Instrument forceps with multi-angle movement and self-locking

Abstract

The application discloses a multi-angle movement and self-locking instrument forceps, which comprises a plurality of sets of joint rotating mechanisms, rotating joint connecting rods, end fixing mechanism connections, and forceps end clamping mechanisms; a pressing unlocking mechanism is arranged between the front end joint rotating mechanism and the forceps end clamping mechanism, and the pressing unlocking mechanism is connected with the forceps end clamping mechanism through a quick dismounting mechanism; the pressing unlocking mechanism is used to drive all the joint rotating mechanisms and the rotating joint connecting rods to move to realize unlocking of all the joint rotating mechanisms; the joint rotating mechanism is divided into a fixed end and a rotating end; when the joint rotating mechanism is in an unlocked state, the fixed end and the rotating end can relatively rotate, and the rotating angle range is 0°-360°. The instrument forceps realize multi-angle movement in a space with the instrument forceps stretching the longest radius and can realize self-locking and hovering at any position through the plurality of sets of joint rotating mechanisms and overall rigid support, thereby improving the practicability and stability of the device.

Description

Technical Field

[0001] The present 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 advancement of modern science and technology, robotics has experienced rapid growth. Most modern robotic arms utilize rigid mechanisms, consisting of discrete single-degree-of-freedom joints and rigid links, and are driven by servo motors and gas actuators. In both work and life, the movement of rigid robotic arms is constrained by the links and hinges, limiting their degrees of freedom. Higher degrees of freedom require more complex structures, increasing weight and size. Consequently, these robotic arms can only be used within larger, regular spaces. Their heavy weight and rigidity also raise safety concerns during human-machine interaction. Current robotic arms, on the other hand, are developing towards smaller size, higher precision, and greater degrees of freedom.

[0003] Laparoscopic minimally invasive surgery is currently a hot topic in medical technology research and a future surgical development trend. This is primarily due to the numerous advantages of minimally invasive medicine, such as minimal trauma, shorter hospital stays, faster recovery, and fewer postoperative complications. However, in traditional laparoscopic surgery, the surgeon and the laparoscope holder must collaborate for extended periods of time. The laparoscope holder holds the laparoscope to provide visual field, while the surgeon manipulates the instruments. The laparoscope holder must maintain a fixed position for extended periods. Simple procedures, with the aid of forceps to manipulate the scope, can be performed by a single surgeon. This eliminates the need for additional medical staff for nighttime emergencies or hospitals with limited staff, reducing labor costs.

[0004] In the prior art, a Chinese invention patent application with application number 202210280067.X, entitled “A Multifunctional Medical Universal Arm,” discloses a medical universal arm, which includes a support arm, a rotary joint 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, an end of the support arm close to the accessory adapter is provided with an operation panel for controlling the rotary joint, the operation panel is provided on the upper surface of the support arm, and a control handle is 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 component is anchor-shaped, and the bottom of the anchor component is hinged to the inner wall of the housing of the rotary joint through a second pin. One end of the anchor component fits the end of push rod one, and the other end fits the end of push rod two. Push rods one and two are vertically distributed between them. The operating panel includes a pressing plate and a rotating rib fixed below the pressing plate. The lower end of the rotating rib is movably hinged to a groove provided on the upper surface of the support arm through a first pin. The end of the rotating rib away from the pressing plate is fitted with a sliding block one. The sliding block one is slidably connected to the sliding sleeve. The sliding sleeve is provided inside the support arm. One end of the push rod one movably fits the surface of the sliding block one located inside the sliding sleeve. Preferably, the sliding sleeve layer has a cylindrical structure, the outer ring of the sliding sleeve is fixed to the inner wall of the support arm, and the inner ring of the sliding sleeve allows the sliding block one to slide along the length direction of the sliding 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 during rotation without any jamming, and the locking device is reliably locked without any 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 an internal groove body inside the support arm. Specifically, all the rotary joints are structurally divided into five parts. The third rotary joint position is used here to illustrate. 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 second shell and the first shell are controlled by the cooperation of the pins and the positioning members to achieve a fixed state or a relaxed state of the joint position, a third shell fixedly connected to the end of the second shell, a first group of anchor-type members is 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, and the third shell and the fourth shell are controlled by the cooperation between the second group of pins and the positioning members to achieve a fixed state or a relaxed state of the joint position.Preferably, the fixed disk has a disk-shaped structure, with a circular thin plate integrally formed on its outer ring. A latch is provided around the fixed disk, and the latch has a groove that mates with the circular thin plate. When the joint is in a fixed position, the latch engages with the groove on the outer ring of the positioning member, securing the adjacent first and second housings, or the adjacent third and fourth housings, relative to each other and preventing rotation, thereby achieving positioning. Preferably, the latch has a cylindrical structure, with twelve latches provided around the fixed disk. When the joint is in a relaxed position, the latch moves out of the groove on the outer ring of the positioning member, loosening the adjacent first and second housings, or the adjacent third and fourth housings, allowing relative rotation between them, thereby achieving rotational adjustment between the first, second, and third support arms. Preferably, the internal groove further includes a positioning member, which is sleeved on the outer surface of the first push rod, and the outer ring of the positioning member is provided with a groove that mates with the latch. Preferably, the second push rod is similarly surrounded by latches, positioning members, and a fixed disk. Specifically, the positions of the first rotary joint, the second rotary joint and the third rotary joint all adopt the method of pushing the anchor part around the pin shaft 2 by push rod 1 to push the anchor part to rotate around the pin shaft 2, and then the end of the anchor part resists the movement of push rod 2 for reversing control operation, which can control the fixed state or loose 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 anchor part. 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 rotary joint becomes rotatable; the rotation and fixation between the first rotary joint, the second rotary joint and the third rotary joint are controlled by multiple groups of push rods 1, anchor parts, push rods 2 and anchor parts distributed in sequence head to tail. Preferably, the first support arm, the second support arm, and the third rotating joint form a U-shaped structure, the second support arm, the third support arm, and the second rotating joint form a concave-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, secure fixation, simple operation, and fast adjustment. The support arm eliminates the need for a person to hold the endoscope, providing the surgeon with a convenient and quick way to adjust and fix the endoscope while saving space in the operating room. Preferably, the orifice diameter of the support arm is 10mm to 80mm. The support arms are available in two sizes, thick and thin, with different orifice diameters. The thick support arm has an orifice diameter of 50mm to 55mm, while the thin support arm has an orifice diameter of 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, while the thin support arm can be used in clinical minimally invasive surgery to fix the position of surgical instruments, making it easier for the surgeon to operate other surgical instruments.

[0006] However, a careful study of the technical solutions disclosed in the prior art reveals that the prior art has the following disadvantages: when the robot arm moves at its maximum radius, the clamp tip wobbles, preventing effective locking and hovering. To address these disadvantages, the present invention utilizes a structural design of six rotating joints and a joint connecting rod to achieve stability of the clamp tip at its maximum radius.

[0007] Therefore, based on the above technical problems, technicians in this field urgently need to develop an instrument forceps that can move at multiple angles and is self-locking. 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-lock and hover at any position within a space where the instrument forceps is stretched to its longest radius.

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

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

[0011] Multiple joint rotation mechanisms; and

[0012] A rotary joint connecting rod connected in transmission 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 joint rotation mechanisms are arranged to be connected to each other through transmission, and to be connected to the rotation joint connecting rod according to the turning angle and position of the instrument forceps;

[0016] The press-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°~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 opposite to 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 chamber inside, the fixed end rotating connection chamber 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 provided 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 rotation mechanism includes:

[0024] A rotating end housing, wherein the rotating end housing is provided with a rotating end cover at an end 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 extends axially along 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 further provided with:

[0028] Locking connecting disc; and

[0029] a locking pin engaged 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 provided 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 to move synchronously and compress 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 disengages from the locking 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 axis of the rotation end of another joint rotation mechanism.

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

[0035] Rotary joint connecting rod housing;

[0036] A fixed end connecting 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 connecting seat shaft clamp for mounting the fixed end connecting 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 provided inside the push shell;

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

[0043] The second unlocking connecting rod is connected to the unlocking rear end connecting rod, and the unlocking rear end connecting rod is externally sleeved with a limiting sliding sleeve, an unlocking rotary bearing is installed between the limiting sliding sleeve and the push-to-unlock housing, and the unlocking rotary bearing is installed inside the push-to-unlock housing via an unlocking rotary 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 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-change spring fixed base, quick-change rotating slide fixing base, rotating slide clamp end housing and rotating slide rear end housing;

[0047] A sliding positioning end cover is provided inside the quick-change spring fixing base, one end of the quick-change spring fixing base is connected to the replacement spring and the 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 is sleeved on the outside of the quick-change spring fixing base;

[0049] The quick-change rotating slide 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 fixing seat;

[0050] The rotating chute clamp end shell is sleeved on the outside of the quick-disconnect rotating chute 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 includes:

[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 via bolts;

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

[0057] The upper pliers and the lower pliers are connected by the pliers end clamping locking nut and the front end clamping locking bolt.

[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 practicality 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 following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0064] Figure 1 This 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 cross-sectional view of the structure of a multi-angle movable and self-locking instrument forceps disclosed in an embodiment of the present invention;

[0066] Figure 3 A cross-sectional view of the structure 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 This is an exploded view of the structure of a rotary joint connecting rod of a multi-angle movable and self-locking instrument forceps disclosed in an embodiment of the present invention;

[0068] Figure 5 A cross-sectional view of the structure of a push-to-unlock mechanism of a multi-angle movable and self-locking instrument forceps disclosed in an embodiment of the present invention;

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

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

[0071] Figure 8 This is an exploded view of the structure of a clamp end clamping mechanism of a multi-angle movable and self-locking instrument clamp disclosed in 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. 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 axis; 114. Fixed end rotation connection rod; 115. Fixed end end cover; 116. Fixed end rotation connection compartment;

[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, rotary joint connecting rod housing; 202, fixed end connecting seat; 203, fixed end connecting seat shaft clamp; 204, rotary end connecting shaft clamp; 205, connecting rod; 206, rotary end connecting seat;

[0078] 301. Press to unlock the housing; 302. Unlock the rear connecting rod; 303. Unlock the swivel bearing; 304. Unlock the swivel bearing shaft clamp; 305. Unlock the rear connecting rod limit sleeve; 306. First unlocking connecting rod; 307. Second unlocking connecting rod; 308. Unlock the pressing post; 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-change spring fixing base; 402. Quick-change rotating slide fixing base; 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 lock nut; 503, clamp end clamping lock 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 provides a multi-angle movable and self-locking instrument forceps, comprising:

[0085] Multiple joint rotation mechanisms 1; and

[0086] A rotary joint connecting rod 2 connected in transmission to the corresponding joint rotary mechanism 1;

[0087] The instrument forceps is divided into a front end and a terminal end. The joint rotation mechanism 1 at the terminal end is connected to the terminal 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 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;

[0089] Multiple groups of joint rotation mechanisms 1 are arranged according to the turning angle and position of the instrument forceps, such that the joint rotation mechanisms 1 are transmission-connected to each other and the joint rotation mechanisms 1 are connected to the rotation joint connecting rods 2;

[0090] The press unlocking mechanism 3 is used to drive all joint rotation mechanisms 1 and the rotation joint connecting rod 2 to achieve unlocking of all joint rotation 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°~360°.

[0092] Specifically, the instrument forceps of this embodiment are primarily comprised of six main mechanisms: multiple joint rotation mechanisms 1, a rotary joint connecting rod 2, a push-to-unlock mechanism 3, a quick-release mechanism 4, a forceps end clamping mechanism 5, and an end-fixing mechanism 6. This embodiment utilizes multiple sets of joint rotation mechanisms 1 to achieve angle adjustment, and the various motion joint connections of this embodiment are primarily categorized into four types: transmission between joint rotation mechanisms 1, transmission between joint rotation mechanisms 1 and rotary joint connecting rod 2, connection between joint rotation mechanisms 1 and end-fixing mechanism 6, and transmission between joint rotation mechanisms 1 and push-to-unlock mechanism 3. All joint rotation mechanisms 1 of this embodiment are structurally identical, and therefore, the following explanation and description will only use one set of joint rotation mechanisms 1 as an example.

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

[0094] The fixed end housing 11 is provided with a fixed end cover 115 at the end of the fixed end housing 11 opposite to the rotating end;

[0095] The fixed end joint is connected to the 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 provided 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 is provided with a rotating end cover 129 at the end of the rotating end housing 12 opposite to the fixed end;

[0100] A rotating end fixing plate 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 fixing plate 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 further provided with:

[0103] Locking connection disc 122; and

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

[0105] A locking disc 124 is provided 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 subjected to force 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, and 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°, 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 unlocked 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 rotating end rotation shaft 125 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;

[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 this embodiment includes a rotary joint connecting rod housing 201, a fixed end connecting seat 202 mounted on the rotary joint connecting rod housing 201 and cooperating 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 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;

[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 this embodiment includes a push-to-unlock housing 301, a push housing 309 integrated with the push-to-unlock housing 301, and an unlocking pressing column 308 is provided inside the push-to-unlock 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 the end of the first unlocking connecting rod 306 cooperates with the unlocking pressing column 308; in addition, 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 externally sleeved with a limiting sleeve 305, 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 press-unlock mechanism 3 of this embodiment presses down the press shell 309 and unlocks the press 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, and the unlocking and self-locking in the joint rotation mechanism 1 are achieved in this way. In summary, when the operator presses the press shell 309, all joint rotation mechanisms 1 are unlocked, and the operator can use the instrument forceps to reach any position in the space with the maximum extension radius of the instrument forceps. When the press shell 309 is released, multiple groups of joint rotation mechanisms 1 are self-locked, so that the instrument forceps can hover at the current position.

[0115] Preferably, the quick-release mechanism 4 of this embodiment includes a quick-release spring fixing base 401, a quick-release rotating slide fixing base 402, a rotating slide clamp end shell 403 and a rotating slide rear end shell 404; a sliding positioning end cover 405 is provided inside the quick-release spring fixing base 401, one end of the quick-release spring fixing base 401 is connected to 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-release spring fixing base 401 and the rotating slide rear end shell 404 is sleeved on the outside of the quick-release spring fixing base 401; the quick-release rotating slide fixing base 404 is inserted into the quick-release 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-release rotating slide fixing base 404; the rotating slide clamp end shell 403 is sleeved on the outside of the quick-release rotating slide 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 is sleeved on the outside of the quick-replacement spring fixing base 402. The quick-replacement rotating slide fixing seat 402 is inserted into the quick-replacement spring fixing base 401. The sliding positioning end cover 405 The cylindrical pins at both ends of the end cover 405 are inserted into the guide grooves of the quick-replacement rotating slide fixing seat 402, and the rotating slide clamp end shell 403 is sleeved on the outside of the quick-replacement rotating slide fixing seat 402. The operator holds the rotating slide clamp end shell 403 and rotates it clockwise, driving the quick-replacement rotating slide 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-replacement rotating slide 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 with fixing bolts;

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

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

[0120] The clamp end fixing base 505 and the quick-change structure connecting base 506 are installed 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 provided in the 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 lock 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 achieve self-locking and hovering at any position, thereby improving the practicality 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 clamping function of the fixing seat, which 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 merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A multi-angle movable and self-locking instrument forceps, characterized in that: The instrument forceps comprises: Multiple joint rotation mechanisms (1); and A rotary joint connecting rod (2) that is transmission-connected to the corresponding joint rotary 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) 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 to be connected to each other in a transmission manner, and to be connected to a rotation joint connecting rod (2) according to the turning angle and position of the instrument forceps; The press unlocking 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°. 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 opposite to one end of the rotating end; A fixed end joint connection fixing ring (111) provided on a side surface of the fixed end housing (11); A fixed end rotating connection chamber (116) is provided inside the fixed end housing (11), the fixed end rotating connection chamber (116) is rotatably connected to a joint rod connecting block (112), and the joint rod connecting block (112) has a driving end and a driven end; A fixed end rotating shaft (113) is provided 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 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) is extended along the axial direction of the rotating end fixed 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); The rotating end housing (12) of the rotating end is further provided with: A locking connecting disc (122); and a locking pin (123) engaged with a corresponding locking groove of the locking connection disc (122), wherein the locking pin (123) is provided with an unlocking spring (120); A locking disc (124) is provided inside the rotating end housing (12) and on a side opposite to the locking connection disc (122); When the driving end of the joint rod connecting block (112) is driven by force to move the driven end, 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 locking pin (123) is separated from the locking disk (124) and drives the fixed end and the rotating end to be in an unlocked state.

2. The multi-angle movable and self-locking instrument forceps according to claim 1, characterized in that: When two adjacent joint rotation mechanisms (1) are connected in transmission, the rotation shaft 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) at the fixed end of the joint rotation mechanism (1) at the rear end; 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) at the rotation end of another joint rotation mechanism (1).

3. The multi-angle movable and self-locking instrument forceps according to claim 2, 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 rotary joint connection rod housing (201) and cooperating with the fixed end of the corresponding joint rotation mechanism (1), and a fixed end connection seat shaft clamp (203) for mounting the fixed end connection seat (202) on the rotary joint connection rod housing (201); a rotating end connecting seat (206) mounted on the rotating joint connecting rod housing (201) and cooperating 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).

4. The multi-angle movable and self-locking instrument forceps according to claim 1, characterized in that: The push-to-unlock mechanism (3) comprises: Press to unlock the housing (301); A pressing shell (309) integrated into the pressing-to-unlocking shell (301), wherein an unlocking pressing column (308) is provided inside the pressing shell (309); The push-to-unlock housing (301) is internally 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 provided with a limiting sliding sleeve (305) on the outside, and an unlocking rotary bearing (303) is installed between the limiting sliding sleeve (305) and the push-to-unlock housing (301), and the unlocking rotary bearing (303) is installed inside the push-to-unlock housing (301) via an unlocking rotary 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).

5. The multi-angle movable and self-locking instrument forceps according to claim 4, characterized in that: The quick disassembly and replacement mechanism (4) comprises: A quick-change spring fixed base (401), a quick-change rotating chute fixed base (402), a rotating chute clamp end housing (403) and a rotating chute rear end housing (404); A sliding positioning end cover (405) is provided inside the quick-displacement spring fixing base (401); one end of the quick-displacement spring fixing base (401) is connected to a dismantling spring (406) and a dismantling 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-change spring fixing base (401) and the rear end shell (404) of the rotating slide is sleeved on the outside of the quick-change spring fixing base (401); The quick-change rotating slide 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 fixing seat (402); The rotating chute clamp end housing (403) is sleeved on the exterior of the quick-disconnect rotating chute fixing seat (402).

6. The multi-angle movable and self-locking instrument forceps according to claim 1, 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.

7. The multi-angle movable and self-locking instrument forceps according to claim 5, 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) via bolts; An upper clamp (504) and a lower clamp (501) are mounted on the clamp end fixing base (505), and a clamp end clamping spring (507) is provided in a spring fixing opening between the upper clamp (504) and the lower clamp (501); The upper clamp (504) and the lower clamp (501) are connected via a clamp end clamping locking nut (502) and a front end clamping locking bolt (503).

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