Mechanical arm system based on shifting rod locking

Abstract

The invention relates to the technical field of medical instruments, in particular to a mechanical arm system based on shifting rod locking, which comprises a clamp mechanism, a bending adjusting mechanism, a turning mechanism, a handle mechanism mounted on one side and a shifting 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 shifting locking mechanism comprises a center shaft sleeve rotationally arranged on the connecting rod in a sleeving mode, a shifting rod fixedly connected with the center shaft sleeve, a matching block, a follow-up rod rotationally connected with the matching block and a holding arm. Locking and unlocking operations are quickly performed by adjusting the position of the poke rod, the operation mode is simple and visual, and the safety and success rate of an 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 lever locking. Background Art

[0002] Laparoscopic surgery occupies an important position in the field of modern medicine. It has been widely used in various surgical operations because of its significant advantages such as minimal invasiveness, little damage to the patient's body, less pain for the patient during and after the operation, and fast postoperative recovery.

[0003] Some existing laparoscopic surgical instrument forceps that can be bent cannot lock their bending angles after bending. In addition, although some laparoscopic surgical instrument forceps that can be bent have the function of locking the bending angle, their locking and unlocking methods are extremely complicated. The complicated operation process usually requires doctors to perform a series of tedious steps during a highly tense operation, which may involve the coordinated operation of multiple operating parts or require fine adjustment in a small operating space. Doctors are more likely to make mistakes during the operation, which may affect the safety and success rate of the operation. Summary of the invention

[0004] Based on the above problems existing in the prior art, the purpose of the embodiments of the present invention is to provide a robotic arm system based on lever locking, which can quickly perform locking and unlocking operations by adjusting the position of the lever. The operation method is simple and intuitive, ensuring the safety and success rate of the operation.

[0005] The technical solution adopted by the present invention to solve its technical problem is: the present invention discloses a mechanical arm system based on lever locking, including a clamp mechanism, a bending adjustment mechanism, a direction changing mechanism, a handle mechanism installed on one side and a toggle locking mechanism arranged on the handle mechanism, the clamp mechanism includes a clamp head and a driving wire, the bending adjustment mechanism is connected to the clamp 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, and 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, the toggle locking mechanism includes a central sleeve rotatably mounted on the connecting rod, a toggle rod fixedly connected to the central sleeve, a matching block, a follower rod rotatably connected to the matching block, and a clamping arm, two of the clamping arms are symmetrically arranged, and the clamping arms are arc-shaped, a mounting hole is provided at one end of the clamping arms, one end of the two clamping arms are symmetrically mounted on the handle shell platform matched with the bending adjustment cover through a rotating pin, and the inner side of the clamping arm is matched with the bending adjustment cover, and the clamping arm is driven by the follower rod to achieve clamping and releasing.

[0006] Furthermore, the handle shell is provided with a mounting opening, and the end of the toggle rod extends out from the mounting opening.

[0007] Furthermore, the central sleeve is provided with a through hole matching the diameter of the connecting rod, which is suitable for the central sleeve to be sleeved on the outer surface of the connecting rod and rotate.

[0008] Furthermore, the central sleeve is located between the bending ball and the connecting block.

[0009] Furthermore, two matching blocks are symmetrically arranged, and two mounting holes are opened in the matching block, and the two mounting holes are suitable for mounting the follower rod.

[0010] Furthermore, two follower rods are provided, and mounting holes are respectively opened at both ends of the follower rods. A rotating pin passes through the mounting hole at one end of the follower rod and the mounting hole on the matching block, so that one end of the follower rod is rotatably connected to the matching block.

[0011] Furthermore, anti-slip rubber is provided on the inner side of the clamping arm.

[0012] Furthermore, a mounting hole is provided in the middle of the clamping arm, and a rotating pin is passed through the installation at the other end of the follower rod and the mounting hole at the center of the clamping arm, so that the clamping arm can be clamped and released under the drive of the follower rod.

[0013] 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.

[0014] 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.

[0015] The beneficial effects of the present invention are as follows: the robotic arm system based on lever locking of the present invention includes 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 toggle 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 drive 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 robotic arm in different working scenarios; a direction-changing mechanism is provided, which is designed with a special spring tube and a direction-changing member, so that when the traction wire is pulled, the bending mechanism can obtain positive feedback, which is more in line with ergonomics and the doctor's usage habits; the handle mechanism is designed with components such as a bending ball, a connecting rod, and a connecting block, and when the control handle shell is universally rotated relative to the bending cover When the robot is adjusted, it can give positive feedback of the bending of the clamp mechanism and the bending adjustment mechanism, which conforms to ergonomics and operating habits; a toggle locking mechanism is provided to realize locking and unlocking operations by toggling the toggle lever up and down, and the operation method is simple and intuitive, which is convenient for doctors to quickly lock and unlock operations during surgery; anti-slip rubber is provided on the inner side of the clamping arm, which further enhances the stability of the clamping arm when clamping the outer shell cover, prevents sliding displacement, and improves the reliability of locking; when the bending operation is completed, the arc-shaped clamping arm can clamp the outer shell cover of the bending adjustment cover by toggling the toggle lever, thereby realizing the locking of the control handle shell relative to the bending adjustment cover, effectively avoiding unnecessary bending of the bending adjustment mechanism due to accidental touch during the use of the robotic arm, and ensuring the stability and safety of the surgical operation; and there is a direct corresponding relationship between the up and down toggle action of the toggle lever and the clamping and releasing action of the clamping arm, which conforms to ergonomics and operating habits, and is convenient for doctors to quickly master and operate during surgery. 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 lever locking of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the clamping 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 6 is 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 toggle locking mechanism and the handle mechanism of the present invention;

[0031] Fig.15 It is a schematic diagram of the internal structure of the toggle locking mechanism of the present invention;

[0032] Fig.16 is a cross-sectional view of a mechanical arm system based on lever locking of 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, mounting port 512, bending adjustment cover 52, outer shell cover 521, inner shell cover 522, limiting portion 523, bending adjustment ball 53, connecting rod 54, clamping block 541, connecting block 55, control handle 56;

[0040] The toggle locking mechanism 6 comprises a central sleeve 61 , a toggle rod 62 , a matching block 63 , a follower rod 64 , and a clamping arm 65 . 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 robot arm system 100 based on lever locking, including 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 lever 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 toggle locking mechanism 6 includes a central sleeve 61 rotatably sleeved on the connecting rod 54, a toggle rod 62 fixedly connected to the central sleeve 61, a matching block 63, a follower rod 64 rotatably connected to the matching block 63, and a clamping arm 65. The central sleeve 61 is provided with a through hole matching the diameter of the connecting rod 54, suitable for the central sleeve 61 to be sleeved on the outer surface of the connecting rod 54 and rotate, and the central sleeve 61 is located between the bending ball 53 and the connecting block 55. The toggle rod 62 is fixed on the outer surface of the central sleeve 61, and the toggle rod 62 is located on the side close to the connecting block 55. A mounting opening 512 is also provided on the handle shell 51, and the end of the toggle rod 62 extends out from the mounting opening 512. Two matching blocks 63 are symmetrically arranged, and the matching blocks 63 are provided with two mounting holes suitable for mounting the follower rod 64. Two follower rods 64 are provided, and mounting holes are respectively provided at both ends of the follower rods 64. A rotating pin passes through the mounting hole at one end of the follower rod 64 and the mounting hole on the matching block 63, so that one end of the follower rod 64 is rotatably connected to the matching block 63. Two embracing arms 65 are symmetrically provided, and the embracing arms 65 are arc-shaped. A mounting hole is provided at one end of the embracing arms 65. One end of the two embracing arms 65 is symmetrically installed on the platform of the handle shell 51 that matches the bending cover 52 through the rotating pin, and the inner side of the embracing arm 65 matches the outer shell 521 of the bending cover 52. Specifically, an anti-slip rubber (not shown in the figure) is also provided on the inner side of the embracing arm 65, thereby avoiding sliding displacement when the arc-shaped embracing arm 65 embraces the outer shell 521. A mounting hole is also provided in the middle of the clamping arm 65 , and a rotating pin passes through the mounting hole at the other end of the follower rod 64 and the central position of the clamping arm 65 , thereby enabling the clamping and releasing of the clamping arm 65 under the drive of the follower rod 64 .

[0056] In some embodiments, when the bending adjustment of the bending mechanism 2 is completed by the control handle shell 51, the locking mechanism 6 is toggled to lock it. At this time, the toggle rod 62 is toggled downward, the central sleeve 61 rotates counterclockwise, and the follower rod 64 rotates counterclockwise to a certain angle. Since the other end of the follower rod 64 is installed and connected to the central position of the clamping arm 65, the arc-shaped clamping arm 65 clamps the outer shell 521 of the bending cover 52, thereby achieving the locking of the control handle shell 51 relative to the bending cover 52, and avoiding the bending of the bending mechanism 2 caused by accidental triggering of the robot arm during use. When unlocking is required, the toggle rod 62 is toggled upward, the central sleeve 61 rotates clockwise, and the follower rod 64 rotates clockwise to a certain angle. Since the other end of the follower rod 64 is installed and connected to the central position of the clamping arm 65, the arc-shaped clamping arm 65 releases the outer shell 521 of the bending cover 52, thereby achieving the unlocking of the control handle shell 51 relative to the bending cover 52.

[0057] The mechanical arm system 100 based on lever locking of the present invention comprises a clamp 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 toggle locking mechanism 6 arranged on the handle mechanism 5; the clamp head 11 of the clamp mechanism 1 is composed of two symmetrical half-pairs of duckbill clamps, and clamping teeth 111 are arranged on the inner side surfaces of the two symmetrical clamps to facilitate stable clamping and prevent slipping; the clamp head 11 can be opened and closed by pulling or loosening the driving wire 14, ensuring the flexibility of operation; the bending adjustment mechanism 2 The bending assembly 21 adopts a plurality of axially staggered connection units 212 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 3 is provided, which is designed through a special spring tube 31 and a direction-changing member 32, so that when the traction wire 22 is pulled, the bending mechanism 2 can get positive feedback, which is more in line with ergonomics and the doctor's usage habits; the handle mechanism 5 is designed through the bending ball 53, the connecting rod 54, the connecting block 55 and other components. When the handle shell 51 is controlled to perform universal rotation adjustment relative to the bending cover 52, positive feedback of the bending of the clamp mechanism 1 and the bending mechanism 2 can be given, which is in line with ergonomics and operating habits; a toggle locking mechanism 6 is provided, which realizes locking and unlocking operations by toggling the toggle rod 62 up and down. The operation method is simple and intuitive, which is convenient for doctors to quickly lock and unlock operations during surgery; an anti-slip rubber is provided on the inner side of the clamping arm 65, which further enhances the stability of the clamping arm 65 when clamping the outer shell cover 521, prevents sliding displacement, and improves the reliability of locking; when the bending operation is completed Afterwards, by moving the toggle rod 62, the arc-shaped clamping arm 65 can clamp the outer shell cover 521 of the bending adjustment cover 52, thereby locking the control handle shell 51 relative to the bending adjustment cover 52, effectively avoiding unnecessary bending of the bending adjustment mechanism due to accidental touch during the use of the robotic arm, and ensuring the stability and safety of the surgical operation; and there is a direct corresponding relationship between the up and down toggle action of the toggle rod 62 and the clamping and releasing action of the clamping arm 65, which conforms to ergonomics and operating habits, and is convenient for doctors to quickly master and operate during the operation.

[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 robotic arm system based on lever locking, 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 toggle 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 fixed to the control handle The traction wire is connected to the connecting block, and the toggle locking mechanism includes a center sleeve rotatably mounted on the connecting rod, a toggle rod fixedly connected to the center sleeve, a matching block, a follower rod rotatably connected to the matching block, and a clamping arm. Two clamping arms are symmetrically arranged, and the clamping arms are arc-shaped. A mounting hole is provided at one end of the clamping arms. One end of the two clamping arms is symmetrically mounted on a handle shell platform that matches the bending adjustment cover through a rotating pin, and the inner side of the clamping arm matches the bending adjustment cover. The clamping arm is clamped and released under the drive of the follower rod.

2. The robotic arm system based on lever locking according to claim 1, characterized in that: The handle shell is also provided with a mounting opening, and the end of the toggle rod extends out from the mounting opening.

3. The robot arm system based on lever locking according to claim 1, characterized in that: The central shaft sleeve is provided with a through hole matching the diameter of the connecting rod, which is suitable for the central shaft sleeve to be sleeved on the outer surface of the connecting rod and rotate.

4. The robot arm system based on lever locking according to claim 1, characterized in that: The central sleeve is located between the bending ball and the connecting block.

5. The robot arm system based on lever locking according to claim 1, characterized in that: The matching blocks are symmetrically arranged with two each, and the matching blocks are provided with two mounting holes, and the two mounting holes are suitable for mounting the follower rod.

6. The robot arm system based on lever locking according to claim 5, characterized in that: The following rods are provided with two, and mounting holes are respectively opened at both ends of the following rods. A rotating pin passes through the mounting hole at one end of the following rod and the mounting hole on the matching block, so that one end of the following rod is rotatably connected with the matching block.

7. The robot arm system based on lever locking according to claim 1, characterized in that: The inner side of the clamping arm is also provided with anti-slip rubber.

8. The robot arm system based on lever locking according to claim 6, characterized in that: A mounting hole is provided in the middle of the clamping arm, and a rotating pin passes through the installation of the other end of the follower rod and the mounting hole at the central position of the clamping arm, so that the clamping arm can be clamped and released under the drive of the follower rod.

9. The robot arm system based on lever locking 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.

10. The robot arm system based on lever locking 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.

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