Mechanical arm

Abstract

The invention provides a mechanical arm which is used for being positioned on an operating bed, the operating bed comprises a positioning part and a supporting face, and the mechanical arm comprises a base body, a positioning assembly, an abutting piece and an adjusting assembly; the positioning assembly comprises a locking mechanism connected to the base main body, a positioning part of the operating bed can be connected to the base main body, and the locking mechanism can lock the base main body to the positioning part; the abutting piece is connected to the base body and used for abutting against the supporting face. The adjusting assembly is used for adjusting the distance between the locking mechanism and the abutting piece in the first direction and then locking the distance. Wherein the first direction is parallel to the thickness direction of the operating bed. The distance is locked by adjusting the distance between the abutting piece and the locking mechanism in the first direction, the mechanical arm can adapt to operating beds of different thicknesses, and use is convenient.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a mechanical arm. Background Art

[0002] Vascular interventional surgery is a method in which doctors introduce catheters / guidewires / stents into the human body to treat the lesions. In traditional vascular interventional surgery, in order to reduce X-ray radiation, doctors must wear heavy lead suits, which is a heavy burden for doctors. If they do not wear lead suits, doctors will be exposed to strong radiation, which is a great threat to their health. Vascular interventional surgery robots allow doctors to perform surgery remotely, which can improve the doctors' surgical operating environment. They have good prospects and are gradually becoming the focus of research and development in the field of medical robots. The slave device of the vascular interventional surgery robot replaces the doctor's hands to deliver the guidewire / catheter to the patient's treatment site. The slave device includes a mechanical propulsion device for driving the catheter / guidewire / stent into the human body and a mechanical arm for installing the mechanical propulsion device on the operating table and supporting the mechanical propulsion device.

[0003] Since different types of operating tables have different thicknesses, more specifically, different types of operating tables have different vertical heights between the guide rails on the sides and the top surfaces of the operating tables, the existing robotic arm can only be installed to fit operating tables of a certain thickness, which is inconvenient to use. Summary of the invention

[0004] The object of the present invention is to provide a robotic arm. In order to solve the above technical problems, the present invention provides a robotic arm for positioning on an operating bed, the operating bed comprising a positioning portion and a supporting surface, the robotic arm comprising a base body, a positioning assembly, a push piece and an adjustment assembly; the base body is used to be connected to the positioning portion of the operating bed, the positioning assembly comprises a locking mechanism connected to the base body, the locking mechanism is used to lock the base body to the positioning portion; the push piece is connected to the base body, the push piece is used to push against the supporting surface; the adjustment assembly is used to adjust the distance between the locking mechanism and the push piece along a first direction and then lock the distance, wherein the first direction is parallel to the thickness direction of the operating bed.

[0005] In one embodiment, the adjustment assembly includes a guide rod, one end of which is rotatably connected to the push piece, and the other end of which is rotatably connected to the base body, and the circumferential rotation of the guide rod can cause the guide rod to move along the first direction, thereby driving the push piece to move along the first direction.

[0006] In one embodiment, the adjustment assembly further includes a fixed bracket, the fixed bracket is fixedly connected to the base body, the guide rod is penetrated through the base body and the fixed bracket along the first direction, and the guide rod is threadedly connected to the fixed bracket.

[0007] In one embodiment, the guide rod includes a transmission part, a guide part, and a connection part connected between the transmission part and the guide part, the transmission part can rotatably push the push piece, and the guide part is threadedly connected to the fixed bracket.

[0008] In one embodiment, the fixing bracket includes a positioning bar, and the guide portion is threadedly connected to the positioning bar.

[0009] In one embodiment, the fixing bracket further includes a support bar, the support bar is connected to a side of the positioning bar facing away from the base body, the support bar is provided with a first guide hole along the first direction, and the guide rod is passed through the first guide hole.

[0010] In one embodiment, the adjustment assembly further includes a transmission assembly, and the transmission assembly is used to drive the guide rod to rotate circumferentially and move along the first direction.

[0011] In one embodiment, the transmission assembly includes a first transmission member, the first transmission member is fixedly connected to the guide rod, and the rotation of the first transmission member drives the guide rod to rotate.

[0012] In one embodiment, the transmission assembly also includes a power member and a second transmission member connected to the power member, the second transmission member and the first transmission member abut against each other on the outer wall, the power member is used to drive the second transmission member to rotate, and the second transmission member is used to drive the first transmission member to rotate.

[0013] In one embodiment, the robotic arm further includes a plurality of the abutting members, and the plurality of the abutting members are connected to the same side wall of the base body, the adjustment assembly further includes a plurality of guide rods, and the transmission assembly further includes a plurality of the first transmission members, and the plurality of the abutting members, the plurality of guide rods and the plurality of the first transmission members correspond one to one; wherein each of the guide rods is penetrated through the corresponding first transmission member along the first direction, one end of each of the guide rods is rotatably connected to the corresponding abutting member, and the other end of each of the guide rods is rotatably connected to the base body.

[0014] In one embodiment, the transmission assembly further includes an intermediate transmission member, which is connected between the first transmission member and the second transmission member, or connected between two adjacent first transmission members; the first transmission member, the second transmission member and the intermediate transmission member are arranged linearly.

[0015] In one embodiment, one of the push member and the base body includes a guide slide portion, and the other of the push member and the base body includes a slide rail. The push member and the base body are slidably connected through the cooperation of the guide slide portion and the slide rail, so that the push member can slide along the first direction relative to the base body.

[0016] In one embodiment, the abutting member includes a pressing portion and a buffer portion, the pressing portion is connected to the base body, and the buffer portion is connected to the pressing portion. When the abutting member abuts against the supporting surface of the operating bed, the buffer portion is clamped between the pressing portion and the supporting surface.

[0017] In one embodiment, the locking mechanism includes a locking piece connected to the base body, the base body is provided with a guide groove, and the base body is also provided with a stop portion along the length direction of the guide groove; when the base body is positioned at the installation position of the positioning portion, the locking mechanism can be adjusted so that the locking piece presses against the positioning portion, so that at least part of the positioning portion is clamped between the locking piece and the stop portion.

[0018] In one embodiment, the locking mechanism also includes an abutment member, which is located between the locking member and the positioning portion, and the base body is also provided with a locking groove which is interconnected with the guide groove and is used to accommodate at least part of the abutment member; the locking member is used to push the abutment member so that the abutment member abuts against the positioning portion.

[0019] In one embodiment, the locking mechanism further includes a connecting plate fixedly connected to the base body; the locking piece is threadedly connected to the connecting plate, and the locking piece rotates relative to the connecting plate to push the abutting piece.

[0020] In one embodiment, the locking mechanism further includes an elastic member, the elastic member is received in the locking groove, the elastic member is disposed between the base body and the abutment member, and the elastic member is used for movement and resetting of the abutment member.

[0021] In one embodiment, the positioning assembly further includes a guide slide member located between the positioning portion and the base body, the guide slide member is connected to an inner wall of the guide groove, and the positioning portion is slidably connected to the guide slide member along the guide groove.

[0022] In one embodiment, the base body also includes a moving part and a positioning part, the moving part is movably connected to the positioning part along the first direction relative to the positioning part, the locking mechanism can lock the moving part to the positioning part, and the abutment part is connected to the positioning part; the robotic arm includes a height adjustment component, and the height adjustment component is at least used to lock the relative position of the moving part and the positioning part.

[0023] In one embodiment, the positioning member is provided with a slide groove along the first direction, and the movable member includes a sliding portion, which is movably inserted into the slide groove; the height adjustment assembly includes a first height adjustment member, which can pass through the positioning member and abut against the sliding portion to lock the movable member to the positioning member.

[0024] In one embodiment, the positioning member is provided with a locking hole, and the height adjustment assembly includes a second height adjustment member, which is threadedly connected to the moving member so that the moving member moves along the first direction.

[0025] In one embodiment, the height adjustment assembly includes a third height adjustment member, and the third height adjustment member includes a connecting rod, the connecting rod is passed through the positioning member and connected to the moving member, and the connecting rod rotates relative to the moving member to move the moving member along the first direction.

[0026] In one embodiment, the positioning member is provided with a locking hole, and the positioning assembly also includes a second height adjustment member, which is rotatably inserted into the movable member, and the second height adjustment member rotates relative to the movable member to move the movable member along the first direction.

[0027] In one embodiment, the movable member is further provided with a second guide hole, and the base body further comprises a guide bar, and the guide bar is passed through the second guide hole and then fixedly connected to the positioning member.

[0028] In one embodiment, the movable member is further provided with a second guide hole, and the positioning assembly further comprises a guide bar, and the guide bar is passed through the second guide hole and then fixedly connected to the positioning member.

[0029] In one embodiment, the third height adjustment member further includes a driving portion connected to the connecting rod, and the driving portion is used to rotate the connecting rod relative to the moving member so as to move the moving member along the first direction.

[0030] The beneficial effects of the present invention are as follows: the mechanical arm provided by the present invention comprises a base body, a positioning assembly, a push-up member and an adjustment assembly, wherein the locking mechanism of the positioning assembly is used to position the base body to the positioning portion of the operating bed, the adjustment assembly is used to adjust the spacing between the locking mechanism and the push-up member along the first direction and then lock the spacing, the push-up member can push against the support surface, so that the above-mentioned mechanical arm can adapt to operating beds of different thicknesses. The user can move the push-up member relative to the locking mechanism along the first direction to adjust the spacing between the locking mechanism and the push-up member to a suitable value so that the push-up member pushes against the support surface of the operating bed, so that the mechanical arm can adapt to operating beds of different thicknesses, more specifically, so that the mechanical arm can adapt to operating beds with different distances between the positioning portion and the support surface. The user can also move the base body along the first direction to position the base body at the installation position of the positioning portion, so as to adapt to operating beds of different thicknesses. The user can also move the base body and the push-up member simultaneously along the first direction to position the base body at the installation position of the positioning portion, so as to adapt to operating beds of different thicknesses. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a schematic diagram of a three-dimensional structure of a robotic arm positioned on an operating table provided by one embodiment of the present invention;

[0033] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of the robotic arm from another perspective;

[0034] Figure 3 yes Figure 2 Schematic diagram of the three-dimensional structure decomposition of the robotic arm;

[0035] Figure 4 yes Figure 3 An enlarged view of the guide rod and the abutment member in FIG.

[0036] Figure 5 yes Figure 2 A schematic diagram of a three-dimensional structure explosion of a mechanical arm in which a power part and a supporting part are omitted;

[0037] Figure 6 is a schematic structural diagram of a guide rod and a resisting member in a mechanical arm provided by another embodiment of the present invention;

[0038] Figure 7 yes Figure 1 Schematic diagram of the three-dimensional structure decomposition of the robotic arm;

[0039] Figure 8 yes Figure 1 A partial cross-sectional view of the mechanical arm with the power parts omitted;

[0040] Fig. 9 yes Figure 8 A magnified view of part A;

[0041] Fig.10 yes Figure 8 A is an enlarged view of part A in another embodiment;

[0042] Fig.11 yes Figure 8 A is an enlarged view of part A in another embodiment;

[0043] Fig.12 yes Figure 8 A is an enlarged view of part A in another embodiment;

[0044] Fig.13 yes Figure 8 A is an enlarged view of part A in another embodiment;

[0045] Fig.14 is a partial cross-sectional view of a robotic arm provided by another embodiment of the present invention;

[0046] Fig.15 yes Fig.14 A structural schematic diagram of one of the connection relationships between the middle moving member and the base body;

[0047] Fig.16 yes Fig.14 A structural schematic diagram of another connection relationship between the middle moving member and the base body;

[0048] Fig.17 yes Fig.14 A structural schematic diagram of another connection relationship between the moving part and the base body. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The following descriptions of the various embodiments are made with reference to the attached drawings to illustrate specific embodiments in which the present invention may be implemented. The directional terms mentioned in the present invention, such as "top", "bottom", "front", "back", "left", "right", "inside", "outside", "side", etc., are only with reference to the directions of the attached drawings. Therefore, the directional terms used are for better and clearer description and understanding of the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installed", "connected", "connected", and "set on..." should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, and it can be the internal connection of two elements.

[0052] See also Figure 1 One embodiment of the present invention provides a robotic arm 100, which is used to be positioned on an operating table 10. The robotic arm 100 includes a base body 20, a positioning assembly 40, a support member 50, and an adjustment assembly 60.

[0053] In one embodiment, the operating bed 10 includes a positioning portion 11 and a supporting surface 13, the base body 20 is used to be connected to the positioning portion 11 of the operating bed 10, the positioning assembly 40 includes a locking mechanism 41 connected to the base body 20, the positioning portion 11 of the operating bed 10 can be connected to the base body 20, and the locking mechanism 41 can lock the base body 20 to be positioned to the positioning portion 11; the abutting member 50 is connected to the base body 20, and the abutting member 50 is used to abut the supporting surface 13 of the operating bed 10; the adjusting assembly 60 is used to adjust the spacing L1 between the locking mechanism 41 and the abutting member 50 in the first direction F1 and can lock the above spacing L1, and the first direction F1 is parallel to the thickness direction of the operating bed 10.

[0054] It needs to be explained that Figure 1 As shown, the positioning portion 11 is arranged on the side of the operating bed 10, and the supporting surface 13 is the top surface of the operating bed. The first meaning of the thickness direction of the operating bed 10 may refer to the supporting surface 13 perpendicular to the operating bed 10, that is, the first direction F1 refers to the direction perpendicular to the supporting surface 13 of the operating bed 10; in a possible scenario, the supporting surface 13 of the operating bed 10 is not a plane, that is, the supporting surface 13 of the operating bed 10 is a curved surface in this usage scenario, and the second meaning of the thickness direction of the operating bed 10 may refer to the tangent perpendicular to the curved surface passing through the position of the abutment 50.

[0055] In one embodiment, the positioning portion 11 may be a long strip structure disposed on the side of the operating bed 10, the length direction of the long strip structure being perpendicular to the first direction, and the long strip structure may be, but not limited to, a guide rail or an armrest, etc., so as to facilitate the optional installation of the robot arm 100 at different positions of the guide rail or the armrest. In other embodiments, the positioning portion 11 may be, but not limited to, a guide rail or an armrest, for example, it may also be a structure such as a buckle, and the robot arm 100 is positioned on the operating bed 10 through the buckle. In addition, the position of the positioning portion 11 may not be limited to being disposed on the side of the operating bed 10, but may also be disposed on the top or bottom of the operating bed 10, etc. The support surface 13 is also not limited to being the top surface of the operating bed, but may also be other surfaces of the operating bed, as long as it can be stably abutted by the abutment 50.

[0056] Since the thickness of different types of operating tables is different, that is, the guide rails on the sides of different types of operating tables are at different heights from the top surface of the operating table in the vertical direction, the existing robot arm can only be adapted to an operating table of one thickness specification, and the versatility is poor, that is, the existing robot arm cannot be installed on operating tables of different thickness specifications, and medical staff can only select a robot arm that can be adapted to be installed on the operating table according to the thickness specifications of different operating tables, which is inconvenient to use. The thickness of the operating table described in the present invention actually refers to the distance between the positioning portion 11 of the operating table 10 and the support surface 13 along the first direction F1.

[0057] The locking mechanism 41 of the robot arm 100 provided by the present invention is used to position the robot arm 100 to the positioning portion 11 of the operating bed 10. The distance L1 between the locking mechanism 41 and the abutment member 50 is adjusted along the first direction F1 by the adjustment component 60, so that the robot arm 100 can adapt to operating beds 10 of different thicknesses. Specifically, the user can move the abutting piece 50 relative to the locking mechanism 41 along the first direction F1 to adjust the distance L1 between the locking mechanism 41 and the abutting piece 50 to an appropriate value, so that the abutting piece 50 can abut the support surface 13 of the operating bed 10, so that the robot arm 100 can adapt to operating beds of different thickness specifications; the user can also move the base body 20 relative to the abutting piece 50 along the first direction F1 to adjust the distance L1 between the locking mechanism 41 and the abutting piece 50 to an appropriate value, so that the abutting piece 50 abuts the support surface 13 of the operating bed 10, so that the robot arm 100 can adapt to operating beds of different thickness specifications; the user can also move the base body 20 and the abutting piece 50 simultaneously along the first direction F1 until the distance L1 between the locking mechanism 41 and the abutting piece 50 reaches an appropriate value, so that the abutting piece 50 abuts the support surface 13 of the operating bed 10, so that the robot arm 100 can adapt to operating beds of different thickness specifications.

[0058] In one embodiment, electronic components are generally installed inside the base body 20, and the base body 20 is waterproof to prevent liquid from entering the base body 20. Specifically, a drainage groove 25 is provided on the top surface of the base body 20 to prevent liquid from entering the base body 20.

[0059] See also Figure 2 and Figure 3 The robot arm 100 provided in this embodiment can adjust the distance L1 between the locking mechanism 41 and the abutting member 50 by moving the abutting member 50 relative to the locking mechanism 41 along the first direction F1, so that the abutting member 50 is used to abut the supporting surface 13 of the operating bed 10, thereby adapting to operating beds of different thickness specifications.

[0060] In this embodiment, the push member 50 is moved along the first direction F1 relative to the locking mechanism 41 through the adjustment component 60, wherein the adjustment component 60 includes a guide rod 63, one end of the guide rod 63 is rotatably connected to the push member 50, and the other end of the guide rod 63 is rotatably connected to the base body 20; the circumferential rotation of the guide rod 63 relative to the base body 20 can cause the guide rod 63 to move along the first direction F1, thereby driving the push member 50 to move along the first direction F1.

[0061] like Figure 4 As shown, in the connection relationship between the guide rod 63 and the abutting member 50, a first screw hole 630 is provided at one end of the guide rod 63 facing the abutting member 50, and a first adapter hole 502 is provided on the abutting member 50 along a first direction F1 opposite to the first screw hole 630. The adjustment assembly 60 also includes a first fastener 613, one end of the first fastener 613 is passed through the first adapter hole 502 and then threadedly connected to the first screw hole 630 of the guide rod 63, and the end of the first fastener 613 facing away from the guide rod 63 can be rotatably abutted against the abutting member 50, so that the guide rod 63 and the first fastener 613 can be rotatably connected to the abutting member 50 together. Specifically, an external thread is provided at one end of the first fastener 613 facing the guide rod 63. The first fastener 613 can be rotatably inserted into the first adapter hole 502 and connected to the first screw hole 630 of the guide rod 63. The end of the first fastener 613 facing away from the guide rod 63 can be rotatably abutted against the first adapter hole 502 of the abutting piece 50, so that the guide rod 63 and the first fastener 613 can be rotatably connected to the abutting piece 50 together.

[0062] See also Figure 3 and Figure 5As shown, the adjustment assembly 60 further includes a fixing bracket 61, the fixing bracket 61 is fixedly connected to the base body 20, a guide rod 63 is penetrated through the fixing bracket 61 of the base body 20 along the first direction F1, and the guide rod 63 is threadedly connected to the fixing bracket 61. It should be noted that in various embodiments of the present application, the "fixed connection" between structure A and structure B may be that structure A and structure B are integrated, or that structure A and structure B are connected by fasteners such as threads.

[0063] Specifically, in the connection relationship between the guide rod 63, the fixed bracket 61 and the base body 20, the fixed bracket 61 is provided with a second screw hole 611 along the first direction F1, and the base body 20 is provided with a first through hole 201 opposite to the second screw hole 611. The end of the guide rod 63 away from the abutment 50 is provided with a first external thread. After the guide rod 63 is inserted into the second screw hole 611 and the first through hole 201, the first external thread of the guide rod 63 is threadedly connected to the second screw hole 611, so that the guide rod 63 can be rotatably connected to the fixed bracket 61 and the base body 20.

[0064] See also Figures 3 to 5 The guide rod 63 includes a transmission part 631 and a guide part 633 located at opposite ends thereof, and a connecting part 635 connected between the transmission part 631 and the guide part 633. The transmission part 631 can rotatably push the push member 50, and the guide part 633 is threadedly connected to the fixed bracket 61. Specifically, the first screw hole 630 is provided at one end of the transmission part 631 away from the connection part 635, one end of the first fastener 613 is inserted through the first adapter hole 502 and then is threadedly connected to the first screw hole 630 of the transmission part 631, and one end of the first fastener 613 away from the guide rod 63 can be rotatably pressed against the abutting member 50, so that the guide rod 63 and the first fastener 613 can be rotatably connected to the abutting member 50 together; the first external thread is provided on the outer wall of the guide part 633, and the guide part 633 is inserted through the first through hole 201, and then the first external thread of the guide part 633 is threadedly connected to the second screw hole 611, so that the guide rod 63 can be rotatably connected to the base body 20. Therefore, when the guide rod 63 rotates circumferentially relative to the base body 20, the guide rod 63 can move along the first direction F1 relative to the fixed bracket 61, so as to drive the abutting member 50 to move along the first direction.

[0065] See also Figure 2 , Figure 3 and Figure 5, the fixed bracket 61 includes a positioning bar 612 connected to the base body 20, and the guide part 633 is threadedly connected to the positioning bar 612. The second screw hole 611 is opened in the positioning bar 612, the guide rod 63 is penetrated by the first through hole 201 of the base body 20, the first external thread of the guide part 633 is threadedly connected to the second screw hole 611, and the circumferential rotation of the guide part 633 along its axis can move relative to the fixed bracket 61 along the first direction F1 to drive the abutment 50 to move along the first direction F1. The fixed bracket 61 also includes two first connecting bars 6121, the two first connecting bars 6121 are respectively connected to the opposite ends of the positioning bar 612, and the two first connecting bars 6121 are used to connect to the base body 20. In this embodiment, the positioning bar 612 and the two first connecting bars 6121 surround a U-shaped positioning frame 6122, and the positioning frame 6122 has a storage space. In other embodiments, the positioning frame 6122 can also be but not limited to a semicircular shape, a semi-elliptical shape, etc.

[0066] The fixed bracket 61 further includes a support bar 614, which is connected to the side of the positioning bar 612 away from the base body 20, and the support bar 614 is provided with a first guide hole 6141 along the first direction F1, and the guide rod 63 is inserted through the positioning bar 612 and the first guide hole 6141. Specifically, the support bar 614 and the positioning bar 612 are arranged at intervals along the first direction F1, the first guide hole 6141 is opposite to the second screw hole 611, and the guide portion 633 of the guide rod 63 is inserted through the second screw hole 611 and the first guide hole 6141, and the first guide hole 6141 is used to prevent the guide rod 63 from swinging. The fixed bracket 61 further includes two second connecting bars 6143 connected to opposite ends of the support bar 614, and the ends of the two second connecting bars 6143 away from the support bar 614 are respectively connected to opposite ends of the positioning bar 612. In this embodiment, the support bar 614 and the two second connecting bars 6143 form a U-shaped support frame. In other embodiments, the support frame may also be, but not limited to, semicircular, semi-elliptical, etc.

[0067] like Figure 5As shown, in the connection relationship between the fixed bracket 61 and the base body 20, the first connecting strip 6121 is provided with a fourth through hole 6125, the base body 20 is provided with a fastening hole 202 corresponding to the fourth through hole 6125, the fourth through hole 6125 and the fastening hole 202 are directly opposite, and the fixed bracket 61 also includes a second fastener 618, the second fastener 618 is penetrated in the fourth through hole 6125, and is connected to the fastening hole 202, so that the fixed bracket 61 is connected to the base body 20. Optionally, the second fastener 618 is provided with a second external thread, the fastening hole 202 is a threaded hole, the second fastener 618 is penetrated in the fourth through hole 6125, and is threadedly connected to the fastening hole 202, so that the fixed bracket 61 is connected to the base body 20. In some embodiments, the first connecting strip 6121 can also be fixedly connected to the base body 20 by, but not limited to, clamping, welding or gluing.

[0068] See also Figure 3 and Figure 5 The adjustment assembly 60 further includes a transmission assembly 65, which is used to drive the guide rod 63 to rotate circumferentially and move along the first direction F1. More specifically, the transmission assembly 65 includes a first transmission member 651, which is fixedly connected to the guide rod 63, and the rotation of the first transmission member 651 is used to drive the guide rod 63 to rotate. The first transmission member 651 is accommodated in the internal space of the positioning frame 6122.

[0069] In the connection relationship between the first transmission member 651 and the guide rod 63, the first transmission member 651 is provided with a first clamping structure 6511 along the first direction, and the connecting portion 635 is provided with a second clamping structure 6351. The first clamping structure 6511 is used to cooperate with the second clamping structure 6351 in the circumferential upper limit of the guide rod 63 so that the first transmission member 651 can drive the guide rod 63 to rotate. Specifically, the first transmission member 651 is provided with a first positioning hole 6512 along the first direction F1, and the first clamping structure 6511 is penetrated in the first positioning hole 6512, that is, the first transmission member 651 is fixedly sleeved on the first clamping structure 6511, and the first clamping structure 6511 and the first transmission member 651 are coaxial, and the axis is parallel to the first direction F1; the second clamping structure 6351 is fixedly sleeved on the connecting portion 635 of the guide rod 63, and the second clamping structure 6351 and the guide rod 63 are coaxial, and the axis is parallel to the first direction F1. When the connecting portion 635 is inserted into the first clamping structure 6511, the first clamping structure 6511 is used to increase the resistance between the inner surface of the first clamping structure 6511 and the connecting portion 635, and the resistance is used to drive the first clamping structure 6511 and the connecting portion 635 to rotate together. The first clamping structure 6511 is provided with a clamping hole along the axial direction of the first transmission member 651, and the radial cross-section of the clamping hole is non-circular, and the radial cross-section of the second clamping structure 6351 is non-circular. The radial cross-section of the clamping hole of the first clamping structure 6511 can be, but not limited to, a non-circular cross-section such as a rectangle, an ellipse, a star, etc., and the radial cross-section of the second clamping structure 6351 can be, but not limited to, a non-circular cross-section such as a rectangle, an ellipse, a star, etc. The radial cross-section of the clamping hole of the first clamping structure 6511 is consistent with the shape of the radial cross-section of the second clamping structure 6351, and the radial cross-section of the second clamping structure 6351 is equal to or slightly smaller than the radial cross-section of the clamping hole of the first clamping structure 6511, so that the first transmission member 651 can more smoothly drive the guide rod 63 to rotate, and the guide rod 63 can move along the first direction F1 relative to the first transmission member 651.

[0070] See also Figure 3 and Figure 5 The transmission assembly 65 further includes a power member 653 and a second transmission member 654 connected to the power member 653. The second transmission member 654 and the first transmission member 651 abut against each other on the outer wall. The power member 653 is used to drive the second transmission member 654 to rotate, and the second transmission member 654 is used to drive the first transmission member 651 to rotate. The axis of the first transmission member 651 is parallel to the axis of the second transmission member 654, and the first transmission member 651 and the second transmission member 654 are accommodated in the internal space of the positioning frame 6122.

[0071] In the connection relationship between the second transmission member 654, the power member 653 and the fixed bracket 61, the power member 653 and the second transmission member 654 are rotatably connected to the fixed bracket 61 through the first transfer rod 655. Specifically, the base body 20 is further provided with a second through hole 203 along the first direction F1, the second transmission member 654 is provided with a second positioning hole 6541 along its axial direction, and the axial direction of the second transmission member 654 is parallel to the first direction F1; the positioning bar 612 of the fixed bracket 61 is provided with a first connecting hole 6120, the second through hole 203, the second positioning hole 6541 and the first connecting hole 6120 are directly opposite, the first transfer rod 655 is rotatably penetrated through the second positioning hole 6541, the first connecting hole 6120 and the second through hole 2030, the first transfer rod 655 is connected to the power member 653, the power member 653 drives the first transfer rod 655 to rotate, and the first transfer rod 655 drives the second transmission member 654 to rotate.

[0072] In this embodiment, the first transmission member 651 and the second transmission member 654 are cylindrical gears. More specifically, the first transmission member 651 and the second transmission member 654 can be, but are not limited to, spur gears, helical gears, herringbone gears, etc. As long as the axes of the two adjacent transmission members are parallel to each other and the two adjacent transmission members are meshed with each other, power and rotation speed can be transmitted. The second transmission member 654 can be directly connected to the power member 653; the second transmission member 654 can also be directly meshed with the first transmission member 651; other transmission gears for transmission can also be set between the second transmission member 654 and the first transmission member 651, that is, the second transmission member 654 can also be indirectly meshed with the first transmission member 651. The power member 653 is used to drive the second transmission member 654 to rotate, and the second transmission member 654 is used to drive the first transmission member 651 to rotate.

[0073] In some embodiments, the robotic arm 100 further includes a plurality of abutments 50, which are connected to the same side wall of the base body 20, the adjustment assembly 60 further includes a plurality of guide rods 63, the transmission assembly 65 further includes a plurality of first transmission members 651, and the plurality of abutments 50, the plurality of guide rods 63 and the plurality of first transmission members 651 correspond to each other one by one; wherein each guide rod 63 is passed through the corresponding first transmission member 651 along the first direction F1, one end of each guide rod 63 is rotatably connected to the corresponding abutment 50, and the other end of each guide rod 63 is rotatably connected to the base body 20 and is screwed to the fixed bracket 61, wherein the number of guide rods 63, the number of abutments 50 and the number of guide rods 63 should be the same.

[0074] The second transmission member 654 and the first transmission member 651 may also be indirectly meshed and connected, that is, the transmission assembly 65 further includes an intermediate transmission member 652, the intermediate transmission member 652 is connected between the first transmission member 651 and the second transmission member 654, or the intermediate transmission member 652 is connected between two adjacent first transmission members 651, and the first transmission member 651, the second transmission member 654 and the intermediate transmission member 652 are arranged linearly. The axis of the first transmission member 651, the axis of the second transmission member 654 and the axis of the intermediate transmission member 652 are parallel to each other, and the first transmission member 651, the second transmission member 654 and the intermediate transmission member 652 are accommodated in the internal space of the positioning frame 6122. In some embodiments, the intermediate transmission member 652 may be omitted, that is, the second transmission member 654 may also be directly meshed and connected with the first transmission member 651.

[0075] The mechanical arm 100 provided in this embodiment includes two first transmission members 651, one second transmission member 654, two intermediate transmission members 652, two abutting members 50 and two guide rods 63. Two intermediate transmission members 652 are connected to the two sides of the second transmission member 654, and the two sides of each intermediate transmission member 652 are respectively connected to the second transmission member 654 and the first transmission member 651. Five transmission gears are arranged along a straight line. The two abutting members 50 are arranged in a bionic design mode, imitating human feet standing on the ground. When the mechanical arm 100 is installed on the operating bed 10, the center of gravity of the mechanical arm 100 is tilted toward the direction of the operating bed 10. The design of setting two abutting members 50 can adjust the center of gravity of the mechanical arm 100. In other embodiments, the user can select other numbers of first transmission members 651, intermediate transmission members 652, abutting members 50 and guide rods 63 according to the size specifications of the base body 20, the size specifications of the operating bed 10, and the actual use situation, and can also omit or increase the intermediate transmission member 652 according to the actual situation. In the connection relationship between the intermediate transmission member 652 and the fixed bracket 61, the intermediate transmission member 652 is rotatably connected to the fixed bracket 61 through the second transfer rod 656; specifically, the base body 20 is provided with a third through hole 207, and the intermediate transmission member 652 is provided with a third positioning hole 6523 along its axial direction, and the axial direction of the intermediate transmission member 652 is parallel to the first direction F1; the positioning bar 612 of the fixed bracket 61 is provided with a second connecting hole 6123 along the first direction F1, and the third through hole 207, the third positioning hole 6523 and the second connecting hole 6123 are opposite to each other, and the second transfer rod 656 is rotatably penetrated through the third positioning hole 6523, the second connecting hole 6123 and the third through hole 207 of the intermediate transmission member 652, so that the intermediate transmission member 652 and the second transfer rod 656 rotate together.

[0076] Please also read Figures 1 to 3The robot arm 100 further includes a connection seat 21, which is mounted on one side of the base body 20. The power member 653 further includes a knob 6531, a third transfer rod 6532, a first gear 6533, and a second gear 6534. The third transfer rod 6532 is rotatably disposed on the connection seat 21. The knob 6531 is connected to one end of the third transfer rod 6532, the first gear 6533 is connected to the other end of the third transfer rod 6532, the first gear 6533 is meshed and connected with the second gear 6534, and the second gear 6534 is connected to the first transfer rod 655. The knob 6531 drives the first gear 6533 to rotate through the third transfer rod 6532, the first gear 6533 drives the second gear 6534 to rotate, and the second gear 6534 drives the second transmission member 654 to rotate through the first transfer rod 655.

[0077] In other embodiments, the knob 6531 is omitted, and the power member 653 further includes a motor, which is used to drive the third transfer rod 6532 to rotate.

[0078] In other embodiments, the connecting base 21 , the third transfer rod 6532 , the first gear 6533 , and the second gear 6534 are omitted, and the knob 6531 drives the second transmission member 654 to rotate via the first transfer rod 655 .

[0079] In other embodiments, the connecting seat 21, the third transfer rod 6532, the first gear 6533, and the second gear 6534 are omitted, and the power member 653 includes a motor, which is used to drive the first transfer rod 655 to rotate so as to drive the second transmission member 654 to rotate.

[0080] See also Figure 3In the connection relationship between the supporting member 50 and the base body 20, one of the supporting member 50 and the base body 20 includes a guide slide 52, and the other of the supporting member 50 and the base body 20 includes a slide rail 22. The supporting member 50 and the base body 20 are slidably connected through the cooperation of the guide slide 52 and the slide rail 22, so that the supporting member 50 can slide relative to the base body 20 along the first direction F1; wherein the length direction of the slide rail 22 is parallel to the first direction F1. In this embodiment, the guide slide 52 is provided on the supporting member 50, and the slide rail 22 is provided on the base body 20. The end of the supporting member 50 close to the base body 20 includes a connecting member 503, and the connecting member 503 is fixedly connected to the guide slide 52. The supporting member 50 can be slidably connected to the slide rail 22 of the base body 20 along the first direction F1 through the guide slide 52. The push-up member 50 further includes a connecting member 503, which is disposed on a side of the pressing portion 504 close to the base body 20, and the pressing portion 504 is connected to the guide slide portion 52 through the connecting member 503. In other embodiments, the slide rail 22 is disposed on the push-up member 50, and the guide slide portion 52 is disposed on the base body 20. One end of the push-up member 50 close to the base body 20 includes the slide rail 22, and the push-up member 50 can be slidably connected to the guide slide portion 52 of the base body 20 along the first direction through the slide rail 22.

[0081] See also Figures 1 to 3 The abutting member 50 includes a pressing portion 504 and a buffer portion 505. The pressing portion 504 is connected to the base body 20, and the buffer portion 505 is connected to the pressing portion 504. When the abutting member 50 abuts against the support surface 13 of the operating bed 10, the buffer portion 505 is clamped between the pressing portion 504 and the support surface 13. Specifically, the pressing portion 504 is connected to the guide rod 63, and the buffer portion 505 is connected to the side of the pressing portion 504 facing the operating bed. The buffer portion 505 is used to absorb the impact energy generated by the abutting member 50 on the operating bed 10 during the movement of the abutting member 50. In actual use, the cost of the operating bed 10 is expensive. The buffer portion 505 can be configured as, but not limited to, a buffer material such as a polymer material or a deformable material. The resilience of the buffer material is used to protect the operating bed 10 to avoid damage to the operating bed 10 during use.

[0082] The movement process of the support member 50 along the first direction F1 is as follows: the rotating knob 6531 drives the first gear 6533 and the second gear 6534 to rotate through the third transfer rod 6532, the rotation of the second gear 6534 drives the second transmission member 654 to rotate, and the second transmission member 654 simultaneously drives the intermediate transmission members 652 on both sides of the second transmission member 654 to rotate, and the intermediate transmission member 652 drives the first transmission member 651 to rotate, and the connecting part 635 of the guide rod 63 is connected to the first transmission member 651, so when the first transmission member 651 rotates, it can drive the guide rod 63 to rotate synchronously, and at the same time the guide rod 63 can move along the first direction F1 relative to the first transmission member 651. The transmission part 631 of the guide rod 63 is rotatably connected to the push-up member 50, and the guide part 633 of the guide rod 63 is rotatably connected to the base body 20 through a thread. Therefore, the rotation of the first transmission member 651 can enable the guide rod 63 to move along the first direction F1, and the push-up member 50 and the base body 20 are slidably connected through the cooperation of the guide sliding part 52 and the slide rail 22, thereby driving the push-up member 50 to move along the first direction F1.

[0083] See also Figure 6 In one embodiment, the adjustment assembly 60 further includes a connecting screw 66 and an adapter plate 68 rotatably connected to the connecting screw 66, and both ends of the adapter plate 68 are respectively fixedly connected to the guide rod 63. Specifically, the connecting screw 66 and the base body 20 are rotatably connected by threads, an end of the connecting screw 66 away from the abutting member 50 is provided with an external thread, the base body 20 is provided with a threaded hole along the first direction F1, the connecting screw 66 is positioned in the threaded hole of the base body 20, and the external thread of the connecting screw 66 is threadedly connected to the threaded hole of the base body 20, so that the connecting screw 66 is rotatably connected relative to the base body 20, so that the connecting screw 66 and the abutting member 50 move together along the first direction F1. One end of the connecting screw rod 66 close to the abutting piece 50 is rotatably inserted into the adapter plate 68. The connecting screw rod 66 also includes a clamping portion 661, which is sleeved on the connecting screw rod 66. The clamping portion 661 is used to increase the resistance between the inner surface and the connecting screw rod 66. The resistance is used to drive the adapter plate 68 to move along the first direction F1. The adapter plate 68 drives the guide rod 63 to move along the first direction F1, so that the abutting piece 50 abuts against the operating bed 10, thereby adapting to operating beds of different thickness specifications.

[0084] See also Figure 1 , Figure 7 and Figure 8In the robot arm 100 provided in another embodiment of the present invention, the user can also move the base body 20 relative to the abutting member 50 along the first direction F1 so that the abutting member 50 is used to abut the operating bed 10, thereby adapting to operating beds of different thickness specifications. Specifically, the locking mechanism 41 includes a locking member 412 connected to the base body 20, the base body 20 is provided with a guide groove 205, and the base body 20 is also provided with a stopper 26 along the length direction of the guide groove 205; when the positioning part 11 is positioned at the installation position of the base body 20, the locking mechanism 41 can adjust the locking member 412 to abut the positioning part 11, so that at least a part of the positioning part 11 is clamped between the locking member 412 and the stopper 26. It should be explained that the length direction of the guide groove 205 is perpendicular to the first direction F1; the installation position refers to the position where the user adjusts the base body 20 to lock the positioning portion 11 according to the actual thickness specification of the operating bed and the actual situation during use, that is, the position of the base body 20 when the positioning portion 11 is accommodated in the guide groove and the abutment member 50 can stably abut the support surface 13 of the operating bed 10.

[0085] There are multiple adjustment methods for positioning the robotic arm 100 at the installation position of the positioning portion 11. The user can enable the base body 20 to move relative to the positioning portion 11 along the first direction F1, that is, the user moves the base body 20 in the vertical direction to position the base body 20 at the installation position of the positioning portion 11; the user can also enable the base body 20 to move relative to the positioning portion 11 along the length direction of the guide groove 205, that is, the user moves the base body 20 in the horizontal direction to position the base body 20 at the installation position of the positioning portion 11; the user can also enable the base body 20 to move relative to the positioning portion 11 along the first direction F1 and relative to the positioning portion 11 along the length direction of the guide groove 205 at the same time, so as to position the base body 20 at the installation position of the positioning portion 11.

[0086] The locking mechanism 41 also includes an abutment 413, which is located between the locking member 412 and the positioning portion 11. The base body 20 is also provided with a locking groove 206 which is interconnected with the guide groove 205. The guide groove 205 is provided on the side of the base body 20 facing the positioning portion 11, and the locking groove 206 is provided on the side of the base body 20 away from the positioning portion 11. The abutment 413 is accommodated in the locking groove 206. When the base body 20 is positioned at the installation position of the positioning portion 11, the locking member 412 is used to push the abutment 413 so that the abutment 413 abuts against the positioning portion 11, thereby clamping the positioning portion 11 between the abutment 413 and the stop portion 26.

[0087] Specifically, the abutment member 413 includes an abutment top portion 4131 and an abutment portion 4133 connected to the abutment top portion 4131, the abutment portion 4133 is away from one end of the abutment member 50, the abutment portion 4133 is provided with an abutment hole 4135 along a direction perpendicular to the first direction F1, the locking groove 206 includes a receiving groove 2061 and an abutment groove 2063 that are connected to each other, the abutment groove 2063 is located between the receiving groove 2061 and the guide groove 205, the abutment groove 2063 is close to the guide groove 205, and the receiving groove 2061, the abutment groove 2063, and the guide groove 205 are connected in sequence. When the base body 20 is positioned at the installation position of the positioning portion 11, the abutting top portion 4131 is accommodated in the abutting groove 2063, the abutting portion 4133 is accommodated in the accommodating groove 2061, the locking member 412 is inserted into the abutting hole 4135 and abuts against the abutting top portion 4131, and the abutting top portion 4131 abuts against the positioning portion 11, so that the positioning portion 11 is clamped between the abutting top portion 4131 of the abutting member 413 and the stop portion 26, thereby locking the positioning portion 11 to the base body 20, and the abutting member 50 can abut against the operating bed 10, thereby adapting to operating beds of different thickness specifications.

[0088] The locking mechanism 41 further includes a connecting plate 414 fixedly connected to the base body 20, and the base body 20 is provided with a butting step 271 along the edge of the locking groove 206; when the connecting plate 414 covers the butting step 271, the locking member 412 is threadedly connected to the connecting plate 414, and the locking member 412 rotates relative to the connecting plate 414 to push the abutting member 413. Specifically, the connecting plate 414 is provided with a third screw hole 4141, and the locking member 412 is provided with a third external thread. After the third external thread of the locking member 412 is threadedly connected to the third screw hole 4141, it abuts against the abutting member 413, so that the abutting member 413 abuts against the positioning portion 11, thereby locking the positioning portion 11 to the base body 20. The locking member 412 includes a rotating portion 4121 and a threaded portion 4123 connected to the rotating portion 4121, the rotating portion 4121 is arranged at an end of the threaded portion 4123 away from the positioning portion 11, and a third external thread is arranged on the outer wall of the threaded portion 4123; when the threaded portion 4123 of the locking member 412 is threadedly connected to the third threaded hole 4141, the rotating portion 4121 is used to drive the threaded portion 4123 to rotate, so that the threaded portion 4123 moves relative to the connecting plate 414 in a direction close to the abutment 413 to abut against the abutment 413, thereby locking the positioning portion 11 to the base body 20.

[0089] In one embodiment, the positioning assembly 40 further includes an elastic member 401, which is received in the locking groove 206, and is disposed between the base body 20 and the abutment member 413, and is used for the movement and reset of the abutment member 413. The elastic member 401 can move the abutment member 413 away from the positioning portion 11, reduce the friction between the positioning portion 11 and the abutment member 413, and facilitate the base body 20 to move to the installation position along the first direction F1. Specifically, when the locking member 412 moves relative to the connecting plate 414 toward the direction approaching the abutment 413, the elastic member 401 is clamped between the abutment 413 and the base body 20 to compress the elastic member 401. At this time, the elastic member 401 has an elastic force for moving and resetting the abutment 413; the locking member 412 moves relative to the connecting plate 414 toward the direction away from the abutment 413, so that the elastic member 401 pushes the abutment 413 relative to the base body 20, and the elastic force of the elastic member 401 can make the abutment 413 move away from the positioning portion 11.

[0090] See also Figures 8 to 11 In one embodiment, the size of the guide groove 205 is consistent with the size of the positioning portion 11. Fig. 9 As shown, the first length L2 of the positioning portion 11 is equal to the first inner diameter D1 of the guide groove 205, and the second length L3 of the positioning portion 11 is equal to the second inner diameter D2 of the guide groove 205, that is, the base body 20 cannot move along the first direction F1 relative to the positioning portion 11, and the base body 20 can move along the length direction of the guide groove 205 relative to the positioning portion 11.

[0091] In one embodiment, the size of the guide groove 205 is inconsistent with the size of the positioning portion 11. Fig.10 As shown, the first length L2 of the positioning portion 11 is less than the first inner diameter D1 of the guide groove 205, and the second length L3 of the positioning portion 11 is equal to the second inner diameter D2 of the guide groove 205, that is, the base body 20 can move along the first direction F1 relative to the positioning portion 11, and the base body 20 can move along the length direction of the guide groove 205 relative to the positioning portion 11, so that the base body 20 is positioned at the installation position of the positioning portion 11.

[0092] In one embodiment, the size of the guide groove 205 is inconsistent with the size of the positioning portion 11. Fig.11 As shown, the first length L2 of the positioning portion 11 is smaller than the first inner diameter D1 of the guide groove 205, and the second length L3 of the positioning portion 11 is smaller than the second inner diameter D2 of the guide groove 205, that is, the base body 20 can move along the first direction F1 relative to the positioning portion 11, and the base body 20 can move along the length direction of the guide groove 205 relative to the positioning portion 11, so that the base body 20 is positioned at the installation position of the positioning portion 11.

[0093] See also Fig.12The positioning assembly 40 also includes a guide slide 403 located between the positioning portion 11 and the base body 20, the guide slide 403 is connected to the inner wall of the guide groove 205, and the positioning portion 11 is slidably connected to the guide slide 403 along the guide groove 205. It should be understood that in this embodiment, the size of the guide groove 205 and the size of the positioning portion 11 should be inconsistent, that is, the first length L2 of the positioning portion 11 is smaller than the first inner diameter D1 of the guide groove 205, or / and, the second length L3 of the positioning portion 11 is smaller than the second inner diameter D2 of the guide groove 205, and the gap between the guide groove 205 and the positioning portion 11 is used to accommodate the guide slide 403. The guide slide 403 is used to improve the smoothness of the positioning portion 11 sliding along the guide groove 205. The guide slide 403 can also be a roller or other structure for reducing friction.

[0094] See also Fig. 9 and Fig.13 The positioning assembly 40 further includes a driving motor 4001 and a worm gear 4002 connected to the driving motor 4001, and the driving motor 4001 and the worm gear 4002 are connected via a worm 4003. When the base body 20 moves to the installation position, the driving motor 4001 drives the worm gear 4003 to rotate, so that the worm gear 4003 drives the worm gear 4002 to rotate, and the worm gear 4002 drives the locking member 412 to rotate relative to the abutting member 413, and the abutting member 413 moves relative to the connecting plate 414 in a direction close to the abutting member 413, so that the abutting member 413 abuts against the positioning portion 11 to lock the positioning portion 11 to the base body 20.

[0095] See also Fig.14 In the robot arm 100 provided in another embodiment of the present invention, the base body 20 further includes a moving member 28 and a positioning member 29, a locking mechanism 41 can lock the moving member 28 to the positioning portion 11, a push member 50 is connected to the positioning member 29, the moving member 28 is movably connected to the positioning member 29 along the first direction relative to the positioning member 29, the locking mechanism 41 can lock the moving member 28 to the positioning portion 11, and the push member 50 is connected to the positioning member 29. Specifically, after the moving member 28 moves to the installation position of the positioning portion 11 along the first direction F1 relative to the positioning member 29, the locking member 412 of the locking mechanism 41 is used to push the push member 413 so that the push member 413 pushes against the positioning portion 11, so that the push member 50 pushes against the operating bed 10, thereby adapting to operating beds of different thickness specifications.

[0096] See also Figures 14 to 17 In some embodiments, the robot arm 100 includes a height adjustment component 70 , which is at least used to lock the relative positions of the moving member 28 and the positioning member 29 .

[0097] In one embodiment, Fig.14 and Fig.15As shown, the positioning member 29 is provided with a slide groove 291 along the first direction F1, and the movable member 28 includes a sliding portion 281, which can be movably inserted into the slide groove 291; the height adjustment assembly 70 also includes a first height adjustment member 71, which can pass through the positioning member 29 and abut the sliding portion 281 to lock the movable member 28 to the positioning member 29. Specifically, a slide groove 291 is provided at one end of the positioning member 29 facing the movable member 28 along the first direction F1, and the positioning member 29 is provided with a fourth screw hole 292, the slide groove 291 and the fourth screw hole 292 are connected, and the first height adjustment member 71 is provided with a fourth external thread, and the fourth external thread of the first height adjustment member 71 is used to be threadedly connected to the fourth screw hole; when the sliding part 281 moves along the slide groove 291 in the first direction F1 to the installation position of the positioning part 11, the first height adjustment member 71 rotates relative to the positioning member 29 so that the first height adjustment member 71 can press against the sliding part 281 to lock the movable member 28 to the positioning member 29.

[0098] In one embodiment, Fig.14 and Fig.16 As shown, the positioning member 29 is provided with a locking hole 293, and the height adjustment assembly 70 further includes a second height adjustment member 72, which is threadedly connected to the moving member 28 so that the moving member 28 moves along the first direction F1. Specifically, the positioning member 29 is provided with a locking hole 293 at one end facing the moving member 28 along the first direction F1, and the locking hole 293 is a fifth screw hole. The moving member 28 is provided with a fifth through hole 283, and the second height adjustment member 72 is provided with a fifth external thread. A limiting portion 721 is provided on the side of the second height adjustment member 72 away from the positioning member 29. Among them, the second height adjustment member 72 is threadedly connected to the fifth screw hole after being penetrated through the fifth through hole 283, and the limiting portion 721 can resist the surrounding of the fifth through hole 283 of the moving member 28 to prevent the moving member 28 from detaching from the second height adjustment member 72. When the second height adjustment member 72 rotates relative to the positioning member 29 , the moving member 28 can be moved along the first direction F1 to the installation position of the positioning portion 11 , thereby adapting to operating tables of different thickness specifications.

[0099] In one embodiment, Fig.14 and Fig.17 As shown, the height adjustment assembly 70 includes a third height adjustment member 73, which also includes a connecting rod 731. The connecting rod 731 passes through the positioning member 29 and is connected to the moving member 28. The connecting rod 731 rotates relative to the moving member 28 to move the moving member 28 along the first direction F1.

[0100] Specifically, the positioning member 29 is provided with a connecting hole 294 along the first direction F1, the movable member 28 is provided with a fifth screw hole 284 opposite to the connecting hole 294, and the other end of the connecting rod 731 is provided with an external thread; after the connecting rod 731 passes through the connecting hole 294, the external thread of the connecting rod 731 is threadedly connected to the fifth screw hole 284, and the connecting rod 731 rotates relative to the positioning member 29 to move the movable member 28 along the first direction F1 to the installation position of the positioning part 11, so as to adapt to operating tables of different thickness specifications.

[0101] In one embodiment, the moving member 28 is further provided with a second guide hole 285, and the base body 20 further includes a guide bar 2006, which is passed through the second guide hole 285 and fixedly connected to the positioning member 29 to prevent the moving member 28 from rotating relative to the positioning member 29. In this embodiment, the moving member 28 is provided with two second guide holes 285, and the positioning assembly 40 includes two guide bars 2006, each of which passes through the second guide hole 285 and is fixedly connected to the positioning member 29.

[0102] In one embodiment, the third height adjustment member 73 further includes a driving portion 733 connected to the connecting rod 731, and the driving portion is used to rotate the connecting rod 731 relative to the moving member 28 so that the moving member 28 moves along the first direction F1. In this embodiment, the driving portion 733 can be a knob, which is arranged at one end of the connecting rod 731 away from the moving member 28. The knob is rotated to drive the connecting rod 731 to rotate, and the rotation of the connecting rod 731 can drive the moving member 28 to move along the first direction F1 to the installation position of the positioning portion 11.

[0103] In one embodiment, the driving part 733 includes a motor 7331, a fourth transfer rod 7333, a first bevel gear 7334 and a second bevel gear 7336, one end of the fourth transfer rod 7333 is connected to the motor 7331, the other end of the fourth transfer rod 7333 is connected to the first bevel gear 7334, and the first bevel gear 7334 and the second bevel gear 7336 are meshedly connected through the bevel gears; the motor 7331 drives the fourth transfer rod 7333 to rotate, and the rotation of the fourth transfer rod 7333 drives the first bevel gear 7334 to rotate around the axis of the fourth transfer rod 7333, the first bevel gear 7334 drives the second bevel gear 7336 to rotate through the bevel gear, and the rotation of the second bevel gear 7336 drives the connecting rod 731 to rotate relative to the positioning member 29, so that the moving member 28 moves along the first direction F1 to the installation position of the positioning part 11.

[0104] The description of the above embodiments is only used to help understand the method of the present invention and its core concept; at the same time, for a person skilled in the art, according to the concept of the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation of the present invention.

Claims

1. A robotic arm for positioning on an operating table, the operating table comprising a positioning portion and a support surface, characterized in that: The robotic arm comprises: A base body, used to connect to the positioning portion of the operating table; A positioning assembly, comprising a locking mechanism connected to the base body, the locking mechanism being used to lock the base body to the positioning portion; abutting member connected to the base body, and configured to abut against the supporting surface; and An adjustment component is used to adjust the distance between the locking mechanism and the abutting member in a first direction and to lock the distance, wherein the first direction is parallel to the thickness direction of the operating bed.

2. The robotic arm according to claim 1, wherein: The adjustment assembly includes a guide rod, one end of which is rotatably connected to the push member, and the other end of which is rotatably connected to the base body. The circumferential rotation of the guide rod can cause the guide rod to move along the first direction, thereby driving the push member to move along the first direction.

3. The robotic arm according to claim 2, wherein: The adjustment assembly further includes a fixing bracket, which is fixedly connected to the base body. The guide rod is penetrated through the base body and the fixing bracket along the first direction, and the guide rod is threadedly connected to the fixing bracket.

4. The robotic arm according to claim 3, wherein: The guide rod includes a transmission part, a guide part, and a connection part connected between the transmission part and the guide part. The transmission part is rotatably used to push the push piece, and the guide part is threadedly connected to the fixing bracket.

5. The robotic arm according to claim 4, characterized in that: The fixing bracket includes a positioning bar, and the guide portion is threadedly connected to the positioning bar.

6. The robotic arm according to claim 5, characterized in that: The fixing bracket further includes a support bar connected to a side of the positioning bar facing away from the base body. The support bar is provided with a first guide hole along the first direction, and the guide rod is passed through the first guide hole.

7. The robotic arm according to claim 2, wherein: The adjustment assembly further includes a transmission assembly, which is used to drive the guide rod to rotate circumferentially and move along the first direction.

8. The robotic arm according to claim 7, wherein: The transmission assembly includes a first transmission member, which is fixedly connected to the guide rod. The rotation of the first transmission member drives the guide rod to rotate.

9. The robotic arm according to claim 8, characterized in that: The transmission assembly also includes a power member and a second transmission member connected to the power member. The second transmission member and the first transmission member abut against each other on the outer wall. The power member is used to drive the second transmission member to rotate, and the second transmission member is used to drive the first transmission member to rotate.

10. The robotic arm according to claim 9, characterized in that: The robotic arm also includes a plurality of the abutments, and the plurality of the abutments are connected to the same side wall of the base body. The adjustment assembly also includes a plurality of guide rods, and the transmission assembly also includes a plurality of the first transmission members. The plurality of the abutments, the plurality of guide rods and the plurality of the first transmission members correspond one to one; wherein, each of the guide rods is passed through the corresponding first transmission member along the first direction, one end of each of the guide rods is rotatably connected to the corresponding abutment, and the other end of each of the guide rods is rotatably connected to the base body.

11. The robotic arm according to claim 9, wherein: The transmission assembly further includes an intermediate transmission member, which is connected between the first transmission member and the second transmission member, or connected between two adjacent first transmission members; the first transmission member, the second transmission member and the intermediate transmission member are arranged linearly.

12. The robotic arm according to claim 1, wherein: One of the push member and the base body includes a guide slide portion, and the other of the push member and the base body includes a slide rail. The push member and the base body are slidably connected through the cooperation of the guide slide portion and the slide rail, so that the push member can slide along the first direction relative to the base body.

13. The robotic arm according to claim 1, wherein: The abutting member includes a pressing portion and a buffering portion, the pressing portion is connected to the base body, and the buffering portion is connected to the pressing portion. When the abutting member abuts against the supporting surface of the operating bed, the buffering portion is clamped between the pressing portion and the supporting surface.

14. The robotic arm according to claim 1, wherein: The locking mechanism includes a locking piece connected to the base body, the base body is provided with a guide groove, and the base body is also provided with a stop portion along the length direction of the guide groove; when the base body is positioned at the installation position of the positioning portion, the locking mechanism can be adjusted so that the locking piece presses against the positioning portion, so that at least part of the positioning portion is clamped between the locking piece and the stop portion.

15. The robotic arm according to claim 14, wherein: The locking mechanism also includes an abutment, which is located between the locking member and the positioning portion. The base body is also provided with a locking groove that is interconnected with the guide groove and is used to accommodate at least part of the abutment; the locking member is used to push the abutment so that the abutment abuts the positioning portion.

16. The robotic arm according to claim 15, characterized in that: The locking mechanism further comprises a connecting plate fixedly connected to the base body; the locking piece is threadedly connected to the connecting plate, and the locking piece rotates relative to the connecting plate to push the abutting piece.

17. The robotic arm according to claim 16, wherein: The locking mechanism further includes an elastic member, which is accommodated in the locking groove and is disposed between the base body and the abutting member. The elastic member is used for moving and resetting the abutting member.

18. The robotic arm according to claim 14, wherein: The positioning assembly further includes a guide slide located between the positioning portion and the base body, the guide slide is connected to the inner wall of the guide groove, and the positioning portion is slidably connected to the guide slide along the guide groove.

19. The robotic arm according to claim 1 or 2, characterized in that: The base body also includes a moving part and a positioning part, the moving part is movably connected to the positioning part along the first direction relative to the positioning part, the locking mechanism can lock the moving part to the positioning part, and the abutting part is connected to the positioning part; the robotic arm includes a height adjustment component, and the height adjustment component is at least used to lock the relative positions of the moving part and the positioning part.

20. The robotic arm according to claim 19, wherein: The positioning member is provided with a slide groove along the first direction, and the movable member includes a sliding portion, which is movably inserted into the slide groove; the height adjustment assembly includes a first height adjustment member, which can pass through the positioning member and press against the sliding portion to lock the movable member to the positioning member.

21. The robotic arm according to claim 19, wherein: The positioning member is provided with a locking hole, and the height adjustment assembly includes a second height adjustment member, which is threadedly connected to the moving member so that the moving member moves along the first direction.

22. The robotic arm according to claim 19, wherein: The height adjustment assembly includes a third height adjustment member, and the third height adjustment member includes a connecting rod. The connecting rod is passed through the positioning member and connected to the moving member. The connecting rod rotates relative to the moving member to move the moving member along the first direction.

23. The robotic arm according to claim 22, wherein: The movable member is further provided with a second guide hole, and the base body further comprises a guide bar, which is passed through the second guide hole and then fixedly connected to the positioning member.

24. The robotic arm according to claim 22, wherein: The third height adjustment member further includes a driving portion connected to the connecting rod, and the driving portion is used to rotate the connecting rod relative to the moving member so as to move the moving member along the first direction.

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