Robotic arm assembly and surgical robot

Abstract

The application discloses a mechanical arm assembly and a surgical robot. The mechanical arm assembly comprises a first free arm, a second free arm, a first spherical joint, a second spherical joint, a first locking mechanism, a second locking mechanism and an adjusting mechanism. The first free arm comprises a first outer arm and a first pullback component; the second free arm comprises a second outer arm and a second pullback component; the first spherical joint comprises a first spherical sleeve and a first spherical head; the second spherical joint comprises a second spherical sleeve and a second spherical head; the adjusting mechanism comprises an adjusting component, a main shaft and a pushing component, the pushing component is arranged on the main shaft, the first sleeve body and the second sleeve body are sleeved on the main shaft and located at the outer periphery of the pushing component, and one end of the first pullback component away from the first spherical joint is connected to the main shaft, and one end of the second pullback component away from the second spherical joint is connected to the main shaft. The application can solve the problem that the main shaft of the mechanical arm assembly is prone to deformation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a mechanical arm assembly and a surgical robot. BACKGROUND

[0002] At present, surgical robots are increasingly widely used in the medical field. For example, a surgical robot for injecting bone cement includes a mechanical arm assembly and a bone cement injection assembly arranged on the mechanical arm assembly. The mechanical arm assembly includes two free arms, the two free arms are provided with ball joints at the two ends away from each other, and the angle between the two free arms can be adjusted and the free arms and the ball joints are locked by a locking assembly.

[0003] The existing locking assembly includes a knob, a main shaft, a wedge-shaped block and a locking rod. In use, the knob drives the main shaft to move, which can drive the wedge-shaped block mounted on the main shaft to drive the locking rod to move along the free arm to lock the ball joint. When the wedge-shaped block abuts against the locking rod, the wedge-shaped block will apply a reaction force to the main shaft. After a period of use, the main shaft is prone to deformation at the position of the wedge-shaped block, and the stability is poor. SUMMARY

[0004] The main purpose of the present application is to provide a mechanical arm assembly and a surgical robot to solve the problem of deformation of the main shaft of the existing mechanical arm assembly.

[0005] According to a first aspect of the embodiments of the present application, a mechanical arm assembly is provided, comprising:

[0006] A first free arm, the first free arm comprising a first outer arm and a first pullback component, the first outer arm comprising a first end and a second end arranged oppositely, the first end of the first outer arm being provided with a first sleeve, the first pullback component being arranged in the first outer arm and extending along the length direction of the first outer arm;

[0007] A second free arm, the second free arm comprising a second outer arm and a second pullback component, the second outer arm comprising a first end and a second end arranged oppositely, the first end of the second outer arm being provided with a second sleeve, the second pullback component being arranged in the second outer arm and extending along the length direction of the second outer arm;

[0008] A first ball joint, the first ball joint being connected to the first pullback component;

[0009] A second ball joint, the second ball joint being connected to the second pullback component;

[0010] a first locking mechanism, the first locking mechanism being disposed in the first pullback member and being movable along the length direction of the first free arm to lock or unlock the first ball joint;

[0011] a second locking mechanism, the second locking mechanism being disposed in the second pullback member and being movable along the length direction of the second free arm to lock or unlock the second ball joint;

[0012] an adjusting mechanism, the adjusting mechanism comprising an adjusting member, a main shaft and a pushing member, the adjusting member being disposed on the first sleeve or the second sleeve, the pushing member being disposed on the main shaft, the first sleeve and the second sleeve being sleeved on the main shaft and being located at the outer periphery of the pushing member, and one end of the first pullback member away from the first ball joint being connected to the main shaft, and one end of the second pullback member away from the second ball joint being connected to the main shaft;

[0013] wherein the adjusting member is used to drive the main shaft to move along the axial direction of the main shaft, and the pushing member is used to push the first locking mechanism and the second locking mechanism to move when the main shaft moves so as to lock or unlock the first ball joint and the second ball joint at the same time.

[0014] Further, the first pullback member comprises:

[0015] a first reinforcing sleeve, the first reinforcing sleeve being installed in the first sleeve and being sleeved on the main shaft;

[0016] a first pullback rod, the first pullback rod being disposed in the first outer arm, a first end of the first pullback rod being connected to the first reinforcing sleeve, and a second end of the first pullback rod being disposed out of the second end of the first outer arm, and the first ball joint being rotatably connected to the second end of the first pullback rod;

[0017] the second pullback member comprises:

[0018] a second reinforcing sleeve, the second reinforcing sleeve being installed in the second sleeve and being sleeved on the main shaft;

[0019] a second pullback rod, the second pullback rod being disposed in the second outer arm, a first end of the second pullback rod being connected to the second reinforcing sleeve, and a second end of the second pullback rod being disposed out of the second end of the second outer arm, and the second ball joint being rotatably connected to the second end of the second pullback rod.

[0020] Further, the second end of the first pullback rod is provided with a first outer flange;

[0021] The first ball joint comprises a first ball sleeve, a first ball head and a first adapter sleeve. The first ball sleeve is located at the second end of the first outer arm and is rotatably connected to the first pullback component. The first ball head is rotatably connected to the first ball sleeve. The first adapter sleeve is detachably connected to the first ball sleeve. The first adapter sleeve is provided with a first stop inner flange near one end of the first pullback rod. The first adapter sleeve is rotatably sleeved on the second end of the first pullback rod and is limited by cooperation of the first outer flange and the first stop inner flange.

[0022] Further, the second end of the second pullback rod is screwed with a limiting sleeve body.

[0023] The second ball joint comprises a second ball sleeve, a second ball head and a second adapter sleeve. The second ball sleeve is located at the second end of the second outer arm and is rotatably connected to the second pullback component. The second ball head is rotatably connected to the second ball sleeve. The second adapter sleeve is detachably connected to the second ball sleeve. The second adapter sleeve is rotatably connected to the limiting sleeve body near one end of the second pullback rod.

[0024] Further, the adjusting mechanism further comprises a rotating sleeve body provided with a threaded hole in the axial direction. A threaded stud segment is provided on the main shaft and is rotatably connected in the threaded hole. The adjusting component comprises an adjusting handle rotatably mounted on the first sleeve body or the second sleeve body. The adjusting handle is connected to the rotating sleeve body through a clamping member to drive the rotating sleeve body to rotate.

[0025] Further, the outer side wall surface of the rotating sleeve body is provided with a guide groove extending along the axial direction of the rotating sleeve body. The clamping member is fixed on the adjusting handle and clamped in the guide groove.

[0026] Further, the adjusting component comprises an outer cover and a mounting column. The outer cover is detachably mounted on the mounting column. The mounting column is provided with an annular groove in the outer periphery. The mounting column is provided with a mounting hole in the inside. The rotating sleeve body is mounted in the mounting hole. The mounting column is connected to the first sleeve body or the second sleeve body through a limiting member inserted in the annular groove.

[0027] Further, the pushing component comprises:

[0028] A first pushing block is sleeved on the main shaft. The first pushing block is located in the inside of the first sleeve body for pushing the first locking mechanism to move along the length direction of the first free arm under the driving of the main shaft.

[0029] A second pushing block is sleeved on the main shaft and located inside the second sleeve body for pushing the second locking mechanism to move along the length direction of the second free arm under driving of the main shaft.

[0030] Further, the first locking mechanism comprises:

[0031] A first pushing rod is sleeved in the first pulling component and extends along the length direction of the first outer arm, and the first pushing rod is abutted on the first pushing block by a first steel ball;

[0032] A first abutting block is arranged in the first ball sleeve for abutting the first ball head under pushing of the first pushing rod;

[0033] A first elastic member is arranged between the first abutting block and the first pushing rod in abutment;

[0034] The second locking mechanism comprises:

[0035] A second pushing rod is sleeved in the second pulling component and extends along the length direction of the second outer arm, and the second pushing rod is abutted on the second pushing block by a second steel ball;

[0036] A second abutting block is arranged in the second ball sleeve for abutting the second ball head under pushing of the second pushing rod;

[0037] A second elastic member is arranged between the second abutting block and the second pushing rod in abutment.

[0038] In another aspect, the application further provides a surgical robot comprising the mechanical arm assembly.

[0039] Compared with the prior art, the technical scheme of the application has at least the following technical effects:

[0040] Due to the first free arm of the mechanical arm assembly in the application is internally provided with a first pullback component, and correspondingly, the second free arm is internally provided with a second pullback component, through the action of the first pullback component and the second pullback component, the structural strength of the first outer arm and the second outer arm can be improved. In addition, the first pullback component is connected between the main shaft and the first ball joint, when the pushing component pushes the first locking mechanism to lock the first ball joint, the pushing component can exert a counterforce on the main shaft perpendicular to the direction of the main shaft axis, at the same time, the first pullback component can pull back the first ball joint, the pulling force exerted by the first ball joint on the first pullback component will be transmitted to the main shaft, at this time, the force borne by the main shaft at the position of the pushing component is a bidirectional force, that is, the counterforce exerted by the pushing component and the pulling force exerted by the first pullback component, and the counterforce exerted by the pushing component and the pulling force exerted by the first pullback component are action forces with the same size and opposite directions, in this way, the bending of the main shaft at the pushing component can be avoided; similarly, the second pullback component is connected between the main shaft and the second ball joint, when the pushing component pushes the second locking mechanism to lock the second ball joint, the pushing component can exert a counterforce on the main shaft perpendicular to the direction of the main shaft axis, at the same time, the second pullback component can pull back the second ball joint, the pulling force exerted by the first ball joint on the second pullback component will be transmitted to the main shaft, at this time, the force borne by the main shaft at the position of the pushing component is a bidirectional force, that is, the counterforce exerted by the pushing component and the pulling force exerted by the second pullback component, and the counterforce exerted by the pushing component and the pulling force exerted by the second pullback component are action forces with the same size and opposite directions, in this way, the bending of the main shaft at the pushing component can be avoided.

[0041] In summary, through the action of the first pullback component and the second pullback component in the application, not only the structural strength of the mechanical arm assembly in the application can be improved, but also the bending deformation of the main shaft at the pushing component can be avoided, and the service life and use stability of the mechanical arm assembly can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application, and do not limit the application in any way. In the drawings:

[0043] Figure 1 is a structural schematic diagram of a surgical robot disclosed by the embodiment of the application;

[0044] Figure 2 is a bottom view of the surgical robot disclosed by the embodiment of the application;

[0045] Figure 3 is Figure 2 C-O-C section view in the

[0046] Figure 4 is an enlarged view of the M region in Figure 3

[0047] Figure 5 is an enlarged view of the P region in Figure 3

[0048] Figure 6 is an enlarged view of the N region in Figure 3

[0049] Figure 7 is a sectional view at the first and second free arms according to an embodiment of the present application.

[0050] In the above drawings, the following reference signs are used:

[0051] 10, main arm; 12, bone cement injection sleeve;

[0052] 20, fine adjustment robot arm;

[0053] 30, first free arm; 31, first outer arm; 311, first sleeve body; 3111, circular limiting groove; 32, first pullback component; 321, first reinforcing sleeve; 322, first pullback rod; 3221, first outer flange;

[0054] 40, second free arm; 41, second outer arm; 411, second sleeve body; 4111, cylindrical limiting protrusion; 42, second pullback component; 421, second reinforcing sleeve; 422, second pullback rod; 423, limiting sleeve body;

[0055] 50, first ball joint; 51, first ball sleeve; 52, first ball head; 53, first adapter sleeve; 531, first stop inner flange;

[0056] 60, second ball joint; 61, second ball sleeve; 62, second ball head; 63, second adapter sleeve;

[0057] 70, first locking mechanism; 71, first push rod; 72, first steel ball; 73, first abutting block; 74, first elastic member;

[0058] 80, second locking mechanism; 81, second push rod; 82, second steel ball; 83, second abutting block; 84, second elastic member;

[0059] 90, adjustment mechanism; 91, adjustment component; 911, outer cover; 912, mounting column; 9121, annular groove; 9122, mounting hole; 92, main shaft; 921, threaded column section; 922, second stop step; 93, push component; 931, first push block; 932, second push block; 94, rotating sleeve body; 941, threaded hole; 9411, first stop step; 942, guide groove;​​​

[0060] 100, damping mechanism; 101, first ring gear; 102, second ring gear;

[0061] 110, rail adapter;

[0062] 120, column;

[0063] 130, drive device;

[0064] 140, consumable driving component;

[0065] 150, rail. DETAILED DESCRIPTION

[0066] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0067] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that the terms "comprise" and / or "include" as used herein indicate the presence of the features, steps, operations, devices, components and / or combinations thereof.

[0068] The relative arrangement, numerical expressions and numerical values of the components and steps set forth in the embodiments are not intended to limit the scope of the present application, unless otherwise specifically stated. At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the purpose of description. The techniques, methods and devices known to those skilled in the relevant art can not be discussed in detail, but in appropriate cases, the techniques, methods and devices should be considered as part of the authorized description. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0069] Referring to Figure 1 and Figure 2 As shown, according to the embodiments of the present application, a surgical robot is provided, which is particularly a bone cement injection robot. The bone cement injection surgical robot comprises a rail adapter 110, a column 120, a mechanical arm assembly and a bone cement injection assembly.

[0070] In the installation, the column 120 is arranged on the guide rail adapter 110 and can be lifted relative to the guide rail adapter 110; the mechanical arm assembly mainly includes the main arm 10, the first free arm 30 and the second free arm 40. The first free arm 30 and the second free arm 40 are rotatably connected together through the adjusting mechanism 90, the end of the first free arm 30 away from the second free arm 40 is connected with the top end of the column 120 through the first ball joint 50, and the end of the second free arm 40 away from the first free arm 30 is connected with the main arm 10 through the second ball joint 60; the bone cement injection assembly includes a bone cement injection sleeve 12 and a driving device 130, and the front end of the main arm 10 is provided with a consumable driving component 140 and a fine adjustment mechanical arm 20, the consumable driving component 140 is connected with the main arm 10 through the fine adjustment mechanical arm 20, the fine adjustment mechanical arm 20 can adjust the position of the consumable driving component 140, and the consumable driving component 140 includes a driving motor and the like, which is arranged to drive the consumables, such as the movement of the bone cement injection catheter (connected with the bone cement injection sleeve 12) to perform efficient injection of bone cement.

[0071] In actual use, first, the bone cement injection robot is installed beside the operating bed, and is specifically installed on the guide rail 150 beside the operating bed through the guide rail adapter 110, the guide rail adapter 110 includes two clamping blocks hinged together, and the guide rail adapter 110 is provided with a locking structure, which can be a locking block and the like. In actual installation, the column 120 can be lifted relative to the guide rail adapter 110 and locked through the locking structure, and thus the height of the mechanical arm assembly arranged on the column 120 can be adjusted. Since the first free arm 30 and the second free arm 40 in the embodiment can rotate, the position of the main arm 10 can be adjusted. Through the action of the bone cement injection sleeve 12 and the driving device 130 arranged on the main arm 10, remote injection control of the bone cement can be realized, and the harm to the medical staff caused by long-term work in the radiation environment can be avoided.

[0072] Referring to Figures 3 to 7 The mechanical arm assembly in the embodiment includes the first free arm 30, the first ball joint 50, the second free arm 40, the second ball joint 60, the first locking mechanism 70, the second locking mechanism 80 and the adjusting mechanism 90.

[0073] Specifically, the first free arm 30 comprises a first outer arm 31 and a first pullback component 32, the first outer arm 31 comprises oppositely arranged first and second ends, the first end of the first outer arm 31 is provided with a first sleeve body 311, and the first pullback component 32 is arranged in the first outer arm 31 and extends along the length direction of the first outer arm 31; the second free arm 40 comprises a second outer arm 41 and a second pullback component 42, the second outer arm 41 comprises oppositely arranged first and second ends, the first end of the second outer arm 41 is provided with a second sleeve body 411, and the second pullback component 42 is arranged in the second outer arm 41 and extends along the length direction of the second outer arm 41; the first ball joint 50 comprises a first ball sleeve 51 and a first ball head 52, the first ball sleeve 51 is located at the second end of the first outer arm 31 and is rotatably connected to the first pullback component 32, and the first ball head 52 is rotatably connected to the first ball sleeve 51; the second ball joint 60 comprises a second ball sleeve 61 and a second ball head 62, the second ball sleeve 61 is located at the second end of the second outer arm 41 and is rotatably connected to the second pullback component 42, and the second ball head 62 is rotatably connected to the second ball sleeve 61; the first locking mechanism 70 is arranged in the first pullback component 32 and can move along the length direction of the first free arm 30 to lock or unlock the first ball head 52; the second locking mechanism 80 is arranged in the second pullback component 42 and can move along the length direction of the second free arm 40 to lock or unlock the second ball head 62; the adjusting mechanism 90 comprises an adjusting component 91, a main shaft 92 and a pushing component 93, the adjusting component 91 is arranged on the first sleeve body 311 or the second sleeve body 411, the pushing component 93 is arranged on the main shaft 92, the first sleeve body 311 and the second sleeve body 411 are sleeved on the main shaft 92 and located at the outer periphery of the pushing component 93, and one end of the first pullback component 32 away from the first ball joint 50 is connected to the main shaft 92, and one end of the second pullback component 42 away from the second ball joint 60 is connected to the main shaft 92.

[0074] In operation, the adjusting component 91 is used to drive the main shaft 92 to move along the axial direction of the main shaft 92, and the pushing component 93 is used to drive the first locking mechanism 70 and the second locking mechanism 80 to move to lock or unlock the first ball head 52 and the second ball head 62 simultaneously when the main shaft 92 moves. Specifically, when it is needed to adjust the position of the main arm 10, the adjusting component 91 is adjusted to drive the main shaft 92 to move along the axial direction of the main shaft 92, thereby driving the pushing component 93 arranged on the main shaft 92 to move, and further driving the first locking mechanism 70 and the second locking mechanism 80 to move to unlock the first ball head 52 and the second ball head 62 simultaneously, and at this time, the positions of the first free arm 30 and the second free arm 40 can be adjusted. After adjustment, the adjusting component 91 is adjusted again to drive the pushing component 93 to move, so that the first locking mechanism 70 and the second locking mechanism 80 move to lock the first ball head 52 and the second ball head 62 simultaneously.

[0075] Due to the first free arm 30 in the mechanical arm assembly in the embodiment is internally provided with the first pullback component 32, and correspondingly, the second free arm 40 is internally provided with the second pullback component 42, through the action of the first pullback component 32 and the second pullback component 42, the structural strength of the first outer arm 31 and the second outer arm 41 can be improved. In addition, the first pullback component 32 is connected between the main shaft 92 and the first spherical joint 50, when the pushing component 93 pushes the first locking mechanism 70 to lock the first spherical joint 50, the pushing component 93 can exert a reaction force on the main shaft 92 which is perpendicular to the axial direction of the main shaft 92, at the same time, the first pullback component 32 can pull back the first spherical joint 50, the pulling force exerted by the first spherical joint 50 on the first pullback component 32 will be transmitted to the main shaft 92, at this time, the force borne by the main shaft 92 at the position of the pushing component 93 is a bidirectional force, that is, the reaction force exerted by the pushing component 93 and the pulling force exerted by the first pullback component 32, and the reaction force exerted by the pushing component 93 and the pulling force exerted by the first pullback component 32 are action forces with the same size and opposite directions, in this way, it can avoid the bending of the main shaft 92 at the pushing component 93; Similarly, the second pullback component 42 is connected between the main shaft 92 and the second spherical joint 60, when the pushing component 93 pushes the second locking mechanism 80 to lock the second spherical joint 60, the pushing component 93 can exert a reaction force on the main shaft 92 which is perpendicular to the axial direction of the main shaft 92, at the same time, the second pullback component 42 can pull back the second spherical joint 60, the pulling force exerted by the first spherical joint 50 on the second pullback component 42 will be transmitted to the main shaft 92, at this time, the force borne by the main shaft 92 at the position of the pushing component 93 is a bidirectional force, that is, the reaction force exerted by the pushing component 93 and the pulling force exerted by the second pullback component 42, and the reaction force exerted by the pushing component 93 and the pulling force exerted by the second pullback component 42 are action forces with the same size and opposite directions, in this way, it can avoid the bending of the main shaft 92 at the pushing component 93. In summary, through the action of the first pullback component 32 and the second pullback component 42 in the embodiment, not only the structural strength of the mechanical arm assembly in the embodiment can be improved, but also the bending deformation of the main shaft 92 at the pushing component 93 can be avoided, and the service life and use stability of the mechanical arm assembly can be improved.

[0076] The first pull-back component 32 in the embodiment comprises a first reinforcing sleeve 321 and a first pull-back rod 322. The first reinforcing sleeve 321 is mounted on the first sleeve body 311 and sleeved on the main shaft 92. The first pull-back rod 322 is arranged in the first outer arm 31. The first end of the first pull-back rod 322 is connected to the first reinforcing sleeve 321. The second end of the first pull-back rod 322 is arranged out of the second end of the first outer arm 31. The first ball sleeve 51 is rotatably connected to the second end of the first pull-back rod 322. Optionally, the first reinforcing sleeve 321 and the first pull-back rod 322 can be connected by threads, buckles or welding. The first reinforcing sleeve 321 can connect the first pull-back rod 322 to the main shaft 92. The structure is simple and convenient for processing and assembling.

[0077] Correspondingly, the second pull-back component 42 in the embodiment comprises a second reinforcing sleeve 421 and a second pull-back rod 422. The second reinforcing sleeve 421 is mounted on the second sleeve body 411 and sleeved on the main shaft 92. The second pull-back rod 422 is arranged in the second outer arm 41. The first end of the second pull-back rod 422 is connected to the second reinforcing sleeve 421. The second end of the second pull-back rod 422 is arranged out of the second end of the second outer arm 41. The second ball sleeve 61 is rotatably connected to the second end of the second pull-back rod 422. Optionally, the second reinforcing sleeve 421 and the second pull-back rod 422 can be connected by threads, buckles or welding. The second reinforcing sleeve 421 can connect the second pull-back rod 422 to the main shaft 92. The structure is simple and convenient for processing and assembling.

[0078] Of course, in other embodiments of the application, the first pull-back rod 322 and the second pull-back rod 422 can be directly connected to the main shaft 92. Other variations under the concept of the application are within the protection scope of the application.

[0079] Further, in order to rotatably connect the first ball joint 50 to the first pull-back rod 322, the second end of the first pull-back rod 322 is provided with a first outer flange 3221. The first ball joint 50 further comprises a first adapter sleeve 53. The first adapter sleeve 53 is detachably connected to the first ball sleeve 51. The end of the first adapter sleeve 53 close to the first pull-back rod 322 is provided with a first stop inner flange 531. The first adapter sleeve 53 is rotatably sleeved on the second end of the first pull-back rod 322 and is limited by the cooperation of the first outer flange 3221 and the first stop inner flange 531.

[0080] When the first locking mechanism 70 moves away from the first ball joint 50 to unlock the first ball joint 50, an external force applied to the first free arm 30 or the first adapter sleeve 53 can rotate the first adapter sleeve 53 relative to the first pull rod 322, facilitating the adjustment of the spatial position of the mechanical arm assembly; conversely, when the first locking mechanism 70 moves towards the first ball joint 50 to lock the first ball joint 50, the first stop inner flange 531 on the first adapter sleeve 53 cooperates with the first outer flange 3221 on the first pull rod 322 to limit and lock the first adapter sleeve 53. Of course, in other embodiments of the present application, the first stop inner flange 531 can also be arranged on the first ball sleeve 51.

[0081] In the present embodiment, the first adapter sleeve 53 is arranged to connect the first ball sleeve 51 and the first pull rod 322, and when the first ball joint 50 fails, the first ball sleeve 51 can be detached from the first adapter sleeve 53, facilitating the maintenance of the mechanical arm assembly. Alternatively, the first adapter sleeve 53 and the first ball sleeve 51 in the present embodiment can be connected by threads, and can also be detachably connected by screws or buckles, as long as other deformation modes under the concept of the present application are within the protection scope of the present application.

[0082] Further, the second end of the second pull rod 422 is screwed with a limiting sleeve body 423; the second ball joint 60 further includes a second adapter sleeve 63 which is detachably connected to the second ball sleeve 61, and the end of the second adapter sleeve 63 close to the second pull rod 422 is rotatably connected to the limiting sleeve body 423.

[0083] When the second locking mechanism 80 moves away from the second ball joint 60 to unlock the second ball joint 60, an external force applied to the second free arm 40 or the second ball joint 60 can rotate the second adapter sleeve 63 relative to the second pull rod 422; conversely, when the second locking mechanism 80 moves towards the second ball joint 60 to lock the second ball joint 60, the second adapter sleeve 63 is locked.

[0084] In the present embodiment, the limiting sleeve body 423 and the second adapter sleeve 63 are arranged to connect the second ball sleeve 61 and the second pull rod 422, and when the second ball joint 60 fails, the limiting sleeve body 423, the second ball sleeve 61 and the second adapter sleeve 63 can be detached from the second pull rod 422, facilitating the maintenance of the mechanical arm assembly. Alternatively, the second adapter sleeve 63 and the second ball sleeve 61 in the present embodiment can be connected by threads, and can also be detachably connected by screws or buckles, as long as other deformation modes under the concept of the present application are within the protection scope of the present application.

[0085] Of course, in other embodiments of the present application, the connection mode of the second ball joint 60 and the second pull rod 422 can also be set to be consistent with the connection mode of the first ball joint 50 and the first pull rod 322, or the connection mode of the first ball joint 50 and the first pull rod 322 is set to be consistent with the connection mode of the second ball joint 60 and the second pull rod 422.

[0086] Referring to Figures 4 to 7 As shown, the adjusting mechanism 90 in the embodiment further includes a rotating sleeve body 94, which is provided with a threaded hole 941 in the axial direction, and the main shaft 92 is provided with a stud segment 921 which is rotatably connected in the threaded hole 941. The adjusting component 91 includes an adjusting handle which is rotatably mounted on the first sleeve body 311 or the second sleeve body 411, and the adjusting handle is connected to the rotating sleeve body 94 through a clamping member (not shown in the figure) to drive the rotating sleeve body 94 to rotate. That is, the rotating sleeve body 94 and the operating handle are connected together by the clamping member, and when the adjusting handle rotates, the rotating sleeve body 94 can be driven to rotate synchronously, thereby driving the main shaft 92 installed in the rotating sleeve body 94 to ascend and descend, and the force transmission effect is good. Alternatively, the clamping member in the embodiment can be a clamping screw, a clamping pin or a clamping column, etc.

[0087] By applying an external force to the adjusting component 91, the adjusting component 91 can transmit the force received thereby to the rotating sleeve body 94. Since the rotating sleeve body 94 and the main shaft 92 are connected through the threaded hole 941 and the stud segment 921, when the rotating sleeve body 94 rotates with the adjusting component 91, the main shaft 92 can be driven to ascend and descend, and ultimately drive the pushing component 93 provided on the main shaft 92 to move, thereby causing the first locking mechanism 70 and the second locking mechanism 80 to move to lock the first ball head 52 and the second ball head 62 at the same time. That is, the force of the adjusting component 91 in the embodiment is directly transmitted to the main shaft 92 through the rotating sleeve body 94. Compared with the structure of the prior art in which a complex transmission mechanism is arranged between the adjusting component 91 and the main shaft 92, the force transmission in the embodiment is realized by arranging a simple threaded hole 941 and a stud segment 921 between the rotating sleeve body 94 and the main shaft 92, and the transmission efficiency is better, and the force transmission effect is at least 8 times higher than that of the prior art, which is more convenient for medical staff to operate and use.

[0088] Further, the outer side wall surface of the rotating sleeve 94 is provided with a guide groove 942 extending along the axial direction of the rotating sleeve 94, and the clamping member is fixed to the adjusting handle and clamped in the guide groove 942. When the operating handle is rotated, the rotating sleeve 94 can be rotated with the operating handle and drive the main shaft 92 to ascend and descend, and when the main shaft 92 ascends to a certain position (the pushing part 93 on the main shaft 92 abuts against the first locking mechanism 70 and the second locking mechanism 80), the main shaft 92 cannot continue to ascend and descend under the reaction force of the first locking mechanism 70 and the second locking mechanism 80. At this time, the rotating sleeve 94 can reciprocate relative to the axial direction of the main shaft 92 by continuously applying a rotating force to the operating handle, and the clamping member can slide along the guide groove 942. That is to say, the clamping member can be effectively limited by the guide groove 942, and the rotating motion of the rotating sleeve 94 can be converted into linear motion, which is simple in structure and convenient to operate and use.

[0089] Optionally, the adjusting handle in the embodiment comprises an outer cover 911 and a mounting column 912, the outer cover 911 is detachably mounted on the mounting column 912, the outer periphery of the mounting column 912 is provided with an annular groove 9121, and the mounting column 912 is provided with a mounting hole 9122. In actual installation, the rotating sleeve 94 is mounted in the mounting hole 9122, and the mounting column 912 is connected to the first sleeve 311 or the second sleeve 411 by a limiting member (not shown in the figure) inserted in the annular groove 9121. Exemplarily, the limiting member can be a limiting screw, a limiting pin or the like.

[0090] By setting the adjusting handle as a combination structure of the outer cover 911 and the mounting column 912, the assembly of the rotating sleeve 94 and the main shaft 92 is more convenient. In actual processing, the outer cover 911 and the mounting column 912 can be detachably connected together by buckles, threads, pins or screws. The mounting column 912 is connected to the first sleeve 311 or the second sleeve 411 by the limiting member inserted in the annular groove 9121, and when external force is applied to the adjusting handle to drive the adjusting handle to rotate, the limiting member can rotate relative to the annular groove 9121 without interfering with the mounting column 912, and can also limit the mounting column 912 to prevent the mounting column 912 from falling off the first sleeve 311 or the second sleeve 411, which is simple in structure and convenient to disassemble and use.

[0091] Again referring to Figure 6 and Figure 7As shown, the threaded hole 941 in the embodiment is provided with a first stop step 9411, and the main shaft 92 is provided with a second stop step 922 matched with the first stop step 9411. When the adjusting handle drives the main shaft 92 to ascend and descend, the movement stroke of the main shaft 92 can be limited by the cooperation of the first stop step 9411 and the second stop step 922, and the structure is stable and reliable.

[0092] Further, the pushing component 93 in the embodiment includes a first pushing block 931 and a second pushing block 932.

[0093] The first pushing block 931 is sleeved on the main shaft 92 and located inside the first sleeve body 311 for driving the first locking mechanism 70 to move along the length direction of the first free arm 30 under the driving of the main shaft 92; and the second pushing block 932 is sleeved on the main shaft 92 and located inside the second sleeve body 411 for driving the second locking mechanism 80 to move along the length direction of the second free arm 40 under the driving of the main shaft 92.

[0094] In actual installation, the first pushing block 931 and the second pushing block 932 can be fixed on the main shaft 92 or movably sleeved on the main shaft 92. In the embodiment, the first pushing block 931 and the second pushing block 932 are movably sleeved on the main shaft 92. Figure 6 The case that the first pushing block 931 and the second pushing block 932 are movably sleeved on the main shaft 92 is shown in FIG. 6, and the movements of the first pushing block 931 and the second pushing block 932 are opposite. Specifically, when the adjusting handle drives the main shaft 92 to move upward, the first pushing block 931 moves upward along with the main shaft 92, and can drive the first locking mechanism 70 to move toward the first spherical joint 50 to lock the first spherical joint 50, while the second pushing block 932 moves downward relative to the main shaft 92, and can drive the second locking mechanism 80 to move toward the second spherical joint 60 to lock the second spherical joint 60. Conversely, when the adjusting handle drives the main shaft 92 to move downward, the first pushing block 931 moves downward along with the main shaft 92, and releases the abutting force of the first locking mechanism 70 on the first spherical joint 50, while the second pushing block 932 moves upward relative to the main shaft 92, and releases the abutting force of the second locking mechanism 80 on the second spherical joint 60, so that the first free arm 30 and the second free arm 40 can rotate freely, and the position of the mechanical arm assembly can be adjusted conveniently.

[0095] Optionally, the first pushing block 931 and the second pushing block 932 in the embodiment can be wedge-shaped blocks, and the surfaces of the wedge-shaped blocks are inclined surfaces that can apply abutting forces to the first locking mechanism 70 and the second locking mechanism 80 to drive the first locking mechanism 70 and the second locking mechanism 80 to move when the main shaft 92 drives the first pushing block 931 and the second pushing block 932 to move. Of course, in other embodiments of the present application, the surfaces of the first pushing block 931 and the second pushing block 932 can also be arc surfaces, as long as other deformation modes that can drive the first locking mechanism 70 and the second locking mechanism 80 to move are within the protection scope of the present application.

[0096] In the embodiment, the first sleeve body 311 and the second sleeve body 411 are sequentially arranged along the length direction of the main shaft 92, wherein the first sleeve body 311 is provided with a circular limiting recess 3111 at one end close to the second sleeve body 411, the second sleeve body 411 is provided with a cylindrical limiting protrusion 4111 that is matched with the circular limiting recess 3111 at one end close to the first sleeve body 311, and the axis of the cylindrical limiting protrusion 4111 and the circular limiting recess 3111 is consistent with the axis of the main shaft 92. Through the mutual cooperation of the circular limiting recess 3111 and the cylindrical limiting protrusion 4111, not only can the first sleeve body 311 and the second sleeve body 411 be quickly positioned, but also the coaxiality of the first sleeve body 311 and the second sleeve body 411 during installation can be ensured, which can improve the stability and reliability of the mechanical arm assembly during use.

[0097] Further, the first sleeve body 311 and the second sleeve body 411 in the embodiment are provided with a damping mechanism 100, and when the included angle between the first free arm 30 and the second free arm 40 is adjusted to the desired position, the damping mechanism 100 can provide damping between the first free arm 30 and the second free arm 40, thereby being able to avoid the relative rotation between the first free arm 30 and the second free arm 40 to a certain extent, and more conveniently locking the first free arm 30 and the second free arm 40.

[0098] Specifically, the damping mechanism 100 comprises a first ring gear 101 and a second ring gear 102. The first ring gear 101 is fixedly arranged at one end of the first sleeve body 311 close to the second sleeve body 411, and a first annular tooth surface (not shown in the figure) coaxial with the main shaft 92 is arranged on one side of the first ring gear 101 close to the second sleeve body 411; the second ring gear 102 is fixedly arranged at one end of the second sleeve body 411 close to the first sleeve body 311, and a second annular tooth surface (not shown in the figure) coaxial with the main shaft 92 is arranged on one side of the second ring gear 102 close to the first sleeve body 311, the first annular tooth surface and the second annular tooth surface are in meshing relationship, and 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 the present application, the damping mechanism 100 can also be a friction pad or the like arranged between the first sleeve body 311 and the second sleeve body 411, as long as it is other deformation modes under the concept of the present application, which are within the protection scope of the present application.

[0099] Further, the first locking mechanism 70 in the embodiment comprises a first push rod 71, a first steel ball 72, a first abutting block 73 and a first elastic member 74. The first push rod 71 is arranged in the first pull-back member 32 and extends along the length direction of the first outer arm 31, and the first push rod 71 is abutted on the first push block 931 through the first steel ball 72; the first abutting block 73 is arranged in the first ball sleeve 51 for abutting the first ball head 52 under the pushing of the first push rod 71; and the first elastic member 74 is arranged between the first abutting block 73 and the first push rod 71. Correspondingly, the second locking mechanism 80 comprises a second push rod 81, a second steel ball 82, a second abutting block 83 and a second elastic member 84, the second push rod 81 is arranged in the second pull-back member 42 and extends along the length direction of the second outer arm 41, and the second push rod 81 is abutted on the second push block 932 through the second steel ball 82; the second abutting block 83 is arranged in the second ball sleeve 61 for abutting the second ball head 62 under the pushing of the second push rod 81; and the second elastic member 84 is arranged between the second abutting block 83 and the second push rod 81. Optionally, the first elastic member 74 and the second elastic member 84 can be a spring, an elastic pad or an elastic sleeve, as long as it is other deformation modes under the concept of the present application, which are within the protection scope of the present application.

[0100] When the adjusting handle drives the main shaft 92 to move upward, the first push block 931 moves upward along with the main shaft 92, and can push the first push rod 71 and the first abutting block 73 to move toward the first spherical joint 50 to lock the first spherical joint 50. At the same time, the second push block 932 moves downward relative to the main shaft 92, and can push the second push rod 81 and the second abutting block 83 to move toward the second spherical joint 60 to lock the second spherical joint 60. Conversely, when the adjusting handle drives the main shaft 92 to move downward, the first push block 931 moves downward along with the main shaft 92, and releases the abutting force of the first locking mechanism 70 on the first spherical joint 50. At the same time, the second push block 932 moves upward relative to the main shaft 92, and releases the abutting force of the second locking mechanism 80 on the second spherical joint 60. The first free arm 30 and the second free arm 40 can be freely rotated, which is convenient for adjusting the position of the mechanical arm assembly.

[0101] In the embodiment, the first push rod 71 and the first push block 931 are in contact through the first steel ball 72, and correspondingly, the second push rod 81 and the second push block 932 are in contact through the second steel ball 82. This can avoid the abrasion of the first push block 931 on the first push rod 71, and the abrasion of the second push block 932 on the second push rod 81, and can improve the service life of the first locking mechanism 70 and the second locking mechanism 80.

[0102] Since the first abutting block 73 and the first push rod 71 are provided with the first elastic member 74, and the second abutting block 83 and the second push rod 81 are provided with the second elastic member 84, during the implementation process, by selecting the first elastic member 74 and the second elastic member 84 with different elastic coefficients, the locking force between the first spherical joint 50 and the second spherical joint 60 can be adjusted. At the same time, through the action of the first elastic member 74 and the second elastic member 84, a certain buffering effect can be provided for the locking of the first spherical joint 50 and the second spherical joint 60, which is more convenient for medical staff to use.

[0103] 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.

[0104] 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.

[0105] 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: The first free arm (30) includes a first outer arm (31) and a first pull-back component (32). The first outer arm (31) includes a first end and a second end that are disposed opposite to each other. The first end of the first outer arm (31) is provided with a first sleeve (311). The first pull-back component (32) passes through the first outer arm (31) and extends along the length direction of the first outer arm (31). The second free arm (40) includes a second outer arm (41) and a second pull-back component (42). The second outer arm (41) includes a first end and a second end that are disposed opposite to each other. The first end of the second outer arm (41) is provided with a second sleeve (411). The second pull-back component (42) passes through the second outer arm (41) and extends along the length direction of the second outer arm (41). The first ball joint (50) is connected to the first pull-back component (32). The second ball joint (60) is connected to the second pull-back component (42); The first locking mechanism (70) is inserted inside the first pull-back member (32) and can move along the length of the first free arm (30) to lock or unlock the first ball joint (50); The second locking mechanism (80) is inserted inside the second pull-back member (42) and can move along the length of the second free arm (40) to lock or unlock the second ball joint (60); An adjustment mechanism (90) includes an adjustment component (91), a main shaft (92), and a pushing component (93). The adjustment component (91) is disposed on the first sleeve (311) or the second sleeve (411). The pushing component (93) is disposed on the main shaft (92). The first sleeve (311) and the second sleeve (411) are both sleeved on the main shaft (92) and located on the outer periphery of the pushing component (93). The end of the first pull-back component (32) away from the first ball joint (50) is connected to the main shaft (92), and the end of the second pull-back component (42) away from the second ball joint (60) is connected to the main shaft (92). The adjusting component (91) is used to drive the main shaft (92) to move along the axial direction of the main shaft (92), and the pushing component (93) is used to push the first locking mechanism (70) and the second locking mechanism (80) to move when the main shaft (92) moves so as to lock or unlock the first ball joint (50) and the second ball joint (60) at the same time.

2. The robotic arm assembly according to claim 1, characterized in that, The first pullback component (32) includes: The first reinforcing sleeve (321) is installed inside the first sleeve body (311) and sleeved on the main shaft (92); The first pull rod (322) is inserted inside the first outer arm (31). The first end of the first pull rod (322) is connected to the first reinforcing sleeve (321). The second end of the first pull rod (322) extends out of the second end of the first outer arm (31). The first ball joint (50) is rotatably connected to the second end of the first pull rod (322). The second pullback component (42) includes: The second reinforcing sleeve (421) is installed inside the second sleeve body (411) and sleeved on the main shaft (92); The second return rod (422) is inserted inside the second outer arm (41). The first end of the second return rod (422) is connected to the second reinforcing sleeve (421). The second end of the second return rod (422) extends out of the second end of the second outer arm (41). The second ball joint (60) is rotatably connected to the second end of the second return rod (422).

3. The robotic arm assembly according to claim 2, characterized in that, The second end of the first pull rod (322) is provided with a first outer flange (3221); The first ball joint (50) includes a first ball sleeve (51), a first ball head (52), and a first adapter sleeve (53). The first ball sleeve (51) is located at the second end of the first outer arm (31) and is rotatably connected to the first pull-back component (32). The first ball head (52) is rotatably connected to the first ball sleeve (51). The first adapter sleeve (53) is detachably connected to the first ball sleeve (51). The first adapter sleeve (53) is provided with a first stop inner flange (531) at one end near the first pull-back rod (322). The first adapter sleeve (53) is rotatably sleeved on the second end of the first pull-back rod (322) and is limited by the first outer flange (3221) cooperating with the first stop inner flange (531).

4. The robotic arm assembly according to claim 3, characterized in that, The second end of the second pull rod (422) is screwed to a limit sleeve (423); The second ball joint (60) includes a second ball sleeve (61), a second ball head (62), and a second adapter sleeve (63). The second ball sleeve (61) is located at the second end of the second outer arm (41) and is rotatably connected to the second pull-back component (42). The second ball head (62) is rotatably connected to the second ball sleeve (61). The second adapter sleeve (63) is detachably connected to the second ball sleeve (61). The end of the second adapter sleeve (63) near the second pull-back rod (422) is rotatably connected to the limiting sleeve (423).

5. The robotic arm assembly according to claim 1, characterized in that, The adjustment mechanism (90) further includes a rotating sleeve (94), which has a threaded hole (941) in its axial direction. The main shaft (92) has a stud section (921) which is rotatably connected to the threaded hole (941). The adjustment component (91) includes an adjustment handle which is rotatably mounted on the first sleeve (311) or the second sleeve (411). The adjustment handle is connected to the rotating sleeve (94) through a locking member to drive the rotating sleeve (94) to rotate.

6. The robotic arm assembly according to claim 5, characterized in that, The outer wall of the rotating sleeve (94) is provided with a guide groove (942), which extends along the axial direction of the rotating sleeve (94). The locking member is fixed on the adjusting handle and locked in the guide groove (942).

7. The robotic arm assembly according to claim 5, characterized in that, The adjusting component (91) includes an outer cover (911) and a mounting post (912). The outer cover (911) is detachably mounted on the mounting post (912). The outer periphery of the mounting post (912) is provided with an annular groove (9121). The mounting post (912) is provided with a mounting hole (9122). The rotating sleeve (94) is installed in the mounting hole (9122). The mounting post (912) is connected to the first sleeve (311) or the second sleeve (411) by a limiting member inserted in the annular groove (9121).

8. The robotic arm assembly according to claim 4, characterized in that, The pushing component (93) includes: The first push block (931) is sleeved on the main shaft (92) and is located inside the first sleeve (311) to push the first locking mechanism (70) to move along the length direction of the first free arm (30) under the drive of the main shaft (92); The second push block (932) is sleeved on the main shaft (92) and is located inside the second sleeve (411) to push the second locking mechanism (80) to move along the length direction of the second free arm (40) under the drive of the main shaft (92).

9. The robotic arm assembly according to claim 8, characterized in that, The first locking mechanism (70) includes: The first push rod (71) passes through the first pull-back component (32) and extends along the length direction of the first outer arm (31). The first push rod (71) abuts against the first push block (931) through the first steel ball (72). The first abutting block (73) is disposed inside the first ball sleeve (51) to abut against the first ball joint (50) under the push of the first push rod (71) to lock the first ball joint (50); The first elastic element (74) is disposed between the first abutting block (73) and the first push rod (71); The second locking mechanism (80) includes: The second push rod (81) passes through the second pull-back component (42) and extends along the length of the second outer arm (41). The second push rod (81) abuts against the second push block (932) through the second steel ball (82). The second abutting block (83) is disposed inside the second ball sleeve (61) to abut against the second ball joint (60) under the push of the second push rod (81) to lock the second ball joint (60); The second elastic element (84) is disposed between the second abutting block (83) and the second push rod (81).

10. A surgical robot, characterized in that, The surgical robot includes the robotic arm assembly as described in any one of claims 1 to 9.

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