Mechanical arm joint and universal arm

Abstract

The invention provides a mechanical arm joint and a universal arm, the mechanical arm joint comprises a shell, a connecting rod and a locking assembly, a first connecting piece and a second connecting piece which are arranged on the shell are rotatably connected, the locking assembly and the connecting rod are located in a cavity in the shell, the locking assembly comprises a top block and a tooth block, the top block is connected with the tooth block, and the tooth block is connected with the connecting rod. The ejector block is connected with the connecting rod, and the locking assembly has a locking state and an unlocking state. The mechanical arm joint is locked and unlocked through the locking assembly, high locking force is achieved, and the problem that a robot system is unstable due to accidental movement of the supporting arm is solved; all the joints are connected through the steering assemblies, locking and unlocking of all the joints of the universal arm can be controlled through one-time operation, and operation is easy, convenient and flexible; and the universal arm is provided with a more compatible fixed interface and can bear a heavier load.

Description

Technical Field

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

[0002] With the popularization of navigation minimally invasive surgery in clinical practice, and the trend of miniaturization of surgical assistance robots, the positioning accuracy and stability requirements for small surgical robots are becoming increasingly higher. The support arms of small surgical robots on the market are generally implemented with a ball joint structure. This joint structure relies on the friction between the parts after the joint is locked to keep the arm locked, which is prone to the problem of insufficient joint locking force. Once the joint locking force is insufficient, the relevant arm 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 arm is an urgent problem to be solved. Summary of the invention

[0003] In view of the defects in the prior art, the purpose of the present invention is to provide a robotic arm joint and a universal arm. The robotic arm joint has a large locking force and the universal arm has good stability, which can provide stable support for surgical robots or other medical devices.

[0004] One aspect of the present invention provides a mechanical arm joint, comprising a housing, a connecting rod, and a locking assembly, wherein:

[0005] The housing comprises a first housing and a second housing, the first housing is provided with a first connecting member, the second housing is provided with a second connecting member, the first connecting member and the second connecting member are rotatably connected, and a cavity is provided inside the housing;

[0006] The locking assembly and at least a portion of the connecting rod are located in the cavity, the locking assembly includes a top block and a tooth block, the top block is connected to the connecting rod; 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 disengaged from the first connecting member.

[0007] In one embodiment, the second connecting member is connected to the first connecting member 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 top block has a top block first end and a top block second end, and a top block inclined surface is provided on a side surface of the top block.

[0010] 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.

[0011] In one embodiment, in the locked state, the second end of the tooth block is meshedly connected with the first connecting member.

[0012] 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.

[0013] 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.

[0014] In one embodiment, the spring is used to impart a force to the tooth block toward the inclined surface of the top block.

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

[0016] In one embodiment, the first end of the top block and / or the second end of the top block can be rotatably connected to the connecting rod.

[0017] In one embodiment, the first end of the top block and / or the second end of the top block are connected to the connecting rod via a universal joint.

[0018] In one embodiment, the robotic arm joint further includes a steering assembly, and the steering assembly is rotatably connected to the shell.

[0019] In one embodiment, one end of the connecting rod is rotatably connected to the steering assembly.

[0020] In one embodiment, a connecting portion is provided on the shell, and the rotating portion is connected to the connecting portion via a fixing pin.

[0021] In one embodiment, the rotating portion is L-shaped and has a first rotating portion end and a second rotating portion end, and the first rotating portion end and the second rotating portion end are respectively connected to at least one of the connecting rods.

[0022] Another aspect of the present invention provides a universal arm, which includes the mechanical arm joint and at least two support arms, and two adjacent support arms are connected by one or more of the mechanical arm joints.

[0023] In one embodiment, the universal arm further comprises a control switch, and the control switch is arranged on any one of the supporting arms or the joint of the mechanical arm.

[0024] In one embodiment, the control switch is used to control the switching of the universal arm between a locked state and an unlocked state.

[0025] In one embodiment, the control switch includes a button and a button rotating part, the button is fixedly connected to the button rotating part, and the button rotating part is connected to the connecting rod.

[0026] In one embodiment, the rotating portion is rotatably connected to the supporting arm.

[0027] In one embodiment, at least one of the arms or at least one of the mechanical arms is articulated with a fixing clamp.

[0028] Compared with the prior art, the mechanical arm joint and the universal arm provided by the present invention have the following beneficial effects:

[0029] 1. The joints of the robotic arm are locked and unlocked by locking components, which have a high locking force and will not cause the robot system to be unstable due to accidental movement of the arm;

[0030] 2. Each mechanical arm joint is connected through a steering assembly, which can control the locking and unlocking of all joints of the universal arm through one operation, which is easy and flexible to operate;

[0031] 3. The universal arm has a more compatible fixing interface and can carry heavier loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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:

[0033] Figure 1 A schematic structural diagram of a universal arm according to an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the structure of a mechanical arm joint according to an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of the structure of a mechanical arm joint locking assembly according to an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of the structure of a tooth block of a mechanical arm joint according to an embodiment of the present invention;

[0037] Figure 5 This is a schematic structural diagram of a third arm and a control switch according to an embodiment of the present invention.

[0038] Reference numerals:

[0039] 1. Shell; 2. Steering assembly; 10. Cavity; 11. First connecting member; 12. Second connecting member; 18. First shell; 19. Second shell; 13. Through hole; 14. Universal joint; 20. Rotating part; 21. First end of rotating part; 22. Second end of rotating part; 23. Fixed pin; 24. Connecting part; 31. Top block; 311. First end of top block; 312. Second end of top block; 313. Inclined surface of top block; 314. Top block spring; 32. Tooth block; 321. first end of the tooth block; 322. second end of the tooth block; 323. inclined surface of the tooth block; 324. side surface of the tooth block; 33. first connecting rod; 34. second connecting rod; 325. spring of the tooth block; 51. first arm; 52. second arm; 53. third arm; 61. first joint; 62. second joint; 63. third joint; 64. fourth joint; 65. fifth joint; 66. sixth joint; 7. button; 71. button rotating part; 9. fixing clamp. DETAILED DESCRIPTION

[0040] 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.

[0041] As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of the features. The term "proximal end" is usually the end close to the operator, and the term "distal end" is usually the end close to the patient. "One end" and "the other end" as well as "proximal end" and "distal end" usually refer to two corresponding parts, which include not only the endpoints. 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, and it can be the internal connection of the two elements or the interaction relationship between the two elements. In addition, as used in the present invention, an element is arranged on another element, which usually only means that there is a connection, coupling, matching or transmission relationship between the two elements, and the connection, coupling, matching 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 on one side of another element, unless the content clearly indicates otherwise. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The core idea of ​​the present invention is to provide a mechanical arm joint and a universal arm to solve the problem of insufficient locking force of the joint in the prior art.

[0043] Example 1

[0044] This embodiment provides a mechanical arm joint, referring to Figure 2The mechanical arm joint includes a shell 1, a connecting rod, a steering assembly 2, and a locking assembly. Among them, a cavity 10 is provided inside the shell 1, and the cavity 10 runs through the entire joint and the mechanical arm. The steering assembly 2 and the locking assembly are arranged inside the cavity 10. The shell 1 includes a first shell 18 and a second shell 19. A first connecting member 11 is provided on the inner wall of the first shell 18. The first shell 18 and the first connecting member 11 can be integrally formed or detachably connected. The second shell 19 is connected to the second connecting member. The second shell 19 and the second connecting member 12 can be integrally formed or detachably connected. The first connecting member 11 and the second connecting member 12 are connected by a bearing. The first connecting member 11 and the second connecting member 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 connecting rod can have multiple sections. In this embodiment, the connecting rod includes a first connecting rod 33 and a second connecting rod 34.

[0045] In addition, the mechanical arm joint also includes a steering assembly 2, which includes a rotating part 20 and a connecting part 24, wherein the connecting part 24 is fixedly connected to the inner wall of the first housing 18, and the rotating part 20 is in an L-like shape, and the rotating part 20 has a rotating first end 21 and a rotating part second end 22, and a fixing pin 23 is provided on the connecting part 24, and the connecting part 24 is connected to the middle position of the rotating part 20, that is, the corner of the L shape, through the fixing pin 23. The first end 21 of the rotating part is connected to the locking assembly of the corresponding mechanical arm joint through the first connecting rod 33, and the second end 22 of the rotating part is connected to the locking assembly of another mechanical arm joint through the second connecting rod 34. The setting of the rotating assembly can change the direction of the connecting rod, and at the same time connect multiple mechanical arm joints in series, so that multiple joints in different directions can be set on the mechanical arm, and the locking or unlocking of all joints on the mechanical arm can be controlled by one operation.

[0046] Reference Figure 2 to Figure 4, the locking assembly is located inside the cavity 10, and the locking assembly includes a top block 31 and a tooth block 32. A through hole 13 is provided in the middle of the second connecting member 12, and the through hole 13 is connected to the cavity 10, and the top block 31 passes through the through hole 13. Under the restriction of the second connecting member 12, the top block 31 can only move along the axial direction of the through hole 13. The top block 31 has a top block first end 311 and a top block second end 312, and a top block inclined surface 313 is also provided on the side of the middle position of the top block 31, that is, the top block first end 311 and the top block second end 312 are respectively located on both sides of the top block inclined surface 313. The top block first end connection 311 is connected to the first connecting rod 33, specifically, the first connecting rod 33 can be connected to the first end 21 of the steering assembly through a pin shaft or a universal joint, and the first connecting rod 33 can be composed of one or more sub-connecting rods. When the first connecting rod 33 is composed of multiple sub-connecting rods, each sub-connecting rod is connected to the adjacent sub-connecting rod through a universal joint. The first connecting rod 33 and the top block 31 can be fixedly connected or connected via a universal joint 14. In this embodiment, the first end 311 of the top block is connected to the first connecting rod 33 via a universal joint 14. The second end 312 of the top block is connected to the second housing 19 or a second connecting rod 34 of another adjacent mechanical arm joint. The top block 31 is connected to the second connecting member 12 via a top block spring 314 at a position close to the first end 311 of the top block. In the absence of external force, the top block spring 314 in this embodiment is in a compressed state, that is, in Figure 2 and Figure 3 The middle top block spring 314 makes the top block 31 have the trend of moving to the left to the certain pressure of top block 31. Of course, the top block spring 314 can also be in the state of being stretched, as long as the trend of the top block moving to the left is given.

[0047] like Figure 2 to Figure 4As shown, the tooth block 32 has a first end 321, a second end 322, and a side surface 324. The tooth block 32 is conical in shape at a position close to the first end 321, and cylindrical in shape at a position close to the second end 322. A plurality of tooth blocks 32 can be provided in the cavity 10, for example, two. The tooth block 32 can only move in a direction toward or away from the axis of the top block or the cavity, but cannot rotate in the circumferential direction of the top block. A tooth block spring 325 is provided between the side surface 324 of the tooth block and the inner wall of the second connecting member 12. When in a locked state or an unlocked state, the tooth block spring 325 is compressed, giving a force to the locking tooth block 32 in the axial direction of its top block 31, that is, whether in a locked state or an unlocked state, the tooth block 32 has a tendency to approach the top block 31. A tooth block inclined surface 323 is provided at the first end 321 of the tooth block, and the tooth block inclined surface 323 abuts against the top block inclined surface 313 under the action of the tooth block spring 325. The tooth width 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 action force. A tooth block rack is provided at the second end 322 of the tooth block, and a first connecting member rack matching with the tooth block rack is provided on the inner wall of the first connecting member 11. When the tooth block rack on the tooth block 31 is meshed and connected with the first connecting member rack on the first connecting member 11, the tooth block 32 and the first connecting member 11 cannot rotate relative to each other, that is, the first shell 18 and the second shell 19 cannot rotate relative to each other, and the locking assembly is in a locked state at this time. When the top block 31 is subjected to external force and causes the top block 31 to move to the right, the top block inclined surface 313 moves to the right, and the tooth block 32 moves toward the axial direction close to the top block 31 under the action of the tooth block spring 325, that is, the tooth block 32 moves toward the inside of the cavity 10, and the connection between the second end 322 of the tooth block and the first connecting member 11 is gradually weakened and disengaged. When the second end 322 of the tooth block is completely disengaged from the first connecting member 11, the first connecting member 11 and the second connecting member 12 can move relative to each other, and the locking assembly enters the unlocked state. When it is necessary to switch from the unlocked state to the locked state, the external force applied to the top block 31 is removed, and the top block 31 moves to the left to return to the previous position. Under the action of the top block inclined surface 313, the tooth block 32 moves toward the outside and resumes the meshing connection state with the first connecting member 11. At this time, the first connecting member 11 and the second connecting member 12 can no longer rotate, that is, the locking assembly returns to the locked state. In addition, the external force applied to the top block 31 can be transmitted through the first connecting member 33 or the second connecting member 34 without having to act directly on the top block 31. Due to the rotatable connection between the top block 31 and the first connecting member 33 or the second connecting member 34, the top block 31 can move along the direction of its axis driven by the first connecting member 33 or the second connecting member 34.

[0048] The robotic arm joint provided in this embodiment maintains the stability of the robotic arm joint in a locked state through the meshing connection between the tooth block and the first connecting piece. The potential energy of the tooth block spring or the top block spring makes the robotic arm joint more secure and more stable in the locked state. The joint locking force will not be too low or accidentally unlocked, thereby ensuring safety and stability during the operation.

[0049] Example 2

[0050] This embodiment provides a universal arm, which is composed of a plurality of arms, and each two adjacent arms are connected by the mechanical arm joint provided in Embodiment 1, and the adjacent mechanical arm joints are connected by a steering assembly, a first connecting rod and a second connecting rod. Figure 1 and Figure 5 The universal arm includes a first arm 51, a second arm 52, and a third arm 53. One end of the first arm 51 is connected to a first joint 61, and the first joint 61 is connected to a fixing clamp 9. The fixing clamp 9 can be connected to an operating bed, a fixing frame or other fixing devices to fix the entire universal arm. Surgical instruments or surgical tools. The other end of the first arm 51 is connected to the second joint 62 and the third joint 63 in sequence, the third joint 63 is connected to one end of the second arm 52, and the other end of the second arm 52 is connected to the fourth joint 64, the fifth joint 65 and the sixth joint 66 in sequence, and the sixth joint 66 is connected to the third arm 53. From the second joint to the sixth joint, the two ends of the top block are respectively connected to a connecting rod, which is connected to the steering assembly. This is equivalent to connecting all the robotic arm joints in series through the steering assembly, the first connecting member and the second connecting member. In this way, by applying external force to any one of the first connecting member or the second connecting member, the steering assemblies of all joints can be driven to rotate, so that all joints enter the unlocked state from the locked state. When the applied external force is withdrawn, the steering assemblies of all joints return to the locked state, the top block and the gear block also return to the locked state, and all joints return to the locked state, realizing that by applying a force, all joints can be switched between the locked state and the unlocked state.

[0051] In addition, a control switch is provided on the third arm 53, and all joints can be locked and unlocked by operating the control switch. Figure 5The control switch includes a button 7 and a button rotating part 71. One end of the button 7 is fixedly connected to the button rotating part 71. The button 7 and the button rotating part 71 are in an L-shaped structure, and are connected to the third arm 53 at the angle through a pin. The button rotating part 71 can be rotatably connected to the first connecting rod 33 or the second connecting rod 34. Whether the button rotating part 71 is connected to the first connecting rod 33 or the second connecting rod 34 is determined according to the degree of freedom of the universal arm and the number and installation direction of the required mechanical arm joints. In this embodiment, the button rotating part 71 can be rotatably connected to the second connecting rod 34 as an example. When the button 71 is pressed, the button 7 rotates counterclockwise, driving the button rotating part 71 to rotate counterclockwise, so that the second connecting rod 34 moves to the right, and the top rod 31 moves to the right, so that the sixth joint 66 switches from the locked state to the unlocked state. At the same time, the connecting rod of each joint undergoes corresponding movement, so that all joints enter the unlocked state, and any joint can be adjusted at this time. When the button 71 is released, the external force on the connecting rod and the top block disappears, the second connecting rod 34 moves toward the left, and drives the button rotating part 71 and the button 7 back to the initial position, and the joints of the mechanical arm return to the locked state. In addition, during the unlocking or locking process, the first connecting rod or the second connecting rod connecting each joint together moves, driving all joints to switch between the unlocked state and the locked state.

[0052] The universal arm provided in this embodiment is connected through the mechanical arm joint provided in Example 1. The locking state is stable, can carry heavier loads, and has high safety. Moreover, all joints can be switched between the unlocked state and the locked state by operating one button, which is easy to operate.

[0053] 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 joint, characterized in that: It includes a housing, a connecting rod, and a locking assembly, wherein: The housing comprises a first housing and a second housing, the first housing is provided with a first connecting member, the second housing is provided with a second connecting member, the first connecting member and the second connecting member are rotatably connected, and a cavity is provided inside the housing; The locking assembly and at least a portion of the connecting rod are located in the cavity, the locking assembly includes a top block and a tooth block, the top block is connected to the connecting rod; 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 disengaged from the first connecting member.

2. The mechanical arm joint according to claim 1, 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.

3. The mechanical arm joint according to claim 2, 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 the second end of the tooth block is connected to the first connecting member in a locked state.

4. The mechanical arm joint according to claim 3, characterized in that: In the locked state, the second end of the tooth block is meshed and connected with the first connecting member.

5. The mechanical arm joint according to claim 3, 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 mechanical arm joint according to claim 2, characterized in that: The top block has a top block first end and a top block second end. A top block spring is arranged between the top block first end and the second connecting member. The other end opposite to the top block first end is the top block second end.

7. The mechanical arm joint according to claim 6, characterized in that: The first end of the top block and / or the second end of the top block can be rotatably connected to the connecting rod.

8. The mechanical arm joint according to claim 1, characterized in that: The mechanical arm joint also includes a steering assembly, which is rotatably connected to the housing, and one end of a connecting rod is rotatably connected to the steering assembly.

9. The mechanical arm joint according to claim 8, characterized in that: The steering assembly includes a rotating part and a connecting part. The connecting part is fixedly connected to the housing, and the rotating part is rotatably connected to the connecting part.

10. A universal arm, characterized in that: It comprises the mechanical arm joint as claimed in claims 1 to 9 and at least two supporting arms, and two adjacent supporting arms are connected via one or more of the mechanical arm joints.

11. The universal arm according to claim 10, characterized in that: The universal arm also includes a control switch, which is arranged on any one of the supporting arms or the joint of the mechanical arm.

12. The universal arm according to claim 11, characterized in that: The control switch comprises a button and a button rotating part, the button is fixedly connected to the button rotating part, and the button rotating part is connected to the connecting rod.

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