An extension arm mechanism and robotic system

Abstract

The present application relates to the technical field of robot system, and particularly relates to an extension arm mechanism and a robot system. The extension arm mechanism and the robot system provided by the present application comprise a support mechanism, a support column arranged on the support mechanism, a support large arm rotatably arranged on the support column, a support middle arm rotatably arranged on the support large arm, and a support small arm rotatably arranged on the support middle arm, and the support middle arm can be tilted in the height direction. The technical problem that the current mechanical arm cannot be adjusted or the angle adjustment is too limited in the prior art is solved.

Description

[Technical Field]

[0001] This invention relates to the technical field of robot systems, and particularly to an extension arm mechanism and a robot system. [Background Technology]

[0002] Vascular diseases, especially cardiovascular diseases, can be treated in various ways. Surgical procedures (such as coronary artery bypass grafting) are one method used to treat cardiovascular diseases. However, in some cases, vascular diseases can be treated with catheter-based interventional procedures (such as angioplasty). Catheter-based interventional procedures are generally considered less invasive than surgical procedures.

[0003] In one type of interventional procedure, a guiding catheter is inserted into the patient's femoral artery via a catheter inserter and positioned near the coronary ostium of the patient's heart. A guidewire is typically inserted into the guiding catheter via a hemostatic valve and manipulated through the patient's arterial system until the guidewire reaches the lesion site. The working catheter is then moved along the guidewire until a working catheter (such as a balloon or stent) is positioned close to the lesion to open the blockage and allow increased blood flow to the lesion. Besides cardiovascular diseases, other conditions can also be treated using catheter-based interventions.

[0004] Current catheter delivery devices require a robotic arm for fixation, and the fixation angle is relatively simple. In actual use, different angles are needed to allow the guidewire to enter the blood vessel. [Summary of the Invention]

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an extension arm mechanism and robot system, which aims to solve the technical problems of existing robotic arms that cannot adjust the angle or whose adjustment angle is too limited.

[0006] To achieve the above objectives, the present invention proposes an extension arm mechanism, including a support mechanism, a support column on the support mechanism, a support arm rotatably mounted on the support column, a support middle arm rotatably mounted on the support arm, and a support forearm rotatably mounted on the support middle arm; the support middle arm is tiltable in the height direction.

[0007] Preferably, the support mechanism is provided with a slot that slides with the bed, and the support mechanism is rotatably provided with a cam wrench, which is used to fix the support mechanism by rotating the cam wrench.

[0008] Preferably, the cam wrench is provided with a wrench arm, and a limiting block is provided on the wrench arm.

[0009] Preferably, a clamp plate connected to the cam wrench is provided in the slot, the clamp plate is provided with a guide shaft, and a spring is provided on the guide shaft to push the clamp plate closer to the cam wrench.

[0010] Preferably, a support plate is provided on the support mechanism.

[0011] Preferably, the middle arm of the support includes a middle arm rotating seat rotatably disposed on the upper arm of the support, a middle arm frame rotatably mounted on the middle arm rotating seat, and a buffer cylinder; one end of the buffer cylinder is rotatably mounted on the middle arm rotating seat, and the other end is rotatably mounted on the middle arm frame.

[0012] Preferably, the boom includes multiple parallel connecting rods, one end of which is rotatably connected to the boom rotating seat, and the other end of which is rotatably connected to a connecting block.

[0013] Preferably, the buffer cylinder is rotatably connected to one of the connecting rods.

[0014] Preferably, a lower limit pin is provided on one of the connecting rods.

[0015] Preferably, the forearm of the support includes an adapter and an extension rod detachably mounted on the adapter; the adapter is provided with a rotating shaft that is rotatably connected to the middle arm of the support; and a connector is provided at the end of the extension rod away from the adapter.

[0016] Preferably, the adapter is provided with a fixing knob for fixing the extension rod.

[0017] Preferably, the drive arm is provided with a damping friction plate; an encoder is provided at the end of the drive arm away from the adapter.

[0018] Preferably, the support arm includes a locking tongue mechanism, a brake tooth on the support column, and a brake tooth on the support arm.

[0019] Preferably, the locking tongue mechanism includes a first connecting plate, a first locking tongue disposed on the first connecting plate, a second connecting plate, and a second locking tongue disposed on the second connecting plate; when the first locking tongue is connected to the brake tooth, it forms a braking effect, and when separated, the support arm can rotate; when the second locking tongue is connected to the brake tooth, it forms a braking effect, and when separated, the support arm can rotate.

[0020] Preferably, a control mechanism is provided on the locking tongue mechanism. The control mechanism includes a control motor, a double-ended lead screw controlled by the control motor, a first movable seat and a second movable seat mounted on the double-ended lead screw; the first movable seat is connected to the first connecting plate, and the second movable seat is connected to the second connecting plate.

[0021] Preferably, the control mechanism further includes a first micro switch and a second micro switch that are communicatively connected to the control motor; the first micro switch controls the distance by which the first movable seat moves toward the brake large tooth, and the second micro switch controls the distance by which the second movable seat moves toward the brake middle tooth.

[0022] Preferably, a manual release mechanism is provided on the locking tongue mechanism. The manual release mechanism includes a release button, an assist rod connected to the release button, and a cam block provided on the assist rod. The cam block is connected to both the first connecting plate and the second connecting plate.

[0023] Preferably, a square nut is provided between the first movable seat and the double-ended lead screw, and a square nut is provided between the second movable seat and the double-ended lead screw; springs are connected to the first locking tongue and the second locking tongue.

[0024] The present invention also provides a robot system that uses the aforementioned extension arm.

[0025] Compared with the prior art, the beneficial effects of the extension arm mechanism and robot system provided by the present invention are as follows:

[0026] 1. The support mechanism is supported on the hospital bed. The upper arm, middle arm, and lower arm of the support can all rotate 360° around the z-axis. The middle arm of the support can be raised, lowered, and tilted along the z-axis.

[0027] 2. The support mechanism is fixed and released by rotating the cam wrench. The support column prevents the mechanism from tilting or tipping over.

[0028] 3. The state of the connecting rod is controlled by a buffer cylinder. When there is no load, the connecting rod is set horizontally. When under load, the end of the connecting rod away from the support arm tilts downward, the buffer cylinder retracts, and the tilt angle is controlled by the lower limit pin.

[0029] 4. The damping friction plate allows the extension rod to rotate only when it has a certain amount of energy, and the mechanism does not wobble after the force is released. The encoder can provide feedback on the rotation angle, prompting the operator to adjust it to the appropriate position within a certain range.

[0030] 5. The rotation of the support arm and the middle arm is controlled by a locking tongue mechanism. When the first locking tongue is engaged with the brake large tooth and the second locking tongue is engaged with the brake middle tooth, neither the support arm nor the middle arm can rotate. When they are disengaged, they can rotate.

[0031] 6. The system integrates manual and automatic operation, offering a high degree of automation and excellent safety. Microswitches are added to the control mechanism. A contact is located below both the first and second microswitches. A trigger block is located on both the first and second moving seats, with a beveled structure above the trigger block. When the first and second connecting plates move towards each other, the first moving seat triggers its contact, stopping the motor. When the first and second connecting plates move away from each other, the second moving seat triggers its contact, stopping the motor. Springs are installed on the first and second locking tongues, and a square nut is located on the moving seat, enabling unlocking and locking via a manually released mechanism.

[0032] The features and advantages of the present invention will be described in detail through embodiments and in conjunction with the accompanying drawings. [Attached Image Description]

[0033] Figure 1 This is a schematic diagram of the structure of an extension arm mechanism according to an embodiment of the present invention.

[0034] Figure 2 This is a structural schematic diagram of an extension arm mechanism according to another embodiment of the present invention.

[0035] Figure 3 This is an enlarged structural diagram of point C in an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of the structure of the support arm according to an embodiment of the present invention.

[0037] Figure 5 This is a schematic diagram of the internal structure of the support arm according to an embodiment of the present invention.

[0038] Figure 6 This is a schematic diagram of the internal structure of the middle arm and the forearm of the support according to an embodiment of the present invention.

[0039] Figure 7 This is an enlarged view of point D in an embodiment of the present invention.

[0040] In the diagram: 50, Support mechanism; 51, Slot; 52, Cam wrench; 521, Wrench arm; 522, Limit block; 53, Clamping plate; 54, Guide shaft; 55, Support plate; 60, Support column; 70, Bracket arm; 71, Locking tongue mechanism; 711, First connecting plate; 712, First locking tongue; 713, Second connecting plate; 714, Second locking tongue; 72, Control mechanism; 721, Control motor; 722, Double-ended lead screw; 723, First moving seat; 724, Second moving seat; 725, First micro switch; 726, Second micro switch 727. Switch; 728. Square nut; 729. Concave ring; 73. Concave ring mounting base; 73. Manual release mechanism; 731. Release button; 732. Auxiliary rod; 733. Cam block; 74. Brake large gear; 75. Brake middle gear; 80. Support arm; 81. Arm rotating seat; 82. Arm frame; 821. Connecting rod; 83. Buffer cylinder; 84. Connecting block; 85. Lower limit pin; 90. Support forearm; 91. Adapter; 92. Extension rod; 93. Connector; 94. Fixing knob; 95. Damping friction plate; 96. Encoder.

Detailed Implementation Methods

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0042] In the description of this invention, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0043] In the description of this invention, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0044] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] This invention provides a robot system that uses the following extension arm mechanism to adjust the optimal feed position of the guide wire.

[0046] See Figure 1 In an optional embodiment, an extension arm mechanism includes a support mechanism 50, a support column 60 provided on the support mechanism 50, a support upper arm 70 rotatably disposed on the support column 60, a support middle arm 80 rotatably disposed on the support upper arm 70, and a support lower arm 90 rotatably disposed on the support middle arm 80; the support middle arm 80 is tiltable in the height direction.

[0047] Specifically, the support mechanism 50 is fixed to the edge of the hospital bed, where the patient lies. A guidewire delivery and rotation device is connected to the forearm 90 of the support frame. The guidewire delivery and rotation device is adjusted to the optimal position by rotating the upper arm 70, middle arm 80, and forearm 90 of the support frame. The middle arm 80 can tilt in the height direction. This mechanism allows for adjustment in the XYZ axis directions, providing a more suitable angle for guidewire delivery. The guidewire delivery and rotation device can be any commercially available type, as long as it can achieve the function of rotating and delivering the guidewire.

[0048] See Figure 2 In an optional embodiment, the support mechanism 50 is provided with a slot 51 that is slidably connected to the bed, and the support mechanism 50 is rotatably provided with a cam wrench 52, which is used to fix the support mechanism 50 by rotating the cam wrench 52.

[0049] Specifically, the bed edge is designed to engage with the slot 51. After the support mechanism 50 is engaged with the bed edge via the slot 51, a small gap is left to allow the support mechanism 50 to slide along the bed edge. By rotating the cam wrench 52 on the support mechanism 50, the support mechanism 50 can be fixed to the bed edge. During the rotation of the cam wrench 52, the distance between it and the bed edge changes; when fixed, the cam wrench 52 presses firmly against the bed edge.

[0050] See Figure 2 In an optional embodiment, the cam wrench 52 is provided with a wrench arm 521, and a limiting block 522 is provided on the wrench arm 521. Normally, the wrench arm 521 of the cam wrench 52 is parallel to the bed edge and is in a fixed state. The wrench arm 521 is hidden within the groove of the support mechanism 50, which is safer and prevents the wrench arm from being bumped and causing the support mechanism 50 to slide. When the support mechanism 50 is in a slidable state, the wrench arm 52 forms an acute angle with the bed edge and protrudes from the support mechanism 50. The limiting block 522 prevents the cam wrench 52 from rotating excessively, which could damage the cam wrench 52 and the bed edge.

[0051] See Figure 2 and Figure 3 In an optional embodiment, a clamping plate 53 connected to a cam wrench 52 is provided in the slot 51. Adding the clamping plate 53 increases the contact area, preventing direct contact between the cam surface of the cam wrench 52 and the bed edge. A small contact area can easily damage the contact point, leading to a decrease in the fixing effect over time. A guide shaft 54 ​​is provided on the clamping plate 53, and a spring is provided on the guide shaft 54 ​​to push the clamping plate 53 closer to the cam wrench 52. The spring always pushes the clamping plate 53 away from the bed edge, avoiding excessive friction during the sliding of the support mechanism 50. Four guide shafts 54 are distributed at the four corners of the clamping plate 53, and a notch for the clamping plate 53 to enter is provided at the bottom of the support frame body. A through hole for connecting the guide shaft 54 ​​is provided on the side away from the slot 51, and part of the guide shaft 54 ​​enters the through hole. After the spring is installed into the spring hole, one end of the guide shaft 54 ​​is inserted into the spring hole, and then inserted into the clamping plate 53 through the notch. The guide shaft 54 ​​passes through the clamping plate 53 and then engages with the through hole. During disassembly, simply insert a thin tube through the through hole to disengage the guide shaft 54 ​​from the clamp 53. This makes the assembly and disassembly of the support mechanism much easier.

[0052] See Figure 2In an optional embodiment, a support plate 55 is provided on the support mechanism 50. The device composed of the support mechanism 50, the upper arm 70, the middle arm 80, and the lower arm 90 is relatively large in both length and width, making the support mechanism 50 prone to tilting. Simply connecting it to the bed edge via the slot 51 results in significant wear; the support plate 55 reduces the tilting force. Since the operating tables are of uniform specifications, the height of the support plate 55 generally does not need adjustment. However, to accommodate manufacturing errors or tolerances, two slots are provided on the support plate 55. These slots, along with screws, secure the support plate 55 to the support mechanism 50, allowing for fine-tuning.

[0053] See Figure 6 In an optional embodiment, the support arm 80 includes a middle arm rotating seat 81 rotatably mounted on the support upper arm 70, a middle arm frame 82 rotatably mounted on the middle arm rotating seat 81, and a buffer cylinder 83. One end of the buffer cylinder 83 is rotatably mounted on the middle arm rotating seat 81, and the other end is rotatably mounted on the middle arm frame 82. The height of the middle arm frame 82 in the Z-axis direction is adjusted by extending and retracting the buffer cylinder 83. The support arm 80 is provided with a housing to enclose the above-mentioned devices. The support arm 80 is designed to be height-adjustable for easy folding when not in use, and on the other hand, it allows for smaller height adjustments of the wire guide conveying device, resulting in better safety.

[0054] See Figure 6 In an optional embodiment, the boom 82 includes multiple parallel connecting rods 821, one end of which is rotatably connected to the boom rotating seat 81, and the other end of which is rotatably connected to the connecting block 84. A buffer cylinder 83 is rotatably connected to one of the connecting rods 821. Damping friction plates ensure that the extension rod can rotate only when it has a certain amount of energy, and the mechanism does not wobble after the force is released. The encoder can provide feedback on the rotation angle, prompting the operator to adjust it to the appropriate position within a certain range.

[0055] Specifically, there are preferably two connecting rods 821. One end of the buffer cylinder 83 is rotatably fixed to the lower part of the connecting rod 821, and the other end is rotatably fixed to the upper part of the connecting rod 821. In the unloaded state, the two connecting rods 821 are in a horizontal state, and the buffer cylinder 83 is in an extended state. When force is applied, the side of the connecting rod 821 away from the middle arm rotating seat 81 slowly descends, while the other end remains at the same height but can rotate, and the buffer cylinder 83 slowly retracts.

[0056] See Figure 6 In an optional embodiment, a lower limit pin 85 is provided on one of the connecting rods 821. The lower limit pin 85 is located on the upper connecting rod 821, and the angle formed can be adjusted, generally set to 45°. When the connecting rod 821 is lowered away from the side of the middle arm rotating seat 81, the lower limit pin 85 stops descending after it abuts against the middle arm rotating seat 81.

[0057] See Figure 6 In an optional embodiment, the forearm 90 of the stent includes an adapter 91, an extension rod 92 detachably mounted on the adapter 91, and a connector 93. The adapter 91 has a rotating shaft rotatably connected to the middle arm 80 of the stent. The connector 93 is located at the end of the extension rod 92 away from the adapter 91, and is used to connect to a guidewire delivery and rotation device. The adapter 91 has a fixing knob 94 for securing the extension rod 92, preventing it from loosening during rotation. Interventional surgeries are precision procedures, requiring robustness and high safety. The extension rod 92 is inserted into the adapter 91 and is also secured laterally by a locating pin.

[0058] See Figure 6 In an optional embodiment, a damping friction plate 95 is provided on the rotating shaft of the adapter 91. An encoder 96 is provided at the end of the rotating shaft of the adapter 91 away from the adapter 91. The rotating shaft of the encoder 96 is fixed to the rotating shaft of the adapter 91, and both rotate together. The encoder 96 is a commercially available product that can monitor the rotation angle. The damping friction plate 95 ensures that the extension rod 92 requires a certain force to rotate, and the mechanism does not wobble after the force is removed. The encoder 96 provides feedback on the rotation angle, prompting the operator to adjust to the appropriate position within a certain range.

[0059] See Figure 4 In an optional embodiment, the support arm 70 includes a locking tongue mechanism 71, a brake tooth 74 disposed on the support column 60, and a brake tooth 75 disposed on the support middle arm 80. When the locking tongue mechanism 71 abuts against the brake tooth 74, the support arm 70 cannot rotate. When the locking tongue mechanism 71 abuts against the brake tooth 75, the support middle arm 80 cannot rotate. The locking tongue mechanism 71 does not need to abut against both the brake tooth 74 and the brake tooth 75 simultaneously; phased braking should also be understood as falling within the protection scope of this invention.

[0060] See Figure 4 In an optional embodiment, the locking tongue mechanism 71 includes a first connecting plate 711, a first locking tongue 712 disposed on the first connecting plate 711, a second connecting plate 713, and a second locking tongue 714 disposed on the second connecting plate 713. When the first locking tongue 712 is connected to the brake tooth 72, it forms a braking effect; when disconnected, the support arm 70 can rotate. When the second locking tongue 714 is connected to the brake tooth 75, it forms a braking effect; when disconnected, the support arm 80 can rotate. Both the first locking tongue 712 and the second locking tongue 714 have teeth on their surfaces, which can mesh with the brake tooth 74 and the brake tooth 75 respectively to prevent rotation.

[0061] See Figure 4In an optional embodiment, a control mechanism 72 is provided on the locking tongue mechanism 71 to improve automated control. The control mechanism 72 includes a control motor 721, a double-ended lead screw 722 controlled by the control motor 721, and a first movable seat 723 and a second movable seat 724 mounted on the double-ended lead screw 722. The double-ended lead screw 722 and the control motor 721 are connected by a bushing. The first movable seat 723 is connected to the first connecting plate 711, and the second movable seat 724 is connected to the second connecting plate 712. Preferably, the first connecting plate 711 and the second connecting plate 712 move in opposite directions simultaneously (the distance between the first movable seat 723 and the second movable seat 724 increases), and the first locking tongue 712 and the second locking tongue 714 simultaneously serve as brakes to prevent rotation. The first connecting plate 711 and the second connecting plate 712 move relative to each other simultaneously (the distance between the first movable seat 723 and the second movable seat 724 decreases), allowing the locking tongue mechanism 71, the brake large tooth 74, and the brake middle tooth 75 to rotate freely.

[0062] See Figure 5 In an optional embodiment, a manual release mechanism 73 is provided on the locking tongue mechanism 71 to handle power outages or other emergency situations. The manual release mechanism 73 includes a release button 731, an assist rod 732 connected to the release button 731, and a cam block 733 disposed on the assist rod 732. The cam block 733 is simultaneously connected to a first connecting plate 711 and a second connecting plate 713. The assist rod 732 is preferably a hexagonal assist rod. The cam block 733 can be a non-circular cam block, preferably elliptical. When the release button 731 is manually rotated, the first connecting plate 711 and the second connecting plate 712 move towards each other, releasing the brake.

[0063] Because the motor 721 itself has a self-locking function, the addition of the manual release mechanism 73 requires corresponding improvements to the control mechanism. The control mechanism 72 includes a control motor 721, a double-ended lead screw 722 controlled by the control motor 721, and square nuts 727 symmetrically mounted on both sides of the double-ended lead screw 722. The two square nuts 727 are respectively connected to the first moving seat 723 and the second moving seat 72. A concave ring 728 is provided in the middle of the double-ended lead screw 722. The concave ring 728 is rotatably mounted on a concave ring mounting seat 729. The concave ring mounting seat 729 ensures that the double-ended lead screw 722 can only rotate around its axis and cannot move laterally along the axial direction. When the double-ended lead screw 722 rotates, the square nuts 727 can move on the double-ended lead screw 722. The convex ring mounting seat 729 increases the stability of the double-ended lead screw 722's conveying action. The double-ended lead screw 722 and the control motor 721 are connected by a bushing. The first movable seat 723 is connected to the first connecting plate 711, and the second movable seat 724 is connected to the second connecting plate 712. Springs (not shown in the figure) are connected to the first locking tongue 712 and the second locking tongue 714. The springs cause the first locking tongue 712 and the second locking tongue 714 to engage with the brake large tooth 74 and the brake middle tooth 75 respectively, forming a braking effect.

[0064] To improve the stability of the first connecting plate 711 and the second connecting plate 712, a moving groove is formed on the connecting plate, and a limiting post is connected to the moving groove. The limiting post locks the connecting plate in place, preventing it from bending downwards or upwards during movement. At the same time, the moving groove provides sufficient movement distance for the connecting plate.

[0065] See Figure 4 and Figure 7 In an optional embodiment, to improve safety and automation based on the manual release mechanism 73, a microswitch is added to the control mechanism 72. The control mechanism 72 also includes a first microswitch 725 and a second microswitch 726 communicatively connected to the control motor 721. A contact is provided below each of the first microswitch 725 and the second microswitch 726. A trigger block is provided on each of the first moving base 723 and the second moving base 724, and a beveled structure is provided above the trigger block. When the first connecting plate 711 and the second connecting plate 712 move towards each other, the motor stops moving when the first moving base 723 triggers its contact; when the first connecting plate 711 and the second connecting plate 712 move away from each other, the motor stops moving when the second moving base 724 triggers its contact.

[0066] The specific working method is as follows:

[0067] Initially, the device is in a locked state. At this time, the teeth of the first locking tongue 712 and the second locking tongue 714 engage with the brake large tooth 74 and the brake middle tooth 75 respectively, preventing rotation. Pressing the release button (located on the operating arm of the wire guide system) causes the motor 721 to rotate, and the double-ended lead screw 722 rotates on the concave ring mounting seat 729. The square nut 727 is located at the step of the first moving seat 723 and the second moving seat 724. The square nut 727 drives the first moving seat 723 and the second moving seat 724 to move towards each other. The first connecting plate 711 and the second connecting plate 712 move towards each other, and the first locking tongue 712 and the second locking tongue 714 slowly separate from the brake large tooth 74 and the brake middle tooth 75 respectively, releasing the brake. At this time, the spring force also gradually increases. After the brake is released, the middle arm and upper arm joints can rotate freely. When the trigger block of the first moving seat 723 triggers the contact of the first micro switch 725, the motor 721 stops rotating.

[0068] Releasing the release button causes motor 721 to rotate in the reverse direction, and the double-ended lead screw 722 rotates, causing the two square nuts 727 to move in opposite directions. The first connecting plate 711 and the second connecting plate 712 also move in opposite directions under the force of the springs. When the trigger block of the second moving seat 724 triggers the contact of the second micro switch 726, motor 721 stops rotating. At this time, the teeth of the first locking tongue 712 and the second locking tongue 714 engage with the brake large tooth 74 and the brake middle tooth 75 respectively, thus providing a braking effect.

[0069] In an emergency or power failure, the device cannot rotate freely when locked. Turning the release button 73 overcomes the spring tension, causing the first connecting plate 711 and the second connecting plate 712 to move towards each other. The first locking tongue 712 and the second locking tongue 714 slowly separate from the brake large tooth 74 and the brake middle tooth 75, respectively, releasing the brake. Turning the release button 73 back to its original position causes the first connecting plate 711 and the second connecting plate 712 to move away from each other under the action of the spring, achieving the locked state.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An extension arm mechanism, characterized in that: The system includes a support mechanism (50), a support column (60) on the support mechanism (50), a support arm (70) rotatably mounted on the support column (60), a support middle arm (80) rotatably mounted on the support arm (70), and a support lower arm (90) rotatably mounted on the support middle arm (80); the support middle arm (80) is tiltable in the height direction; the support arm (70) includes a locking tongue mechanism (71), a brake tooth (74) mounted on the support column (60), and a brake tooth (75) mounted on the support middle arm (80); the locking tongue mechanism (71) includes a first connecting plate (711) and a first locking tongue (71) mounted on the first connecting plate (711). 2) A second connecting plate (713) and a second locking tongue (714) disposed on the second connecting plate (713); when the first locking tongue (712) and the brake tooth (74) are connected, a braking effect is formed, and when separated, the support arm (70) can rotate; when the second locking tongue (714) and the brake tooth (75) are connected, a braking effect is formed, and when separated, the support arm (80) can rotate; a control mechanism (72) is provided on the locking tongue mechanism (71), the control mechanism (72) includes a control motor (721), a double-ended lead screw (722) controlled by the control motor (721), a first moving seat (723) and a second moving seat (724) mounted on the double-ended lead screw (722). The first movable seat (723) is connected to the first connecting plate (711), and the second movable seat (724) is connected to the second connecting plate (713). A manual release mechanism (73) is provided on the locking tongue mechanism (71), the manual release mechanism (73) includes a release button (731), an assist rod (732) connected to the release button (731), and a cam block (733) provided on the assist rod (732). The cam block (733) is connected to both the first connecting plate (711) and the second connecting plate (713). A square nut (727) is provided between the first movable seat (723) and the double-ended lead screw (722), and the second movable seat (724) is connected to the first connecting plate (711). A square nut (727) is provided between the first locking tongue (712) and the double-ended lead screw (722); springs are connected to the first locking tongue (712) and the second locking tongue (714); the control mechanism (72) also includes a first micro switch (725) and a second micro switch (726) that are communicatively connected to the control motor (721); the first micro switch (725) controls the first moving seat (723) to move a distance away from the brake large tooth (74), and the second micro switch (726) controls the second moving seat (724) to move a distance closer to the brake middle tooth (75); the bracket arm (90) includes an adapter (91) and an extension rod (92) detachably mounted on the adapter (91);The adapter (91) is provided with a rotating shaft that is rotatably connected to the middle arm (80) of the bracket; a connector (93) is provided at the end of the extension rod (92) away from the adapter (91); a fixing knob (94) for fixing the extension rod (92) is provided on the adapter (91); a damping friction plate (95) is provided on the drive arm; an encoder (96) is provided at the end of the drive arm away from the adapter (91).

2. The extension arm mechanism as described in claim 1, characterized in that: The support mechanism (50) is provided with a slot (51) that is slidably connected to the bed. The support mechanism (50) is rotatably provided with a cam wrench (52), and the support mechanism (50) is fixed by rotating the cam wrench (52).

3. The extension arm mechanism as described in claim 2, characterized in that: The cam wrench (52) is provided with a wrench arm (521), and a limit block (522) is provided on the wrench arm (521).

4. The extension arm mechanism as described in claim 2, characterized in that: A clamp (53) connected to the cam wrench (52) is provided in the slot (51). A guide shaft (54) is provided on the clamp (53). A spring is provided on the guide shaft (54) to push the clamp (53) closer to the cam wrench (52).

5. An extension arm mechanism as described in claim 2, characterized in that: A support plate (55) is provided on the support mechanism (50).

6. The extension arm mechanism as described in claim 1, characterized in that: The middle arm (80) of the support includes a middle arm rotating seat (81) rotatably mounted on the upper arm (70) of the support, a middle arm frame (82) rotatably mounted on the middle arm rotating seat (81), and a buffer cylinder (83); one end of the buffer cylinder (83) is rotatably mounted on the middle arm rotating seat (81), and the other end is rotatably mounted on the middle arm frame (82).

7. An extension arm mechanism as described in claim 6, characterized in that: The boom (82) includes multiple parallel connecting rods (821), one end of which is rotatably connected to the boom rotating seat (81), and the other end of which is rotatably connected to the connecting block (84).

8. An extension arm mechanism as described in claim 7, characterized in that: The buffer cylinder (83) is rotatably connected to one of the connecting rods (821).

9. An extension arm mechanism as described in claim 7, characterized in that: A lower limit pin (85) is provided on one of the connecting rods (821).

10. A robot system, characterized in that: The extension arm mechanism as described in any one of claims 1-9 was used.

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