanism 440 expands in the radial direction DR, and the pressing force applied by the second clamping mechanism 440 to the first clamping mechanism 430 disappears.
Preferably, the second resilient member 442 also includes a third spring 447. The third spring 447 extends in the radial direction DR. The third spring 447 is disposed between the third clamping portion 443 and the second clamping base 441. For example, the second clamp base 441 is provided with a third spring seat 447A, and the third spring 447 is disposed between the third clamp 443 and the third spring seat 447A. Preferably, the second resilient member 442 also includes a fourth spring 448. The fourth spring 448 extends in the radial direction DR. The fourth spring is disposed between the fourth clamp 444 and the second clamp base 441. For example, the second clamp base 441 is provided with a fourth spring seat 448A, and the fourth spring 448 is disposed between the fourth clamp portion 444 and the fourth spring seat 448A. The third spring 447 and the fourth spring 448 are both in a compressed state, which acts on the second spring 442 to bring the third clamping portion 443 and the fourth clamping portion 444 closer together in the radial direction DR, i.e., even if the second clamping mechanism 440 contracts in the radial direction DR, thereby applying a pressing force to the first clamping mechanism 430 to bring the first clamping mechanism 430 into a closed state, i.e., even if the clamping assembly 450 is in a closed state.
In the present application, the second spring 442B, the third spring 447, and the fourth spring 448 may be provided separately, or any two or all three of them may be provided. That is, the second elastic member 442 includes at least one of the second spring 442B, the third spring 447, and the fourth spring 448.
The conveying device 400 is configured such that the two clamping assemblies 450 are reciprocally movable away from and toward each other along the conveying direction DF. When the two grip assemblies 450 are close to each other in the conveying direction DF, the third grip portion 443 and the fourth grip portion 444 of the grip assembly 450 that advance in the conveying direction DF are close to each other in the radial direction DR, and the third grip portion 443 and the fourth grip portion 444 of the grip assembly 450 that retreat in the conveying direction DF are distant from each other in the radial direction DR; when the two grip assemblies 450 are away from each other in the conveying direction DF, the third grip portion 443 and the fourth grip portion 444 of the grip assembly 450 that advance in the conveying direction DF are close to each other in the radial direction DR, and the third grip portion 443 and the fourth grip portion 444 of the grip assembly 450 that retreat in the conveying direction DF are away from each other in the radial direction DR.
As described above, the first transmission assembly 40 is simultaneously used to alternately open and close the two clamping assemblies 450A and 450B, and to reciprocally move the two clamping assemblies 450A and 450B toward and away from each other with respect to the base assembly 410 along the conveying direction DF. Specifically, the first transmission assembly 40 periodically acts on the second protrusion 53A of the second clamping mechanism 440 such that the third and fourth clamping portions 443, 444 are periodically moved away from and toward each other in the radial direction DR, and the contraction and expansion timings of the second clamping mechanism 440 of the two clamping assemblies 450A, 450B are opposite. Meanwhile, the first transmission assembly 40 periodically acts on the clamping assembly holder 420 such that the clamping assembly holder 420 can reciprocally advance and retreat in the conveying direction DF, and the advance and retreat timings of the clamping assembly holders 420 of the two clamping assemblies 450A and 450B are opposite.
That is, the conveying device 400 is configured such that the two clamping assembly seats 420 are reciprocally movable toward and away from each other along the conveying direction DF. When the two gripper assembly holders 420 are close to each other in the conveying direction DF, the third gripper portion 443 and the fourth gripper portion 444 corresponding to the gripper assembly holder 420 advancing in the conveying direction DF are close to each other in the radial direction DR, and the third gripper portion 443 and the fourth gripper portion 444 corresponding to the gripper assembly holder 420 retreating in the conveying direction DF are away from each other in the radial direction DR; when the two gripper assembly holders 420 are away from each other in the conveying direction DF, the third gripper portion 443 and the fourth gripper portion 444 corresponding to the gripper assembly holder 420 advancing in the conveying direction DF are close to each other in the radial direction DR, and the third gripper portion 443 and the fourth gripper portion 444 corresponding to the gripper assembly holder 420 retreating in the conveying direction DF are away from each other in the radial direction DR.
That is, the conveying apparatus 400 is configured such that the first clamping mechanism 430 is in a closed state when the clamping assembly holder 420 advances in the conveying direction DF; when the gripper assembly holder 420 is retracted in the conveying direction DF, the first gripper mechanism 430 is in an open state. The first clamping mechanism 430 moves synchronously with the clamping assembly holder 420 in the transport direction DF relative to the base assembly 410.
As shown in fig. 1,2 and 14, the first transmission assembly 40 includes a first transmission body 42, the first transmission body 42 being provided to a base assembly 410. The first transmission body 42 is simultaneously connected to the two clamping assemblies 450 such that the two clamping assemblies 450 alternately open and close and reciprocally move away from and toward each other along the conveying direction DF. The first transmission body 42 is simultaneously connected to the two clamping assembly seats 420 to reciprocally move them toward and away from each other relative to the base assembly 410 along the conveying direction DF. The first transmission body 42 also acts on the two second protrusions 53A, i.e. the first transmission body 42 also acts on the two clamping transmission portions 470, so that the third 443 and fourth 444 clamping portions periodically come closer to and further away from each other in the radial direction DR, and the two second clamping mechanisms 440 are alternately scaled.
The first transmission body 42 includes two conveying transmission assemblies 43, and the two conveying transmission assemblies 43 are respectively corresponding to the two clamping assemblies 450. The conveyor transmission assembly 43 comprises a first conveyor transmission 44 and a second conveyor transmission 47. The first conveying transmission portion 44 serves to bring the third grip portion 443 and the fourth grip portion 444 closer to or farther from each other in the radial direction DR. The second conveying transmission portion 47 is configured to enable the clamping assembly holder 420 to reciprocate relative to the base assembly 410 along the conveying direction DF.
The first transmission body 42 is configured as a first shaft (the first transmission body 42 is also referred to as a first shaft 42), and the conveying device 400 is configured such that the first shaft 42 is rotatable relative to the base assembly 410 about a first rotation axis PR 1. Wherein the first rotation axis PR1 is parallel to the conveying direction DF. For example, the two ends of the first rotation shaft 42 are respectively mounted to two supports 414 through bushings 415, and the two supports 414 are provided to the base assembly 410. The support 414 may also be considered as part of the base assembly 410.
As shown in fig. 14 and 15, the first conveying transmission portion 44 is configured as a cam portion on the first rotating shaft 42 (herein, the first conveying transmission portion 44 is also referred to as a cam portion 44). As shown in fig. 15, the cam portion 44 includes a first half wheel 45 and a second half wheel 46. In the cross section of the cam portion 44, the first half wheel 45 is a first semicircle having a radius of the first radius R1 (a portion on the left side of the broken line of the first conveying transmission portion 44 in fig. 15). In the cross section of the cam portion 44, the second half wheel is a second semicircle having a radius of the second radius R2 (a portion on the right side of the broken line of the first conveying transmission portion 44 in fig. 15). The first radius R1 is greater than the second radius R2, the center of the first semicircle coincides with the center of the second semicircle, and the center O coincides with the first rotation axis PR 1.
As shown in fig. 1 and 2, the first rotating shaft 42 is spaced apart from the two clamping assemblies 450 in a direction perpendicular to the first rotation axis PR1, and an extending direction of the first rotating shaft 42 is parallel to an arrangement direction of the two clamping assemblies 450, which are both a conveying direction DF. The clamping rack first end 475 of the clamping rack 471 is proximate to the first rotational axis 42 and the clamping rack second end 476 opposite the clamping rack first end 475 is distal to the first rotational axis 42. The clamping rack first end 475 of the clamping rack 471 is proximate the cam portion 44 and the clamping rack second end 476 opposite the clamping rack first end 475 is distal the cam portion 44. The second projection 53A is provided at the clamp rack first end 475 for interaction with the cam portion 44 (the first conveying transmission portion 44).
Wherein, the first radius R1 is greater than the distance between the first rotation axis PR1 and the second protrusion 53A, and the second radius R2 is less than the distance between the first rotation axis PR1 and the second protrusion 53A. When the first half wheel 45 faces the clamp assembly 450, the cam portion 44 contacts (presses in the radial direction DR) the second protrusion 53A, moving the third and fourth clamp portions 443, 444 away from each other in the radial direction; when the second half wheel 46 is directed toward the clamping assembly 450, the cam portion 44 is released from contact with the second projection 53A, and the third 443 and the fourth 444 are brought closer to each other in the radial direction DR by the second elastic member 442.
In other words, the first radius R1 is greater than the distance between the first rotation axis PR1 and the clamp transmission 470, and the second radius R2 is less than the distance between the first rotation axis PR1 and the clamp transmission 470. When the first half wheel 45 faces the clamping assembly 450, the cam portion 44 contacts the clamping transmission portion 470, moving the third 443 and the fourth 444 away from each other in the radial direction DR; when the second half wheel 46 is directed toward the clamping assembly 450, the cam portion 44 is released from contact with the clamping transmission portion 450, and the third 443 and the fourth 444 are moved closer to each other in the radial direction DR by the second resilient member 442.
In other words, the first radius R1 is greater than the distance between the first rotation axis PR1 and the second clamping mechanism 440, and the second radius R2 is smaller than the distance between the first rotation axis PR1 and the second clamping mechanism 440. When the first half wheel 45 faces the clamping assembly 450, the cam portion 44 contacts the second clamping mechanism 440, leaving the clamping assembly 450 in an open state; when the second half wheel 46 is facing the clamping assembly 450, the cam portion 44 is disengaged from the second clamping mechanism 440, leaving the clamping assembly 450 in the closed position.
In other words, the first radius R1 is greater than the distance of the first rotation axis PR1 from the clamping assembly 450, and the second radius R2 is less than the distance of the first rotation axis PR1 from the clamping assembly 450. When the first half wheel 45 faces the clamping assembly 450, the cam portion 44 contacts the clamping assembly 450, leaving the clamping assembly 450 in an open state; when the second wheel half 46 is facing the clamp assembly 450, the cam portion 44 is released from contact with the clamp assembly 450, leaving the clamp assembly 450 in a closed state.
Preferably, the outer circumferential surface of the first half wheel 45 smoothly transitions with the outer circumferential surface of the second half wheel 46 so that the first half wheel 45 smoothly applies the driving force to the second protrusion 53A.
In order to alternately open and close the two clamping assemblies 450, the cam portions 44 of the two conveying transmission assemblies 43 are 180 degrees apart in the circumferential direction of the first rotation shaft 42.
As shown in fig. 1,2 and 14, the second conveying transmission portion 47 is configured as a chute (herein, the second conveying transmission portion 47 is also referred to as a chute 47). The chute 47 is configured as an annular through groove provided at the outer peripheral surface of the first rotation shaft 42, and the extending direction of the chute 47 is not perpendicular to the first rotation axis PR 1. The chute 47 is connected to the clamp assembly mount 420. As shown in fig. 1,2, 5, 6 and 9, the clamping assembly 450 further includes a connection assembly 54. One end of the connection assembly 54 is connected to the clamping assembly seat 420, and the other end of the connection assembly 54 is received in the chute 47.
When the first rotating shaft 42 rotates, since the extending direction of the chute 47 is not perpendicular to the first rotation axis PR1, the position of the side of the chute 47 facing the clamping assembly 50 moves relative to the base assembly 410 along the conveying direction DF, so as to drive the connecting assembly 54 to move relative to the base assembly 410 along the conveying direction DF, and further drive the clamping assembly seat 420 to move relative to the base assembly 410 along the conveying direction DF, and finally drive the first clamping portion 431 and the second clamping portion 432 to move relative to the base assembly 410 along the conveying direction DF.
Preferably, as shown in FIG. 6, the connection assembly 54 includes a connection shaft 58 and a miniature bearing 59. The connection shaft 58 extends in a direction perpendicular to the first rotation axis PR1, one end of the connection shaft 58 is connected to the clamping assembly holder 420, and the other end of the connection shaft 58 is accommodated in the chute 47. The miniature bearing 59 is sleeved on the connecting shaft 58, and the outer ring of the bearing 59 is used for contacting the groove wall of the chute 47, so that friction between the connecting assembly 54 and the chute 47 is reduced.
As shown in fig. 14, since the extending direction of the chute 47 is not perpendicular to the first rotation axis PR1, the chute 47 has a proximal point 48 closest to the cam portion 44 and a distal point 49 farthest from the cam portion 44 in the direction of the first rotation axis PR 1. To coordinate the opening and closing of the clamping assembly 450 with the movement, the near point 48 and the far point 49 are 180 degrees apart on the outer peripheral surface of the first rotational shaft 42, and the near point 48 and the far point 49 lie in a plane in which the contact surfaces of the first half wheel 45 and the second half wheel 46 lie (i.e., in a plane defined by a broken line and the first rotational axis PR1 in fig. 15).
When the proximal point 48 is in the position of the forward clamping assembly 450, the first shaft 42 rotates such that the larger first half wheel 45 contacts the second protrusion 53A. During the latter half of the cycle (180 degrees of rotation of the first shaft 42), the first wheel half 45 continues to contact the second projection 53A, so that the clamp assembly 450 remains open. At the same time, during this half cycle, the distal point 49 of the chute 47 gradually turns to the position of the forward clamping assembly 450, i.e. the position of the side of the chute 47 facing the clamping assembly 450 is always moved in the same direction of the conveying direction DF (e.g. to the right in fig. 14), so that the clamping assembly 450 is also kept moving in the same direction all the time. At the end of this half cycle of movement, the distal point 49 is at the position of the forward clamp assembly 450, and the clamp assembly 450 is in the extreme position for movement to the right. Thereafter, the first shaft 42 continues to rotate, changing the second half-wheel 46 toward the second projection 53A, and continuing for half a cycle, i.e., so that the clamping assembly 450 remains in the closed state for half a cycle. During this half-cycle, the proximal point 48 of the chute 47 gradually turns to the position of the forward clamping assembly 450, i.e. the position of the side of the chute 47 facing the clamping assembly 450 is always moved in the other direction of the conveying direction DF (e.g. to the left in fig. 14), so that the clamping assembly 450 is also always kept moving to the left. At the end of this half-cycle of motion, the near point 48 is at the position of the forward clamp assembly 450, and the clamp assembly 450 is in the extreme position for movement to the left. The above-described movement is repeated such that the clamp assembly 50 is in a closed state when the clamp assembly 450 is advanced (e.g., moved leftward) along the delivery direction DF of the guidewire, and the clamp assembly 450 is in an open state when the clamp assembly 450 is retracted (e.g., moved rightward) along the delivery direction DF of the guidewire.
In order to move the two clamping assembly holders 420 in the conveying direction DF in opposite directions to each other, as shown in fig. 14, one of the inclined grooves 47 of the two conveying transmission assemblies 43 extends in a first acute angle a1 with the first rotation axis PR1 in a first rotation direction, and the other of the inclined grooves 47 of the two conveying transmission assemblies 43 extends in a second acute angle a2 with the first rotation axis PR1 in a second rotation direction, the first rotation direction being opposite to the second rotation direction. Preferably, the first acute angle a1 is equal to the second acute angle a2 so that the two clamping assemblies 450 have the same conveying efficiency.
It will be appreciated that the distance between the proximal point 48 and the distal point 49 in the delivery direction DF determines the distance that the clamping assembly 450 reciprocates in the delivery direction DF. It will be appreciated that the angle of inclination of the chute 47 relative to the conveying direction DF determines the distance that the clamping assembly 450 reciprocates along the conveying direction DF.
Preferably, on the first rotation shaft 42, the inclined grooves 47 of the two conveying transmission assemblies 43 are located in the middle of the cam portions 44 of the two conveying transmission assemblies 43, so that the entire length of the first rotation shaft 42, that is, the size of the conveying device 400 can be reduced when the clamping assembly 450 is moved by the same distance in the conveying direction DF. Or on the first shaft 42, the cam portions 44 of the two conveyor transmission assemblies 43 are located in the middle of the chute 47 of the two conveyor transmission assemblies 43. In this way, the first shaft 42 can be made to have a symmetrical structure, and the two clamping assemblies 450 can be made to have a mutually symmetrical structure, thereby making the product processing simple.
As is apparent from the above description, the first conveying transmission part 44 and the second conveying transmission part 47 respectively perform their respective functions during the rotation of the first transmission body 42. Preferably, the first transmission body 42 is formed integrally with the conveying transmission assembly 43, i.e. the first transmission body 42, the first conveying transmission part 44 and the second conveying transmission part 47 are formed integrally, e.g. machined as one and the same shaft. The first conveyor transmission 44 and the second conveyor transmission 47 may also be considered as part of the first shaft 42.
Preferably, the first drive assembly 30 includes a first motor 31 and a third gear assembly 33. The first motor 31 provides power for rotating the first rotary shaft 42. The third gear assembly 33 is connected to the output shaft of the first motor 31 and the first shaft 42, respectively, and transmits the driving force of the first motor 31 to the first shaft 42, thereby rotating the first shaft 42.
Preferably, the first rotation shaft 42 is disposed on the same side of the base assembly 410 as the clamping assembly 450. The first motor 31 and the second motor 61 are disposed on the same side of the base assembly 410. The first motor 31 and the second motor 61 are disposed on opposite sides of the base assembly 410 from the first shaft 42 and the clamping assembly 450.
A conveying apparatus 500 according to a second embodiment of the present application is described below. The conveying device 500 has a plurality of structures similar to those of the conveying device 400, and will not be described here.
As shown in fig. 16 and 17, in a second embodiment according to the present application, the conveying apparatus 500 includes a base assembly 510, at least one clamping assembly 550, a first driving assembly 30, and a first transmission assembly 40. Preferably, the conveyor 500 further comprises a second drive assembly 60 and a second transmission assembly 80. Wherein the clamping assembly 550, the first driving assembly 30, the first transmission assembly 40, the second driving assembly 60, and the second transmission assembly 80 are all disposed to the base assembly 510.
Preferably, the delivery device 500 includes two clamping assemblies 550 (e.g., 550A and 550B), the two clamping assemblies 550 being spaced apart along the delivery direction DF of the guidewire. The conveying device 500 is configured such that the two clamping assemblies can reciprocally approach each other and depart from each other along the conveying direction DF. When the two clamping assemblies 550 are close to each other in the conveying direction DF, the clamping assembly (e.g., 550A) advancing in the conveying direction DF is in a closed state, and the clamping assembly (e.g., 550B) retreating in the conveying direction is in an open state; when the two clamp assemblies 550 are far from each other in the conveying direction DF, the clamp assembly advancing in the conveying direction (e.g., 550B) is in a closed state, and the clamp assembly retreating in the conveying direction (e.g., 550A) is in an open state. Thus, one of the two clamping assemblies 550 advances with the guide wire and the other is retracted relative to the guide wire, and then the two clamping assemblies 550 exchange roles so that the two clamping assemblies 550A and 550B can alternately deliver the guide wire.
Preferably, in the present application, the first transmission assembly 40 is used to simultaneously make the clamping assembly 550 openable and closable, and make the clamping assembly 550 movable relative to the base assembly 510 along the conveying direction DF, so that the conveying apparatus 500 is more compact in structure. Specifically, the first transmission assembly 40 is simultaneously used to alternately open and close the two clamping assemblies 550A and 550B, and to reciprocally move the two clamping assemblies 550A and 550B toward and away from each other with respect to the base assembly 510 along the conveying direction DF.
The structure of the clamping assembly 550 is described below as an example of the clamping assembly 550A.
As shown in fig. 18-20, the clamping assembly 550 includes a clamping assembly seat 520, a first clamping mechanism 430, and a second clamping mechanism 540. The clamping assembly seat 520 is provided to the base assembly 510 and is movable relative to the base assembly 510 along the conveying direction DF. Preferably, the second guide is provided to the clamping assembly seat 520. For example, the clamping assembly seat 520 is formed by a first clamping base 521 and two clamping side seats 522. The two clamping side seats 522 are spaced apart in the conveying direction DF and are respectively connected to both sides of the first clamping base 521 in the conveying direction DF. The first clamping mechanism 430 is disposed to the clamping assembly seat 520. The first clamping mechanism 430 includes a clamping channel 74 and is movable relative to the clamping assembly seat 520 in a width direction of the clamping channel 74 to vary the width of the clamping channel 74. A second clamping mechanism 540 is also provided to the clamping assembly holder 520 and is movable relative to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF for pressing the first clamping mechanism 430 to reduce the width of the clamping channel 74.
In the present application, the first clamping mechanism 430 is used to directly contact the clamping guidewire. The first clamping mechanism 430 has a closed state clamping the guidewire and an open state unclamping the guidewire. The first clamping mechanism 430 is configured to be rotatable about a second axis of rotation PR2 relative to the clamping assembly mount 520 (i.e., relative to the base assembly 510) to thereby clamp the guidewire for synchronous rotation to effect twisting of the guidewire. The second clamping mechanism 540 is used to cause the first clamping mechanism 430 to clamp or unclamp a guidewire. The second clamping mechanism 540 is reciprocally movable relative to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF for applying a pressing force to the first clamping mechanism 430 to reduce the width of the clamping channel 74 or withdrawing the pressing force to increase the width of the clamping channel 74.
Preferably, the first clamping mechanism 430 is generally configured as a cylinder with an axis of rotation, the second axis of rotation PR2. Preferably, the second clamping mechanism 540 is located at the outer periphery of the first clamping mechanism 430. The second clamping mechanism 540 is configured to be retractable and expandable relative to the first clamping mechanism in a radial direction DR of the first clamping mechanism 430, wherein the radial direction DR is perpendicular to the conveying direction DF. When the second clamping mechanism 540 contracts relative to the first clamping mechanism 430, the second clamping mechanism 540 applies a compressive force to the first clamping mechanism 430 in the radial direction DR of the first clamping mechanism 430 to reduce the width of the clamping channel 74, leaving the first clamping mechanism 430 in a closed state; when the second clamping mechanism 540 expands relative to the first clamping mechanism 430, the second clamping mechanism 540 removes the compressive force to increase the width of the clamping channel 74, leaving the first clamping mechanism 430 in an open state.
In the second embodiment, the structure and the operation mechanism of the first clamping mechanism 430 are exactly the same as in the first embodiment. As shown in fig. 18 and 19, the ferrule cap 435 of one of the two first clamping mechanisms 430 (e.g., 430B) for facing the side of the other of the two first clamping mechanisms 430 (e.g., 430A) is provided with a receptacle 435B. The ferrule cap 435 on the side of the other of the two first clamping mechanisms 430 (e.g., 430A) that faces the one of the two first clamping mechanisms 430 (e.g., 430B) is provided with a plug 435A. The plug 435A is used to plug into the receptacle 435B to connect the two first clamping mechanisms 430. As shown in fig. 16 and 17, the second driving assembly 60 is used to provide driving force for rotating the two first clamping mechanisms 430 with respect to the base assembly 510 and the clamping assembly holder 520. The second transmission assembly 80 is used to connect the second drive assembly 60 and the receptacle 435B for transmitting the driving force of the second drive assembly 60 to the receptacle 435B, thereby rotating the two first clamping mechanisms 430 about the second axis of rotation PR2 relative to the base assembly 510.
As shown in fig. 21, the second clamping mechanism 540 includes a second clamping base 541, a third clamping portion 543, a fourth clamping portion 544, and a clamping transmission portion 570. The second clamping base 541 is disposed to the clamping assembly seat 520. The third clamping portion 543, the fourth clamping portion 544, and the clamping transmission portion 570 are all provided to the second clamping base 541.
The third clamping portion 543 is movable relative to the second clamping base 541 along the radial direction DR of the first clamping mechanism 430. For example, the second clamping base 541 is provided with a first pin 543A, and the first pin 543A extends in the radial direction DR. The third clamping portion 543 is connected to (sleeved on) the first pin 543A and is movable in the radial direction DR with respect to the first pin 543A, so that the third clamping portion 543 is movable in the radial direction DR with respect to the second clamping base 541. The third clamping portion 543 is located on one side of the first clamping mechanism 430 in the radial direction DR (see fig. 18 to 20).
The fourth clamp 544 is also movable relative to the second clamp base 541 in the radial direction DR. For example, the second clamp base 541 is provided with a second pin 544A, the second pin 544A extending in the radial direction DR. The fourth clamp portion 544 is connected to (sleeved onto) the second pin 544A and is movable relative to the second pin 544A in the radial direction DR such that the fourth clamp portion 544 is movable relative to the second clamp base 541 in the radial direction DR. The fourth clamp portion 544 is located on the other side of the first clamp mechanism 430 in the radial direction DR (refer to fig. 18 to 20). The fourth clamp portion 544 is provided opposite to the third clamp portion 543 so as to surround the first clamp mechanism 430 on the outer periphery thereof in common with the third clamp portion 543. For example, the third clamping portion 543 and the fourth clamping portion 544 are each provided with a semi-cylindrical recess for matching the outer circumferential shape of the first clamping mechanism 430. The third clamping portion 543 and the fourth clamping portion 544 entirely surround the first clamping mechanism 430 around the outer periphery of the first clamping mechanism 430.
The clamp transmission 570 is connected to the third and fourth clamp portions 543, 544 for controlling the third and fourth clamp portions 543, 544 to be close to or distant from each other in the radial direction DR. As shown in fig. 18 to 21, the clamp transmission 570 includes a clamp connection assembly 575, a third guide groove 573, a third pin 573E, a fourth guide groove 574, and a fourth pin 574E.
The clamp connection assembly 575 is provided to the second clamp base 541.
The third guide groove 573 is provided to one of the clamping assembly holder 520 and the third clamping portion 543. The third guide groove 573 extends in the conveying direction DF and simultaneously extends in the radial direction DR. One end of the third pin 573E is disposed to the other of the clamping assembly holder 520 and the third clamping portion 543, and the other end is located in the third guide groove 573. The third pin 573E is movable in the third guide groove 573 such that the third clamping portion 543 is movable relative to the clamping assembly holder 520 in the extending direction of the third guide groove 573, that is, such that the third clamping portion 543 is movable relative to the clamping assembly holder 520 in the conveying direction DF and the radial direction DR.
A fourth guide groove 574 is provided to one of the clamp assembly holder 520 and the fourth clamp 544. The fourth guide groove 574 extends in the conveying direction DF and simultaneously extends in the radial direction DR. One end of the fourth pin 574E is disposed to the other of the clamping assembly holder 520 and the fourth clamping portion 544, and the other end is located in the fourth guide groove 574. The fourth pin 574E is movable in the fourth guide groove 574 such that the fourth clamp portion 544 is movable relative to the clamp assembly holder 520 in the extending direction of the fourth guide groove 574, i.e., such that the fourth clamp portion 544 is movable relative to the clamp assembly holder 520 in the conveying direction DF and the radial direction DR.
As shown in fig. 20 and 21, the clamping assembly 550 further includes a first clamping guide 551 and a second clamping guide 552. The first clamping guide 551 is provided to the second clamping base 541 and the second clamping guide 552 is provided to the clamping assembly holder 520. The second clamping guide 552 is connected to the first clamping guide 551 and is movable relative to the first clamping guide 551 in the conveying direction DF, so that the second clamping base 541 is movable relative to the clamping assembly seat 520 in the conveying direction DF, i.e. the second clamping base 541 is movable relative to the base assembly 510 in the conveying direction DF.
For example, one of the first clamp guide 551 and the second clamp guide 552 is configured as a slide rail extending in the conveying direction DF, and the other of the first clamp guide 551 and the second clamp guide 552 is configured as a slide groove extending in the conveying direction DF, in which slide groove the slide rail is disposed and movable in the conveying direction DF. In the illustrated embodiment, the first clamping guide 551 is configured as a sliding slot and the second clamping guide 552 is configured as a sliding rail. The connection seat 553 is mounted to the chute opening of the first clamping guide 551 such that the peripheral sidewall of the chute forms a closed structure, so that the second clamping guide 552 is not separated from the first clamping guide 551 in a direction perpendicular to the conveying direction DF after being inserted into the first clamping guide 551.
With such a structural design, when the clamp connection assembly 575 moves in the conveying direction DF relative to the clamp assembly holder 520 (i.e., relative to the base assembly 510 and the first clamp mechanism 430), the clamp connection assembly 575 drives the second clamp base 541 to move in the conveying direction DF relative to the clamp assembly holder 520, and the second clamp base 541 drives the third clamp portion 543 and the fourth clamp portion 544 to move in the conveying direction DF relative to the clamp assembly holder 520 (i.e., relative to the first clamp mechanism 430). Since the third guide groove 573 extends in both the conveying direction DF and the radial direction DR, the third clamping portion 543 moves in the conveying direction DF relative to the clamping assembly holder 520 and also moves in the radial direction DR relative to the clamping assembly holder 520, that is, the third clamping portion 543 moves in the conveying direction DF relative to the first clamping mechanism 430 and also moves in the radial direction DR relative to the first clamping mechanism 430, under the action of the third guide groove 573 and the third pin 573E. Since the fourth guide groove 574 extends in both the conveying direction DF and the radial direction DR, the fourth clamp portion 544 moves in the radial direction DR relative to the clamp assembly holder 520 while moving in the conveying direction DF relative to the clamp assembly holder 520, i.e., the fourth clamp portion 544 moves in the conveying direction DF relative to the first clamp mechanism 430 while also moving in the radial direction DR relative to the first clamp mechanism 430, under the influence of the fourth guide groove 574 and the fourth pin 574E.
It will be appreciated that the placement of the third guide slot 573, the third pin 573E, the fourth guide slot 574, and the fourth pin 574E may be matched to the orientation (specifically, the orientation of the third guide slot 573 and the fourth guide slot 574) such that the third clamping portion 543 and the fourth clamping portion 544 approach or separate from each other in the radial direction DR as the clamp connection assembly 575 is moved in the conveying direction DF relative to the clamp assembly holder 520 (i.e., relative to the base assembly 510 and the first clamp mechanism 430) to effect clamping or unclamping of the first clamp mechanism 430 by the second clamp mechanism 540. In other words, when the second clamping mechanism 540 moves relative to the first clamping mechanism 430 in the conveying direction DF, the second clamping mechanism 540 switches the clamping or unclamping action (from clamping to unclamping, or from unclamping to clamping) on the first clamping mechanism 430.
Specifically, a third pin 573E is provided to the third clamping portion 543, a fourth pin 574E is provided to the fourth clamping portion 544, and a third guide groove 573 and a fourth guide groove 574 are provided to the clamping assembly holder 520. As shown in fig. 20, the clamping assembly holder 520 further includes a third connector 571 and a fourth connector 572. The third guide groove 573 is provided to the third connector 571. A fourth guide groove 574 is provided to the fourth connecting member 572. The third connector 571 and the fourth connector 572 are arranged side by side in the radial direction DR. Both ends of the third connecting piece 571 in the conveying direction DF are respectively caught in the connecting grooves 527 of the two holding side seats 522. Both ends of the fourth connecting piece 572 in the conveying direction DF are also respectively caught in the connecting grooves 527 of the two holding side seats 522.
The third guide groove 573 includes a third guide groove first portion 573A and a third guide groove second portion 573B. The third guide groove first portion 573A extends in the conveying direction DF. The third guide groove second portion 573B communicates with the third guide groove first portion 573A. The third guide slot second portion 573B includes a third guide slot second portion first end 573C and a third guide slot second portion second end 573D. The third guide groove second portion first end 573C is connected to the third guide groove first portion 573A. The third guide groove second portion first end 573C and the third guide groove second portion second end 573D are spaced apart along the conveying direction DF and the radial direction DR. For example, third guide slot second portion first end 573C is located inboard in radial direction DR relative to third guide slot second portion second end 573D, i.e., third guide slot second portion first end 573C is closer to second rotational axis PR2 in radial direction DR than third guide slot second portion second end 573D.
The fourth guide groove 574 includes a fourth guide groove first portion 574A and a fourth guide groove second portion 574B. The fourth guide groove first portion 574A extends in the conveying direction DF. Fourth guide groove second portion 574B communicates with fourth guide groove first portion 547A. The fourth guide slot second portion 574B includes a fourth guide slot second portion first end 574C and a fourth guide slot second portion second end 574D. The fourth guide groove second portion first end 574C is connected to the fourth guide groove first portion 574A. The fourth guide slot second portion first end 547C and the fourth guide slot second portion second end 574D are spaced apart in the conveying direction DF and the radial direction DR. For example, the fourth guide slot second portion first end 574C is located inboard in the radial direction DR relative to the fourth guide slot second portion second end 574D, i.e., the fourth guide slot second portion first end 574C is closer to the second rotational axis PR2 in the radial direction DR than the fourth guide slot second portion second end 574D.
The third guide groove second portion 573B is located on the same side in the conveying direction DF as the fourth guide groove first portion 574A with respect to the third guide groove first portion 573A and the fourth guide groove second portion 574B. For example, in fig. 20, the third guide groove second portion 573B is located on the left side in the conveying direction DF with respect to the third guide groove first portion 573A, and the fourth guide groove second portion 574B is also located on the left side in the conveying direction DF with respect to the fourth guide groove first portion 574A. The third guide slot second portion first end 573C is aligned with the fourth guide slot second portion first end 574C along the conveying direction DF. Preferably, the third guide groove 573 and the fourth guide groove 574 are radially symmetrical about the second rotation axis PR2 (see fig. 18 and 19).
Thus, when the third pin 573E is located in the third guide groove first portion 573A, the fourth pin 574E is located in the fourth guide groove first portion 574A, the third pin 573E having a first radial distance from the fourth pin 574E in the radial direction DR (which may also be understood as the third clamping portion 543 having a first radial distance from the fourth clamping portion 544 in the radial direction DR); when the third pin 573E is located in the third guide groove second portion 573B, the fourth pin 574E is located in the fourth guide groove second portion 574B, and the third pin 573E is at a second radial distance from the fourth pin 574E in the radial direction DR (which may also be understood as the third clamping portion 543 is at a second radial distance from the fourth clamping portion 544 in the radial direction DR). Wherein the first radial distance is not equal to the second radial distance, e.g. the first radial distance is smaller than the second radial distance. It will be appreciated that at a first radial distance the third and fourth clamping portions 543, 544 approach each other in the radial direction DR, the second clamping mechanism 540 compressing the first clamping mechanism 430; the third and fourth clamping portions 543, 544 are distant from each other in the radial direction DR at a second radial distance, and the second clamping mechanism 540 releases the first clamping mechanism 430.
It will be appreciated that, in order to achieve the effect of clamping or unclamping the first clamping mechanism 430 by the second clamping mechanism 540, the pins (the third pin 573E and the fourth pin 574E) may be provided on the connectors (the third connector 571 and the fourth connector 572), and the guide grooves (the third guide groove 573 and the fourth guide groove 574) may be provided on the clamping portions (the third clamping portion 543 and the fourth clamping portion 544); or one pin shaft is arranged on the connecting piece, the guide groove corresponding to the pin shaft is arranged on the clamping part, and the other pin shaft is arranged on the clamping part, and the guide groove corresponding to the pin shaft is arranged on the connecting piece.
The conveying device 500 is configured such that the two clamping assemblies 550 can reciprocally move away from each other and toward each other along the conveying direction DF. When the two grip assemblies 550 are close to each other in the conveying direction DF, the third grip portion 543 and the fourth grip portion 544 of the grip assembly 550 advancing in the conveying direction DF are close to each other in the radial direction DR, and the third grip portion 543 and the fourth grip portion 544 of the grip assembly 550 retreating in the conveying direction DF are distant from each other in the radial direction DR; when the two grip assemblies 550 are away from each other in the conveying direction DF, the third grip portion 543 and the fourth grip portion 544 of the grip assembly 550 that advance in the conveying direction DF are close to each other in the radial direction DR, and the third grip portion 543 and the fourth grip portion 544 of the grip assembly 550 that retreat in the conveying direction DF are away from each other in the radial direction DR.
As described above, the first transmission assembly 40 is simultaneously used to alternately open and close the two clamping assemblies 550A and 550B, and to reciprocally move the two clamping assemblies 550A and 550B toward and away from each other with respect to the base assembly 510 along the conveying direction DF. Specifically, the first transmission assembly 40 periodically acts on the clamp connection assembly 575 of the second clamp mechanism 540 such that the third clamp portion 543 and the fourth clamp portion 544 periodically move away from and toward each other in the radial direction DR, and the contraction and expansion timings of the second clamp mechanism 540 of the two clamp assemblies 550A and 550B are opposite. Meanwhile, the first transmission assembly 40 periodically acts on the clamping assembly holder 520 so that the clamping assembly holder 520 can reciprocally advance and retreat in the conveying direction DF, and the advance and retreat timings of the clamping assembly holders 520 of the two clamping assemblies 550A and 550B are opposite.
That is, the conveying device 500 is configured such that the two clamping assembly seats 520 are reciprocally movable toward and away from each other along the conveying direction DF. When the two gripper assembly holders 520 are close to each other in the conveying direction DF, the third grip portion 543 and the fourth grip portion 544 corresponding to the gripper assembly holder 520 advancing in the conveying direction DF are close to each other in the radial direction DR, and the third grip portion 543 and the fourth grip portion 544 corresponding to the gripper assembly holder 520 retreating in the conveying direction DF are distant from each other in the radial direction DR; when the two gripper assembly holders 520 are away from each other in the conveying direction DF, the third grip portion 543 and the fourth grip portion 544 corresponding to the gripper assembly holder 520 advancing in the conveying direction DF are close to each other in the radial direction DR, and the third grip portion 543 and the fourth grip portion 544 corresponding to the gripper assembly holder 520 retreating in the conveying direction DF are away from each other in the radial direction DR.
That is, the conveying device 500 is configured such that the first clamping mechanism 430 is in a closed state when the clamping assembly holder 520 advances in the conveying direction DF; when the clamping assembly holder 520 is retracted in the conveying direction DF, the first clamping mechanism 430 is in an open state. The first clamping mechanism 430 moves synchronously with the clamping assembly holder 520 in the conveying direction DF relative to the base assembly 510.
As shown in fig. 16, 17, 22 and 23, the first transmission assembly 40 includes a first transmission body 42A, and the first transmission body 42A is provided to the base assembly 510. The first transmission body 42A is simultaneously connected to the two clamping assemblies 550 so that the two clamping assemblies 550 alternately open and close and reciprocally move away from and toward each other along the conveying direction DF. The first transmission body 42A is simultaneously connected to and acts on both clamping assembly seats 520 to reciprocally move the two clamping assembly seats 520 toward and away from each other relative to the base assembly 510 along the conveying direction DF. The first transmission body 42A is also connected to and acts on both clamping connection assemblies 575, i.e. the first transmission body 42A also acts on both clamping transmissions 570, so that the third and fourth clamping portions 543, 544 are periodically moved closer to and further away from each other in the radial direction DR, and the two second clamping mechanisms 540 are alternately scaled.
The first transmission body 42A includes two conveying transmission assemblies 43A, and the two conveying transmission assemblies 43A are respectively disposed corresponding to the two clamping assemblies 550. The conveyor transmission assembly 43A includes a first conveyor transmission portion 44A and a second conveyor transmission portion 47. The first conveying transmission portion 44A acts on the clamp transmission portion 570 (specifically, the clamp connection assembly 575) for bringing the third clamp portion 543 and the fourth clamp portion 544 toward or away from each other in the radial direction DR. That is, the clamping connection assembly 575 is connected to the first conveying transmission part 44A, and the conveying apparatus 500 is configured such that the clamping connection assembly 575 is reciprocally movable relative to the clamping assembly holder 520 along the conveying direction DF under the action of the first conveying transmission part 44A, so as to drive the second clamping base 541 to synchronously move relative to the clamping assembly holder 520 along the conveying direction DF. The second conveying transmission portion 47 acts on the clamping assembly holder 520, so that the clamping assembly holder 520 can reciprocate relative to the base assembly 510 along the conveying direction DF.
The first transmission body 42A is configured as a first shaft (the first transmission body 42A is also referred to as a first shaft 42A), and the conveying device 500 is configured such that the first shaft 42A is rotatable relative to the base assembly 510 about a first rotation axis PR 1. Wherein the first rotation axis PR1 is parallel to the conveying direction DF.
In the second embodiment, the second conveying transmission 47 is configured as a chute, as in the first embodiment. The chute 47 is configured as an annular through groove provided at the outer peripheral surface of the first rotation shaft 42A, and the extending direction of the chute 47 is not perpendicular to the first rotation axis PR 1. The chute 47 is connected to the clamp assembly mount 520. As shown in fig. 17 and 18-20, the clamping assembly 550 similarly also includes a connection assembly 54. One end of the connection assembly 54 is connected to the clamping assembly holder 520, and the other end of the connection assembly 54 is accommodated in the chute 47.
As shown in fig. 16, 17, 22, and 23, the first conveying transmission portion 44A is configured as an additional groove (herein, the first conveying transmission portion 44A is also referred to as an additional groove 44A). The additional groove 44A is configured as a through groove provided at an outer circumferential surface of the first rotation shaft 42A, and the clamp connection assembly 575 is received in the additional groove 44A. Similar to the chute 47 moving the connection assembly 54 in the conveying direction DF, the additional slot 44A will also move the clamp connection assembly 575 in the conveying direction DF. Thus, the additional groove 44A will move the second clamping mechanism 540 in the transport direction DF relative to the base assembly 510.
The extending direction of the additional groove 44A is parallel to the extending direction of the chute 47, i.e. the cross section of the chute 47 is a first ellipse, the cross section of the additional groove 44A is a second ellipse, and the major axis of the first ellipse is parallel to the major axis EA of the second ellipse. As shown in fig. 23, it can be understood that the additional groove 44A is composed of an additional groove first portion 44B and an additional groove second portion 44C located on both sides of the major axis EA of the second ellipse, respectively, in the radial direction of the first rotation axis 42A, the additional groove first portion 44B and the additional groove second portion 44C communicating with each other. In the present application, the additional groove first portion 44B and the additional groove second portion 44C are offset in the conveying direction DF. The extending direction of the additional groove first portion 44B is still parallel to the extending direction of the chute 47, and the extending direction of the additional groove second portion 44C is also still parallel to the extending direction of the chute 47. The additional groove first portion 44B has a first axial distance L1 from the chute 47 in the conveying direction DF. The additional groove second portion 44C has a second axial distance L2 from the chute 47 in the conveying direction DF. Since the additional groove first portion 44B and the additional groove second portion 44C are staggered in the conveying direction DF, the first axial distance L1 is not equal to the second axial distance L2. Preferably, the additional groove first portion 44B and the additional groove second portion 44C are smoothly transitioned through the transition portion 44D.
As previously described, chute 47 moves first clamping mechanism 430 relative to base assembly 510 in conveying direction DF, and the position of first clamping mechanism 430 relative to base assembly 510 in conveying direction DF is always consistent with the position of the portion of chute 47 in contact with connecting assembly 54 relative to base assembly 510 in conveying direction DF. The additional slot 44A moves the second clamping mechanism 540 relative to the base assembly 510 along the conveying direction DF, and the position of the second clamping mechanism 540 relative to the base assembly 510 along the conveying direction DF is consistent with the position of the portion of the additional slot 44A in contact with the clamping connection assembly 575 relative to the base assembly 510 along the conveying direction DF.
When the first rotation shaft 42A is rotated such that the additional groove first portion 44B is in contact with the clamp connection assembly 575, that is, in one half of the rotation cycle of the first rotation shaft 42A, since the extending direction of the additional groove first portion 44B is parallel to the extending direction of the chute 47, the portion of the chute 47 located on one side of the major axis of the first ellipse in the radial direction of the first rotation shaft 42A drives the first clamp mechanism 430 to move in the conveying direction DF relative to the base assembly 510, such that the first clamp mechanism 430 moves in the conveying direction DF in one direction, that is, the first clamp mechanism 430 advances or retreats in the conveying direction DF. Also because the extending direction of the additional groove first portion 44B is parallel to the extending direction of the chute 47, the additional groove first portion 44B always maintains a fixed first axial distance L1 from the chute 47. Thus, the speed of movement of the first clamping mechanism 430 relative to the base assembly 510 along the transport direction DF is the same as the speed of movement of the second clamping mechanism 540 relative to the base assembly 510 along the transport direction DF, or both. The relative positions of the first clamping mechanism 430 and the second clamping mechanism 540 along the conveying direction DF may be characterized by a first axial distance L1.
When the first shaft 42A is rotated such that the additional groove second portion 44C is in contact with the clamp connection assembly 575, i.e. in the other half of the rotation cycle of the first shaft 42A, the first clamp mechanism 430 is moved in the conveying direction DF in a direction opposite to the movement direction of the first half of the cycle. Since the extension direction of the additional slot second portion 44C is still parallel to the extension direction of the chute 47, it will be appreciated that the speed of movement of the first clamping mechanism 430 relative to the base assembly 510 in the transport direction DF is still the same as the speed of movement of the second clamping mechanism 540 relative to the base assembly 510 in the transport direction DF, or both, throughout the half of the cycle. During this half cycle, the relative positions of the first gripper mechanism 430 and the second gripper mechanism 540 along the conveying direction DF may be characterized by a second axial distance L2.
From the above analysis, it is clear that the relative positions of the first clamping mechanism 430 and the second clamping mechanism 540 in the conveying direction DF are changed in two half cycles, i.e. the second clamping mechanism 540 moves relative to the first clamping mechanism 430 in the conveying direction DF. For example, in the embodiment shown in fig. 20, during a half cycle of the advance of the clamping assembly 550 in the conveying direction DF, the third pin 573E is located in the third guide groove first portion 573A, the fourth pin 574E is located in the fourth guide groove first portion 574A, and at this time, the second clamping mechanism 540 is relatively right with respect to the first clamping mechanism 430 in the conveying direction DF, and the third clamping portion 543 is relatively close to the fourth clamping portion 544 in the radial direction DR; during the half cycle of the retraction of the clamping assembly 550 in the conveyance direction DF, the third pin 573E is located in the third guide groove second portion 573B, and the fourth pin 574E is located in the fourth guide groove second portion 574B, at which time the second clamping mechanism 540 is relatively far to the left in the conveyance direction DF relative to the first clamping mechanism 430, and the third clamping portion 543 is relatively far from the fourth clamping portion 544 in the radial direction DR.
It will be appreciated that the amount of misalignment of the additional groove first portion 44B and the additional groove second portion 44C in the conveying direction DF, or the difference between the first axial distance L1 and the second axial distance L2, is the amount by which the second clamping mechanism 540 moves relative to the first clamping mechanism 430 in the conveying direction DF. It will be appreciated that the amount of misalignment (or difference) needs to be large enough to ensure that the third pin 573E is transferred from one of the third guide way first portion 573A and the third guide way second portion 573B to the other and that the fourth pin 574E is transferred from one of the fourth guide way first portion 574A and the fourth guide way second portion 574B to the other. It will be appreciated that the angle of the transition portion 44D between the additional groove first portion 44B and the additional groove second portion 44C along the circumferential direction of the first rotational axis 42A is as small as possible (e.g., no more than 10 degrees), such that the third pin 573E can be quickly (nearly abruptly) transferred from one of the third guide groove first portion 573A and the third guide groove second portion 573B to the other, and the fourth pin 574E can be quickly transferred from one of the fourth guide groove first portion 574A and the fourth guide groove second portion 574B to the other, i.e., the third clamp portion 543 and the fourth clamp portion 544 can be quickly switched to a state of being away from or toward each other in the radial direction DR to cooperate with the advancing or retracting of the clamp assembly 550.
As previously described, the second clamping mechanism 540 switches the clamping or unclamping action on the first clamping mechanism 430 as the second clamping mechanism 540 moves relative to the first clamping mechanism 430 in the conveying direction DF. For example, by matching the relative positions of the chute 47 and the additional groove 44A in the conveying direction DF and the relative positions of the first and second portions of the guide grooves (including the third and fourth guide grooves 573 and 574) such that the third and fourth pins 573E and 574E have a first radial distance in the radial direction DR when the chute 47 advances the first clamp mechanism 430 in the conveying direction DF, the third and fourth clamp portions 543 and 544 approach each other in the radial direction DR, the second clamp mechanism 540 presses the first clamp mechanism 430; when the chute 47 drives the first clamping mechanism 430 to retract along the conveying direction DF, the third pin 573E and the fourth pin 574E have a second radial distance in the radial direction DR, the third clamping portion 543 and the fourth clamping portion 544 are far away from each other in the radial direction DR, and the second clamping mechanism 540 releases the first clamping mechanism 430.
Therefore, in the present application, the additional groove 44A and the chute 47 are in relation in that the additional groove 44A and the chute 47 have a first axial distance in the conveying direction DF at a first circumferential portion of the first rotating shaft 42A, and the additional groove 44A and the chute 47 have a second axial distance in the conveying direction at a second circumferential portion of the first rotating shaft, wherein the first circumferential portion and the second circumference Xiang Buwei are circumferentially different by 180 degrees at an outer circumference of the first rotating shaft 42A, and the first axial distance is different from the second axial distance. The conveying device 500 is configured such that the relative positions of the additional groove 44A and the chute 47 in the conveying direction DF are matched to the third guide groove and the fourth guide groove (specifically, the shape of the guide groove, for example, the positional relationship of the first portion and the second portion) such that the distance of the third clamping portion 543 from the fourth clamping portion 544 in the radial direction DR when the first circumferential portion of the first rotary shaft 42A faces the clamping assembly 550 is different from the distance of the third clamping portion 543 from the fourth clamping portion 544 in the radial direction DR when the second circumferential portion of the first rotary shaft 42A faces the clamping assembly 550.
It will be appreciated that the additional groove 44A may also be configured as an annular through groove like the chute 47, i.e. with the first portion 44B and the second portion 44C thereof not being displaced in the conveying direction, but with the extension direction of the additional groove 44A not being parallel to the extension direction of the chute 47, whereby also a movement of the second clamping mechanism 540 in the conveying direction DF relative to the first clamping mechanism 430 may be achieved. The conveying device 500 is configured such that the additional groove 44A and the chute 47 are matched (both matched) with the third guide groove 573 and the fourth guide groove 574, such that when the chute 47 drives the clamping assembly holder 520 to advance in the conveying direction DF relative to the base assembly 510, the third clamping portion 543 and the fourth clamping portion 544 are close to each other in the radial direction DR, and when the chute 47 drives the clamping assembly holder 520 to retreat in the conveying direction relative to the base assembly 510, the third clamping portion 543 and the fourth clamping portion 544 are far from each other in the radial direction DR.
Preferably, on the first shaft 42A, the chute 47 of the two conveyor assemblies 43A is located in the middle of the additional grooves 44A of the two conveyor assemblies 43A, so that the overall length of the first shaft 42A, i.e. the size of the conveyor 500, can be reduced when the clamping assembly 550 is moved an equal distance in the conveying direction DF. Or on the first shaft 42A, the additional slots 44A of the two conveyor modules 43A are located in the middle of the chute 47 of the two conveyor modules 43A. In this way, the first shaft 42A may have a symmetrical structure, and the two clamping assemblies 550 may have a symmetrical structure to each other, thereby making the product process simple.
As is apparent from the above description, during the rotation of the first transmission body 42A, the first conveying transmission portion 44A and the second conveying transmission portion 47 respectively perform their respective functions. Preferably, the first transmission body 42A is formed integrally with the conveying transmission assembly 43A, i.e. the first transmission body 42A, the first conveying transmission part 44A and the second conveying transmission part 47 are formed integrally, e.g. machined as one and the same shaft. The first conveying transmission portion 44A and the second conveying transmission portion 47 may also be regarded as a part of the first rotation shaft 42A.
As shown in fig. 21, the clamp connection assembly 575 preferably includes a clamp connection shaft 576 and a clamp bearing 577. The clamp connection shaft 576 is provided to the second clamp base 541 and extends in a direction perpendicular to the first rotation axis PR1 (e.g., extends in the radial direction DR). The clamp bearing 577 is sleeved on the clamp connection shaft 576, and an outer ring of the clamp bearing 577 is used to contact a groove wall of the additional groove 44A, thereby reducing friction between the clamp connection assembly 575 and the additional groove 44A.
The parts not illustrated in the second embodiment are referred to the description in the first embodiment.
According to the conveying device, the clamping assembly can clamp the guide wire and convey the guide wire. In the clamping assembly, the first clamping mechanism directly contacts and clamps the guidewire. The second clamping mechanism applies extrusion force to the first clamping mechanism so that the first clamping mechanism clamps the guide wire. By coordinating the opening and closing action of the clamping assembly with the reciprocating movement along the wire delivery direction, the clamping assembly can only move a short distance (relative to the length of the wire) to complete the wire delivery, thereby reducing the size of the delivery device. Wherein the first clamping mechanism is configured to be rotatable such that the guide wire is transported in a twisted manner, whereby the guide wire transport is smoother.
The application also provides a surgical robot system. In a preferred embodiment, the surgical robotic system according to the present application comprises a delivery device 400 or a delivery device 500 as described above. The surgical robotic system further includes a control device coupled to the first motor 31 and the second motor 61 to control the rotation of the first motor 31 and the second motor 61, thereby controlling the operating frequency of the clamping assembly 450 or 550 and the twisting speed of the guide wire. It will be appreciated that the surgical robotic system according to the present application includes all of the features and effects of the delivery device according to the present application.
The processes, steps described in all the preferred embodiments described above are examples only. Unless adverse effects occur, various processing operations may be performed in an order different from that of the above-described flow. The step sequence of the above-mentioned flow can also be added, combined or deleted according to the actual requirement.
In understanding the scope of the present application, the term "comprising" and its derivatives, as used herein, are intended to be open ended terms that specify the presence of the stated features, elements, components, groups, integers, and/or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and/or steps. This concept also applies to words having similar meanings such as the terms "including", "having" and their derivatives.
The terms "attached" or "attached" as used herein include: a construction in which an element is directly secured to another element by directly securing the element to the other element; a configuration for indirectly securing an element to another element by securing the element to an intermediate member, which in turn is secured to the other element; and the construction in which one element is integral with another element, i.e., one element is substantially part of the other element. The definition also applies to words having similar meanings such as the terms, "connected," "coupled," "mounted," "adhered," "secured" and their derivatives. Finally, terms of degree such as "substantially", "about" and "approximately" as used herein mean a deviation of the modified term such that the end result is not significantly changed.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the application. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.
The present application has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the application to the embodiments described. In addition, it will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present application, which fall within the scope of the claimed application.