A robotic arm system based on lever locking

Abstract

The present invention relates to the field of medical device technology, and specifically to a manipulator system based on a toggle lever locking, comprising a clamping mechanism, a bending adjustment mechanism, a direction-changing mechanism, a handle mechanism installed on one side, and a toggle locking mechanism provided on the handle mechanism, wherein the clamping mechanism comprises a clamp head and a drive wire, the bending adjustment mechanism comprises a bending assembly and a traction wire provided through the bending assembly, the handle mechanism comprises a handle shell, a bending adjustment cover, a bending adjustment ball, a connecting rod fixedly connected to the bending adjustment ball, a connecting block provided on the connecting rod, and a control handle, and the toggle locking mechanism comprises a central shaft sleeve rotatably mounted on the connecting rod, a toggle lever fixedly connected to the central shaft sleeve, a matching block, a follower lever rotatably connected to the matching block, and a clamping arm. The present invention quickly performs locking and unlocking operations by adjusting the position of the toggle lever, and the operation method is simple and intuitive, thereby ensuring the safety and success rate of the operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a robotic 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, less damage to the patient's body, less pain for the patient during and after the operation, and faster postoperative recovery.

[0003] Some existing flexible laparoscopic forceps cannot lock their bending angle after bending. Furthermore, while some flexible laparoscopic forceps have a locking function, their locking and unlocking methods are extremely complex. The complex operating procedures often require doctors to perform a series of tedious steps during a highly stressful surgical procedure, which may involve the coordinated operation of multiple operating components or require precise adjustments in a narrow operating space. This makes doctors 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-mentioned 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 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 problems is: the present invention discloses a robotic arm system based on toggle locking, including a clamping 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 clamping mechanism includes a clamp head and a drive 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, 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 shaft sleeve rotatably sleeved on the connecting rod, a toggle rod fixedly connected to the central shaft 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, and a mounting hole is opened at one end of the clamping arms, one end of the two clamping arms are symmetrically mounted on the handle shell platform that cooperates with the bending adjustment cover through a rotating pin, and the inner side of the clamping arm cooperates 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 that matches 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 rotated.

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

[0009] Furthermore, two matching blocks are symmetrically provided, and two mounting holes are opened in the matching blocks, 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 to achieve a rotational connection between one end of the follower rod and 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 passes through the installation at the other end of the follower rod and the mounting hole in the center of the clamping arm, thereby enabling the clamping and releasing of the clamping arm 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 mounted on one end of the handle shell, and the bending adjustment cover includes an outer shell, an inner shell arranged on the inner side of the outer shell, and a limiting part. There are four limiting parts, which are evenly distributed circumferentially between the outer shell and the inner shell. Limiting holes are provided on the limiting parts, 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 provided on the inner sides of the two symmetrical clamps to facilitate firm clamping and prevent slipping; the clamp head can be opened and closed 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 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 in line with ergonomics and the doctor's usage habits; the handle mechanism is designed with components such as bending balls, connecting rods, and connecting blocks. When the control handle shell is universally rotated relative to the bending cover The locking mechanism is simple and intuitive to operate, which makes it easy for doctors to quickly lock and unlock the operation 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 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 cover of the bending cover by moving the toggle lever, thereby locking the control handle shell relative to the bending cover, effectively avoiding unnecessary bending of the bending mechanism due to accidental touch during the use of the robotic arm, and ensuring the stability and safety of the surgical operation. There is a direct correspondence between the up and down toggle action of the toggle lever and the clamping and releasing action of the clamping arm, which is ergonomic and operational, and convenient for doctors to quickly master and operate during surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and examples.

[0017] Figure 1 It is a structural schematic diagram of the robot 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, traction wire and spring tube of the present invention;

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

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

[0023] Figure 7 It is a structural schematic diagram of the connecting 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] Figure 9 It is a structural schematic diagram of the bottom unit of the present invention;

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

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

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

[0029] Figure 13 2. It is a structural schematic diagram of the spring tube and the direction-changing member of the present invention from another perspective;

[0030] Figure 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] Figure 15 It is a schematic diagram of the internal structure of the toggle locking mechanism of the present invention;

[0032] Figure 16 is a cross-sectional view of a manipulator system based on lever locking according to the present invention;

[0033] Figure 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, drive 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 housing 51, mounting plate 511, mounting opening 512, bending adjustment cover 52, outer housing 521, inner housing 522, position limiting portion 523, bending adjustment ball 53, connecting rod 54, clamping block 541, connecting block 55, control handle 56;

[0040] The locking mechanism 6 is driven, including the central sleeve 61 , the driving rod 62 , the matching block 63 , the following rod 64 , and the 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 、 Figure 16 As shown, the present invention provides a robotic 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 drive 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 provided on the clamp head 11. The head end of the clamp head 11 is composed of two symmetrical half-pairs of duckbill clamps, and clamping teeth 111 are provided on the inner side surfaces of the two symmetrical clamps to facilitate 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 on 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, thereby realizing 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 being hingedly connected to the distal end of the pliers head 11, and the two hinges 12 are cross-hingedly connected to one end of the translation piece 13. The drive wire 14 includes a connecting portion 141 provided at one end. The connecting portion 141 is a cylindrical body that is directly larger than the wire body. The connecting portion 141 snaps into the connecting port of the translation piece 13. The cylindrical end of one end of the drive wire 14 snaps into the connecting port of the translation piece 13 to achieve a rotatable connection between the translation piece 13 and the drive wire 14. The drive wire 14 is made of a flexible and bendable material, and when the drive wire 14 is pulled or released, the hinge 12 is hingedly connected to the pliers head 11 and the translation piece 13, respectively, to achieve the opening and closing of the pliers head 11.

[0044] In some embodiments, such as Figure 4 、 Figure 17 As shown, the bending mechanism 2 is connected to the clamp mechanism 1. The bending mechanism 2 includes a bending component 21, a traction wire 22 passing through the bending component 21, a support member 23 provided outside the bending component 21, and an outer tube 24 provided 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 is connected to the clamping 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 center. 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 connecting 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 mating groove 2124 provided on the second mating surface 2121, a second driving hole 2125, and a second bending hole 2126 provided on the connecting unit 212. The first mating surface 2121 has an elliptical curved surface structure, with the first arc-shaped protrusion 2123 provided on the protruding portion of the first mating surface 2121, and the first arc-shaped protrusion 2123 extending to both sides of the first mating surface 2121. The second mating surface 2122 has an elliptical curved surface structure, with the second arc-shaped mating groove 2124 provided on the protruding portion of the second mating surface 2122, and the second arc-shaped mating groove 2124 extending to both sides of the second mating surface 2122. The first arc-shaped protrusion 2123 and the second arc-shaped mating groove 2124 are axially offset by 90 degrees. The first arcuate protrusion 2123 mates with the first arcuate mating groove 21121, and the first arcuate protrusion 2123 of the connecting unit 212 is placed in the first arcuate mating groove 21121 of the top unit 211. A plurality of connecting units 212 are provided, each axially offset by 90 degrees, such that the first arcuate protrusions 2123 of the plurality of connecting units 212 are placed in the second arcuate mating groove 2124. A second drive hole 2125 is provided in the center of the connecting unit 212, and extends through the first mating surface 2121 and the second mating surface 2122. The second drive hole 2125 is suitable for receiving the drive wire 14. Four second bending adjustment holes 2126 are evenly spaced around the first drive hole 2113. The second bending adjustment holes 2126 extend through the first mating surface 2121 and the second mating surface 212. The two opposing second bending adjustment holes 2126 are located in the first arcuate protrusion 2123 and the first arcuate mating groove 21121, respectively. The axially offset connection units 212 enable the clamping mechanism 1 to turn in all directions, improving stability and applicability.

[0046] In some embodiments, such as Figure 9 、 Figure 10As shown, the bottom unit 213 includes a second mating 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 formed on the mounting portion 2133. The second connecting portion 2132 is cylindrical, with the second mating portion 2131 and the mounting portion 2133 respectively disposed on either side of the second connecting portion 2132. The side of the second mating portion 2131 away from the second connecting portion 2132 is an elliptical curved surface structure. A second arcuate protrusion 21311 is disposed on the raised portion of the second mating portion 2131. The second arcuate protrusion 21311 extends to both sides of the second mating portion 2131 and is adapted to fit within the second arcuate mating groove 2124, thereby enabling the second arcuate protrusion 2123 to be positioned within the second arcuate mating groove 2124. The third drive hole 2134 is formed through-and-through at both ends of the bottom unit 213, with the third drive hole 2134 being centrally located and suitable for receiving the drive wire 14. Four third bend adjustment holes 2135 are provided, one on each of the second mating portion 2131 and the second connecting portion 2132. The third bend adjustment holes 2135 are evenly distributed around the third drive hole 2135, with two opposing third bend adjustment holes 2135 located within the second arc-shaped protrusion 21311. Four mounting holes 2136 are provided on the mounting portion 2133, each having a larger diameter than the third bend adjustment holes 2135. The four mounting holes 2136 correspond one-to-one to the positions of the third bend adjustment holes 2135.

[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, and POM.

[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 Figure 11 As shown, the support member 23 is arranged on the outside of the bending component 21. The support member 23 is a snake tube made of laser-cut stainless steel tube that can achieve universal bending. The central position of the support member 23 is a wave-shaped mortise and tenon structure, and the number of peaks and troughs is set between 18 and 28.

[0050] In some embodiments, the outer tube 24 is disposed outside the support member 23, with one end of the outer tube 24 wrapping around and 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 bend recovery of the system.

[0051] In some embodiments, such as Figure 12 、 Figure 13 As shown, the direction-changing mechanism 3 includes a spring tube 31, a direction-changing member 32, and an externally mounted rigid tube 33. Four spring tubes 31 are provided, each with one end fixedly mounted in a mounting hole 2136 of the bottom unit 213. The rigid tube 33 is sleeved over the outer surfaces of the spring tube 31 and the direction-changing member 32. 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 wraps around one end of the rigid tube 33. The other end of the rigid tube 33 is fixed to the rotating mechanism 4. The four traction wires 22 are placed through the four spring tubes 31 respectively, the changing piece 32 is connected to the spring tube 31, and four turning holes 321 are opened on the changing piece 32. The spring tubes 31 are placed through the four turning holes 321 respectively, so that the position of the spring tube 31 at the output end of the spring tube 31 passing through the changing piece 32 is opposite to the relative position of the input end. When the traction wire 22 in the spring tube 31 above the output end of the 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, 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 pulling the traction wire 22 during operation, which is more in line with ergonomics and the doctor's usage habits.

[0052] In some embodiments, such as Figure 14 、 Figure 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 drive wire 14) rotate with the rotating mechanism 4, thereby realizing 360-degree rotation of the system.

[0053] In some embodiments, such as Figure 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 mounted on 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 circumferentially between the outer shell 521 and the inner shell 522. 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 housing 522. The bending ball 53 extends into the inner housing 522 and is slidably connected to the inner housing 522, allowing the bending ball 53 to form a ball pair with the inner housing 522. Two connecting blocks 55 are provided, each fixed to the connecting rod 54. Each connecting block 55 is provided with four connecting portions. The traction wire 22 passes through the limiting holes on the four limiting portions 523 and is fixed to the connecting portions of the connecting blocks 55 in a one-to-one correspondence. A clamping block 541 is also provided at the end of the connecting rod 54 away from the bending ball 53. A mounting plate 511 is also provided inside the handle housing 51. The mounting plate 511 is engaged with the clamping block 541 at one end of the connecting rod 54, allowing the connecting rod 54 to rotate only relative to the mounting plate 511. The bending ball 53, connecting rod 54, and clamping block 541 are integrally formed. A through-hole is formed in the center of the bending ball 53, connecting rod 54, and clamping block 541, allowing the drive wire 14 to pass through the through-hole of the bending cover 52 and the through-holes in the bending ball 53, connecting rod 54, and clamping block 541 and be fixedly connected to the control handle 56. The handheld end of the control handle 56 extends outside the handle housing 51. The control handle 56 is mounted on the handle housing 51 via a rotating pin. When the control handle 56 is rotated, the drive wire 14 connected to the bottom end of the control handle 56 is pulled and stretched, thereby opening and closing 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 rotatably 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. At this time, the traction wire 22 in the corresponding direction fixed on the connecting block 55 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 bends in the direction of the handle shell 51, thereby realizing 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 Figure 14 、 Figure 15 As shown, the toggle locking mechanism 6 includes a central sleeve 61 rotatably mounted on the connecting rod 54, a toggle rod 62 fixedly connected to the central sleeve 61, a mating block 63, a follower rod 64 rotatably connected to the mating block 63, and a clamping arm 65. The central sleeve 61 has a through hole that matches the diameter of the connecting rod 54, allowing the central sleeve 61 to be mounted and rotatably mounted on the outer surface of the connecting rod 54. The central sleeve 61 is located between the bending ball 53 and the connecting block 55. The toggle rod 62 is fixed to the outer surface of the central sleeve 61 and is located on the side near the connecting block 55. The handle housing 51 also has a mounting opening 512, from which the end of the toggle rod 62 extends. Two mating blocks 63 are symmetrically arranged, each of which has two mounting holes suitable for mounting the follower rod 64. Two follower rods 64 are provided, with mounting holes defined at each end. A rotating pin passes through the mounting hole at one end of the follower rod 64 and the mounting hole on the mating block 63, thereby achieving a rotatable connection between one end of the follower rod 64 and the mating block 63. Two symmetrically arranged arcuate clamping arms 65 are provided, each with a mounting hole defined at one end. One end of each clamping arm 65 is symmetrically mounted on the platform of the handle housing 51, which is mated with the bending cover 52, via rotating pins. The inner sides of the clamping arms 65 mate with the outer shell 521 of the bending cover 52. Specifically, non-slip rubber (not shown) is provided on the inner sides of the clamping arms 65 to prevent sliding displacement when the arcuate clamping arms 65 clasp 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 mechanism 2 is adjusted by the control handle housing 51, the locking mechanism 6 is activated. The toggle lever 62 is then toggled downward, causing the central sleeve 61 to rotate counterclockwise, driving the follower lever 64 to rotate counterclockwise through a certain angle. Since the other end of the follower lever 64 is rotatably connected to the center of the clamping arm 65, the curved clamping arm 65 now clamps the outer cover 521 of the bending cover 52, thereby locking the control handle housing 51 relative to the bending cover 52 and preventing the bending mechanism 2 from being accidentally bent during use. To unlock the control handle housing 51, the toggle lever 62 is then toggled upward, causing the central sleeve 61 to rotate clockwise, driving the follower lever 64 to rotate clockwise through a certain angle. Since the other end of the follower lever 64 is rotatably connected to the center of the clamping arm 65, the curved clamping arm 65 now releases the outer cover 521 of the bending cover 52, thereby unlocking the control handle housing 51 relative to the bending cover 52.

[0057] The present invention provides a manipulator system 100 based on lever locking, comprising a clamping mechanism 1, a bending mechanism 2, a direction-changing mechanism 3, a rotating mechanism 4, a handle mechanism 5 mounted on one side of the rotating mechanism 4, and a toggle locking mechanism 6 provided 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 provided 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 releasing the drive wire 14, ensuring operational flexibility; the bending mechanism 2 is provided on the inner side of the two symmetrical clamps, and the clamp head 11 is provided on the inner side of the two symmetrical clamps to ensure stable clamping and prevent slipping; the bending mechanism 2 is provided on the inner side of the two symmetrical clamps, and ... is provided on the inner side of the two symmetrical clamps to ensure operational flexibility; the bending mechanism 2 is provided on the inner side of the two symmetrical clamps, and the clamp head 11 is provided on the inner side of the two symmetrical clamps to ensure stable clamping and prevent slipping; the bending mechanism 2 is provided on the inner side of the two symmetrical clamps, and the clamp head 11 is provided on the inner side of the two symmetrical clamps to ensure stable clamping and prevent slipping; the bending mechanism 2 is provided on the inner side of the two symmetrical clamps, The bending assembly 21 adopts multiple axially staggered connection units 212 to realize the turning of the clamping mechanism in all directions, thereby improving the applicability of the robotic arm in different working scenarios; a direction-changing mechanism 3 is provided through the design of 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 control handle shell 51 is universally rotated relative to the bending cover 52, it can give positive feedback on the bending of the clamping mechanism 1 and the bending mechanism 2, which is in line with ergonomics and operating habits; a toggle locking mechanism 6 is provided to realize 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; 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 correspondence 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] With the above-described preferred embodiments of the present invention as inspiration, and with reference to the above description, relevant personnel may make various changes and modifications without departing from the scope of the present invention. The technical scope of this invention is not limited to the contents of the specification, but 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 relates to a method of adjusting the direction of the lifting device and the adjusting screw thread, wherein the adjusting screw thread is fixed on the adjusting screw thread of the lifting device and the adjusting screw thread is fixed on the adjusting screw thread. The adjusting screw thread is fixed on the adjusting screw thread and the adjusting screw thread is fixed on the adjusting screw thread. The adjusting screw thread is fixed on the adjusting screw thread and the adjusting screw thread is fixed on the adjusting screw thread. The adjusting screw thread is fixed on the adjusting screw thread and the adjusting screw thread is fixed on the adjusting screw thread.

4. The repairing kit for automotive dents, according to claim 1, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The bosses comprise a through-hole, a screw bolt, and a nut. The two foot pieces comprise a through-hole, a screw bolt, and a nut.

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

6. The robotic 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.

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