Handle structure and mechanical arm

Abstract

The utility model relates to the technical field of surgical robots, and provides a handle structure and a mechanical arm, the handle structure comprises a shell and a fixing piece, and the shell comprises a first shell and a second shell which are detachably connected. The fixing piece is arranged on the first shell, a fixing position is formed between at least part of the structure of the fixing piece and the first shell, and part of the structure of the second shell can be inserted into the fixing position so as to limit relative fixation of the second shell and the first shell in the preset direction. According to the handle structure, the first shell and the second shell are more convenient and faster to mount, the mounting time is saved, and the assembling efficiency of the handle structure is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a handle structure and a mechanical arm. BACKGROUND

[0002] With the progress of science and technology, minimally invasive surgical robot technology has gradually matured and is widely used. The minimally invasive surgical robot usually includes a master operating table and a slave operating device. The surgeon controls the slave operating device to perform the corresponding surgical operation by operating the master operating table. The slave operating device usually includes a mechanical arm and a handle structure arranged on the mechanical arm. The mechanical arm is used to set a surgical operating instrument. The handle structure can adjust the position of the mechanical arm to adjust the position of the surgical instrument and perform the surgical operation.

[0003] The handle structure is detachably connected by multiple sub-structures. The handle structure in the related art is troublesome to assemble, which takes a long time and has low assembly efficiency. CONTENT OF THE UTILITY MODEL

[0004] The present application provides a handle structure and a mechanical arm, which makes the handle structure more convenient and efficient to assemble.

[0005] The first aspect of the present application provides a handle structure, which includes an outer shell and a fixing member. The outer shell includes a first shell and a second shell which are detachably connected. The fixing member is arranged on the first shell. At least part of the structure of the fixing member and the first shell form a fixing position. Part of the structure of the second shell can be inserted into the fixing position to limit the relative fixation of the second shell and the first shell in a predetermined direction.

[0006] According to the handle structure of the first aspect of the present application, the fixing member is arranged on the first shell. The fixing member and the first shell form a fixing position. Part of the structure of the second shell can be inserted into the fixing position, so that the second shell can be pre-installed with the first shell. The second shell and the first shell are relatively fixed in a predetermined direction, and then the second shell and the first shell are detachably connected together. The present application can realize the pre-installation of the first shell and the second shell by arranging the fixing member, reduce the use of connecting structure when the first shell and the second shell are detachably connected, and only need to insert part of the structure of the second shell into the fixing position to realize the pre-installation. The first shell and the second shell are more convenient and efficient to install, which saves the installation time and increases the assembly efficiency of the handle structure.

[0007] In a possible implementation, the fixing member is provided with a protrusion, a gap is formed between the protrusion and the first shell, the gap forms the fixing position, the second shell is provided with a plug member corresponding to the position of the gap, the plug member is provided with a plug part, and the plug part is capable of being plugged into the fixing position.

[0008] In the embodiments of the present application, the protrusion on the fixing member is capable of cooperating with the first shell to form the fixing position, and the plug member on the second shell is capable of plugging into the fixing position, so as to realize pre-mounting of part of the structure of the second shell on the first shell.

[0009] In a possible implementation, the fixing member is provided with a positioning member, and the first shell is provided with a positioning hole matched with the positioning member; and / or

[0010] The fixing member is provided with a plug hole, and the first shell is provided with a connecting column matched with the plug hole.

[0011] In the embodiments of the present application, the positioning member is capable of plugging into the positioning hole, the connecting column is capable of plugging into the plug hole, and the cooperation between the positioning member and the positioning hole and / or the cooperation between the plug hole and the connecting column can realize detachable connection of the fixing member to the first shell.

[0012] In a possible implementation, the first shell is further provided with a limiting plate corresponding to the position of the second fixing end, the limiting plate is provided with a limiting part, and the second fixing end is arranged in the limiting part.

[0013] In the embodiments of the present application, the limiting plate is arranged, and the second fixing end is arranged in the limiting part of the limiting plate, so as to limit the position of the second fixing end and limit the position of the fixing member relative to the first shell, thereby facilitating quick alignment of the fixing member when the fixing member is mounted to the first shell.

[0014] In a possible implementation, the connecting position of the first fixing end and the second fixing end is provided with a predetermined included angle, so that the connecting position of the first fixing end and the second fixing end is outwardly protruding away from the first shell.

[0015] In the embodiments of the present application, the first fixing end and the second fixing end are arranged at a predetermined included angle, so that the fixing member is arranged to be bent as a whole, the first fixing end and the second fixing end are respectively connected to the first shell when the fixing member is connected to the first shell, and the first fixing end and the second fixing end can generate a pre-tightening force by changing the included angle between the first fixing end and the second fixing end, so that the fixing member can be pre-tightened on the first shell.

[0016] In a possible implementation, the second shell is provided with a mounting column corresponding to the position of the connecting column, and the connecting column and the mounting column are detachably connected.

[0017] In the embodiment of the present application, the mounting column is detachably connected with the connecting column, and the mounting column and the connecting column cooperatively form a connecting structure for detachable connection between the first shell and the second shell, thereby connecting the first shell and the second shell together.

[0018] In a possible implementation, the edge of the first shell is concavely provided with a sunken position, and the edge of the second shell is convexly provided with a convex edge corresponding to the sunken position, and the convex edge is adapted to the sunken position.

[0019] In the embodiment of the present application, the convex edge is adapted to the sunken position, thereby limiting the relative position between the first shell and the second shell, making the first shell and the second shell accurately aligned, and facilitating the connection of the first shell and the second shell.

[0020] The second aspect of the present application provides a mechanical arm comprising a main body and the handle structure as described above, and the handle structure is mounted on the main body.

[0021] According to the mechanical arm of the second aspect of the present application, the mechanical arm can be applied to a surgical robot, and a user can control the movement of the mechanical arm through the handle structure.

[0022] In a possible implementation, the main body is provided with a mounting position, the mounting position is provided with a pre-installed hole, and part of the structure of the fixing member is arranged to pass through the first shell, and the part of the structure of the fixing member is adapted to be inserted into the pre-installed hole.

[0023] In the embodiment of the present application, the part of the structure of the fixing member is inserted into the pre-installed hole, thereby limiting the mounting position of the handle structure relative to the main body, realizing pre-installation, and facilitating the connection of the handle structure and the main body.

[0024] In a possible implementation, the fixing member is provided with a wire slot, the first shell is provided with a through hole, and the main body is provided with a wire hole corresponding to the position of the through hole.

[0025] In the embodiment of the present application, the relevant cable in the handle structure can pass through the wire slot and the wire hole, and then enter the main body, and be connected with the corresponding element. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application. Those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0027] Figure 1 An exploded view of the handle structure according to some embodiments of the present application is shown;

[0028] Figure 2 An enlarged view of A in FIG. Figure 1

[0029] Figure 3 A structural schematic view of the fixing member according to some embodiments of the present application is shown;

[0030] Figure 4 A partial structural schematic view of the handle structure according to some embodiments of the present application is shown;

[0031] Figure 5 A structural schematic view of the mechanical arm according to some embodiments of the present application is shown.

[0032] Reference signs:

[0033] 01, handle structure;

[0034] 10, outer shell; 11, first shell; 111, connecting column; 112, limiting plate; 113, positioning hole; 114, first connecting hole; 115, through hole; 116, sunken position;

[0035] 12, second shell; 121, mounting column; 122, plug-in member; 1221, plug-in part; 123, convex edge;

[0036] 20, fixing member; 21, first fixing end; 211, protrusion; 212, positioning member; 213, second connecting hole; 22, second fixing end; 221, plug-in hole; 23, wire slot;

[0037] 02, main body;

[0038] 30, mounting position; 40, pre-assembly hole; 50, assembly hole; 60, wire hole. DETAILED DESCRIPTION

[0039] ​In order to make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort should fall within the protection scope of the present application.

[0040] The surgical robot in the related art needs a hand-held handle structure to adjust the movement of the mechanical arm, and then adjust the position of the instrument on the mechanical arm for surgery. The handle structure in the related art usually has two functions. The first function is to facilitate the user to hold the handle to control the movement of the mechanical arm, so as to control the mechanical arm to move to a predetermined position in space. The second function is that the handle structure is internally provided with a switch for controlling the movement and fixation of the mechanical arm. When the switch is opened, the motor for connecting the mechanical arm with the robot body is turned on, and at this time the handle structure can control the movement of the mechanical arm. When the switch is closed, the motor for connecting the mechanical arm with the robot body is turned off, and the motor is in a self-locking state, and the mechanical arm cannot move any more.

[0041] As can be understood from the above, the handle structure internally has a switch for installing. In order to facilitate the maintenance and maintenance of the handle structure, the handle structure is provided with two detachable housings. The switch is located in the space surrounded between the two housings, and the two housings can be detached when replacement or maintenance is needed. However, the two housings in the related art are usually connected together by screws. In order to ensure the tight connection between the housings, either the two housings are connected together along the edge of the housing by screws, or the two housings are connected together along the length direction of the two housings by screws. Such a connection mode makes it quite troublesome to assemble and disassemble the two housings, and it is time-consuming.

[0042] The present application provides a handle structure. A pre-installation structure is arranged on one of the housings. Part of the structure of the other housing can be connected to the pre-installation structure, so that the two housings can be fixed in a predetermined direction. Then the remaining structures of the two housings are installed together by a connecting structure, so that the two housings are relatively fixed, and the installation between the two housings is realized. The present application can pre-install the two housings through the pre-installation structure. Compared with the related art which only connects the two housings by screws, the number of screw connections is reduced, and the time required for installation between the two housings is reduced.

[0043] The first aspect of the present application provides a handle structure 01. Please refer to Figure 1The handle structure 01 comprises a housing 10 and a fixing member 20, wherein the housing 10 comprises two independently arranged housing structures, i.e. a first housing 11 and a second housing 12, the first housing 11 and the second housing 12 can be mounted together, and the first housing 11 and the second housing 12 need to be detachably connected. When the first housing 11 and the second housing 12 are mounted together, a cavity is formed therebetween for accommodating a switch structure.

[0044] The fixing member 20 is mounted on the housing 10, specifically, the fixing member 20 is mounted on the first housing 11, and a fixing position is formed between at least part of the structure of the fixing member 20 and the first housing 11. A part of the structure of the second housing 12 can be inserted into the fixing position to limit the relative movement between the second housing 12 and the first housing 11 in a predetermined direction, so that the second housing 12 and the first housing 11 are pre-mounted.

[0045] Another part of the structure of the second housing 12 is detachably connected with the first housing 11, so that the first housing 11 and the second housing 12 are mounted and fixed.

[0046] It should be noted that when the part of the structure of the second housing 12 is inserted into the fixing position, the second housing 12 and the first housing 11 can be relatively fixed in the predetermined direction, which has at least two results. The first result is that although the second housing 12 and the first housing 11 are relatively fixed in the predetermined direction, they can be relatively moved in another direction or multiple directions. The second result is that the second housing 12 and the first housing 11 are relatively fixed in all directions by the cooperation between the fixing position and the second housing 12.

[0047] In order to ensure the stability of the mounting between the first housing 11 and the second housing 12, the first housing 11 and the second housing 12 are further connected together by a detachable structure such as a screw, a buckling structure or a clamping structure after pre-mounting. For example, when the first housing 11 and the second housing 12 can be relatively moved in a direction other than the predetermined direction after pre-mounting, the first housing 11 and the second housing 12 are connected together by the detachable structure, and the detachable structure is arranged to limit the relative movement between the first housing 11 and the second housing 12 in the direction other than the predetermined direction.

[0048] In addition, the predetermined direction mentioned in the present application is a direction other than the insertion direction of the part of the structure of the second housing 12 inserted into the fixing position. For example, please refer to Figure 1 , Figure 1The direction shown by X in the figure can be set as the insertion direction when the partial structure of the second housing 12 is inserted into the fixing position, along which the partial structure of the second housing 12 can be inserted into the fixing position to realize the pre-assembly of the second housing 12 and the first housing 11, and the directions shown by the Y axis and the Z axis both belong to the range of the predetermined direction, that is, when the second housing 12 and the first housing 11 are pre-assembled, the second housing 12 and the first housing 11 are relatively fixed in at least one of the Y axis direction and the Z axis direction. In the present application, the second housing 12 and the first housing 11 are pre-assembled, and are relatively fixed in at least the Z axis direction.

[0049] The present application can realize the pre-assembly of the first housing 11 and the second housing 12 by providing the fixing member 20, reduce the use of the detachable structure between the first housing 11 and the second housing 12, and only need to insert the partial structure of the second housing 12 into the fixing position to realize the pre-assembly, so that the installation of the first housing 11 and the second housing 12 is more convenient and fast, saves the installation time, and increases the assembly efficiency of the handle structure.

[0050] In an embodiment, please refer to Figures 1 to 3 The fixing member 20 is detachably connected to the first housing 11, the fixing member 20 is provided with a protrusion 211, the protrusion 211 and the first housing 11 have a gap therebetween, the gap forms the fixing position, and the partial structure of the second housing 12 can be inserted into the gap between the protrusion 211 and the first housing 11.

[0051] Specifically, the protrusion 211 and the first housing 11 are spaced apart in the Z axis direction shown in the figure Figure 1 The gap extends along the X axis direction in the figure Figure 1 So that the partial structure of the second housing 12 can be inserted into the fixing position along the X axis direction. It should be noted that when the partial structure of the second housing 12 is inserted into the fixing position, the two ends of the partial structure are respectively attached to the protrusion 211 and the first housing 11. In this way, the movement path of the partial structure of the second housing 12 in the Z axis direction is blocked by the protrusion 211 and the first housing 11, so that the second housing 12 is relatively fixed with the first housing 11 in the Z axis direction.

[0052] In a possible embodiment, the fixing member 20 is provided with a plurality of protrusions 211, which can be two, three, four or more, and the plurality of protrusions 211 are arranged in two rows, and the two rows of protrusions 211 are respectively arranged at the two ends of the fixing member 20 along the Y-axis direction, so that the fixing member 20 is formed with two rows of fixing positions. The second shell 12 is capable of being respectively inserted and fitted with the fixing positions corresponding to the positions of each row of fixing positions.

[0053] The number of protrusions 211 is not limited, as long as two rows of protrusions 211 are arranged along the Y-axis direction, for example, in the embodiment, four protrusions 211 are arranged, and two protrusions 211 are arranged in each row. By arranging two rows of protrusions 211, when part of the structure of the second shell 12 is inserted into the fixing position, the movement of the second shell 12 relative to the first shell 11 along the Y-axis direction is limited, so that the second shell 12 is also relatively fixed relative to the first shell 11 in the Y-axis direction.

[0054] In a specific embodiment, the second shell 12 is provided with an insertion piece 122 corresponding to the position of the gap between the protrusion 211 and the first shell 11, and the second shell 12 is inserted into the fixing position through the insertion piece 122, for example, the insertion piece 122 is provided with an insertion part 1221, and the insertion part 1221 and the second shell 12 also have a gap, and the insertion part 1221 can be inserted and fitted into the fixing position, and at this time, the protrusion 211 can also be inserted into the gap between the insertion part 1221 and the second shell 12.

[0055] In a possible embodiment, the fixing member 20 includes a first fixing end 21, the first fixing end 21 is provided with a positioning piece 212, the first shell 11 is provided with a positioning hole 113, the positioning piece 212 is inserted and fitted into the positioning hole 113, and the first fixing end 21 can be fixed to the first shell 11 through the cooperation of the positioning piece 212 and the positioning hole 113, for example, the positioning piece 212 and the positioning hole 113 can be interference fit. Alternatively, the cooperation between the positioning hole 113 and the positioning piece 212 is only used to limit the movement of the first fixing end 21 relative to the first shell 11 in the X-axis and Y-axis directions, and the first fixing end 21 can also be fixedly connected to the first shell 11 by a screw, so that the first fixing end 21 is connected to the first shell 11.

[0056] It is worth mentioning that in a specific embodiment, the first fixing end 21 is provided with a plurality of positioning pieces 212 arranged at intervals, and the first shell 11 is provided with a plurality of positioning holes 113 corresponding to the plurality of positioning pieces 212. By arranging the insertion and fitting of the plurality of positioning pieces 212 and the plurality of positioning holes 113, the position between the first fixing end 21 and the first shell 11 is more stable.

[0057] It should be noted that in a possible embodiment, the fixing member 20 further comprises a second fixing end 22 connected to the first fixing end 21, and a plug-in hole 221 is formed on the second fixing end 22 away from the first fixing end 21, and a connecting column 111 is arranged on the first shell 11, and when the positioning member 212 is plugged into the positioning hole 113, the connecting column 111 can be plugged into the plug-in hole 221. By arranging the second fixing end 22, the connection between the fixing member 20 and the first shell 11 can be more convenient.

[0058] Specifically, the first fixing end 21 and the second fixing end 22 can be arranged in a split structure, and at this time, the first fixing end 21 and the second fixing end 22 are fixedly connected together, or in this embodiment, the first fixing end 21 and the second fixing end 22 are integrally formed, which facilitates the production and manufacturing of the fixing member 20.

[0059] The end of the first fixing end 21 away from the positioning member 212 and the end of the second fixing end 22 away from the plug-in hole 221 are integrally formed, and a predetermined included angle is arranged at the connection position of the first fixing end 21 and the second fixing end 22, and the angle of the predetermined included angle is not limited, and in this embodiment, the included angle between the first fixing end 21 and the second fixing end 22 is an obtuse angle. The included angle between the first fixing end 21 and the second fixing end 22 allows the fixing member 20 to be arranged in a bent manner at the middle position, and when the positioning member 212 is plugged into the positioning hole 113 and when the connecting column 111 is plugged into the plug-in hole 221, the connection position of the first fixing end 21 and the second fixing end 22 is arranged outwardly protruding away from the first shell 11.

[0060] It is worth mentioning that the fixing member 20 is made of an elastic material as a whole, such as an elastic plastic material or an elastic metal material, and the like, so that the angle between the first fixing end 21 and the second fixing end 22 can be changed under the action of an external force, that is, the bending degree of the fixing member 20 can be changed by an external force.

[0061] In this way, when the fixing member 20 is arranged, the angle between the first fixing end 21 and the second fixing end 22 can be arranged such that the positioning member 212 on the first fixing end 21 is inserted into the positioning hole 113, and the insertion hole 221 on the second fixing end 22 is misaligned with the connecting column 111 on the first shell 11. At this time, the angle between the first fixing end 21 and the second fixing end 22 can be reduced by external force to make the insertion hole 221 align with the connecting column 111, and then the connecting column 111 is inserted into the insertion hole. When the external force is removed, the first fixing end 21 and the second fixing end 22 have a tendency to return to the original state under the action of the elastic force, so that the abutting action between the positioning member 212 and the hole wall of the positioning hole 113 is increased, the positioning member 212 is relatively difficult to separate from the positioning hole 113, and the abutting action between the connecting column 111 and the hole wall of the insertion hole 221 is increased, the connecting column 111 is relatively difficult to separate from the insertion hole 221, so that the fixing member 20 can be fixed relative to the first shell 11.

[0062] In addition, a blocking rib structure (not shown in the figure) can also be provided on the second shell 12. During the process of inserting the insertion part 1221 into the fixed position, the blocking rib structure can pass through the connecting position of the first fixing end 21 and the second fixing end 22. During the process of inserting the insertion part 1221 into the fixed position, the blocking rib structure can first abut against the surface of the second fixing end 22, then move along the surface of the second fixing end 22, pass through the connecting position of the first fixing end 21 and the second fixing end 22, and then abut against the surface of the first fixing end 21. The connecting position between the first fixing end 21 and the second fixing end 22 can block the movement of the blocking rib structure along the X-axis direction, but due to the elastic arrangement between the first fixing end 21 and the second fixing end 22, when the second shell 12 continues to move, the connecting position of the first fixing end 21 and the second fixing end 22 can be forced to move towards the first shell 11, so that the angle between the first fixing end 21 and the second fixing end 22 increases, and then the blocking rib structure can smoothly pass through the connecting position of the first fixing end 21 and the second fixing end 22. When the blocking rib structure passes through and abuts against the predetermined position of the first fixing end 21, the connecting position of the first fixing end 21 and the second fixing end 22 returns to the original state to block the blocking rib structure from returning along the original path.

[0063] Therefore, the angle between the first fixing end 21 and the second fixing end 22 can play a blocking role after the second shell 12 is inserted into the fixed position along the insertion direction, which blocks the second shell 12 from separating from the fixing member 20 along the original path, so that the connection between the second shell 12 and the fixing member 20 is more stable. However, the first fixing end 21 and the second fixing end 22 are both elastically arranged, so that a certain external force can drive the second shell 12 to separate from the fixing member 20, which facilitates the assembly and disassembly between the second shell 12 and the fixing member 20.

[0064] In a possible embodiment, please refer to Figures 1 to 4The first shell 11 is further provided with a plurality of limiting plates 112 corresponding to the position of the second fixed end 22. The plurality of limiting plates 112 are arranged at intervals along the extension direction of the second fixed end 22. Each limiting plate 112 is provided with a limiting portion. The limiting portion is a limiting space that can be matched with the outer dimensions of the second fixed end 22, so that the second fixed end 22 can be matched in the limiting portion. By arranging the limiting plates 112 and the limiting portions on the limiting plates 112, when the fixing member 20 is installed, the second fixed end 22 can be placed in the limiting portion to limit the position of the second fixed end 22 relative to the first shell 11, thereby ensuring that the position of the entire fixing member 20 relative to the first shell 11 is relatively stable.

[0065] It should be noted that the limiting portion can be formed by two spaced limiting structures protruding from the limiting plate 112, and the limiting portion is formed between the two spaced limiting structures and the limiting plate 112. Alternatively, the limiting portion can also be formed by removing some structures of the limiting plate 112, for example, a groove structure can be directly formed on the end of the limiting plate 112 away from the first shell 11 to form the limiting portion.

[0066] In order to ensure the stability of the connection between the first shell 11 and the second shell 12, after the second shell 12 and the fixing member 20 are connected, the first shell 11 and the second shell 12 can also be connected through a detachable structure. The detachable structure includes but is not limited to any one or more of a screw structure, a buckle structure or a clamping structure.

[0067] In this application, the first shell 11 and the second shell 12 can be fixed by screws to increase the stability of assembly. For example, the second shell 12 is provided with a mounting column 121 corresponding to the position of the connecting column 111. One of the interiors of the connecting column 111 and the mounting column 121 can be provided with a screw hole, and the other one can be provided with a through hole. Alternatively, the connecting column 111 and the mounting column 121 can be provided with screw holes. The first shell 11 and the second shell 12 can be connected together by using a screw to pass through the through hole and be screwed with the screw hole.

[0068] In order to ensure that the first shell 11 and the second shell 12 can be quickly installed, it is necessary to quickly align the first shell 11 and the second shell 12, that is, it is necessary to quickly align the plug-in part 1221 of the plug-in part 122 with the fixed position and quickly align the connecting column 111 with the mounting column 121. In a possible embodiment, the edge of the first shell 11 is recessed with a sunken position 116, and the edge of the second shell 12 is protruded with a protruding edge 123 corresponding to the sunken position 116. The sunken position 116 is formed on the first shell 11 around the periphery of the first shell 11, and the protruding edge 123 of the second shell 12 is arranged corresponding to the periphery of the second shell 12. When the sunken position 116 is arranged, part of the structure of the first shell 11 needs to be cut off along the periphery of the first shell 11, so that the periphery of the first shell 11 forms a stepped structure, and the protruding edge 123 of the second shell 12 can be fitted into the sunken position 116. The cooperation between the sunken position 116 and the protruding edge 123 can quickly align the first shell 11 and the second shell 12.

[0069] The second aspect of the present application also provides a mechanical arm, please refer to Figure 5 The mechanical arm can be applied to a surgical robot, and an instrument used for surgery by the surgical robot can be installed on the mechanical arm. The mechanical arm comprises a main body 02 and the above-mentioned handle structure 01, and the handle structure 01 is installed on the main body 02. The movement of the mechanical arm can be controlled by holding the handle structure 01 by hand.

[0070] The handle structure 01 is detachably connected to the main body 02, specifically, the main body 02 is provided with a mounting position 30, the mounting position 30 is penetrated by a pre-installed hole 40, part of the structure of the fixing part 20 is arranged to penetrate the first shell 11 and can extend out of the first shell 11, the first shell 11 can be fitted to the mounting position 30 corresponding to the position where the fixing part 20 extends out of the first shell 11, and the structure of the fixing part 20 extending out of the first shell 11 can be plugged and fitted into the pre-installed hole 40.

[0071] Specifically, the positioning part 212 on the fixing part 20 can extend out of the first shell 11 when it is plugged into the positioning hole 113, and the first shell 11 can be fitted to the mounting position 30 corresponding to one end of the positioning hole 113, and the positioning part 212 can be plugged and fitted into the pre-installed hole 40 on the mounting position 30. Through the plugging and cooperation of the positioning part 212 and the pre-installed hole 40, the relative position between the first shell 11 and the main body 02 can be limited, and at this time the first shell 11 and the main body 02 can be conveniently installed together.

[0072] In a possible embodiment, the main body 02 is provided with an assembly hole 50 on the mounting position 30, and the first shell 11 is provided with a first connecting hole 114 at a position corresponding to the assembly hole 50, and the assembly hole 50 or the first connecting hole 114 is a threaded hole. Through the cooperation of the screw and the threaded hole, the first shell 11 can be fixed to the mounting position 30, so that the first shell 11 and the main body 02 are fixedly connected.

[0073] In addition, a second connecting hole 213 can be formed on the first fixing end 21 of the fixing member 20 at a position corresponding to the first connecting hole 114. The second connecting hole 213 is a threaded hole, and a screw for connecting the first shell 11 and the main body 02 can be screwed into the second connecting hole 213 to tighten the fixing member 20 and clamp the first shell 11 between the fixing member 20 and the main body 02.

[0074] It should be noted that in a possible embodiment, the shell 10 is entirely arc-shaped, and the first shell 11 and the second shell 12 are both arc-shaped. The two ends of the first shell 11 need to be connected to the main body 02, and therefore, the main body 02 is provided with two mounting positions 30 at intervals.

[0075] It is worth mentioning that the first shell 11 and the second shell 12 can be made of elastic materials, such as plastic or rubber materials, so that the shell 10 as a whole has elasticity. The two ends of the first shell 11 are both provided with the fixing member 20, that is, the two ends of the first shell 11 both protrude the positioning member 212. The spacing between the two ends of the positioning member 212 is smaller than the spacing between the two mounting positions 30 on the main body 02. Therefore, before the positioning member 212 is inserted into the pre-installed hole 40, an external force needs to be applied to the two ends of the first shell 11 to increase the spacing between the two ends. When the positioning member 212 is aligned with the pre-installed hole 40, the external force is removed, so that the first shell 11 returns to its original state, and the positioning member 212 is inserted into the pre-installed hole 40, thereby realizing the pre-installation of the first shell 11 and the main body 02.

[0076] In a possible embodiment, the shell 10 is internally provided with a switch structure, which can be electrically connected to a control structure in the main body 02. In order to facilitate the transmission of wires from the handle structure 01 to the main body 02, a wire slot 23 is formed through the fixing member 20, and a through hole 115 is formed through the first shell 11 at a position corresponding to the mounting position 30. A wire hole 60 is formed on the main body 02 at a position corresponding to the through hole 115. The wires can pass through the wire slot 23, the through hole 115, and the wire hole 60 at one time and enter the main body 02.

[0077] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0078] In the description of the present application, it should be understood that the terms "comprising" and "having" and any variations thereof used in the embodiments of the present application are intended to cover the non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units need not be limited to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0079] Unless otherwise clearly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or can be integrated; can be directly connected, or can be indirectly connected through an intermediate medium; can be connected inside two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0080] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A handle structure, characterized by The application relates to a handle structure comprising: a housing comprising a first shell and a second shell connected detachably; and a fixing member arranged on the first shell, at least part of the structure of the fixing member and the first shell being provided with a fixing position, and a part of the structure of the second shell being capable of being inserted into the fixing position to define relative fixation of the second shell and the first shell in a predetermined direction. The fixing member is provided with a protrusion, and a gap is formed between the protrusion and the first shell, the gap forming the fixing position, and the second shell is provided with an insertion part at a position corresponding to the gap, and the insertion part is provided with an insertion portion capable of being inserted into the fixing position.

2. The handle structure according to claim 1, characterized in that The fixing member comprises a first fixing end, and the first fixing end is provided with a positioning member, and the first shell is provided with a positioning hole matched with the positioning member; and / or 3. The handle structure according to claim 1, wherein The fixing member comprises a second fixing end, and the second fixing end is provided with an insertion hole, and the first shell is provided with a connecting column matched with the insertion hole. The first shell is further provided with a limiting plate at a position corresponding to the second fixing end, and the limiting plate is provided with a limiting portion, and the second fixing end is arranged on the limiting portion.

4. The handle structure according to claim 3, characterized in that When the fixing member comprises the first fixing end and the second fixing end, the first fixing end and the second fixing end are connected, and a predetermined included angle is arranged at a connecting position of the first fixing end and the second fixing end, so that the connecting position of the first fixing end and the second fixing end is arranged outwardly from the first shell.

5. The handle structure according to claim 3, wherein The second shell is provided with a mounting column at a position corresponding to the connecting column, and the connecting column and the mounting column are detachably connected.

6. The handle structure according to claim 5, wherein An edge of the first shell is recessed with a sunken position, and an edge of the second shell is provided with a convex edge corresponding to the sunken position, and the convex edge is capable of being matched with the sunken position.

7. The handle structure according to claim 1, wherein The application further relates to a main body and the handle structure as claimed in any one of claims 1 to 7, and the handle structure is arranged on the main body.

8. A robot arm, characterized in that The main body is provided with a mounting position, and a pre-arranged hole is arranged through the mounting position, and part of the structure of the fixing member is arranged through the first shell, and part of the structure of the fixing member is capable of being inserted into the pre-arranged hole.

9. The robot arm of claim 8, wherein, A wire slot is arranged through the fixing member, a through hole is arranged through the first shell, and a wire hole is arranged on the main body at a position corresponding to the through hole.

10. The robotic arm of claim 8, wherein, ​

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