Locking device and medical robotic arm

Abstract

A locking device (10) includes: a first connecting mechanism (1), a first positioning mechanism (3) connected to the first connecting mechanism (1); a second connecting mechanism (2), and a second positioning mechanism (4) connected to the second connecting mechanism (2), wherein the second positioning mechanism (4) has at least two positioning parts (41); wherein the second connecting mechanism (2) is rotatably connected to the first connecting mechanism (1), wherein the second positioning mechanism (4) is capable of rotating relative to the first positioning mechanism (3) about its own axis, and the first positioning mechanism (3) is capable of locking or unlocking any one of the positioning parts (41) of the second positioning mechanism (4). By cooperating with the first positioning mechanism (3) and the corresponding positioning parts, the second connecting mechanism (2) and the first connecting mechanism (1) can be locked together after the second connecting mechanism (2) rotates relative to the first connecting mechanism (1) by a certain angle, without the need for a servo motor or stepper motor, thereby achieving control of the rotation angle of the first connecting mechanism (1) and the second connecting mechanism (2), and thus reducing the cost of the locking device. A medical robotic arm (100) is also provided.

Description

Technical Field

[0001] This application belongs to the field of medical devices and relates to a locking device and a medical robotic arm. Background Technology

[0002] The medical robotic arm has a proximal joint assembly, an end joint, and an end effector connected in sequence. The end joint is usually a locking device. During use, the end joint needs to be rotated a certain angle and then automatically locks, thereby adjusting the position of the end effector. For example, the end joint can automatically lock after rotating 180 degrees horizontally.

[0003] Currently, end effector joints are typically rotated by a motor, and locked after rotating a certain angle by the motor's own characteristics. In this case, the end effector joint usually includes a first connecting mechanism, a second connecting mechanism, and a motor. The first connecting mechanism is connected to the proximal joint assembly, the motor body is fixed to the first connecting mechanism, the second connecting mechanism is fixedly connected to the motor's main shaft, and the end effector is mounted on the second connecting mechanism. When the motor rotates, it causes the second connecting mechanism to rotate relative to the first connecting mechanism.

[0004] In order to lock the second connecting mechanism relative to the first connecting mechanism after rotating by a predetermined angle, the motor is usually a servo motor or a stepper motor. This increases the cost of the end joint, which in turn leads to a higher cost of the entire medical robotic arm. Summary of the Invention

[0005] The technical problem to be solved by this application is to provide a locking device and a medical robotic arm, addressing the issue of high cost of the end joints in existing medical robotic arms.

[0006] To address the aforementioned technical problems, this application provides a locking device, comprising: a first connecting mechanism and a first positioning mechanism connected to the first connecting mechanism; a second connecting mechanism and a second positioning mechanism connected to the second connecting mechanism, the second positioning mechanism having at least two positioning portions; the second connecting mechanism is rotatably connected to the first connecting mechanism, wherein the second positioning mechanism is capable of rotating relative to the first positioning mechanism about its own axis, and the first positioning mechanism is capable of locking or unlocking with any one of the positioning portions of the second positioning mechanism.

[0007] Optionally, the second positioning mechanism includes a positioning block, and the positioning portion is arranged circumferentially along the positioning block.

[0008] Optionally, the positioning part of the second positioning mechanism is a positioning groove, and the first positioning mechanism is embedded in the positioning groove to achieve locking; or, the positioning part of the second positioning mechanism is a positioning protrusion, and the positioning protrusion is embedded in the first positioning mechanism to achieve locking.

[0009] Optionally, the cross-sectional area of ​​the positioning groove gradually decreases from the groove opening towards the groove bottom.

[0010] Optionally, the positioning part is a positioning groove, and the first positioning mechanism includes a positioning hook and a reset component. The reset component drives the positioning hook to move in the direction of the positioning block and abut against the positioning block so that when the second connecting mechanism rotates relative to the first connecting mechanism, at least a portion of the positioning hook is embedded in the positioning groove to achieve locking.

[0011] Optionally, the positioning hook includes: a pin portion, a connecting rod portion, and a positioning shaft, wherein the connecting rod portion includes a first connecting rod, a second connecting rod, and a sleeve connecting the first connecting rod and the second connecting rod respectively, the sleeve being sleeved on the positioning shaft, and the pin portion being connected to the first connecting rod; the positioning shaft is disposed on one side of the positioning block, and the axis of the positioning shaft is parallel to the rotation axis of the positioning block; the second connecting rod is connected to the reset assembly, and when the second connecting rod moves along a first direction, it drives the first connecting rod to rotate towards the positioning block, causing the pin portion to abut against the positioning block; when the second connecting rod moves along a second direction, it drives the first connecting rod to rotate away from the positioning block, causing the pin portion to move away from the positioning block, the first direction being opposite to the second direction.

[0012] Optionally, the angle between the first link and the second link is between 85° and 120°.

[0013] Optionally, the reset assembly includes: a triggering component connected to the second link; and an elastic component acting on the positioning hook to cause the second link to move along a first direction.

[0014] Optionally, the elastic component is a torsion spring, sleeved on the positioning shaft, and pushes the second connecting rod to move along the first direction; or, the elastic component is a spring, connected to the triggering component, to push the triggering component and drive the second connecting rod to move along the first direction.

[0015] Optionally, the second connecting mechanism further includes: a flange, on which the positioning block is fixedly mounted; a bearing assembly, one side of which is connected to the flange and coaxially mounted with the positioning block; and the other side of which is connected to the first connecting mechanism so that the first positioning mechanism can rotate relative to the positioning block.

[0016] Optionally, the flange, the bearing assembly, and the positioning block are all provided with through holes at the location of the rotation axis to reserve a wire harness channel in the locking device for the control wire harness to pass through.

[0017] Optionally, the first connecting mechanism is used to connect the proximal end of the medical robotic arm, and the second connecting mechanism is used to connect the distal end of the medical robotic arm.

[0018] To address the aforementioned technical problems, this application also provides a medical robotic arm, comprising a proximal joint assembly, an end effector, and a locking device as described in any one of the above embodiments, wherein the proximal joint assembly is connected to the first connecting mechanism, and the end effector is mounted on the second connecting mechanism.

[0019] In the locking device and medical robotic arm provided in the embodiments of this application, the first positioning mechanism and the corresponding positioning part can lock the two together after the second connecting mechanism rotates relative to the first connecting mechanism by a certain angle. Without the need for a servo motor or stepper motor, the rotation angle of the first connecting mechanism and the second connecting mechanism can be controlled, thereby reducing the cost of the locking device. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a locking device provided in an embodiment of this application;

[0021] Figure 2 This is a cross-sectional view of a locking device provided in an embodiment of this application;

[0022] Figure 3 This is an exploded view of a locking device provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the first positioning mechanism and the positioning part of the locking device provided in an embodiment of this application in a mating state;

[0024] Figure 5 This is a schematic diagram of the first positioning mechanism and the positioning part of the locking device provided in another embodiment of this application in a mating state;

[0025] Figure 6 This is a schematic diagram of the structure of a medical robotic arm provided in one embodiment of this application.

[0026] The reference numerals in the accompanying drawings are as follows:

[0027] 100. Medical robotic arm; 10. Locking device; 20. Proximal joint assembly; 30. End effector; 201. First joint; 202. Second joint; 203. Third joint; 204. Fourth joint; 1. First connecting mechanism; 11. Support member; 111. Cavity; 112. Clearance hole; 12. Bearing seat; 121. Bearing seat; 2. Second connecting mechanism; 21. Flange; 211. Disc body; 212. Shaft 1. Body; 22. Bearing assembly; 221. Bearing; 222. Pressure plate; 3. First positioning mechanism; 3a. Protruding structure; 31. Positioning hook; 311. Pin part; 312. Connecting rod part; 313. Positioning shaft; 314. First connecting rod; 315. Second connecting rod; 316. Sleeve; 317. Connecting rod; 4. Second positioning mechanism; 41. Positioning part; 42. Positioning block; 43. Positioning protrusion; 5. Wire harness channel. Detailed Implementation

[0028] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] like Figure 1 and Figure 2 As shown, in one embodiment, the locking device 10 includes a first connecting mechanism 1, a second connecting mechanism 2, a first positioning mechanism 3, and a second positioning mechanism 4. The first connecting mechanism 1 is connected to the first positioning mechanism 3, and the second connecting mechanism 2 is connected to the second positioning mechanism 4. The second connecting mechanism 2 is rotatably connected to the first connecting mechanism 1, and the second positioning mechanism 4 can rotate relative to the first positioning mechanism 3 about its own axis. The axis of the second positioning mechanism 4 is defined as the first axis; therefore, the axis of rotation of the second connecting mechanism 2 relative to the first connecting mechanism 1 is also the first axis. Furthermore, the second connecting mechanism 2 and the second positioning mechanism 4 can move synchronously relative to the first connecting mechanism 1 and the first positioning mechanism 3 about the first axis.

[0030] like Figure 3 and Figure 4 As shown, in one embodiment, the second positioning mechanism 4 may have at least two positioning portions 41, and the first positioning mechanism 3 can lock or unlock any one of the positioning portions 41 of the second positioning mechanism 4. When the positioning portion 41 is locked to the second positioning mechanism 4, the first connecting mechanism 1 and the second connecting mechanism 2 can be locked together, and the first connecting mechanism 1 cannot rotate relative to the second connecting mechanism 2 about the first axis. When the positioning portion 41 is unlocked from the second positioning mechanism 4, the first connecting mechanism 1 can rotate relative to the second connecting mechanism 2 about the first axis.

[0031] During operation, the first positioning mechanism 3 and the positioning part 41 can be unlocked first. Then, the first connecting mechanism 1 can be manually driven to rotate relative to the second connecting mechanism 2 around the first axis, so that the first positioning mechanism 3 is aligned with the corresponding positioning part 41. Then, the first positioning mechanism 3 and the positioning part 41 can be locked together. That is, by cooperating with different positioning parts 41, the first connecting mechanism 1 and the second connecting mechanism 2 can be locked together after rotating relative to each other around the first axis by a certain angle. Compared with the prior art, the solution provided in this embodiment can lock the first and second connecting mechanisms together after the second connecting mechanism rotates relative to the first connecting mechanism by a certain angle through the cooperation of the first positioning mechanism and the corresponding positioning part. This eliminates the need for a servo motor or stepper motor, thus enabling control of the rotation angle of the first and second connecting mechanisms and reducing the cost of the locking device.

[0032] In use, the first connecting mechanism 1 is used to connect the first target object, and the second connecting mechanism 2 is used to connect the second target object. By cooperating with different positioning parts 41 through the second positioning mechanism 4, the first target object and the second target object can be locked together after rotating relative to each other around the first axis by a certain angle. Among them, the locking device 10 can be used in a medical robotic arm, in which case the first target object can be the proximal end of the medical robotic arm, and the second target object can be the distal end of the medical robotic arm.

[0033] like Figure 2 and Figure 3 As shown, in one embodiment, the second positioning mechanism 4 may further include a positioning block 42, which is fixedly connected to the second connecting mechanism 2. The first axis is the axis of the positioning block 42, and the rotation of the second positioning mechanism 4 relative to the first positioning mechanism 3 around the first axis is actually the rotation of the positioning block 42 relative to the first positioning mechanism 3 around the first axis. Each positioning part 41 is disposed on the positioning block 42, and the positioning parts 41 are spaced apart circumferentially along the positioning block 42.

[0034] like Figure 3 and Figure 4 As shown, in one embodiment, the positioning part 41 of the second positioning mechanism 4 can be a positioning groove, and the first positioning mechanism 3 is embedded in the positioning groove to achieve locking. When the first positioning mechanism 3 moves out of the positioning groove, the locking relationship between the two is released. This makes the locking method between the first positioning mechanism 3 and the positioning part 41 simpler, facilitates design and production, and can further reduce the cost of the locking device 10.

[0035] In addition, each positioning groove is provided on the side of the positioning block 42, and the first positioning mechanism 3 may have a corresponding protrusion structure 3a, which can move relative to the positioning block 42 to be inserted into or removed from the positioning groove.

[0036] The applicant of this application discovered that when the positioning part 41 is a positioning groove, the first positioning mechanism 3 may not be able to be smoothly placed into the positioning groove due to alignment errors or other reasons. To address this problem, in one embodiment, the cross-sectional area of ​​the positioning groove can gradually decrease from the groove opening towards the groove bottom. During production, the size of the groove opening is set to be larger, thereby compensating for errors to a certain extent, facilitating the first positioning mechanism 3 to be placed into the positioning groove from the opening, and the greater the depth to which the first positioning mechanism 3 is placed into the positioning groove, the tighter the groove wall and the first positioning mechanism 3 are engaged. In actual products, the positioning groove can be a trapezoidal groove, a conical groove, etc.

[0037] The applicant of this application also discovered that when the positioning part 41 is a positioning groove, the first positioning mechanism 3 and the positioning block 42 can be spaced apart. After the first positioning mechanism 3 aligns with the positioning groove on the positioning block 42, the first positioning mechanism 3 is then moved towards the positioning block 42 to be inserted into the positioning groove. However, this method results in a long locking operation between the first positioning mechanism 3 and the positioning part 41. To address this problem, such as... Figure 2 and Figure 4 As shown, in one embodiment, the first positioning mechanism 3 may include a positioning hook 31 and a reset component 32. The reset component 32 drives the positioning hook 31 to move toward the positioning block 42 and abut against the positioning block 42, so that when the second connecting mechanism 2 rotates relative to the first connecting mechanism 1, at least a portion of the positioning hook 31 is embedded in the positioning groove to achieve locking. This can improve the response speed of the first positioning mechanism 3, enabling the first positioning mechanism 3 to quickly lock with the positioning part 41.

[0038] The portion of the positioning hook 31 that can be inserted into the positioning groove is the aforementioned protruding structure 3a. When the positioning part 41 and the first positioning mechanism 3 are not locked, the protruding structure 3a can be held against the positioning block 42 under the driving force of the reset component 32. That is, when the positioning block 42 rotates relative to the first positioning mechanism 3 around the first axis, the protruding structure 3a of the positioning hook 31 is held against the positioning block 42 under the driving force of the reset component 32. When the positioning block 42 rotates relative to the first positioning mechanism 3 around the first axis until the positioning groove is opposite to the protruding structure 3a, the protruding structure 3a is inserted into the positioning groove under the driving force of the reset component 32.

[0039] In actual products, the protruding structure 3a of the first positioning mechanism 3 can perform linear reciprocating motion under the drive of a corresponding linear drive component to insert into or remove from the positioning slot. The linear drive component can be an electromagnet component, a motor drive component, etc. However, this method requires a large gap between the first positioning mechanism 3 and the positioning block 42, which results in a larger size for the locking device 10.

[0040] In response to this problem, such as Figure 3 and Figure 4 As shown, in one embodiment, the positioning hook 31 may include a pin portion 311, a connecting rod portion 312, and a positioning shaft 313. The pin portion 311 is the aforementioned protruding structure 3a. The connecting rod portion 312 includes a first connecting rod 314, a second connecting rod 315, and a sleeve 316, which is connected to both the first connecting rod 314 and the second connecting rod 315. After assembly, the positioning shaft 313 is mounted on the first connecting mechanism 1 and located on one side of the positioning block 42. The axis of the positioning shaft 313 is defined as a second axis, which is parallel to the first axis. The sleeve 316 is fitted onto the positioning shaft 313. The pin portion 311 is connected to the first connecting rod 314, and the second connecting rod 315 is connected to the reset assembly 32. When the second link 315 moves along the first direction, it drives the first link 314 to rotate toward the positioning block 42, so that the pin 311 abuts against the positioning block 42; when the second link 315 moves along the second direction, it drives the first link 314 to rotate away from the positioning block 42, so that the pin 311 moves away from the positioning block 42. The first direction is opposite to the second direction.

[0041] Specifically, the positioning shaft 313 can be fixed on the first connecting mechanism 1, and the sleeve 316 can rotate relative to the positioning shaft 313 around the second axis. When the second connecting rod 315 moves along the first direction, it can drive the sleeve 316 to rotate relative to the positioning shaft 313 around the second axis, thereby driving the first connecting rod 314 closer to the positioning block 42, so that the pin portion 311 abuts against the positioning block 42. When the second connecting rod 315 moves along the second direction, it can drive the sleeve 316 to rotate in the opposite direction relative to the positioning shaft 313 around the second axis, thereby driving the first connecting rod 314 away from the positioning block 42. Herein, the first direction and the second direction are both directions of rotation around the second axis. That is, in this embodiment, by driving the pin portion 313 to rotate to insert or remove it from the positioning groove, the requirement for the distance between the first positioning mechanism 3 and the positioning block 42 can be reduced to a certain extent, which is beneficial to the miniaturization design of the locking device 10.

[0042] In addition, it should be understood that when the second link 315 moves along the first direction or moves in the second direction, it needs to be driven by a corresponding driving force. The driving force that makes the second link 315 move along the first direction is provided by the reset assembly 32, and the driving force that makes the second link 315 move along the second direction can also be provided by the operator.

[0043] In addition, when the first connection 314 and the second connecting rod 315 are connected to form a straight rod structure, the space occupied by the connecting rod part 312 is large, which will also lead to an increase in the volume of the locking device 10. Therefore, in one embodiment, the angle between the first connecting rod 314 and the second connecting rod 315 can be between 85° and 12°, so that the components of the connecting rod part 312 can be more concentrated, which is conducive to the miniaturization design of the locking device 10.

[0044] In actual products, the reset component 32 can be a drive component such as a motor or electromagnet. However, motors and electromagnets are expensive, which increases the cost of the locking device 10. Therefore, as... Figures 2 to 4 As shown, in one embodiment, the reset assembly 32 may include a triggering component 321 and an elastic component 322. The triggering component 321 is connected to the second link 315, and the elastic component 322 acts on the positioning hook 31, causing the second link 315 to tend to move along a first direction. Since the triggering component 321 and the elastic component 322 can be made of inexpensive materials, the cost of the reset assembly 32 can be reduced, thereby reducing the cost of the locking device 10.

[0045] In use, the operator can apply force to the second link 315 through the trigger component 321, causing the second link 315 to move along the second direction. When the operator removes the force applied to the trigger component 321, the elastic component 322 can apply force to the second link 315, causing the second link 315 to return to its original position along the first direction. Furthermore, "tends to move along the first direction" means there is a tendency to move along the first direction.

[0046] like Figure 2 and Figure 3 As shown, in one embodiment, the elastic member 322 can be a spring. The elastic member 322 is connected to the trigger member 321, and the elastic member 322 is used to push the trigger member 321 and drive the second link 315 to move along the first direction. When the operator applies force to the trigger member 321, causing the trigger member 321 to drive the second link 315 to move in the second direction, the trigger member 321 applies force to the spring, causing the spring to deform. When the operator removes the force applied to the trigger member 321, the elastic member 322 pushes the trigger member 321 back to its original position, causing the trigger member 321 to drive the second link 315 to move along the first direction. The use of a spring for the elastic member 322 not only simplifies the structure but also facilitates assembly, which is beneficial to the production and manufacturing of the locking device 10.

[0047] like Figures 2 to 4As shown, in one embodiment, the first positioning mechanism 3 may further include a support block 33, which is connected to the first connecting mechanism 1. One end of the elastic member 322 is connected to the support block 33, and the other end of the elastic member 322 is connected to the trigger member 321. When the trigger member 321 drives the second connecting rod 315 to move in the second direction, the trigger member 321 approaches the support block 33 and compresses the elastic member 322.

[0048] In one embodiment, the elastic member 322 is fixed to the support block 33, and the triggering member 321 has a connecting hole, with the other end of the elastic member 322 located inside the connecting hole. Alternatively, the connecting hole can be a blind hole, in which case the other end of the elastic member 322 abuts against the bottom surface of the connecting hole. Of course, the connecting hole can also be a stepped hole 121, wherein the diameter of the portion of the connecting hole closer to the support block 33 is larger, in which case the elastic member 322 can abut against the stepped surface of the connecting hole.

[0049] Furthermore, when the triggering component 321 receives force from the operator or the elastic component 322, it can move linearly, thereby pushing the second link 315 to move in the first or second direction. At this time, the second link 315 is slidably connected to the triggering component 321, that is, when the triggering component 321 pushes the second link 315 to move along the first or second direction, the second link 315 can slide relative to the triggering component 321 so as to interfere with the rotation of the sleeve 316.

[0050] like Figure 2 and Figure 3 As shown, the triggering component 321 may be provided with a first flange 323 and a second flange 324 spaced apart. A second connecting rod 315 is mounted on a connecting rod 317, which is positioned between the first flange 323 and the second flange 324 and can slide between the two flanges. When the triggering component 321 receives force from the operator, the first flange 323 applies force to the connecting rod 317, causing the second connecting rod 315 to move along a second direction. When the triggering component 321 is reset under the drive of the elastic component 322, the second flange 324 applies force to the connecting rod 317, causing the second connecting rod 315 to move along a first direction. Furthermore, both the first flange 323 and the second flange 324 can be annular flanges, and both are arranged circumferentially around the triggering component 321. The connecting rod 317 can be installed at any position between the first flange 323 and the second flange 324 in the circumferential direction of the triggering component 321, thus facilitating the installation of the connecting rod 317 between the two flanges.

[0051] In actual products, one of the first connecting mechanism 1 and the second connecting mechanism 2 can have a motor, and the other can be connected to the motor's spindle, thus enabling a rotational connection between the first connecting mechanism 1 and the second connecting mechanism 2. However, this arrangement results in an excessively heavy locking device 10. When the locking device 10 is used as the end joint of a medical robotic arm, in order to ensure the rigidity and stability of the entire medical robotic arm, other joints of the medical robotic arm also need to be enlarged, for example, by using a high-power motor to drive the corresponding joint rotation. The higher the motor power, the larger the size and weight of the motor will be, ultimately resulting in an excessively large overall shape of the robotic arm.

[0052] In response to this problem, such as Figure 2 As shown, in one embodiment, the second connecting mechanism 2 may further include a flange 21 and a bearing assembly 22. A positioning block 42 is fixedly mounted on the flange 21. One side of the bearing assembly 22 is connected to the flange 21, and the bearing assembly 22 is coaxially arranged with the positioning block 42. The other side of the bearing assembly 22 is connected to the first connecting mechanism 1, allowing the first positioning mechanism 3 to rotate relative to the positioning block 42. That is, in this embodiment, a rotational connection between the first connecting mechanism 1 and the second connecting mechanism 2 can be achieved without using a motor, thus reducing the weight of the locking device 10. When the locking device 10 is used as the end joint of a medical robotic arm, the weight of the end of the medical robotic arm can be reduced, allowing the medical robotic arm to use a lower-power motor to drive the locking device 10, thereby reducing the size of the medical robotic arm.

[0053] Alternatively, the first connecting mechanism 1 and the second connecting mechanism 2 can be rotated relative to each other by manual drive, or by wire control or other remote power source drive.

[0054] like Figure 2 and Figure 3 As shown, in one embodiment, the first connecting mechanism 1 may include a support member 11 and a bearing housing 12. The bearing housing 12 is mounted on the support member 11, and the bearing assembly 22 is mounted on the bearing housing 12. The bearing assembly 22 may include a bearing 221, the outer ring of which is fixedly connected to the bearing housing 12, and the flange 21 is fixedly connected to the inner ring of the bearing 221. The axis of the bearing assembly 22 is the same as the axis of the bearing 221, and the positioning block 42 is coaxially arranged with the bearing 221. Additionally, the positioning shaft 313 is fixed to the bearing housing 12, and the support block 33 is fixed to the support member 11. The support member 11 is used to connect to a first target object, and the flange 21 is used to install a second target object. In actual products, the bearing 221 can be a crossed roller bearing, which can improve the load capacity of the bearing 221.

[0055] like Figure 2As shown, flange 21 may have a disc body 211 and a shaft body 212, wherein the disc body 211 and the shaft body 212 are coaxially fixed together. The positioning block 42 and the disc body 211 of flange 21 may be respectively arranged on both sides of the bearing 221 in the axial direction. The shaft body 212 of flange 21 passes through the hollow part of the inner ring of bearing 221 and is connected to the positioning block 42. The positioning block 42 and the disc body 211 of flange 21 together tighten the inner ring of bearing 221.

[0056] like Figure 3 As shown, the bearing housing 12 may have a stepped hole 121, which is a through hole. The bearing is installed in the stepped hole 121, wherein the outer ring of the bearing 221 is interference-fitted with the stepped hole 121, and the outer ring of the bearing 221 abuts against the stepped surface of the stepped hole 121. In addition, the positioning block 42 and the disc body 211 of the flange 21 may be respectively set on both sides of the bearing housing 12. In this case, the shaft body 212 of the flange 21 passes through the stepped hole 121 and is connected to the positioning block 42.

[0057] like Figure 3 and Figure 4 As shown, in one embodiment, the bearing assembly 22 may further include a pressure plate 222, which clamps the outer ring of the bearing with the stepped surface of the stepped hole 121. The pressure plate 222 has an annular structure, and the shaft 212 of the flange 21 passes through the pressure plate 222 and then through the inner ring of the bearing.

[0058] like Figure 2 As shown, the support member 11 may have a cavity 111, within which the positioning block 42, support block 33, and positioning hook 31 are all located. Additionally, the support member 11 is provided with a clearance hole 112, which is a through hole. One end of the triggering member 321 extends into the cavity 111 through the clearance hole, and the other end extends out of the support member 11 from the clearance hole 112. The operator can apply force to the portion of the triggering member 321 extending out of the support member 11 to drive the second connecting rod 317 to move in the second direction.

[0059] like Figure 2 As shown, in one embodiment, the flange 21, bearing assembly 22, and positioning block 42 can all have through holes at the location of the rotation axis to reserve a wire harness channel 5 in the locking device 10 for the passage of the control wire harness. The wire harness channel 5 communicates with the cavity 111 of the support member 11. This makes the product using the locking device 10 neater, and at the same time, the locking device 10 can also protect the wire harness and other internal components. The wire harness can be a conductive wire for transmitting current or a steel wire for transmitting force. In actual products, the wire harness can be used to provide driving force to the second connecting mechanism 2, so that the second connecting mechanism 2 rotates relative to the first connecting mechanism 1.

[0060] It is understood that in other embodiments, the design of the locking device 10 described above can also be replaced in other ways, such as:

[0061] exist Figure 5 In the illustrated embodiment, the positioning part 41 of the second positioning mechanism 4 can be a positioning protrusion 43. When the positioning protrusion 43 is inserted into the first positioning mechanism 3, it achieves locking. That is, at this time, the first positioning mechanism 3 is provided with a corresponding slot 34. When the positioning protrusion 43 is inserted into the slot 34, the positioning part 41 and the first positioning mechanism 3 are locked; when the positioning protrusion 43 is removed from the slot 34, the locking between the positioning part 41 and the first positioning mechanism 3 is released.

[0062] In other embodiments, when the positioning part 41 of the second positioning mechanism 4 is a positioning protrusion, the first positioning mechanism 3 can also be a clamping mechanism. When the first positioning mechanism 3 clamps the positioning protrusion, the positioning part 41 is locked together with the first positioning mechanism 3; when the first positioning mechanism 3 releases the positioning protrusion, the positioning part 41 is unlocked from the first positioning mechanism 3. At this time, the first positioning mechanism includes a first clamping plate, a second clamping plate, and a driving part. The driving part is connected to the first connecting member 1. The first clamping plate and the second clamping plate are respectively located on both sides of the positioning protrusion. The driving part is used to drive the first clamping plate and the second clamping plate to move towards each other to clamp the positioning protrusion. At the same time, the driving part can also drive the first clamping plate and the second clamping plate to move away from each other to release the positioning protrusion.

[0063] In other embodiments, the positioning part 41 can also lock and contact lock with the first positioning mechanism 3 in other ways. For example, the first positioning mechanism 3 can move toward the positioning part 41 and eventually abut against the positioning part 41, and the first positioning mechanism 3 can apply corresponding pressure to the positioning part 41 so that there is a large friction between the two, thereby achieving the locking of the positioning part 41 and the first positioning mechanism 3; at the same time, the first positioning mechanism 3 can also move away from the positioning part 41, so that the first positioning mechanism 3 and the positioning part 41 are disengaged, thereby making the positioning part 41 contact and lock with the first positioning mechanism 3.

[0064] In other embodiments, the elastic component 322 can also be a torsion spring, which is sleeved on the positioning shaft 313 and pushes the second connecting rod 315 to move in the first direction. Specifically, the torsion spring is connected to both the positioning shaft 313 and the sleeve 316. When the second connecting rod 315 moves in the second direction, the sleeve 316 rotates relative to the positioning shaft 313 around the second axis, thereby deforming the torsion spring. When the external force is removed, the torsion spring returns to its original position, causing the sleeve 316 to rotate in the opposite direction relative to the positioning shaft 313 around the second axis, thereby causing the second connecting rod 315 to move in the first direction.

[0065] like Figure 6As shown, this application embodiment also provides a medical robotic arm 100, which includes a proximal end, a distal end, and a locking device 10 as described in any of the above embodiments, wherein the proximal end is connected to a first connecting mechanism 1 of the locking device 10, and the distal end is mounted on a second connecting mechanism of the locking device 10.

[0066] like Figure 6 As shown, in one embodiment, the proximal end is a proximal joint assembly 20, and the distal end is an end effector 30. The proximal joint assembly 20 is connected to the support member 11 of the first connecting mechanism 1, and the end effector is mounted on the disc body 211 of the second connecting mechanism 2.

[0067] like Figure 6 As shown, the proximal joint assembly 20 includes a first joint 201, a second joint 202, a third joint 203, and a fourth joint 204 that are rotatably connected in sequence. The end of the fourth joint 204 opposite to the third joint 203 is rotatably connected to the support member 11. Additionally, the end effector 20 can be a surgical instrument, etc.

[0068] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A locking device, characterized in that, include: A first connecting mechanism, and a first positioning mechanism connected to the first connecting mechanism; A second connecting mechanism, and a second positioning mechanism connected to the second connecting mechanism, wherein the second positioning mechanism has at least two positioning parts; The second connecting mechanism is rotatably connected to the first connecting mechanism, wherein the second positioning mechanism is able to rotate relative to the first positioning mechanism about its own axis, and the first positioning mechanism and any positioning part of the second positioning mechanism can lock or unlock each other. The second positioning mechanism includes a positioning block, and the positioning portion is arranged along the circumference of the positioning block; The positioning part of the second positioning mechanism is a positioning groove. The first positioning mechanism includes a positioning hook and a reset component. The reset component drives the positioning hook to move in the direction of the positioning block and abut against the positioning block so that when the second connecting mechanism rotates relative to the first connecting mechanism, at least a part of the positioning hook is embedded in the positioning groove to achieve locking. The positioning hook includes: The device includes a pin portion, a connecting rod portion, and a positioning shaft. The connecting rod portion includes a first connecting rod, a second connecting rod, and a sleeve that connects the first connecting rod and the second connecting rod respectively. The sleeve is sleeved on the positioning shaft, and the pin portion is connected to the first connecting rod. The positioning shaft is disposed on one side of the positioning block and the axis of the positioning shaft is parallel to the rotation axis of the positioning block; The second link is connected to the reset assembly. When the second link moves along the first direction, it drives the first link to rotate toward the positioning block, so that the pin part abuts against the positioning block. When the second link moves along the second direction, it drives the first link to rotate away from the positioning block, so that the pin part moves away from the positioning block. The first direction is opposite to the second direction. The angle between the first link and the second link is between 85° and 120°.

2. The locking device according to claim 1, characterized in that, The cross-sectional area of ​​the positioning groove gradually decreases from the groove opening towards the groove bottom.

3. The locking device according to claim 1, characterized in that, The reset component includes: The triggering component is connected to the second link; An elastic component acts on the positioning hook, causing the second link to tend to move along the first direction.

4. The locking device according to claim 3, characterized in that, The elastic component is a torsion spring, sleeved on the positioning shaft, and pushes the second connecting rod to move along the first direction; or, The elastic component is a spring, which is connected to the triggering component to push the triggering component and drive the second link to move along the first direction.

5. The locking device according to claim 1, characterized in that, The second connecting mechanism further includes: Flange, the positioning block is fixedly mounted on the flange; A bearing assembly, one side of which is connected to the flange and coaxially arranged with the positioning block; the other side of the bearing assembly is connected to the first connecting mechanism so that the first positioning mechanism can rotate relative to the positioning block.

6. The locking device according to claim 5, characterized in that, The flange, the bearing assembly, and the positioning block are all provided with through holes at the location of the rotation axis to reserve a wire harness channel in the locking device for the control wire harness to pass through.

7. The locking device according to any one of claims 1 to 6, characterized in that, The first connecting mechanism is used to connect the proximal end of the medical robotic arm, and the second connecting mechanism is used to connect the distal end of the medical robotic arm.

8. A medical robotic arm, characterized in that, It includes a proximal end, a distal end, and a locking device as described in any one of claims 1 to 7, wherein the proximal end is connected to the first connecting mechanism, and the distal end is mounted on the second connecting mechanism.

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