robotic arm components and surgical robots

Abstract

This application discloses a robotic arm assembly and a surgical robot. The robotic arm assembly includes a first ball joint, a second ball joint, a first free arm, a second free arm, and a locking mechanism. The locking mechanism includes a connecting shaft, a first locking component, a second locking component, an operating component, and a rotation direction adjustment component. The first free arm is rotatably mounted on the connecting shaft, and the second free arm is rotatably mounted on the connecting shaft. The first locking component passes through the first free arm and is located between the connecting shaft and the first ball joint. The second locking component passes through the second free arm and is located between the connecting shaft and the second ball joint. The rotation direction adjustment component is disposed between the rotating operating component and the connecting shaft so that the rotating operating component can only rotate in a clockwise direction or only in a counterclockwise direction. This application can solve the problem that the rotation direction between two adjacent free arms in the free arm assembly of the surgical robot in the prior art is relatively arbitrary.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a robotic arm assembly and a surgical robot. Background Technology

[0002] Currently, surgical robots are being used more and more widely in the medical field. For example, a surgical robot used for injecting bone cement includes a robotic arm assembly and a bone cement injection assembly mounted on the robotic arm assembly. The robotic arm assembly includes two free arms, the angle between which can be adjusted and locked in place by a locking assembly or other structures.

[0003] However, when adjusting the angle between the two free arms, the direction of rotation between the two free arms is relatively arbitrary, making it difficult to lock the two free arms at the required angle. Summary of the Invention

[0004] The main objective of this application is to provide a robotic arm assembly and a surgical robot to solve the problem that the rotation direction between two adjacent free arms in the free arm assembly of the surgical robot in the prior art is relatively arbitrary.

[0005] According to one aspect of the embodiments of this application, a robotic arm assembly is provided, comprising:

[0006] First ball joint;

[0007] Second ball joint;

[0008] A first free arm, comprising a first end and a second end disposed opposite to each other, wherein the first end of the first free arm is rotatably connected to the first ball joint;

[0009] A second free arm, comprising a first end and a second end disposed opposite to each other, the first end of the second free arm being rotatably connected to the second ball joint; and

[0010] The locking mechanism includes a connecting shaft, a first locking component, a second locking component, an operating component, and a rotation direction adjustment component.

[0011] The second end of the first free arm is rotatably sleeved on the connecting shaft, and the second end of the second free arm is rotatably sleeved on the connecting shaft;

[0012] The first locking component passes through the first free arm and is located between the connecting shaft and the first ball joint. The first locking component has a first locking position that locks the first ball joint and the first free arm, and the first locking component also has a first unlocking position that unlocks the first ball joint and the first free arm.

[0013] The second locking assembly passes through the second free arm and is located between the connecting shaft and the second ball joint. The second locking assembly has a second locking position that locks the second ball joint and the second free arm, and the second locking assembly also has a second unlocking position that unlocks the second ball joint and the second free arm.

[0014] The operating component includes a rotating operating component and a driving component. The rotating operating component is disposed on the connecting shaft to drive the connecting shaft to rotate in a clockwise or counterclockwise direction. The driving component is disposed on the connecting shaft and, driven by the connecting shaft, causes the first locking component to switch between the first locking position and the first unlocking position, and simultaneously causes the second locking component to switch between the second locking position and the second unlocking position.

[0015] The rotation direction adjustment component is disposed between the rotation operation component and the connecting shaft so that the rotation operation component can only rotate in the clockwise direction or only in the counterclockwise direction.

[0016] Furthermore, the rotating operating component includes:

[0017] A limiting sleeve is rotatably fitted onto the end of the connecting shaft, and the limiting sleeve is provided with a non-circular mounting groove.

[0018] A guide sleeve, which is a non-circular sleeve adapted to the non-circular mounting groove, is sleeved on the connecting shaft, and the guide sleeve and the connecting shaft are connected by a thread; and

[0019] An operating handle is disposed at the end of the connecting shaft and fixedly connected to the limiting sleeve.

[0020] Furthermore, the driving component includes:

[0021] A first drive block, which is connected to the connecting shaft via a first thread and is axially movable relative to the connecting shaft, thereby switching the first locking assembly between a first locked position and a first unlocked position; and

[0022] The second drive block is connected to the connecting shaft via a second thread and is axially movable relative to the connecting shaft to switch the second locking assembly between the second locking position and the second unlocking position.

[0023] Furthermore, the depth of the non-circular mounting groove along the axial direction of the connecting shaft is greater than the thickness of the guide sleeve along the axial direction of the connecting shaft.

[0024] Furthermore, the operating handle has an internal mounting cavity, and the rotation direction adjustment assembly includes:

[0025] A ratchet, which is fixedly sleeved on the limiting sleeve and located inside the mounting cavity;

[0026] A first push-lock mechanism is rotatably disposed in the mounting cavity, and the first push-lock mechanism has a function to cooperate with the ratchet to prevent the ratchet from rotating in the counterclockwise direction;

[0027] A second push-lock mechanism, rotatably disposed in the mounting cavity, the second push-lock mechanism having a function to engage with the ratchet to prevent the ratchet from rotating in the clockwise direction; and

[0028] An adjustment mechanism is provided for adjusting the first push-lock mechanism and the second push-lock mechanism so that one of the first push-lock mechanism and the second push-lock mechanism is engaged with the ratchet.

[0029] Furthermore, the first push-lock mechanism includes a first push rod and a first elastic element. The first end of the first push rod is rotatably mounted in the mounting cavity, and the two ends of the first elastic element abut against the inner sidewall of the mounting cavity and the sidewall of the second end of the first push rod, respectively.

[0030] The second push-lock mechanism includes a second push rod and a second elastic element. The first end of the second push rod is rotatably installed in the mounting cavity, and the two ends of the second elastic element abut against the inner sidewall of the mounting cavity and the sidewall of the second end of the second push rod, respectively.

[0031] The first elastic element is located on the side of the first push rod away from the second push rod, and the second elastic element is located on the side of the second push rod away from the first push rod.

[0032] Furthermore, the adjustment mechanism includes:

[0033] A cam, wherein the cam is disposed between the first push rod and the second push rod; and

[0034] A push button, which is mounted on the operating handle, is used to push the cam to push the first push rod or the second push rod away from the ratchet.

[0035] Furthermore, the first drive block is provided with a first inclined surface, and the first locking component includes:

[0036] A first locking rod, which passes through the first free arm and can reciprocate along the length of the first free arm, has a first ball bearing at one end near the connecting shaft, and the first ball bearing rests on the first inclined surface; and

[0037] A first locking block is disposed at one end of the first locking rod near the first ball joint. Under the push of the first locking rod, the first locking block contacts the first ball joint to generate frictional damping to lock the first free arm and the first ball joint.

[0038] Furthermore, the second drive block is provided with a second inclined surface, and the second locking component includes:

[0039] A second locking rod passes through the second free arm and can reciprocate along the length of the second free arm. A second ball bearing is provided at one end of the second locking rod near the connecting shaft, and the second ball bearing rests on the second inclined surface.

[0040] The second locking block is located at one end of the second locking rod near the second ball joint. Under the push of the second locking rod, the second locking block contacts the second ball joint to generate frictional damping, thereby locking the second free arm and the second ball joint.

[0041] Furthermore, a first connecting sleeve is provided at the second end of the first free arm, a second connecting sleeve is provided at the second end of the second free arm, and a damping mechanism is provided on the end faces of the first connecting sleeve and the second connecting sleeve that are close to each other.

[0042] Furthermore, the damping mechanism includes:

[0043] A first damping sleeve is fixedly disposed at one end of the first connecting sleeve near the second connecting sleeve, and the end face of the first damping sleeve near the second connecting sleeve is provided with a first toothed surface; and

[0044] The second damping sleeve is fixedly disposed at one end of the second connecting sleeve near the first connecting sleeve. The end face of the second damping sleeve near the first connecting sleeve is provided with a second tooth surface, which meshes with the first tooth surface.

[0045] Furthermore, the limiting sleeve extends into the second connecting sleeve from the end of the second connecting sleeve away from the first connecting sleeve, and the outer periphery of the limiting sleeve is provided with an annular stepped surface;

[0046] The robotic arm assembly also includes a clamping sleeve, which is sleeved outside the limiting sleeve, with the bottom end of the clamping sleeve abutting against the annular step surface, and the clamping sleeve is fixedly mounted on the second connecting sleeve.

[0047] Furthermore, the robotic arm assembly also includes an end cap, which is fixedly disposed on one end of the first connecting sleeve away from the second connecting sleeve. The end of the connecting shaft is rotatably connected to the end cap, and a limiting external flange is provided on the connecting shaft.

[0048] On the other hand, this application also provides a surgical robot, which includes the aforementioned robotic arm assembly.

[0049] Compared with the prior art, the technical solution of this application has at least the following technical effects:

[0050] The robotic arm assembly of this application is provided with a rotation direction adjustment component. Through the function of this rotation direction adjustment component, the rotation direction of the rotating operating part can be adjusted and restricted, so that the rotating operating part can only rotate in one direction (counterclockwise or clockwise). This makes it easier and faster to lock and unlock the robotic arm assembly. The operation is simple, stable and reliable. Attached Figure Description

[0051] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0052] Figure 1 This is a schematic diagram of the surgical robot disclosed in this application when it is mounted on a guide rail;

[0053] Figure 2 This is a schematic diagram of the robotic arm assembly disclosed in the embodiments of this application from a first-view perspective.

[0054] Figure 3 This is a schematic diagram of the robotic arm assembly disclosed in the embodiments of this application from a second-view perspective.

[0055] Figure 4 This is a schematic diagram of the robotic arm assembly disclosed in the embodiments of this application from a third-person perspective.

[0056] Figure 5 for Figure 4 GOG section view;

[0057] Figure 6 for Figure 5 A magnified view of region N in the image;

[0058] Figure 7 for Figure 5 A magnified view of region M in the image;

[0059] Figure 8 for Figure 7 Enlarged view of region I in the image;

[0060] Figure 9 This is a schematic diagram of the structure of the robotic arm assembly disclosed in this application after removing the outer shell of the operating handle;

[0061] Figure 10 This is a schematic diagram of the robotic arm assembly disclosed in this application after removing the outer shell of the operating handle and the push button.

[0062] The above figures include the following reference numerals:

[0063] 10. First ball joint; 11. First locking groove; 20. Second ball joint; 30. First free arm; 31. First connecting sleeve; 40. Second free arm; 41. Second connecting sleeve; 50. Locking mechanism; 51. Connecting shaft; 511. Limiting outer flange; 52. First locking assembly; 521. First locking rod; 522. First ball; 523. First locking block; 524. First elastic element; 5231. First receiving groove; 52311. First locking protrusion; 53. Second locking assembly; 531. Second locking rod; 532. Second ball; 533. Second locking block; 534. Second elastic element; 54. Operating assembly; 541. Rotating operating component; 5411. Limiting sleeve; 54111. Non-circular mounting groove; 54112. Annular stepped surface; 5 412. Guide sleeve; 5413. Operating handle; 54131. Mounting cavity; 542. Drive component; 5421. First drive block; 54211. First inclined surface; 5422. Second drive block; 54221. Second inclined surface; 55. Rotation direction adjustment assembly; 551. Ratchet; 552. First push-lock mechanism; 5521. First push rod; 5522. First elastic element; 553. Second push-lock mechanism; 5531. Second push rod; 5532. Second elastic element; 554. Adjustment mechanism; 5541. Cam; 5542. Push button; 60. Damping mechanism; 61. First damping sleeve; 62. Second damping sleeve; 70. Clamping sleeve; 80. End cap; 90. Bone cement injection assembly; 100. Guide rail adapter; 110. Guide rail; 120. Column. Detailed Implementation

[0064] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0065] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0066] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0067] See Figure 1 As shown, according to an embodiment of this application, a surgical robot is provided, which may be, for example, a surgical robot for bone cement injection. The surgical robot includes a guide rail adapter 100, a column 120, a robotic arm assembly, and a bone cement injection assembly 90. The guide rail adapter 100 is mounted on a guide rail 110, the column 120 is fixedly mounted on the guide rail adapter 100, the robotic arm assembly is mounted on the top of the column 120, and the bone cement injection assembly 90 is mounted on the front end of the robotic arm assembly. In actual use, by adjusting the robotic arm assembly, the position of the bone cement injection assembly 90 can be adjusted, thereby moving the bone cement injection assembly 90 mounted on the front end of the robotic arm assembly to a suitable position for surgical procedures.

[0068] Combination Figures 1 to 5 As shown, the robotic arm assembly in this embodiment includes a first ball joint 10, a second ball joint 20, a first free arm 30, a second free arm 40, and a locking mechanism 50.

[0069] The first free arm 30 includes a first end and a second end disposed opposite to each other, the first end of the first free arm 30 being rotatably connected to the first ball joint 10; the second free arm 40 includes a first end and a second end disposed opposite to each other, the first end of the second free arm 40 being rotatably connected to the second ball joint 20; the locking mechanism 50 includes a connecting shaft 51, a first locking component 52, a second locking component 53, an operating component 54, and a rotation direction adjustment component 55.

[0070] The first free arm 30 has its second end rotatably sleeved on the connecting shaft 51, and the second free arm 40 has its second end rotatably sleeved on the connecting shaft 51. A first locking assembly 52 passes through the first free arm 30 and is located between the connecting shaft 51 and the first ball joint 10. The first locking assembly 52 has a first locking position that locks the first ball joint 10 and the first free arm 30, and also has a first unlocking position that unlocks the first ball joint 10 and the first free arm 30. A second locking assembly 53 passes through the second free arm 40 and is located between the connecting shaft 51 and the second ball joint 20. The second locking assembly 53 has a second locking position that locks the second ball joint 20 and the second free arm 40, and also has a second locking position that locks the second ball joint 20 and the second free arm 40. There is a second unlocking position for unlocking the second ball joint 20 and the second free arm 40; the operating component 54 includes a rotation operating component 541 and a driving component 542. The rotation operating component 541 is disposed on the connecting shaft 51 to drive the connecting shaft 51 to rotate in a clockwise or counterclockwise direction. The driving component 542 is disposed on the connecting shaft 51 and, driven by the connecting shaft 51, causes the first locking component 52 to switch between a first locking position and a first unlocking position, and simultaneously causes the second locking component 53 to switch between a second locking position and a second unlocking position; the rotation direction adjustment component 55 is disposed between the rotation operating component 541 and the connecting shaft 51 so that the rotation operating component 541 can only rotate in a clockwise direction or only in a counterclockwise direction.

[0071] In the specific connection, the end of the first ball joint 10 is connected to the top of the column 120, and the end of the second ball joint 20 away from the second free arm 40 is connected to the bone cement injection assembly 90. Afterwards, only the robotic arm assembly needs to be adjusted to position the bone cement injection assembly 90 appropriately for surgical procedures.

[0072] Since the robotic arm assembly in this embodiment includes a first free arm 30 and a second free arm 40, and both the first free arm 30 and the second free arm 40 are rotatably connected to the connecting shaft 51, in actual use, the angle between the first free arm 30 and the second free arm 40 can be adjusted by rotating the first free arm 30 or the second free arm 40 relative to the connecting shaft 51. Meanwhile, since the first end of the first free arm 30 is rotatably connected to the first ball joint 10, the position of the first free arm 30 can be adjusted by rotating the first free arm 30 relative to the first ball joint 10. Correspondingly, the first end of the second free arm 40 is rotatably connected to the second ball joint 20. By rotating the second free arm 40 relative to the second ball joint 20, the position of the second free arm 40 or the structure connected to the second ball joint 20 (such as the bone cement injection assembly 90 in this embodiment) can be adjusted. After the overall position of the robotic arm assembly is adjusted to the position required for surgery, the first ball joint 10, the second ball joint 20, the first free arm 30 and the second free arm 40 can be locked by the action of the locking mechanism 50, thereby facilitating surgeries such as bone cement injection.

[0073] Furthermore, the locking mechanism 50 in this embodiment includes a connecting shaft 51, a first locking component 52, a second locking component 53, an operating component 54, and a rotation direction adjustment component 55. In use, after adjusting the first ball joint 10, the second ball joint 20, the first free arm 30, and the second free arm 40 to suitable positions, for example, rotating the rotating operating component 541 clockwise, the driving component 542 can drive the first locking component 52 to lock the first free arm 30 and the first ball joint 10. Simultaneously, the driving component 542 drives the second locking component 53 to lock the second free arm 40 and the second ball joint 20. After this, the rotation direction adjustment component 55 can be used to adjust the rotation direction of the rotating operating component 541, preventing it from rotating counterclockwise. In other words, the rotating operating component 541 can be restricted from rotating in the opposite direction, ensuring stable and reliable operation. Conversely, when the position of the robotic arm assembly needs to be adjusted again, the rotation direction adjustment component 55 can be used to adjust the rotation direction of the rotation operation component 541, preventing the rotation operation component 541 from rotating clockwise. At this time, by rotating the rotation operation component 541 counterclockwise, the drive component 542 can drive the first locking component 52 to unlock the first free arm 30 and the first ball joint 10, and at the same time, the drive component 542 can drive the second locking component 53 to unlock the second free arm 40 and the second ball joint 20.

[0074] Based on the above structure, it can be seen that the robotic arm assembly in this embodiment is provided with a rotation direction adjustment component 55. Through the function of the rotation direction adjustment component 55, the rotation direction of the rotating operation component 541 can be adjusted and restricted, so that the rotating operation component 541 can only rotate in one direction (counterclockwise or clockwise), which makes it more convenient and quick to lock and unlock the robotic arm assembly. The operation is simple, stable and reliable.

[0075] See Figure 5 and Figure 6 As shown, the rotating operating component 541 in this embodiment includes a limiting sleeve 5411, a guide sleeve 5412, and an operating handle 5413. The limiting sleeve 5411 is rotatably sleeved on the end of the connecting shaft 51, and a non-circular mounting groove 54111 is provided on the limiting sleeve 54111; the guide sleeve 5412 is a non-circular sleeve adapted to the non-circular mounting groove 54111, and the guide sleeve 5412 is sleeved on the connecting shaft 51, and the guide sleeve 5412 is threadedly connected to the connecting shaft 51; the operating handle 5413 is disposed at the end of the connecting shaft 51 and is fixedly connected to the limiting sleeve 5411. Thus, when the operating handle 5413 is rotated, the limiting sleeve 5411 and the guide sleeve 5412 can move synchronously with the rotating operating handle 5413. During the rotation of the guide sleeve 5412, the connecting shaft 51 can be driven to rotate, which in turn can drive the drive component 542 mounted on the connecting shaft 51 to move and drive the first locking component 52 and the second locking component 53.

[0076] Optionally, the depth of the non-circular mounting groove 54111 along the axial direction of the connecting shaft 51 is greater than the thickness of the guide sleeve 5412 along the axial direction of the connecting shaft 51, thus providing clearance space for the movement of the guide sleeve 5412.

[0077] Furthermore, the driving component 542 in this embodiment includes a first driving block 5421 and a second driving block 5422. The first driving block 5421 is connected to the connecting shaft 51 via a first thread (not shown) and can move axially relative to the connecting shaft 51, allowing the first locking assembly 52 to switch between a first locked position and a first unlocked position. The second driving block 5422 is connected to the connecting shaft 51 via a second thread (not shown) and can move circumferentially relative to the connecting shaft 51, allowing the second locking assembly 53 to switch between a second locked position and a second unlocked position. This facilitates locking and unlocking of the robotic arm assembly. Optionally, in this embodiment, the first and second threads have opposite directions of rotation.

[0078] Specifically, in this embodiment, the first driving block 5421 is provided with a first inclined surface 54211, and the first locking assembly 52 includes a first locking rod 521, a first ball bearing 522, and a first locking block 523. The first locking rod 521 passes through the first free arm 30 and can reciprocate along the length of the first free arm 30. The first ball bearing 522 is provided at the end of the first locking rod 521 near the connecting shaft 51, and the first ball bearing 522 rests on the first inclined surface 54211. The first locking block 523 is located at the end of the first locking rod 521 near the first ball joint 10. Under the push of the first locking rod 521, the first locking block 523 contacts the first ball joint 10 to generate frictional damping, thereby locking the first free arm 30 and the first ball joint 10. When the operating handle 5413 is rotated, the connecting shaft 51 can drive the first driving block 5421 to... Figure 5 The leftward movement of the first free arm 30, through the action of the first inclined surface 54211, can push the first locking rod 521 and the first locking block 523 toward the direction closer to the first ball joint 10, thereby locking the first free arm 30 and the first ball joint 10. If the connecting shaft 51 drives the first drive block 5421 toward... Figure 5 The movement to the right can unlock the first free arm 30 and the first ball joint 10, at which point they can rotate relative to each other.

[0079] See Figures 5 to 8 As shown, a first receiving groove 5231 is provided at one end of the first locking block 523 near the first ball joint 10, and the first ball joint 10 is installed in the first receiving groove 5231. A first locking protrusion 52311 and a first locking groove 11 are provided between the first locking block 523 and the first ball joint 10, respectively. One of the first locking protrusion 52311 and the first locking groove 11 is located on the spherical surface of the first ball joint 10, and the other is located on the inner wall surface of the first locking groove 11. That is, when the first locking protrusion 52311 is located on the spherical surface of the first ball joint 10, the first locking groove 11 is located on the inner wall surface of the first receiving groove 5231; when the first locking protrusion 52311 is located on the inner wall surface of the first receiving groove 5231, the first locking groove 11 is located on the spherical surface of the first ball joint 10. This application... Figure 8 The diagram illustrates the situation where the first locking protrusion 52311 is disposed on the inner wall surface of the first receiving groove 5231, and the first locking groove 11 is disposed on the spherical surface of the first ball joint 10. Through the mutually adapted first locking protrusion 52311 and first locking groove 11, the damping between the first locking block 523 and the first ball joint 10 can be increased, thereby improving the locking stability between the first free arm 30 and the first ball joint 10.

[0080] Optionally, in this embodiment, there are multiple first locking grooves 11 and first locking protrusions 52311. By cooperating and locking with multiple first locking grooves 11 and first locking protrusions 52311, the locking stability and reliability between the first free arm 30 and the first ball joint 10 can be further improved.

[0081] Furthermore, the first locking assembly 52 in this embodiment also includes a first elastic element 524, which abuts against the first locking rod 521 and the first locking block 523. During actual manufacturing, by selecting first elastic elements 524 with different elastic coefficients, the magnitude of the locking force between the first free arm 30 and the first ball joint 10 can be adjusted. Optionally, the first elastic element 524 can be, for example, a spring, an elastic sleeve, or an elastic pad. Any other variation within the scope of this application's concept is within the protection range of this application.

[0082] Furthermore, the second drive block 5422 is provided with a second inclined surface 54221, and the second locking assembly 53 includes a second locking rod 531, a second ball bearing 532, and a second locking block 533. The second locking rod 531 passes through the second free arm 40 and can reciprocate along the length of the second free arm 40. The second ball bearing 532 is provided at the end of the second locking rod 531 near the connecting shaft 51, and this second ball bearing 532 rests on the second inclined surface 54221. The second locking block 533 is located at the end of the second locking rod 531 near the second ball joint 20. Under the push of the second locking rod 531, the second locking block 533 contacts the second ball joint 20 to generate frictional damping, thereby locking the second free arm 40 and the second ball joint 20. Specifically, when the operating handle 5413 is rotated, if the connecting shaft 51... Figure 5 The rightward movement, through the action of the second inclined plane 54221, can push the second locking rod 531 and the second locking block 533 toward the direction closer to the second ball joint 20, thereby locking the second free arm 40 and the second ball joint 20; if the connecting shaft 51 moves toward... Figure 5 The leftward movement can unlock the second free arm 40 and the second ball joint 20, at which point the two can rotate relative to each other.

[0083] Similarly, the structure of the second locking block 533 in this embodiment is the same as that of the first locking block 523, and the connection and cooperation relationship between the second locking block 533 and the second ball joint 20 is the same as that between the first locking block 523 and the first ball joint 10, which will not be described again here.

[0084] Furthermore, the second locking assembly 53 in this embodiment also includes a second elastic element 534, which abuts against the second locking rod 531 and the second locking block 533. During actual manufacturing, by selecting second elastic elements 534 with different elastic coefficients, the magnitude of the locking force between the second free arm 40 and the second ball joint 20 can be adjusted. Optionally, the second elastic element 534 can be, for example, a spring, an elastic sleeve, or an elastic pad. Any other variation within the scope of this application's concept is within the protection range of this application.

[0085] In order for the first driving block 5421 and the second driving block 5422 to simultaneously drive the first locking component 52 and the second locking component 53, the inclination directions of the first inclined surface 54211 and the second inclined surface 54221 in this embodiment can be the same or different. Figure 5 The diagram illustrates a scenario where the first inclined surface 54211 and the second inclined surface 54221 have the same inclination direction. In this case, the first thread and the second thread rotate in opposite directions. That is, when the connecting shaft 51 rotates clockwise, the first driving block 5421 and the second driving block 5422 move towards each other, the first locking component 52 switches to the first locking position, and the second locking component 53 switches to the second locking position. When the connecting shaft 51 rotates counterclockwise, the first driving block 5421 and the second driving block 5422 move towards each other, the first locking component 52 switches to the first unlocking position, and the second locking component 53 switches to the second unlocking position. When the first inclined surface 54211 and the second inclined surface 54221 have opposite inclination directions, the first thread and the second thread rotate in the same direction. Any other variation that enables the first locking component 52 and the second locking component 53 to simultaneously lock or unlock is within the protection scope of this application.

[0086] See Figures 5 to 10 As shown, in order to install the rotation direction adjustment component 55, the operating handle 5413 in this embodiment is provided with an installation cavity 54131, and the rotation direction adjustment component 55 includes a ratchet 551, a first push-lock mechanism 552, a second push-lock mechanism 553 and an adjustment mechanism 554.

[0087] The ratchet 551 is fixedly sleeved on the limiting sleeve 5411 and located within the mounting cavity 54131. A first push-lock mechanism 552 is rotatably disposed in the mounting cavity 54131, and engages with the ratchet 551 to prevent it from rotating counterclockwise. A second push-lock mechanism 553 is rotatably disposed in the mounting cavity 54131, and engages with the ratchet 551 to prevent it from rotating clockwise. An adjusting mechanism 554 is used to adjust the first and second push-lock mechanisms 552 and 553 so that one of them engages with the ratchet 551. This arrangement facilitates the adjustment and limitation of the rotation direction of the rotating operating component 541.

[0088] Specifically, the first push-lock mechanism 552 includes a first push rod 5521 and a first elastic element 5522. The first end of the first push rod 5521 is rotatably installed in the mounting cavity 54131, and the two ends of the first elastic element 5522 abut against the inner sidewall of the mounting cavity 54131 and the sidewall of the second end of the first push rod 5521, respectively. The second push-lock mechanism 553 includes a second push rod 5531 and a second elastic element 5532. The first end of the second push rod 5531 is rotatably installed in the mounting cavity 54131, and the two ends of the second elastic element 5532 abut against the inner sidewall of the mounting cavity 54131 and the sidewall of the second end of the second push rod 5531, respectively. The first elastic element 5522 is located on the side of the first push rod 5521 opposite to the second push rod 5531, and the second elastic element 5532 is located on the side of the second push rod 5531 opposite to the first push rod 5521. Optionally, the first elastic element 5522 and the second elastic element 5532 can be springs, elastic pads or elastic sleeves, etc. Any other variations of the concept in this application are within the protection scope of this application.

[0089] The adjustment mechanism 554 includes a cam 5541 and a push button 5542. The cam 5541 is located between the first push rod 5521 and the second push rod 5531. The push button 5542 is mounted on the operating handle 5413 to push the cam 5541 to push the first push rod 5521 or the second push rod 5531 away from the ratchet 551.

[0090] When it is necessary to rotate the operating handle 5413 clockwise, press the push button 5542, causing the push cam 5541 to push the first push rod 5521 away from the ratchet 551. At this time, the second end of the second push rod 5531 abuts against the ratchet 551 under the action of the second elastic element 5532, which can prevent the operating handle 5413 from rotating counterclockwise. When it is necessary to rotate the operating handle 5413 clockwise, press the push button 5542 in the opposite direction, causing the push cam 5541 to push the second push rod 5531 away from the ratchet 551. At this time, the second end of the first push rod 5521 abuts against the ratchet 551 under the action of the first elastic element 5522, which can prevent the operating handle 5413 from rotating clockwise.

[0091] Furthermore, a first connecting sleeve 31 is provided at the second end of the first free arm 30, and a second connecting sleeve 41 is provided at the second end of the second free arm 40. A damping mechanism 60 is provided on the end faces of the first connecting sleeve 31 and the second connecting sleeve 41 that are close to each other. Through the action of the damping mechanism 60, when the included angle between the first free arm 30 and the second free arm 40 is adjusted to the desired position, damping can be provided between the first free arm 30 and the second free arm 40, thereby preventing relative rotation between the first free arm 30 and the second free arm 40 to a certain extent.

[0092] Specifically, the damping mechanism 60 in this embodiment includes a first damping sleeve 61 and a second damping sleeve 62. The first damping sleeve 61 is fixedly disposed at the end of the first connecting sleeve 31 near the second connecting sleeve 41, and its end face near the second connecting sleeve 41 has a first toothed surface (not shown in the figure). The second damping sleeve 62 is fixedly disposed at the end of the second connecting sleeve 41 near the first connecting sleeve 31, and its end face near the first connecting sleeve 31 has a second toothed surface (not shown in the figure), which meshes with the first toothed surface. Through the interaction of the first and second toothed surfaces, damping can be provided between the first free arm 30 and the second free arm 40, facilitating adjustment and use. Of course, in other embodiments of this application, the damping mechanism 60 can also be a friction pad or other structure disposed between the first connecting sleeve 31 and the second connecting sleeve 41. Any other variations within the scope of this application's concept are within the protection scope of this application.

[0093] During actual installation, the limiting sleeve 5411 extends into the second connecting sleeve 41 from the end of the second connecting sleeve 41 away from the first connecting sleeve 31. The outer periphery of the limiting sleeve 5411 is provided with an annular stepped surface 54112. In order to limit and install the limiting sleeve 5411, the robotic arm assembly also includes a clamping sleeve 70, which is sleeved on the limiting sleeve 5411 and the bottom end of the clamping sleeve 70 abuts against the annular stepped surface 54112. The clamping sleeve 70 is fixedly installed on the second connecting sleeve 41. Optionally, the clamping sleeve 70 and the second connecting sleeve 41 can be fixedly connected by screws, pins, welding or other means. Thus, when the operating handle 5413 is rotated, the limiting sleeve 5411 can move synchronously together. Through the action of the guide sleeve 5412 set in the limiting sleeve 5411, the connecting shaft 51 can be driven to move. During the movement, the clamping sleeve 70 always abuts against the annular step surface 54112, which can limit the limiting sleeve 5411 and prevent the clamping sleeve 70 from falling out of the second connecting sleeve 41.

[0094] Furthermore, the robotic arm assembly in this embodiment also includes an end cap 80, which is fixedly disposed on the end of the first connecting sleeve 31 away from the second connecting sleeve 41. The end of the connecting shaft 51 is rotatably connected to the end cap 80, and a limiting outer flange 511 is provided on the connecting shaft 51. Through the action of the end cap 80 and the limiting outer flange 511, the connecting shaft 51 can be confined between the first connecting sleeve 31 and the second connecting sleeve 41 in conjunction with the operating handle 5413 and other structures, resulting in a stable and reliable structure.

[0095] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0096] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0097] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robotic arm assembly, characterized in that, include: First ball joint (10); Second ball joint (20); A first free arm (30) includes a first end and a second end disposed opposite to each other, and the first end of the first free arm (30) is rotatably connected to the first ball joint (10). The second free arm (40) includes a first end and a second end disposed opposite to each other, the first end of the second free arm (40) being rotatably connected to the second ball joint (20); and a locking mechanism (50) including a connecting shaft (51), a first locking component (52), a second locking component (53), an operating component (54), and a rotation direction adjustment component (55), wherein the second end of the first free arm (30) is rotatably sleeved on the connecting shaft (51), and the second end of the second free arm (40) is rotatably sleeved on the connecting shaft (51); The first locking component (52) passes through the first free arm (30) and is located between the connecting shaft (51) and the first ball joint (10). The first locking component (52) has a first locking position that locks the first ball joint (10) and the first free arm (30). The first locking component (52) also has a first unlocking position that unlocks the first ball joint (10) and the first free arm (30). The second locking assembly (53) passes through the second free arm (40) and is located between the connecting shaft (51) and the second ball joint (20). The second locking assembly (53) has a second locking position that locks the second ball joint (20) and the second free arm (40). The second locking assembly (53) also has a second unlocking position that unlocks the second ball joint (20) and the second free arm (40). The operating component (54) includes a rotating operating component (541) and a driving component (542). The rotating operating component (541) is disposed on the connecting shaft (51) to drive the connecting shaft (51) to rotate in a clockwise or counterclockwise direction. The driving component (542) is disposed on the connecting shaft (51) and, driven by the connecting shaft (51), causes the first locking component (52) to switch between the first locking position and the first unlocking position, and simultaneously causes the second locking component (53) to switch between the second locking position and the second unlocking position. The rotation direction adjustment component (55) is disposed between the rotation operation component (541) and the connecting shaft (51) so that the rotation operation component (541) can only rotate in the clockwise direction or only in the counterclockwise direction; The rotating operating component (541) includes a limiting sleeve (5411), a guide sleeve (5412), and an operating handle (5413). The limiting sleeve (5411) is rotatably fitted onto the end of the connecting shaft (51). The limiting sleeve (5411) is provided with a non-circular mounting groove (54111). The guide sleeve (5412) is a non-circular sleeve adapted to the non-circular mounting groove (54111). The guide sleeve (5412) is fitted onto the connecting shaft (51), and the guide sleeve (5412) is threadedly connected to the connecting shaft (51). The operating handle (5413) is located at the end of the connecting shaft (51) and is fixedly connected to the limiting sleeve (5411). When the operating handle (5413) is rotated, the limiting sleeve (5411) and the guide sleeve (5412)... 12) It can move synchronously with the rotating operating handle (5413). During the rotation of the guide sleeve (5412), it can drive the connecting shaft (51) to rotate, and then drive the drive component (542) installed on the connecting shaft (51) to move to drive the first locking component (52) and the second locking component (53). The limiting sleeve (5411) extends into the second connecting sleeve (41) from the end away from the first connecting sleeve (31). The outer periphery of the limiting sleeve (5411) is provided with an annular stepped surface (54112). The robotic arm assembly also includes a clamping sleeve (70), which is sleeved on the limiting sleeve (5411) and the bottom end of the clamping sleeve (70) abuts against the annular stepped surface (54112). The clamping sleeve (70) is fixedly installed on the second connecting sleeve (41).

2. The robotic arm assembly according to claim 1, characterized in that, The drive component (542) includes: A first drive block (5421) is connected to the connecting shaft (51) via a first thread and is axially movable relative to the connecting shaft (51) to switch the first locking assembly (52) between a first locked position and a first unlocked position; and The second drive block (5422) is connected to the connecting shaft (51) by a second thread and can move axially relative to the connecting shaft (51) to switch the second locking assembly (53) between the second locking position and the second unlocking position.

3. The robotic arm assembly according to claim 1, characterized in that, The depth of the non-circular mounting groove (54111) along the axial direction of the connecting shaft (51) is greater than the thickness of the guide sleeve (5412) along the axial direction of the connecting shaft (51).

4. The robotic arm assembly according to claim 1, characterized in that, The operating handle (5413) has a mounting cavity (54131) inside, and the rotation direction adjustment assembly (55) includes: Ratchet (551), the ratchet (551) is fixedly sleeved on the limiting sleeve (5411) and located in the mounting cavity (54131); A first push-lock mechanism (552) is rotatably disposed in the mounting cavity (54131). The first push-lock mechanism (552) has a function to cooperate with the ratchet (551) to prevent the ratchet (551) from rotating in the counterclockwise direction. A second push-lock mechanism (553) is rotatably disposed in the mounting cavity (54131). The second push-lock mechanism (553) has a function of engaging with the ratchet (551) to prevent the ratchet (551) from rotating in the clockwise direction; and Adjustment mechanism (554) is used to adjust the first push-lock mechanism (552) and the second push-lock mechanism (553) so that one of the first push-lock mechanism (552) and the second push-lock mechanism (553) is engaged with the ratchet (551).

5. The robotic arm assembly according to claim 4, characterized in that, The first push-lock mechanism (552) includes a first push rod (5521) and a first elastic member (5522). The first end of the first push rod (5521) is rotatably installed in the mounting cavity (54131), and the two ends of the first elastic member (5522) abut against the inner sidewall of the mounting cavity (54131) and the sidewall of the second end of the first push rod (5521), respectively. The second push-lock mechanism (553) includes a second push rod (5531) and a second elastic member (5532). The first end of the second push rod (5531) is rotatably installed in the mounting cavity (54131), and the two ends of the second elastic member (5532) abut against the inner sidewall of the mounting cavity (54131) and the sidewall of the second end of the second push rod (5531), respectively. The first elastic element (5522) is located on the side of the first push rod (5521) away from the second push rod (5531), and the second elastic element (5532) is located on the side of the second push rod (5531) away from the first push rod (5521).

6. The robotic arm assembly according to claim 5, characterized in that, The adjustment mechanism (554) includes: A cam (5541) is disposed between the first push rod (5521) and the second push rod (5531); and Push button (5542), which is mounted on the operating handle (5413), to push the cam (5541) to push the first push rod (5521) or the second push rod (5531) away from the ratchet (551).

7. The robotic arm assembly according to claim 2, characterized in that, The first drive block (5421) is provided with a first inclined surface (54211), and the first locking component (52) includes: A first locking rod (521) is inserted into the first free arm (30) and can reciprocate along the length of the first free arm (30). A first ball bearing (522) is provided at one end of the first locking rod (521) near the connecting shaft (51), and the first ball bearing (522) rests on the first inclined surface (54211). The first locking block (523) is disposed at one end of the first locking rod (521) near the first ball joint (10). The first locking block (523) contacts the first ball joint (10) under the push of the first locking rod (521) to generate frictional damping so as to lock the first free arm (30) and the first ball joint (10).

8. The robotic arm assembly according to claim 2, characterized in that, The second drive block (5422) is provided with a second inclined surface (54221), and the second locking assembly (53) includes: A second locking rod (531) is inserted into the second free arm (40) and can reciprocate along the length of the second free arm (40). A second ball bearing (532) is provided at one end of the second locking rod (531) near the connecting shaft (51), and the second ball bearing (532) rests on the second inclined surface (54221). The second locking block (533) is located at one end of the second locking rod (531) near the second ball joint (20). Under the push of the second locking rod (531), the second locking block (533) contacts the second ball joint (20) to generate frictional damping so as to lock the second free arm (40) and the second ball joint (20).

9. The robotic arm assembly according to claim 1, characterized in that, The second end of the first free arm (30) is provided with a first connecting sleeve (31), the second end of the second free arm (40) is provided with a second connecting sleeve (41), and a damping mechanism (60) is provided on the end face of the first connecting sleeve (31) and the second connecting sleeve (41) that are close to each other.

10. The robotic arm assembly according to claim 9, characterized in that, The damping mechanism (60) includes: A first damping sleeve (61) is fixedly disposed at one end of the first connecting sleeve (31) near the second connecting sleeve (41), and the end face of the first damping sleeve (61) near the second connecting sleeve (41) is provided with a first toothed surface (611); and The second damping sleeve (62) is fixedly disposed at one end of the second connecting sleeve (41) near the first connecting sleeve (31). The end face of the second damping sleeve (62) near the first connecting sleeve (31) is provided with a second tooth surface (621), which meshes with the first tooth surface (611).

11. The robotic arm assembly according to claim 9, characterized in that, The robotic arm assembly also includes an end cap (80), which is fixedly disposed on one end of the first connecting sleeve (31) away from the second connecting sleeve (41). The end of the connecting shaft (51) is rotatably connected to the end cap (80), and a limiting outer flange (511) is provided on the connecting shaft (51).

12. A surgical robot, characterized in that, The surgical robot includes the robotic arm assembly according to any one of claims 1 to 11.

Images