Mechanical arm system based on pressing locking

Abstract

The invention relates to the technical field of medical instruments, in particular to a mechanical arm system based on pressing locking, which comprises a clamp mechanism, a bending adjusting mechanism, a turning mechanism, a handle mechanism mounted on one side and a bending adjusting locking mechanism arranged on the handle mechanism, the bending adjusting mechanism comprises a bending assembly and a traction wire penetrating through the bending assembly, and the handle mechanism comprises a handle shell, a bending adjusting cover, a bending adjusting ball, a connecting rod fixedly connected with the bending adjusting ball, a connecting block arranged on the connecting rod and a control handle. The bending adjusting locking mechanism comprises a mounting cavity, a sliding block, a locking rod connected with the sliding block, a compression spring, a pressing rod rotationally connected to the mounting cavity and a locking button arranged above the sliding block. The bending angle is locked by pressing the locking button, unnecessary bending can be avoided, and the stability and safety of operation are ensured.

Description

Technical Field

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

[0002] Laparoscopic surgery has been widely used in various surgical operations due to its great advantages of being minimally invasive, less damaging, less painful, and quick recovery.

[0003] Most of the current laparoscopic surgery robotic arms are simple improvements and optimizations based on traditional surgical instruments. Forceps that can turn usually use curved joints to achieve turning operations. The laparoscopic surgical instruments can turn during operation, but the turning radius is small and the turning direction is single. In addition, the existing turning laparoscopic surgical instrument forceps cannot lock their bending angles after bending. During the operation, due to the complex surgical environment, the instruments may be disturbed by various external forces. For example, the doctor may accidentally touch the bent forceps when operating other instruments. Due to the lack of a bending angle locking function, this accidental touch can easily cause unnecessary bending of the bending mechanism, thereby changing the operating angle and position of the instrument. This will not only interfere with the normal operation and reduce the efficiency of the operation, but may also cause accidental damage to the patient's abdominal tissue due to the sudden change in the position of the instrument, which can easily affect the stability and safety of the operation. Summary of the invention

[0004] Based on the above-mentioned problems existing in the prior art, the purpose of an embodiment of the present invention is to provide a robotic arm system based on push-locking, which realizes bending angle locking by pressing a locking button, thereby avoiding unnecessary bending of the bending adjustment mechanism due to accidental touch during the use of the robotic arm, thereby ensuring the stability and safety of the operation.

[0005] The technical solution adopted by the present invention to solve its technical problems is: the present invention discloses a mechanical arm system based on press-locking, including a clamping mechanism, a bending adjustment mechanism, a direction-changing mechanism, a handle mechanism installed on one side, and a bending adjustment locking mechanism arranged on the handle mechanism, the clamping mechanism includes a clamp head and a driving wire, the bending adjustment mechanism is connected to the clamping mechanism, the bending adjustment mechanism includes a bending component and a traction wire arranged through the bending component, the direction-changing mechanism includes a spring tube and a direction-changing piece, the handle mechanism includes a handle shell, a bending adjustment cover, a bending adjustment ball installed in the bending adjustment cover, a connecting rod fixedly connected to the bending adjustment ball, a connecting block arranged on the connecting rod and a control handle, the driving wire is connected to the control handle A fixed connection is provided, wherein the traction wire is connected to the connecting block, and the bending adjustment locking mechanism includes an installation cavity, a sliding block arranged in the installation cavity, a locking rod connected to the sliding block, a compression spring, a pressing rod rotatably connected to the installation cavity, and a locking button arranged above the sliding block. A sliding groove is also provided on one side surface of the sliding block close to the locking rod, and the sliding groove is heart-shaped. A limiting column is provided at one end of the locking rod, and a plurality of limiting holes are provided on the bending adjustment cover and are evenly distributed on the outer shell cover. The limiting holes cooperate with the limiting columns. When the locking rod moves downward with the sliding block, one end of the locking rod having the limiting column moves into the limiting hole, thereby realizing the locking of the control handle shell relative to the bending adjustment cover.

[0006] Furthermore, the clamping mechanism also includes a hinge connected to the clamp head, a translation piece fixed to the hinge and a clamp pin arranged on the clamp head, and the drive wire includes a connecting part arranged at one end, the connecting part is a cylinder, and the connecting part is buckled in the connecting port of the translation piece.

[0007] Furthermore, the bending adjustment mechanism also includes a support member arranged on the outside of the bending component and an outer tube arranged on the outside of the support member.

[0008] Furthermore, the bending adjustment ball, connecting rod and clamping block are an integrally formed structure, and a through hole is opened in the center of the bending adjustment ball, connecting rod and clamping block. The driving wire passes through the through hole of the bending adjustment cover and the through holes on the bending adjustment ball, connecting rod and clamping block in sequence and is fixedly connected to the control handle.

[0009] Furthermore, the bending adjustment cover is installed in cooperation at one end of the handle shell, and the bending adjustment cover includes an outer shell cover, an inner shell cover arranged on the inner side of the outer shell cover, and a limiting part. There are four limiting parts, which are evenly distributed circumferentially between the outer shell cover and the inner shell cover. The limiting part is provided with limiting holes, and the traction wire passes through the limiting holes on the four limiting parts respectively.

[0010] Furthermore, a through hole connected to the interior is opened at the bottom end of the inner shell cover, and the through hole is suitable for passing a driving wire. The bending adjustment ball is rotatably connected to the inner shell cover, and the bending adjustment ball extends into the inner shell cover and is slidably connected to the inner shell cover, so that the bending adjustment ball can form a ball pair with the inner shell cover.

[0011] Furthermore, the installation cavity is a square cavity, which is arranged at the upper position inside the handle shell. The installation cavity is suitable for placing a sliding block and a compression spring. The cross-section of the sliding block matches the internal cross-section of the installation cavity, which is suitable for the sliding block to slide up and down in the installation cavity.

[0012] Furthermore, an opening is provided on one side wall of the installation cavity, suitable for one end of the locking rod to extend from the sliding block, and the other end of the locking rod is a limiting column, and a limiting hole is opened on the outer shell cover of the bending adjustment cover, and a plurality of limiting holes are provided and evenly distributed on the outer shell cover, and the limiting hole cooperates with the limiting column.

[0013] Furthermore, the compression spring is arranged below the sliding block, and the bottom end of the compression spring is fixed by a positioning member.

[0014] Furthermore, one end of the pressing rod is rotatably connected to the bottom end of the installation cavity through a rotating pin, and the other end of the pressing rod is provided with a matching block, and the matching block is located in the heart-shaped sliding groove and slides.

[0015] The beneficial effects of the present invention are as follows: the robot arm system based on press locking of the present invention comprises a clamping mechanism, a bending mechanism, a direction-changing mechanism, a rotating mechanism, a handle mechanism installed on one side of the rotating mechanism and a bending locking mechanism arranged on the handle mechanism; the clamp head of the clamping mechanism is composed of two symmetrical half-pairs of duckbill clamps, and clamping teeth are arranged on the inner sides of the two symmetrical clamps to facilitate firm clamping and prevent slipping; the opening and closing of the clamp head can be achieved by pulling or loosening the driving wire, thereby ensuring the flexibility of operation; the bending component of the bending mechanism adopts a plurality of axially staggered connection units to realize the turning of the clamp mechanism in all directions, thereby improving the applicability of the robot arm in different working scenarios; a direction-changing mechanism is provided through a special spring tube and a direction-changing member design, so that when the traction wire is pulled, the bending mechanism can obtain positive feedback, which is more ergonomic and in line with the doctor's usage habits; the handle mechanism is connected by a bending ball, a connecting wire and a connecting wire. The design of components such as the connecting rod and the connecting block can give positive feedback on the bending of the clamping mechanism and the bending adjustment mechanism when the control handle shell is universally rotated relative to the bending adjustment cover, which is in line with ergonomics and operating habits; a bending adjustment locking mechanism is provided to lock the control handle shell relative to the bending adjustment cover by pressing a locking button after the bending operation is completed, effectively avoiding unnecessary bending of the bending adjustment mechanism due to accidental touch during the use of the robotic arm, thereby ensuring the stability and safety of the operation; when locking is required, the locking button is pressed, and the sliding block, with the cooperation of the pressing rod and the heart-shaped slide groove, drives one end of the locking rod to insert into the limiting hole of the outer cover to achieve locking; when unlocking is required, the locking button is pressed again, and the sliding block moves in the opposite direction, causing the locking rod to disengage from the limiting hole to achieve unlocking; this operation method is easy to master, and is convenient for users to quickly perform bending operations or maintain the current bending state when needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0017] Figure 1 It is a structural schematic diagram of a mechanical arm system based on push-locking of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the clamp mechanism of the present invention;

[0019] Figure 3 It is a schematic structural diagram of the clamp mechanism of the present invention (excluding the connecting pipe);

[0020] Figure 4 It is a schematic structural diagram of the bending assembly, the traction wire and the spring tube of the present invention;

[0021] Figure 5 is a schematic structural diagram of a top unit of the present invention;

[0022] Figure 6is a schematic structural diagram of the top unit of the present invention from another perspective;

[0023] Figure 7 It is a structural schematic diagram of the connection unit of the present invention;

[0024] Figure 8 is a structural schematic diagram of the connection unit of the present invention from another perspective;

[0025] Fig. 9 is a schematic structural diagram of a bottom unit of the present invention;

[0026] Fig.10 is a structural schematic diagram of the bottom unit of the present invention from another perspective;

[0027] Fig.11 It is a schematic structural diagram of a support member of the present invention;

[0028] Fig.12 It is a structural schematic diagram of the spring tube and the direction-changing member of the present invention;

[0029] Fig.13 is a structural schematic diagram of the spring tube and the direction-changing member of the present invention from another perspective;

[0030] Fig.14 It is a schematic diagram of the internal structure of the rotating mechanism, the bending adjustment and locking mechanism and the handle mechanism of the present invention;

[0031] Fig.15 yes Fig.14 A local enlarged schematic diagram of the middle A;

[0032] Fig.16 is a cross-sectional view of a mechanical arm system based on push-to-lock according to the present invention;

[0033] Fig.17 It is a cross-sectional view of the bending adjustment mechanism of the present invention.

[0034] The names and numbers of the parts in the figure are:

[0035] Clamping mechanism 1, clamp head 11, clamping teeth 111, hinge 12, translation piece 13, driving wire 14, connecting part 141, connecting tube 15, clamping pin 16;

[0036] Bending mechanism 2, bending assembly 21, top unit 211, first connecting portion 2111, first matching portion 2112, first arc-shaped matching groove 21121, first driving hole 2113, first bending adjustment hole 2114, connecting unit 212, first matching surface 2121, second matching surface 2122, first arc-shaped protrusion 2123, second arc-shaped matching groove 2124, second driving hole 2125, second bending adjustment hole 2126, bottom unit 213, second matching portion 2131, second arc-shaped protrusion 21311, second connecting portion 2132, mounting portion 2133, third driving hole 2134, third bending adjustment hole 2135, mounting hole 2136, fourth driving hole 214, fourth bending adjustment hole 215, traction wire 22, support member 23, outer tube 24;

[0037] Direction changing mechanism 3, spring tube 31, direction changing member 32, rigid tube 33;

[0038] Rotating mechanism 4;

[0039] Handle mechanism 5, handle shell 51, mounting plate 511, bending cover 52, outer shell 521, limiting hole 5211, inner shell 522, limiting part 523, bending ball 53, connecting rod 54, clamping block 541, connecting block 55, control handle 56;

[0040] Bending locking mechanism 6 , mounting cavity 61 , sliding block 62 , sliding groove 621 , locking rod 63 , limiting column 631 , compression spring 64 , pressing rod 65 , locking button 66 . DETAILED DESCRIPTION

[0041] The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, which only illustrates the basic structure of the present invention in a schematic manner, and therefore only shows the components related to the present invention.

[0042] like Figure 1 , Fig.16 As shown, the present invention provides a push-lock based robotic arm system 100, comprising a clamping mechanism 1, a bending adjustment mechanism 2, a direction changing mechanism 3, a rotating mechanism 4, a handle mechanism 5 installed on one side of the rotating mechanism 4, and a bending adjustment locking mechanism 6 arranged on the handle mechanism 5.

[0043] In some embodiments, such as Figure 2 , Figure 3As shown, the clamp mechanism 1 includes a clamp head 11, a hinge 12 connected to the clamp head 11, a translation piece 13 fixed to the hinge 12, a driving wire 14 connected to the translation piece 13, a connecting tube 15 sleeved on the outside of the hinge 12 and the translation piece 13, and a clamp pin 16 arranged on the clamp head 11. The head end of the clamp head 11 is composed of two symmetrical half-pair duckbill clamps, and clamp teeth 111 are arranged on the inner side surfaces of the two symmetrical clamps, which are more convenient for clamping and prevent slipping. The opening and closing structure of the head end of the clamp head 11 is connected by a clamp pin 16 at the opening and closing connection of the clamp head 11, one end of the connecting tube 15 is sleeved at the opening and closing connection of the clamp head 11, and the clamp pin 16 also passes through the connecting hole provided on the connecting tube 15, so as to realize the connection between one end of the connecting tube 15 and the clamp head 11. Two hinges 12 are provided, one end of each hinge 12 is hinged to the end of the pliers head 11, and the two hinges 12 are cross-hinged to one end of the translation piece 13. The driving wire 14 includes a connecting portion 141 provided at one end, the connecting portion 141 is a cylinder directly larger than the wire body, the connecting portion 141 is buckled in the connecting port of the translation piece 13, and the cylindrical end of one end of the driving wire 14 is buckled in the connecting port of the translation piece 13 to realize the rotatable connection between the translation piece 13 and the driving wire 14. The driving wire 14 is made of a flexible and bendable material, and when the driving wire 14 is pulled or released, the opening and closing of the pliers head 11 can be realized because the hinges 12 are respectively hinged to the pliers head 11 and the translation piece 13.

[0044] In some embodiments, such as Figure 4 , Fig.17 As shown, the bending adjustment mechanism 2 is connected to the clamp mechanism 1. The bending adjustment mechanism 2 includes a bending component 21, a traction wire 22 passing through the bending component 21, a support member 23 disposed outside the bending component 21, and an outer tube 24 disposed outside the support member 23. Figure 4 As shown, the bending assembly 21 includes a top unit 211, a connecting unit 212 and a bottom unit 213. Figure 5 , Figure 6As shown, the top unit 211 includes a first connecting portion 2111, a first matching portion 2112, a first driving hole 2113 and a first bending hole 2114 provided on the top unit 211. The first connecting portion 2111 is cylindrical, and the first connecting portion 2111 is connected to the clamp mechanism 1. The side of the first matching portion 2112 away from the first connecting portion 2111 is an elliptical curved surface structure, and a first arc-shaped matching groove 21121 is cut inwardly on the raised portion of the first matching portion 2112, and the first arc-shaped matching groove 21121 extends to both sides of the first matching portion 2112. The first driving hole 2113 is provided at both ends of the top unit 211, and the first driving hole 2113 is provided in the central position, and the first driving hole 2113 is suitable for placing the driving wire 14. There are four first bending holes 2114 , which are respectively opened at both ends of the top unit 211 , and the first bending holes 2114 are evenly arranged around the first driving hole 2113 , and two of the oppositely arranged first bending holes 2114 are located in the first arc-shaped matching groove 21121 .

[0045] In some embodiments, such as Figure 7 , Figure 8As shown, the connection unit 212 includes a first mating surface 2121, a second mating surface 2122, a first arc-shaped protrusion 2123 provided on the first mating surface 2121, a second arc-shaped matching groove 2124 provided on the second mating surface 2121, a second driving hole 2125 and a second bending hole 2126 provided on the connection unit 212. The first mating surface 2121 is an elliptical curved surface structure, and a first arc-shaped protrusion 2123 is provided on the protruding portion of the first mating surface 2121, and the first arc-shaped protrusion 2123 extends to both sides of the first mating surface 2121. The second mating surface 2122 is an elliptical curved surface structure, and a second arc-shaped matching groove 2124 is provided on the protruding portion of the second mating surface 2122, and the second arc-shaped matching groove 2124 extends to both sides of the second mating surface 2122, and the first arc-shaped protrusion 2123 and the second arc-shaped matching groove 2124 are axially staggered at 90°. The first arc-shaped protrusion 2123 is matched with the first arc-shaped matching groove 21121, and the first arc-shaped protrusion 2123 of the connection unit 212 is placed in the first arc-shaped matching groove 21121 of the top unit 211. A plurality of connection units 212 are provided, which are axially staggered by 90 degrees, so that the first arc-shaped protrusions 2123 of the plurality of connection units 212 are placed in the second arc-shaped matching groove 2124. The second drive hole 2125 is opened at the central position of the connection unit 212, and the second drive hole 2125 passes through the first matching surface 2121 and the second matching surface 2122, and the second drive hole 2125 is suitable for placing the drive wire 14. There are four second bending adjustment holes 2126, which are evenly arranged around the first driving hole 2113. The second bending adjustment holes 2126 penetrate the first matching surface 2121 and the second matching surface 212. The two second bending adjustment holes 2126 arranged opposite to each other are respectively located in the first arc-shaped protrusion 2123 and the first arc-shaped matching groove 21121. The connection unit 212 arranged axially staggered is adopted to realize the turning of the clamp mechanism 1 in all directions, thereby improving the stability and applicability.

[0046] In some embodiments, such as Fig. 9 , Fig.10As shown, the bottom unit 213 includes a second matching portion 2131, a second connecting portion 2132, a mounting portion 2133, a third driving hole 2134, a third bending hole 2135, and a mounting hole 2136 provided on the mounting portion 2133. The second connecting portion 2132 is cylindrical, and the second matching portion 2131 and the mounting portion 2133 are respectively arranged on both sides of the second connecting portion 2132. The side of the second matching portion 2131 away from the second connecting portion 2132 is an elliptical curved surface structure, and a second arc-shaped protrusion 21311 is arranged on the protruding portion of the second matching portion 2131, and the second arc-shaped protrusion 21311 extends to both sides of the second matching portion 2131, and the second arc-shaped protrusion 21311 is adapted to the second arc-shaped matching groove 2124, so that the second arc-shaped protrusion 2123 can be placed in the second arc-shaped matching groove 2124. The third driving hole 2134 is through-opened at both ends of the bottom unit 213, and the third driving hole 2134 is opened in the central position, and the third driving hole 2134 is suitable for placing the driving wire 14. There are four third bending holes 2135, which are respectively opened on the second matching portion 2131 and the second connecting portion 2132, and the third bending holes 2135 are evenly arranged around the third driving hole 2135, and two third bending holes 2135 that are oppositely arranged are located in the second arc-shaped protrusion 21311. The mounting holes 2136 are opened on the mounting portion 2133, and there are four mounting holes 2136, and the diameter of the mounting holes 2136 is greater than the diameter of the third bending holes 2135. The four mounting holes 2136 correspond to the positions of the third bending holes 2135 one by one.

[0047] In some embodiments, the bending component 21 is made of metal material machining or powder metallurgy. In other embodiments, the bending component 21 can also be made of polymer materials such as ABS, PA, POM, etc.

[0048] In some embodiments, four traction wires 22 are provided, one end of which is fixed on the top unit 211, and passes through the first bending adjustment hole 2114 on the top unit 211, the second bending adjustment hole 2126 on the connecting unit 212, and the third bending adjustment hole 2135 on the bottom unit 213 respectively, and then passes through the changing mechanism 3 to be connected to the handle mechanism 5.

[0049] In some embodiments, such as Fig.11 As shown, the support member 23 is arranged on the outside of the bending component 21. The support member 23 is a coiled tube that can achieve universal bending and is made by laser cutting a stainless steel tube. The central position of the support member 23 is a wave-shaped mortise and tenon structure, and the number of wave peaks and troughs is set between 18 and 28.

[0050] In some embodiments, the outer tube 24 is disposed outside the support member 23, one end of the outer tube 24 covers and is fixed to the outside of the connecting tube 15, and the outer tube 24 is separated from the support member 23. The outer tube 24 is made of PEBAX or TPU material, which can enhance the adaptability and bending recovery of the system.

[0051] In some embodiments, such as Fig.12 , Fig.13 As shown, the direction-changing mechanism 3 includes a spring tube 31, a direction-changing member 32, and a rigid tube 33 disposed on the outside. Four spring tubes 31 are provided, and one end of the four spring tubes 31 is respectively fixedly mounted in the mounting holes 2136 of the bottom unit 213. The rigid tube 33 is sleeved on the outer side of the spring tube 31 and the direction-changing member 32, and one end of the rigid tube 33 is connected and fixed to the outer tube 24, that is, the other end of the outer tube 24 is covered on one end of the rigid tube 33, and the other end of the rigid tube 33 is fixed to the rotating mechanism 4. The four traction wires 22 are respectively placed through four spring tubes 31, the direction-changing piece 32 is connected to the spring tube 31, and four steering holes 321 are opened on the direction-changing piece 32. The spring tubes 31 are respectively placed through the four steering holes 321, so that the position of the spring tube 31 at the output end of the spring tube 31 passing through the direction-changing piece 32 is opposite to the relative position of the input end. When the traction wire 22 in the spring tube 31 located above the output end of the direction-changing piece 32 is pulled, the pulled traction wire 22 is the traction wire 22 passing through the bending adjustment hole below the bending component 21. When the traction wire 22 in the bending adjustment hole below the bending component 21 is pulled, the bottom of the multiple connection units 212 is tightened, so that the bending adjustment mechanism 2 bends upward, thereby realizing that the clamping mechanism 1 and the bending adjustment mechanism 2 of the universal flexible single-handed gripping robotic arm system 100 obtain positive feedback when the traction wire 22 is pulled during operation, which is more ergonomic and in line with the doctor's usage habits.

[0052] In some embodiments, such as Fig.14 , Fig.16 As shown, the rotating mechanism 4 is a finger rotating dial ring, and the rotating mechanism 4 is fixedly connected to the rigid tube 33. Since one end of the outer tube 24 is wrapped and fixed on the outside of the connecting tube 15, and the other end of the outer tube 24 is wrapped and fixed on the rigid tube 33, when the finger drives the rotating mechanism 4 to rotate, the rigid tube 33, the outer tube 24 and the clamping mechanism 1 (excluding the driving wire 14) rotate with the rotating mechanism 4, thereby realizing a 360-degree rotation of the system.

[0053] In some embodiments, such as Fig.14As shown, the handle mechanism 5 includes a handle shell 51, a bending adjustment cover 52, a bending adjustment ball 53 installed in the bending adjustment cover 52, a connecting rod 54 fixedly connected to the bending adjustment ball 53, a connecting block 55 arranged on the connecting rod 54, and a control handle 56. The bending adjustment cover 52 is installed in cooperation at one end of the handle shell 51, and the bending adjustment cover 52 includes an outer shell 521, an inner shell 522 arranged on the inner side of the outer shell 521, and a limiting portion 523. There are four limiting portions 523, which are evenly distributed between the outer shell 521 and the inner shell 522 in the circumferential direction. The limiting portions 523 are provided with limiting holes, and the traction wire 22 passes through the limiting holes on the four limiting portions 523 respectively. A through hole connected to the interior is provided at the bottom end of the inner shell 522, and the through hole is suitable for passing the driving wire 14. The bending ball 53 is rotatably connected to the inner shell 522, and the bending ball 53 extends into the inner shell 522 and is slidably connected to the inner shell 522, so that the bending ball 53 can form a ball pair with the inner shell 522. Two connecting blocks 55 are provided, which are respectively fixed on the connecting rod 54, and each connecting block 55 is provided with four connecting parts. The traction wire 22 passes through the limiting holes on the four limiting parts 523 and is fixed to the connecting parts of the connecting blocks 55 one by one. A clamping block 541 is also provided at one end of the connecting rod 54 away from the bending ball 53, and a mounting plate 511 is also provided inside the handle shell 51. The mounting plate 511 is clamped with the clamping block 541 at one end of the connecting rod 54, so that the connecting rod 54 can only rotate relative to the mounting plate 511. The bending ball 53, the connecting rod 54 and the clamping block 541 are an integrally formed structure, and a through hole is provided in the center of the bending ball 53, the connecting rod 54 and the clamping block 541, so that the driving wire 14 can pass through the through hole of the bending cover 52 and the through holes on the bending ball 53, the connecting rod 54 and the clamping block 541 and be fixedly connected to the control handle 56. The handheld end of the control handle 56 extends to the outside of the handle shell 51, and the control handle 56 is installed on the handle shell 51 through a rotating pin. When the control handle 56 is rotated, the driving wire 14 connected to the bottom end of the control handle 56 can be pulled to stretch, thereby realizing the opening and closing of the clamp head 11 of the clamp mechanism 1.

[0054] When the control handle shell 51 is universally rotated relative to the bending cover 52, since the bending ball 53 is rotationally connected to the inner shell cover 522, the bending ball 53 extends into the inner shell cover 522 and is slidably connected to the inner shell cover 522, so that the bending ball 53 can form a ball pair with the inner shell cover 522. When the bending ball 53 is controlled to rotate universally, the connecting rod 54 rotates with the bending ball 53, and at this time, the traction wire 22 fixed on the connecting block 55 in the corresponding direction can be pulled. Since the traction wire 22 is changed in direction by the changing member 32, the pulled traction wire 22 and the traction wire 22 in the bending hole in the opposite direction of the bending component 21 are tightened in the opposite direction, and the multiple connecting units 212 are tightened in the opposite direction, so that the bending mechanism 2 is bent in the direction of the handle shell 51, so that the handle mechanism 5 of the robotic arm system can give positive feedback on the bending of the clamping mechanism 1 and the bending mechanism 2, which is more in line with ergonomics and the doctor's usage habits.

[0055] In some embodiments, such as Fig.14 , Fig.15 As shown, the bending locking mechanism 6 includes a mounting cavity 61 disposed inside the handle mechanism 5, a sliding block 62 disposed inside the mounting cavity 61, a locking rod 63 connected to the sliding block 62, a compression spring 64, a pressing rod 65 rotatably connected to the mounting cavity 61, and a locking button 66 disposed above the sliding block 62. The mounting cavity 61 is a square cavity, disposed at an upper position inside the handle shell 51, and the mounting cavity 61 is suitable for placing the sliding block 62 and the compression spring 64. The cross section of the sliding block 62 matches the cross section inside the mounting cavity 61, which is suitable for the sliding block 62 to slide up and down in the mounting cavity 61. A slide groove 621 is also provided on one side of the sliding block 62 close to the locking rod 63, and the slide groove 621 is heart-shaped. An opening is provided on one side wall of the mounting cavity 61, which is suitable for one end of the locking rod 63 to extend from the sliding block 62, and the other end of the locking rod 63 is a limiting column 631; a limiting hole 5211 is provided on the outer shell 521 of the bending cover 52, and a plurality of limiting holes 5211 are provided and evenly distributed on the outer shell 521; the limiting hole 5211 cooperates with the limiting column 631. The compression spring 64 is provided below the sliding block 62, and the bottom end of the compression spring 64 is fixed by a positioning member. One end of the pressing rod 65 is rotatably connected to the bottom end of the mounting cavity 61 through a rotating pin, and the other end of the pressing rod 65 is provided with a matching block, and the matching block is located in the heart-shaped slide groove 621 and slides. The locking button 66 is fixedly connected to the sliding block 62, and the top end of the locking button 66 extends to the outside of the handle shell 51.

[0056] In some of the embodiments, when the bending adjustment of the bending adjustment mechanism 2 is completed by controlling the handle shell 51, it is locked by the bending adjustment locking mechanism 6. At this time, the pressing rod 65 has one end of a matching block located at the bottom of the heart-shaped slide groove 621. The locking button 66 is pressed, and the sliding block 62 slides downward. The pressing rod 65 has one end of a matching block that moves to the groove at the top of the slide groove 621 under the guidance of the heart-shaped slide groove 621. At this time, the locking rod 63 moves downward with the sliding block 62, and one end of the locking rod 63 having a limiting column 631 moves to the limiting hole 5211 of the outer shell cover 521, thereby realizing the locking of the control handle shell 51 relative to the bending adjustment cover 52, thereby avoiding the bending of the bending adjustment mechanism 2 caused by accidental triggering of the robotic arm during use. When unlocking is required, the locking button 66 is pressed again, the sliding block 62 slides downward, and the pressing rod 65 with one end of the matching block moves into the groove at the bottom end of the sliding groove 621 under the guidance of the heart-shaped sliding groove 621. At this time, the locking rod 63 moves up with the sliding block 62, and the locking rod 63 with one end of the limiting column 631 moves up, thereby realizing the unlocking of the control handle shell 51 relative to the bending cover 52.

[0057] The robot arm system 100 based on push-locking of the present invention comprises a clamping mechanism 1, a bending mechanism 2, a direction-changing mechanism 3, a rotating mechanism 4, a handle mechanism 5 installed on one side of the rotating mechanism 4, and a bending locking mechanism 6 arranged on the handle mechanism 5; the clamp head 11 of the clamping mechanism 1 is composed of two symmetrical half-pairs of duckbill clamps, and clamping teeth 111 are arranged on the inner sides of the two symmetrical clamps to facilitate stable clamping and prevent slipping; by pulling or releasing the driving wire 14, the opening and closing of the clamp head 11 can be achieved, ensuring the flexibility of operation; the bending component 21 of the bending mechanism 2 adopts a plurality of axially staggered connection units 212 to achieve turning in all directions of the clamp mechanism, thereby improving the applicability of the robot arm in different working scenarios; the direction-changing mechanism 3 is provided with a special spring tube 31 and a direction-changing member 32 design, so that when the traction wire 22 is pulled, the bending mechanism 2 can get positive feedback, which is more ergonomic and in line with the doctor's usage habits; the handle mechanism 5 is connected by a bending ball 53, a connecting rod 54, and a connecting block The design of components such as 55 can provide positive feedback of the bending of the clamp mechanism 1 and the bending mechanism 2 when the control handle shell 51 is universally rotated relative to the bending cover 52, which is ergonomic and in line with operating habits; a bending locking mechanism 6 is provided to lock the control handle shell 51 relative to the bending cover 52 by pressing the locking button 66 after the bending operation is completed, effectively avoiding unnecessary bending of the bending mechanism 2 due to accidental touch during the use of the robotic arm, thereby ensuring the stability and safety of the operation; when locking is required, the locking button 66 is pressed, and the sliding block 62, with the cooperation of the pressing rod 63 and the heart-shaped slide groove 621, drives one end of the locking rod 63 to insert into the limiting hole 5211 of the outer shell cover 521 to achieve locking; when unlocking is required, the locking button 66 is pressed again, and the sliding block 62 moves in the opposite direction, so that the locking rod 63 is disengaged from the limiting hole 5211 to achieve unlocking; this operation method is easy to master, and is convenient for users to quickly perform bending operations or maintain the current bending state when needed.

[0058] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the scope of the present invention through the above description. The technical scope of this invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A robot arm system based on push-to-lock, characterized in that: The invention comprises a clamp mechanism, a bending adjustment mechanism, a direction-changing mechanism, a handle mechanism installed on one side and a bending adjustment locking mechanism arranged on the handle mechanism, wherein the clamp mechanism comprises a clamp head and a driving wire, the bending adjustment mechanism is connected to the clamp mechanism, the bending adjustment mechanism comprises a bending assembly and a traction wire arranged through the bending assembly, the direction-changing mechanism comprises a spring tube and a direction-changing member, the handle mechanism comprises a handle shell, a bending adjustment cover, a bending adjustment ball installed in the bending adjustment cover, a connecting rod fixedly connected to the bending adjustment ball, a connecting block arranged on the connecting rod and a control handle, the driving wire is fixedly connected to the control handle, the traction wire is connected to the connecting block, and the The bending locking mechanism includes an installation cavity, a sliding block arranged in the installation cavity, a locking rod connected to the sliding block, a compression spring, a pressing rod rotatably connected to the installation cavity, and a locking button arranged above the sliding block. A sliding groove is also provided on a side surface of the sliding block close to the locking rod, and the sliding groove is heart-shaped. A limiting column is provided at one end of the locking rod. A plurality of limiting holes are provided on the bending adjustment cover and are evenly distributed on the outer shell cover. The limiting holes cooperate with the limiting columns. When the locking rod moves downward with the sliding block, one end of the locking rod having the limiting column moves into the limiting hole, thereby realizing the locking of the control handle shell relative to the bending adjustment cover.

2. The push-to-lock robotic arm system according to claim 1, characterized in that: The clamp mechanism also includes a hinge connected to the clamp head, a translation piece fixed to the hinge and a clamp pin arranged on the clamp head. The drive wire includes a connecting part arranged at one end, the connecting part is a cylinder, and the connecting part is buckled in the connecting port of the translation piece.

3. The push-to-lock robotic arm system according to claim 1, characterized in that: The bending adjustment mechanism also includes a support member arranged outside the bending component and an outer tube arranged outside the support member.

4. The push-to-lock robotic arm system according to claim 1, characterized in that: The bending adjustment ball, connecting rod and clamping block are an integrally formed structure, and a through hole is opened in the center of the bending adjustment ball, connecting rod and clamping block. The driving wire passes through the through hole of the bending adjustment cover and the through holes on the bending adjustment ball, connecting rod and clamping block in sequence and is fixedly connected to the control handle.

5. The push-to-lock robotic arm system according to claim 1, characterized in that: The bending adjustment cover is mounted on one end of the handle shell, and includes an outer shell, an inner shell arranged inside the outer shell, and a limiting portion. Four limiting portions are provided, which are evenly distributed circumferentially between the outer shell and the inner shell. Limiting holes are provided on the limiting portions, and the traction wire passes through the limiting holes on the four limiting portions respectively.

6. The push-to-lock robotic arm system according to claim 5, characterized in that: A through hole connected to the interior is opened at the bottom end of the inner shell cover, and the through hole is suitable for passing the driving wire. The bending adjustment ball is rotatably connected to the inner shell cover, and the bending adjustment ball extends into the inner shell cover and is slidably connected to the inner shell cover, so that the bending adjustment ball can form a ball pair with the inner shell cover.

7. The push-to-lock robotic arm system according to claim 1, characterized in that: The installation cavity is a square cavity, which is arranged at the upper position inside the handle shell. The installation cavity is suitable for placing a sliding block and a compression spring. The cross section of the sliding block matches the internal cross section of the installation cavity, which is suitable for the sliding block to slide up and down in the installation cavity.

8. The push-to-lock robotic arm system according to claim 5, characterized in that: An opening is provided on one side wall of the mounting cavity, suitable for one end of the locking rod to extend from the sliding block, and the other end of the locking rod is a limiting column, and a limiting hole is provided on the outer shell cover of the bending adjustment cover, and a plurality of limiting holes are provided and evenly distributed on the outer shell cover, and the limiting hole cooperates with the limiting column.

9. The push-to-lock robotic arm system according to claim 1, characterized in that: The compression spring is arranged below the sliding block, and the bottom end of the compression spring is fixed by a positioning member.

10. The push-to-lock robotic arm system according to claim 8, characterized in that: One end of the pressing rod is rotatably connected to the bottom end of the installation cavity through a rotating pin, and the other end of the pressing rod is provided with a matching block, and the matching block is located in the heart-shaped sliding groove and slides.

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