Mechanical arm

Abstract

The invention provides a mechanical arm which comprises joints and at least two supporting arms, the joints are connected to the supporting arms, and the joints comprise the first joint and the second joint. The first joint and the second joint have high locking force, the phenomenon that the mechanical arm is accidentally unlocked due to insufficient locking force is avoided, the stability of the mechanical arm is guaranteed, and when the mechanical arm is used for a navigation operation of a surgical robot, the operation safety is guaranteed; locking and unlocking of the first joint and the second joint are not affected by each other and can be adjusted according to actual conditions, and operation is easy and convenient; the mechanical arm can bear heavier loads.

Description

Technical Field

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

[0002] With the popularization of navigation minimally invasive surgery in clinical practice, and the trend of miniaturization of surgical assisting robots, the positioning accuracy and stability requirements for small surgical robots are getting higher and higher. The support arms of small surgical robots on the market are generally implemented with ball joint structures. This joint structure relies on the friction between the parts after the joint is locked to keep the support arms locked, which is prone to the problem of insufficient joint locking force. Once the joint locking force is insufficient, the relevant support arms will move unexpectedly, which will cause the entire robotic arm or even the robot system to shift, making its positioning inaccurate, leading to the failure of navigation surgery and even serious consequences such as patient casualties. Therefore, how to improve the locking force of the joints of the surgical robot support arms and maintain the stability of the robotic arms is an urgent problem to be solved. Summary of the invention

[0003] In view of the defects in the prior art, an object of the present invention is to provide a robotic arm whose joints have large locking force and good stability, and which can provide stable support for surgical robots or other medical devices.

[0004] The present invention provides a mechanical arm, comprising a joint and at least two arms, wherein the joint is connected to the arms, and the joint comprises a first joint and a second joint; the first joint comprises a shell, a flexible connector, and a locking assembly, wherein: the shell comprises a first shell and a second shell, the first shell is provided with a first connector, the second shell is provided with a second connector, and the first connector and the second connector are rotatably connected; the locking assembly is located in the shell cavity, the locking assembly comprises a top block and a tooth block, a top block cavity is provided inside the top block, the top block cavity is communicated with the shell cavity, at least a portion of the flexible connector is provided in the top block cavity, and the top block abuts against the tooth block.

[0005] In one embodiment, the locking assembly has a locking state and an unlocking state. In the locking state, the tooth block is connected to the first connecting member, and in the unlocking state, the tooth block is disconnected from the first connecting member.

[0006] In one embodiment, a housing cavity is provided inside the housing, and at least a portion of the flexible connector is located in the housing cavity.

[0007] In one embodiment, the first connecting member and the second connecting member are connected via a bearing.

[0008] In one embodiment, a top block inclined surface is provided on the top block, a tooth block inclined surface is provided on the tooth block, and the tooth block inclined surface abuts against the top block inclined surface.

[0009] In one embodiment, the tooth block is provided with a first end and a second end of the tooth block, the tooth block inclined surface is provided at the first end of the tooth block, and the second end of the tooth block is connected to the first connecting member in a locked state.

[0010] In one embodiment, in the locked state, the second end of the tooth block is meshedly connected with the first connecting member.

[0011] In one embodiment, a tooth block rack is provided at the second end of the tooth block, and a first connecting member rack is provided on the first connecting member. In a locked state, the tooth block rack is meshed with the first connecting member rack.

[0012] In one embodiment, the tooth block further includes a tooth block side surface, and a tooth block spring is provided between the tooth block side surface and the second connecting member.

[0013] In one embodiment, the spring is used to impart a force to the tooth block toward the inclined surface of the top block.

[0014] In one embodiment, the top block has a top block first end and a top block second end, the top block first end is connected to the second connecting member, and the other end opposite to the top block first end is the top block second end.

[0015] In one embodiment, a top block spring is provided between the first end of the top block and the second connecting member.

[0016] In one embodiment, a plurality of claws are provided at the second end of the top block, a gap is provided between two adjacent claws, and a plane perpendicular to the axis of the flexible connector or the axis or center line of the top block is the first plane.

[0017] In one embodiment, there are at least two claws.

[0018] In one embodiment, the projection of the claw piece on the first plane is located in a circular ring.

[0019] In one embodiment, one end of the claw piece connected to the top block is the claw piece connecting end, and the other end of the claw piece is the claw piece free end, and the diameter of the ring where the projection of the claw piece free end on the first plane is located is smaller than the diameter of the ring where the projection of the claw piece connecting end on the first plane is located.

[0020] In one embodiment, the locking assembly further includes a fastener, and the fastener is located at the second end of the top block and the outer surface of the claw piece.

[0021] In one embodiment, the fastener is connected to the second end of the top block via internal and external threads.

[0022] In one embodiment, the fastener has a fastener connecting end and a fastener fixing end, and the fastener connecting end is connected to the top block.

[0023] In one embodiment, a projection of the fixing end of the fastener on the first plane is inside a projection of the connecting end of the fastener on the first plane.

[0024] In one embodiment, the inner surface of the fastener connection end is provided with an internal thread, and the second end of the top block or the outer surface of the claw piece is provided with a thread matching the internal thread.

[0025] In one embodiment, the fastener is a special-shaped nut.

[0026] In one embodiment, the first joint further includes a steering mechanism, and the steering mechanism is rotatably connected to the housing.

[0027] In one embodiment, the steering mechanism is a pulley, and the flexible connector passes around the pulley.

[0028] In one embodiment, the steering mechanism further includes a connecting portion, and the connecting portion is fixedly connected to the first housing or the second housing.

[0029] In one embodiment, the pulley is arranged on the connecting portion.

[0030] In one embodiment, the second joint includes a control link, a first gear plate, and a second gear plate, wherein the control link is connected to the first gear plate, and when the second joint is in a locked state, the first gear plate is meshed and connected with the second gear plate.

[0031] In one embodiment, the second joint further includes a third housing and a fourth housing, the fourth housing is connected to the second gear disc, and a gear disc spring is provided between the first gear disc and the third housing.

[0032] In one embodiment, the second joint further includes a toothed disc spring, and the toothed disc spring is disposed between the first toothed disc and the second toothed disc.

[0033] In one embodiment, a first toothed disc through hole is provided inside the first toothed disc, and the flexible connecting member passes through the first toothed disc through hole.

[0034] In one embodiment, a second toothed disc through hole is provided inside the second toothed disc, and the flexible connecting member passes through the second toothed disc through hole.

[0035] In one embodiment, the robotic arm further comprises a control switch, and the control switch is connected to any one of the arms and / or the joints.

[0036] In one embodiment, the control switch includes a first control switch and a second control switch, the first control switch is used to control the switching of the first joint between a locked state and an unlocked state, and the second control switch is used to control the switching of the second joint between a locked state and an unlocked state.

[0037] In one embodiment, the first control switch includes a button and a rotating part, the button is fixedly connected to the rotating part, and the rotating part is connected to the locking assembly.

[0038] In one embodiment, the rotating portion is connected to the flexible connecting member.

[0039] In one embodiment, the rotating portion is rotatably connected to the supporting arm.

[0040] In one embodiment, the second control switch includes a second button and a second rotating member, the second rotating member is rotatably connected to the support arm, one end of the second rotating member is connected to the second button, and the other end of the second rotating member is connected to the control link.

[0041] In one embodiment, the second control switch further includes a limit member, the limit member is fixedly connected to the support arm, the limit member is provided with a limit member through hole, and the control connecting rod passes through the limit member through hole.

[0042] In one embodiment, a fixing clip is provided on at least one of the arms or at least one of the first joints.

[0043] Compared with the prior art, the first joint and the mechanical arm provided by the present invention have the following beneficial effects:

[0044] 1. The first joint is locked and unlocked by a locking assembly, and the second joint is locked by the meshing connection of the first gear plate and the second gear plate. Both the first joint and the second joint have a high locking force, which avoids the accidental unlocking of the robotic arm due to insufficient locking force, ensures the stability of the robotic arm, and ensures the safety of the surgery when used for navigation surgery of the surgical robot.

[0045] 2. When the first control switch and the second control switch are set, the locking and unlocking of one or more arms can be controlled by controlling the first control switch, and the locking and unlocking of the corresponding arms can be controlled by controlling the second control switch. The locking and unlocking of the first joint and the second joint are not affected by each other and can be adjusted according to actual conditions, which is easy to operate.

[0046] 3. The robotic arm can carry heavier loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0048] Figure 1 A schematic diagram of the structure of a mechanical arm according to an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of the structure of a first control switch according to an embodiment of the present invention;

[0050] Figure 3 A schematic structural diagram of a first joint according to an embodiment of the present invention;

[0051] Figure 4 A schematic diagram of the structure of a gear block according to an embodiment of the present invention;

[0052] Figure 5 A schematic diagram of the structure of a top block shown in one embodiment of the present invention;

[0053] Figure 6 A cross-sectional view of a top block shown as an embodiment of the present invention;

[0054] Figure 7 A schematic diagram of the structure of a second joint shown in one embodiment of the present invention;

[0055] Figure 8 A schematic structural diagram of a first toothed disc showing an embodiment of the present invention;

[0056] Fig. 9 A schematic diagram of the structure of a second toothed disc showing an embodiment of the present invention;

[0057] Fig.10 A schematic diagram of the structure of a second control switch according to an embodiment of the present invention;

[0058] Fig.11 The figure is a schematic diagram of the structure of a second control switch according to an embodiment of the present invention.

[0059] Reference numerals:

[0060] 11. First connecting member; 12. Second connecting member; 18. First housing; 19. Second housing; 2. Wire rope; 21. Pulley; 22. Connecting part; 31. Top block; 311. First end of top block; 312. Second end of top block; 313. Inclined surface of top block; 314. Claw; 315. Claw connecting end; 316. Free end of claw; 317. Gap; 34. Top block spring; 32. Tooth block; 321. First end of tooth block; 322. Second end of tooth block; 323. Inclined surface of tooth block; 324. Side surface of tooth block; 3 25. Tooth block spring; 4. Fastener; 41. Fastening connection end; 42. Fastener fixed end; 51. First arm; 52. Second arm; 53. Third arm; 61. First joint; 62. Second joint; 7. Button; 71. Button rotating part; 72. Second control switch; 73. Second button; 74. Second rotating part; 75. Limiting part; 81. First tooth disc; 82. Second tooth disc; 83. Control connecting rod; 84. Tooth disc spring; 85. Third shell; 86. Fourth shell; 9. Fixing clamp. DETAILED DESCRIPTION

[0061] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0062] As used in the present invention, the singular forms "one", "an" and "the" include plural objects, the term "or" is generally used to include the meaning of "and / or", the term "several" is generally used to include the meaning of "at least one", and the term "at least two" is generally used to include the meaning of "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, the term "proximal end" is generally the end close to the operator, the term "distal end" is generally the end close to the patient, "one end" and "the other end" as well as "proximal end" and "distal end" generally refer to two corresponding parts, which include not only the endpoints, and the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be two The connection within an element or the interaction relationship between two elements. In addition, as used in the present invention, an element is arranged on another element, which usually only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements can be direct or indirect through an intermediate element, and it cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element can be in any position such as inside, outside, above, below or one side of another element, unless the content clearly indicates otherwise. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] The core idea of ​​the present invention is to provide a mechanical arm to solve the problems of insufficient locking force of the joints of the mechanical arm and instability of the mechanical arm in the prior art.

[0064] This embodiment provides a mechanical arm, referring to Figure 1The robot arm includes a first arm 51, a second arm 52, a third arm 53, three first joints 61, and a second joint 62. The first arm 51 is connected to the second arm 52 through the first joint 61, and the second arm 52 is connected to the third arm 53 through the first joint 61 and the second joint 62. The steering assembly of each first joint 61 is connected to another adjacent first joint 61 through a flexible connector such as a steel wire rope, which is equivalent to connecting multiple first joints 61 in series through a steel wire rope. Two control switches are provided on the third arm 53, which are respectively used to control the switching of the first joint 61 and the second joint 62 between the locked state and the unlocked state. The first joint 61 at one end of the first arm 51 is also connected to a fixing clamp 9, which can be connected to an operating bed, a fixing frame or other fixing devices to fix the entire robot arm.

[0065] Reference Figure 3 to Figure 6 , the first joint includes a shell, a flexible connector, and a locking assembly. The shell includes a first shell 18 and a second shell 19, the first shell 18 is provided with a first connector 11, the first shell 18 and the first connector 11 can be integrally formed or detachably connected, the inner wall of the second shell 19 is provided with a second connector 12, the second shell 19 and the second connector 12 can be integrally formed or detachably connected, the first connector 11 and the second connector 12 are connected by a bearing, the first connector 11 and the second connector 12 can rotate relative to each other, that is, the first shell 18 and the second shell 19 can also rotate relative to each other. The first shell 18 and the second shell 19 have interconnected shell cavities (not shown in the figure) inside, and the flexible connector passes through the shell cavity (not shown in the figure). The flexible connector can be a slender structure with certain flexibility, strength and rigidity, such as a wire rope, a belt, or a chain, a rack and other structures that can be bent, mechanically transmitted and pulled. In this embodiment, the flexible connector takes a wire rope as an example.

[0066] The locking assembly is located inside the shell cavity (not shown in the figure), and the locking assembly includes a top block 31 and a tooth block 32. A cylindrical top block cavity (not shown in the figure) is provided near the axis of the top block 31, and the top block cavity is connected to the shell cavity (not shown in the figure). The steel wire rope 2 passes through the top block cavity. The axis of the top block 31 coincides with the axis of the portion of the steel wire rope 2 located in the cavity. The plane perpendicular to the axis of the top block 31 is called the first plane. A part of the top block 31 is arranged inside the second connecting member 12. Under the restriction of the second connecting member 12, the top block 31 can only move along the direction of its axis. The top block 31 has a top block first end 311 and a top block second end 312. A top block inclined surface 313 is also provided on the side of the top block 31, facing the first connecting member 11.

[0067] Reference Figure 3, the first end 311 of the top block is connected to the second connecting member 12 through the top block spring 34. In the absence of external force, the top block spring 34 is compressed, that is, the top block spring 34 exerts a certain thrust on the top block 31, so that the top block 31 has a tendency to move to the right. Of course, the top block spring 34 can also be in a stretched state, giving the top block a pulling force, so that it has a tendency to move to the right. Figure 3 , Figure 5 and Figure 6 , the other end opposite to the first end 311 of the top block is the second end 312 of the top block, the second end 312 of the top block is provided with a plurality of claws 314, there is a certain gap 317 between two adjacent claws 314, one end of the claw 314 connected to the second end 312 of the top block is the claw connection end 315, and the other end opposite to the first end 315 of the claw is the claw free end 316. There are at least two claws 314, and four are used in this embodiment. The diameter of the ring where the projection of the claw free end 316 on the first plane is located is smaller than the diameter of the ring where the projection of the claw connection end 312 on the first plane is located, that is, the combination of the four claw free ends and the gaps therebetween is in the shape of a truncated cone. The steel wire rope 2 passes through the middle of the truncated cone, and when the free end of the claw is subjected to a force in the direction of its axis, it will move toward the center, the gap will be reduced, and the steel wire rope will be clamped. When the flexible connector adopts a structure such as a rack or a chain, a matching rack or a clamping structure can be provided at the free end of the claw piece to achieve the purpose of fixing the flexible connector at the free end of the claw piece.

[0068] Reference Figure 3 and Figure 6 A fastener 4 is also provided outside the claw piece 314. The fastener 4 has a fastener connection end 41 and a fastener fixing end 42. The fastener connection end 41 is provided on the outer surface of the second end 312 of the top block. The fastener connection end 41 is fixedly connected to the inner wall of the second housing 19 or the second connecting member 12. In addition, the fastener 4 can also be rotatably connected to the second housing 19 or the second connecting member through a bearing. When the claw piece 314 is located inside the fastener 4, as shown in FIG. Figure 3 As shown, when the claw 314 moves toward the left, it will receive a force from the fastener fixing end 42 toward the inside. The portion of the fastener 4 close to the fastener fixing end 42 also adopts a shape similar to a truncated cone, and the diameter of the projection of the fastener fixing end 42 on the first plane is smaller than the diameter of the projection of the fastener connecting end 41 on the first plane, and the diameter of the projection of the fastener fixing end 42 on the first plane is smaller than the diameter of the projection of the claw free end 316 on the first plane. Figure 6As shown, when the top block 31 moves to the right, the free end 316 of the claw also moves to the right, gradually approaching the fastener fixed end 42, continues to move and then contacts the fastener fixed end 42, and is subjected to the inward force of the fastener fixed end 42, the gap 317 between the claws gradually decreases, and the free end 316 of the claw gradually moves inward until the internal wire rope 2 is tightly clamped.

[0069] In another embodiment, the fastener 4 does not need to be connected to the second housing 19, but the fastener connection end 41 is connected to the outer surface of the second end 312 of the top block through a thread. During the assembly process, the fastener connection end 41 is connected to the second end 312 of the top block. During the thread engagement process, the inclined surface inside the fastener fixed end 42 squeezes the claw piece 314, so that the claw piece is tightened toward the center, thereby clamping the wire rope. After the assembly is completed, when the first joint is used normally, the wire rope 2, the claw piece 314, and the fastener 4 can form a stable whole, and no relative movement occurs between them.

[0070] Reference Figure 3 and Figure 4 The tooth block 32 is arranged in the housing cavity and inside the first connecting member 11. The tooth block 32 has a first end 321, a second end 322, and a side 324. A tooth block inclined surface 323 is arranged at the first end 321 of the tooth block, and the tooth block inclined surface 323 abuts against the top block inclined surface 313. The tooth block inclined surface 323 can be in the shape of a spherical surface, a conical surface, or a truncated cone side surface, and can be in line contact or surface contact with the top block inclined surface 313 and maintain a certain force. A tooth block rack is arranged at the second end 322 of the tooth block, and a first connecting member rack matching with the tooth block rack is arranged on the inner wall of the first connecting member 11. When the locking assembly is in a locked state, the tooth block rack is meshed with the first connecting member rack, and the tooth block 32 and the first connecting member 11 cannot rotate relative to each other. The side 324 of the tooth block is close to the second connecting member 12, and a tooth block spring 325 is arranged between the side 324 of the tooth block and the second connecting member 12. In the locked state and the unlocked state, the tooth block spring 325 is in a compressed state, which can exert a force on the lock tooth block 32 toward the top block 31, so that the lock block slope 323 always rests on the top block slope 313 and exerts a certain force on the top block slope 313.

[0071] like Figure 3As shown, when the entire joint is not subjected to external force, when the top block 31 is in the rightmost position under the force of the top block spring 34, the tooth block bevel 323 is in the outermost position, the second end 322 of the tooth block is connected to the first connecting member 11 through the rack, the tooth block 32 and the first connecting member 11 cannot rotate relative to each other, the first connecting member 11, the tooth block 32, the top block 31, and the second connecting member 12 cannot move relative to each other, and are in a stable state. At this time, the force acting on the tooth block spring 325 is the largest, and the locking assembly is in a locked state.

[0072] In addition, the first joint also includes a steering mechanism, which can be a pulley, a belt wheel, a gear or other mechanism. In this embodiment, a pulley 21 that cooperates with the wire rope is used. A connecting portion 33 is provided on the inner wall of the second housing 19, and the pulley 21 is connected to the connecting portion 33, and the wire rope 2 is wound around the pulley. The pulley can change the direction of the wire rope, and multiple joints can be connected in series through a wire rope. Moreover, by controlling the movement of a wire rope, the movement of the top blocks of multiple joints can be driven, thereby realizing the switching of the locking assembly between the locked state and the unlocked state. Of course, the steering mechanism can also adopt other structures. For example, when the flexible connector adopts a chain structure, the steering structure can adopt a gear structure.

[0073] When the entire joint is not affected by external forces, the locking assembly is in a stable locking state. When the locking assembly needs to be switched to the unlocking state, Figure 3 A certain pulling force is applied to the left end of the steel wire rope shown. When the pulling force is greater than the pressure of the top block spring on the top block, the top block will be driven to move toward the left, and the claw piece will also move toward the left, gradually contacting the fixed end of the fastener, and being subjected to the force of the fixed end of the fastener toward the inside. Under the action of this force, the claw piece gathers inward to grasp the steel wire rope. At the same time, the inclined surface of the top block also moves toward the left. Since the tooth block is subjected to the force of the tooth block spring, the tooth block will gradually move inward, so that the second end of the tooth block is gradually separated from the first connecting member. When the second end of the tooth block is completely separated from the first connecting member, the locking assembly switches to the unlocked state. At this time, the first connecting member and the second connecting member can rotate relative to each other, that is, the first shell and the second shell can rotate relative to each other, and the relative angle between the first shell and the second shell can be adjusted. When the pulling force on the steel wire rope is released, the top block returns to the rightmost position under the force of the tooth block spring, that is, the locking assembly returns to the locked state.

[0074] The first joint provided in this embodiment is locked by the action force between the inclined surface of the top block and the inclined surface of the tooth block. The potential energy of the tooth block spring or the top block spring can make the joint more stable and firm in the locked state, and will not be accidentally unlocked, thereby ensuring the safety and stability during the operation. The joint realizes the switching of the locking assembly between the locked state and the unlocked state through the control of the flexible connector, and the flexible connector can connect multiple joints in series, and the locking and unlocking of all joints of the robotic arm can be controlled by one operation, which reduces the complexity of the joint structure, reduces the weight and volume of the joint, improves the stability of the overall structure, and greatly improves the convenience of operation.

[0075] Reference Figure 7 to Figure 9 The second joint includes a control link 83, a first toothed disc 81, and a second toothed disc 82. The first toothed disc 81 is connected to the third housing 85, and the second toothed disc 82 is connected to the fourth housing 86. The control link 83 is arranged on the first toothed disc 81, on a side away from the second toothed disc 82. Matching gears are arranged on the opposite sides between the first toothed disc 81 and the second toothed disc 82. A toothed disc spring 84 is arranged between the first toothed disc 81 and the third housing 85. The toothed disc spring 84 applies a force to the first toothed disc 81 toward the left so that the gears on the first toothed disc 81 and the second toothed disc 82 are meshed and connected. At this time, the first toothed disc 81 and the second toothed disc 82 cannot rotate relative to each other, and the second joint is in a locked state. Figure 5 As shown, when the control link 83 is subjected to a force toward the right and the force is greater than the force of the toothed disc spring 84, it drives the first toothed disc 81 to move toward the right, and the first toothed disc 81 and the second toothed disc 82 are gradually separated. When the gears on the first toothed disc 81 and the second toothed disc 82 are completely separated, the first toothed disc 81 and the second toothed disc 82 can rotate relative to each other, and the second joint is in an unlocked state, and the angle between the first toothed disc 81 and the second toothed disc 82 can be adjusted. In addition, the toothed disc spring 84 can also be set between the first toothed disc 81 and the second toothed disc 82.

[0076] The first toothed disc 81 and the second toothed disc 82 are respectively provided with corresponding through holes in their middle parts, and the steel wire rope 2 passes through the corresponding through holes.

[0077] Refer to 2. Fig.10 and Fig.11 The third arm 53 is provided with a first control switch and a second control switch. The first control switch can control the locking and unlocking of the first joint, and the second control switch can control the locking and unlocking of the second joint.

[0078] The third arm 53 is provided with a first control switch. In this embodiment, the first control switch is a button structure. All first joints can be locked and unlocked by operating the button. Figure 2, the first control switch includes a button 7 and a button rotating part 71. One end of the button 7 is fixedly connected to the rotating part 71, and the combination of the button 7 and the rotating part 71 is an L-shaped structure. When the button 7 is pressed, the rotating part 71 can rotate clockwise. One end of the wire rope 2 is connected to the rotating part 71. When the button 7 is pressed, the rotating part 71 is driven to rotate clockwise, the wire rope 2 moves to the right, and the top rod 31 of the first joint moves to the right, so that the first joint 66 is switched from the locked state to the unlocked state. At the same time, the wire rope of each first joint will move and drive the top block to move, so that all the first joints enter the unlocked state, and any first joint can be adjusted at this time. When the button 7 is released, the end of the wire rope 2 close to the rotating part moves toward the initial position under the elastic force of the top block spring, driving the top blocks and rotating parts of all the first joints back to the initial position, that is, all the first joints are returned to the locked state.

[0079] The flexible connecting piece of each first joint is a steel wire rope 2, one end of which can be fixed on the top block of the first joint 61. The steel wire rope 2 connects multiple first joints in series, so that when the steel wire rope is pulled to move, the top blocks of all the first joints will be driven to move, so that all the first joints enter the unlocked state from the locked state. When the steel wire rope is released, the top blocks of all the first joints return to their original positions, and all the first joints return to the locked state. That is, by controlling a steel wire rope, the switching of all the first joints between the locked state and the unlocked state can be achieved.

[0080] Reference Figure 2 , Fig.10 ,and Fig.11 The second control switch 72 includes a second button 73, a second rotating member 74, and a stopper 75. The second rotating member 74 is L-shaped or semicircular, and its middle position can be rotatably connected to the third arm 53, for example, connected to the third arm 53 through a pin shaft. One end of the second rotating member 74 is connected to the second button 73, and the other end of the second rotating member 74 is connected to one end of the control link 83. The third arm 53 is provided with a stopper 75, and the stopper 75 is provided with a stopper through hole (not shown in the figure). The control link 83 passes through the stopper through hole. The stopper 75 can limit the movement direction of the control link 83 so that it can only move along its axis direction. In order to ensure the normal rotation of the second rotating member 74, a pin hole can be set on the second rotating member 74 and a pin shaft can be set on the control link 83, and the pin shaft can slide in the pin hole.

[0081] The mechanical arm provided in this embodiment is connected through the first joint and the second joint, and both the first joint and the second joint have a high locking force, and the locking state is stable. The mechanical arm can carry a heavier load and has high safety. Moreover, the first control switch can realize the switching of all the first joints between the unlocked state and the locked state, and the through-hole second control switch can realize the switching of the second joint between the unlocked state and the locked state, which increases the flexibility of the mechanical arm in practical applications, and the operation is simple and convenient.

[0082] The above is a description of the specific embodiments of the present invention, which is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be based on the attached claims.

Claims

1. A robotic arm, characterized in that: It includes a joint and at least two arms, the joint is connected to the arms, the joint includes a first joint and a second joint; the first joint includes a shell, a flexible connector, and a locking assembly, wherein: the shell includes a first shell and a second shell, the first shell is provided with a first connector, the second shell is provided with a second connector, the first connector and the second connector are rotatably connected; the locking assembly is located in the shell cavity, the locking assembly includes a top block and a tooth block, the top block is provided with a top block cavity inside, the top block cavity is communicated with the shell cavity, at least a part of the flexible connector is provided in the top block cavity, and the top block abuts against the tooth block.

2. The robotic arm according to claim 1, characterized in that: The locking assembly has a locking state and an unlocking state. In the locking state, the tooth block is connected to the first connecting member, and in the unlocking state, the tooth block is disconnected from the first connecting member.

3. The robotic arm according to claim 2, characterized in that: The top block is provided with a top block inclined surface, the tooth block is provided with a tooth block inclined surface, and the tooth block inclined surface abuts against the top block inclined surface.

4. The robotic arm according to claim 3, characterized in that: The tooth block is provided with a first end and a second end of the tooth block, the tooth block inclined surface is provided at the first end of the tooth block, and when the locking assembly is in a locking state, the second end of the tooth block is meshed and connected with the first connecting member.

5. The robotic arm according to claim 4, characterized in that: The tooth block further comprises a tooth block side surface, and a tooth block spring is arranged between the tooth block side surface and the second connecting member.

6. The robotic arm according to claim 3, characterized in that: The top block has a first end and a second end, the first end of the top block is connected to the second connecting member, and the other end opposite to the first end of the top block is the second end of the top block; the second end of the top block is provided with a plurality of claws, a gap is provided between two adjacent claws, and a plane perpendicular to the axis of the flexible connecting member or the axis or center line of the top block is the first plane.

7. The robotic arm according to claim 6, characterized in that: One end of the claw piece connected to the top block is the claw piece connecting end, and the other end of the claw piece is the claw piece free end. The diameter of the ring where the projection of the claw piece free end on the first plane is located is smaller than the diameter of the ring where the projection of the claw piece connecting end on the first plane is located.

8. The robot arm according to claim 7, characterized in that: The locking assembly also includes a fastener, which is located at the second end of the top block and the outer surface of the claw piece; the fastener has a fastener connecting end and a fastener fixing end, the fastener connecting end is connected to the top block, and the projection of the fastener fixing end on the first plane is inside the projection of the fastener connecting end on the first plane.

9. The robotic arm according to claim 1, characterized in that: The second joint includes a control link, a first gear plate, and a second gear plate, wherein the control link is connected to the first gear plate, and when the second joint is in a locked state, the first gear plate is meshed and connected with the second gear plate.

10. The robot arm according to claim 9, characterized in that: The second joint further includes a toothed disc spring, and the toothed disc spring is arranged between the first toothed disc and the second toothed disc.

11. The mechanical arm according to claim 9, characterized in that: The second joint further includes a third housing and a fourth housing, the fourth housing is connected to the second gear disc, and a gear disc spring is provided between the first gear disc and the third housing.

12. The robotic arm according to claim 1, characterized in that: The robotic arm also includes a control switch, which is connected to any one of the arms and / or the joints; the control switch includes a first control switch and a second control switch, the first control switch is used to control the switching of the first joint between a locked state and an unlocked state, and the second control switch is used to control the switching of the second joint between a locked state and an unlocked state.

13. The robot arm according to claim 12, characterized in that: The first control switch includes a button and a rotating part, the button is fixedly connected to the rotating part, and the rotating part is connected to the flexible connecting member.

14. The robotic arm according to claim 12, characterized in that: The second control switch includes a second button and a second rotating member, the second rotating member is rotatably connected to the support arm, one end of the second rotating portion is connected to the second button, and the other end of the second rotating portion is connected to the control link.

15. The robot arm according to claim 14, characterized in that: The second control switch further includes a limiter, the limiter is fixedly connected to the support arm, the limiter is provided with a limiter through hole, and the control connecting rod passes through the limiter through hole.

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