A clamping locking device, a mechanical arm and a robot

Abstract

The application discloses a clamping and locking device, a mechanical arm and a robot. The clamping and locking device comprises a shell, a sliding block, a clamping assembly for clamping a to-be-clamped part and a locking assembly for locking the clamping assembly at a predetermined position. The shell is provided with a mounting groove, the sliding block is slidably arranged in the mounting groove, one end of the sliding block is connected with the shell through an elastic element, the other end of the sliding block is connected with the clamping assembly, the clamping assembly is arranged in two groups, the two groups of clamping assemblies are symmetrically and rotatably arranged on the two sides of the sliding block, the outer side wall of the clamping assembly abuts against the inner side wall of the shell, the locking assembly is arranged in the shell and is used for limiting the sliding of the sliding block relative to the shell. The locking assembly is arranged to lock the sliding block, so that after each group of clamping assemblies clamps the to-be-clamped part, the to-be-clamped part is locked, and the stability of the clamped to-be-clamped part is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical locking, and in particular to a clamping and locking device, a mechanical arm, and a robot. Background Art

[0002] With the advancement of science and medical technology, robotic surgical systems are becoming increasingly popular in minimally invasive surgery due to their advantages of more precise, efficient, and comfortable surgical operations. During use, the robotic arm is required to stably grasp the surgical object through a clamping device. While ensuring that the clamped object cannot move relative to the robotic arm, the clamping device must be easy to operate, that is, it must be able to quickly disassemble and assemble the clamped object.

[0003] Existing clamping devices generally fix the clamped parts by tightening screws or connecting rod clamping. Such clamping devices do not have the convenience of quick disassembly and assembly of the clamped parts, and as the number of uses increases, they will become slightly loose, resulting in poor clamping stability. Summary of the Invention

[0004] The present application provides a clamping and locking device, a robotic arm, and a robot to solve the problems of poor stability and poor convenience of existing clamping devices.

[0005] The first aspect of the present application provides a clamping and locking device, comprising a shell, a slider, a clamping assembly for clamping a part to be clamped, and a locking assembly for locking the clamping assembly in a predetermined position; the shell is provided with a mounting groove, the slider is slidably arranged in the mounting groove, one end of the slider is connected to the shell through an elastic member, and the other end is connected to the clamping assembly; the clamping assembly is provided in two groups, and the two groups of clamping assemblies are symmetrically and rotatably arranged on both sides of the slider, and the outer side wall of the clamping assembly abuts against the inner side wall of the shell; the locking assembly is provided through the shell and is used to limit the sliding of the slider relative to the shell.

[0006] In some embodiments, the slider is provided with a locking hole, the housing is provided with a locking groove, and the locking assembly includes a first locking member connected between the locking hole and the locking groove.

[0007] In some embodiments, the first locking member includes a locking block, a locking shaft, and a connecting rod connected between the locking block and the locking shaft. The locking block is rotatably disposed in the locking hole, and the locking shaft can move in the locking groove.

[0008] In some embodiments, the locking hole includes a sliding groove and a locking groove, and the locking block includes a sliding portion and a protruding portion; the protruding portion protrudes from the sliding portion, the sliding portion is adapted to the shape of the sliding groove and can slide in the sliding groove, and the size of the locking groove is larger than the size of the protruding portion.

[0009] In some embodiments, the locking groove includes a sliding groove section, and the sliding groove section includes a first groove section, a third groove section and a second groove section connected between the first groove section and the third groove section; the first groove section and the second groove section form a convex portion protruding toward the middle direction of the locking groove, and the second groove section and the third groove section form a concave portion concave toward the middle direction away from the locking groove.

[0010] In some embodiments, the shell is further provided with a guide block, which is formed by the edge of the sliding groove section protruding toward the interior of the shell. The guide block includes a first guide section and a second guide section. The shape of the second guide section is the same as the edge shape of the sliding groove section, and the locking shaft slides into the locking groove through the first guide section.

[0011] In some embodiments, the locking groove includes a preset position, and the locking shaft locks the slider when it is located at the preset position, and the preset position is located at the recess.

[0012] In some embodiments, the slider is provided with a protruding block, and the housing is provided with a strip groove, and the block can slide in the strip groove.

[0013] In some embodiments, each group of the clamping assembly includes a clamping member, a pivot shaft and a biasing member, one end of the clamping member is rotatably connected to the slider through the pivot shaft, and the other end is a clamping end, the biasing member is sleeved on the pivot shaft, and one end of the biasing member abuts outward against the inner side wall of the clamping member.

[0014] In some embodiments, the biasing member is a torsion spring.

[0015] In some embodiments, the clamping end is hook-shaped or groove-shaped.

[0016] In some embodiments, the locking assembly further includes a second locking member, a first through hole is provided on the housing, and the second locking member passes through the first through hole and is inserted into the member to be clamped.

[0017] In some embodiments, the clamping and locking device further includes a first sensor, which is disposed in the housing and is used to detect the position of the slider.

[0018] In some embodiments, the clamping and locking device further includes a second sensor, which is disposed on the clamping assembly and is used to detect a torque value of the clamping assembly.

[0019] A second aspect of the present application provides a robotic arm, which is connected to the part to be clamped via the clamping and locking device described in the first aspect.

[0020] A third aspect of the present application provides a robot, comprising the robotic arm as described in the second aspect.

[0021] The outer wall of the clamping assembly of the clamping locking device provided by the present application abuts against the inner wall of the shell, and the clamping assembly is firmly positioned by the abutting pressure of the side wall of the shell. The clamping assembly will not become loose and unstable due to increased use, thereby ensuring the clamping stability of the clamping locking device; the slider and the shell are connected by an elastic part, and the elastic force of the elastic part can automatically reset the slider, thereby increasing the operating convenience of the clamping locking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 This is a structural diagram of the clamping and locking device in the present embodiment in a non-locking state;

[0024] Figure 2 is a cross-sectional schematic diagram of the clamping and locking device in this embodiment;

[0025] Figure 3 This is an exploded view of the clamping and locking device in this embodiment;

[0026] Figure 4 for Figure 3 Further exploded diagram of;

[0027] Figure 5 This is a bottom view of the clamping and locking device in this embodiment, wherein the clamping and locking device is in a locked state;

[0028] Figure 6 This is a structural schematic diagram of the clamping and locking device in the locked state in this embodiment;

[0029] Figure 7 Schematic diagram of the structure of the slider in this embodiment;

[0030] Figure 8 Schematic diagram of the structure of the locking member in this embodiment;

[0031] Figure 9 Schematic diagram of the structure of the locking hole in this embodiment;

[0032] Figure 10 is a cross-sectional view of the shell;

[0033] Figure 11 is a structural schematic diagram of the shell;

[0034] Figure 12 Schematic diagram of the motion trajectory of the locking shaft;

[0035] Figure 13 It is a top view of the locking groove and guide block.

[0036] Illustration:

[0037] Among them, 10-clamping and locking device; 1-housing; 11-locking groove; 101-first groove section; 102-second groove section; 103-third groove section; 111-preset position; 112-initial position; 12-strip groove; 13-first through hole; 14-guide block; 141-first guide section; 142-first guide surface; 143-positioning surface 144-second guide surface; 2-slider; 21-locking hole; 211-sliding groove; 2 12-locking groove; 22-block; 3-elastic member; 4-clamping assembly; 41-clamping member; 411-clamping end; 42-pivot shaft; 43-biasing member; 5-first locking member; 51-locking block; 511-sliding portion; 512-protruding portion; 52-connecting rod; 53-locking shaft; 6-second locking member; 61 ball; 7-first sensor; 71 sensing member; 8-second sensor; 20-member to be clamped; 201-second through hole. DETAILED DESCRIPTION

[0038] The following embodiments are described in detail, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following embodiments are not intended to represent all embodiments consistent with the present application, but are merely examples of systems and methods consistent with certain aspects of the present application as detailed in the claims.

[0039] See also Figure 1 and Figure 4As shown, the clamping and locking device 10 provided in the present application includes a housing 1, a slider 2, a clamping assembly 4 for clamping a part to be clamped 20, and a locking assembly for locking the clamping assembly 4 in a predetermined position. A mounting groove is provided in the housing 1, and the slider 2 is slidably arranged in the mounting groove. An elastic member 3 is provided between the slider 2 and the housing 1. The elastic action of the elastic member 3 drives the slider 2 to slide in the mounting groove in a direction away from the housing 1, thereby realizing that the slider 2 automatically extends out of the housing 1 in the unlocked state. The locking assembly is arranged through the housing 1 and is used to limit the sliding of the slider 2 relative to the housing 1. At the predetermined position, the slider 2 is locked by the locking assembly and is in an immovable state. The end of the slider 2 facing away from the elastic member 3 is connected to the clamping assembly 4, and the outer wall of the clamping assembly 4 abuts against the inner wall of the housing 2, so that the clamping assembly 4 can be in a state of clamping the part to be clamped 20 inward. In a feasible embodiment, the elastic member 3 is a spring. The spring has a simple structure, which can reduce production costs, reduce failure rates, and improve the reliability of the clamping and locking device 10.

[0040] In order to simplify the description of the positional relationship between one element and another element, refer to Figure 1 and Figure 2 As shown, the direction parallel to the extension and contraction direction of the elastic member 3 is defined as the front-to-back direction, the direction parallel to the insertion and removal direction of the clamped member 20 is defined as the up-down direction, and the direction perpendicular to the front-to-back and up-down directions is defined as the left-to-right direction. The end closest to the clamping assembly 4 is defined as the front end, and the end closest to the elastic member 3 is defined as the rear end. In the following description, the terms up, down, left, right, front, and rear are used to describe the positional relationships between related components, but these directional descriptions do not limit the technology itself.

[0041] The mounting slot is enclosed by the upper, lower, left, and right sidewalls of the housing 1. The slider 2 has a front end and a rear end, with the clamping assembly 4 disposed at the end of the slider 2 away from the housing 1, meaning that the slider 2 can extend out of the front end of the housing 1. Two sets of clamping assemblies 4 are provided, each with an identical structure. The two sets are symmetrically and rotatably disposed on either side of the front end of the slider 2. Each set of clamping assemblies 4 can rotate toward or away from each other, and during the process of rotating toward each other, clamp the part 20 to be clamped. After each set of clamping assemblies 4 clamps the part 20 to be clamped, the locking assembly locks each set of clamping assemblies 4 in a predetermined position, thereby clamping the part 20 to be clamped.

[0042] See also Figure 3 and Figure 7The slider 2 is provided with a locking hole 21, which is located between the two groups of clamping components 4 and penetrates the slider 2 downward and extends in the up and down directions. The housing 1 is provided with a locking groove 11 with a locking position. The locking groove 11 is provided on the lower side wall of the housing 1. The locking assembly includes a first locking member 5, which is connected between the locking hole 21 and the locking groove 11. When the first locking member 5 is in the locking position of the locking groove 11, the relative position between the slider 2 and the housing 1 is locked, and the clamping component 4 is in a predetermined position.

[0043] See also Figure 2 and Figure 8 As shown, the first locking member 5 includes a locking block 51 that cooperates with the locking hole 21, a locking shaft 53 that moves within the locking groove 11, and a connecting rod 52 connected between the locking shaft 53 and the locking block 51. The locking block 51 has a specific shape that can adapt to the shape of the locking hole 21, so that the locking block 51 can rotate within the locking hole 21 after being inserted into the locking hole 21, and cannot move further after rotating to a certain position. For example, the locking block 51 can be configured as two parts, one for sliding and the other for limiting. The sliding part can be configured as a circular or elliptical shaft body for easy sliding, while the other part for limiting can be configured as an angular shaft body, such as a square shaft body.

[0044] The locking groove 11 is configured to be irregularly shaped. The locking shaft 53 moves into the locking groove 11 and can be positioned in the locked position, thereby positioning the first locking member 5 and thereby limiting the position of the slider 2. After each set of clamping assemblies 4 clamps the member 20 to be clamped, the slider 2 no longer slides, thereby ensuring overall clamping stability. During operation, the operator holds the member 20 to be clamped and pushes the slider 2 in the direction of squeezing the elastic member 3. As the slider 2 moves in the direction of squeezing the elastic member 3, the left and right side walls of the housing 2 respectively press against each set of clamping assemblies 4, causing each set of clamping assemblies 4 to rotate toward each other, thereby gradually clamping the member 20 to be clamped. During this process, the slider 2 moves toward the interior of the housing 1, the elastic member 3 is compressed, and each set of clamping assemblies 4 gradually moves toward each other and simultaneously moves toward the interior of the housing 1 until the locking shaft 53 moves to the locked position of the locking groove 11. At this point, the member 20 to be clamped is clamped, preventing the member 20 from shaking, which can effectively improve the technical problem of poor clamping stability.

[0045] When the clamping and locking device 10 provided by the present application is used to lock the clamped part 20, as shown in FIG. Figure 5As shown, the hand presses the to-be-clamped member 20 in the direction of the compression elastic member 3, one end of the sliding block 2 abuts against the to-be-clamped member 20, the sliding block 2 slides to the rear side under the action of the to-be-clamped member 20, thereby driving the clamping member 41 to move rearward, and because the clamping member 41 encounters the clamping of the left and right side walls of the shell 1, the clamping member 41 rotates in the direction of approaching each other while moving rearward, thereby gradually clamping the to-be-clamped member 20, at the same time, the sliding block 2 moves and drives the first locking member 5 to move along the movement direction of the sliding block 2, until the locking shaft 53 moves to the locking position to clamp the to-be-clamped member 20 and fix the position of the sliding block 2, at this time, the clamping assembly 4 is locked at the predetermined position.

[0046] It can be understood that the to-be-clamped member 20 has many types, of course, the to-be-clamped member can also be other types of instruments or articles, which are not limited here.

[0047] Referring to Figure 9 , the locking hole 21 includes a sliding groove 211 and a locking groove 212, and the locking block 51 includes a semicylindrical sliding part 511 and a square protruding part 512, the protruding part 512 is formed at the edge position of the rectangular surface of the semicylindrical sliding part 511. In terms of the cross-sectional shape of the locking hole 21, the sliding groove 211 is a smooth curve, similar to a circular or elliptical shape, extending from the horizontal end surface of the sliding groove 211 to form two rectangular grooves arranged at intervals and different in size, and the larger one is the locking groove 212. The shape of the locking groove 212 is similar to that of the protruding part 512, but the area is larger than that of the protruding part 512, so that the protruding part 512 can slide in the locking groove 212. When the protruding part 512 slides to a certain position, it is limited by the edge structure of the locking groove 212, so that the locking block 51 can slide in the sliding groove 211 and be locked in the locking groove 212. Specifically, the protruding part 512 is arranged to be locked in the locking groove 212 during movement, the shape of the sliding groove 211 is matched with the shape of the semicylindrical sliding part 511, the semicylindrical sliding part 511 can slide in the sliding groove 211 and drive the protruding part 512 to slide in the locking groove 212, and when sliding to the maximum position, one side surface of the protruding part 512 abuts against one side surface of the locking groove 212 to block the movement of the protruding part 512, thereby limiting the position, and at this time, the locking block 51 cannot move any more. It can be understood that the rotation of the locking block 51 is caused by the sliding of the sliding block 2 driven by the to-be-clamped member 20, and in the process of the sliding block 2 moving into the shell 1 and compressing the elastic member 3, the locking block 51 moves together with the sliding block 2 and generates inward movement displacement.

[0048] Referring to Figure 5 , Figure 10 , Figure 11 , Figure 12 and Figure 13The locking groove 11 is a special-shaped groove, and the special-shaped groove is provided to achieve the limiting operation of the locking shaft 53. Specifically, the locking groove 11 includes a sliding groove section, wherein the sliding groove section includes a first groove section 101 and a second groove section 103 connected to each other, and a second groove section 102 connected between the first groove section 101 and the third groove section 103. The first groove section 101 and the second groove section 102 are formed with a convex portion protruding toward the middle of the locking groove 11, and the second groove section 102 and the third groove section 103 are formed with a concave portion recessed away from the middle of the locking groove 11. By providing the concave and convex portions, the motion trajectory of the locking shaft 53 is changed, thereby achieving a limiting effect.

[0049] The shell 1 is also provided with a guide block 14, which is arranged to protrude inward from the shell 1 and extend from the surface of the shell 1 toward the interior of the shell 1. The guide block 14 includes a first guide section 141 and a second guide section, and the second guide section is formed by the groove edge of the sliding groove section extending toward the interior of the shell 1. The first guide section 141 is arranged away from the locking groove 11, and the first guide section is a first inclined surface. The shape of the second guide section is the same as the edge shape of the sliding groove section, and is formed by the groove edge of the sliding groove section protruding toward the interior of the shell. The second guide section includes a first guide surface 142, a positioning surface 143, and a second guide surface 144, wherein the positioning surface 143 is connected between the first guide surface 142 and the second guide surface 144, and the ends of the first guide surface 142 and the second guide surface 144 away from the positioning surface 143 are respectively connected to the two ends of the first guide section 141, thereby enclosing the guide block 14.

[0050] The first guide surface 142, the positioning surface 143, and the second guide surface 144 are formed by the groove edges of the first groove section 101, the second groove section 102, and the third groove section 103, respectively, protruding toward the interior of the housing 1. The locking shaft 53 enters the locking groove 11 along the first guide section 141 from the initial position 112, and slides along the first guide surface 142 to the recess formed between the positioning surface 143 and the second guide surface 144. The second guide surface 144 is a second inclined surface, and the locking shaft 53 can slide out of the locking groove 11 through the second inclined surface. Specifically, the first inclined surface extends from the right rear end to the left front end of the housing 1. The locking shaft 53 slides from the left front end to the right rear end of the housing 1 under the guidance of the first inclined surface and then returns to the initial position. The second inclined surface extends from the left front end to the right rear end of the housing 1, and the locking shaft 53 slides out of the locking groove 11 through the second inclined surface.

[0051] like Figure 13 1 is a top view of the locking groove 11 and the guide block 14. In the top view, the first guide surface 142, the positioning surface 143, and the second guide surface 144 of the guide block 14 coincide with the edges of the first slot section 101, the second slot section 102, and the third slot section 103 of the sliding slot section, respectively.

[0052] The locking groove 11 has a preset position 111 and an initial position 112. When the clamping assembly 4 clamps the clamped part 20 and is in a stable state, the locking shaft 53 is in the preset position 111, i.e., the aforementioned locked position, located in the recess formed between the positioning surface 143 and the second guide surface 144. At the same time, each set of clamping assemblies 4 is in the aforementioned predetermined position. When the locking shaft 53 moves from the preset position 111 to the right rear along the second guide surface 144 and disengages the locking groove 11, it continues to move to the left front along the first guide section 141 to the initial position, i.e., when the clamping assembly 4 is in the released state, the locking shaft 53 is in the initial position 112. In other words, the locking shaft 53 enters the locking groove 11 from the initial position 112, passes through a portion of the first guide section 141, slides along the first guide surface 142 to the preset position 111, and then moves from the preset position 111 to the initial position 112, passing through the second guide surface 144 and the first guide section 141.

[0053] See also Figure 3 and Figure 4 The slider 2 is also provided with a block 22, which protrudes from the slider 2 and is arranged on the side away from the locking shaft 53. A strip groove 12 is provided at a corresponding position of the shell 1. The extension direction of the strip groove 12 is the same as the sliding direction of the slider 2. The strip groove 12 and the block 22 cooperate to limit the movement range of the slider to prevent the slider 2 from detaching from the shell during the sliding process.

[0054] That is to say, when the slider 2 slides in the shell 1, the block 22 is driven to slide in the strip groove 12, and when the slider 2 moves to the maximum position extending out of the shell 1, the block 22 is stuck at the end of the strip groove 12, thereby limiting the continued movement of the slider 2, thereby preventing the slider 2 from falling out of the shell 1, and at the same time playing a guiding role, improving the stability of the movement of the slider 2.

[0055] See also Figure 4 Each clamping assembly 4 includes a clamping member 41, a pivot shaft 42, and a biasing member 43. One end of the clamping member 41 is rotatably connected to the slider 2 via the pivot shaft 42. The other end of the clamping member 41 is a clamping end 411. The shape of the clamping end 411 is adapted to the shape of the object 20 to be clamped, thereby clamping the object 20. The biasing member 43 is sleeved on the pivot shaft 42, and one end of the biasing member 43 abuts outward against the inner side wall of the clamping member 41. That is, when each group of clamping members 4 approaches each other, the clamping member 41 squeezes the biasing member 43 to move toward the middle position between the two groups of clamping assemblies 4. At this time, the biasing member 43 is squeezed. When it is desired to remove the object 20 to be clamped, the biasing member 43 releases the pressure and returns to its original state, thereby driving the clamping member 41 to automatically return to its original position.

[0056] That is, the clamping member 41 is rotatably connected to the slider 2 , and during the rotation of the clamping member 41 , the clamping end 411 moves toward or away from the member to be clamped 20 to achieve clamping and releasing of the member to be clamped 20 .

[0057] Continue to refer to Figure 4 The biasing member 43 is a torsion spring. The torsion spring 422 is mounted on the pivot shaft 421. As the slider 2 moves toward the interior of the housing 1, the clamping member 41 is driven to move toward the interior of the housing 1. During this movement, the outer side of the clamping member 41 contacts the housing 1, which gradually generates an inward thrust on the clamping member 41, causing the clamping member 41 to rotate toward the object 20 to be clamped. During this process, the biasing member 43 is also under stress.

[0058] The torsion spring is stressed in the clamped state, and in the released state, as the torsion spring resets, each clamping member 41 gradually returns to its initial position. That is, as the slider 2 drives each set of clamping members 41 backward, the housing 1 causes each clamping member 41 to rotate toward each other. When the elastic member 3 pushes the slider 2, the slider 2 drives each clamping member 41 forward, and the torsion spring causes each set of clamping members 41 to rotate away from each other, thereby tightening or loosening the clamping members 41.

[0059] In a feasible embodiment, the clamping end 411 is hook-shaped or groove-shaped, so as to better clamp the object 20 to be clamped.

[0060] in, Figure 12 Schematic diagram of the movement trajectory of the locking shaft 53 , where the dotted line is the movement trajectory of the locking shaft 53 , and the arrow indicates the movement direction of the locking shaft 53 .

[0061] The movement process of the locking shaft 53 from the initial position 112 to the preset position 111 is as follows: in the initial state, the clamping assembly 4 is in a non-clamped release state; when it is necessary to clamp the part 20 to be clamped, the user moves the part 20 to be clamped between the clamping assemblies 4 and uses the part 20 to be clamped to push the slider 2 to slide backward, and the sliding of the slider 2 drives each group of clamping assemblies 4 to move backward, and the elastic member 3 is pressed. In the process of each group of clamping assemblies 4 moving backward, the left and right side walls of the shell 1 press each group of clamping assemblies 4 so that the two rotate in the direction of approaching each other and gradually clamp the part 20 to be clamped. At the same time, the slider 2 drives the locking block 51 inserted in the locking hole 21 to move to the right, and the locking shaft 53 slides along the left front along part of the first inclined surface. Under the guiding force of the first inclined surface, the locking When the locking shaft 53 is in a state of being clamped, the locking shaft 53 can move in a stable clamping state, and the locking shaft 53 can move in an irregular trajectory in the locking groove 11 while the slider 1 can move in a straight line backward.

[0062] When the locking shaft 53 is in the preset position 111, the locking shaft 53 is in the preset position 112. The movement process of the locking shaft 53 from the preset position 111 to the initial position 112 is as follows: when the clamped part 20 needs to be taken out, a backward thrust is applied to the clamped part 20, and the slider 2 is pushed to slide backward by the clamped part 20, and the locking block 51 located in the locking hole 21 is rotated relative to the locking hole 21, and the locking shaft 53 is disengaged from the preset position 111. Under the elastic force of the elastic member 3, the locking shaft 53 is subjected to the torque deflected to the right and moves to the right rear along the second guide surface 144 until it disengages from the locking groove 11, and the slider 2 slides forward and then moves along the first inclined surface to the initial position 112. At the same time, the slider 2 moves toward the front end of the shell 1 so that the clamping assembly 4 is disengaged from the pressure of the left and right side walls of the shell 1. Under the outward pressure of the torsion arm of the torsion spring, each group of clamping assemblies 4 rotates in the direction away from each other, thereby automatically releasing the object to be clamped.

[0063] See also Figure 6 The clamping and locking device 10 further includes a second locking member 6 . The housing 1 is provided with a first through hole 13 , and the member to be clamped 20 is provided with a second through hole 201 . The second locking member 6 passes through the first through hole 13 and is inserted into the second through hole 201 .

[0064] That is to say, when it is necessary to lock the part to be clamped 20, after the part to be clamped 20 has been stably clamped by the clamping assembly 4, the second locking member 6 is inserted into the first through hole 13 and the second through hole 201 in sequence. Through the locking action of the second locking member 6, even if the part to be clamped 20 is accidentally pushed in the locked state, it will not cause the slider 2 to move and the locking shaft 53 to move from the locked position to the released position, thereby preventing misoperation; when it is necessary to evacuate the part to be clamped 20, the operator first pulls out the second locking member 6, and then presses the part to be clamped 20 backward. The movement principle is the same as described above and will not be repeated here.

[0065] Specifically, the second locking member 6 is also provided with a ball 61 and a spring. The ball 61 is retractably arranged at the lower part of the second locking member 6 through the spring. Accordingly, if the part to be clamped 20 is provided with a recessed hole, after the second locking member 6 is inserted into the part to be clamped 20 through the first through hole 13, the ball 61 is stuck in the recessed hole of the part to be clamped 20, so that the part to be clamped 20 will not move in the up and down and left and right directions, thereby preventing the part to be clamped 20 from being separated from the clamping locking device 10 due to erroneous operations such as accidentally touching the part to be clamped 20.

[0066] See also Figure 4 The clamping and locking device 10 further includes a first detection device for detecting the sliding state of the slider 2 and a second detection device for detecting the torque change of each group of clamping members 41.

[0067] The first detection device is a first sensor 7, which specifically adopts a photosensor, and a sensing member 71 is provided at the corresponding position of the slider 2. When the first locking member 5 is stuck, the part to be clamped 20 is clamped by the two groups of clamping members 41. The sensor sensing member 71 enters the detection range of the photosensor under the drive of the slider 2. The photosensor detects the signal and can identify and detect the clamping state of the clamping locking device 10, and can accurately determine whether the part to be clamped 20 is in the clamping state.

[0068] The second detection device is a second sensor 8, which is a torque sensor. Multiple torque sensors are provided on each clamping assembly 4. Based on the torque change signal detected by the second detection device, it can determine whether the clamped part 20 is clamped, thereby increasing the reliability of the clamping and locking device 10. The second detection device can be a potentiometer torque sensor, an electromagnetic torque sensor, a photoelectric torque sensor, etc.

[0069] Specifically, the end of the housing 1 away from each set of clamping components 4, that is, the end where the elastic member 3 is provided, is connected to the operating device. Figure 4 and Figure 6 As shown, in the embodiment disclosed in the present invention, the shape of the housing 1 is L-shaped, but is not limited to this shape. The housing 1 can also be in other shapes as long as it can be connected to the control device.

[0070] The present invention also provides a robot having a robotic arm, which is connected to the housing 1 of the clamping and locking device 10. Specifically, the front end of the robotic arm is connected to the rear end of the housing 1, and the clamping and locking device 10 is used to connect the object 20 to the robotic arm.

[0071] More specifically, the robot is a laparoscopic surgical robot, and accordingly, the part to be clamped 20 is a puncture card with a tubular working channel. Before the operation, the clamping and locking device is used to clamp the puncture card and connect it to the robot's mechanical arm. After the clamping is stable, laparoscopic surgery is performed.

[0072] The outer wall of the clamping assembly 4 of the clamping locking device 10 of the present invention abuts against the inner wall of the shell 1, and the clamping assembly 4 is firmly positioned by the abutting pressure of the side wall of the shell 1, so that the clamping assembly 4 will not become unstable due to the increase in the number of uses, thereby ensuring the clamping stability of the clamping locking device 10; the slider 2 and the shell 1 are connected by an elastic member 3, and the elastic force of the elastic member 3 can automatically reset the slider 2, thereby increasing the convenience of operation of the clamping locking device 10; one end of the biasing member 43 is The outer abutment against the inner side wall of the clamping member 41, under the action of the biasing member 43, the clamping member 41 rotates in the direction away from each other, thereby realizing the automatic loosening of the clamping member 41 and releasing the member to be clamped 20, further increasing the operational convenience of the clamping locking device 10; a second locking member 6 is provided for double locking. In the locked state, even if the member to be clamped 20 is accidentally pushed, the slider 2 will not be moved, causing the locking shaft 53 to move from the locked position to the released position, playing a role in preventing misoperation and further improving the clamping stability.

[0073] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without expending creative work shall fall within the scope of protection of this application.

Claims

1. A clamping and locking device, characterized in that: It comprises a housing, a slider, a clamping assembly for clamping a part to be clamped, and a locking assembly for locking the clamping assembly in a predetermined position; The housing is provided with a mounting groove, the slider is slidably arranged in the mounting groove, one end of the slider is connected to the housing through an elastic member, and the other end is connected to the clamping assembly; The clamping assemblies are provided in two groups, and the two groups of clamping assemblies are symmetrically and rotatably provided on both sides of the slider, and the outer side walls of the clamping assemblies abut against the inner side wall of the shell; The locking assembly is arranged through the housing and is used to limit the sliding block from sliding relative to the housing; The slider is provided with a locking hole, the housing is provided with a locking groove, and the locking assembly includes a first locking member connected between the locking hole and the locking groove; The first locking member includes a locking block, a locking shaft, and a connecting rod connected between the locking block and the locking shaft, the locking block is rotatably arranged in the locking hole, and the locking shaft can move in the locking groove; The locking groove includes a preset position and a recessed portion, wherein the recessed portion is recessed in a direction away from the middle of the locking groove. When the locking shaft is located at the preset position, the slider is locked. The preset position is located at the recessed portion.

2. The clamping and locking device according to claim 1, characterized in that: The locking hole includes a sliding groove and a locking groove, and the locking block includes a sliding portion and a protruding portion; the protruding portion protrudes from the sliding portion, the sliding portion is adapted to the shape of the sliding groove and can slide in the sliding groove, and the size of the locking groove is larger than the size of the protruding portion.

3. The clamping and locking device according to claim 2, characterized in that: The locking groove includes a sliding groove section, and the sliding groove section includes a first groove section, a third groove section and a second groove section connected between the first groove section and the third groove section. The first groove section and the second groove section form a convex portion protruding toward the middle direction of the locking groove, and the second groove section and the third groove section form the concave portion.

4. The clamping and locking device according to claim 3, characterized in that: The shell is also provided with a guide block, which is formed by the edge of the sliding groove section protruding toward the inside of the shell. The guide block includes a first guide section and a second guide section. The shape of the second guide section is the same as the edge shape of the sliding groove section. The locking shaft slides into the locking groove through the first guide section.

5. The clamping and locking device according to claim 1, characterized in that: The sliding block is provided with a protruding clamping block, and the housing is provided with a strip groove, in which the clamping block can slide.

6. The clamping and locking device according to claim 1, characterized in that: Each group of the clamping assemblies includes a clamping member, a pivot shaft and a biasing member. One end of the clamping member is rotatably connected to the slider through the pivot shaft, and the other end is a clamping end. The biasing member is sleeved on the pivot shaft, and one end of the biasing member abuts outward against the inner side wall of the clamping member.

7. The clamping and locking device according to claim 6, characterized in that: The biasing member is a torsion spring.

8. The clamping and locking device according to claim 6, characterized in that: The clamping end is hook-shaped or groove-shaped.

9. The clamping and locking device according to claim 1, characterized in that: The locking assembly includes a second locking member. A first through hole is provided on the housing. The second locking member passes through the first through hole and is inserted into the member to be clamped.

10. The clamping and locking device according to any one of claims 1 to 9, characterized in that: The system further includes a first sensor, which is disposed in the housing and is used to detect the position of the slider.

11. The clamping and locking device according to any one of claims 1 to 9, characterized in that: It also includes a second sensor, which is arranged on the clamping assembly and is used to detect the torque value of the clamping assembly.

12. A robotic arm, characterized in that: The robotic arm is connected to the part to be clamped via the clamping and locking device according to any one of claims 1 to 11.

13. A robot, characterized in that: The robot comprises the robotic arm of claim 12.

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