A robotic arm

Abstract

The present invention relates to a mechanical arm, comprising: an upper arm and a forearm; a first joint structure, the upper arm and the forearm are hinged together through the first joint structure; a second joint structure, arranged at the end of the upper arm and / or the forearm; a first driving mechanism, arranged in the upper arm; a second driving mechanism, arranged in the forearm; wherein the first joint structure comprises a first force release device and a first locking member, the second joint structure comprises a second force release device and a second locking member, the first driving mechanism and the second driving mechanism apply a force to the first locking member and / or the second locking member through the first force release device and / or the second force release device. The mechanical arm of the present invention has a force release device arranged in the joint structure to amplify the locking force, so that the mechanical arm can meet the requirements of large load applications under miniature conditions.

Description

Technical Field

[0001] The present invention belongs to the field of medical technology and relates to a robotic arm for surgery. Background Art

[0002] In recent years, with the continuous development of medical robot technology at home and abroad, medical robots have developed into an important branch in the field of robots and are also an important research direction in the field of biomedical engineering. In the medical field, especially in the field of surgical robots, surgical robots can complete some complex surgical operations by precisely controlling the operation of the robotic arm. In addition, there are also requirements for fixing and holding limbs, surgical tools, etc. in the medical field, and the holding force requirements are relatively high. Therefore, existing medical devices have designed different passive arms according to different holding requirements. Whether it is an active robotic arm or a passive robotic arm, it usually has multiple joints, so as to achieve multi-degree-of-freedom adjustment.

[0003] One of the core technologies of the robotic arm lies in the joint locking mechanism. At present, the joint locking mechanism mainly adopts several driving methods such as hydraulic, pneumatic, electric, and mechanical. The joint locking mechanism with pure mechanical locking needs to be manually locked, and when the state of the robotic arm needs to be adjusted, it also needs to be manually unlocked, which increases the operation intensity of doctors. However, under micro conditions, the locking force of other methods is not high, and the load of the robotic arm after locking is not high, which cannot meet the application requirements of larger loads. Summary of the Invention

[0004] In order to improve the locking force of the robotic arm and meet the application requirements of larger loads, the present invention provides a robotic arm including:

[0005] An upper arm and a forearm;

[0006] A first joint structure, the upper arm and the forearm are hinged together through the first joint structure;

[0007] A second joint structure, arranged at the end of the upper arm and / or the forearm;

[0008] A first driving mechanism, arranged inside the upper arm;

[0009] A second driving mechanism, arranged inside the forearm;

[0010] Wherein, the first joint structure includes a first force amplification device and a first locking member, the second joint structure includes a second force amplification device and a second locking member, and the first driving mechanism and the second driving mechanism apply acting forces to the first locking member and / or the second locking member through the first force amplification device and / or the second force amplification device.

[0011] Further, the first joint structure includes:

[0012] The first joint head and the second joint head;

[0013] A hinge shaft, through which the first joint head and the second joint head are connected;

[0014] Wherein, the first locking member is arranged between the first joint head and the second joint head for locking the first joint head and the second joint head;

[0015] The first force amplification device is arranged on one side and / or both sides of the first locking member for applying an amplified acting force to the first locking member.

[0016] Further, the second joint structure includes:

[0017] A joint housing;

[0018] A third joint head arranged inside the joint housing;

[0019] Wherein the second locking member is in contact with the third joint head for locking the third joint head;

[0020] The second force amplification device is arranged at one end of the second locking member for applying an amplified acting force to the second locking member.

[0021] Further, one end of the third joint head has a structure that is at least partially spherical, and one end of the second locking member has a partially concave spherical structure, which is matched with the part in contact with the third joint head.

[0022] Further, the first force amplification device and / or the second force amplification device is of a lever structure.

[0023] Further, the first force amplification device includes a first rotating shaft and a first force amplification rod. The first force amplification rod is arranged on the first rotating shaft, and the distance from the force-receiving end of the first force amplification rod to the first rotating shaft is greater than the distance from the force-applying end to the first rotating shaft.

[0024] Further, the second force amplification device includes two second force amplification rods, which are connected together through a second rotating shaft. The distance from the force-receiving end of the second force amplification rod to the second rotating shaft is greater than the distance from the force-applying end to the second rotating shaft.

[0025] Further, the first locking member includes more than two friction plates sleeved on the hinge shaft.

[0026] Further, the other end of the third joint head has a ball head pin that extends out of the joint housing.

[0027] Further, the driving mechanism is one of a telescopic rod, an electric push rod, a lead screw, a hydraulic cylinder, and a pneumatic cylinder.

[0028] The robotic arm of the present invention is provided with a force amplification device in the joint structure, which amplifies the locking force, enabling the robotic arm to meet the requirements of large-load applications under micro conditions.

[0029] The force amplification device can adopt a lever method. The distance from the force-receiving end to the hinge point is greater than the distance from the hinge point to the force-applying end, which can amplify the acting force received by the force-receiving end, thereby applying a greater force to the locking member at the force-applying end and achieving a good locking effect.

[0030] In addition to the technical problems solved by the present invention, the technical features of the technical solutions formed, and the advantages brought by these technical features of the technical solutions described above, other technical features of the present invention and the advantages brought by these technical features will be further described in conjunction with the accompanying drawings. Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 is a schematic structural diagram of the robotic arm of the present invention.

[0033] Figure 2 is a cross-sectional view of the first joint structure of the embodiment of the present invention.

[0034] Figure 3 is a schematic diagram of the second force amplification device of the embodiment of the present invention.

[0035] Figure 4 is a cross-sectional view of the second joint structure of the embodiment of the present invention, showing the cross-sectional view of the connection between the second force amplification device and the driving device.

[0036] In the figure:

[0037] 1. Robotic arm, 11. Upper arm, 12. Forearm, 13. First joint structure, 14. Second joint structure,

[0038] 2. Ball head housing, 3. Ball head, 4. Ball head pin, 5. Ball bowl, 6. Second force amplification rod, 7. Second rotating shaft, 8. Robotic arm housing, 9. Convex head,

[0039] 20. First joint head, 21. Second joint head, 22. Hinge shaft, 23. First locking member, 24. First rotating shaft, 25. First force amplification rod, 26. Slide block, 27. Flap, 28. Top block, 29. First driving device, 30. Spring. Detailed Embodiments

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The present invention provides a robotic arm, comprising:

[0043] an upper arm and a forearm;

[0044] a first joint structure, by which the upper arm and the forearm are hinged together;

[0045] a second joint structure provided at the end of the upper arm and / or the forearm;

[0046] a first driving mechanism provided in the upper arm;

[0047] a second driving mechanism provided in the forearm;

[0048] wherein, the first joint structure includes a first force amplification device and a first locking member, the second joint structure includes a second force amplification device and a second locking member, and the first driving mechanism and the second driving mechanism apply acting forces to the first locking member and / or the second locking member through the first force amplification device and / or the second force amplification device.

[0049] The robotic arm of the present invention respectively provides force amplification devices in the joint structures. When the same locking force is applied by the driving devices, by adding the force amplification devices, the locking force of the robotic arm is greatly improved, meeting the application requirements of larger loads. Especially under the condition of a miniaturized robotic arm, it can realize locking the robotic arm by means of electric or pneumatic methods. Compared with the mechanical locking method, the convenience of use for the operator is improved.

[0050] Optionally, the first driving mechanism is arranged in the upper arm. The first driving mechanism can provide driving forces to both ends simultaneously. For example, it can apply a force to the force-receiving end of the first force-amplifying device in the first joint structure at one end, and at the same time apply a force to the force-receiving end of the second force-amplifying device in the second joint structure at the other end. Optionally, the second driving mechanism is arranged in the forearm. The second driving mechanism can also provide driving forces to both ends simultaneously. For example, it can apply a force to the force-receiving end of the first force-amplifying device in the first joint structure at one end, and at the same time apply a force to the force-receiving end of the second force-amplifying device in the second joint structure at the other end. When both the first driving mechanism and the second driving mechanism apply forces to the force-receiving end of the first force-amplifying device in the first joint structure, in this case, two first force-amplifying devices are arranged in the first joint structure, respectively on both sides of the first locking member. When one of the first driving mechanism or the second driving mechanism applies a force to the force-receiving end of the first force-amplifying device in the first joint structure, in this case, one first force-amplifying device is arranged in the first joint structure, on one side of the first locking member, close to the driving device that provides the driving force.

[0051] Furthermore, the first joint structure includes: a first joint head and a second joint head; a hinge shaft, and the first joint head and the second joint head are connected by the hinge shaft; wherein, the first locking member is arranged between the first joint head and the second joint head for locking the first joint head and the second joint head; the first force-amplifying device is arranged on one side and / or both sides of the first locking member for applying an amplified force to the first locking member.

[0052] The first joint structure of the present invention is used to connect two arms and serves as a joint between the two arms. When in use, first loosen the first joint structure. After the robotic arm is adjusted to the appropriate position, through the action of the driving mechanism, quickly lock the robotic arm and can provide a large locking load. Compared with the traditional mechanical connection and locking, it has the advantages of more convenient installation and positioning and faster locking.

[0053] Preferably, the first force-amplifying device can be a lever-type structure. The lever-type force-amplifying device has a simple structure. By setting the proportional relationship of the force arms, it is easy to adjust the multiple of force amplification, and the force amplification effect is remarkable.

[0054] The first force-amplifying device may include a first rotating shaft and a first force-amplifying rod. The distance from the force-receiving end of the first rod to the first rotating shaft is greater than the distance from the force-applying end to the first rotating shaft. Therefore, the force applied to the force-receiving end can be amplified at the force-applying end and then applied to the first locking member.

[0055] Optionally, a first force application device may be provided on one side of the first locking member. The force application end of the first force application device abuts against one side of the first locking member, and the force receiving end of the first force application device is connected to the driving device. Alternatively, a first force application device may be provided on each of the two sides of the first locking member, and the force receiving ends of each first force application device are respectively connected to the first driving device or the second driving device. Or optionally, the force receiving end of one of the first force application devices is connected to the driving device, and the force receiving end of the other first force application device abuts against the inner wall of the joint head.

[0056] Preferably, the first locking member includes a plurality of friction plates sleeved on the hinge shaft. The friction plates can be made of rubber material, and the friction coefficient of the material and the number of friction plates can be selected according to the load to be borne.

[0057] Optionally, one end of the hinge shaft can be fixedly provided on one of the first joint head and the second joint head, and the other joint head is hinged on the hinge shaft, so that relative rotation between the first and second joint heads can be realized. Or, both the first and second joint heads are hinged on the hinge shaft, and both joint heads can rotate around the hinge shaft, and relative rotation can occur between the two joint heads. Those skilled in the art can select the specific installation form according to needs.

[0058] Preferably, it includes a retaining piece sleeved on the end of the hinge shaft and embedded in the end of the first and / or second joint head. The connection method of the retaining piece allows relative rotation between the first and second joint heads, while preventing the two joint heads from detaching from the end of the hinge shaft.

[0059] Optionally, it further includes a slider sleeved on the hinge shaft and located between the first locking member and the first force application device. The slider can move along the hinge shaft, and the force application end of the first force application device abuts against the slider, which is convenient for uniformly applying a force on the first locking member. The force application end does not directly apply a force on the first locking member, which can prevent the first locking member from being damaged due to excessive local stress.

[0060] Preferably, the force application end of the first force application rod has an outwardly protruding arc-shaped end face. The arc-shaped end face contacts the slider, and it is easier to generate relative movement, which is convenient for applying a force to push the slider to move along the hinge shaft, thereby pressing the first locking member.

[0061] Further, it further includes a top block, which is slidably arranged in the cavity of the first and / or second joint head. The bottom end of the top block contacts the driving device, and the top end contacts the force-receiving end of the first force amplification device. The top block is mainly used to transmit the acting force of the driving device to the force-receiving end of the first force amplification device. Preferably, the top end of the top block and the force-receiving end of the first force amplification device are in point contact. For example, the top end of the top block is a spherical structure, and the force-receiving end of the first force amplification device has an arc-shaped end face, so that point contact can be formed between the two. The spherical structure contacts the arc-shaped end face, and relative movement is likely to occur between the two, so that the force-receiving end of the first force amplification device rotates around the rotating shaft, driving the force-applying end to move towards the slider or the first locking member to apply the acting force.

[0062] Further, the second joint structure includes: a joint housing; a third joint head arranged in the joint housing; wherein the second locking member is in contact with the third joint head and is used to lock the third joint head; the second force amplification device is arranged at one end of the second locking member and is used to apply an amplified acting force to the second locking member.

[0063] Further, the second force amplification device is of a lever structure. The lever-type force amplification device has a simple structure. By setting the ratio relationship of the force arms, it is easy to adjust the amplification multiple of the force, and the force amplification effect is remarkable.

[0064] Preferably, the second force amplification device includes a second rotating shaft and a second force amplification rod. The second force amplification rod is arranged on the second rotating shaft, and the distance from the force-receiving end of the second force amplification rod to the second rotating shaft is greater than the distance from the force-applying end to the second rotating shaft. The second rotating shaft can be arranged on the housing so that the second force amplification rod can rotate around the second rotating shaft. The distance from the force-receiving end to the hinge point is greater than the distance from the hinge point to the force-applying end, which can amplify the acting force received at the force-receiving end, so as to apply a greater acting force to the locking member at the force-applying end, and the locking effect is good.

[0065] More preferably, the second force amplification device includes two second force amplification rods, and the two second force amplification rods are connected together by a second rotating shaft. For example, the two second force amplification rods are connected together by a second rotating shaft to form a structure similar to scissors. At this time, the second rotating shaft does not need to be arranged on the housing.

[0066] Preferably, the force-receiving end of the second force amplification rod has an arc-shaped end face. Correspondingly, the part of the driving mechanism in contact with the force-receiving end of the second force amplification rod also has an arc-shaped end face, and the two can form point contact, which is convenient for relative movement. In addition, the arc-shaped end face can have a certain inclination angle or an inward concave curvature, which can enable the end of the driving mechanism to perform a preset relative movement along the force-receiving end of the second force amplification rod. Therefore, the force-receiving end of the second force amplification rod will perform a preset rotation.

[0067] Preferably, the force - applying end of the second force - amplifying rod has an outwardly protruding arc - shaped end face. By providing the arc - shaped end face, it is convenient for relative movement to occur between the force - applying end and the second locking member, so as to apply the amplified acting force to the second locking member. Moreover, by providing the outwardly protruding arc - shaped end face, when relative movement occurs between the force - applying end and the second locking member, the force - applying end can press the second locking member tightly.

[0068] Preferably, one end of the third joint head has a structure that is at least partially spherical. One end of the second locking member has a partially concave spherical structure, which is matched with the part in contact with the third joint head.

[0069] Preferably, the other end of the third joint head has a ball pin that extends out of the joint housing. The ball pin can be used to connect an auxiliary tool or a fixing tool.

[0070] Preferably, the side wall of the joint housing has a plurality of U - shaped openings. The ball pin can rotate into the U - shaped opening, thereby expanding the movement range and freedom degree of the ball pin.

[0071] The second joint structure of the present invention amplifies the locking force of the joint through the second force - amplifying device, so it can be used for a passive robotic arm or the robotic arm of a surgical robot.

[0072] When the third joint structure of the present invention is provided at both ends of the robotic arm, the first driving device and the second driving device respectively provide locking forces for the third joint structures at both ends. At this time, the robotic arm has at least six degrees of freedom, enabling the robotic arm to provide flexible movement of the surgical tool in any degree of freedom in space. After the robotic arm reaches the appropriate position, through the action of the driving mechanism, rapid locking of the entire robotic arm can be achieved, and a large locking load can be provided. Compared with traditional mechanical connection locking, it has the advantages of more convenient installation and positioning and faster locking.

[0073] Of course, the above - mentioned third joint structure can also be provided only at one end of the robotic arm.

[0074] Furthermore, the driving mechanism can be one of a telescopic rod, an electric push rod, a lead screw, a hydraulic cylinder, and a pneumatic cylinder. Preferably, it is an electric push rod, which is convenient for the user to operate.

[0075] In addition, the first and second driving mechanisms can be controlled by an external switch. A controller can be connected outside the robotic arm, and an external signal is sent through a switch (foot switch, button switch, or a more complex switch) to control the driving mechanism. The driving mechanism can provide a thrust to the joint structures at both ends, and amplify the locking force through the force - amplifying device to push the joint structures to lock quickly; the switch can also control the driving mechanism to retract, and the reduced thrust causes the joints of the robotic arm to loosen.

[0076] In order to more clearly understand the above-mentioned objects, features, and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0077] Figure 1 is a schematic structural diagram of a robotic arm. As Figure 1 shown, the robotic arm 1 includes an upper arm 11 and a forearm 12, and the upper arm 11 and the forearm 12 are hinged to each other through a first joint structure 13.

[0078] In this embodiment, second joint structures 14 are respectively provided at both ends of the robotic arm 1. In practical applications, the upper arm 11 of the robotic arm 1 is used to be fixed on devices such as an operating table and an operating cart, and the forearm 12 is used to connect surgical tools or fix limbs, etc. In this embodiment, the upper arm 11 and the forearm 12 respectively include an upper arm body and a forearm body, and a first driving mechanism and a second driving structure are respectively included in the upper arm body and the forearm body for providing a locking force for the joint structure. The driving mechanism in this embodiment can be an electric or pneumatic mechanism, preferably an electric push rod. Compared with a robotic arm with mechanical joint locking, locking the joints of the robotic arm electrically is easier to operate.

[0079] As Figure 1 and Figure 2 shown, the first joint structure 13 of this embodiment is arranged between the upper arm 11 and the forearm 12. A first joint head 20 is provided at the end of the upper arm 11, and a second joint head 21 is provided at the end of the forearm 12. The first joint head 20 and the second joint head 21 are hinged together through a hinge shaft 22, so that the first joint head 20 and the second joint head 21 can rotate relative to each other.

[0080] In this embodiment, the hinge shaft 22 is fixedly arranged on the first joint head 20, the second joint head 21 is hinged on the hinge shaft 22, and a retaining piece 27 is arranged at the end of the hinge shaft 22. The retaining piece 27 is embedded in a groove at the end of the second joint head 21 for preventing the second joint head 21 from falling off the hinge shaft 22.

[0081] In this embodiment, a spring 30 is arranged at the end of the hinge shaft 22. The spring 30 is sleeved on the hinge shaft 22, and both ends respectively abut against the retaining piece 27 and the end of the second joint head 21, and can provide a pre-pressure between the first joint head 20 and the second joint head 21, so that the joint will not be overly loose in the unlocked state.

[0082] A first locking member 23 is arranged between the first joint head 20 and the second joint head 21. In this embodiment, a plurality of friction plates are used as the first locking member 23, and the plurality of friction plates are sleeved on the hinge shaft 22.

[0083] The first joint structure 13 of this embodiment further includes a first force amplification device. In this embodiment, the first force amplification device is of a lever structure, including a first force amplification rod 25 and a first rotating shaft 24. Both ends of the first rotating shaft 24 can be arranged on the inner wall of the joint head, and the first force amplification rod 25 can rotate around the first rotating shaft 24. The distance from the force-receiving end of the first force amplification rod 25 to the first rotating shaft 24 is greater than the distance from the force-applying end of the first force amplification rod 25 to the first rotating shaft 24. In this embodiment, one first force amplification device is provided and is arranged inside the first joint head 20.

[0084] The first joint structure 13 of this embodiment further includes a slider 26, which is sleeved on the hinge shaft 22 and is located between the first force amplification device and the first locking member 23. The force-applying end of the first force amplification rod 25 abuts against the slider 26, and the acting force is applied to the first locking member 23 through the slider 26.

[0085] A first driving device 29 is arranged inside the upper arm 11. In this embodiment, an electric push rod is used as the first driving device 29. A top block 28 is arranged at the top end of the driving device 29, and the top of the top block 28 is spherical and abuts against the force-receiving end of the force amplification rod 25.

[0086] When it is necessary to lock the first joint structure 13, the driving device 29 rotates, and the top block 28 moves towards the force-receiving end of the force amplification rod 25. After the force-receiving end of the force amplification rod 25 receives the acting force, it rotates around the first rotating shaft 24. The force-applying end of the first force amplification rod 25 applies an amplified acting force at the end of the slider 26, and the slider 26 moves along the hinge shaft 22 (without rotation), and a locking force is applied to the surface of the first locking member 23, thereby locking the first joint structure 13. At this time, no rotation occurs between the first joint head 20 and the second joint head 21. When it is necessary to unlock the first joint structure 13, the electric push rod rotates in the reverse direction, and the top block 28 moves in a direction away from the force-receiving end of the first force amplification rod 25, thereby reducing or canceling the acting force applied to the force-receiving end of the first force amplification rod 25, and further reducing or canceling the acting force at the end of the slider 26, so that the first joint head 20 and the second joint head 21 are unlocked and can rotate relative to each other.

[0087] Preferably, the first force amplification rod 25 is of a sheet-like structure, and the force-receiving end may have a concave arc-shaped end face. Correspondingly, the end of the top block 28 is spherical, so that the top block 28 and the force-receiving end of the first force amplification rod 25 can form a point contact, which is convenient for relative movement. Moreover, the end face of the force-receiving end of the first force amplification rod 25 may have a certain inclination angle, so that when the end of the top block 28 moves towards the first force amplification rod 25, it can easily move relative to the force-receiving end of the first force amplification rod 25. Preferably, the force-applying end of the first force amplification rod 25 may have a convex arc-shaped end face. By setting the arc-shaped end face, it is convenient for relative movement between the force-applying end and the slider 26, so as to apply the amplified acting force to the first locking member 23.

[0088] Such asFigure 3 and Figure 4 As shown in Figure 4 , the second joint structure 14 of this embodiment is provided at the ends of the upper arm 11 and the forearm 12, and includes a ball head housing 2 and a ball head 3. The spherical end of the ball head 3 is rotatably provided in the ball head housing 2, and the other end of the ball head 3 is provided with a ball head pin 4 for connecting a surgical tool or a fixing tool. The ball head housing 2 is provided with an opening for the ball head pin 4 to pass through, and has a U-shaped opening, which increases the movement range of the ball head pin 4. The joint structure further includes a ball bowl 5 provided on the spherical end of the ball head 3. The ball bowl 5 has a partially concave spherical surface, which is matched with the shape of the ball head 3.

[0089] The second joint structure 14 of this embodiment further includes a second force amplification device. In this embodiment, the second force amplification device is a lever structure, including a pair of second force amplification rods 6 hinged together by a second rotating shaft 7. The force application end of the second force amplification rod 6 is close to the end of the ball bowl 5 for applying a force to the ball bowl 5. The force receiving end of the second force amplification rod 6 contacts the convex head 9 of the driving device. The driving device is an electric push rod provided in the robotic arm housing 8.

[0090] When it is necessary to lock the second joint structure 14, the electric push rod rotates, and the convex head 9 moves towards the force receiving end of the second force amplification rod 6. After the force receiving end of the second force amplification rod 6 receives the force, through lever amplification, the force application end of the second force amplification rod 6 applies an amplified force to the end of the ball bowl 5, and the ball bowl 5 applies a locking force to the surface of the ball head 3, thereby locking the second joint structure 14. When it is necessary to release the second joint structure 14, the electric push rod rotates in the reverse direction, and the convex head 9 moves away from the force receiving end of the second force amplification rod 6, thereby reducing or canceling the force applied to the force receiving end of the second force amplification rod 6, and further reducing or canceling the force at the end of the ball bowl 5, so that the ball head 3 can move relative to the ball bowl 5.

[0091] In this embodiment, as shown in the figure, the second force amplification rod 6 is a sheet-like structure, and the force receiving end has a concave arc-shaped end face. Correspondingly, the end of the convex head 9 of the electric push rod is spherical, so that the convex head 9 and the force receiving end of the second force amplification rod 6 can form a point contact, which is convenient for relative movement. Moreover, the end face of the force receiving end of the second force amplification rod 6 can have a certain inclination angle, so that when the end of the convex head 9 moves towards the second force amplification rod 6, it can easily move relative to the force receiving end of the second force amplification rod 6, causing the force receiving ends of the two second force amplification rods 6 to move away from each other, thereby generating a movement closer to the ball bowl 5 at the force application ends of the two second force amplification rods 6 and applying an amplified force to the ball bowl 5. In this embodiment, the force application end of the second force amplification rod 6 has an outwardly protruding arc-shaped end face. By providing the arc-shaped end face, it is convenient for relative movement between the force application end and the ball bowl 5, so as to apply the amplified force to the ball bowl 5.

[0092] In this embodiment, the robotic arm 1 is a passive surgical arm, and the ball-shaped second joint structure 14 has three degrees of freedom. Therefore, when the passive surgical arm provided with the second joint structure 14 is used to connect surgical tools or fix limbs, its operation is flexible.

[0093] The above embodiments are only used to illustrate the present invention, rather than limiting the present invention. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should all be covered within the scope of the claims of the present invention.

Claims

1. A robotic arm, characterized in that, comprising: an upper arm and a forearm; a first joint structure, the upper arm and the forearm are hinged together through the first joint structure; a second joint structure, provided at the end of the upper arm and / or the forearm; a first driving mechanism, provided within the upper arm; a second driving mechanism, provided within the forearm; wherein, the first joint structure includes a first force amplification device and a first locking member, the second joint structure includes a second force amplification device and a second locking member, and the first driving mechanism and the second driving mechanism apply acting forces to the first locking member and / or the second locking member through the first force amplification device and / or the second force amplification device; the second joint structure includes: a joint housing and a third joint head, the third joint head is provided within the joint housing; wherein the second locking member is in contact with the third joint head for locking the third joint head; the second force amplification device is provided at one end of the second locking member for applying an amplified acting force to the second locking member; one end of the third joint head has a structure that is at least partially spherical, and one end of the second locking member has a partially concave spherical structure that mates with the part in contact with the third joint head; the second force amplification device includes two second force amplification rods, the two second force amplification rods are connected together through a second rotating shaft, and the distance from the force-receiving end of the second force amplification rod to the second rotating shaft is greater than the distance from the force-applying end to the second rotating shaft; the first force amplification device and / or the second force amplification device is a lever-type structure.

2. The robotic arm according to claim 1, characterized in that, the first joint structure includes: a first joint head and a second joint head; a hinge shaft, the first joint head and the second joint head are connected through the hinge shaft; wherein, the first locking member is provided between the first joint head and the second joint head for locking the first joint head and the second joint head; the first force amplification device is provided on one side and / or both sides of the first locking member for applying an amplified acting force to the first locking member.

3. The robotic arm according to claim 1, characterized in that, the first force amplification device includes a first rotating shaft and a first force amplification rod, the first force amplification rod is provided on the first rotating shaft, and the distance from the force-receiving end of the first force amplification rod to the first rotating shaft is greater than the distance from the force-applying end to the first rotating shaft.

4. The robotic arm according to claim 2, characterized in that, the first locking member includes more than two friction plates sleeved on the hinge shaft.

5. The robotic arm according to claim 1, characterized in that, the other end of the third joint head has a ball head pin that protrudes out of the joint housing.

6. The robotic arm according to claim 1, characterized in that, the driving mechanism is one of a telescopic rod, an electric push rod, a lead screw, a hydraulic cylinder, and a pneumatic cylinder.

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