Articulated arm locking structure and mechanical arm

Abstract

The utility model relates to the technical field of medical instruments, in particular to an articulated arm locking structure and a mechanical arm, and the articulated arm locking structure comprises a first joint body and a second joint body, the second joint body is rotationally connected with the first joint body, N fan-shaped gear sleeves distributed in the circumferential direction are arranged in the second joint body, and the N fan-shaped gear sleeves are arranged to be capable of independently getting close to or getting away from the annular gear sleeve; the circumferential distance of the N fan-shaped gear sleeves meets the condition that when the N fan-shaped gear sleeves get close to each other, the tooth surface of one side of each first clamping tooth in (N-1) / 2 fan-shaped gear sleeves is attached to the tooth surface of one side of each second clamping tooth, and (N-1) exists. And the other pair of side tooth surfaces of the first clamping teeth in the fan-shaped tooth sleeves is attached to the other pair of side tooth surfaces of one second clamping tooth in the fan-shaped tooth sleeves, and it can be guaranteed that during unlocking, meshing can be achieved at the moment when external force is removed no matter the second joint body is located at any rotating angle relative to the first joint body.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a joint arm locking structure and a robotic arm. Background Art

[0002] In the medical industry, during surgery, mechanical auxiliary equipment is often used to support and fix part of the patient's body in order to ensure the safety of the operation. Usually, a robotic arm is used to support and fix part of the patient's body. The robotic arm includes multiple groups of articulated arms that can rotate relative to each other in a circumferential direction. The articulated arms can be locked or unlocked to achieve the purpose of adjusting the body posture.

[0003] At present, the joint arms often use the method of connecting rods and connecting holes to achieve the rotational locking between the two joint arms, that is, when the connecting rod on one of the joint arms is connected with the connecting hole on the other joint arm, the relative rotation between the two joint arms is locked, and when the connecting rod is detached from the connecting hole, the two joint arms can rotate relative to each other again. Due to the cooperation between the connecting rod and the connecting hole, it is necessary to ensure that at least one connecting rod is completely corresponding to the corresponding connecting hole during the connection. Since there is a certain gap between two adjacent connecting rods and between adjacent connecting holes, the connecting rod and the connecting hole cannot be locked at any angle. To address this situation, the prior art usually increases the number of connecting rods and connecting holes to ensure locking at any angle. However, this method will cause the structure of the joint arm with the connecting rod to be complicated, while the structural strength of the other joint arm with the connecting hole will be reduced, affecting the strength of the final locking. Utility Model Content

[0004] In order to solve the above technical problems or partially solve the above technical problems, the present application provides a joint arm locking structure and a robotic arm.

[0005] In a first aspect, the present application provides a joint arm locking structure, comprising:

[0006] A first joint body, wherein an annular gear sleeve is provided in the first joint body, and a plurality of first engaging teeth are provided at intervals in the circumferential direction on one end surface of the annular gear sleeve;

[0007] a second joint body, rotatably connected to the first joint body, wherein the second joint body is provided with N sector-shaped gear sleeves arranged at intervals in the circumferential direction, wherein one end surface of the sector-shaped gear sleeve facing the annular gear sleeve is provided with a plurality of second engaging teeth; wherein N is greater than or equal to 3 and is an integer; and the N sector-shaped gear sleeves are configured to be able to independently approach or move away from the annular gear sleeve;

[0008] The circumferential spacing of the N sector-shaped gear sleeves (2) satisfies that: when approaching, one side tooth surface of the first engaging teeth in (N-1) / 2 of the sector-shaped gear sleeves is in contact with one side tooth surface of the second engaging teeth, and the other side tooth surfaces of the first engaging teeth in (N-1) / 2 of the sector-shaped gear sleeves are in contact with the other side tooth surfaces of the second engaging teeth, and when moving away, the teeth are out of meshing;

[0009] N groups of guide posts, the N groups of guide posts are arranged at intervals in the circumferential direction and correspond to the N sector-shaped gear sleeves one by one; one end of the guide post is connected to the sector-shaped gear sleeve, and the other end passes through the second joint body and is located on the side of the second joint body facing away from the first joint body; a clamping portion is provided on a section of the guide post located outside the second joint body; the clamping portion is used for abutment by an unlocking mechanism;

[0010] An elastic member has one end abutting against an end of the guide column away from the sector-shaped gear sleeve, and the other end of the elastic member is used to abut against a shell outside the second joint body.

[0011] Optionally, the self-locking angles of the first engaging tooth and the second engaging tooth are both a, and 30°≤a≤50°.

[0012] Optionally, the number of the sector-shaped gear sleeves is 5; the number of groups of the guide posts is 5, each group includes 2 guide posts; any sector-shaped gear sleeve corresponds to 2 guide posts.

[0013] Optionally, the elastic member includes an annular baffle, a limiting column and a spring; the number of the limiting columns, the number of the limiting columns and the number of the springs are equal;

[0014] A blind hole is provided on one end face of the guide column away from the sector-shaped gear sleeve, one end of the limiting column is inserted in the blind hole, and the other end is connected to the annular baffle; the spring sleeve is arranged on the limiting column, one end abuts against the bottom of the blind hole, and the other end abuts against the annular baffle.

[0015] Optionally, a rotation axis is provided on a side of the second joint body facing the first joint body, a rotation hole is provided in the first joint body, and the rotation axis is rotationally matched with the rotation hole.

[0016] Optionally, it further comprises a guide chuck, the guide chuck is located on a side of the second joint body facing away from the first joint body, a plurality of semicircular grooves are arranged at intervals along the circumference of the edge of the guide chuck, and the number of the semicircular grooves is the same as the number of the guide posts;

[0017] The semicircular slot is slidably connected to the peripheral wall of the guide column; the edge of the semicircular slot is engaged with the engaging portion to drive the guide column to move away from the annular gear sleeve.

[0018] Optionally, the guide chuck is provided with an abutted portion on the side facing the sector-shaped gear sleeve for abutting against external force, and the guide chuck is provided with an abutting portion on the side facing away from the sector-shaped gear sleeve for transmitting the abutting force.

[0019] Optionally, an unlocking rod is further included, one end of which is connected to the abutted portion, and the other end of which is sequentially passed through the second joint body and the first joint body for connecting to the force-applying structure.

[0020] In a second aspect, the present application further provides a robotic arm, comprising a plurality of sets of joint arm locking structures as described above, and further comprising:

[0021] A swing lever, one end of which is used to be hinged with the housing, and the other end of which is provided with abutment protrusions extending in the positive and negative swinging directions respectively; located between the two mutually perpendicular joint arm locking structures, wherein the end of the unlocking lever in one of the joint arm locking structures away from its own guide chuck abuts against one of the abutment protrusions, and the abutment portion in the other joint arm locking structure abuts against the other abutment protrusion;

[0022] A locking structure, disposed at one end of the mechanical arm, for fixing the entire mechanical arm;

[0023] A force-applying structure; disposed at the other end of the mechanical arm, and used to lock or unlock the joint arm locking structure in the entire mechanical arm;

[0024] A retaining structure, wherein two ends of the retaining structure are respectively rigidly connected to two adjacent articulated arm locking structures; a first cavity for the push rod to pass through is provided inside the retaining structure.

[0025] Optionally, a connection structure is also included;

[0026] The connecting structure is located between the retaining structure and the articulated arm locking structure, one end of the connecting structure is connected to the retaining structure, and the other end is connected to the articulated arm locking structure; a second cavity for the push rod to pass through is provided inside the connecting structure.

[0027] Compared with the prior art, the technical solution provided by the embodiments of the present application has the following advantages:

[0028] The joint arm locking structure provided by the present application has a sector-shaped gear sleeve and an annular gear sleeve that are mutually engaged under the action of an elastic member, thereby limiting the rotation of the first joint body and the second joint body. When the engaging portion is subjected to an external force that causes the guide column to move away from the first joint body, the sector-shaped gear sleeve and the annular gear sleeve are disengaged, and the second joint body can rotate relative to the first joint body. When the external force disappears, the sector-shaped gear sleeve moves closer to the annular gear sleeve. Since the movements of multiple sector-shaped gear sleeves do not interfere with each other, there is always a left tooth surface of the second engaging tooth on some sector-shaped gear sleeves that is in contact with the annular gear sleeve. The right tooth surface of the first engaging tooth fits together, and at the same time, the right tooth surface of the second engaging tooth on some sector-shaped tooth sleeves fits together with the left tooth surface of the first engaging tooth. Ultimately, when the second joint body rotates forward or reversely relative to the first joint body, it is affected by the engaging effect between the sector-shaped tooth sleeve and the annular tooth sleeve, thereby ensuring that when unlocking, no matter what rotation angle the second joint body is at relative to the first joint body, it can be engaged at the moment the external force is removed. At the same time, under the engaging of the left and right tooth surfaces, the locking of the first joint body and the second joint body will be more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0031] Figure 1 This is an exploded schematic diagram of the locking structure of the articulated arm described in an embodiment of the present application;

[0032] Figure 2 It is a partial enlarged schematic diagram of the position of the guide chuck in the joint arm locking structure described in the embodiment of the present application;

[0033] Figure 3 It is a schematic diagram of the engagement structure between the first engaging tooth and the second engaging tooth in the engagement assembly according to the embodiment of the present application;

[0034] Figure 4 This is a schematic diagram of the overall structure of the robotic arm in this application;

[0035] Figure 5 This is a schematic diagram of the swing rod structure in this application.

[0036] in,

[0037] 1. Second joint body; 100. Sliding cavity; 101. Second joint housing; 102. Guide hole; 103. Rotating shaft; 2. Fan-shaped gear sleeve; 20. Second engaging tooth; 3. Guide column; 30. Blind hole; 31. Engaging portion; 4. Annular baffle; 5. Limiting column; 6. Spring; 7. Guide chuck; 70. Semicircular slot; 71. Abutting portion; 72. Swing rod; 720. Abutting protrusion; 73. Unlocking rod; 8. Annular gear sleeve; 80. First engaging tooth; 9. Bearing end cover; 10. Bearing; 11. First joint body; 110. Rotating hole; 111. First joint housing; 12. Connecting screw; 13. Locking structure; 14. Force-applying structure; 15. Retaining structure; 16. Connecting structure. DETAILED DESCRIPTION

[0038] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0041] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0042] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0043] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0044] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0045] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0046] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0047] Reference Figure 1 to Figure 2 As shown, in the first aspect, the present application provides a joint arm locking structure, including: a first joint body 11, in which an annular gear sleeve 8 is provided, and a plurality of first engaging teeth 80 are circumferentially spaced apart on one end surface of the annular gear sleeve 8; a second joint body 1, rotatably connected to the first joint body 11, in which N circumferentially spaced sector gear sleeves 2 are provided, and a plurality of second engaging teeth 20 are provided on one end surface of the sector gear sleeve 2 facing the annular gear sleeve 8; N ≥ 3 and is an integer; the N sector gear sleeves 2 are arranged to be able to independently approach or move away from the annular gear sleeve 8.

[0048] The circumferential spacing of the N sector-shaped gear sleeves 2 satisfies: when approaching, one side tooth surface of the first engaging tooth 80 in (N-1) / 2 sector-shaped gear sleeves 2 fits with one side tooth surface of the second engaging tooth 20, and the other pair of side tooth surfaces of the first engaging tooth 80 in (N-1) / 2 sector-shaped gear sleeves 2 fits with the other pair of side tooth surfaces of the second engaging tooth 20, and they disengage when moving away.

[0049] In actual situations, the first joint body 11 and the second joint body 1 exist in the robotic arm at the same time, and there can be multiple groups of first joint bodies 11 and second joint bodies 1 in one robotic arm. The relative movement between the first joint body 11 and the second joint body 1 is rotation. When the first joint body 11 and the second joint body 1 are locked, the first joint body 11 and the second joint body 1 cannot rotate relative to each other, thereby maintaining the fixed state of the entire robotic arm. When the first joint body 11 and the second joint body 1 are unlocked, relative rotation can occur between the first joint body 11 and the second joint body 1, thereby achieving adjustment of the posture of the entire robotic arm.

[0050] Please refer to Figure 1 ,in Figure 1 This is an exploded diagram of the locking structure of the articulated arm. For ease of explanation, the "up", "down", and "up and down" that appear below refer to Figure 1 Up and down direction.

[0051] Figure 1 The first joint body 11 is an annular structure and has a certain thickness in its axial direction (up and down direction), so that some components can be accommodated inside it; the interior of the first joint body 11 is a cavity structure, and the cavity is opened at the lower wall of the first joint body 11, and an annular gear sleeve 8 is arranged in the cavity, which can be locked by connecting screws 12 during implementation. For example, the connecting screws 12 are screwed into the cavity from the top of the first joint body 11, and connected to the side of the annular gear sleeve 8 facing the bottom of the cavity, so as to fix the annular gear sleeve 8 in the cavity; in other permitted embodiments, the connection can also be made by welding or other methods, which are not limited here.

[0052] At this point, the annular gear sleeve 8 and the first joint body 11 can be regarded as a whole, and whether it rotates circumferentially or moves axially relative to the first joint body 11, both remain synchronized.

[0053] The annular gear sleeve 8 is an annular structure with a through hole preset in the middle along the up-down direction. A plurality of first engaging teeth 80 arranged at intervals in the circumferential direction are provided on a side wall thereof facing downward, that is, away from the first joint body 11, for completing meshing (locking).

[0054] Continue to refer Figure 1, at a certain position below the first joint body 11, there is a second joint body 1. The second joint body 1 is substantially the same as the first joint body 11 in external contour, has a columnar structure, and has a certain thickness in the axial direction; a sector-shaped gear sleeve 2 is provided inside the second joint body 1. Compared with the annular gear sleeve 8, the number of sector-shaped gear sleeves 2 is N, and N≥3, which is an integer; a plurality of sliding cavities 100 are arranged at circumferential intervals inside the second joint body 1, and the sliding cavity 100 opens on the upper side wall of the second joint body 1. The number of sliding cavities 100 is the same as the number of sector-shaped gear sleeves 2. One sector-shaped gear sleeve 2 corresponds to one sliding cavity 100, and the sector-shaped gear sleeve 2 can slide up and down in the sliding cavity 100 under the action of force.

[0055] To a certain extent, the sector-shaped gear sleeve 2 can also be understood as being formed by the fracture of the annular gear sleeve 8. On the upper side wall of the sector-shaped gear sleeve 2, that is, on the side wall facing the annular gear sleeve 8, a plurality of second engaging teeth 20 are arranged at intervals. The second engaging teeth 20 have the same specifications and dimensions as the first engaging teeth 80, and can be fully engaged when they are close to each other. Therefore, under the action of force, when the sector-shaped gear sleeve 2 rises to a certain extent, it will engage with the annular gear sleeve 8, and when the sector-shaped gear sleeve 2 drops to a certain extent, it will automatically disengage.

[0056] It also includes an elastic member and N groups of guide columns 3, which are arranged at intervals in the circumferential direction and correspond one by one to the N sector-shaped gear sleeves 2; one end of the guide column 3 is connected to the sector-shaped gear sleeve 2, and the other end passes through the second joint body 1 and is located on the side of the second joint body 1 facing away from the first joint body 11; a clamping portion 31 is provided on a section of the guide column 3 located outside the second joint body 1; the clamping portion 31 is used for abutment by the unlocking mechanism; an elastic member, one end of which abuts against one end of the guide column 3 away from the sector-shaped gear sleeve 2, and the other end of the elastic member is used to abut against the shell outside the second joint body 1.

[0057] It should be noted that the N sector-shaped gear sleeves 2 can slide relatively independently in their respective corresponding sliding cavities 100 , which is specifically achieved in the following manner.

[0058] A guide hole 102 is provided at the bottom of the sliding cavity 100 corresponding to the guide column 3, and the guide hole 102 penetrates the second joint body 1, so that the guide column 3 slides up and down in the guide hole 102 under the action of external force. At the same time, the top of the guide column 3 is connected to a sector-shaped gear sleeve 2. Therefore, each sector-shaped gear sleeve 2 can move up and down under the drive of the corresponding guide column 3, so that the movements of N sector-shaped gear sleeves 2 do not interfere with each other.

[0059] A clamping portion 31 is provided on a section of the guide column 3 located outside the second joint body 1 for abutment by the unlocking mechanism to drive the guide column 3 to slide downward and thereby drive the sector-shaped gear sleeve 2 to slide. In some embodiments, the clamping portion 31 is located at the lower end of the guide column 3.

[0060] Therefore, after the upward sliding sector-shaped gear sleeve 2 slides up to a certain position, it will engage with the annular gear sleeve 8, thereby locking the movement of the first joint body 11 and the second joint body 1, and when the sector-shaped gear sleeve 2 slides down to a certain position, the sector-shaped gear sleeve 2 will disengage from the annular gear sleeve 8, thereby unlocking the movement of the first joint body 11 and the second joint body 1.

[0061] Regarding the above-mentioned limitation that "when approaching, one side tooth surface of the first engaging tooth 80 in (N-1) / 2 sector-shaped gear sleeves 2 fits with one side tooth surface of a second engaging tooth 20, and the other pair of side tooth surfaces of the first engaging tooth 80 in (N-1) / 2 sector-shaped gear sleeves 2 fits with the other pair of side tooth surfaces of a second engaging tooth 20, and they disengage when moving away", the specific method of implementation will be explained through examples in this embodiment.

[0062] Since the N sector-shaped gear sleeves 2 are arranged in a ring shape, from different angles, a sector-shaped gear sleeve 2 can be located on the left side of another sector-shaped gear sleeve 2, and can also be located on the right side. In order to avoid confusion and facilitate explanation, the present application uses an expanded method instead of a ring arrangement method for example description. For details, please refer to Figure 3 (When N is 5).

[0063] limited:

[0064] The distance between two adjacent first engaging teeth 80 (that is, the distance between two adjacent second engaging teeth 20 on the same sector-shaped gear sleeve 2) is L;

[0065] X and Y are positive integers, representing the number of intervals L between two sector-shaped gear sleeves 2, and X<Y;

[0066] like Figure 3 As shown, if N is 5, the middle sector gear sleeve 2 is defined as the reference and recorded as the reference sector gear sleeve, that is, the reference sector gear sleeve and the annular gear sleeve 8 just cannot be engaged. At this time, the distance between the first sector gear sleeve 2 on the right side of the reference sector gear sleeve and the reference sector gear sleeve is P, and (X+1 / 2)L<P<(X+1)L, the distance between the second sector gear sleeve 2 on the right side of the reference sector gear sleeve and the reference sector gear sleeve is Q, and (Y+1 / 2)L<Q<(Y+1)L, and at the same time (P mod L)≠(Q mod L), and in this embodiment, (P mod L)>(Q mod L) is preferred.

[0067] The distance between the first sector-shaped gear sleeve 2 on the left side of the reference sector-shaped gear sleeve and the reference sector-shaped gear sleeve is E, and (X+1 / 2)L<E<(X+1)L. The distance between the second sector-shaped gear sleeve 2 on the left side of the reference sector-shaped gear sleeve and the reference sector-shaped gear sleeve is F, and (Y+1 / 2)L<F<(Y+1)L. At the same time, (E mod L)≠(F mod L). In this embodiment, (E mod L)>(F mod L) is preferred.

[0068] In other embodiments, N may also take other values. If N is 3, the middle sector-shaped gear sleeve 2 is defined as the reference and recorded as the reference sector-shaped gear sleeve, that is, the reference sector-shaped gear sleeve and the annular gear sleeve 8 cannot be engaged. At this time, the distance between the sector-shaped gear sleeve 2 on the right side of the reference sector-shaped gear sleeve and the reference sector-shaped gear sleeve is D, and (X+1 / 2)L<D<(X+1)L, the distance between the sector-shaped gear sleeve 2 on the left side of the reference sector-shaped gear sleeve and the reference sector-shaped gear sleeve is T, and (X+1 / 2)L<T<(X+1)L.

[0069] If it is 4, it can be regarded as removing the leftmost or rightmost sector gear sleeve 2 when N is 5.

[0070] In some embodiments, the self-locking angles of the first engaging tooth 80 and the second engaging tooth 20 are both a, 30°≤a≤50°; in this embodiment, the self-locking angles of the first engaging tooth 80 and the second engaging tooth 20 are set within the range of 30° to 50°, which not only ensures the self-strength of the first engaging tooth 80 and the second engaging tooth 20, but also ensures the locking effect of the two.

[0071] In some embodiments, the number of sector-shaped gear sleeves 2 is 5; the number of groups of guide pillars 3 is 5, and each group includes 2 guide pillars 3; any sector-shaped gear sleeve 2 corresponds to 2 guide pillars 3.

[0072] Specifically, in a certain embodiment, the number of sector-shaped gear sleeves 2 is set to 5, and 5 groups of guide columns 3 are also set, and each group contains two guide columns 3. The two guide columns 3 in each group are arranged at intervals in the same sliding cavity 100, thereby helping to increase the possible torsion of the sector-shaped gear sleeves 2 corresponding to the group.

[0073] Please refer to Figure 1 In some embodiments, the elastic member includes an annular baffle 4, a limiting column 5 and a spring 6; the number of limiting columns 5 and the number of springs 6 are equal; a blind hole 30 is provided on the end surface of the guide column 3 away from the sector-shaped gear sleeve 2, one end of the limiting column 5 is inserted in the blind hole 30, and the other end is connected to the annular baffle 4; the spring 6 is sleeved on the limiting column 5, one end of which abuts the bottom of the blind hole 30, and the other end abuts the annular baffle 4.

[0074] The annular baffle 4 is annular in structure, and the bottom of the limiting column 5 is connected to the annular baffle 4; the lower end of the guide column 3, i.e., the end face of one end where the clamping portion 31 is provided, is provided with a blind hole 30, and the top of the limiting column 5 is inserted into the inside of the blind hole 30 and can slide freely in the blind hole 30 in the up and down directions; the spring 6 is sleeved on the limiting column 5, and the lower end of the spring 6 abuts against the upper side wall of the annular baffle 4, and the upper end of the spring 6 abuts against the bottom (upper) of the blind hole 30. The function of the limiting column 5 is mainly to prevent the spring 6 from twisting during the compression process, so as to play a certain radial limiting role on the spring 6.

[0075] During actual use, the bottom of the annular baffle 4 abuts against the shell, and at this time, under the action of the spring 6, the guide column 3 moves upward relative to the second guide hole 102, and at the same time drives the sector-shaped gear sleeve 2 to move upward, thereby engaging with the annular gear sleeve 8 in the first joint body 11, thereby realizing mutual locking of the first joint body 11 and the second joint body 1; it also conforms to the usage characteristics of the robotic arm that is often locked during use; when unlocking is required, under the action of external force, such as the abutment of the unlocking mechanism on the clamping part 31, the guide column 3 moves away from the second joint body 1, and at the same time drives the sector-shaped gear sleeve 2 to move downward, so that the sector-shaped gear sleeve 2 is disengaged from the annular gear sleeve 8, thereby realizing the unlocking of the first joint body 11 and the second joint body 1.

[0076] In some embodiments, a rotation shaft 103 is provided on a side of the second joint body 1 facing the first joint body 11 , a rotation hole 110 is provided in the first joint body 11 , and the rotation shaft 103 rotatably cooperates with the rotation hole 110 .

[0077] A rotating shaft 103 is provided at the center of the upper side of the second joint body 1, and a rotating hole 110 is provided at the center of the first joint body 11. The rotating hole 110 runs through the first joint body 11 and is used for rotationally cooperating with the first rotating shaft 103, thereby realizing rotational cooperation between the first joint body 11 and the second joint body 1. In actual situations, a bearing 10 is sleeved in the rotating hole 110, and the rotating shaft 103 and the rotating hole 110 realize rotational cooperation through the bearing 10.

[0078] A bearing end cover 9 is also provided on the side of the first joint body 11 facing away from the second joint body 1 to protect the bearing 10 .

[0079] In some embodiments, a guide chuck 7 is also included, which is located on the side of the second joint body 1 facing away from the first joint body 11. A plurality of semicircular slots 70 are circumferentially spaced apart on the edge of the guide chuck 7, and the number of the semicircular slots 70 is the same as the number of the guide posts 3; the semicircular slots 70 are slidably connected to the peripheral wall of the guide posts 3; the edges of the semicircular slots 70 are snap-fitted with the snap-fitting portion 31 to drive the guide post 3 to move away from the annular gear sleeve 8.

[0080] Since there are multiple guide posts 3, in order to enable the unlocking mechanism to drive all the guide posts 3 at one time, a guide chuck 7 is arranged in the space formed by the multiple guide posts 3. The external structure of the guide chuck 7 is similar to a gyroscope, and has a disc-shaped structure. A plurality of semicircular grooves 70 are circumferentially arranged at intervals on the outer edge of the disc. Each semicircular groove 70 cooperates with the outer peripheral wall of a guide post 3, and can slide relative to the outer peripheral wall of the guide post 3 in the up and down directions; when the guide chuck 7 moves downward as a whole, when it moves to the lower end of the guide post 3, the edge of each semicircular groove 70 will correspondingly engage with the clamping portion 31 arranged at the lower end of the guide post 3, and as the guide chuck 7 continues to move, the guide chuck 7 will drive the guide post 3 to move, and then drive the fan-shaped gear sleeve 2 to move downward, and finally unlock the first joint body 11 and the second joint body 1.

[0081] In some embodiments, the side of the guide chuck 7 facing the sector gear sleeve 2 is provided with an abutted portion for abutting against external force, and the side of the guide chuck 7 facing away from the sector gear sleeve 2 is provided with an abutting portion 71 for transmitting abutting force.

[0082] Please refer to Figure 1 An abutment portion is provided on the upper side of the guide chuck 7 for abutting against the unlocking mechanism, and an abutment portion 71 is provided on the lower side wall of the guide chuck 7 for transmitting an abutment force to abut against an additional joint arm in the robot arm.

[0083] In some embodiments, an unlocking rod 73 is further included, one end of which is connected to the abutted portion, and the other end of the unlocking rod 73 passes through the second joint body 1 and the first joint body 11 in sequence for connecting to the force-applying structure 14 .

[0084] A through hole is provided on the rotating shaft 103 of the second joint body 1, and the through hole passes through the second joint body 1 axially. The lower end of the unlocking rod 73 is connected to the abutted part, and the other end passes upward through the second joint body 1 and the first joint body 11 to connect to the force structure 14, that is, the unlocking mechanism.

[0085] The unlocking structure abuts against the unlocking rod 73, and the unlocking rod 73 abuts against the guide chuck 7. After the guide chuck 7 is engaged with the engaging portion 31, it drives the guide column 3 to move downward, thereby finally achieving unlocking.

[0086] Please also refer to Figure 4 and Figure 5On the second aspect, the present application also provides a robotic arm, comprising a plurality of joint arm locking structures as above, and also comprising: a swing rod 72, one end of the swing rod 72 being used for being hinged to the shell, and the other end having abutment protrusions 720 extending along the positive and negative swinging directions respectively; located between two joint arm locking structures perpendicular to each other, an unlocking rod 73 in one joint arm locking structure abuts against one of the abutment protrusions 720 at one end away from its own guide chuck 7, and an abutment portion 71 in the other joint arm locking structure abuts against the other abutment protrusion 720.

[0087] When the two articulated arms (the first articulated body 11 and the second articulated body 1 formed in a group) in the robot arm are vertical, a swing rod 72 is usually used to realize the transmission of the abutting force between the two articulated arms to ensure that the entire robot arm can be unlocked normally.

[0088] Please refer to Figure 5 One end of the swing rod 72 is hinged on the shell, and the other end is extended in both positive and negative directions to be provided with abutment protrusions 720. When the abutment wall in a joint arm abuts against one of the abutment protrusions 720, the swing rod 72 will rotate, and the other abutment protrusion 720 thereon will abut against the unlocking rod 73 on an adjacent joint arm, thereby realizing the transmission of the abutment force and finally unlocking all the joint arms.

[0089] The locking structure 13 is arranged at one end of the robotic arm and is used to fix the entire robotic arm; the locking structure 13 is mainly used to fix the entire robotic arm to a certain component, such as to a surgical bed or a corresponding cabinet, and can be specifically connected and fixed by screws.

[0090] The force-applying structure 14 is arranged at the other end of the robot arm, and is used to lock or unlock the joint arm locking structure in the entire robot arm; the force-applying structure 14 is an unlocking mechanism, which is used for personnel to operate to unlock or lock the entire robot arm.

[0091] The holding structure 15 has two ends rigidly connected to two adjacent joint arm locking structures; a first cavity for the push rod to pass through is provided inside the holding structure 15.

[0092] The holding structure 15 is mainly used to prevent the entire robot arm from rotating. The holding structure 15 is relatively common in existing mechanical walls and is a prior art, and will not be described in detail in this embodiment.

[0093] A first joint housing 111 is disposed outside the first joint body 11 , and a second joint housing 101 is disposed outside the second joint body 1 .

[0094] In some embodiments, a connecting structure 16 is also included; the connecting structure 16 is located between the retaining structure 15 and the articulated arm locking structure, one end of the connecting structure 16 is connected to the retaining structure 15, and the other end is connected to the articulated arm locking structure; a second cavity is provided inside the connecting structure 16 for the push rod to pass through.

[0095] When the robot arm needs to have a certain length, a connecting structure 16 is usually used to achieve this. The connecting structure 16 is in the shape of a pipe, one end of which is connected to the retaining structure 15, and the other end is connected to a joint arm locking structure. A second cavity is specially reserved inside the structure, which has the same function as the first cavity and is used for the push rod to pass through. The push rod is a rod-shaped structure that can slide relative to the first cavity and the second cavity. In some embodiments, the two ends of the push rod can be hinged to the corresponding unlocking rod 73 and the abutment portion 71, or they can be abutted against the abutment protrusion 720.

[0096] The robotic arm provided in the present application can synchronously unlock the locking structures of each joint arm in the entire robotic arm by operating the force-applying structure 14, and the operation is convenient; at the same time, the joint arm locking structure adopts a number of fan-shaped gear sleeves 2 that move independently of each other to complete the locking, so that the robotic arm can be easily locked and engaged when it is in any angle position during the adjustment process, so that the robotic arm can be adjusted to any state, increasing its convenience of use.

[0097] The above is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features applied for herein.

Claims

1. A locking structure for an articulated arm, characterized in that: include: A first joint body (11), wherein an annular gear sleeve (8) is provided in the first joint body (11), and a plurality of first engaging teeth (80) are provided at intervals in the circumferential direction on one end surface of the annular gear sleeve (8); A second joint body (1) is rotatably connected to the first joint body (11), wherein the second joint body (1) is provided with N sector-shaped tooth sleeves (2) arranged at intervals in the circumferential direction, and an end surface of the sector-shaped tooth sleeve (2) facing the annular tooth sleeve (8) is provided with a plurality of second engaging teeth (20); wherein N is greater than or equal to 3 and is an integer; and the N sector-shaped tooth sleeves (2) are arranged to be able to independently approach or move away from the annular tooth sleeve (8); The circumferential spacing of the N sector-shaped tooth sleeves (2) satisfies that: when approaching, one side tooth surface of the first engaging tooth (80) in (N-1) / 2 of the sector-shaped tooth sleeves (2) is in contact with one side tooth surface of the second engaging tooth (20), and the other side tooth surface of the first engaging tooth (80) in (N-1) / 2 of the sector-shaped tooth sleeves (2) is in contact with the other side tooth surface of the second engaging tooth (20), and they are out of meshing when moving away; N groups of guide posts (3), the N groups of guide posts (3) are arranged at intervals in the circumferential direction and correspond one to one with the N sector-shaped gear sleeves (2); one end of the guide post (3) is connected to the sector-shaped gear sleeve (2), and the other end is passed through the second joint body (1) and is located on the side of the second joint body (1) facing away from the first joint body (11); a clamping portion (31) is provided on a section of the guide post (3) located outside the second joint body (1); the clamping portion (31) is used for abutment by an unlocking mechanism; An elastic member has one end abutting against an end of the guide column (3) away from the sector-shaped gear sleeve (2), and the other end of the elastic member is used to abut against a shell outside the second joint body (1).

2. The articulated arm locking structure according to claim 1, characterized in that: The self-locking angles of the first engaging tooth (80) and the second engaging tooth (20) are both a, 30°≤a≤50°.

3. The articulated arm locking structure according to claim 2, characterized in that: The number of the sector-shaped gear sleeves (2) is 5; the number of groups of the guide posts (3) is 5, each group comprising 2 guide posts (3); any sector-shaped gear sleeve (2) corresponds to 2 guide posts (3).

4. The articulated arm locking structure according to claim 3, characterized in that: The elastic member comprises an annular baffle (4), a limiting column (5) and a spring (6); the number of the limiting columns (5) and the number of the springs (6) are equal; A blind hole (30) is provided on one end face of the guide column (3) away from the sector-shaped gear sleeve (2); one end of the limiting column (5) is inserted into the blind hole (30), and the other end is connected to the annular baffle (4); the spring (6) is sleeved on the limiting column (5), one end of which abuts against the bottom of the blind hole (30), and the other end of which abuts against the annular baffle (4).

5. The articulated arm locking structure according to claim 4, characterized in that: A rotating shaft (103) is provided on the side of the second joint body (1) facing the first joint body (11), a rotating hole (110) is provided in the first joint body (11), and the rotating shaft (103) is rotatably matched with the rotating hole (110).

6. The articulated arm locking structure according to claim 5, characterized in that: It also comprises a guide chuck (7), the guide chuck (7) being located on a side of the second joint body (1) facing away from the first joint body (11), a plurality of semicircular grooves (70) being arranged at intervals along the circumference of the edge of the guide chuck (7), the number of the semicircular grooves (70) being the same as the number of the guide posts (3); The semicircular groove (70) is slidably connected to the peripheral wall of the guide column (3); the edge of the semicircular groove (70) is engaged with the engaging portion (31) to drive the guide column (3) to move away from the annular gear sleeve (8).

7. The articulated arm locking structure according to claim 6, characterized in that: The guide chuck (7) is provided with an abutted portion on the side facing the sector-shaped gear sleeve (2) for abutting against external force, and the guide chuck (7) is provided with an abutting portion (71) on the side facing away from the sector-shaped gear sleeve (2) for transmitting abutting force.

8. The articulated arm locking structure according to claim 7, characterized in that: It also comprises an unlocking rod (73), one end of which is connected to the abutted portion, and the other end of which is sequentially passed through the second joint body (1) and the first joint body (11) for connecting to a force-applying structure (14).

9. A robotic arm, characterized in that: The method comprises a plurality of sets of articulated arm locking structures as claimed in claim 8, and further comprises: A swing rod (72), one end of which is used for being hinged to the housing, and the other end of which is provided with abutment protrusions (720) extending in the positive and negative swinging directions respectively; located between the two mutually perpendicular joint arm locking structures, one end of the unlocking rod (73) in one of the joint arm locking structures away from its own guide chuck (7) abuts against one of the abutment protrusions (720), and the abutment portion (71) in the other joint arm locking structure abuts against the other abutment protrusion (720); A locking structure (13), arranged at one end of the mechanical arm, for fixing the entire mechanical arm; A force applying structure (14); arranged at the other end of the mechanical arm, and used to lock or unlock the joint arm locking structure in the entire mechanical arm; A retaining structure (15), wherein two ends of the retaining structure (15) are respectively rigidly connected to two adjacent joint arm locking structures; a first cavity for a push rod to pass through is provided inside the retaining structure (15).

10. A robotic arm according to claim 9, characterized in that: Also includes a connecting structure (16); The connecting structure (16) is located between the retaining structure (15) and the articulated arm locking structure, one end of the connecting structure (16) is connected to the retaining structure (15), and the other end is connected to the articulated arm locking structure; a second cavity is provided inside the connecting structure (16) for the push rod to pass through.

Images