Robot arm system

Abstract

The embodiment of the utility model provides a mechanical arm system. The robot arm system includes: a base unit; a robot arm attached to the base unit; the display supporting arm is mounted on the base unit, and the display supporting arm is provided with at least two joints; and a display mounted on an end portion of the display support arm. In the mechanical arm system, the display supporting arm used for supporting the display is provided with at least two joints, so that the movement flexibility of the display supporting arm is improved, the movement range of the display is enlarged, and the use convenience is improved.

Description

TECHNICAL FIELD

[0001] The embodiments of the present application relate to the technical field of medical devices, and in particular, to a mechanical arm system. BACKGROUND

[0002] With the continuous development of robot technology, mechanical arms are widely used in the fields of production and manufacturing or medical treatment. A display can display information related to the running state of the mechanical arm, so as to facilitate the operation personnel to monitor the running state of the mechanical arm.

[0003] It should be noted that the above introduction to the technical background is only for the convenience of clearly and completely describing the technical solutions of the present application and facilitating the understanding of those skilled in the art. CONTENT OF THE INVENTION

[0004] In the prior art, the mechanical arm and the display support for supporting the display can be installed on the same base, thereby improving the convenience of use.

[0005] The inventor finds that the moving flexibility of the existing display support is low, the activity range of the display is limited, and the operation personnel cannot sometimes adjust the display to a position or angle convenient for observation in the process of using the mechanical arm, so that the convenience of the display is limited.

[0006] In order to solve at least one of the above technical problems or other similar problems, the embodiments of the present application provide a mechanical arm system. In the mechanical arm system, the display support arm for supporting the display has at least two joints, so that the moving flexibility of the display support arm is improved, the activity range of the display is increased, and the convenience of use is improved.

[0007] According to an aspect of the embodiments of the present application, a mechanical arm system is provided, which comprises:

[0008] a base unit;

[0009] a mechanical arm installed on the base unit;

[0010] a display support arm installed on the base unit, the display support arm having at least two joints; and

[0011] a display installed on the end of the display support arm.

[0012] In some embodiments, the moving range of the mechanical arm is a first motion range;

[0013] The moving range of the display is a second motion range outside the first motion range.

[0014] In some embodiments, the display support arm includes a mounting arm, an intermediate arm, and a connecting arm, wherein

[0015] the mounting arm is fixed to the base unit;

[0016] a first end of the intermediate arm is connected to the mounting arm by a first joint, and a second end of the intermediate arm is rotatable about an axis of the mounting arm;

[0017] a first end of the connecting arm is connected to the second end of the intermediate arm by a second joint, and a second end of the connecting arm is movable in a direction perpendicular to the axis of the intermediate arm;

[0018] the display is rotatably connected to the second end of the connecting arm.

[0019] In some embodiments, the second joint includes a first joint part rotatably connected to the second end of the intermediate arm and having an axis perpendicular to the axis of the intermediate arm, and a second joint part rotatably connected to the first end of the connecting arm and having an axis perpendicular to the axis of the first joint part, the second end of the connecting arm being rotatably movable about the axis of the second joint part.

[0020] In some embodiments, the display is connected to the second end of the connecting arm by a third joint having an axis parallel to the axis of the mounting arm, the display being rotatably movable about the axis of the third joint.

[0021] In some embodiments, the display includes a display body and a tilt connecting part connected to the display body, the tilt connecting part being connected to the third joint and allowing the display body to have a predetermined angle with the axis of the third joint.

[0022] In some embodiments, the display support arm includes a locking part.

[0023] In some embodiments, the display support arm includes a locking part.

[0024] The robotic arm system further includes a locking part that limits movement of the display.

[0025] In some embodiments, the locking part includes:

[0026] a locking seat housing mounted to the mounting arm;

[0027] a locking seat mounted to the locking seat housing;

[0028] a locking part mounted to the locking seat, at least a portion of the locking part being elastic, the locking part being in contact with a handle mounted to the display to limit movement of the display.

[0029] In some embodiments, the locking portion comprises a locking spring, and the locking spring and the locking seat form a receiving space for receiving the handle; or,

[0030] The locking portion comprises a locking hook, a locking spring, and a locking spring shaft, a lower portion of the locking spring is installed on the locking seat, an upper portion of the locking spring is installed on the locking spring shaft, and the locking spring shaft passes through an axle hole of the locking hook and an axle hole of the locking seat.

[0031] In some embodiments, the locking portion comprises:

[0032] A hook rack installed on the mounting arm;

[0033] A hook installed on the hook rack, the hook having a receiving space for partially receiving the display;

[0034] A locking handle installed on the connecting arm or the display, the locking handle limiting rotation of the display relative to the second end of the connecting arm.

[0035] In some embodiments, the mechanical arm system further comprises:

[0036] A support rack installed on an upper surface of the main body portion of the base unit, and the mounting arm is fixedly installed on the support rack.

[0037] Specific implementations of the embodiments of the present application are disclosed in detail in the following description and accompanying drawings, indicating the ways in which the principles of the embodiments of the present application can be employed. It should be understood that the embodiments of the present application are not limited in scope so as to encompass many changes, modifications, and equivalents within the spirit and scope of the appended claims. Embodiments of the present application include all technical equivalents of the elements described herein. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present application and constitute a part of the specification, illustrate the embodiments of the present application and together with the description serve to explain the principles of the present application. It is apparent that the accompanying drawings are only some embodiments of the present application, and other embodiments can be obtained by those skilled in the art without creative labor based on the accompanying drawings. In the drawings:

[0039] Figure 1 is a perspective view of a mechanical arm system of the present application;

[0040] Figure 2 is a top view of a mechanical arm system of the present application;

[0041] Figure 3is a side view of the robotic arm system of the present application;

[0042] Figure 4 is another top view of the robotic arm system of the present application;

[0043] Figure 5 is another perspective view of the robotic arm system;

[0044] Figure 6 is Figure 5 is a partial enlarged view of the locking portion 6 of

[0045] Figure 7 is another view of the locking portion;

[0046] Figure 8 is an exploded view of Figure 7

[0047] Figure 9 is yet another perspective view of the locking portion. DETAILED DESCRIPTION

[0048] The foregoing and other features of the present application are hereinafter more fully described and understood when considered in connection with the following drawings, in which: specific embodiments of the present application are disclosed with reference to a number of drawings, in which the principles of the present application are illustrated and where like reference numerals designate similar elements in the various figures. It is to be understood that the present application is not limited to the arrangements, methodologies or specific embodiments described and illustrated herein, but is applicable to other arrangements, methodologies and embodiments that would fall within the scope of the appended claims.

[0049] In the present application, the terms "first", "second", and the like, are used to distinguish different elements, but do not indicate the spatial arrangement or the time sequence of the elements, and the elements should not be limited by these terms. The term "and / or" includes any one and all combinations of the associated listed terms. The terms "comprise", "include", "have", and the like, refer to the presence of the stated features, elements, elements or components, but do not exclude the presence or addition of one or more other features, elements, elements or components.

[0050] In the present application, the singular forms "a", "an" and "the" include the plural forms, and should be broadly understood as "one" or "one kind", rather than limited to the meaning of "one"; in addition, the term "said" should be understood to include both singular and plural forms, unless the context clearly indicates otherwise. In addition, the term "according to" should be understood as "at least partially according to", and the term "based on" should be understood as "at least partially based on", unless the context clearly indicates otherwise.

[0051] ​Features described and / or illustrated with respect to one implementation can be used in one or more other implementations in the same or similar manner, in combination with or in place of features in other implementations, or in the absence of features in other implementations. The term "comprising" as used herein is intended to mean that features, integers, steps, or components that follow the term are present, but not excluding the presence of one or more additional features, integers, steps, components, or groups thereof. The term "comprising" is used herein to mean the open-ended term "including" and thus specifies the presence of stated features, integers, steps, or components as well as other unrecited features, integers, steps, components, or groups thereof.

[0052] In the embodiments of the present application, "above" and "below" include the number itself. For example, more than two includes two and more than two, and less than two includes two and less than two.

[0053] The embodiments of the present application provide a mechanical arm system.

[0054] Figure 1 is a perspective view of the mechanical arm system of the present application, Figure 2 is a top view of the mechanical arm system of the present application, Figure 3 is a side view of the mechanical arm system of the present application, Figure 4 is another top view of the mechanical arm system of the present application. Figure 1 and Figure 2 shows a pose of the mechanical arm 2 of the mechanical arm system 100 when in a retracted state, Figure 3 and Figure 4 shows a pose of the mechanical arm 2 of the mechanical arm system 100 when in an extended state.

[0055] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , the mechanical arm system 100 comprises a base unit 1, a mechanical arm 2, a display support arm 3 and a display 4.

[0056] The base unit 1 can have a main body portion 10, which can be a frame structure, for example, a rectangular frame structure. An upper surface 10a of the main body portion 10 can be a mounting surface for mounting the mechanical arm 2 and the display support arm 3.

[0057] As shown in Figure 1 , the base unit 1 can further have a moving portion 11, which can be a wheel component mounted at the bottom of the main body portion 10. Thus, the main body portion 10 can be moved by the moving portion 11, thereby facilitating an operator to adjust the position of the base unit 1. For example, the moving portion 11 can be a roller or a universal wheel, etc. In addition, the base unit 1 can further have a braking portion (not shown), which can brake the movement of the moving portion 11, so as to keep the position of the main body portion 10 fixed.

[0058] One end 21 of the mechanical arm 2 is installed to the base unit 1, for example, one end 21 of the mechanical arm 2 is installed to the upper surface 10a of the main body 10 of the base unit 1. The other end 22 of the mechanical arm 2 is movable, and the other end 22 can be installed with a mechanical hand or a medical instrument or the like. The mechanical arm 2 can have multiple joints, thereby improving the movement flexibility of the other end 22 of the mechanical arm 2.

[0059] The display support arm 3 is installed to the base unit 1, for example, one end 3a of the display support arm 3 is installed to the upper surface 10a of the main body 10 of the base unit 1. The other end 3b of the display support arm 3 is movable, and the other end 3b can be installed with a display 4. The display 4 can display information related to the running state of the mechanical arm 2, facilitating the monitoring of the running state of the mechanical arm 2 by the operator.

[0060] In the present application, the display support arm 3 can have at least two joints, thereby improving the movement flexibility of the display support arm 3, increasing the activity range of the display 4 installed to the other end 3b of the display support arm 3, and improving the convenience of use.

[0061] As shown in Figure 3 and Figure 4 In some embodiments of the present application, the movement range of the mechanical arm 2 is a first movement range A1, and the movement range of the display 4 is a second movement range A2. The movement range of the mechanical arm 2 includes the movement range of each component of the mechanical arm 2 from one end 21 to the other end 22 of the mechanical arm 2. The movement range of the display 4 includes the movement range of each component of the display 4.

[0062] As shown in Figure 3 and Figure 4 The second movement range A2 can be outside the first movement range A1, for example, the second movement range A2 does not overlap with the first movement range A1. In this way, the display 4 will not collide with the mechanical arm 2, thereby avoiding interference with the movement or operation of the mechanical arm 2 by the display 4.

[0063] In the present application, the movement range of the display 4 can be set to the second movement range A2 by setting the activity range of each joint or the size of each component of the display support arm 3.

[0064] As shown in Figure 1 The display support arm 3 can include a mounting arm 31, an intermediate arm 32, and a connecting arm 33.

[0065] In the present application, the mounting arm 31 is fixed to the base unit 1. For example, the upper surface 10a of the main body 10 of the base unit 1 is installed with a support frame 12, and the mounting arm 31 is fixedly installed to the support frame 12.

[0066] The support frame 12 can have two leg portions 121 fixedly mounted to the upper surface 10a of the main body portion 10 and a connecting portion 122 connecting the two leg portions 121, and the mounting arm 31 is fixedly mounted to the connecting portion 122 of the support frame 12. The support frame 12 is formed in a bridge shape, thereby reducing the weight of the support frame 12 while ensuring the mechanical strength of the support frame 12. In addition, the height of the two leg portions 121 of the support frame 12 can adjust the mounting height of the mounting arm 31, thereby making the layout of the components of the robot arm system 100 more reasonable. In other embodiments, the mounting arm 31 can be directly fixedly mounted to the upper surface 10a of the main body portion 10 without being indirectly mounted to the upper surface 10a of the main body portion 10 by being mounted to the support frame 12.

[0067] The first end 321 of the intermediate arm 32 is connected to the mounting arm 31 by the first joint 51, and the second end 322 of the intermediate arm 32 is rotatable about the axis X1 of the mounting arm 31. The axis X1 of the mounting arm 31 is parallel to the vertical direction, for example, thereby the second end 322 of the intermediate arm 32 can swing about the axis X1 in the horizontal plane. As shown in Figure 2 The angle a1 of the swing of the second end 322 about the axis X1 can range from -120° to 120°, for example, from -115° to 115°. When the angle a1 is 0°, the second end 322 moves to the neutral position, i.e., the direction from the first end 321 to the second end 322 of the intermediate arm 32 is parallel to the first direction D1; when the angle a1 is negative, the second end 322 swings from the neutral position in the clockwise direction; and when the angle a1 is positive, the second end 322 swings from the neutral position in the counterclockwise direction.

[0068] As shown in Figure 1 and Figure 2 The first direction D1 is the direction from the mounting position of the robot arm 2 to the mounting position of the mounting arm 31 on the upper surface 10a of the main body portion 10 of the base unit 1, and the first direction D1 is also referred to as the direction from the front side to the rear side of the main body portion 10 of the base unit 1.

[0069] In the present application, the first end 331 of the connecting arm 33 is connected to the second end 322 of the intermediate arm 32 by the second joint 52, and the second end 332 of the connecting arm 33 is movable in a direction perpendicular to the axis X2 of the intermediate arm 32. For example, the axis X2 of the intermediate arm 32 is parallel to the horizontal direction, and the second end 332 of the connecting arm 33 can be moved in a plane perpendicular to the axis X2, so that the position of the second end 332 of the connecting arm 33 in the vertical direction can be adjusted.

[0070] As shown in Figure 1As shown, in some embodiments, the second joint 52 includes a first joint portion 521 and a second joint portion 522 .

[0071] The first joint portion 521 is rotatably connected to the second end 322 of the intermediate arm 32, and the axis X21 of the first joint portion 521 is perpendicular to the axis X2 of the intermediate arm 32. For example, the axis X2 of the intermediate arm 32 is parallel to the horizontal direction, and the axis X21 of the first joint portion 521 is parallel to the vertical direction. As a result, the second end 332 of the connecting arm 33 can swing about the axis X21 of the first joint portion 521 within the horizontal plane.

[0072] like Figure 2 As shown, the range of the angle α2 of the second end 332 of the connecting arm 33 swinging around the axis X21 is, for example, -90°≤α2≤180°. Wherein: the angle α2 is 0°, indicating that the second end 332 of the connecting arm 33 moves to the neutral position of the swinging motion, that is, the direction from the first end 331 of the connecting arm 33 to the second end 332 of the connecting arm 33 is parallel to the axis X2 of the intermediate arm 32, and the distance from the second end 332 of the connecting arm 33 to the first end 321 of the intermediate arm 32 along the axis X2 reaches a maximum value; the angle α2 is a negative value, indicating that the second end 332 of the connecting arm 33 swings counterclockwise from the neutral position of the swinging motion, wherein, when the angle α2 is -90°, indicating that the second end 332 of the connecting arm 33 swings counterclockwise from the neutral position of the swinging motion. The direction in which the first end 331 of the connecting arm 33 points to the second end 332 of the connecting arm 33 is perpendicular to the axis X2 of the intermediate arm 32; the angle α2 is a positive value, indicating that the second end 332 of the connecting arm 33 swings clockwise from the neutral position of the swinging motion, wherein when the angle α2 is 180°, it indicates that the direction from the first end 331 of the connecting arm 33 to the second end 332 of the connecting arm 33 is parallel to the axis X2 of the intermediate arm 32, and the distance from the second end 332 of the connecting arm 33 to the first end 321 of the intermediate arm 321 along the axis X2 direction reaches a minimum value.

[0073] The second joint portion 522 is rotatably connected to the first end 331 of the connecting arm 33. The axis X22 of the second joint portion 522 is perpendicular to the axis X21 of the first joint portion 521. The second end 332 of the connecting arm 33 can rotate and move about the axis X22 of the second joint portion 522. In some examples, the axis X21 of the first joint portion 521 is parallel to the vertical direction, the axis X22 of the second joint portion 522 is parallel to the horizontal direction, and the axis X2 of the intermediate arm 32 is parallel to the horizontal direction. The second end 332 of the connecting arm 33 can rotate and move about the axis X22 of the second joint portion 522. That is, the second end 332 of the connecting arm 33 can tilt about the axis X22 of the second joint portion 522. The direction of this tilt motion is also perpendicular to the axis X2 of the intermediate arm 32, thereby adjusting the vertical position of the second end 332 of the connecting arm 33.

[0074] For example, the range of the angle a3 (as shown in FIG. 3B) of the second end 332 of the connecting arm 33 performing the pitching motion around the axis X22 of the second joint 522 is, for example, -45°≤a3≤45°, wherein: the angle a3 is 0°, indicating that the second end 332 of the connecting arm 33 moves to the neutral position of the pitching motion, i.e., the direction from the first end 331 of the connecting arm 33 to the second end 332 of the connecting arm 33 is parallel to the horizontal direction; the angle a3 is negative, indicating that the second end 332 of the connecting arm 33 moves downward from the neutral position of the pitching motion; and the angle a3 is positive, indicating that the second end 332 of the connecting arm 33 moves upward from the neutral position of the pitching motion. Figure 3

[0075] In some examples, the connecting arm 33 can be a spring arm having a spring or the like elastic component for supporting the connecting arm 33 to balance the gravity moment acting on the second end 332 of the connecting arm 33, so that the connecting arm 33 can stay at the corresponding holding position during the pitching motion.

[0076] As shown in FIG. 3B, the display 4 is rotatably connected to the second end 332 of the connecting arm 33, so that the display 4 can not only perform the pitching motion and the swinging motion with the second end 332 of the connecting arm 33 relative to the second end 322 of the intermediate arm 32, but also perform the rotation relative to the second end 332 of the connecting arm 33. Figure 1 In some examples, as shown in FIG. 3B, the display 4 is connected to the second end 332 of the connecting arm 33 by a third joint 53. The axis X3 of the third joint 53 is parallel to the axis X1 of the mounting arm 31, and the display 4 can rotate relative to the axis X3 of the third joint 53. For example, the rotation of the display 4 relative to the axis X3 of the third joint 53 can be swinging, and the range of the swinging can be ±90°, wherein: when the display 4 swings to 0° relative to the axis X3 of the third joint 53, the display 4 is in the neutral position relative to the axis X3 of the third joint 53, i.e., the display 4 is perpendicular to the connecting arm 33 in the top view; when the display 4 swings relative to the axis X3 of the third joint 53 at a negative angle, it indicates that the display 4 swings from the neutral position in the clockwise direction; and when the display 4 swings relative to the axis X3 of the third joint 53 at a positive angle, it indicates that the display 4 swings from the neutral position in the counterclockwise direction.

[0077] Figure 1 In some embodiments, as shown in FIG. 3B, the display 4 is connected to the second end 332 of the connecting arm 33 by a third joint 53. The axis X3 of the third joint 53 is parallel to the axis X1 of the mounting arm 31, and the display 4 can rotate relative to the axis X3 of the third joint 53. For example, the rotation of the display 4 relative to the axis X3 of the third joint 53 can be swinging, and the range of the swinging can be ±90°, wherein: when the display 4 swings to 0° relative to the axis X3 of the third joint 53, the display 4 is in the neutral position relative to the axis X3 of the third joint 53, i.e., the display 4 is perpendicular to the connecting arm 33 in the top view; when the display 4 swings relative to the axis X3 of the third joint 53 at a negative angle, it indicates that the display 4 swings from the neutral position in the clockwise direction; and when the display 4 swings relative to the axis X3 of the third joint 53 at a positive angle, it indicates that the display 4 swings from the neutral position in the counterclockwise direction.

[0078] In some embodiments, as shown in FIG. 3B, the display 4 is connected to the second end 332 of the connecting arm 33 by a third joint 53. The axis X3 of the third joint 53 is parallel to the axis X1 of the mounting arm 31, and the display 4 can rotate relative to the axis X3 of the third joint 53. For example, the rotation of the display 4 relative to the axis X3 of the third joint 53 can be swinging, and the range of the swinging can be ±90°, wherein: when the display 4 swings to 0° relative to the axis X3 of the third joint 53, the display 4 is in the neutral position relative to the axis X3 of the third joint 53, i.e., the display 4 is perpendicular to the connecting arm 33 in the top view; when the display 4 swings relative to the axis X3 of the third joint 53 at a negative angle, it indicates that the display 4 swings from the neutral position in the clockwise direction; and when the display 4 swings relative to the axis X3 of the third joint 53 at a positive angle, it indicates that the display 4 swings from the neutral position in the counterclockwise direction. Figure 1 ​​As shown, the display 4 includes a display body 40 and a tilt connecting portion 41 connected to the display body 40. The tilt connecting portion 41 is connected to the third joint 53, and the tilt connecting portion 41 makes the display body 40 form a predetermined angle with the axis X3 of the third joint 53, for example, the predetermined angle can be -5°-25°. Wherein, the angle is negative, indicating that the display surface 40a of the display body 40 is downwardly inclined; the angle is positive, indicating that the display surface 40a of the display body 40 is upwardly inclined; the angle is 0°, indicating that the display surface 40a of the display body 40 is parallel to the vertical direction.

[0079] In some examples, the tilt connecting portion 41 can have two mounting surfaces, one mounting surface is connected to the third joint 53, and the other mounting surface is connected to the display body 40, and the two mounting surfaces form an included angle, so that the display body 40 forms a predetermined angle with the axis X3 of the third joint 53.

[0080] In other examples, the tilt connecting portion 41 has a joint, the axis of the joint can be perpendicular to the axis X3 of the third joint 53, for example, the axis of the joint is parallel to the horizontal direction. The display body 40 can rotate around the axis of the joint, so that the display body 40 forms a predetermined angle with the axis X3 of the third joint 53.

[0081] In this application, in the case where the size of each component of the mechanical arm system 100 is a predetermined value, by the above-mentioned setting of the movement angle of each joint of the display support arm 3, it can be ensured that the operator does not collide with the mechanical arm 2 and the display 4 when operating the mechanical arm 2 and the display 4. For example, as shown in Figure 3 When the deployment angle α4 of the mechanical arm 2 is less than or equal to a predetermined angle (for example, the predetermined angle is 120°), even if the angle α5 by which the second end 332 of the connecting arm 33 is raised relative to the vertical direction is less than 30°, the display 4 and the mechanical arm 2 will not collide.

[0082] Figure 5 is another perspective view of the mechanical arm system. As shown in Figure 5 In some embodiments, the mechanical arm system 100 further includes a locking portion 6. The locking portion 6 can limit the movement of the display 4, thereby facilitating the storage of the display 4.

[0083] Figure 6 is a partial enlarged view of the locking portion 6 of Figure 5 As shown in Figure 6 The locking portion 6 includes a locking seat frame 61, a locking seat 62 and a locking portion 63.

[0084] The locking base frame 61 is mounted on the mounting arm 31. The locking base 62 is mounted on the locking base frame 61. The locking portion 63 is mounted on the locking base 62. The locking portion 63 can contact the handle 42 mounted on the display 4 to limit the movement of the display 4.

[0085] In some embodiments, at least a portion of the locking portion 63 may be elastic, thereby allowing the locking portion 63 to elastically deform or move, allowing the handle 42 of the display 4 to move between a locked position and an unlocked position. In the locked position, the handle 42 of the display 4 contacts the locking portion 63, thereby restricting the movement of the display 4. In the unlocked position, the handle 42 of the display 4 disengages from the locking portion 63, thereby freeing the movement of the display 4 from the locking portion 63.

[0086] like Figure 6 As shown, in some examples, the locking portion 63 includes a locking spring 631 . The locking spring 631 and the locking seat 62 form an accommodating space 60 for accommodating the handle 42 .

[0087] For example, the operator moves the display 4, moves the handle 42 above the locking seat 62, moves the handle 42 downward, and by pressing the locking spring 63a, the handle 42 enters the accommodating space 60 on the lower side of the locking spring 63a. As a result, the handle 42 reaches the locking position, and the handle 42 is confined between the bottom of the locking seat 63 and the locking spring 63a.

[0088] Figure 7 This is another schematic diagram of the locking part. Figure 8 yes Figure 7 Schematic diagram of the decomposition of . Figure 7 and Figure 8 As shown, the locking unit 6 includes a locking base frame 61, a locking base 62, and a locking portion 63. The locking base frame 61 is mounted on the mounting arm 31. The locking base 62 is mounted on the locking base frame 61. The locking portion 63 is mounted on the locking base 62. The locking portion 63 can contact the handle 42 mounted on the display 4 to restrict the movement of the display 4.

[0089] exist Figure 8 In the example shown, the locking portion 63 includes a locking hook 631, a locking spring 632, and a locking spring shaft 633. The lower portion 6321 of the locking spring 632 is mounted on (e.g., hung on) the locking seat 62, and the upper portion 6322 of the locking spring 632 is mounted on (e.g., hung on) the locking spring shaft 633. The locking spring 633 shaft passes through the shaft hole 6311 of the locking hook 631 and the shaft hole 621 of the locking seat 62.

[0090] For example, when the operator moves the display 4 downward, the handle 42 is clamped to the locking hook 631 (i.e., the handle 42 reaches the locking position), the locking spring 632 resets, thereby completing the locking storage of the display 4; when the operator moves the display 4 upward, the locking hook 631 is popped open, the locking hook 631 rotates around the locking spring shaft 633, drives the upper portion 6322 of the locking spring 632 to rotate, so that the locking spring 632 is stretched, the handle 42 and the locking hook 631 are separated, and then the locking spring 632 and the locking hook 631 reset.

[0091] Figure 9 is another perspective view of the locking portion. In Figure 9 In the example shown, the locking portion 6a includes a hook rack 61a, a hook 62a, and a locking handle 42a.

[0092] The hook rack 61a is mounted to the mounting arm 31. The hook 62a is mounted to the hook rack 61a, and the hook 62a has a containing space 60a that partially contains the display 4. The locking handle 42a is mounted to the connecting arm 33 or the display 4, and limits the rotation of the display 4 relative to the second end 332 of the connecting arm 33.

[0093] For example, when the operator moves the display 4 downward, a portion of the display 4 is moved into the containing space 60a of the hook 62a, and the hook 62a limits the forward and backward movement of the display 4; in addition, the operator can operate the locking handle 42a to make the locking handle 42a in the locking state, thereby limiting the lifting movement of the display 4, and thereby achieving the storage of the display 4.

[0094] The above embodiments are only exemplary descriptions of the embodiments of the present application, but the present application is not limited thereto, and appropriate modifications can be made on the basis of the above embodiments. For example, the above embodiments can be used alone, or one or more of the above embodiments can be combined.

[0095] The present application has been described above in conjunction with specific embodiments, but it should be clear to those skilled in the art that these descriptions are exemplary and not limiting the scope of protection of the present application. Those skilled in the art can make various modifications and changes to the present application according to the spirit and principles of the present application, and these modifications and changes are also within the scope of the present application.

Claims

1. A robotic arm system, characterized by, The robot arm system includes: a base unit; a robot arm installed to the base unit; a display support arm installed to the base unit, the display support arm having at least two joints; and a display installed to an end of the display support arm.

2. The robot arm system of claim 1, wherein: a movement range of the robot arm is a first movement range; a movement range of the display is a second movement range outside the first movement range.

3. The robot arm system of claim 1, wherein: the display support arm includes an installation arm, an intermediate arm, and a connection arm, wherein: the installation arm is fixed to the base unit; a first end of the intermediate arm is connected to the installation arm by a first joint, and a second end of the intermediate arm is rotatable about an axis of the installation arm; a first end of the connection arm is connected to the second end of the intermediate arm by a second joint, and a second end of the connection arm is movable in a direction perpendicular to the axis of the intermediate arm; the display is rotatably connected to the second end of the connection arm.

4. The robot arm system of claim 3, wherein: the second joint includes a first joint part rotatably connected to the second end of the intermediate arm and having an axis perpendicular to the axis of the intermediate arm, and a second joint part rotatably connected to the first end of the connection arm and having an axis perpendicular to the axis of the first joint part, the second end of the connection arm being rotatably moved about the axis of the second joint part.

5. The robot arm system of claim 3, wherein: the display is connected to the second end of the connection arm by a third joint having an axis parallel to the axis of the installation arm, the display being rotatably moved about the axis of the third joint.

6. The robot arm system of claim 5, wherein: the display includes a display body and a tilt connection part connected to the display body, the tilt connection part being connected to the third joint and allowing the display body to have a predetermined angle with the axis of the third joint.

7. The robot arm system of claim 3, further comprising: a locking part limiting movement of the display.

8. The robot arm system of claim 7, wherein: the locking part includes: a locking seat frame installed to the installation arm; a locking seat installed to the locking seat frame; a locking part installed to the locking seat, at least a portion of the locking part having elasticity, the locking part being in contact with a handle installed to the display to limit movement of the display.

9. The robot arm system of claim 8, wherein: the locking part includes a locking elastic sheet forming an accommodation space for accommodating the handle with the locking seat; or, ​ The locking portion includes a locking hook, a locking spring, and a locking spring shaft, a lower portion of the locking spring is installed to the locking seat, an upper portion of the locking spring is installed to the locking spring shaft, and the locking spring shaft passes through a shaft hole of the locking hook and a shaft hole of the locking seat. 10.The mechanical arm system of claim 7, wherein, The locking portion includes: a hook rack installed to the mounting arm; a hook installed to the hook rack, the hook having a receiving space partially receiving the display; a locking handle installed to the connecting arm or the display, the locking handle limiting rotation of the display relative to the second end of the connecting arm. 11.The mechanical arm system of claim 3, wherein, The mechanical arm system further includes: a support rack installed to an upper surface of the main portion of the base unit, the mounting arm being fixedly installed to the support rack.

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