CN113561165B

CN113561165B - Electric self-locking arm

Info

Publication number: CN113561165B
Application number: CN202110984208.1A
Authority: CN
Inventors: 刘冰; 田宝龙
Original assignee: Qingdao Novelbeam Technology Co ltd
Current assignee: Qingdao Novelbeam Technology Co ltd
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2023-07-21
Anticipated expiration: 2041-08-25
Also published as: CN113561165A

Abstract

The present disclosure provides an electric self-locking arm, comprising: at least two joints, which are connected in turn and enable relative movement between two adjacent joints; wherein an electric drive structure is arranged in the joint, and when the electric drive structure is in a power-off state, the length of the electric drive structure is increased, so that the relative movement between two adjacent joints is limited; when the electrically driven structure is in an energized state, the electrically driven structure shortens in length, thereby allowing relative movement between two adjacent joints.

Description

Electric self-locking arm

Technical Field

The present disclosure relates to mechanical arms, and more particularly, to an electric self-locking arm.

Background

Endoscopes have found increasing use in medical examination and surgical procedures. For example, during the performance of a procedure, the endoscope hard mirror may be held in a preset pose for a certain period of time and then held in the next preset pose.

In the prior art, most of the hard endoscope is held by a medical staff in a certain preset pose, and under the condition, the medical staff needs to keep the same pose for a long time, so that the labor intensity is high.

In the process of endoscope assisted surgery in part of hospitals, the holding of the pose of the endoscope is realized by clamping the endoscope by the mechanical arms, but the holding of the pose of the end effector of the mechanical arms is realized by the band-type brake system by the mechanical arms, and the fact that the next preset pose is not fixed is considered, so that the mechanical arms are difficult to control conveniently, and the popularization difficulty in hospitals is great.

Disclosure of Invention

In order to solve one of the above technical problems, the present disclosure provides an electric self-locking arm.

According to one aspect of the present disclosure, there is provided an electric self-locking arm comprising:

at least two joints, which are connected in turn and enable relative movement between two adjacent joints;

wherein, an electric driving structure is arranged in the joint, and when the electric driving structure is in a power-off state, the electric driving structure is in a preset position so as to limit the relative movement between two adjacent joints; when the electrically driven structure is in an energized state, the electrically driven structure shortens in length, thereby allowing relative movement between two adjacent joints.

An electric self-locking arm according to at least one embodiment of the present disclosure, the joint comprising:

the electric driving structure is arranged in the cylinder;

the first movable part is movably arranged at one end of the cylinder body; and

the first cover body is provided with a through hole in the middle, and one end of the first movable part penetrates through the through hole and is positioned outside the cylinder;

the first cover body is used for limiting the movement of the first movable part along the cylinder body direction; when the electrically driven structure is in a power-off state, the first movable portion is limited between the first cover and the electrically driven structure.

According to the electric self-locking arm of at least one embodiment of the present disclosure, the first movable portion extends out of the cylinder of the joint adjacent to the current joint at one end of the first cover body, so that the adjacent joints are connected to each other.

An electric self-locking arm according to at least one embodiment of the present disclosure, the joint further comprising:

a second movable part arranged at the other end of the cylinder body and

the middle part of the second cover body is provided with a through hole, and one end of the second movable part penetrates through the through hole and is positioned outside the cylinder;

the second cover body is used for limiting the movement of the second movable part along the cylinder body direction; when the electrically driven structure is in a power-off state and the length is increased, the second movable portion is restrained between the second cover and the electrically driven structure.

According to at least one embodiment of the present disclosure, the first movable portion of the current joint is connected with the second movable portion of the next-stage joint connected to the current joint so as to be connected with each other between the current joint and the next-stage joint.

According to at least one embodiment of the present disclosure, the first movable portion of the current joint is integrally formed with the second movable portion of the next-stage joint connected to the current joint so as to be connected to each other between the current joint and the next-stage joint.

According to at least one embodiment of the present disclosure, the portion of the first movable portion and/or the second movable portion located in the cylinder is formed in a spherical shape.

and the brake part is driven by the electric driving structure to provide friction force for the first movable part and/or the second movable part and limit the movement of the first movable part and/or the second movable part relative to the cylinder body through the friction force.

The electric self-locking arm according to at least one embodiment of the present disclosure, the braking part has a hollow cylindrical shape, wherein an inner diameter of the braking part is smaller than a diameter of the first movable part and/or the second movable part to provide a braking force to the first movable part and/or the second movable part through contact of an inner wall of the braking part with an outer surface of the first movable part and/or the second movable part.

and the push plate is driven by the electric driving structure, and a spring is arranged between the push plate and the braking part, so that when the electric driving structure pushes the push plate, the push plate provides driving force for the braking part through the spring.

the pressure sensor is arranged between the electric driving structure and the pushing plate and is used for detecting the pressure applied to the pushing plate by the electric driving structure.

and the slip ring is arranged on the brake part or the push plate so as to provide electric energy for the electric driving structure through the slip ring.

An electric self-locking arm according to at least one embodiment of the present disclosure, further comprising:

the clamping jaw is arranged on one of joints at two ends, so that an object to be clamped is clamped through the clamping jaw.

An electrically powered self-locking arm according to at least one embodiment of the present disclosure, the clamping jaw being an electrically powered clamping jaw to clamp an object to be clamped when electrical power is provided to the clamping jaw; and when the clamping jaw is in a power-off state, loosening the clamped object.

According to at least one embodiment of the present disclosure, the clamping jaw is fixed to the first movable portion or the second movable portion of the joint.

According to at least one embodiment of the present disclosure, the electric self-locking arm, the through hole of the first cover has an inner diameter smaller than an outer diameter of the first movable portion; and/or the inner diameter of the through hole of the second cover body is smaller than the outer diameter of the second movable part.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of an electric self-locking arm according to one embodiment of the present disclosure.

Fig. 2 is an enlarged schematic view of the portion a in fig. 1.

Fig. 3 is a cross-sectional view of a joint according to one embodiment of the present disclosure.

The reference numerals in the drawings specifically are:

100 electric self-locking arm

110 joint

111 barrel

112 first movable part

113 first cover

114 second movable part

115 second cover

116 brake part

117 push plate

118 pressure sensor

119 slip ring

120 electric driving structure

130 jaws.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" higher "and" side (e.g., as in "sidewall"), etc., to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below" … … can encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a schematic structural view of an electric self-locking arm according to one embodiment of the present disclosure. Fig. 2 is an enlarged schematic view of the portion a in fig. 1.

As shown in fig. 1 and 2, the electric self-locking arm 100 of the present disclosure includes:

at least two joints 110, the at least two joints 110 being connected in sequence and enabling relative movement between two adjacent joints 110;

wherein, an electric driving structure 120 is arranged inside the joint 110, and when the electric driving structure 120 is in a power-off state, the electric driving structure 120 is in a preset position, so as to limit the relative movement between two adjacent joints 110; when the electrically driven structure 120 is in an energized state, the electrically driven structure 120 shortens in length, thereby allowing relative movement between two adjacent joints 110.

When the electric self-locking arm 100 of the present disclosure is in use, when the switch is pressed to supply power to the electric driving structure 120, the electric driving structure 120 contracts, thereby allowing the electric self-locking arm 100 to freely move; when the button is released, the electrically driven structure 120 is powered off, and the electrically driven structure 120 returns to a preset state, i.e. when the electrically driven structure 120 is extended relative to the powered state, so that the electric self-locking arm is in a locked state, and no relative movement is allowed between the joints, or a force greater than a preset value is required to be applied to the joints, so that the joints can be moved.

Thus, when the motorized self-locking arm 100 includes a plurality of joints 110, for example, greater than 4, the degree of freedom is good, enabling the end joints and the jaws 130 to be maintained in any position. Wherein an electric self-locking arm 100 as shown in fig. 1 comprises three joints 110.

Moreover, when the electric self-locking arm disclosed by the invention is used, only electric energy can be provided for the electric self-locking arm, and the electric self-locking arm is convenient to install and use.

In an alternative embodiment of the present disclosure, as shown in fig. 3, the joint 110 includes:

a cylinder 111, wherein the electric driving structure 120 is disposed in the cylinder 111;

a first movable portion 112, where the first movable portion 112 is movably disposed at one end of the cylinder 111; and

a first cover 113, wherein a through hole is formed in the middle of the first cover 113, and one end of the first movable portion 112 passes through the through hole and is located outside the cylinder 111;

wherein the first cover 113 is used for limiting the movement of the first movable part 112 along the direction of the cylinder 111; when the electrically driven structure 120 is in the power-off state and in the preset position, the first movable portion 112 is limited between the first cover 113 and the electrically driven structure 120.

As an implementation form of the present disclosure, as shown in fig. 3, the first movable portion 112 extends from one end of the first cover 113 to be fixed to the cylinder 111 of the joint 110 adjacent to the current joint 110, so as to connect the adjacent joints 110 to each other.

As another implementation form of the present disclosure, as shown in fig. 3, the joint 110 further includes:

a second movable portion 114, the second movable portion 114 being provided at the other end of the cylinder 111, and

a second cover 115, a through hole is formed in the middle of the second cover 115, and one end of the second movable portion 114 passes through the through hole and is located outside the cylinder 111;

wherein the second cover 115 is used for limiting the movement of the second movable part 114 along the direction of the cylinder 111; when the electrically driven structure 120 is in the power-off state and the length is increased, the second movable portion 114 is restrained between the second cover 115 and the electrically driven structure 120.

The first movable part 112 of the current joint 110 is connected with the second movable part 114 of the next joint 110 connected with the current joint 110 so as to be connected with each other between the current joint 110 and the next joint 110.

More preferably, the first movable portion 112 of the current joint 110 is formed integrally with the second movable portion 114 of the next joint 110 connected to the current joint 110 so as to be connected to each other between the current joint 110 and the next joint 110.

In an alternative embodiment of the present disclosure, as shown in fig. 3, the portion of the first movable portion 112 and/or the second movable portion 114 located inside the cylinder 111 is formed in a spherical shape.

In the present disclosure, as shown in fig. 3, the joint 110 further includes:

a braking portion 116, wherein the braking portion 116 is driven by the electric driving structure 120 to provide a friction force to the first movable portion 112 and/or the second movable portion 114, and limit the movement of the first movable portion 112 and/or the second movable portion 114 relative to the cylinder 111 by the friction force.

For example, when the joint 110 includes one movable portion, i.e., includes a first movable portion, the number of the braking portions 116 is one, and the braking portions 116 are engaged with the first movable portion.

When the joint 110 includes two movable parts, i.e., a first movable part 112 and a second movable part 114, the number of the braking parts 116 is also two, i.e., a first braking part and a second braking part, wherein the first braking part is engaged with the first movable part, and the second braking part is engaged with the second movable part to provide a friction force to the first movable part through the first braking part, and restrict the movement of the first movable part 112 relative to the cylinder 111 through the friction force; and a friction force is provided to the second movable portion by the second braking portion, by which the movement of the second movable portion 114 with respect to the cylinder 111 is restricted.

In the present disclosure, the braking portion 116 has a hollow cylindrical shape, wherein an inner diameter of the braking portion 116 is smaller than a diameter of the first movable portion 112 and/or the second movable portion 114, so as to provide braking force to the first movable portion 112 and/or the second movable portion 114 through contact between an inner wall of the braking portion 116 and an outer surface of the first movable portion 112 and/or the second movable portion 114.

In an alternative embodiment of the present disclosure, as shown in fig. 3, the joint 110 further includes:

a push plate 117, wherein the push plate 117 is driven by the electric driving structure 120, and a spring is disposed between the push plate 117 and the brake 116, so that when the electric driving structure 120 pushes the push plate 117, the push plate 117 provides a driving force to the brake 116 through the spring.

In the present disclosure, the number of pushing plates 117 is identical to the number of braking parts 116, for example, when the number of braking parts 116 is 1, the number of pushing plates 117 is also 1; when the number of the braking parts 116 is two, the number of the pushing plates 117 is also two.

In the present disclosure, as shown in fig. 3, the joint 110 further includes:

a pressure sensor 118, wherein the pressure sensor 118 is disposed between the electrically driven structure 120 and the pushing plate 117, and is used for detecting the pressure applied by the electrically driven structure 120 to the pushing plate 117.

In the present disclosure, as shown in fig. 3, the joint 110 further includes:

and a slip ring 119, wherein the slip ring 119 is arranged on the brake 116 or the push plate 117, so as to provide electric energy to the electric driving structure 120 through the slip ring 119.

In an alternative embodiment of the present disclosure, as shown in fig. 1, the electric self-locking arm 100 further includes:

a clamping jaw 130, wherein the clamping jaw 130 is arranged at one of the joints 110 at two ends to clamp an object to be clamped by the clamping jaw 130.

Preferably, the clamping jaw 130 is a motorized clamping jaw 130, such that when electrical power is supplied to the clamping jaw 130, the clamping jaw 130 clamps an object to be clamped; when the jaws 130 are in the de-energized state, the clamped object is released.

In the present disclosure, the clamping jaw 130 is fixed to the first movable portion 112 or the second movable portion 114 of the joint 110.

According to at least one embodiment of the present disclosure, an inner diameter of the through hole of the first cover 113 is smaller than an outer diameter of the first movable portion 112; and/or, the inner diameter of the through hole of the second cover 115 is smaller than the outer diameter of the second movable portion 114.

In the present disclosure, the electric driving structure 120 may be an electric push rod or an electric cylinder, and when the electric driving structure 120 is in a power-off state, the magnitude of pressure applied by the electric driving structure 120 to the brake portion is controlled by adjusting a preset position of the electric driving structure, so as to control a threshold value of a driving force for driving two connected joints to perform relative motion; and when the electric driving structure 120 is in an energized state, controlling the magnitude of pressure applied by the electric driving structure 120 to the brake part by adjusting the motion amount of the electric driving structure, thereby controlling a threshold value of a driving force for driving the two connected joints to perform relative motion; preventing the joint 110 from falling apart.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims

1. An electric self-locking arm, comprising:

wherein, an electric driving structure is arranged in the joint, and when the electric driving structure is in a power-off state, the electric driving structure is in a preset position so as to limit the relative movement between two adjacent joints; when the electrically driven structure is in an energized state, the electrically driven structure shortens in length, thereby allowing relative movement between two adjacent joints;

wherein, the joint includes:

the electric driving structure is arranged in the cylinder;

a first movable portion movably disposed at one end of the cylinder, and a portion of the first movable portion located in the cylinder is formed in a spherical shape;

the second movable part is arranged at the other end of the cylinder body, and the part of the second movable part in the cylinder body is spherical;

a braking part having a hollow cylindrical shape, wherein an inner diameter of the braking part is smaller than diameters of the first and second movable parts to provide braking force to the first and second movable parts through contact of an inner wall of the braking part with outer surfaces of the first and second movable parts; and

the push plate is driven by the electric driving structure, and a spring is arranged between the push plate and the braking part, so that when the electric driving structure pushes the push plate, the push plate provides driving force for the braking part through the spring;

the first cover body is used for limiting the movement of the first movable part along the cylinder body direction; when the electric driving structure is in a power-off state, the first movable part is limited between the first cover body and the electric driving structure; the second cover body is used for limiting the movement of the second movable part along the cylinder body direction; when the electric driving structure is in a power-off state and the length is increased, the second movable part is limited between the second cover body and the electric driving structure;

the first movable part of the current joint is connected with the second movable part of the next-stage joint connected with the current joint so as to be connected with the next-stage joint.

2. The motorized self-locking arm of claim 1, wherein the joint further comprises:

3. The motorized self-locking arm of claim 1, wherein the joint further comprises:

4. The electric self-locking arm of claim 1, further comprising:

5. The motorized self-locking arm of claim 4, wherein the jaws are motorized jaws to grip an object to be gripped when electrical power is provided to the jaws; and when the clamping jaw is in a power-off state, loosening the clamped object.

6. The motorized self-locking arm of claim 4, wherein the jaw is secured to either the first movable portion or the second movable portion of the joint.

7. The electric self-locking arm of claim 1, wherein an inner diameter of the through hole of the first cover is smaller than an outer diameter of the first movable portion; and/or the inner diameter of the through hole of the second cover body is smaller than the outer diameter of the second movable part.