Self-locking instrument forceps capable of moving at multiple angles

Abstract

The invention discloses a pair of self-locking instrument forceps capable of moving at multiple angles. The instrument forceps comprise a plurality of groups of joint rotating mechanisms, a rotating joint connecting rod, a tail end fixing mechanism and a forceps end clamping mechanism, a pressing unlocking mechanism is arranged between the joint rotating mechanism located at the front end and the forceps end clamping mechanism, and the pressing unlocking mechanism is connected with the forceps end clamping mechanism through a quick dismounting and replacing mechanism. The pressing unlocking mechanism is used for driving all the joint rotating mechanisms and the rotating joint connecting rods to act so that all the joint rotating mechanisms can be unlocked. The joint rotating mechanism is divided into a fixed end and a rotating end, when the joint rotating mechanism is in an unlocking state, the fixed end and the rotating end can rotate relatively, and the rotating angle ranges from 0 degree to 360 degrees. According to the instrument forceps, through the multiple sets of joint rotating mechanisms and the overall rigid support, multi-angle movement in the space with the maximum stretching length of the instrument forceps as the radius is achieved, self-locking and hovering can be achieved at any position, and the practicability and stability of the device are improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, and in particular to a multi-angle movable and self-locking instrument clamp. Background Art

[0002] With the development of modern science and technology, robotics has developed rapidly. Most modern robotic arms use rigid mechanisms, which are composed of discrete single-degree-of-freedom joints and rigid connecting rods, and complete movement through servo motors and gas drives. In work and life, the movement of rigid robotic arms is restricted by connecting rods and hinges, and the degree of freedom at work will be limited. The higher the degree of freedom, the more complex the structure required, and the larger the weight and volume. Therefore, these robotic arms can only be used in larger regular spaces, and due to their own weight and rigidity, there will be problems with the safety of human-computer interaction when they are used. Today's robotic arms are developing in the direction of small size, high precision, and high degree of freedom.

[0003] At present, laparoscopic minimally invasive surgery is a hot topic in medical technology research and is the future development trend of surgery. This is mainly due to the many advantages of minimally invasive medicine: such as less trauma, shorter hospital stay, faster recovery, and fewer postoperative complications. However, in traditional laparoscopic surgery, the surgeon and the scope holder need to cooperate for a long time. The scope holder holds the laparoscope to provide the operating field of view, and the surgeon holds the instrument to operate. The scope holder needs to maintain a posture for a long time. For some simple operations, if there are instrument forceps to help operate the lens, only the surgeon can complete the operation. For some hospitals with night emergencies or insufficient manpower, there is no need to equip additional medical staff to operate, which reduces labor costs.

[0004] In the prior art, a Chinese invention patent application entitled “A Multifunctional Medical Universal Arm” with application number 202210280067.X discloses a medical universal arm, which includes a support arm, a rotation joint is provided on the support arm, one end of the support arm is provided with a fixing frame connector for clamping and fixing to the outside, and the other end of the support arm is provided with an accessory adapter for clamping and fixing to the outside of an endoscope guide tube, and an operation panel for controlling the rotation joint is provided on one end of the support arm close to the accessory adapter, and the operation panel is provided on the upper surface of the support arm, and a control handle is correspondingly provided below the operation panel;

[0005] The support arm includes a first support arm, a second support arm, and a third support arm, which are distributed in sequence from one end close to the accessory adapter to the direction of the fixing frame connector; the rotation joint includes a first rotation joint, a second rotation joint, and a third rotation joint, the first rotation joint is arranged at the connection position between the fixing frame connector and the third support arm, the second rotation joint is arranged between the third support arm and the second support arm, and the third rotation joint is arranged between the second support arm and the first support arm; the first rotation joint, the second rotation joint, and the third rotation joint are all provided with a rotation assembly inside, and the rotation assembly includes a push rod 1, a push rod 2, and an anchor-type member, and the anchor The anchor-shaped part is anchor-shaped, and the bottom of the anchor-shaped part is hinged on the inner wall of the housing of the rotating joint through a pin shaft 2. One end of the anchor-shaped part fits on the end of the push rod 1, and the other end fits on the end of the push rod 2. The push rods 1 and 2 are vertically distributed. The operation panel includes a pressing plate and a rotating rib fixed below the pressing plate. The lower end of the rotating rib is movably hinged in a groove body provided on the upper surface of the support arm through a pin shaft 1. A sliding block 1 is provided at one end of the rotating rib away from the pressing plate. The sliding block 1 is slidably connected in a sleeve. The sleeve is provided inside the support arm, and one end of the push rod 1 is movably fitted on a side of the sliding block 1 located inside the sleeve. Preferably, the sleeve layer is a cylindrical structure, the outer ring of the sleeve is fixed on the inner wall of the support arm, and the inner ring of the sleeve allows the sliding block 1 to slide along the length direction of the sleeve. It should be noted that the device is controlled by a press plate and has a "passive" feature, that is, there is no power supply or air source, which is convenient for manual operation. Preferably, the cross-section of the sliding block 1 is a T-shaped structure, the main body of the sliding block 1 is cylindrical, one end of the sliding block 1 is hinged to the bottom of the rotating rib plate, and the other end is connected to the end of the push rod 1 that extends into the sliding sleeve. Furthermore, the rotating joint moves freely when rotating without sticking, and the locking device is reliably locked without loosening. Preferably, the push rod 1 is a cylindrical rod-shaped structure, and the end of the push rod 1 away from the sliding block 1 is connected to the middle of the fixed disk by a thread, and the fixed disk is arranged in the internal groove body inside the support arm. Specifically, all the rotating joints are structurally divided into five parts as a whole. Here, the third rotating joint position is used for illustration. As shown in the figure, the first part includes a first shell fixedly connected to the end of the first support arm, a second shell rotatably connected to the first shell away from the end of the first support arm, and the fixed state or the relaxed state of the joint position is achieved between the second shell and the first shell through the cooperation control of the pins and the positioning members, a third shell fixedly connected to the end of the second shell, a first group of anchor-type members are arranged in the middle of the connecting line between the second shell and the third shell, a fourth shell rotatably connected to the end of the third shell, and a fifth shell fixedly connected between the end of the fourth shell and the second support arm. The fixed state or the relaxed state of the joint position is achieved between the third shell and the fourth shell through the cooperation control between the second group of pins and the positioning members.Preferably, the fixed disk is in a disk-shaped structure, and the outer ring of the fixed disk is integrally provided with a circular sheet, and a bayonet is provided around the fixed disk, and the bayonet is provided with a groove that cooperates with the circular sheet. When the joint position is in a fixed state, the bayonet is engaged in the slot at the outer ring of the positioning member, and the adjacent first shell, the second shell or the adjacent third shell, the fourth shell are relatively fixed and cannot rotate, thereby achieving positioning. Preferably, the bayonet is in a cylindrical structure, and twelve bayonet are provided around a circle of the fixed disk. When the joint position is in a relaxed state, the bayonet is removed from the slot at the outer ring of the positioning member, and the adjacent first shell, the second shell or the adjacent third shell, the fourth shell are relatively relaxed, and the two can rotate relative to each other, thereby achieving rotation adjustment between the first support arm, the second support arm, and the third support arm. Preferably, a positioning member is also provided in the internal groove body, and the positioning member is sleeved on the outer surface of the push rod 1, and the outer ring of the positioning member is provided with a slot that cooperates with the bayonet. Preferably, the push rod 2 is also provided with a bayonet, a positioning member, and a fixed disk. Specifically, the first rotating joint, the second rotating joint and the third rotating joint positions all adopt the method of pushing the anchor part to rotate around the pin shaft 2 and then the end of the anchor part resists the movement of the push rod 2 for switching control operation, which can control the fixed state or relaxed state of all joint positions at one time; when the anchor part rotates around the pin shaft 2 to resist and move the push rod 2 downward, the circular thin plate on the outer ring of the fixed disk on the push rod 1 is engaged in the groove on the surface of the pin, thereby driving the end of the pin to move out of the groove on the surface of the positioning part of the push rod 1 away from the end of the anchor part, and the positioning part here is sleeved on the outer surface of the push rod 1, and the end of the positioning part away from the pin is fixedly installed on the inner wall of the internal groove body. At this time, the positioning part loses the restriction of the pin, and the rotating joint becomes rotatable; the rotation and fixation between the first rotating joint, the second rotating joint and the third rotating joint are controlled by multiple groups of push rods 1, anchor parts, push rods 2, and anchor parts, which are distributed head to tail in an integrated manner. Preferably, the first support arm, the second support arm and the third rotating joint form a "Y"-shaped structure, the second support arm, the third support arm and the second rotating joint form a "C"-shaped structure, and the third support arm and the first support arm are arranged coaxially. In the device, the support arm can clamp a variety of endoscopes for adjustment and fixation at various angles. The product has an integrated design, is firmly fixed, simple to operate, and has a fast adjustment speed. The support arm can save the person holding the endoscope, providing the operator with a convenient and fast way to adjust and fix the endoscope, while saving the placement space in the operating room. Preferably, the diameter of the tube mouth of the support arm is 10mm to 80mm. Among them, the support arm is divided into two types of thick and thin, and the diameter of the tube mouth of the support arm is inconsistent. The diameter of the thick support arm tube mouth is 50mm to 55mm, and the diameter of the thin support arm tube mouth is 25mm to 35mm. The thick and thin support arms have different application scenarios. The thick support arm can be used to fix and support the patient's limbs during surgical treatment, and the thin support arm can be used in clinical minimally invasive surgery to fix the position of surgical instruments, so that the surgeon can operate other surgical instruments conveniently.

[0006] However, after careful study of the technical solutions disclosed in the prior art, it is not difficult to find that the disadvantages of the prior art products are: when the mechanical arm has the longest movement radius, the clamp end has a certain amount of shaking, and cannot be effectively locked and suspended; in view of these disadvantages, the present invention uses six rotating joints and joint connecting rod structure design to achieve the stability of the clamp end when the instrument clamp has the longest movement radius.

[0007] Therefore, based on the above technical problems, technicians in this field urgently need to develop a multi-angle movable and self-locking instrument forceps. Summary of the invention

[0008] The purpose of the present invention is to provide a multi-angle movable and self-locking instrument forceps, which can realize multi-angle movement and self-locking and hovering at any position within a space where the instrument forceps are stretched to a maximum radius.

[0009] In order to achieve the above object, the present invention provides the following technical solutions:

[0010] The present invention discloses a multi-angle movable and self-locking instrument forceps, the instrument forceps comprising:

[0011] Multiple sets of joint rotation mechanisms; and

[0012] A rotating joint connecting rod drivingly connected to the corresponding joint rotating mechanism;

[0013] The instrument forceps is divided into a front end and a rear end, the joint rotation mechanism at the rear end is connected to the rear end fixing mechanism, and the joint rotation mechanism at the front end is connected to the forceps end clamping mechanism;

[0014] A push-to-unlock mechanism is provided between the joint rotation mechanism at the front end and the clamp end clamping mechanism, and the push-to-unlock mechanism and the clamp end clamping mechanism are connected via a quick-disconnect mechanism;

[0015] The plurality of groups of joint rotation mechanisms are arranged to be transmission-connected between joint rotation mechanisms and transmission-connected between joint rotation mechanisms and rotation joint connecting rods according to the turning angle and position of the instrument forceps;

[0016] The push-to-unlock mechanism is used to drive all the joint rotation mechanisms and the rotation joint connecting rods to achieve unlocking of all the joint rotation mechanisms;

[0017] The joint rotation mechanism is divided into a fixed end and a rotating end. When the joint rotation mechanism is in an unlocked state, the fixed end and the rotating end can rotate relative to each other, and the rotation angle range is 0° to 360°.

[0018] Furthermore, the fixed end of the joint rotation mechanism includes:

[0019] A fixed end housing, wherein the fixed end housing is provided with a fixed end cover at an end portion opposite to one end of the rotating end;

[0020] A fixed end joint connection fixing ring provided on the side of the fixed end housing;

[0021] The fixed end housing has a fixed end rotating connection bin inside, the fixed end rotating connection bin is rotatably connected to a joint rod connecting block, and the joint rod connecting block has a driving end and a driven end;

[0022] A fixed end rotating shaft is arranged in the fixed end rotating connection chamber, a fixed end rotating connecting rod is axially connected to the fixed end rotating shaft, and the fixed end rotating connecting rod extends into the rotating end;

[0023] The rotating end of the joint rotating mechanism comprises:

[0024] A rotating end housing, wherein the rotating end housing is provided with a rotating end cover at an end portion thereof opposite to the fixed end;

[0025] A rotating end fixing plate is located inside the rotating end housing and close to one end of the fixed end, a rotating end rotating shaft is extended along the axial direction of the rotating end fixing plate, and the fixed end rotating connecting rod is connected to the rotating end rotating shaft;

[0026] An unlocking spring fixing seat is installed on the outer peripheral side of the rotating shaft of the rotating end, and an unlocking spring is installed on the unlocking spring fixing seat.

[0027] Furthermore, the rotating end housing of the rotating end is also provided with:

[0028] Locking connecting disc; and

[0029] A locking pin matched with the corresponding locking groove of the locking connection disc, wherein the locking pin is provided with an unlocking spring;

[0030] A locking disc is arranged inside the rotating end housing and on a side opposite to the locking connection disc;

[0031] When the driving end of the joint rod connecting block is subjected to force to drive the driven end to move, the driven end drives the fixed end rotating connecting rod and the rotating end rotating shaft, and the unlocking spring fixing seat moves synchronously and compresses the unlocking spring, and the fixed end rotating connecting rod and the rotating end rotating shaft drive the unlocking spring piece to move and drive the unlocking spring piece into the limiting groove at the end of the locking pin. At this time, the unlocking pin detaches from the unlocking disk and drives the fixed end and the rotating end to be in an unlocked state.

[0032] Furthermore, when two adjacent joint rotation mechanisms are connected in transmission, the rotation shaft of the rotation end of the joint rotation mechanism at the front end is connected to the driving end of the joint rod connection block at the fixed end of the joint rotation mechanism at the rear end;

[0033] When the adjacent joint rotation mechanisms are connected through the rotation joint connecting rod, one end of the rotation joint connecting rod is connected to the driving end of the joint rod connecting block at the fixed end of the joint rotation mechanism, and the other end of the rotation joint connecting rod is connected to the rotation end rotation shaft of the rotation end of another joint rotation mechanism.

[0034] Furthermore, the rotary joint connecting rod comprises:

[0035] Rotary joint connecting rod housing;

[0036] A fixed end connection seat mounted on the rotating joint connecting rod housing and matched with the fixed end of the corresponding joint rotating mechanism, and a fixed end connection seat shaft clamp for mounting the fixed end connection seat on the rotating joint connecting rod housing;

[0037] A rotating end connecting seat mounted on the rotating joint connecting rod housing and matched with the rotating end of the corresponding joint rotating mechanism, and a rotating end connecting seat shaft clamp for mounting the rotating end connecting seat on the rotating joint connecting rod housing;

[0038] A connecting rod is installed between the fixed end connecting seat and the rotating end connecting seat.

[0039] Furthermore, the push-to-unlock mechanism includes:

[0040] Press to unlock the housing;

[0041] A push shell integrated with the push-to-unlock shell, wherein an unlocking push column is disposed inside the push shell;

[0042] The push-to-unlock housing is rotatably connected to a first unlocking connecting rod and a second unlocking connecting rod, and the end of the first unlocking connecting rod cooperates with the unlocking push column;

[0043] The second unlocking connecting rod is connected to an unlocking rear end connecting rod, and a limiting sleeve is provided on the outer sleeve of the unlocking rear end connecting rod, an unlocking rotating bearing is installed between the limiting sleeve and the push-to-unlock housing, and the unlocking rotating bearing is installed inside the push-to-unlock housing through an unlocking rotating bearing shaft clamp;

[0044] The end of the push-to-unlock shell is mounted with a push-to-unlock front-end fixed base via a push-to-unlock front-end fixed base shaft clamp relative to the end of one end of the unlock rear-end connecting rod.

[0045] Furthermore, the quick disassembly and replacement mechanism includes:

[0046] Quick-replacement spring fixing base, quick-replacement rotating slide fixing base, rotating slide clamp end housing and rotating slide rear end housing;

[0047] A sliding positioning end cover is arranged inside the quick-change fixed base, one end of the quick-change fixed base is connected with a replacement spring and a replacement fixing bolt, and the other end is provided with a sliding positioning pin;

[0048] A cylindrical pin is formed on the outer side of the sliding positioning end cover, and the cylindrical pin is inserted into the guide hole of the quick-change spring fixing base, and the rear end shell of the rotating slide slot is sleeved on the outside of the quick-change spring fixing base;

[0049] The quick-change rotating slide groove fixing seat is inserted into the quick-change spring fixing base, and the cylindrical pin on the outer side of the sliding positioning end cover slides into the guide groove of the quick-change rotating slide groove fixing seat;

[0050] The rotating slide slot clamp end shell is sleeved on the outside of the quick-disconnect rotating slide slot fixing seat.

[0051] Furthermore, the end fixing mechanism includes:

[0052] Fixed base, sliding clamping block, base locking nut and sliding clamping block fixing bolt;

[0053] When the base locking nut rotates, it can drive the sliding clamping block to move so as to fix the end fixing mechanism on a plane.

[0054] Furthermore, the clamp end clamping mechanism comprises:

[0055] A clamp end fixing base and a quick-change structure connecting base, wherein the clamp end fixing base is mounted on the quick-change structure connecting base by bolts;

[0056] An upper jaw and a lower jaw are installed on the jaw end fixing base, and a jaw end clamping spring is arranged in a spring fixing opening between the upper jaw and the lower jaw;

[0057] The upper jaw and the lower jaw are connected by clamping locking nuts at the jaw ends and clamping locking bolts at the front ends.

[0058] In the above technical solution, the present invention provides a multi-angle movable and self-locking instrument forceps, which has the following beneficial effects:

[0059] The instrument forceps of the present invention realize multi-angle movement in a space with the longest extension radius of the instrument forceps through multiple sets of joint rotation mechanisms and overall rigid support, and can realize self-locking and hovering at any position, thereby improving the practicability and stability of the device.

[0060] The instrument forceps of the present invention realizes the process of quickly disassembling the forceps ends by slightly rotating the two circular guide pins and the guide pin slide grooves, and this design greatly reduces the workload of the user.

[0061] The end fixing mechanism of the instrument clamp of the present invention can realize the clamping function of the fixing seat, and can provide multiple clamping schemes for users when fixing the instrument to clamp the instrument clamp, thereby improving the adaptability of the instrument support robot arm in multiple scenarios.

[0062] The instrument forceps of the present invention are easy to operate and greatly improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0064] Figure 1 It is a schematic structural diagram of a multi-angle movable and self-locking instrument forceps disclosed in an embodiment of the present invention;

[0065] Figure 2 A structural cross-sectional view of a multi-angle movable and self-locking instrument forceps disclosed in an embodiment of the present invention;

[0066] Figure 3 It is a structural cross-sectional view of a joint rotation mechanism of a self-locking instrument forceps capable of multi-angle movement disclosed in an embodiment of the present invention;

[0067] Figure 4 It is a structural exploded diagram of a rotating joint connecting rod of a multi-angle movable and self-locking instrument forceps disclosed in an embodiment of the present invention;

[0068] Figure 5 It is a structural cross-sectional view of a push-to-unlock mechanism of a self-locking instrument forceps capable of multi-angle movement disclosed in an embodiment of the present invention;

[0069] Figure 6 It is a structural exploded view of a quick disassembly and replacement structure of a self-locking instrument forceps capable of multi-angle movement disclosed in an embodiment of the present invention;

[0070] Figure 7 It is a structural exploded diagram of a terminal fixing structure of a multi-angle movable and self-locking instrument forceps disclosed in an embodiment of the present invention;

[0071] Figure 8 It is a structural explosion diagram of a clamp end clamping mechanism of a self-locking instrument clamp capable of multi-angle movement according to an embodiment of the present invention.

[0072] Description of reference numerals:

[0073] 1. Joint rotation mechanism; 2. Rotating joint connecting rod; 3. Press-to-unlock mechanism; 4. Quick-change mechanism; 5. Clamp end clamping mechanism; 6. End fixing mechanism;

[0074] 11. Fixed end housing; 12. Rotating end housing;

[0075] 111, fixed end joint connection fixing ring; 112, joint rod connection block; 113, fixed end rotation shaft; 114, fixed end rotation connection rod; 115, fixed end end cover; 116, fixed end rotation connection bin;

[0076] 121, rotating end fixed disk; 122, locking connecting disk; 123, locking pin; 124, locking disk; 125, rotating end rotating shaft; 126, retaining ring; 127, unlocking spring; 128, unlocking spring fixing seat; 129, rotating end cover; 120, unlocking spring;

[0077] 201, rotating joint connecting rod housing; 202, fixed end connecting seat; 203, fixed end connecting seat shaft clamp; 204, rotating end connecting shaft clamp; 205, connecting rod; 206, rotating end connecting seat;

[0078] 301. Press to unlock the housing; 302. Unlock the rear connecting rod; 303. Unlock the rotating bearing; 304. Unlock the rotating bearing shaft clamp; 305. Unlock the rear connecting rod limiting sleeve; 306. First unlocking connecting rod; 307. Second unlocking connecting rod; 308. Unlock the pressing column; 309. Press the housing; 310. Press the housing to fix the base; 311. Press to unlock the clamp end fixing base; 312. Press to unlock the clamp end fixing base shaft clamp;

[0079] 401, quick-replacement spring fixing base; 402, quick-replacement rotating slide fixing seat; 403, rotating slide clamp end housing; 404, rotating slide rear end housing; 405, sliding positioning end cover; 406, replacement of spring; 407, replacement of fixing bolts; 408, sliding positioning end cover fixing bolts; 409, sliding positioning pin;

[0080] 501, lower clamp; 502, clamp end clamping locking nut; 503, clamp end clamping locking bolt; 504, upper clamp; 505, clamp end fixing base; 506, quick-change structure connecting base; 507, clamp end clamping spring;

[0081] 601, fixed base; 602, sliding clamping block; 603, base locking nut; 604, sliding clamping block fixing bolt. DETAILED DESCRIPTION

[0082] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0083] See also Figures 1 to 8 As shown;

[0084] The present embodiment is a multi-angle movable and self-locking instrument forceps, the instrument forceps comprising:

[0085] Multiple sets of joint rotation mechanisms 1; and

[0086] A rotating joint connecting rod 2 which is transmission-connected to the corresponding joint rotating mechanism 1;

[0087] The instrument forceps is divided into a front end and a rear end, the joint rotation mechanism 1 at the rear end is connected to the rear end fixing mechanism 6, and the joint rotation mechanism 1 at the front end is connected to the forceps end clamping mechanism 5;

[0088] A push-to-unlock mechanism 3 is provided between the joint rotation mechanism 1 at the front end and the clamp end clamp mechanism 5, and the push-to-unlock mechanism 3 and the clamp end clamp mechanism 5 are connected via a quick-disconnect mechanism 4;

[0089] The multiple groups of joint rotation mechanisms 1 are arranged to be transmission-connected between the joint rotation mechanisms 1 and the joint rotation mechanisms 1, and connected to the rotation joint connecting rods 2 according to the turning angles and positions of the instrument forceps;

[0090] The press unlocking mechanism 3 is used to drive all joint rotating mechanisms 1 and rotating joint connecting rods 2 to achieve unlocking of all joint rotating mechanisms 1;

[0091] The joint rotation mechanism 1 is divided into a fixed end and a rotating end. When the joint rotation mechanism 1 is in an unlocked state, the fixed end and the rotating end can rotate relative to each other, and the rotation angle range is 0° to 360°.

[0092] Specifically, the instrument forceps of this embodiment are mainly divided into six main mechanisms, namely, multiple joint rotation mechanisms 1, rotation joint connecting rods 2, push-unlocking mechanisms 3, quick-change mechanisms 4, forceps end clamping mechanisms 5, and end fixing mechanisms 6. Among them, this embodiment realizes angle adjustment through multiple sets of joint rotation mechanisms 1, and the connection modes of each motion joint of this embodiment are mainly divided into four types: transmission between joint rotation mechanisms 1 and joint rotation mechanisms 1, transmission between joint rotation mechanisms 1 and rotation joint connecting rods 2, connection between joint rotation mechanisms 1 and end fixing mechanisms 6, and transmission between joint rotation mechanisms 1 and push-unlocking mechanisms 3. All joint rotation mechanisms 1 of this embodiment have exactly the same structure, so only one set of joint rotation mechanisms 1 is taken as an example for further explanation and description.

[0093] Preferably, the fixed end of the joint rotation mechanism 1 of this embodiment includes:

[0094] A fixed end housing 11, wherein a fixed end cover 115 is disposed at an end of the fixed end housing 11 opposite to the rotating end;

[0095] A fixed end joint connection fixing ring 111 provided on the side of the fixed end housing 11;

[0096] The fixed end housing 11 has a fixed end rotating connection chamber 116 inside, and the fixed end rotating connection chamber 116 is rotatably connected to a joint rod connection block 112, and the joint rod connection block 112 has a driving end and a driven end;

[0097] A fixed end rotating shaft 113 is disposed in the fixed end rotating connection chamber 116, a fixed end rotating connecting rod 114 is axially connected to the fixed end rotating shaft 113, and the fixed end rotating connecting rod 114 extends into the rotating end;

[0098] Secondly, the rotating end of the joint rotating mechanism 1 of this embodiment includes:

[0099] The rotating end housing 12, wherein the end of the rotating end housing 12 relative to the fixed end is provided with a rotating end end cover 129;

[0100] A rotating end fixed disk 121 is located inside the rotating end housing 12 and close to one end of the fixed end. A rotating end rotating shaft 125 extends axially along the rotating end fixed disk 121, and the fixed end rotating connecting rod 14 is connected to the rotating end rotating shaft 125.

[0101] An unlocking spring fixing seat 121 is installed on the outer peripheral side of the rotating shaft 125 at the rotating end, and an unlocking spring 127 is installed on the unlocking spring fixing seat 121 .

[0102] In addition, the rotating end housing 12 of the rotating end of this embodiment is also provided with:

[0103] Locking connecting disc 122; and

[0104] A locking pin 123 that cooperates with the corresponding locking groove of the locking connection disc 122, and the locking pin 123 is equipped with an unlocking spring 120;

[0105] A locking disc 124 is disposed inside the rotating end housing 12 and on a side opposite to the locking connection disc 122;

[0106] The principle of unlocking and self-locking of the joint rotation mechanism 1 in this embodiment is as follows: when the driving end of the joint rod connecting block 112 is forced to drive the driven end to move (the driven end moves upward as shown in the figure), the driven end drives the fixed end rotating connecting rod 114 and the rotating end rotating shaft 125, and the unlocking spring fixing seat 121 to move synchronously and compress the unlocking spring 127, the fixed end rotating connecting rod 114 and the rotating end rotating shaft 125 drive the unlocking spring 120 to move and drive the unlocking spring 120 into the limiting groove at the end of the locking pin 123, at this time, the locking pin 123 disengages from the locking disk 124 and drives the fixed end and the rotating end to be in an unlocked state, at this time, the fixed end housing 11 and the rotating end housing 12 can rotate 360°, thereby realizing the rotation of the joint rotation mechanism 1. On the contrary, if the force at the driving end of the joint rod connecting block 112 is removed, the unlocking spring 127 will restore its elastic deformation, thereby driving the fixed end rotating connecting rod 114 and the rotating end rotating shaft 125 to move downward, causing the unlocking spring 120 to move downward, and the locking pin 123 to be inserted into the locking disk 124 again to achieve the unlocking state. At this time, the fixed end housing 11 and the rotating end housing 12 cannot rotate, thereby realizing the self-locking of the joint rotation mechanism 1.

[0107] Preferably, when two adjacent joint rotation mechanisms 1 of this embodiment are connected in transmission, the rotation shaft 125 of the rotation end of the joint rotation mechanism 1 at the front end is connected to the driving end of the joint rod connection block 112 of the fixed end of the joint rotation mechanism 1 at the rear end;

[0108] When adjacent joint rotation mechanisms 1 are connected through the rotation joint connecting rod 2, one end of the rotation joint connecting rod 2 is connected to the driving end of the joint rod connecting block 112 at the fixed end of the joint rotation mechanism 1, and the other end of the rotation joint connecting rod 2 is connected to the rotation end rotation shaft 125 of the rotation end of another joint rotation mechanism 1.

[0109] Preferably, the rotary joint connecting rod 2 of the present embodiment comprises a rotary joint connecting rod housing 201, a fixed end connecting seat 202 mounted on the rotary joint connecting rod housing 201 and matched with the fixed end of the corresponding joint rotating mechanism 1, and a fixed end connecting seat shaft clamp 203 for mounting the fixed end connecting seat 202 in the rotary joint connecting rod housing 201;

[0110] A rotating end connection seat 206 mounted on the rotating joint connecting rod housing 201 and matched with the rotating end of the corresponding joint rotating mechanism 1, and a rotating end connection seat shaft clamp 204 for mounting the rotating end connection seat 206 on the rotating joint connecting rod housing 201;

[0111] A connecting rod 205 is installed between the fixed end connecting seat 202 and the rotating end connecting seat 206 .

[0112] Preferably, the push-to-unlock mechanism 3 of the present embodiment comprises a push-to-unlock housing 301, a push housing 309 integrated in the push-to-unlock housing 301, and an unlocking push column 308 is arranged inside the push housing 309; wherein, a first unlocking connecting rod 306 and a second unlocking connecting rod 307 are rotatably connected inside the push-to-unlock housing 301, and an end of the first unlocking connecting rod 306 cooperates with the unlocking push column 308; in addition, the second unlocking connecting rod 307 is connected to an unlocking rear end connecting rod 302, and a limiting sleeve 305 is sleeved on the outside of the unlocking rear end connecting rod 302, an unlocking rotary bearing 303 is installed between the limiting sleeve 305 and the push-to-unlock housing 301, and the unlocking rotary bearing 303 is installed inside the push-to-unlock housing 301 through an unlocking rotary bearing shaft clamp 304;

[0113] The end of the push-to-unlock housing 301 is mounted with a push-to-unlock front end fixing base 311 via a push-to-unlock front end fixing base shaft clamp 304 relative to the end of one end of the unlock rear end connecting rod 302 .

[0114] When the push-to-unlock mechanism 3 of this embodiment presses down the push shell 309 and unlocks the push column 308, the first unlocking connecting rod 306 drives the second unlocking connecting rod 307 to move, so that the unlocking rear end connecting rod 307 moves in the limiting direction of the unlocking rear end connecting rod limiting sleeve 305, and the rear end of the unlocking rear end connecting rod 302 is connected to the fixed end rotating connecting rod 114 in the connected joint rotation mechanism 1, so as to realize the unlocking and self-locking in the joint rotation mechanism 1 by this advancement. In summary, when the operator presses the push shell 309, all the joint rotation mechanisms 1 are unlocked, and the operator can use the instrument forceps to reach any position in the space with the maximum radius of the instrument forceps extension. When the push shell 309 is released, multiple groups of joint rotation mechanisms 1 are self-locking, so that the instrument forceps can hover at the current position.

[0115] Preferably, the quick-change mechanism 4 of the present embodiment comprises a quick-change spring fixing base 401, a quick-change rotating slide groove fixing base 402, a rotating slide groove clamp end shell 403 and a rotating slide groove rear end shell 404; a sliding positioning end cover 405 is arranged inside the quick-change fixed base, one end of the quick-change spring fixing base 401 is connected with a replacement spring 406 and a replacement fixing bolt 407, and the other end is provided with a sliding positioning pin 409; a cylindrical pin is protruded on the outer side of the sliding positioning end cover 405, and the cylindrical pin is inserted into the guide hole of the quick-change spring fixing base 401 and the rotating slide groove rear end shell 404 is sleeved on the outside of the quick-change spring fixing base 401; the quick-change rotating slide groove fixing base 404 is inserted into the quick-change spring fixing base 401, and the cylindrical pin on the outer side of the sliding positioning end cover 405 slides into the guide groove of the quick-change rotating slide groove fixing base 404; the rotating slide groove clamp end shell 403 is sleeved on the outside of the quick-change rotating slide groove fixing base 402. The sliding positioning end cover 405, the replacement spring 406, and the sliding positioning pin 409 of this embodiment are fixed to the quick-replacement spring fixing base 401 by replacing the fixing bolts 407. The cylindrical pins at both ends of the sliding positioning end cover 405 are inserted into the guide holes of the quick-replacement spring fixing base 401, and the rear end shell 403 of the movable slide groove is sleeved on the outside of the quick-replacement spring fixing base 402. The quick-replacement rotating slide groove fixing seat 402 is inserted into the quick-replacement spring fixing base 401. The cylindrical pins at both ends of the end cover 405 are inserted into the guide grooves of the quick-change rotating slide groove fixing seat 402, and the rotating slide groove clamp end shell 403 is sleeved on the outside of the quick-change rotating slide groove fixing seat 402. The operator holds the rotating slide groove clamp end shell 403 and rotates it clockwise, driving the quick-change rotating slide groove fixing seat 402 to rotate clockwise, so that the cylindrical pins at both ends of the sliding positioning end cover 405 slide out of the slide groove of the quick-change rotating slide groove fixing seat 402, thereby realizing quick disassembly, and vice versa for quick installation.

[0116] Preferably, the end fixing mechanism 6 of this embodiment includes:

[0117] Fix the base 601, the sliding clamping block 602, the base locking nut 603 and the sliding clamping block 604 fixing bolts;

[0118] When the base locking nut 603 rotates, it can drive the sliding clamping block 604 to move so as to fix the end fixing mechanism on the plane.

[0119] Preferably, the clamp end clamping mechanism 5 of this embodiment includes:

[0120] A clamp end fixing base 505 and a quick-change structure connecting base 506, wherein the clamp end fixing base 505 is mounted on the quick-change structure connecting base 506 by bolts;

[0121] An upper jaw 504 and a lower jaw 501 are mounted on the jaw end fixing base 505, and a jaw end clamping spring 507 is arranged in a spring fixing opening between the upper jaw 504 and the lower jaw 501;

[0122] The upper jaw 504 and the lower jaw 501 are connected by a jaw end clamping locking nut 502 and a front end clamping locking bolt 503 .

[0123] During operation, the operator rotates the clamp end clamping locking nut 502 clockwise to lock the clamp end, and vice versa to loosen it.

[0124] In the above technical solution, the present invention provides a multi-angle movable and self-locking instrument forceps, which has the following beneficial effects:

[0125] The instrument forceps of the present invention realize multi-angle movement in a space with the longest extension radius of the instrument forceps through multiple sets of joint rotation mechanisms 1 and overall rigid support, and can realize self-locking and hovering at any position, thereby improving the practicability and stability of the device.

[0126] The instrument forceps of the present invention realizes the process of quickly disassembling the forceps ends by slightly rotating the two circular guide pins and the guide pin slide grooves, and this design greatly reduces the workload of the user.

[0127] The end fixing mechanism 6 of the instrument clamp of the present invention can realize the function of clamping the fixing seat, and can provide multiple clamping schemes for users when fixing the instrument to clamp the instrument clamp, thereby improving the adaptability of the instrument support robot arm in multiple scenarios.

[0128] The instrument forceps of the present invention are easy to operate and greatly improve the user experience.

[0129] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-angle movable and self-locking instrument forceps, characterized in that: The instrument forceps comprises: Multiple sets of joint rotation mechanisms (1); and A rotating joint connecting rod (2) drivingly connected to the corresponding joint rotating mechanism (1); The instrument forceps is divided into a front end and a rear end, the joint rotation mechanism (1) located at the rear end is connected to the rear end fixing mechanism (6), and the joint rotation mechanism (1) located at the front end is connected to the forceps end clamping mechanism (5); A push-to-unlock mechanism (3) is provided between the joint rotation mechanism (1) located at the front end and the clamp end clamping mechanism (5), and the push-to-unlock mechanism (3) and the clamp end clamping mechanism (5) are connected via a quick-disconnect mechanism (4); The plurality of joint rotation mechanisms (1) are arranged according to the turning angle and position of the instrument forceps to be respectively connected to each other in a transmission manner, and to be connected to a rotation joint connecting rod (2); The push-to-unlock mechanism (3) is used to drive all the joint rotation mechanisms (1) and the rotation joint connecting rods (2) to move so as to unlock all the joint rotation mechanisms (1); The joint rotation mechanism (1) is divided into a fixed end and a rotating end. When the joint rotation mechanism (1) is in an unlocked state, the fixed end and the rotating end can rotate relative to each other, and the rotation angle range is 0° to 360°.

2. The multi-angle movable and self-locking instrument forceps according to claim 1, characterized in that: The fixed end of the joint rotation mechanism (1) comprises: A fixed end housing (11), wherein the fixed end housing (11) is provided with a fixed end cover (115) at an end portion thereof opposite to one end of the rotating end; A fixed end joint connection fixing ring (111) arranged on the side of the fixed end housing (11); The fixed end housing (11) has a fixed end rotating connection chamber (116) inside, the fixed end rotating connection chamber (116) is rotatably connected to a joint rod connection block (112), and the joint rod connection block (112) has a driving end and a driven end; A fixed end rotating shaft (113) is arranged in the fixed end rotating connection chamber (116), a fixed end rotating connecting rod (114) is axially connected to the fixed end rotating shaft (113), and the fixed end rotating connecting rod (114) extends into the rotating end; The rotating end of the joint rotating mechanism (1) comprises: A rotating end housing (12), wherein the rotating end housing (12) is provided with a rotating end cover (129) at an end portion thereof opposite to the fixed end; A rotating end fixing disk (121) is located inside the rotating end housing (12) and close to one end of the fixed end, a rotating end rotating shaft (125) is extended along the axial direction of the rotating end fixing disk (121), and the fixed end rotating connecting rod (114) is connected to the rotating end rotating shaft (125); An unlocking spring fixing seat (128) is installed on the outer peripheral side of the rotating shaft (125) at the rotating end, and an unlocking spring (127) is installed on the unlocking spring fixing seat (128).

3. The multi-angle movable and self-locking instrument forceps according to claim 2, characterized in that: The rotating end housing (12) of the rotating end is also provided with: A locking connection disc (122); and A locking pin (123) matched with the corresponding locking groove of the locking connection disc (122), wherein the locking pin (123) is provided with an unlocking spring (120); A locking disk (124) is disposed inside the rotating end housing (12) and on a side opposite to the locking connection disk (122); When the driving end of the joint rod connecting block (112) is subjected to force to drive the driven end to move, the driven end drives the fixed end rotating connecting rod (114) and the rotating end rotating shaft (125) and the unlocking spring fixing seat (128) to move synchronously and compress the unlocking spring (127); the fixed end rotating connecting rod (114) and the rotating end rotating shaft (125) drive the unlocking spring (120) to move and drive the unlocking spring (120) into the limiting groove at the end of the locking pin (123); at this time, the unlocking pin (123) is separated from the unlocking disk (124) and drives the fixed end and the rotating end to be in an unlocked state.

4. The multi-angle movable and self-locking instrument forceps according to claim 3, characterized in that: When two adjacent joint rotation mechanisms (1) are connected in transmission, the rotation shaft at the rotation end of the joint rotation mechanism (1) at the front end is connected to the driving end of the joint rod connection block (112) at the fixed end of the joint rotation mechanism (1) at the rear end; When adjacent joint rotation mechanisms (1) are connected in transmission via the rotation joint connecting rod (2), one end of the rotation joint connecting rod (2) is connected to the driving end of the joint rod connecting block (112) at the fixed end of the joint rotation mechanism (1), and the other end of the rotation joint connecting rod (2) is connected to the rotation end rotation shaft (125) of the rotation end of another joint rotation mechanism (1).

5. The multi-angle movable and self-locking instrument forceps according to claim 4, characterized in that: The rotary joint connecting rod (2) comprises: Rotary joint connecting rod housing (201); A fixed end connection seat (202) mounted on the rotating joint connecting rod housing (201) and matched with the fixed end of the corresponding joint rotating mechanism (1), and a fixed end connection seat shaft clamp (203) for mounting the fixed end connection seat (202) on the rotating joint connecting rod housing (201); A rotating end connecting seat (206) mounted on the rotating joint connecting rod housing (201) and matched with the rotating end of the corresponding joint rotating mechanism (1), and a rotating end connecting seat shaft clamp (204) for mounting the rotating end connecting seat (206) on the rotating joint connecting rod housing (201); A connecting rod (205) is installed between the fixed end connecting seat (202) and the rotating end connecting seat (206).

6. The multi-angle movable and self-locking instrument forceps according to claim 3, characterized in that: The push-to-unlock mechanism (3) comprises: Press to unlock the housing (301); A push shell (309) integrated in the push-to-unlock shell (301), and an unlocking push column (308) is arranged inside the push shell (309); The push-to-unlock housing (301) is rotatably connected to a first unlocking connecting rod (306) and a second unlocking connecting rod (307), and the end of the first unlocking connecting rod (306) cooperates with the unlocking push column (308); The second unlocking connecting rod (307) is connected to the unlocking rear end connecting rod (302), and the unlocking rear end connecting rod (302) is sleeved with a limiting sliding sleeve (305) on the outside, and an unlocking rotating bearing (303) is installed between the limiting sliding sleeve (305) and the push-to-unlock housing (301), and the unlocking rotating bearing (303) is installed inside the push-to-unlock housing (301) through an unlocking rotating bearing shaft clamp (304); The end of the push-to-unlock housing (301) is mounted with a push-to-unlock front-end fixed base (311) via a push-to-unlock front-end fixed base shaft clamp (312) relative to the end of one end of the unlock rear-end connecting rod (302).

7. The multi-angle movable and self-locking instrument forceps according to claim 6, characterized in that: The quick disassembly and replacement mechanism (4) comprises: A quick-replacement spring fixing base (401), a quick-replacement rotating slide fixing base (402), a rotating slide clamp end housing (403) and a rotating slide rear end housing (404); The quick-change fixed base (401) is provided with a sliding positioning end cover (405) inside, one end of the quick-change fixed base (401) is connected with a replacement spring (406) and a replacement fixing bolt (407), and the other end is provided with a sliding positioning pin (409); The outer side of the sliding positioning end cover (405) is protruded to form a cylindrical pin, and the cylindrical pin is inserted into the guide hole of the quick-release spring fixing base (401) and the rear end shell (404) of the rotating slide groove is sleeved on the outside of the quick-release spring fixing base (401); The quick-change rotating slide groove fixing seat (402) is inserted into the quick-change spring fixing base (401), and the cylindrical pin on the outer side of the sliding positioning end cover (405) slides into the guide groove of the quick-change rotating slide groove fixing seat (402); The rotating slide groove clamp end housing (403) is sleeved on the exterior of the quick-disconnect rotating slide groove fixing seat (402).

8. The multi-angle movable and self-locking instrument forceps according to claim 3, characterized in that: The end fixing mechanism (6) comprises: A fixed base (601), a sliding clamping block (602), a base locking nut (603) and a sliding clamping block fixing bolt (604); When the base locking nut (603) rotates, it can drive the sliding clamping block (602) to move so as to fix the end fixing mechanism (6) on a plane.

9. The multi-angle movable and self-locking instrument forceps according to claim 7, characterized in that: The clamp end clamping mechanism (5) comprises: A clamp end fixing base (505) and a quick-change structure connecting base (506), wherein the clamp end fixing base (505) is mounted on the quick-change structure connecting base (506) by means of bolts; An upper jaw (504) and a lower jaw (501) are mounted on the jaw end fixing base (505), and a jaw end clamping spring (507) is arranged in a spring fixing opening between the upper jaw (504) and the lower jaw (501); The upper clamp (504) and the lower clamp (501) are connected via the clamp end clamping locking nut (502) and the front end clamping locking bolt (503).

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