Mechanical arm structure of surgical robot

Abstract

The utility model provides a mechanical arm structure of a surgical robot, which is characterized by comprising a main fixing head, an auxiliary fixing head, a main fixing head small arm, an auxiliary fixing head small arm, a main ball shaft, an auxiliary ball shaft, a main fixing head large arm, an auxiliary fixing head large arm, a hinge locking shaft and a locking wrench, the main fixing head is connected to the main ball shaft through the main fixing head small arm spherical hinge, the main ball shaft is fixedly connected with the main fixing head large arm, the auxiliary fixing head is connected to the auxiliary ball shaft through the auxiliary fixing head small arm spherical hinge, and the auxiliary ball shaft is fixedly connected with the auxiliary fixing head large arm. The main fixed head large arm and the auxiliary fixed head large arm are hinged at the hinged locking shaft, and movable joints at all positions can be locked by operating the locking wrench; the utility model has multiple degrees of freedom, can meet the requirements of various position angles, can be firmly fixed to a specified position, and can be easily and conveniently locked through the locking wrench without the help of additional tools.

Description

Technical Field

[0001] The utility model relates to the field of medical instruments, in particular to a mechanical arm structure of a surgical robot. Background Art

[0002] Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgical operations, it has obvious advantages such as small incisions and short postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process in which doctors manually insert catheters, guidewires, stents and other instruments into the patient's body to complete the treatment; interventional surgery has the following two problems. First, during the operation, since DSA will emit X-rays, the doctor's physical strength will decline rapidly, and his attention and stability will also decline, which will lead to a decrease in operation accuracy, and it is easy to cause accidents such as vascular endothelial damage and vascular perforation and rupture caused by improper pushing force, which will endanger the patient's life. Second, the cumulative damage of long-term ionizing radiation will greatly increase the doctor's chance of suffering from leukemia, cancer and acute cataracts. The phenomenon that doctors continue to accumulate radiation because of interventional surgery has become a problem that cannot be ignored in damaging the doctor's professional life and restricting the development of interventional surgery. By using robot technology, the above problems can be effectively dealt with, and the accuracy and stability of surgical operations can be greatly improved. At the same time, it can effectively reduce the damage of radiation to interventional doctors and reduce the probability of intraoperative accidents. Cardiovascular interventional surgery assisting robots are attracting more and more attention and are gradually becoming the key research and development target of various technological powers in the field of medical robots. In neurointerventional surgery, since cerebral blood vessels are thinner and more fragile, and the surgical consumables used are more diverse, the control requirements for robots are also higher.

[0003] Medical devices such as robotic arms are widely used in auxiliary medical treatment. Robotic arms can overcome the problems and shortcomings of traditional medicine and provide doctors with a remote operation platform. They also have the advantages of accurate positioning, stable operation, safe and smooth operation, etc. The use of interventional surgical robots requires the fixation of robotic arms. If the robotic arm structure is to be applied to surgical robots, it must be easy to lock, the operating space must be as small as possible, and it must be stable enough. However, the existing robotic arms still have complex locking structures, or the locking process requires a large space. Robotic arms with higher degrees of freedom may also be not stable enough after locking. Utility Model Content

[0004] The utility model aims to provide a surgical robot arm structure to solve the problems in existing arm structures that the locking structure is complicated to operate, the locking process requires a large space, and the arm with a high degree of freedom may not be stable enough after locking.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A surgical robot mechanical arm structure comprises a main fixed head 1, a secondary fixed head 2, a main fixed head forearm 3, a secondary fixed head forearm 4, a main ball shaft 5, a secondary ball shaft 6, a main fixed head upper arm 7, a secondary fixed head upper arm 8, an articulated locking shaft 9 and a locking wrench 10, wherein the main fixed head 1 is connected to the main ball shaft 5 through a ball joint of the main fixed head forearm 3, the main ball shaft 5 and the main fixed head upper arm 7 are fixedly connected, the secondary fixed head 2 is connected to the secondary ball shaft 6 through a ball joint of the secondary fixed head forearm 4, the secondary ball shaft 6 and the secondary fixed head upper arm 8 are fixedly connected, the main fixed head upper arm 7 and the secondary fixed head upper arm 8 are articulated at the articulated locking shaft 9, a locking mechanism is provided inside the articulated locking shaft 9, and the locking mechanism inside the articulated locking shaft 9 can be driven to lock various movable joints by operating the locking wrench 10.

[0007] The surface of the main fixing head 1 is provided with a main fixing head toothed disc 11 and is also equipped with a main fixing head screw 12. The main fixing head screw 12 can pass through the main fixing head 1 and has a long strip head; the surface of the auxiliary fixing head 2 is provided with an auxiliary fixing head toothed disc 21 and is also equipped with an auxiliary fixing head screw 22. The auxiliary fixing head screw 22 can pass through the auxiliary fixing head 2 and has a long strip head.

[0008] One end of the main fixed head arm 3 is fixedly connected to the main fixed head 1, and the other end is connected to the main articulated ball 31. The main articulated ball 31 is installed at the open end of the main ball shaft 5 and can rotate in the main ball shaft 5; one end of the auxiliary fixed head arm 4 is fixedly connected to the auxiliary fixed head 2, and the other end is connected to the auxiliary articulated ball 41. The auxiliary articulated ball 41 is installed at the open end of the auxiliary ball shaft 6 and can rotate in the auxiliary ball shaft 6. The open ends of the main ball shaft 5 and the auxiliary ball shaft 6 are both provided with a notch, which can allow the main fixed head arm 3 or the auxiliary fixed head arm 4 to be inserted into it.

[0009] The closed end of the main ball shaft 5 is fixedly connected to the main fixed head arm 7, and the closed end of the secondary ball shaft 6 is fixedly connected to the secondary fixed head arm 8; the main fixed head arm 7 and the secondary fixed head arm 8 are hinged at the hinged locking shaft 9, and the main locking teeth 701 and the secondary locking teeth 801 are provided at the contact surfaces of the main fixed head arm 7 and the secondary fixed head arm 8.

[0010] The locking wrench 10 is installed at one end of the hinged locking shaft 9, and is provided with a reversing rod 101, a left stopper 102, a right stopper 103, a left stopper spring 104, a right stopper spring 105, an adjusting slider 106 and a driving gear 107. The left stopper 102 and the right stopper 103 are hinged to the bottom plane of the locking wrench 10, and the left stopper spring 104 is provided on the left side of the left stopper 102, and the other end of the left stopper spring 104 is fixed to the inner side surface of the locking wrench 10; the right stopper spring 105 is provided on the right side of the right stopper 103, and the right stopper spring 106 is provided on the right side of the right stopper 05 is fixed to the inner side of the locking wrench 10; the adjusting slider 106 is located between the left stopper 102 and the right stopper 103, and can slide relative to each other, and is fixedly connected to the reversing rod 101 through a slider connecting rod 1061. The reversing rod 101 passes through the locking wrench 10 and can be moved left and right, and can slide the adjusting slider 106 left and right; the driving gear 107 is rotatably connected to the bottom surface of the locking wrench 10 through a driving rod 1071, and the driving gear 107 is located at a position slightly below the middle of the left stopper 102 and the right stopper 103.

[0011] Under the joint action of the left block spring 104, the right block spring 105 and the adjusting slider 106, the left block 102 and the right block 103 can mainly present two states. When the adjusting slider 106 is located on the left side, the right block 103 can unidirectionally clamp the driving gear 107 to make the driving gear 107 rotate in the clockwise direction. When the adjusting slider 106 is located on the right side, the left block 102 can unidirectionally clamp the driving gear 107 to make the driving gear 107 rotate in the counterclockwise direction.

[0012] The hinged locking shaft 9 is hollow inside, and a main locking block 91 and a secondary locking block 92 are respectively provided at both ends. The main locking block 91 and the secondary locking block 92 are cylindrical, but are provided with a cutout to prevent them from rotating, and the main locking block 91 and the secondary locking block 92 are both provided with threaded holes; the main locking block 91 close to the main fixed head arm 7 is provided with a chamfer facing the main fixed head arm 7, and a main locking rod 71 is provided inside the main fixed head arm 7, and the main locking rod 71 can be The head arm 7 slides, and the main locking rod 71 is provided with a chamfer on the side close to the main locking block 91, and can just match the chamfer of the main fixed head arm 7; the secondary locking block 92 close to the secondary fixed head arm 8 is provided with a chamfer toward the secondary fixed head arm 8, and a secondary locking rod 81 is provided inside the secondary fixed head arm 8 and can slide in the secondary fixed head arm 8, and the secondary locking rod 81 is provided with a chamfer on the side close to the secondary locking block 92, and can just match the chamfer of the secondary fixed head arm 8.

[0013] The main locking rod 71 is provided with a main articulated ball bracket 711 at one end close to the main ball shaft 5, and the main articulated ball bracket 711 can resist the main articulated ball 31. The secondary locking rod 81 is provided with a secondary articulated ball bracket 811 at one end close to the secondary ball shaft 6, and the secondary articulated ball bracket 811 can resist the secondary articulated ball 41.

[0014] After the driving rod 1071 extends out of the locking wrench 10, it will pass through the main locking block 91 and the secondary locking block 92 in sequence along the hinged locking shaft 9. The driving rod 1071 is provided with threads and can cooperate with the threads on the main locking block 91 and the secondary locking block 92. The threads on the driving rod 1071 are divided into two sections from the middle, and the two sections of threads are in reverse direction. Other parameters are the same.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] The utility model can be firmly fixed to a specified position with sufficient degrees of freedom, and the locking wrench does not require the use of additional tools, and can be easily and conveniently locked or loosened in a small space. Due to the two-way ratchet design composed of two groups of blocks and springs in the locking wrench, it does not need to be rotated many times to lock, but only needs to be rotated a certain angle each time and reciprocated multiple times. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the partial structure of one side of the main fixed head of the utility model;

[0019] Figure 3 It is a schematic diagram of the partial structure of one side of the auxiliary fixing head of the utility model;

[0020] Figure 4 This is a schematic diagram of the local structure of the hinged locking shaft of the utility model;

[0021] Figure 5 This is a schematic diagram of the internal structure of the locking wrench of the utility model;

[0022] Figure 6 This is a schematic diagram of the internal structure of the utility model when the adjusting slider in the locking wrench is to the left;

[0023] Figure 7 This is a schematic diagram of the internal structure of the utility model when the adjusting slider in the locking wrench is turned to the right;

[0024] Figure 8 This is an exploded view of the internal structure of the hinged locking shaft of the utility model;

[0025] Fig. 9 This is a cross-sectional view of the internal structure of the utility model when it is not locked;

[0026] Fig.10 This is a cross-sectional view of the internal structure of the utility model when locked;

[0027] Fig.11 This is a schematic diagram of the partial structure of one side of the main ball shaft of the utility model;

[0028] Fig.12 It is a schematic diagram of the local structure of one side of the auxiliary ball shaft of the utility model;

[0029] In the figure: 1-main fixing head; 11-main fixing head toothed disc; 12-main fixing head screw; 2-secondary fixing head; 21-secondary fixing head toothed disc; 22-secondary fixing head screw; 3-main fixing head forearm; 31-main articulated ball; 4-secondary fixing head forearm; 41-secondary articulated ball; 5-main ball shaft; 6-secondary ball shaft; 7-main fixing head upper arm; 701-main locking tooth; 71-main locking rod; 711-secondary articulated ball bracket; 8-secondary fixing Head arm; 801-secondary locking tooth; 81-secondary locking rod; 811-secondary articulated ball bracket; 9-articulated locking shaft; 91-main locking block; 92-secondary locking block; 10-locking wrench; 101-reversing rod; 102-left block; 103-right block; 104-left block spring; 105-right block spring; 106-adjusting slider; 1061-slider connecting rod; 107-driving gear; 1071-driving rod. DETAILED DESCRIPTION

[0030] In order to clarify the technical problems, technical solutions, implementation processes and performance demonstrations, the utility model is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are for explanation only. The utility model is not intended to limit the utility model. Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same figure numbers in the drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0031] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0032] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0033] Example 1

[0034] See also Figure 1-Figure 10 , a surgical robot mechanical arm structure, including a main fixed head 1, a secondary fixed head 2, a main fixed head forearm 3, a secondary fixed head forearm 4, a main ball shaft 5, a secondary ball shaft 6, a main fixed head upper arm 7, a secondary fixed head upper arm 8, an articulated locking shaft 9 and a locking wrench 10, the main fixed head 1 is connected to the main ball shaft 5 through the main fixed head forearm 3 ball hinge, the main ball shaft 5 and the main fixed head upper arm 7 are fixedly connected, the secondary fixed head 2 is connected to the secondary ball shaft 6 through the secondary fixed head forearm 4 ball hinge, the secondary ball shaft 6 and the secondary fixed head upper arm 8 are fixedly connected, the main fixed head upper arm 7 and the secondary fixed head upper arm 8 are articulated at the articulated locking shaft 9, and a locking mechanism is provided inside the articulated locking shaft 9, and the locking mechanism in the articulated locking shaft 9 can be driven by operating the locking wrench 10 to lock the movable joints at various locations.

[0035] like Figure 2 and Figure 3As shown, as a possible implementation mode, the main fixing head 1 is provided with a main fixing head toothed disc 11 on the surface, and is also equipped with a main fixing head screw 12, the main fixing head screw 12 can pass through the main fixing head 1 and has a long strip head; the auxiliary fixing head 2 is provided with an auxiliary fixing head toothed disc 21 on the surface, and is also equipped with an auxiliary fixing head screw 22, the auxiliary fixing head screw 22 can pass through the auxiliary fixing head 2 and has a long strip head; when in use, as long as the connecting piece also has a similar toothed disc and screw hole interface, the main fixing head toothed disc 11 or the auxiliary fixing head toothed disc 21 on the robot arm can be combined with the toothed disc on the connecting piece, and then the main fixing head screw 12 or the auxiliary fixing head screw 22 can be tightened to achieve fixation, and the head of the main fixing head screw 12 or the auxiliary fixing head screw 22 is long and strip-shaped, which is convenient for direct operation by hand.

[0036] As a possible implementation manner, one end of the main fixed head arm 3 is fixedly connected to the main fixed head 1, and the other end is connected to the main articulated ball 31, and the main articulated ball 31 is installed at the open end of the main ball shaft 5 and can rotate in the main ball shaft 5; one end of the secondary fixed head arm 4 is fixedly connected to the secondary fixed head 2, and the other end is connected to the secondary articulated ball 41, and the secondary articulated ball 41 is installed at the open end of the secondary ball shaft 6 and can rotate in the secondary ball shaft 6, as shown in FIG. Fig.11 and Fig.12 As shown, the open ends of the main ball shaft 5 and the secondary ball shaft 6 are each provided with a notch, into which the main fixed head arm 3 or the secondary fixed head arm 4 can be inserted. The fixed head arm 3 and the secondary fixed head arm 4 can be adjusted or rotated at any angle at the main ball shaft 5 or the secondary ball shaft 6, or can be stuck in the notch as a relatively standard vertical angle.

[0037] Preferably, a rough surface or a rubber layer can be arranged on the inner surface of the open ends of the main ball shaft 5 and the secondary ball shaft 6 to increase the friction force and make it more stable after being locked.

[0038] like Figure 4As shown, as a possible implementation mode, the closed end of the main ball shaft 5 is fixedly connected to the main fixed head arm 7, and the closed end of the secondary ball shaft 6 is fixedly connected to the secondary fixed head arm 8; the main fixed head arm 7 and the secondary fixed head arm 8 are hinged at the hinged locking shaft 9, and the main locking teeth 701 and the secondary locking teeth 801 are provided at the contact surfaces of the main fixed head arm 7 and the secondary fixed head arm 8. The angle between the main fixed head arm 7 and the secondary fixed head arm 8 can be adjusted, but when locked in the hinged locking shaft 9, the main fixed head arm 7 and the secondary fixed head arm 8 will be squeezed against each other, and under the action of the main locking teeth 701 and the secondary locking teeth 801, the main fixed head arm 7 and the secondary fixed head arm 8 will be locked, and the angle can no longer be adjusted.

[0039] like Figure 5 As shown, as a possible implementation, the locking wrench 10 is installed at one end of the hinged locking shaft 9, and is provided with a reversing rod 101, a left stopper 102, a right stopper 103, a left stopper spring 104, a right stopper spring 105, an adjusting slider 106 and a driving gear 107. The left stopper 102 and the right stopper 103 are hinged to the bottom plane of the locking wrench 10, and the left side of the left stopper 102 is provided with the left stopper spring 104, and the other end of the left stopper spring 104 is fixed to the inner side surface of the locking wrench 10; the right side of the right stopper 103 is provided with the right stopper spring 105, and the other end of the right stopper spring 105 is fixed to The inner side of the locking wrench 10; the adjusting slider 106 is located between the left block 102 and the right block 103, and can slide relatively, and is fixedly connected to the reversing rod 101 through the slider connecting rod 1061, and the reversing rod 101 passes through the locking wrench 10, and can be moved left and right, and can slide the adjusting slider 106 left and right; the driving gear 107 is rotatably connected to the bottom surface of the locking wrench 10 through a driving rod 1071, and the driving gear 107 is located at a position slightly below the middle of the left block 102 and the right block 103; when the reversing rod 101 slides to the left, the modules inside the locking wrench 10 are as follows Figure 6 In the state shown, when the reversing rod 101 slides to the right, the modules inside the locking wrench 10 will be as shown in FIG. Figure 7 Status shown.

[0040] like Figure 6 and Figure 7As shown in the figure, as a possible implementation, under the joint action of the left stopper spring 104, the right stopper spring 105 and the adjusting slider 106, the left stopper 102 and the right stopper 103 can mainly present two states. When the reversing rod 101 is moved to the left and the adjusting slider 106 is located on the left side, Figure 6 When the locking wrench 10 is in the position shown, if the locking wrench 10 is moved counterclockwise, the right stopper 103 will be pushed away by the driving gear 107, and then reset under the action of the right stopper spring 105. If the locking wrench 10 is moved clockwise, the right stopper 103 will be clamped by the adjusting slider 106, thereby generating a thrust on the driving gear 107. Therefore, at this time, the right stopper 103 can clamp the driving gear 107 unidirectionally, so that the driving gear 107 rotates clockwise, thereby driving the driving rod 1071 to rotate clockwise; when the reversing rod 101 is moved to the right and the adjusting slider 106 is located on the right side, that is, Figure 7 In the position shown, if the locking wrench 10 is moved in the clockwise direction, the left stop block 102 will be pushed away by the driving gear 107, and then reset under the action of the left stop block spring 1045. If the locking wrench 10 is moved in the clockwise direction, the left stop block 102 will be stuck by the adjusting slider 106, thereby generating a thrust on the driving gear 107. Therefore, at this time, the left stop block 102 can unidirectionally clamp the driving gear 107, causing the driving gear 107 to rotate counterclockwise, thereby driving the driving rod 1071 to rotate counterclockwise.

[0041] Due to the bidirectional ratchet design in the locking wrench 10, the locking and releasing operations can be achieved by adjusting the locking wrench 10 at small angles multiple times. This method takes up less space and can also facilitate and accurately adjust the locking force. By adjusting the position of the reversing rod 101, it is possible to switch between locking and releasing, which is convenient and quick.

[0042] like Figure 8As shown, as a possible implementation mode, the interior of the articulated locking shaft 9 is hollow, and a main locking block 91 and a secondary locking block 92 are respectively provided at both ends. The main locking block 91 and the secondary locking block 92 are cylindrical, but are provided with a cutout to prevent rotation along with the driving rod 1071, and the main locking block 91 and the secondary locking block 92 are both provided with threaded holes; the main locking block 91 close to the side of the main fixed head arm 7 is provided with a chamfer facing the main fixed head arm 7, and a main locking rod 71 is provided inside the main fixed head arm 7. The tightening rod 71 can slide in the main fixed head arm 7, and the main locking rod 71 is provided with a chamfer on the side close to the main locking block 91, and can just match the chamfer of the main fixed head arm 7; the secondary locking block 92 close to the secondary fixed head arm 8 is provided with a chamfer toward the secondary fixed head arm 8, and a secondary locking rod 81 is provided inside the secondary fixed head arm 8 and can slide in the secondary fixed head arm 8, and the secondary locking rod 81 is provided with a chamfer on the side close to the secondary locking block 92, and can just match the chamfer of the secondary fixed head arm 8.

[0043] As a possible implementation manner, the main locking rod 71 is provided with a main articulated ball bracket 711 at one end close to the main ball shaft 5, and the main articulated ball bracket 711 can resist the main articulated ball 31, and the secondary locking rod 81 is provided with a secondary articulated ball bracket 811 at one end close to the secondary ball shaft 6, and the secondary articulated ball bracket 811 can resist the secondary articulated ball 41.

[0044] Preferably, the surfaces of the main articulated ball bracket 711 and the auxiliary articulated ball bracket 811 may be provided with a rough surface or a rubber layer to increase the friction force and make it more stable after being locked.

[0045] As a possible implementation mode, after the driving rod 1071 extends out of the locking wrench 10, it will pass through the main locking block 91 and the secondary locking block 92 in sequence along the hinged locking shaft 9. The driving rod 1071 is provided with threads and can cooperate with the threads on the main locking block 91 and the secondary locking block 92. The threads on the driving rod 1071 are divided into two sections from the middle, and the two sections of threads are in reverse direction, and other parameters are the same.

[0046] like Fig. 9 and Fig.10As shown, by adjusting the locking wrench 10, the driving rod 1071 is rotated. When the robot arm needs to be locked, since the thread on the driving rod 1071 is divided into two sections from the middle, and the two sections of the thread are in opposite directions, the main locking block 91 and the auxiliary locking block 92 will move together in the direction of approaching each other. At this time, the main locking block 91 and the main locking rod 71 are in contact at the chamfer, and as the main locking block 91 moves inward, the main locking rod 71 will be affected by the force at the chamfer and move in the direction away from the hinge locking shaft 9. When the main locking rod 71 moves to the position shown in FIG. Fig.10 When in the position shown, the main hinge ball bracket 711 on the main locking rod 71 will hold the main hinge ball 31 in the main ball shaft 5 so that it can no longer rotate, and the main ball shaft 5 can be locked at this time; the movement relationship between the secondary locking rod 81 and the secondary locking block 92 on the other side is similar to the above content, and finally the secondary hinge ball 41 will be held in the secondary ball shaft 6 through the secondary hinge ball bracket 811 so that it can no longer rotate, and the secondary ball shaft 6 can be locked at this time; When the main ball shaft 5 and the secondary ball shaft 6 are locked, as the main locking block 91 and the secondary locking block 92 move towards each other, the main fixed head arm 7 and the secondary fixed head arm 8 will be pressed tightly, and under the action of the main locking teeth 701 and the secondary locking teeth 801, the main fixed head arm 7 and the secondary fixed head arm 8 will be locked and the angle can no longer be adjusted; at this time, the movable joints of the entire robotic arm are locked and cannot move; when the robotic arm needs to be loosened, the reverse operation can be performed.

[0047] The utility model can be firmly fixed to a specified position with sufficient degrees of freedom, and the locking wrench does not require the use of additional tools, and can be easily and conveniently locked or loosened in a small space. Due to the two-way ratchet design composed of two groups of blocks and springs in the locking wrench, it is not necessary to rotate many circles to lock, but only needs to rotate a certain angle each time and reciprocate multiple times to achieve the effect. This method can apply locking force at a better angle, and the adjustment of the locking force can also be more precise, with a better locking effect.

[0048] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A surgical robot arm structure, characterized in that: The invention comprises a main fixed head (1), a secondary fixed head (2), a main fixed head arm (3), a secondary fixed head arm (4), a main ball shaft (5), a secondary ball shaft (6), a main fixed head arm (7), a secondary fixed head arm (8), an articulated locking shaft (9) and a locking wrench (10), wherein the main fixed head (1) is connected to the main ball shaft (5) through a ball joint of the main fixed head arm (3), the main ball shaft (5) and the main fixed head arm (7) are fixedly connected, and the secondary fixed head arm (6) is connected to the main fixed head arm (7) through a ball joint of the main fixed head arm (3). The head (2) is connected to the secondary ball shaft (6) through the secondary fixed head small arm (4) through a ball joint, the secondary ball shaft (6) and the secondary fixed head large arm (8) are fixedly connected, the main fixed head large arm (7) and the secondary fixed head large arm (8) are hinged at the hinged locking shaft (9), and a locking mechanism is provided inside the hinged locking shaft (9), and by operating the locking wrench (10), the locking mechanism inside the hinged locking shaft (9) can be driven to lock various movable joints.

2. A surgical robot mechanical arm structure according to claim 1, characterized in that: The main fixing head (1) is provided with a main fixing head toothed disc (11) on its surface, and is also provided with a main fixing head screw (12); the main fixing head screw (12) can pass through the main fixing head (1) and has a long strip-shaped head; the auxiliary fixing head (2) is provided with an auxiliary fixing head toothed disc (21) on its surface, and is also provided with an auxiliary fixing head screw (22); the auxiliary fixing head screw (22) can pass through the auxiliary fixing head (2) and has a long strip-shaped head.

3. The surgical robot arm structure according to claim 1, characterized in that: One end of the main fixed head arm (3) is fixedly connected to the main fixed head (1), and the other end is connected to a main articulated ball (31). The main articulated ball (31) is mounted on the open end of the main ball shaft (5) and can rotate in the main ball shaft (5); one end of the auxiliary fixed head arm (4) is fixedly connected to the auxiliary fixed head (2), and the other end is connected to a auxiliary articulated ball (41). The auxiliary articulated ball (41) is mounted on the open end of the auxiliary ball shaft (6) and can rotate in the auxiliary ball shaft (6). The open ends of the main ball shaft (5) and the auxiliary ball shaft (6) are both provided with a notch, into which the main fixed head arm (3) or the auxiliary fixed head arm (4) can be inserted.

4. The surgical robot arm structure according to claim 1, characterized in that: The closed end of the main ball shaft (5) is fixedly connected to the main fixed head arm (7), and the closed end of the secondary ball shaft (6) is fixedly connected to the secondary fixed head arm (8); the main fixed head arm (7) and the secondary fixed head arm (8) are hinged at the hinged locking shaft (9), and the contact surfaces of the main fixed head arm (7) and the secondary fixed head arm (8) are provided with main locking teeth (701) and secondary locking teeth (801).

5. The surgical robot arm structure according to claim 1, characterized in that: The locking wrench (10) is mounted on one end of the hinged locking shaft (9), and is provided with a reversing rod (101), a left stopper (102), a right stopper (103), a left stopper spring (104), a right stopper spring (105), an adjusting slider (106) and a driving gear (107) inside. The left stopper (102) and the right stopper (103) are hinged to the bottom plane of the locking wrench (10), and the left stopper spring (104) is provided on the left side of the left stopper (102), and the other end of the left stopper spring (104) is fixed to the inner side surface of the locking wrench (10); the right stopper spring (105) is provided on the right side of the right stopper (103), and the right stopper spring (105) is provided on the right side of the right stopper (103). The other end of the spring (105) is fixed to the inner side surface of the locking wrench (10); the adjusting slider (106) is located between the left stopper (102) and the right stopper (103) and can slide relative to each other, and is fixedly connected to the reversing rod (101) through a slider connecting rod (1061); the reversing rod (101) passes through the locking wrench (10) and can be moved left and right, and can slide the adjusting slider (106) left and right; the driving gear (107) is rotatably connected to the bottom surface of the locking wrench (10) through a driving rod (1071), and the driving gear (107) is located at a position slightly below the middle of the left stopper (102) and the right stopper (103).

6. The surgical robot arm structure according to claim 5, characterized in that: Under the joint action of the left stopper spring (104), the right stopper spring (105) and the adjusting slider (106), the left stopper (102) and the right stopper (103) can mainly present two states. When the adjusting slider (106) is located on the left side, the right stopper (103) can unidirectionally clamp the driving gear (107) so that the driving gear (107) rotates in a clockwise direction. When the adjusting slider (106) is located on the right side, the left stopper (102) can unidirectionally clamp the driving gear (107) so that the driving gear (107) rotates in a counterclockwise direction.

7. The surgical robot arm structure according to claim 5, characterized in that: The hinged locking shaft (9) is hollow inside, and a main locking block (91) and a secondary locking block (92) are respectively provided at both ends. The main locking block (91) and the secondary locking block (92) are cylindrical in shape, but are provided with a cutout to prevent them from rotating. The main locking block (91) and the secondary locking block (92) are both provided with threaded holes. The main locking block (91) on the side close to the main fixed head arm (7) is provided with a chamfer facing the main fixed head arm (7). A main locking rod (71) is provided inside the main fixed head arm (7). The main locking rod (71) can be inserted into the main fixed head arm (7). The head arm (7) slides, and the main locking rod (71) is provided with a chamfer on the side close to the main locking block (91), and can be exactly matched with the chamfer of the main fixed head arm (7); the auxiliary locking block (92) close to the auxiliary fixed head arm (8) is provided with a chamfer facing the auxiliary fixed head arm (8), and a secondary locking rod (81) is provided inside the auxiliary fixed head arm (8) and can slide in the auxiliary fixed head arm (8), and the auxiliary locking rod (81) is provided with a chamfer on the side close to the auxiliary locking block (92), and can be exactly matched with the chamfer of the auxiliary fixed head arm (8).

8. The surgical robot mechanical arm structure according to claim 7, characterized in that: A main articulated ball bracket (711) is provided at one end of the main locking rod (71) close to the main ball shaft (5), and the main articulated ball bracket (711) is capable of abutting against the main articulated ball (31); and a secondary articulated ball bracket (811) is provided at one end of the secondary locking rod (81) close to the secondary ball shaft (6), and the secondary articulated ball bracket (811) is capable of abutting against the secondary articulated ball (41).

9. The surgical robot mechanical arm structure according to claim 7, characterized in that: After the driving rod (1071) extends out of the locking wrench (10), it will pass through the main locking block (91) and the auxiliary locking block (92) in sequence along the hinged locking shaft (9). The driving rod (1071) is provided with a thread and can cooperate with the threads on the main locking block (91) and the auxiliary locking block (92). The thread on the driving rod (1071) is divided into two sections from the middle, and the two sections of the thread are in opposite directions. Other parameters are the same.

Images