Medical mechanical arm with locking function

Abstract

The utility model discloses a medical mechanical arm with locking function, including mechanical arm body, install main arm on the mechanical arm body, main arm one end is connected with the branch, and the branch bottom is provided with operating arm, and the connecting position of branch and operating arm is provided with self -locking assembly. The utility model provides a medical mechanical arm with locking function through starting electric telescopic link drive self -locking to one side slide, and under the cooperation of self -locking assembly, can to operating arm rotate one of the direction of self -locking spacing, and when to another rotating direction self -locking, then need to start electric telescopic and make self -locking axle slide to the other side, can reach the purpose of two -way self -locking, two -way self -locking function can ensure that mechanical arm will not accidentally move because of external factor when in specific position, can prevent the operation error or risk caused by mechanical arm movement.

Description

Technical Field

[0001] This utility model relates to the field of medical technology, specifically a medical robotic arm with a locking function. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields. As a complex system, a robotic arm is subject to uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling of a robotic arm also contains uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm's joints to cascade and form the end effector pose. The utility model patent application with publication number CN215349427U includes a fixed arm, two fixed clamping plates installed at one end of the fixed arm, a connecting shaft installed on one side of the two fixed clamping plates close to each other, a movable rotating plate rotatably sleeved on the connecting shaft, and a movable arm installed on the side wall of the movable rotating plate. The movable rotating plate is equipped with a clamping assembly for locking the connecting shaft. The fixed arm is equipped with a pressing rod and a pressing unit for controlling the state of the clamping assembly. The pressing rod is connected to the pressing unit. This utility model has a reasonable structure, allowing personnel to conveniently and quickly adjust the position of the robotic arm. After the position of the robotic arm is adjusted, the fixed arm and the movable arm can be fixed in their final positions in a timely manner, making the medical robotic arm easier to adjust and giving it better self-locking function.

[0003] In the prior art, including the aforementioned patents, existing medical robotic arms require manual lubrication of the bearings at their rotating joints during prolonged use. However, prolonged lack of lubrication can lead to increased friction during rotation, resulting in sluggish operation. This not only increases energy consumption but also reduces the robotic arm's response speed and motion accuracy. Furthermore, poor lubrication can cause the robotic arm to jam or malfunction during rotation, which not only affects the smooth operation of the medical robotic arm but also poses safety hazards to patients and medical staff. Utility Model Content

[0004] The purpose of this invention is to provide a medical robotic arm with a locking function to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a medical robotic arm with locking function, comprising a robotic arm body, a main arm mounted on the robotic arm body, a support arm rotatably connected to one end of the main arm, an operating arm provided at the bottom end of the support arm, and a self-locking component provided at the connection position between the support arm and the operating arm. The self-locking assembly includes a fixed base fixed to the support arm, the support arm having an internal cavity, an electric telescopic rod installed on the outer wall of the fixed base, a self-locking shaft slidably connected to the inner wall of the support arm, the output end of the electric telescopic rod being fixedly connected to the end of the self-locking shaft, a U-shaped cavity being formed inside the self-locking shaft, a bearing ring being sleeved on the arc-shaped outer wall of the self-locking shaft, the arc-shaped outer wall of the bearing ring being fixedly connected to the operating arm, fixed rings being fixedly connected to both sides of the bearing ring, a locking assembly being provided between each fixed ring and both ends of the U-shaped cavity, and a lubrication assembly being provided on the self-locking shaft.

[0006] Furthermore, the end of the self-locking shaft away from the electric telescopic rod passes through the support arm and extends to one side thereon. The support arm is provided with a guide rail hole and a movable groove that matches the operating arm.

[0007] Furthermore, limit rings are fixedly installed on both sides of the bearing ring on the inner side of the support arm, and bearing bodies are fixedly installed on both sides of the bearing ring, with each limit ring being fixedly connected to one end of the bearing body.

[0008] Furthermore, the self-locking shaft includes a first shaft body and a second shaft body, and two engaging components are respectively located inside the first shaft body and the second shaft body. Each engaging component includes a retaining ring fixed on a fixed ring. An inner retaining block is fixedly provided on the retaining ring. Multiple outer retaining blocks are rotatably connected to the inner wall of the first shaft body. A torsion spring is fixedly connected between each outer retaining block and the inner wall of the first shaft body. A stop bar is provided on one side of each outer retaining block, and each stop bar is fixedly connected to the inner wall of the first shaft body.

[0009] Furthermore, multiple stop bars are arranged in a ring array on the inner wall of the first shaft, and two engaging components are disposed opposite to each other inside the self-locking shaft.

[0010] Furthermore, the lubrication assembly includes two lubricating sponges fixed to both sides of the lubricating sponge, and push rings are fixedly provided on the first shaft and the second shaft respectively. The two push rings are symmetrically arranged about the operating arm. An oil cavity is opened inside the bearing ring, and lubricating oil is provided inside the oil cavity. Connecting holes are opened on both sides of the bearing ring, and one end of the two connecting holes is connected to the two lubricating sponges respectively, and the other end of the two connecting holes is connected to the inside of the oil cavity respectively.

[0011] Furthermore, the operating arm is provided with mounting holes that match the bearing ring.

[0012] Compared with the prior art, the beneficial effects of this utility model are: this medical robotic arm with locking function is reasonable and has the following advantages: (1) This utility model can drive the self-locking to slide to one side by starting the electric telescopic rod, and with the cooperation of the self-locking component, it can self-lock and limit the rotation of the operating arm in one direction. When self-locking in the other rotation direction, the electric telescopic rod needs to be started to make the self-locking shaft slide to the other side, thus achieving the purpose of bidirectional self-locking. The bidirectional self-locking function can ensure that the robotic arm will not move unexpectedly due to external factors when it is in a specific position, which can prevent surgical errors or risks caused by the movement of the robotic arm, and can ensure that it can maintain a stable posture when bearing a certain weight. This is crucial for robotic arms that need to support heavy objects for a long time or perform high-intensity surgery. (2) By starting the electric telescopic rod, the self-locking shaft can be moved laterally. With the cooperation of the self-locking component and the lubrication component, the bearing body can be automatically lubricated during each change of the self-locking direction of the operating arm. The lubrication component can ensure that the bearing is fully lubricated each time the self-locking direction is rotated, thereby avoiding the decrease in accuracy caused by friction and wear. Existing medical robotic arms require operators to check and manually add lubricant regularly, which is not only time-consuming and labor-intensive, but also difficult to guarantee the accuracy and timeliness of each lubrication. In addition, the automatic lubrication function can reduce the downtime caused by manual lubrication and improve work efficiency. Attached Figure Description

[0013] Figure 1 This is a front perspective view of the robotic arm body of this utility model; Figure 2 This is a schematic diagram of the structure of the self-locking component of this utility model; Figure 3 This is a cross-sectional structural diagram of the self-locking component of this utility model; Figure 4 This is a perspective sectional view of the self-locking shaft of this utility model. Figure 5 This is a front sectional view of the first shaft of this utility model; Figure 6 This is a front sectional view of the second axis of this utility model.

[0014] In the diagram: 1. Robotic arm body; 11. Main arm; 12. Support arm; 13. Operating arm; 2. Self-locking assembly; 21. Fixed base; 22. Electric telescopic rod; 23. Self-locking shaft; 231. First shaft body; 232. Second shaft body; 24. Bearing ring; 25. Fixed ring; 26. Engaging assembly; 261. Snap ring; 262. Inner snap block; 263. Outer snap block; 3. Lubrication components; 31. Push ring; 32. Lubricating sponge; 33. Oil cavity. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Please see Figure 1-6 The technical solution provided by this utility model is as follows: Example 1:

[0017] In this embodiment, a medical robotic arm with locking function includes a robotic arm body 1, a main arm 11 is mounted on the robotic arm body 1, a support arm 12 is rotatably connected to one end of the main arm 11, an operating arm 13 is provided at the bottom end of the support arm 12, and a self-locking component 2 is provided at the connection position between the support arm 12 and the operating arm 13. The self-locking assembly 2 includes a fixed seat 21 fixed on the support arm 12. The support arm 12 has a cavity inside. An electric telescopic rod 22 is installed on the outer wall of the fixed seat 21. A self-locking shaft 23 is slidably connected to the inner wall of the support arm 12. The output end of the electric telescopic rod 22 is fixedly connected to the end of the self-locking shaft 23. A U-shaped cavity is opened inside the self-locking shaft 23. A bearing ring 24 is sleeved on the arc-shaped outer wall of the self-locking shaft 23. The arc-shaped outer wall of the bearing ring 24 is fixedly connected to the operating arm 13. Fixed rings 25 are fixedly connected to both sides of the bearing ring 24. A locking assembly 26 is provided between each fixed ring 25 and the two ends of the U-shaped cavity. A lubrication assembly 3 is provided on the self-locking shaft 23. The locking shaft 23 passes through the support arm 12 from the end away from the electric telescopic rod 22 and extends to one side of it. The support arm 12 is provided with a guide rail hole and a movable groove that matches the operating arm 13. Limiting rings are fixedly installed on both sides of the bearing ring 24 on the inner side of the support arm 12. Bearing bodies are fixedly installed on both sides of the bearing ring 24, and each limiting ring is fixedly connected to one end of the bearing body. The self-locking shaft 23 includes a first shaft body 231 and a second shaft body 232, and two engaging components 26 are respectively located inside the first shaft body 231 and the second shaft body 232. Each engaging component 26 includes a retaining ring 261 fixed on a fixing ring 25. An inner retaining block 262 is fixedly provided on the retaining ring 261. A plurality of outer retaining blocks 263 are rotatably connected to the inner wall of the first shaft body 231. A torsion spring is fixedly connected between each outer retaining block 263 and the inner wall of the first shaft body 231. A stop bar is provided on one side of each outer retaining block 263, and each stop bar is fixedly connected to the inner wall of the first shaft body 231. Multiple baffles are arranged in a ring array on the inner wall of the first shaft 231, and two locking components 26 are arranged oppositely inside the self-locking shaft 23; The operating arm 13 has mounting holes that match the bearing ring 24; When rotating the operating arm 13, such as Figure 4 When it is necessary to rotate the operating arm 13 counterclockwise, the electric telescopic rod 22 can be activated, and the self-locking shaft 23 fixedly connected to the output end of the electric telescopic rod 22 can be driven to slide from left to right. At this time, the inner locking block 262 fixed on the retaining ring 261 near the first shaft 231 is located between multiple outer locking blocks 263. The operating arm 13 can be rotated. Under the connection of the fixed ring 25 and the retaining ring 261, the inner locking block 262 near the first shaft 231 is driven to revolve. At this time, the inner locking block 262 can contact multiple outer locking blocks 263 respectively, and squeeze the torsion spring between the first shaft 231 and the outer locking block 263 one by one. When the self-locking shaft 23 stops rotating, the inner locking block 262 can contact the adjacent outer locking block 263, and under the limit of the stop bar, it plays the purpose of self-locking and limiting. When it is necessary to rotate the operating arm 13 clockwise, such as Figure 4 By activating the electric telescopic rod 22, the self-locking shaft 23, which is fixedly connected to the output end of the electric telescopic rod 22, can slide from right to left. With the cooperation of the self-locking component 2, the inner locking block 262 on the side near the second shaft 232 is positioned between multiple outer locking blocks 263 on the side near the second shaft 232. At this time, the inner locking block 262 on the side near the first shaft 231 can move to the side of multiple outer locking blocks 263 on the side near the first shaft 231, and the inner locking block 262 can contact multiple outer locking blocks 263 respectively. When the self-locking shaft 23 stops rotating, with the cooperation of the locking component 26, the inner locking block 262 can contact and lock the adjacent outer locking block 263, thereby achieving a bidirectional self-locking effect.

[0018] In this embodiment, the lubrication assembly 3 includes two lubrication sponges 32 fixed on both sides of the lubrication sponge 32. Push rings 31 are fixedly provided on the first shaft 231 and the second shaft 232 respectively. The two push rings 31 are symmetrically arranged about the operating arm 13. An oil cavity 33 is opened inside the bearing ring 24. Lubricating oil is provided inside the oil cavity 33. Connecting holes are opened on both sides of the bearing ring 24 respectively. One end of the two connecting holes is connected to the two lubrication sponges 32 respectively, and the other end of the two connecting holes is connected to the inside of the oil cavity 33 respectively. The bearing body is located outside the lubrication sponge 32.

[0019] During the self-locking process of the operating arm 13, the electric telescopic rod 22 needs to be activated, which will drive the self-locking shaft 23 fixed at its output end to move. During the movement, the push ring 31 fixed on the self-locking shaft 23 can squeeze the lubricating sponge 32 on the bearing ring 24, and the lubricating oil on the lubricating sponge 32 can lubricate along the inner wall of the bearing body. The lubricating sponge 32 can absorb the lubricating oil inside the oil cavity 33 through the connecting hole by capillary action, thereby playing the role of automatically replenishing the lubricating oil.

[0020] Working principle: During use, when rotating the operating arm 13, if it is necessary to rotate the operating arm 13 counterclockwise, the electric telescopic rod 22 can be activated, causing the self-locking shaft 23 fixedly connected to the output end of the electric telescopic rod 22 to slide from left to right. At this time, the inner locking block 262 fixed on the retaining ring 261 near the first shaft 231 is located between multiple outer locking blocks 263. The operating arm 13 can then be rotated. Under the connection of the fixed ring 25 and the retaining ring 261, the inner locking block 262 near the first shaft 231 is driven to revolve. At this time, the inner locking block 262 can respectively engage with multiple... The outer locking block 263 contacts and squeezes the torsion spring between the first shaft 231 and the outer locking block 263 one by one. When the self-locking shaft 23 stops rotating, the inner locking block 262 can contact the adjacent outer locking block 263 and achieve the purpose of self-locking and limiting under the limit of the stop bar. At this time, the push ring 31 fixed on the self-locking shaft 23 can squeeze the lubricating sponge 32 on the bearing ring 24, and the lubricating oil on the lubricating sponge 32 can lubricate along the inner wall of the bearing body. The lubricating sponge 32 can absorb the lubricating oil inside the oil cavity 33 through the connecting hole by capillary action, thereby playing the role of automatically replenishing the lubricating oil.

[0021] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A medical robotic arm with a locking function, comprising a robotic arm body (1), characterized in that: The main arm (11) is mounted on the robotic arm body (1). A support arm (12) is rotatably connected to one end of the main arm (11). An operating arm (13) is provided at the bottom end of the support arm (12). A self-locking component (2) is provided at the connection position between the support arm (12) and the operating arm (13). The self-locking assembly (2) includes a fixed seat (21) fixed on the support arm (12). The support arm (12) has a cavity inside. An electric telescopic rod (22) is installed on the outer wall of the fixed seat (21). A self-locking shaft (23) is slidably connected to the inner wall of the support arm (12). The output end of the electric telescopic rod (22) is fixedly connected to the end of the self-locking shaft (23). A U-shaped cavity is opened inside the self-locking shaft (23). A bearing ring (24) is rotatably connected to the arc-shaped outer wall of the self-locking shaft (23). The arc-shaped outer wall of the bearing ring (24) is fixedly connected to the operating arm (13). Fixed rings (25) are fixedly connected to both sides of the bearing ring (24). A locking assembly (26) is provided between each fixed ring (25) and the two ends of the U-shaped cavity. A lubrication assembly (3) is provided on the self-locking shaft (23).

2. A medical robotic arm with locking function according to claim 1, characterized in that: The self-locking shaft (23) extends through the support arm (12) and to one side of the electric telescopic rod (22) at one end. The support arm (12) has a guide rail hole and an active groove that matches the operating arm (13).

3. A medical robotic arm with locking function according to claim 1, characterized in that: Limiting rings are fixedly installed on both sides of the bearing ring (24) on the inner side of the support arm (12). Bearing bodies are fixedly installed on both sides of the bearing ring (24), and each limiting ring is fixedly connected to one end of the bearing body.

4. A medical robotic arm with locking function according to claim 1, characterized in that: The self-locking shaft (23) includes a first shaft body (231) and a second shaft body (232), and two engaging components (26) are located inside the first shaft body (231) and the second shaft body (232) respectively. Each engaging component (26) includes a retaining ring (261) fixed on a fixing ring (25). An inner retaining block (262) is fixedly provided on the retaining ring (261). A plurality of outer retaining blocks (263) are rotatably connected to the inner wall of the first shaft body (231). A torsion spring is fixedly connected between each outer retaining block (263) and the inner wall of the first shaft body (231). A stop bar is provided on one side of each outer retaining block (263), and each stop bar is fixedly connected to the inner wall of the first shaft body (231).

5. A medical robotic arm with locking function according to claim 4, characterized in that: Multiple of the baffles are arranged in a ring array on the inner wall of the first shaft (231), and two locking components (26) are arranged oppositely inside the self-locking shaft (23).

6. A medical robotic arm with locking function according to claim 4, characterized in that: The lubrication assembly (3) includes two lubrication sponges (32) fixed on both sides of the lubrication sponge (32). Push rings (31) are fixed on the first shaft (231) and the second shaft (232). The two push rings (31) are symmetrically arranged about the operating arm (13). An oil cavity (33) is opened inside the bearing ring (24). Lubricating oil is provided inside the oil cavity (33). Connecting holes are opened on both sides of the bearing ring (24). One end of the two connecting holes is connected to the two lubrication sponges (32), and the other end of the two connecting holes is connected to the inside of the oil cavity (33).

7. A medical robotic arm with locking function according to claim 1, characterized in that: The operating arm (13) has mounting holes that match the bearing ring (24).

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