Mechanical arm and surgical robot

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a mechanical arm and a surgical robot. The mechanical arm comprises a base, a supporting arm and a force balance assembly, the supporting arm comprises a first rotating shaft, the base is rotatably connected to the first rotating shaft, and the force balance assembly is connected with the base and the supporting arm; wherein the force balance assembly has resistance for preventing the base from rotating around the first rotating shaft relative to the supporting arm, and the force balance assembly is used for limiting the relative position, located on the first rotating shaft, of the base. According to the mechanical arm provided by the embodiment of the invention, the base and the supporting arm cannot rotate relatively, that is, when the rotating angle of the base relative to the supporting arm is adjusted, a user does not need to hold equipment with hands all the time, 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 and a surgical robot. Background Art

[0002] During interventional surgery, doctors operate instruments such as guidewires and catheters to enter the body to treat the lesions in the body. With the development of medical devices, surgical robots can assist doctors in completing interventional surgery. The surgical robot includes a main body for driving the movement of the guidewire and catheter and a robotic arm for mounting the main body. The robotic arm can move the main body of the surgical robot within a certain spatial range, for example, it can move the main body from far to near to the patient's site for inserting the guidewire or catheter.

[0003] However, during clinical use, doctors have also discovered some inconvenient problems with surgical robots in the prior art. For example, the main body is installed on the robotic arm in a fixed posture, which makes it inconvenient to adjust to a suitable posture during surgery.

[0004] Therefore, how to flexibly change the posture of the surgical robot so that the surgical robot better fits the doctor's operating habits is a technical problem that urgently needs to be solved in this field. Summary of the invention

[0005] An object of the present invention is to provide a robotic arm. In order to solve the above-mentioned technical problems, the present invention provides a robotic arm, which includes a base, a support arm and a force balancing assembly. The support arm includes a first rotating shaft. The base is rotatably connected to the first rotating shaft, and the force balancing assembly connects the base and the support arm; wherein the force balancing assembly has a resistance that hinders the base from rotating around the first rotating shaft relative to the support arm, and the force balancing assembly is used to limit the relative position of the base on the first rotating shaft.

[0006] In one embodiment, the force balancing assembly includes a first connecting member fixedly connected to the base, the first connecting member is sleeved on the first rotating shaft, and the first connecting member generates friction resistance when rotating relative to the first rotating shaft.

[0007] In one embodiment, the force balancing assembly further includes a damping member for increasing the friction resistance, and the damping member is disposed between the first connecting member and the first rotating shaft.

[0008] In one embodiment, the force balancing assembly includes a first connecting member and a second connecting member, wherein the first connecting member is fixedly connected to the base, and the second connecting member is fixedly connected to the support arm, and the first connecting member and the second connecting member abut against each other to generate friction resistance.

[0009] In one embodiment, the force balancing assembly further includes a damping member for increasing the friction resistance, the first connecting member and the second connecting member are respectively sleeved on the first rotating shaft, and the damping member is provided between the first connecting member and the first rotating shaft and / or between the second connecting member and the first connecting member.

[0010] In one embodiment, the first connecting member and the second connecting member are respectively sleeved on the first rotating shaft, one of the first connecting member and the second connecting member is provided with a step surface along the axial direction of the first rotating shaft, and the other of the first connecting member and the second connecting member is provided with a connecting groove along the axial direction of the first rotating shaft, and the step surface and the inner surface of the connecting groove abut against each other.

[0011] In one embodiment, the force balancing assembly further includes a damping member for increasing the friction resistance, and the damping member is clamped between the outer surface of the step surface and the inner surface of the connecting groove.

[0012] In one embodiment, the force balancing assembly includes an elastic member for increasing the resistance torque, wherein the elastic member is connected to the first connecting member and the second connecting member, and the elastic member pushes the first connecting member and the second connecting member through elastic deformation.

[0013] In one embodiment, the base is also used to position the operating end of the surgical robot, and the force balancing assembly includes a pneumatic damping member, which includes a cylinder body, a piston rod passing through the cylinder body, and a transmission member, the first rotating shaft is fixedly connected to the first position of the transmission member, one of the cylinder body and the piston rod is hinged to the operating end, and the other of the cylinder body and the piston rod is hinged to the second position of the transmission member.

[0014] In one embodiment, the robotic arm also includes a first locking component, which is connected to the base and the first rotating shaft, and the first locking component includes a locked state and an unlocked state; in the locked state, the first locking component locks the base and the first rotating shaft; in the unlocked state, the base can rotate relative to the first rotating shaft.

[0015] In one embodiment, the first locking assembly includes a first locking member and a second locking member, the first locking member is fixedly connected to the base, one end of the first locking member is hinged to one end of the second locking member, the other end of the first locking member and the other end of the second locking member are close to each other so that the first rotating shaft can be clamped between the first locking member and the second locking member, in the locked state, the other end of the first locking member and the other end of the second locking member are locked and the first locking member and the second locking member clamp the first rotating shaft, and in the unlocked state, the other end of the first locking member and the other end of the second locking member are unlocked.

[0016] In one embodiment, the first locking assembly further comprises a locking bolt, wherein in the locked state, the locking bolt threadably locks the first locking member and the second locking member, and in the unlocked state, the locking bolt releases the lock on the first locking member and the second locking member.

[0017] In one embodiment, the first locking assembly further includes a magnet and a magnetic attraction member, one of the magnet and the magnetic attraction member is arranged on the first locking member, and the other of the magnet and the magnetic attraction member is arranged on the second locking member, and the magnet and the magnetic attraction member are attracted to each other to lock the first locking member and the second locking member.

[0018] In one embodiment, the first locking assembly includes a first electromagnetic brake and a first brake valve core, the first electromagnetic brake is installed on the base, the first brake valve core is passed through the first rotating shaft, the first brake valve core and the first rotating shaft are abutted and connected in the circumferential direction, and the first electromagnetic brake is used to lock the circumferential rotation of the first brake valve core.

[0019] In one embodiment, the first locking assembly further includes a force amplification assembly and a connecting shaft, the force input end of the force amplification assembly is fixedly connected to the connecting shaft, the connecting shaft passes through the first brake valve core, the connecting shaft and the first brake valve core are abutted in the circumferential direction, and the force output end of the force amplification assembly is abutted in the circumferential direction to the first rotating shaft.

[0020] In one embodiment, the force amplification component includes a central gear, a plurality of planetary gears, a ring gear and a connecting frame, the ring gear is fixedly connected to the base, each of the planetary gears is located between the ring gear and the central gear, the planetary gears are meshed with the central gear and the ring gear, and the connecting frame is fixedly connected to the plurality of planetary gears; wherein the central gear is the force input end of the force amplification component, and the connecting frame is the force output end of the force amplification component.

[0021] In one embodiment, the force amplification component includes a wave generator, a flexible pulley and a steel wheel, the radial cross-section of the wave generator is elliptical, the inner wall of the flexible pulley is provided with a plurality of first teeth, the inner wall of the steel wheel is provided with a plurality of second teeth, the wave generator is penetrated by the flexible pulley, the flexible pulley is penetrated by the steel wheel, the steel wheel is fixedly connected to the base, and the wave generator can push against the flexible pulley so that part of the first teeth of the flexible pulley meshes with part of the second teeth of the steel wheel; wherein, the wave generator is the force input end of the force amplification component, the flexible pulley is the force output end of the force amplification component, and the number of the first teeth is less than the number of the second teeth.

[0022] In one embodiment, the robotic arm further includes a base and an adjustment mechanism, one end of the adjustment mechanism is connected to the base, and the other end of the adjustment mechanism is connected to the support arm, and the adjustment mechanism is used to adjust the distance between the support arm and the base.

[0023] In one embodiment, the adjustment mechanism includes a support shell and a push rod, one of the support shell and the base includes a guide slide portion, and the other of the support shell and the base includes a slide rail, the support shell and the base are slidably connected through the cooperation of the guide slide portion and the slide rail, and the push rod can push against the support shell along the length direction of the support shell 62 to move the support shell along the length direction of the support shell 62.

[0024] In one embodiment, the mechanical arm further comprises a second locking assembly for locking or unlocking the support arm and the support housing.

[0025] In one embodiment, the support arm includes multiple branch arms, and any two adjacent branch arms are rotatably connected to each other. The branch arm at one end of the multiple branch arms is rotatably connected to the base, and the branch arm at the other end of the multiple branch arms is rotatably connected to the support shell of the robotic arm.

[0026] In one embodiment, the support arm also includes a third locking assembly, and two adjacent branch arms are rotatably connected through the third locking assembly. The rotation axis between each two adjacent branch arms is perpendicular to the axis of the first rotating shaft, and the third locking assembly is used to lock the relative rotation of the two adjacent branch arms.

[0027] In one embodiment, the surgical robot includes an operating end and the robotic arm, wherein the operating end is fixedly connected to the base, the operating end includes a guide wire and a catheter, and the robotic arm is used to control the guide wire and the catheter to enter the patient's interventional incision.

[0028] The beneficial effects of the present invention are as follows: the base needs to rotate a certain angle relative to the support arm around the first rotation axis, and the user needs to apply an external force greater than the maximum threshold value of the friction resistance on the base, and the rotation torque formed by the external force is greater than the resistance torque formed by the friction resistance, so that the base rotates a certain angle relative to the support arm around the first rotation axis, thereby adjusting the rotation angle of the base relative to the support arm. After the rotation angle of the base relative to the support arm is adjusted to a preset angle, the user cancels the external force for adjusting the rotation angle, and the friction resistance provided by the force balance component or the friction resistance torque relative to the first rotation axis is also reduced. It is reduced to a torque that can balance the gravity of the base and its components (when the gravity is eccentric relative to the first rotation axis) relative to the first rotation axis, that is, the resistance torque can offset the torque generated by the gravity of the base relative to the first rotation axis, thereby keeping the base and the support arm from rotating relative to each other, that is, when adjusting the rotation angle of the base relative to the support arm, the user does not need to hold the device, which is convenient to use. In addition, when the base vibrates, the vibration causes the base to generate a vibration force with a magnitude that changes with time relative to the support arm, and the friction resistance provided by the force balance component also changes with time, and the magnitude is the same as the magnitude of the vibration force but opposite to the direction, so that the vibration can be attenuated, thereby stabilizing the structure of the base. Moreover, when the center of gravity of the base is eccentric relative to the axis of the first rotating shaft, the base has a tendency to rotate around the axis of the first rotating shaft, and the friction resistance generated by the force balance component can generate a reverse force that hinders the base from rotating around the axis of the first rotating shaft, and the reverse force can hinder the base from rotating relative to the support arm around the first rotating shaft, thereby keeping the base and the support arm from rotating relative to each other, that is, the base can remain stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1 It is a schematic diagram of a three-dimensional structure of a mechanical arm positioned at an operating end provided by one embodiment of the present invention;

[0031] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the robotic arm;

[0032] Figure 3 yes Figure 2 Schematic diagram of the three-dimensional structure decomposition of the robotic arm;

[0033] Figure 4 yes Figure 3 A schematic diagram of the three-dimensional structure of the robot arm from another perspective;

[0034] Figure 5 is a schematic structural diagram of a mechanical arm according to one embodiment of the present invention;

[0035] Figure 6 is a schematic structural diagram of a mechanical arm according to another embodiment of the present invention;

[0036] Figure 7 is a schematic structural diagram of a mechanical arm according to another embodiment of the present invention;

[0037] Figure 8 is a schematic diagram of the three-dimensional structure of a force balancing assembly according to one embodiment of the present invention;

[0038] Fig. 9 yes Figure 1 A partial cross-sectional view of the robotic arm in FIG.

[0039] Fig.10 yes Fig. 9 The cross-sectional view of the robot arm along line AA;

[0040] Fig.11 is a schematic diagram of the three-dimensional structure of a first locking assembly according to one embodiment of the present invention;

[0041] Fig.12 is a schematic diagram of the three-dimensional structure of a first locking assembly according to another embodiment of the present invention;

[0042] Fig.13 A three-dimensional structural cross-sectional view of a robot arm according to another embodiment of the present invention;

[0043] Fig.14 yes Fig.13 Schematic diagram of the three-dimensional structure decomposition of the robotic arm;

[0044] Fig.15 yes Fig.14 A schematic diagram of the three-dimensional structure decomposition of the robotic arm from another perspective;

[0045] Fig.16 is a schematic diagram of the three-dimensional structure anatomy of a robotic arm according to another embodiment of the present invention;

[0046] Fig.17 is a schematic diagram of the three-dimensional structure of a mechanical arm according to another embodiment of the present invention;

[0047] Fig.18 yes Fig.17 The local anatomy of part B in the figure;

[0048] Fig.19 yes Fig.17 Schematic diagram of the three-dimensional structure decomposition of the C part;

[0049] Fig. 20It is a schematic diagram of the three-dimensional structure of a surgical robot provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0050] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment 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.

[0051] The following descriptions of the embodiments are made with reference to the attached drawings to illustrate specific implementations of the present invention. 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 should not be understood as a limitation of the present invention.

[0052] 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.

[0053] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0054] See also Figure 1 and Figure 2 One embodiment of the present invention provides a robotic arm 100, which is used to be installed on an operating end 101 of a surgical robot. The robotic arm 100 includes a base 10, an arm 20, and a force balancing assembly 30, wherein the operating end 101 is fixedly connected to the base 10. The operating end 101 of the surgical robot is used to drive the movement of medical devices for interventional surgery, including but not limited to driving a guide wire to rotate or advance and retreat along a blood vessel, and / or driving a catheter to rotate or advance and retreat along a blood vessel.

[0055] Specifically, Figure 3 and Figure 4As shown, the support arm 20 includes a first rotating shaft 21, the first rotating shaft 21 is penetrated by the base 10, and the base 10 is rotatably connected to the first rotating shaft 21, that is, the base 10 can rotate around the axis 211 of the first rotating shaft 21; the force balancing component 30 connects the base 10 and the support arm 20, that is, the force balancing component 30 is arranged between the support arm 20 and the base 10, one side of the force balancing component 30 is fixedly connected to the base 10, and the other side of the force balancing component 30 abuts against the outer surface of the support arm 20, and the force balancing component 30 has There is friction resistance that hinders the base 10 from rotating relative to the support arm 20 around the first rotating shaft 21, so the force balancing assembly 30 and the base 10 rotate together around the first rotating shaft 21 relative to the support arm 20, and the force balancing assembly 30 and the support arm 20 contact and resist each other to form the above-mentioned friction resistance, which can react on the force balancing assembly 30 to hinder the base 10 from rotating relative to the support arm 20 around the first rotating shaft 21, so that the force balancing assembly 30 can limit the relative position of the base 10 on the first rotating shaft 21. It can be understood that the magnitude of the friction resistance formed by the force balancing assembly 30 is variable. In the process of applying an external force to make the base 10 rotate relative to the support arm 20 around the first rotating shaft 21, the applied external force gradually increases from zero, and the friction resistance also increases accordingly. In this process, the base 10 does not rotate relative to the support arm 20. If the applied external force is greater than the maximum value of the friction resistance that the force balancing assembly 30 can reach, that is, it exceeds the maximum threshold of the friction resistance that the force balancing assembly 30 can provide, the base 10 can rotate relative to the support arm 20.

[0056] In a possible implementation scenario, the user needs to adjust the rotation angle of the base 10 relative to the support arm 20, that is, the base 10 needs to rotate a certain angle around the first rotation axis 21 relative to the support arm 20, and the user needs to apply an external force greater than the maximum threshold of the friction resistance on the base 10, and the rotation torque formed by the external force is greater than the resistance torque formed by the friction resistance, so that the base 10 rotates a certain angle around the first rotation axis 21 relative to the support arm 20, thereby adjusting the rotation angle of the base 10 relative to the support arm 20. After the rotation angle of the base 10 relative to the support arm 20 is adjusted to a preset angle, the user cancels the external force for adjusting the rotation angle, and the friction resistance or friction resistance torque relative to the first rotation axis 21 provided by the force balancing component 30 is reduced accordingly. Reduced to a torque relative to the first rotation axis 21 that can balance the gravity of the base 10 and its components (when the gravity is eccentric relative to the first rotation axis 21). That is, the above-mentioned resistance torque can offset the torque generated by the gravity of the operating end 101 or some components installed on the operating end 101 relative to the first rotating shaft 21, thereby keeping the base 10 and the support arm 20 from rotating relative to each other. That is, after the user adjusts the rotation angle of the base 10 relative to the support arm 20, the base 10 can maintain the rotation angle relative to the support arm 20 around the first rotating shaft 21. The user does not need to hold the base 10 with his hands all the time, which is convenient to use.

[0057] In one embodiment, the base 10 is positioned at the operating end 101 of the surgical robot, that is, the base 10 is fixedly connected to the operating end 101 of the surgical robot, and the base 10 and the operating end 101 of the surgical robot can rotate together around the axis 211 relative to the support arm 20; when the medical staff needs to adjust the pitch angle of the operating end 101, the medical staff needs to apply an external force greater than the maximum threshold of the friction resistance on the operating end 101, so as to adjust the pitch angle of the operating end 101. After the pitch angle of the operating end 101 is adjusted to a preset angle, the user cancels the external force for adjusting the pitch angle, and the resistance torque can offset the torque generated by the gravity of the operating end 101 relative to the first rotating shaft 21, so as to keep the operating end 101 and the support arm 20 from rotating relative to each other, that is, after the medical staff adjusts the pitch angle of the operating end 101, the operating end 101 can maintain the pitch angle relative to the support arm 20 around the first rotating shaft 21, and the user does not need to hold the operating end 101, which is convenient to use.

[0058] It should be understood that the rotation angle refers to the angle at which the base 10 rotates around the first rotation axis 21 relative to the support arm 20, and the pitch angle may refer to the angle at which the operating end 101 rotates around the first rotation axis 21 relative to the support arm 20; the pitch angle may also refer to the angle between the operating end 101 and the horizontal direction. In a possible scenario, the patient undergoing surgery lies flat on the operating bed. The second meaning of the pitch angle may refer to the angle between the operating end 101 and the skin surface at the preset incision of the patient.

[0059] In a possible implementation scenario, when the base 10 and / or the operating end 101 connected to the base 10 vibrates, the vibration causes the base 10 to generate a vibration force relative to the support arm 20 that changes with time, and the friction resistance provided by the force balancing component 30 also changes with time, and the magnitude is the same as the above-mentioned vibration force but in the opposite direction, thereby attenuating the vibration, thereby stabilizing the structure of the base 10 and / or the operating end 101 connected to the base 10.

[0060] In a possible implementation scenario, when the center of gravity of the base 10 is eccentric relative to the axis 211 of the first rotating shaft 21, the base 10 has a tendency to rotate around the axis 211 of the first rotating shaft 21, and the above-mentioned friction resistance can generate a reverse force that hinders the base 10 from rotating around the axis 211 of the first rotating shaft 21, and the above-mentioned reverse force can hinder the base 10 from rotating relative to the support arm 20 around the first rotating shaft 21, thereby keeping the base 10 and the support arm 20 from rotating relative to each other, that is, the base 10 can remain stable. It should be understood that if other structures or devices are added to the base 10, such as adding an operating end 101 to the base 10, the above-mentioned friction resistance can generate a reverse force that hinders the base 10 and the operating end 101 from rotating around the axis 211 of the first rotating shaft 21, and the above-mentioned reverse force can hinder the base 10 and the operating end 101 from rotating relative to the support arm 20 around the first rotating shaft 21, thereby keeping the base 10, the operating end 101 and the support arm 20 from rotating relative to each other.

[0061] See also Figure 5 The force balancing assembly 30 includes a first connecting member 31 fixedly connected to the base 10. The first connecting member 31 can be fixedly connected to the base 10 by, but not limited to, welding, clamping or screwing. The first connecting member 31 is sleeved on the first rotating shaft 21. The first connecting member 31 rotates relative to the first rotating shaft 21 to generate friction resistance. The first connecting member 31 includes a first contact surface 3101 facing the first rotating shaft 21. The first rotating shaft 21 includes a second contact surface 3102 facing the first connecting member 31. At least one of the first contact surface 3101 and the second contact surface 3102 is a rough surface. The first contact surface 3101 and the second contact surface 3102 are in close contact to generate the above-mentioned friction resistance.

[0062] Optionally, the first contact surface 3101 of the first connecting member 31 is a rough surface; optionally, the second contact surface 3102 of the first rotating shaft 21 is a rough surface; optionally, the first contact surface 3101 of the first connecting member 31 and the second contact surface 3102 of the first rotating shaft 21 are both rough surfaces.

[0063] In this embodiment, the first connecting member 31 is a hollow cylinder having a cylinder cavity. The first rotating shaft 21 is rotatably arranged in the cylinder cavity of the first connecting member 31. It should be understood that the first contact surface 3101 of the first connecting member 31 is the inner surface of the cylinder cavity, and the second contact surface 3102 of the first rotating shaft 21 is the outer peripheral surface of the first rotating shaft 21.

[0064] The force balancing assembly 30 further includes a damping member 301, which is disposed between the first connecting member 31 and the first rotating shaft 21, and is used to increase the above-mentioned friction resistance. The damping member 301 is closely attached to the first contact surface 3101 of the first connecting member 31 and the second contact surface 3102 of the first rotating shaft 21 to increase the friction coefficient between the first contact surface 3101 and the second contact surface 3102. The damping member 301 can be made of, but not limited to, a material with a large friction coefficient such as rubber, fiber, and resin.

[0065] See also Figure 6 The force balancing assembly 30 further includes a second connecting member 32, which is fixedly connected to the support arm 20. The second connecting member 32 may be fixedly connected to the support arm 20 by, but not limited to, welding, clamping or screwing. The first connecting member 31 and the second connecting member 32 abut against each other to generate friction resistance. The first connecting member 31 further includes a third contact surface 3103 facing the second connecting member 32, and the second connecting member 32 includes a fourth contact surface 3203 facing the first connecting member 31. At least one of the third contact surface 3103 and the fourth contact surface 3203 is a rough surface. The third contact surface 3103 and the fourth contact surface 3203 are in close contact to generate the above-mentioned friction resistance.

[0066] Optionally, the third contact surface 3103 of the first connecting member 31 is a rough surface; optionally, the fourth contact surface 3203 of the second connecting member 32 is a rough surface; optionally, the third contact surface 3103 of the first connecting member 31 and the fourth contact surface 3203 of the second connecting member 32 are both rough surfaces.

[0067] In this embodiment, the second connecting member 32 and the second connecting member 32 are respectively sleeved on the first rotating shaft 21, the second connecting member 32 is a hollow cylinder, the second connecting member 32 has a cylinder cavity, the cylinder cavity of the first connecting member 31 and the cylinder cavity of the second connecting member 32 are opposite, and the first rotating shaft 21 can be rotatably passed through the cylinder cavity of the first connecting member 31 and the cylinder cavity of the second connecting member 32.

[0068] A damping member 301 is provided between the first connecting member 31 and the first rotating shaft 21 and between the first connecting member 31 and the second connecting member 32, that is, the damping member 301 is tightly fitted to the contact surfaces between the first connecting member 31 and the second connecting member 32 and the first rotating shaft 21; the damping member 301 is tightly fitted to the third contact surface 3103 of the first connecting member 31 and the fourth contact surface 3203 of the second connecting member 32; the damping member 301 is tightly fitted to both the contact surfaces between the first connecting member 31 and the second connecting member 32 and the first rotating shaft 21 and the third contact surface 3103 of the first connecting member 31 and the fourth contact surface 3203 of the second connecting member 32.

[0069] Optionally, the damping member 301 includes a first damping portion 3012 and a second damping portion 3014, wherein the first damping portion 3012 is located between the first rotating shaft 21 and the first connecting member 31 and the second connecting member 32, and the second damping portion 3014 is located between the first connecting member 31 and the second connecting member 32. The first damping portion 3012 and the second damping portion 3014 may be an integral structure, or they may be two independent components.

[0070] See also Figure 7 One of the first connecting member 31 and the second connecting member 32 is provided with a step surface 311 along the axial direction of the first rotating shaft 21, and the other of the first connecting member 31 and the second connecting member 32 is provided with a connecting groove 321 along the axial direction of the first rotating shaft 21, and the step surface 311 and the inner surface of the connecting groove 321 abut against each other.

[0071] In one embodiment, the first connecting member 31 is provided with a step surface 311 along the axial direction of the first rotating shaft 21, and the second connecting member 32 is provided with a connecting groove 321 along the axial direction of the first rotating shaft 21, and the step surface 311 and the inner surface of the connecting groove 321 abut against each other. In another embodiment, the first connecting member 31 is provided with a connecting groove 321 along the axial direction of the first rotating shaft 21, and the second connecting member 32 is provided with a step surface 311 along the axial direction of the first rotating shaft 21, and the step surface 311 and the inner surface of the connecting groove 321 abut against each other. When the first connecting member 31 rotates relative to the second connecting member 32 around the first rotating shaft 21, there is friction resistance between the step surface 311 and the inner surface of the connecting groove 321.

[0072] By providing the step surface 311 and the connection groove 321, the shape of the contact surface between the first connection member 31 and the second connection member 32 can be changed, thereby increasing the contact area between the first connection member 31 and the second connection member 32 to increase the friction resistance. Optionally, the step surface 311 is a rough surface; optionally, the inner surface of the connection groove 321 is a rough surface; optionally, the step surface 311 and the inner surface of the connection groove 321 are both rough surfaces.

[0073] In one embodiment, a damping member 301 may be further provided between the step surface 311 and the inner surface of the connecting groove 321. The damping member 301 is in close contact with the step surface 311 and the inner surface of the connecting groove 321, respectively, that is, the damping member 301 is clamped between the step surface 311 and the inner surface of the connecting groove 321. The damping member 301 is used to further increase the friction resistance between the first connecting member 31 and the second connecting member 32.

[0074] See also Figure 3 and Figure 8The force balancing assembly 30 further includes an elastic member 303 for increasing the resistance torque, the elastic member 303 is connected to the first connecting member 31 and the second connecting member 32, and the elastic member 303 pushes the first connecting member 31 and the second connecting member 32 through elastic deformation. Specifically, the first connecting member 31 further includes a first connecting portion 313, and the first connecting portion 313 is fixedly connected to the outer surface of the first connecting member 31, and the second connecting member 32 further includes a second connecting portion 323, and the second connecting portion 323 is fixedly connected to the outer surface of the second connecting member 32, and the elastic member 303 is clamped between the first connecting portion 313 and the second connecting portion 323, and the elastic member 303 has an elastic force that pushes the first connecting portion 313 and the second connecting portion 323 through elastic deformation, and the elastic force can hinder the relative rotation of the first connecting portion 313 and the second connecting portion 323 around the axis 211 of the first rotating shaft 21, thereby keeping the first connecting member 31 and the second connecting member 32 from rotating relative to each other.

[0075] See also Figure 3 and Figure 4 As shown, in the connection relationship between the first rotating shaft 21 and the supporting arm 20, the first rotating shaft 21 includes a first positioning shaft 210 and a first limiting shaft 213 fixedly connected to one end of the first positioning shaft 210, the first positioning shaft 210 and the first limiting shaft 213 are coaxial, and the end of the supporting arm 20 facing the base 10 is provided with a receiving groove 202 along the direction of the axis 211 of the first rotating shaft 21, and the first positioning shaft 210 is received in the receiving groove 202. The bottom surface of the receiving groove 202 is provided with a first screw hole (not shown in the figure) along the direction of the axis 211 of the first rotating shaft 21, and the first positioning shaft 210 is provided with a first fastening hole 2102 along the direction of the axis 211 of the first rotating shaft 21, the first screw hole and the first fastening hole 2102 are directly opposite, and the first fastener 215 passes through the first fastening hole 2102 and is threadedly connected to the first screw hole, so that the first rotating shaft 21 is fixedly connected to the supporting arm 20. In other embodiments, the first rotating shaft 21 may be fixedly connected to the supporting arm 20 by, but not limited to, welding, clamping, or integral molding.

[0076] In the connection relationship between the first connecting member 31 of the force balancing assembly 30 and the base 10, the base 10 includes a base host 11 and a first connecting plate 12 connected to the base host 11, and the first connecting member 31 is fixedly connected to the base host 11 through the first connecting plate 12. Specifically, the base host 11 is provided with a second screw hole 110 in a direction parallel to the axis 211 of the first rotating shaft 21, and the first connecting plate 12 is provided with a second fastening hole 120 in a direction parallel to the axis 211 of the first rotating shaft 21, and the second screw hole 110 and the second fastening hole 120 are directly opposite, and the second fastener (not shown in the figure) passes through the second fastening hole 120 and is threadedly connected to the second screw hole 110, so that the first connecting plate 12 is fixedly connected to the base host 11. In other embodiments, the first connecting plate 12 can be fixedly connected to the base host 11 by, but not limited to, welding, clamping or integral molding. The first connecting member 31 is provided with a second screw hole 312 along a direction parallel to the axis 211 of the first rotating shaft 21, and the first connecting plate 12 is provided with a second fastening hole 122 along a direction parallel to the axis 211 of the first rotating shaft 21, the second screw hole 312 and the second fastening hole 122 are directly opposite, and a second fastener (not shown in the figure) passes through the second fastening hole 122 and is threadedly connected to the second screw hole 312, so that the first connecting member 31 is fixedly connected to the first connecting plate 12. In other embodiments, the first connecting member 31 can be fixedly connected to the first connecting plate 12 by, but not limited to, welding, clamping, or integral molding.

[0077] In the connection relationship between the second connecting member 32 of the force balancing assembly 30 and the support arm 20, the support arm 20 has a third screw hole 204 on the end surface facing the second connecting member 32 in a direction parallel to the axis 211 of the first rotating shaft 21, and the second connecting member 32 has a third fastening hole 322 in a direction parallel to the axis 211 of the first rotating shaft 21, the third screw hole 204 and the third fastening hole 322 are directly opposite, and a third fastener (not shown in the figure) passes through the third fastening hole 322 and is threadedly connected to the third screw hole 204, so that the second connecting member 32 is fixedly connected to the support arm 20. The second connecting member 32 can be fixedly connected to the support arm 20 by, but not limited to, welding, clamping, or integral molding.

[0078] In other embodiments, the end of the second connecting member 32 facing the support arm 20 further includes a bearing cylinder 324, the center line of the bearing cylinder 324 coincides with the axis 211 of the first limiting shaft 213, and the bearing cylinder 324 is used to be movably sleeved on the first limiting shaft 213. The first rotating shaft 21 is also sleeved with a bearing 2101, and the bearing 2101 is used to support the first rotating shaft 21, so as to reduce the mechanical load friction coefficient of the first rotating shaft 21 during the transmission process.

[0079] See also Fig. 9 and Fig.10In one embodiment, the force balancing assembly 30 further includes a pneumatic damping member 34, which includes a cylinder 341, a piston rod 343 passing through the cylinder 341, and a transmission member 345, wherein the first rotating shaft 21 is fixedly connected to the first position of the transmission member 345; one of the cylinder 341 and the piston rod 343 is hinged to the operating end 101, and the other of the cylinder 341 and the piston rod 343 is hinged to the second position of the transmission member 345. Obviously, the first position and the second position are two different positions on the transmission member 345. The pneumatic damping member 34 can be, but is not limited to, a free-style gas spring, a self-locking gas spring, a traction gas spring, a random stop gas spring, a swivel chair gas spring, a gas pressure rod, and the like.

[0080] In one embodiment, the transmission member 345 may be rod-shaped. Fig.10 As shown, the transmission member 345 can be disc-shaped. For the disc-shaped transmission member 345, its center is fixedly connected to the first rotating shaft 21, and one of the cylinder body 341 and the piston rod 343 is hinged to another position of the transmission member 345 eccentric to the center.

[0081] In one embodiment, the cylinder body 341 is hinged to the operating end 101, one end of the piston rod 343 is hinged to the second position of the transmission member 345, the other end of the piston rod 343 is passed through the cylinder body 341, and the first rotating shaft 21 is fixedly connected to the first position of the transmission member 345. When the user needs to adjust the pitch angle of the operating end 101, at least part of the piston rod 343 enters or withdraws from the cylinder body 341, thereby generating resistance that hinders the rotation of the operating end 101 relative to the first rotating shaft 21, thereby keeping the operating end 101 and the transmission member 345 from rotating relative to each other, that is, the operating end 101 can remain stable.

[0082] The operating end 101 is provided with a first connecting hole along the axial direction of the first rotating shaft 21, and the transmission member 345 is provided with a second connecting hole along the axial direction of the first rotating shaft 21. The first connecting hole and the second connecting hole are opposite to each other, and the center line of the second connecting hole coincides with the center line of the transmission member 345. The first rotating shaft 21 is passed through the first connecting hole and the second connecting hole, and is fixedly connected to the first connecting hole and the second connecting hole. The transmission member 345 is circumferentially abutted against the operating end 101 and the first rotating shaft 21, so that the transmission member 345, the operating end 101 and the first rotating shaft 21 rotate together.

[0083] It should be understood that the first position of the transmission member 345 refers to the central position of the transmission member 345 , and the second position of the transmission member 345 refers to the eccentric position of the transmission member 345 .

[0084] In another embodiment, the cylinder body 341 is hinged to the second position of the transmission member 345, one end of the piston rod 343 is hinged to the operating end 101, and the other end of the piston rod 343 is passed through the cylinder body 341, and at least part of the piston rod 343 can enter or withdraw from the cylinder body 341, thereby generating resistance to hinder the rotation of the operating end 101 relative to the first rotating shaft 21.

[0085] Please also read Figure 3 , Figure 4 and Fig. 9 In the connection relationship between the pneumatic damping member 34 and the first rotating shaft 21, the first limiting shaft 213 of the first rotating shaft 21 is a variable diameter structure, the first limiting shaft 213 includes a first transmission part 2131 and a second limiting part 2133, the first transmission part 2131 and the second limiting part 2133 are coaxially arranged, the first transmission part 2131 is fixedly connected to the first positioning shaft 210, and the second limiting part 2133 is fixedly connected to the second connecting hole of the transmission member 345. The first transmission part 2131 is a cylindrical structure with equal diameter, the radial cross-section of the second limiting part 2133 is a non-circular long strip structure, and the second connecting hole of the transmission member 345 is a non-circular hole. When the second limiting part 2133 is penetrated into the second connecting hole of the transmission member 345, the second limiting part 2133 and the inner surface of the second connecting hole are abutted and matched in the circumferential direction, which can increase the resistance between the second limiting part 2133 and the inner surface of the second connecting hole, and the resistance is used to drive the transmission member 345 and the first rotating shaft 21 to rotate together. The second connecting hole can be but is not limited to a non-circular hole such as a rectangle, an ellipse, or a star shape. The radial cross section of the second limiting portion 2133 corresponds to the second connecting hole, so the radial cross section of the second limiting portion 2133 can also be but is not limited to a non-circular cross section such as a rectangle, an ellipse, or a star shape.

[0086] The first connecting hole of the operating end 101 and the second connecting hole of the transmission member 345 are directly opposite to each other, and the second limiting portion 2133 and the inner surface of the first connecting hole of the operating end 101 abut against each other in the circumferential direction, which can increase the resistance between the second limiting portion 2133 and the inner surface of the first connecting hole of the operating end 101, and the resistance is used to drive the operating end 101 and the first rotating shaft 21 to rotate together.

[0087] See also Figure 1 , Figure 3 and Figure 4In the connection relationship between the operating end 101 and the base 10, the base 10 further includes a second connecting plate 14 connected to the base host 11, the second connecting plate 14 is provided with a fourth fastening hole 142 along a direction parallel to the axis 211 of the first rotating shaft 21, the base host 11 is provided with a fourth screw hole 113 along a direction parallel to the axis 211 of the first rotating shaft 21, the fourth fastening hole 142 and the fourth screw hole 113 are directly opposite, and a fourth fastener (not shown in the figure) passes through the fourth fastening hole 142 and is threadedly connected to the fourth screw hole 113, so that the second connecting plate 14 is fixedly connected to the base host 11. The second connecting plate 14 can be fixedly connected to the base host 11 by, but not limited to, welding, clamping or integral molding. A fifth screw hole (not shown in the figure) is provided on one side of the operating end 101 facing the base 10 in a direction parallel to the axis 211 of the first rotating shaft 21, and a fifth fastening hole 144 is provided on the second connecting plate 14 in a direction parallel to the axis 211 of the first rotating shaft 21. The fifth screw hole and the fifth fastening hole 144 are symmetrical, and a fifth fastener (not shown in the figure) passes through the fifth fastening hole 144 and is threadedly connected to the fifth screw hole, so that the operating end 101 is fixedly connected to the base host 11.

[0088] See also Figures 2 to 12 The robotic arm 100 also includes a first locking assembly 40, which is connected to the base 10 and the first rotating shaft 21, and includes a locked state and an unlocked state; when the first locking assembly 40 is in the locked state, the first locking assembly 40 locks the base 10 and the first rotating shaft 21; when the first locking assembly 40 is in the unlocked state, the base 10 can rotate relative to the first rotating shaft 21.

[0089] In one embodiment, Figure 2 and Fig.11 As shown, the first locking assembly 40 includes a first locking member 41 and a second locking member 42, the first locking member 41 is fixedly connected to the base 10, the first end 410 of the first locking member 41 is hinged to the first end 420 of the second locking member 42, the second end 412 of the first locking member 41 and the second end 422 of the second locking member 42 are close to each other so that the first rotating shaft 21 can be clamped between the first locking member 41 and the second locking member 42; in the locked state, the second end 412 of the first locking member 41 and the second end 422 of the second locking member 42 are locked and the first locking member 41 and the second locking member 42 clamp the first rotating shaft 21, and in the unlocked state, the second end 412 of the first locking member 41 and the second end 422 of the second locking member 42 are unlocked.

[0090] The first locking assembly 40 further includes a locking bolt 401. In a locked state, the locking bolt 401 threadably locks the first locking member 41 and the second locking member 42. In an unlocked state, the locking bolt 401 releases the locking of the first locking member 41 and the second locking member 42. The locking bolt 401 includes a screw rod 4011 and a knob 4013 fixedly connected to the screw rod 4011. The first locking member 41 is provided with a first through hole 411 along the axis direction perpendicular to the first rotating shaft 21. The second locking member 42 is provided with a first threaded hole 421 along the axis direction perpendicular to the first rotating shaft 21. The first through hole 411 and the first threaded hole 421 are directly opposite. The screw rod 4011 passes through the first through hole 411 and is threadably connected to the first threaded hole 421. The knob 4013 is used to control the degree of locking of the first locking member 41 and the second locking member 42 on the first rotating shaft 21. When the knob 4013 is rotated to gradually approach the first locking member 41, the first locking member 41 and the second locking member 42 gradually clamp the first rotating shaft 21; when the knob 4013 presses against the first locking member 41, the first locking member 41 and the second locking member 42 clamp the first rotating shaft 21, that is, the first rotating shaft 21 and the first locking member 41 and the second locking member 42 are kept from rotating relative to each other; when the knob 4013 is rotated to gradually move away from the first locking member 41, the first locking member 41 and the second locking member 42 gradually unlock the first rotating shaft 21.

[0091] The first locking member 41 is further provided with a locking groove 413, which is used to accommodate at least part of the knob 4013, and the locking groove 413 has an abutting surface 414. When the knob 4013 abuts against the abutting surface 414 of the locking groove 413, the first locking member 41 and the second locking member 42 clamp the first rotating shaft 21. In other embodiments, the first locking member 41 is provided with a first threaded hole 421 along the axis direction perpendicular to the first rotating shaft 21, and the second locking member 42 is provided with a first through hole 411 along the axis direction perpendicular to the first rotating shaft 21. The first through hole 411 and the first threaded hole 421 are directly opposite, and the screw 4011 passes through the first through hole 411 and is threadedly connected to the first threaded hole 421. The second locking member 42 is further provided with a locking groove 413, which is used to accommodate at least part of the knob 4013.

[0092] In one embodiment, Figure 2 and Fig.12 As shown, the difference between this embodiment and the above embodiment is that the first locking member 41 and the second locking member 42 lock the first rotating shaft 21 by magnetic adsorption clamping. The first locking assembly 40 also includes a magnet 402 and a magnetic member 404, one of which is arranged on the first locking member 41, and the other of which is arranged on the second locking member 42, and the magnet 402 and the magnetic member 404 are mutually adsorbed to lock the first locking member 41 and the second locking member 42.

[0093] Optionally, the magnet 402 is arranged at the second end 411 of the first locking member 41, and the magnetic attraction member 404 is arranged at the second end 421 of the second locking member 42. The magnet 402 and the magnetic attraction member 404 can adsorb each other to the second end 411 of the first locking member 41 and the second end 421 close to the second locking member 42, thereby locking the first rotating shaft 21; the magnet 402 and the magnetic attraction member 404 can release the adsorption to make the second end 411 of the first locking member 41 and the second end 421 away from the second locking member 42, thereby unlocking the first rotating shaft 21.

[0094] Optionally, the magnetic member 404 is arranged at the second end 411 of the first locking member 41, and the magnet 402 is arranged at the second end 421 of the second locking member 42. The magnet 402 and the magnetic member 404 can adsorb each other to the second end 411 of the first locking member 41 and the second end 421 close to the second locking member 42, thereby locking the first rotating shaft 21; the magnet 402 and the magnetic member 404 can release the adsorption to make the second end 411 of the first locking member 41 and the second end 421 away from the second locking member 42, thereby unlocking the first rotating shaft 21.

[0095] It should be understood that magnet 402 is an object that has the ability to attract substances such as iron, cobalt, nickel, and magnets. Magnet 402 can be either a permanent magnet or a soft magnet. A permanent magnet refers to an object that can maintain magnetism for a long time, and a soft magnet refers to a substance that can be used as an electromagnet. Magnetic attractor 404 refers to an object that can be attracted by magnet 402. Magnetic attractor 404 can be either magnet 402 or a substance such as iron, cobalt, and nickel.

[0096] In one embodiment, Figure 3 and Figure 4 As shown, the first locking assembly 40 includes a first electromagnetic brake 44 and a first brake valve core 45. The first electromagnetic brake 44 is installed on the base 10. The first brake valve core 45 is penetrated by the first rotating shaft 21. The first brake valve core 45 and the first rotating shaft 21 are abutted and connected in the circumferential direction. The first electromagnetic brake 44 is used to lock the circumferential rotation of the first brake valve core 45.

[0097] In the connection relationship between the first electromagnetic brake 44 and the base 10, the base 10 further includes a third connecting plate 16 connected to the base body 11. In this embodiment, the side wall of the third connecting plate 16 is provided with a first screw hole 161 in a direction perpendicular to the axis 211 of the first rotating shaft 21, and the base body 11 is provided with a first positioning hole 111 in a direction perpendicular to the axis 211 of the first rotating shaft 21. The first screw hole 161 and the first positioning hole 111 are directly opposite, and a first locking member (not shown in the figure) passes through the first positioning hole 111 and is threadedly connected to the first screw hole 161, so that the third connecting plate 16 is fixedly connected to the base body 11. In other embodiments, the third connecting plate 16 can be fixedly connected to the base body 11 by, but not limited to, welding, clamping, or integral molding.

[0098] The first electromagnetic brake 44 is provided with a second positioning hole 443 along the direction of the axis 211 of the first rotating shaft 21, and the third connecting plate 16 is provided with a second screw hole 163 along the direction of the axis 211 of the first rotating shaft 21. The second positioning hole 443 and the second screw hole 163 are opposite to each other, and the second fastener (not shown in the figure) passes through the second positioning hole 443, and the second fastener is threadedly connected to the second screw hole 163, so that the first electromagnetic brake 44 is fixedly connected to the third connecting plate 16.

[0099] In the connection relationship between the first brake valve core 45 and the first rotating shaft 21, the first brake valve core 45 is provided with a first through hole 452 along the direction of the axis 211 of the first rotating shaft 21. The first through hole 452 of the first brake valve core 45 is a non-circular hole. When the second limiter 2133 is inserted into the first through hole 452, the second limiter 2133 and the inner surface of the first through hole 452 are matched against each other in the circumferential direction, which can increase the resistance between the second limiter 2133 and the inner surface of the first through hole 452. The resistance is used to drive the first brake valve core 45 and the first rotating shaft 21 to rotate together. The radial cross-sections of the first through hole 452 and the second limiter 2133 correspond to each other, so the first through hole 452 can be, but not limited to, a non-circular hole such as a rectangle, an ellipse, or a star shape.

[0100] The first electromagnetic brake 44 is provided with a receiving groove 445 along the axis 211 direction of the first rotating shaft 21, and the receiving groove 445 is used to receive at least part of the first brake valve core 45. When at least part of the first brake valve core 45 is received in the receiving groove 445, the first brake valve core 45 and the inner surface of the receiving groove 445 abut against each other in the circumferential direction to increase the resistance between the second limiting portion 2133 and the inner surface of the first through hole 452, and the resistance can keep the first brake valve core 45 and the first electromagnetic brake 44 from rotating relative to each other.

[0101] When the first electromagnetic brake 44 is not energized, which includes planned power outages, temporary power outages, equipment short circuits and tripping, at least part of the first brake valve core 45 is accommodated in the receiving groove 445 of the first electromagnetic brake 44, and the first brake valve core 45 and the inner surface of the receiving groove 445 are abutted in the circumferential direction, that is, the first brake valve core 45 is locked by the first electromagnetic brake 44, and the second limit portion 2133 of the first rotating shaft 21 and the inner surface of the first through hole 452 of the first brake valve core 45 are abutted in the circumferential direction, that is, the first rotating shaft 21 is locked by the first brake valve core 45, so the first rotating shaft 21 cannot rotate relative to the base 10.

[0102] When the first electromagnetic brake 44 is powered on, which includes the generator being put into use, equipment maintenance being completed, power supply being restored, etc., the first brake valve core 45 is evacuated from the receiving groove 445 of the first electromagnetic brake 44, and the first electromagnetic brake 44 releases the lock on the first brake valve core 45, so that the first rotating shaft 21 can rotate relative to the base 10.

[0103] In one embodiment, see Fig.13 The first locking assembly 40 further includes a force amplifying assembly 46 and a connecting shaft 47. The force input end of the force amplifying assembly 46 is fixedly connected to the connecting shaft 47. The connecting shaft 47 is inserted through the first brake valve core 45. The connecting shaft 47 and the first brake valve core 45 are abutted in the circumferential direction. The force output end of the force amplifying assembly 46 is abutted in the circumferential direction. The force amplifying assembly 46 can amplify the braking force of the first electromagnetic brake 44 on the first brake valve core 45. Therefore, the first electromagnetic brake 44 only needs to apply a relatively small braking force to the first brake valve core 45 to generate a large locking force on the first rotating shaft 21.

[0104] See also Fig.14 and Fig.15 The force amplification component 46 of the embodiment of the present application is a planetary reducer 460. The planetary reducer 460 includes a central gear 461, a plurality of planetary gears 462, a ring gear 463 and a connecting frame 464. The ring gear 463 is fixedly connected to the base 10. Each planetary gear 462 is located between the ring gear 463 and the central gear 461. The planetary gears 462 are meshed with the ring gear 463 and the central gear 461. The connecting frame 464 is fixedly connected to the plurality of planetary gears 462. The central gear 461 is the force input end of the planetary reducer 460, and the connecting frame 464 is the force output end of the planetary reducer 460.

[0105] In this embodiment, the connecting shaft 47 includes a second positioning shaft 471 and a second limiting shaft 473 fixedly connected to the second positioning shaft 471. The second positioning shaft 471 and the second limiting shaft 473 are coaxially arranged. The second positioning shaft 471 is fixedly connected to the center gear 461. The second limiting shaft 473 passes through the first through hole 452 of the first brake valve core 45. The second limiting portion 2133 and the inner surface of the first through hole 452 abut against the second limiting shaft 473 in the circumferential direction, which can increase the resistance between the second limiting shaft 473 and the inner surface of the first through hole 452. The resistance is used to drive the first brake valve core 45 and the connecting shaft 47 to rotate together.

[0106] The center gear 461 and the planetary gears 462 are cylindrical gears. More specifically, the center gear 461 and the planetary gears 462 can be, but are not limited to, spur gears, helical gears, herringbone gears, etc. As long as the axes used to transmit power to adjacent gears are parallel to each other and the two adjacent gears are meshed with each other, power and rotational speed can be transmitted.

[0107] The connecting frame 464 includes a connecting frame body 4641, a plurality of connecting columns 4643 connected to the connecting frame body 4641, and a connecting tube 4645 of the connecting frame body 4641. The connecting tube 4645 and the plurality of connecting columns 4643 are respectively located on both sides of the connecting frame body 4641, wherein each connecting column 4643 is respectively penetrated through a through hole 4621 of each planetary gear 462, and the planetary gear 462 drives the connecting frame 464 to rotate by driving the connecting column 4643 to rotate.

[0108] The first limiting shaft 213 is passed through the connecting tube 4645, and the first limiting shaft 213 and the connecting tube 4645 are abutted against each other in the circumferential direction through the first clamping groove 4646 and the first clamping portion 2130, so that the first rotating shaft 21 and the connecting frame 464 rotate together. In one embodiment, the outer surface of the first limiting shaft 213 is provided with a first clamping portion 2130, and the inner wall of the connecting tube 4645 is provided with a first clamping groove 4646. When the first clamping portion 2130 is located in the first clamping groove 4646, the first clamping portion 2130 and the first clamping groove 4646 abut against each other, so that the first rotating shaft 21 and the connecting frame 464 rotate together. In other embodiments, a first clamping groove 4646 is provided on the outer surface of the first limiting shaft 213, and a first clamping portion 2130 is provided on the inner wall of the connecting tube 4645. When the first clamping portion 2130 is located in the first clamping groove 4646, the first clamping portion 2130 and the first clamping groove 4646 abut against each other, so that the first rotating shaft 21 and the connecting frame 464 rotate together.

[0109] The braking force applied by the first electromagnetic brake 44 to the first brake valve core 45 is transmitted to the central gear 461 through the connecting shaft 47, and the ring gear 463 is fixedly connected to the base 10, so the central gear 461 drives the plurality of planetary gears 462 to rotate around the center line of the central gear 461, and the plurality of planetary gears 462 revolve around the central gear 461, and the plurality of planetary gears 462 drive the connecting frame 464 to rotate, and the connecting frame 464 drives the first rotating shaft 21 to rotate. It should be understood that the rotation speed of the connecting shaft 47 should be much greater than the rotation speed of the first rotating shaft 21, so as to produce a greater locking force effect on the first rotating shaft 21.

[0110] When the first electromagnetic brake 44 is not energized, the first brake valve core 45 is locked by the first electromagnetic brake 44, and the connecting shaft 47 is locked, that is, the connecting shaft 47 does not rotate, thereby preventing the central gear 461 and the planetary gears 462 from rotating, and finally preventing the first rotating shaft 21 circumferentially fixedly connected to the connecting frame 464 from rotating, thereby preventing the base 10 and the support arm 20 from rotating relative to each other; when the first electromagnetic brake 44 is energized, the first brake valve core 45 is not locked by the first electromagnetic brake 44, and the connecting shaft 47 can rotate relative to the first electromagnetic brake 44, thereby preventing the central gear 461 and the planetary gears 462 from rotating, and finally preventing the first rotating shaft 21 circumferentially fixedly connected to the connecting frame 464 from rotating, thereby achieving the adjustment of the operating end 101 (such as Figure 1 The pitch angle is shown in Figure 1.

[0111] See also Fig.16, the difference between this embodiment and the above-mentioned embodiment is that the force amplification component 46 of the embodiment of the present application is a harmonic reducer 465. The harmonic reducer 465 includes a wave generator 466, a flexible spline 467 and a steel wheel 468. The radial cross section of the wave generator 466 is elliptical. The inner wall of the flexible spline 467 is provided with a plurality of first teeth (not shown in the figure), and the inner wall of the steel wheel 468 is provided with a plurality of second teeth (not shown in the figure). The wave generator 466 is inserted into the flexible spline 467, and the flexible spline 467 is inserted into the steel wheel 468. The steel wheel 468 is fixedly connected to the base 10. The wave generator 466 can push against the flexible spline 467 so that part of the first teeth (not shown in the figure) of the flexible spline 467 is meshed with part of the second teeth (not shown in the figure) of the steel wheel 468; wherein the wave generator 466 is the force input end of the force amplification component 46, and the flexible spline 467 is the force output end of the force amplification component 46. The number of the first teeth is less than the number of the second teeth. The harmonic reducer 465 also includes a connecting block 469, through which the flexible wheel 467 is fixedly connected to the first rotating shaft 21, the braking force applied by the first electromagnetic brake 44 to the first brake valve core 45 is transmitted to the wave generator 466 through the connecting shaft 47, the steel wheel 468 is fixedly connected to the base 10, and the wave generator 466 can push against the flexible wheel 467 so that part of the first teeth of the flexible wheel 467 meshes with part of the second teeth of the steel wheel 468 to drive the flexible wheel 467 to rotate, and the flexible wheel 467 drives the connecting block 469 to rotate, and then the connecting block 469 drives the first rotating shaft 21 to rotate. It should be understood that the rotation speed of the connecting shaft 47 should be much greater than the rotation speed of the first rotating shaft 21, so as to produce a larger locking force effect on the first rotating shaft 21.

[0112] When the first electromagnetic brake 44 is not energized, the first brake valve core 45 is locked by the first electromagnetic brake 44, and the connecting shaft 47 is locked, that is, the connecting shaft 47 does not rotate, thereby preventing the wave generator 466 and the flexible wheel 467 from rotating, and finally preventing the first rotating shaft 21 circumferentially fixedly connected to the connecting block 469 from rotating, thereby preventing the base 10 and the support arm 20 from rotating relative to each other; when the first electromagnetic brake 44 is energized, the first brake valve core 45 is not locked by the first electromagnetic brake 44, and the connecting shaft 47 can rotate relative to the first electromagnetic brake 44, thereby preventing the wave generator 466 and the flexible wheel 467 from rotating, and finally preventing the first rotating shaft 21 circumferentially fixedly connected to the connecting block 469 from rotating, thereby preventing the adjustment operation end 101 (such as Figure 1 The pitch angle is shown in Figure 1.

[0113] See also Fig.17 and Fig.18 The robotic arm 100 also includes a base 50 and an adjustment mechanism 60 , one end of the adjustment mechanism 60 is connected to the base 50 , and the other end of the adjustment mechanism 60 is connected to the support arm 20 , and the adjustment mechanism 60 is used to adjust the distance between the support arm 20 and the base 50 .

[0114] The adjustment mechanism 60 includes a support shell 62 and a push rod 63. One of the support shell 62 and the base 50 includes a guide slide 621, and the other of the support shell 62 and the base 50 includes a slide rail 541. The support shell 62 and the base 50 are connected in a sliding manner through the cooperation of the guide slide 621 and the slide rail 541. The push rod 63 can push against the support shell 62 along the length direction of the support shell 62, so that the support shell 62 moves along the length direction of the support shell 62. The cooperation and sliding of the slide rail 541 and the guide slide 621 can ensure that the support shell 62 only moves along the length direction of the support shell 62, thereby overcoming the bending moment generated by one end of the support shell 62 connected to the support arm 20. In one embodiment, the support shell 62 includes the guide slide 621, the base 50 includes the slide rail 541, and the support shell 62 and the base 50 are connected in a sliding manner through the cooperation of the guide slide 621 and the slide rail 541, so that the push rod 63 can push against the support shell 62 and move along the length direction of the support shell 62. In other embodiments, the base 50 includes a guide slide 621, the support shell 62 includes a slide rail 541, and the support shell 62 and the base 50 are slidably connected through the cooperation of the guide slide 621 and the slide rail 541, so that the push rod 63 can push against the support shell 62 and move along the length direction of the support shell 62.

[0115] It should be understood that the length direction of the support shell 62 can refer to the direction perpendicular to the axis 211 of the first rotating shaft 21, and the length direction of the support shell 62 can also refer to the lifting direction of the support shell 62; when the patient lies flat on the operating bed, the length direction of the support shell 62 can also refer to the direction perpendicular to the operating bed surface.

[0116] The base 50 includes a support plate 52, a positioning plate 53 and an adjustment plate 54 connected between the support plate 52 and the positioning plate 53, wherein the adjustment plate 54 is provided with a guide slide 621 or a slide rail 541 on the side facing the support shell 62; the support shell 62 can be movably penetrated through the positioning plate 53, and the positioning plate 53 is provided with a accommodating groove 531 along the length direction of the support shell 62, and the radial dimension of the accommodating groove 531 is basically consistent with the dimension of the radial cross-section of the support shell 62, and the outer surface of the support shell 62 can fit the inner wall of the accommodating groove 531 and move along the length direction of the support shell 62.

[0117] A positioning block 622 is fixedly connected to the inner wall of the support shell 62, and the push rod 63 is fixedly connected to the support shell 62 through the positioning block 622. Specifically, the push rod 63 includes an adjusting rod 632 and a fixing rod 633. One end of the adjusting rod 632 can be movably arranged on the fixing rod 633 along the length direction of the support shell 62, and the other end of the adjusting rod 632 is fixedly connected to the positioning block 622 of the support shell 62. The adjusting rod 632 can be fixedly connected to the positioning block 622 by but not limited to welding, clamping or screwing.

[0118] One end of the fixed rod 633 is provided with a receiving hole 6331 along the length direction of the support shell 62, and at least a part of the adjusting rod 632 is received in the receiving hole 6331. The other end of the fixed rod 633 is fixedly connected to the support plate 52. The fixed rod 633 can be fixedly connected to the support plate 52 by, but not limited to, welding, clamping or screwing. When the adjusting rod 632 is gradually received in the receiving hole 6331 of the fixed rod 633, the distance between the support arm 20 and the base 50 is gradually reduced; when the adjusting rod 632 is gradually withdrawn from the receiving hole 6331 of the fixed rod 633, the distance between the support arm 20 and the base 50 is gradually increased, thereby realizing the degree of freedom of lifting and lowering of the robot arm 100 in the direction perpendicular to the surface of the operating table (not shown in the figure).

[0119] See also Fig.19 The robot arm 100 further includes a second locking assembly 70, which is used to lock or unlock the support arm 20 and the support housing 62. The second locking assembly 70 includes a second rotating shaft 71, a second brake valve core 72 and a second electromagnetic brake 73; the second electromagnetic brake 73 is used to lock the second brake valve core 72 or unlock the second brake valve core 72.

[0120] A first positioning groove 201 is provided on the side of the support arm 20 away from the support shell 62 along the length direction of the support shell 62, and the first positioning groove 201 is used to accommodate the second electromagnetic brake 73, and the second electromagnetic brake 73 is fixedly connected to the first positioning groove 201. The second electromagnetic brake 73 is provided with a third positioning hole 731 along the length direction of the support shell 62, and the bottom surface of the first positioning groove 201 is provided with a third screw hole 203 along the length direction of the support shell 62, and the third positioning hole 731 and the third screw hole 203 are opposite to each other, and a third locking piece (not shown in the figure) passes through the third positioning hole 731 and is threadedly connected to the third screw hole 203, so that the second electromagnetic brake 73 is fixedly connected to the side of the support arm 20 away from the support shell 62.

[0121] The second rotating shaft 71 includes a fixing portion 711, a rotating portion 713, and an abutting top portion 715. The fixing portion 711 is used to be fixedly connected to the supporting housing 62. The second locking assembly 70 also includes a fixing plate 75, which is fixedly connected to the supporting housing 62. The fixing plate 75 is provided with a positioning groove 752 along the length direction of the supporting housing 62. The positioning groove 752 is used to accommodate the fixing portion 711 of the second brake valve core 72. The fixing portion 711 is provided with a fourth positioning hole 7211 along the length direction of the supporting housing 62. The bottom surface of the positioning groove 752 of the fixing plate 75 is provided with a fourth screw hole (not shown in the figure) along the length direction of the supporting housing 62. The fourth positioning hole 7211 and the fourth screw hole are opposite to each other. The fourth locking piece (not shown in the figure) passes through the fourth screw hole and is threadedly connected to the fourth screw hole, so that the second brake valve core 72 is fixedly connected to the fixing plate 75; in other embodiments, the second brake valve core 72 can be fixedly connected to the fixing plate 75 by, but not limited to, welding, clamping, etc.

[0122] The second brake valve core 72 is provided with a second through hole 722 along the length direction of the support shell 62. The second through hole 722 of the second brake valve core 72 is a non-circular hole. When the abutting top portion 715 of the second rotating shaft 71 is inserted into the second through hole 722, the inner surface of the abutting top portion 715 and the second through hole 722 abut against each other in the circumferential direction, which can increase the resistance between the abutting top portion 715 and the inner surface of the second through hole 722. The resistance is used to drive the first brake second brake valve core 72 and the second rotating shaft 71 to rotate together. The radial cross-sectional dimensions of the second through hole 722 and the abutting top portion 715 are substantially the same. The second through hole 722 can be, but not limited to, a non-circular hole such as a rectangle, an ellipse, a star, etc., and the radial cross-sectional dimensions of the abutting top portion 715 can also be, but not limited to, a non-circular cross-sectional dimension such as a rectangle, an ellipse, a star, etc.

[0123] When the second electromagnetic brake 73 is not energized, the first electromagnetic brake 44 can lock the second brake valve core 72, and the abutting top portion 715 of the second shaft 71 and the inner surface of the second through hole 7223 of the second brake valve core 72 abut against each other in the circumferential direction, that is, the second shaft 71 is locked by the first brake valve core 45, so the second shaft 71 cannot rotate relative to the base 10. When the second electromagnetic brake 73 is energized, the second electromagnetic brake 73 releases the lock on the first brake valve core 45, so the second shaft 71 can rotate relative to the base 10.

[0124] In other embodiments, the second locking assembly 70 further includes a second harmonic reducer 76 , and the second harmonic reducer 76 and the second electromagnetic brake 73 cooperate to lock the rotation of the second rotating shaft 71 .

[0125] See also Fig.17The support arm 20 includes a plurality of branch arms 24, and two adjacent branch arms 24 are rotatably connected to each other. The branch arm 24 at one end of the plurality of branch arms 24 is rotatably connected to the base 10, and the branch arm 24 at the other end of the plurality of branch arms 24 is rotatably connected to the support shell 62 of the robot 100.

[0126] In the connection relationship between two adjacent branch arms 24, the support arm 20 further includes a third locking assembly 80, and the two adjacent branch arms 24 are rotatably connected through the third locking assembly 80, and the rotation axis between each two adjacent branch arms 24 is perpendicular to the axis 211 of the first rotating shaft 21 (such as Figure 1 As shown in FIG. 1 , the third locking assembly 80 is used to lock the relative rotation of two adjacent branch arms 24. The structure of the third locking assembly 80 is similar to that of the second locking assembly 70, and the locking method of the third locking assembly 80 is similar to that of the second locking assembly 70, which will not be described again.

[0127] In this embodiment, the support arm 20 includes three branch arms 24, and the three branch arms 24 can be locked at the same time, or at least one branch arm 24 can be selected to be locked, so as to realize three rotational degrees of freedom of the robot arm 100 in the horizontal direction. In other embodiments, the robot arm 100 can also be provided with one, two, four, or more than four branch arms 24, and the rotational degrees of freedom of the robot arm 100 in the horizontal direction can be reduced or increased according to the use requirements. It should be understood that the horizontal direction of the robot arm 100 refers to the length direction of the vertical support shell 62. When the patient lies flat on the operating table, the horizontal direction of the robot arm 100 can also refer to the direction parallel to the operating table surface.

[0128] See also Figure 1 and Fig. 20 One embodiment of the present invention further provides a surgical robot 200, the surgical robot 200 includes an operating end 101 and a mechanical arm 100, the operating end 101 is fixedly connected to the base 10, the operating end 101 includes a guide wire 1011 and a catheter 1013, the guide wire 1011 can be movably inserted into the catheter 1013, and the mechanical arm 100 is used to control the guide wire 1011 and the catheter 1013 to enter the patient's interventional incision. In this embodiment, the base 50 of the surgical robot 200 is positioned and installed on an operating table (not shown in the figure), and the operating table includes a support surface. It should be understood that when the surgical robot 200 is used to perform surgery on a patient, the patient should lie flat on the support surface of the operating table.

[0129] The adjustment mechanism 60 of the surgical robot 200 is used to adjust the distance between the operating end 101 and the patient's interventional incision along the length direction of the support shell 62, so that the catheter 1013 and the guide wire 1011 can be inserted into the patient's interventional incision.

[0130] The user can apply external force to adjust the pitch angle of the operating end 101 of the surgical robot 200 around the axis 211 of the first rotating shaft 21 and lock the pitch angle. The operating end 101 is adjusted from a horizontal posture to an inclined posture, so that the catheter 1013 and the guide wire 1011 are inclined to extend toward the patient's interventional incision, thereby facilitating the insertion of the patient's interventional incision. The catheter 1013 and the guide wire 1011 are inclined downward to enter the patient's blood vessel from the interventional incision, so that the path of the catheter 1013 and the guide wire 1011 entering the blood vessel is smoother. The surgical robot 200 can also move the operating end 101 in the horizontal direction or along the length direction of the supporting shell 62 through the mechanical arm 100, so that the operating end 101 is closer to the interventional incision of the blood vessel, so that the length of the catheter 1013 and the guide wire 1011 exposed outside the body is shorter, which is not only conducive to controlling the movement of the catheter 1013 and the guide wire 1011, but also conducive to preventing contamination of the guide wire 1011.

[0131] 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, characterized in that: The robotic arm comprises: Pedestal; an arm, the arm comprising a first rotating shaft, the base being rotatably connected to the first rotating shaft; and a force balancing assembly connecting the base and the arm; The force balancing component has a friction resistance that hinders the base from rotating around the first rotating axis relative to the support arm, and the force balancing component is used to limit the relative position of the base on the first rotating axis.

2. The robotic arm according to claim 1, characterized in that: The force balancing assembly includes a first connecting member fixedly connected to the base, the first connecting member is sleeved on the first rotating shaft, and the first connecting member rotates relative to the first rotating shaft to generate friction resistance.

3. The robotic arm according to claim 2, characterized in that: The force balancing assembly further includes a damping member for increasing the friction resistance, wherein the damping member is disposed between the first connecting member and the first rotating shaft.

4. The robotic arm according to claim 1, characterized in that: The force balancing component includes a first connecting member and a second connecting member, wherein the first connecting member is fixedly connected to the base, and the second connecting member is fixedly connected to the support arm, and the first connecting member and the second connecting member abut against each other to generate friction resistance.

5. The robotic arm according to claim 4, characterized in that: The force balancing assembly also includes a damping member for increasing the friction resistance. The first connecting member and the second connecting member are respectively sleeved on the first rotating shaft. The damping member is provided between the first connecting member and the first rotating shaft and / or between the second connecting member and the first connecting member.

6. The robotic arm according to claim 4, characterized in that: The first connecting member and the second connecting member are respectively sleeved on the first rotating shaft, one of the first connecting member and the second connecting member is provided with a step surface along the axial direction of the first rotating shaft, and the other of the first connecting member and the second connecting member is provided with a connecting groove along the axial direction of the first rotating shaft, and the step surface and the inner surface of the connecting groove abut against each other.

7. The robotic arm according to claim 6, characterized in that: The force balancing assembly further includes a damping member for increasing the friction resistance, wherein the damping member is clamped between the outer surface of the step surface and the inner surface of the connecting groove.

8. The robotic arm according to claim 4, characterized in that: The force balancing assembly includes an elastic member for increasing the resistance torque, wherein the elastic member is connected to the first connecting member and the second connecting member, and the elastic member pushes the first connecting member and the second connecting member through elastic deformation.

9. The robotic arm according to claim 1, characterized in that: The base is also used to be positioned at the operating end of the surgical robot, and the force balancing assembly includes a pneumatic damping member, which includes a cylinder body, a piston rod passing through the cylinder body, and a transmission member, the first rotating shaft is fixedly connected to a first position of the transmission member, one of the cylinder body and the piston rod is hinged to the operating end, and the other of the cylinder body and the piston rod is hinged to a second position of the transmission member.

10. The robotic arm according to claim 1, characterized in that: The mechanical arm further comprises a first locking assembly, the first locking assembly is connected to the base and the first rotating shaft, and the first locking assembly comprises a locked state and an unlocked state; In the locked state, the first locking assembly locks the base and the first rotating shaft; in the unlocked state, the base can rotate relative to the first rotating shaft.

11. The robot arm according to claim 10, characterized in that: The first locking assembly includes a first locking member and a second locking member, the first locking member is fixedly connected to the base, one end of the first locking member is hinged to one end of the second locking member, the other end of the first locking member and the other end of the second locking member are close to each other so that the first rotating shaft can be clamped between the first locking member and the second locking member, in the locked state, the other end of the first locking member and the other end of the second locking member are locked and the first locking member and the second locking member clamp the first rotating shaft, and in the unlocked state, the other end of the first locking member and the other end of the second locking member are unlocked.

12. The robot arm according to claim 11, characterized in that: The first locking assembly further includes a locking bolt. In the locked state, the locking bolt threadably locks the first locking member and the second locking member. In the unlocked state, the locking bolt releases the locking of the first locking member and the second locking member.

13. The robot arm according to claim 11, characterized in that: The first locking component also includes a magnet and a magnetic attraction member, one of which is arranged on the first locking member, and the other of which is arranged on the second locking member, and the magnet and the magnetic attraction member are attracted to each other to lock the first locking member and the second locking member.

14. The robotic arm according to claim 10, characterized in that: The first locking assembly includes a first electromagnetic brake and a first brake valve core. The first electromagnetic brake is installed on the base. The first brake valve core is penetrated by the first rotating shaft. The first brake valve core and the first rotating shaft are abutted and connected in the circumferential direction. The first electromagnetic brake is used to lock the circumferential rotation of the first brake valve core.

15. The robot arm according to claim 13 or 14, characterized in that: The first locking assembly also includes a force amplification assembly and a connecting shaft, the force input end of the force amplification assembly is fixedly connected to the connecting shaft, the connecting shaft is passed through the first brake valve core, the connecting shaft and the first brake valve core are abutted in the circumferential direction, and the force output end of the force amplification assembly is abutted in the circumferential direction.

16. The robot arm according to claim 15, characterized in that: The force amplification component includes a central gear, a plurality of planetary gears, a ring gear and a connecting frame, wherein the ring gear is fixedly connected to the base, each of the planetary gears is located between the ring gear and the central gear, the planetary gears are meshed with the central gear and the ring gear, and the connecting frame is fixedly connected to the plurality of planetary gears; wherein the central gear is the force input end of the force amplification component, and the connecting frame is the force output end of the force amplification component.

17. The robotic arm according to claim 15, characterized in that: The force amplification component includes a wave generator, a flexible pulley and a steel wheel, the radial cross-section of the wave generator is elliptical, the inner wall of the flexible pulley is provided with a plurality of first teeth, the inner wall of the steel wheel is provided with a plurality of second teeth, the wave generator is penetrated by the flexible pulley, the flexible pulley is penetrated by the steel wheel, the steel wheel is fixedly connected to the base, and the wave generator can push against the flexible pulley so that part of the first teeth of the flexible pulley meshes with part of the second teeth of the steel wheel; wherein the wave generator is the force input end of the force amplification component, the flexible pulley is the force output end of the force amplification component, and the number of the first teeth is less than the number of the second teeth.

18. The robotic arm according to claim 1, characterized in that: It also includes a base and an adjusting mechanism, one end of the adjusting mechanism is connected to the base, the other end of the adjusting mechanism is connected to the support arm, and the adjusting mechanism is used to adjust the distance between the support arm and the base.

19. The robot arm according to claim 18, characterized in that: The adjustment mechanism includes a support shell and a push rod, one of the support shell and the base includes a guide slide portion, and the other of the support shell and the base includes a slide rail, the support shell and the base are slidably connected through the cooperation of the guide slide portion and the slide rail, and the push rod can push against the support shell along the length direction of the support shell 62 to move the support shell along the length direction of the support shell 62.

20. The robot arm according to claim 19, characterized in that: The mechanical arm also includes a second locking assembly for locking or unlocking the support arm and the support housing.

21. The robotic arm according to claim 1, characterized in that: The support arm includes multiple branch arms, and any two adjacent branch arms are rotatably connected to each other. The branch arm at one end of the multiple branch arms is rotatably connected to the base, and the branch arms at the other end of the multiple support arms are rotatably connected to the support shell of the robotic arm.

22. The robotic arm according to claim 21, characterized in that: The support arm also includes a third locking assembly, through which two adjacent branch arms are rotatably connected, and the rotation axis between each two adjacent branch arms is perpendicular to the axis of the first rotating shaft. The third locking assembly is used to lock the relative rotation of the two adjacent branch arms.

23. A surgical robot, characterized in that: The surgical robot comprises an operating end and a robotic arm as described in any one of claims 1 to 21, wherein the operating end is fixedly connected to the base, the operating end comprises a guide wire and a catheter, and the robotic arm is used to control the guide wire and the catheter to enter an interventional incision of the patient.

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