Supporting and positioning arm

Abstract

The utility model provides a supporting and positioning arm which comprises a plurality of arm sections which are sequentially connected end to end to form an open-loop structure, and any two adjacent arm sections are arranged in a pivoting mode. The locking structure has a locking state and an unlocking state, and when the locking structure is in the locking state, the locking structure locks pivoting between the at least two adjacent arm sections; when the locking structure is in the unlocking state, the locking structure avoids pivoting between at least two adjacent arm sections; the driving component is in transmission connection with the locking structure, and the driving component drives the locking structure to be switched between the locking state and the unlocking state; and the driving force detection module is matched with the driving component, so that the driving force applied to the locking structure by the driving component is detected through the driving force detection module. According to the supporting and positioning arm, the technical problem that the supporting effect of a supporting and positioning arm in the prior art is not stable is solved.

Description

Technical Field

[0001] The utility model relates to the field of supporting tools, in particular to a supporting positioning arm. Background Art

[0002] A support and positioning arm is a type of robotic arm used to support and position objects. It usually has multiple arm segments connected in the first place, with rotatable joints between the arm segments. By rotating each joint, the posture of the support and positioning arm itself can be adjusted, thereby supporting the target object at the required angle or position.

[0003] After adjusting the posture of the support positioning arm in the related art, the operator usually needs to manually lock it to fix it in the current posture to support the target object. During the locking process, the locking effect of the support positioning arm will vary due to the difference in the locking force applied by the operator. When the locking force applied by the operator is small, the support positioning arm may become loose during use, causing the supported target object to fall. Especially when used in some important scenarios (such as surgical scenarios), this unexpected situation may cause more serious adverse consequences.

[0004] It can be seen that the supporting positioning arm in the related art has a technical problem of unstable supporting effect. Currently, no effective solution has been proposed to this technical problem. Utility Model Content

[0005] The main purpose of the utility model is to provide a support positioning arm to solve the technical problem of unstable supporting effect of the support positioning arm in the related art.

[0006] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a supporting positioning arm, comprising: multiple arm segments, the multiple arm segments are connected in sequence to form an open-loop structure, and any two adjacent arm segments can be pivotally arranged; a locking structure, at least part of the locking structure is movably arranged to lock or unlock at least two adjacent arm segments; the locking structure has a locked state and an unlocked state, when the locking structure is in the locked state, the locking structure locks the pivoting between at least two adjacent arm segments; when the locking structure is in the unlocked state, the locking structure avoids the pivoting between at least two adjacent arm segments; a driving component, the driving component is transmission-connected to the locking structure, and the driving component drives the locking structure to switch between the locked state and the unlocked state; a driving force detection module, the driving force detection module cooperates with the driving component to detect the magnitude of the driving force applied by the driving component to the locking structure through the driving force detection module.

[0007] Furthermore, the driving component is a motor; wherein the driving force detection module is electrically connected to the motor, and the driving force detection module calculates the output torque of the motor by detecting the working current of the motor; or, the driving component is a torque sensor, and the torque sensor is arranged on the output shaft of the motor to detect the output torque of the motor.

[0008] Furthermore, the driving component is a motor, and the supporting positioning arm includes: a motor control circuit and a commutation circuit, the commutation circuit is connected to the motor, the motor control circuit is connected to the commutation circuit, and a control switch, the control switch is electrically connected to the motor control circuit to control the forward or reverse rotation of the motor by operating the control switch.

[0009] Furthermore, the control switch includes a forward button and a reverse button. When the forward button is pressed, the motor control circuit controls the motor to rotate forward through the reversing circuit, so that the motor-driven locking structure switches to a locked state; when the reverse button is pressed, the motor control circuit controls the motor to rotate reversely through the reversing circuit, so that the motor-driven locking structure switches to an unlocked state.

[0010] Furthermore, the support positioning arm also includes: a safety switch, which is connected to the motor control circuit, and the safety switch has an on state and an off state; when the safety switch is in the on state, the control switch can control the rotation of the motor; when the safety switch is in the off state, the control switch cannot control the rotation of the motor.

[0011] Furthermore, there are multiple locking structures, and a locking structure is provided at the matching position between any two pivotally connected arm segments.

[0012] Furthermore, the multiple locking structures are all in transmission connection with the driving component so that the driving component drives the multiple locking structures to switch between the locked state and the unlocked state; or, there are multiple driving components, and the multiple driving components correspond one-to-one to the multiple locking structures.

[0013] Furthermore, the locking structure includes: two friction fitting parts, which cooperate with each other and are arranged one-to-one in the two pivotally connected arm segments; a fastener, which is arranged in at least one arm segment to change the mutual extrusion force between the two friction fitting parts by adjusting the fastener.

[0014] Furthermore, the supporting positioning arm includes: a battery, a battery protection circuit and a charging circuit. The battery and the charging circuit are both electrically connected to the battery protection circuit, and the battery protection circuit is electrically connected to the motor control circuit.

[0015] Furthermore, the supporting positioning arm also includes at least one of the following: an operating indicator light, which is connected to the motor control circuit and indicates the operating status of the motor; a standby indicator light, which is connected to the motor control circuit and indicates the standby status of the motor; a power indicator light, which is connected to the charging circuit or the battery protection circuit and indicates the remaining power of the battery and / or the charging status of the battery.

[0016] The supporting positioning arm using the technical solution of the present invention includes: multiple arm segments, the multiple arm segments are connected in sequence to form an open-loop structure, and any two adjacent arm segments can be pivotally arranged; a locking structure, at least part of the locking structure is movably arranged to lock or unlock at least two adjacent arm segments; the locking structure has a locked state and an unlocked state, when the locking structure is in the locked state, the locking structure locks the pivoting between at least two adjacent arm segments; when the locking structure is in the unlocked state, the locking structure avoids the pivoting between at least two adjacent arm segments; a driving component, the driving component is transmission-connected to the locking structure, and the driving component drives the locking structure to switch between the locked state and the unlocked state; a driving force detection module, the driving force detection module cooperates with the driving component to detect the magnitude of the driving force applied by the driving component to the locking structure through the driving force detection module. The support positioning arm of the present invention uses a driving component to drive a locking structure to lock or unlock adjacent arm segments, and a driving force detection module is provided to detect the magnitude of the driving force applied by the driving component to the locking structure, thereby more clearly understanding the locking status of the locking structure, thereby facilitating more accurate control of the magnitude of the locking force applied by the driving component to the locking structure. This avoids the occurrence of locking failure due to excessively weak locking force applied by the driving component, helps improve the support reliability of the support positioning arm, and solves the technical problem of unstable support effect of the support positioning arm in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 This is a schematic diagram of a partially exploded structure of an embodiment of a support and positioning arm of the present utility model;

[0019] Figure 2 This is a schematic structural diagram of an arm segment of an embodiment of a support positioning arm of the present utility model;

[0020] Figure 3 This is a schematic diagram of the circuit structure of an embodiment of the support positioning arm of the present utility model.

[0021] The above drawings include the following reference numerals:

[0022] 1. Arm section; 2. Locking structure; 21. Friction fitting portion; 22. Fastener; 3. Driving component; 4. Battery; 10. Button; 5. Housing; 51. First shell; 52. Second shell. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] Please refer to Figures 1 to 3 , an embodiment of the utility model provides a supporting positioning arm, comprising: a plurality of arm segments 1, wherein the plurality of arm segments 1 are connected in sequence to form an open loop structure, and any two adjacent arm segments 1 can be pivotally arranged; a locking structure 2, wherein at least a part of the locking structure 2 is movably arranged to lock or unlock at least two adjacent arm segments 1; the locking structure 2 has a locked state and an unlocked state, and when the locking structure 2 is in the locked state, the locking structure 2 locks the pivoting between at least two adjacent arm segments 1; when the locking structure 2 is in the unlocked state, the locking structure 2 avoids the pivoting between at least two adjacent arm segments 1; a driving component 3, the driving component 3 is transmission-connected to the locking structure 2, and the driving component 3 drives the locking structure 2 to switch between the locked state and the unlocked state; a driving force detection module, the driving force detection module cooperates with the driving component 3 to detect the magnitude of the driving force applied by the driving component 3 to the locking structure 2 through the driving force detection module.

[0025] The support positioning arm of the present invention uses a driving component 3 to drive the locking structure 2 to lock or unlock adjacent arm segments 1. A driving force detection module is provided to detect the magnitude of the driving force applied by the driving component 3 to the locking structure 2, thereby more clearly understanding the locking status of the locking structure 2. This facilitates more accurate control of the magnitude of the locking force applied by the driving component 3 to the locking structure 2. This avoids locking failure due to excessively weak locking force applied by the driving component 3, improves the support reliability of the support positioning arm, and resolves the technical problem of unstable support effects of the support positioning arm in related technologies.

[0026] In specific implementation, the driving force detection module can have different forms. Specifically, for example, the driving component 3 is a motor; the driving force detection module is electrically connected to the motor, and the driving force detection module calculates the output torque of the motor by detecting the working current of the motor; or, the driving component 3 is a torque sensor, and the torque sensor is arranged on the output shaft of the motor to detect the output torque of the motor.

[0027] In an optional embodiment, the driving component 3 is a motor, and the supporting positioning arm includes: a motor control circuit and a commutation circuit, the commutation circuit is connected to the motor, the motor control circuit is connected to the commutation circuit, and a control switch, the control switch is electrically connected to the motor control circuit to control the forward or reverse rotation of the motor by operating the control switch.

[0028] In actual use, the operator operates the control switch to control the forward and reverse rotation of the motor through the motor control circuit and the reversing circuit, thereby driving the locking structure 2 to lock or unlock, making the operation of the support positioning arm more convenient.

[0029] The control switch includes a forward button and a reverse button. When the forward button is pressed, the motor control circuit controls the motor to rotate forward through the reversing circuit, so that the motor drives the locking structure 2 to switch to the locked state; when the reverse button is pressed, the motor control circuit controls the motor to rotate backward through the reversing circuit, so that the motor drives the locking structure 2 to switch to the unlocked state.

[0030] In this embodiment, by splitting the forward control and reverse control of the control switch into two buttons, namely the forward button and the reverse button, the motor can be controlled to rotate in the corresponding direction by pressing the corresponding button, which further facilitates the operation and use of the support positioning arm.

[0031] The support positioning arm also includes: a safety switch, which is connected to the motor control circuit and has an on state and an off state; when the safety switch is in the on state, the control switch can control the motor to rotate; when the safety switch is in the off state, the control switch cannot control the motor to rotate.

[0032] In this embodiment, the support positioning arm is additionally provided with a safety switch. Only when the safety switch is in the activated state can the motor be controlled to rotate forward and reverse by the control switch, which is beneficial to reduce the occurrence of misoperation of the support positioning arm, thereby improving the safety of the support positioning arm.

[0033] In a preferred embodiment, the safety switch is a start button. When pressed, it is in the start state, and when released, it is in the off state. Thus, in actual use, by pressing the start button and the forward button simultaneously, the motor can rotate forward, thereby driving the locking structure 2 to switch to the locked state, locking the adjacent arm segments 1 of the support positioning arm, thereby fixing the support positioning arm in the current posture, achieving positioning and support of the target object. By pressing the start button and the reverse button simultaneously, the motor can reverse, thereby driving the locking structure 2 to switch to the unlocked state, unlocking the adjacent arm segments 1 of the support positioning arm, thereby facilitating adjustment of the posture of the support positioning arm.

[0034] In actual implementation, multiple buttons 10 can be set at various positions of the housing supporting the positioning arm, and the above-mentioned start button, forward button, reverse button, etc. can be flexibly selected from the multiple buttons 10.

[0035] In one specific embodiment, there are multiple locking structures 2, each provided at a mating position between any two pivotally connected arm segments 1. Each of the multiple locking structures 2 is in transmission connection with a drive component 3, so that the drive component 3 drives the multiple locking structures 2 to switch between a locked state and an unlocked state. Alternatively, there are multiple drive components 3, and each of the multiple drive components 3 corresponds to each of the multiple locking structures 2.

[0036] That is to say, by connecting multiple locking structures 2 to the driving component 3, multiple locking structures 2 can be driven to lock or unlock by one driving component 3, which is conducive to simplifying the structure and control process of the support positioning arm. Specifically, a variety of transmission structures can be selected according to actual needs to connect the locking structure 2 to the driving component 3, for example, through gear transmission, through connecting rod transmission, through rack transmission, etc. In an optional embodiment, the driving component 3 is a motor, and each locking structure 2 is connected to the motor through a gear transmission structure; in another optional embodiment, the driving component 3 is a motor, and the motor is connected to a locking structure 2, thereby driving it to unlock or lock, and the support positioning arm also includes a transmission connecting rod, which connects the locking structure 2 with one or more other locking structures 2, so that the multiple locking structures 2 can move synchronously, and then drive the multiple locking structures to lock or unlock by one motor.

[0037] In actual implementation, multiple driving components 3 may also be provided, and the multiple driving components 3 correspond one-to-one to the multiple locking structures 2, so that each driving component 3 drives the corresponding locking structure 2 to lock or unlock.

[0038] Specifically, the locking structure 2 includes: two friction fitting parts 21, which cooperate with each other and are arranged one-to-one in the two pivotally connected arm segments 1; a fastener 22, which is arranged in at least one arm segment 1 to change the mutual extrusion force between the two friction fitting parts 21 by adjusting the fastener 22.

[0039] In an actual embodiment, the fastener 22 can be a fastening bolt or a fastening nut, which can control the extrusion force between the two friction fitting parts 21 by cooperating with the corresponding threaded part, thereby adjusting the maximum static friction force between the two friction fitting parts 21, and playing the role of locking or unlocking between the two arm segments 1.

[0040] In a preferred embodiment, to increase the friction between the two friction-engaging portions 21 and thereby enhance the locking effect between the two arm segments 1, the mutually facing surfaces of the two friction-engaging portions 21 are provided with at least one of the following: a concave-convex structure or a frosted structure, thereby increasing friction. The mutually facing surfaces of the two friction-engaging portions 21 may also be provided with a cushioning layer or coating with a higher friction coefficient. Preferably, in this embodiment, the mutually facing surfaces of the two friction-engaging portions 21 are each provided with a plurality of protruding teeth. The engagement of the protruding teeth between the two friction-engaging portions 21 effectively increases the friction between them and enhances the locking effect of the positioning arm. Specifically, for any friction-engaging portion 21, the plurality of protruding teeth thereon are sequentially spaced along a direction surrounding its pivot axis.

[0041] Preferably, when the locking structure 2 is unlocked, the fastener 22 exerts a predetermined tightening force between the two friction-fitting portions 21. This allows the predetermined tightening force to maintain the relative angle between at least two adjacent arm segments 1 of the support positioning arm when the support positioning arm is not supporting an object. This allows the support positioning arm to adjust its posture, and the predetermined tightening force helps each arm segment 1 resist its own weight, preventing the support positioning arm from collapsing due to lack of support.

[0042] In this embodiment, the supporting positioning arm includes: a battery 4, a battery protection circuit and a charging circuit. The battery 4 and the charging circuit are electrically connected to the battery protection circuit, and the battery protection circuit is electrically connected to the motor control circuit.

[0043] By designing the battery 4, the battery protection circuit, and the charging circuit, the support positioning arm is self-powered, eliminating the need for an external power source. This prevents power cords from cluttering the surrounding environment, effectively maintaining a clean and tidy surgical environment and reducing the risk of medical staff tripping over power cords. Furthermore, even in unexpected situations such as power outages, the support positioning arm can be used normally, ensuring smooth surgical procedures.

[0044] Specifically, the support positioning arm also includes at least one of the following: an operation indicator light, which is connected to the motor control circuit and indicates the operation status of the motor; a standby indicator light, which is connected to the motor control circuit and indicates the standby status of the motor; a power indicator light, which is connected to the charging circuit or the battery protection circuit and indicates the remaining power of the battery and / or the charging status of the battery.

[0045] By setting an operation indicator light, a standby indicator light, and a power indicator light, the indicator light can convey information about the motor's operating status, the remaining power status, and the battery charging status to people around. Edge users can easily and timely understand the current status of the support positioning arm, thereby improving the convenience of using the support positioning arm.

[0046] In a specific embodiment, the support and positioning arm further includes a housing 5, within which the drive component 3 and the battery 4 are disposed for protection. Preferably, the housing 5 includes a first shell 51 and a second shell 52, which are detachably disposed to facilitate installation or removal of the drive component 3 and the battery 4.

[0047] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0048] The supporting positioning arm of an embodiment of the present utility model includes: multiple arm segments 1, the multiple arm segments 1 are connected in sequence to form an open-loop structure, and any two adjacent arm segments 1 can be pivotally arranged; a locking structure 2, at least part of the locking structure 2 is movably arranged to lock or unlock at least two adjacent arm segments 1; the locking structure 2 has a locked state and an unlocked state, when the locking structure 2 is in the locked state, the locking structure 2 locks the pivoting between at least two adjacent arm segments 1; when the locking structure 2 is in the unlocked state, the locking structure 2 avoids the pivoting between at least two adjacent arm segments 1; a driving component 3, the driving component 3 is transmission-connected to the locking structure 2, and the driving component 3 drives the locking structure 2 to switch between the locked state and the unlocked state; a driving force detection module, the driving force detection module cooperates with the driving component 3 to detect the magnitude of the driving force applied by the driving component 3 to the locking structure 2 through the driving force detection module. The support positioning arm of the present invention uses a driving component 3 to drive the locking structure 2 to lock or unlock adjacent arm segments 1. A driving force detection module is provided to detect the magnitude of the driving force applied by the driving component 3 to the locking structure 2, thereby more clearly understanding the locking status of the locking structure 2. This facilitates more accurate control of the magnitude of the locking force applied by the driving component 3 to the locking structure 2. This avoids locking failure due to excessively weak locking force applied by the driving component 3, improves the support reliability of the support positioning arm, and resolves the technical problem of unstable support effects of the support positioning arm in related technologies.

[0049] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A support positioning arm, characterized in that: include: A plurality of arm segments (1), wherein the plurality of arm segments (1) are sequentially connected to form an open loop structure, and any two adjacent arm segments (1) are pivotally arranged; A locking structure (2), at least part of which is movably arranged to lock or unlock at least two adjacent arm segments (1); the locking structure (2) has a locked state and an unlocked state, and when the locking structure (2) is in the locked state, the locking structure (2) locks the pivoting between at least two adjacent arm segments (1); when the locking structure (2) is in the unlocked state, the locking structure (2) avoids the pivoting between at least two adjacent arm segments (1); A driving component (3), the driving component (3) being in transmission connection with the locking structure (2), the driving component (3) driving the locking structure (2) to switch between the locked state and the unlocked state; A driving force detection module is provided, wherein the driving force detection module cooperates with the driving component (3) to detect the magnitude of the driving force applied by the driving component (3) to the locking structure (2).

2. The support and positioning arm according to claim 1, wherein: The driving component (3) is a motor; wherein the driving force detection module is electrically connected to the motor, and the driving force detection module calculates the output torque of the motor by detecting the working current of the motor; or, the driving component (3) is a torque sensor, and the torque sensor is arranged on the output shaft of the motor to detect the output torque of the motor.

3. The support and positioning arm according to claim 1, wherein: The driving component (3) is a motor, and the supporting positioning arm comprises: a motor control circuit and a commutation circuit, wherein the commutation circuit is connected to the motor, and the motor control circuit is connected to the commutation circuit; A control switch is electrically connected to the motor control circuit so as to control the motor to rotate forward or reverse by operating the control switch.

4. The support and positioning arm according to claim 3, characterized in that: The control switch includes a forward button and a reverse button. When the forward button is pressed, the motor control circuit controls the motor to rotate forward through the reversing circuit, so that the motor drives the locking structure (2) to switch to the locked state; when the reverse button is pressed, the motor control circuit controls the motor to rotate backward through the reversing circuit, so that the motor drives the locking structure (2) to switch to the unlocked state.

5. The support and positioning arm according to claim 3, characterized in that: The support positioning arm also includes: A safety switch connected to the motor control circuit, wherein the safety switch has an on state and an off state; when the safety switch is in the on state, the control switch can control the rotation of the motor; When the safety switch is in the closed state, the control switch cannot control the rotation of the motor.

6. The support and positioning arm according to any one of claims 1 to 5, characterized in that: There are multiple locking structures (2), and one locking structure (2) is provided at the matching position between any two pivotally connected arm segments (1).

7. The support and positioning arm according to claim 6, characterized in that: The plurality of locking structures (2) are all in transmission connection with the driving component (3), so as to drive the plurality of locking structures (2) to switch between the locked state and the unlocked state through the driving component (3); or, There are multiple driving components (3), and the multiple driving components (3) correspond one-to-one to the multiple locking structures (2).

8. The support and positioning arm according to claim 6, wherein: The locking structure (2) comprises: Two friction fitting parts (21), the two friction fitting parts (21) cooperate with each other and are arranged one-to-one correspondingly on the two pivotally connected arm sections (1); A fastener (22) is provided on at least one of the arm sections (1) so as to change the mutual squeezing force between the two friction fitting parts (21) by adjusting the fastener (22).

9. The support and positioning arm according to claim 3, characterized in that: The supporting positioning arm comprises: a battery (4), a battery protection circuit and a charging circuit; the battery (4) and the charging circuit are both electrically connected to the battery protection circuit; and the battery protection circuit is electrically connected to the motor control circuit.

10. The support and positioning arm according to claim 9, characterized in that: The support and positioning arm further comprises at least one of the following: An operating indicator light, the operating indicator light being connected to the motor control circuit and indicating the operating status of the motor; A standby indicator light, connected to the motor control circuit, and indicating a standby state of the motor; A power indicator light, wherein the power indicator light is connected to the charging circuit or the battery protection circuit, and the power indicator light indicates the remaining power of the battery and / or the charging status of the battery.

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