CN118178002A - Pneumatic supporting arm, regulating device - Google Patents

Abstract

The application provides a pneumatic support arm and a regulating device, wherein the pneumatic support arm comprises: the device comprises a fixing part, a mechanical adjusting part and at least two pneumatic shafts; the fixed part is used for being connected to the installation foundation, the bottom end of the mechanical adjusting part is connected with the top end of the fixed part, the mechanical adjusting part swings in a first plane, and each pneumatic shaft is sequentially connected to the top end of the mechanical adjusting part; the pneumatic shafts are in a locking state and a releasing state, the pneumatic shafts are fixedly connected by virtue of air pressure, and the pneumatic shafts swing around adjacent pneumatic shaft cones in the releasing state. The pneumatic supporting arm can adjust the position of the clamping holder in all directions, and the adjusting mode is simple and the positioning accuracy is high.

Description

Pneumatic supporting arm, regulating device

Technical Field

The application relates to the technical field of support adjustment, in particular to a pneumatic support arm and a regulating device.

Background

In the medical field, such as otorhinolaryngology, when performing minimally invasive surgery on the interior of a relevant part of a human body, not only surgical instruments are needed to enter the human body for relevant treatment, but also endoscopes are needed to enter the human body and cooperate with the surgical instruments to complete corresponding surgery.

At present, in related operation, an operator usually holds an endoscope with one hand, stretches the endoscope into a related part of a human body, holds surgical instruments such as forceps with the other hand, and performs the operation under an image observed by the endoscope. Aiming at the problem that the long-time holding of the endoscope by an operator is easy to cause fatigue and muscle ache, which possibly affects the operation, the endoscope can be held by another doctor specially and matched with the two people in language for operation.

However, no matter a single person simultaneously operates the endoscope and the surgical instrument or the two persons cooperate to perform the surgical operation, the operation is inconvenient, the labor intensity is high, the fatigue of doctors is easy to cause, and the surgical progress is influenced.

Disclosure of Invention

The application provides a pneumatic support arm and a regulating and controlling device, wherein a regulating and controlling system can control the regulating and controlling device according to external instructions, the regulating and controlling device supports and clamps a holder by means of the pneumatic support arm, the pneumatic support arm can comprehensively adjust the position of the holder, the regulating mode is simple, and the positioning accuracy is high.

In a first aspect, the present application provides a pneumatic support arm comprising: the device comprises a fixing part, a mechanical adjusting part and at least two pneumatic shafts;

the fixed part is used for being connected to the installation foundation, the bottom end of the mechanical adjusting part is connected with the top end of the fixed part, the mechanical adjusting part swings in a first plane, and each pneumatic shaft is sequentially connected to the top end of the mechanical adjusting part; the pneumatic shafts are in a locking state and a releasing state, the pneumatic shafts are fixedly connected by virtue of air pressure, and the pneumatic shafts swing around adjacent pneumatic shaft cones in the releasing state.

In one possible embodiment, the pneumatic shaft comprises a valve body, a first air inlet pipe and a second air inlet pipe;

The air inlet end of the first air inlet pipe and the air inlet end of the second air inlet pipe are communicated with a high-pressure air source, and the air outlet end of the first air inlet pipe and the air outlet end of the second air inlet pipe are communicated with the inside of the valve body;

When the first air inlet pipe feeds high-pressure air into the valve body, the pneumatic shaft is in a locking state; when the second air inlet pipe feeds high-pressure air into the valve body, the pneumatic shaft is in a release state.

In one possible embodiment, the valve body comprises a housing and a cylinder, a connection seat and a connection shaft disposed within the housing;

One end of the shell, which is close to the mechanical adjusting part, is a first end, one end of the shell, which is far away from the mechanical adjusting part, is a second end, and the air cylinder, the connecting seat and the connecting shaft are sequentially arranged from the first end to the second end;

the movable end of the air cylinder faces the connecting seat and is connected with the connecting seat, the connecting seat moves along the axial direction of the shell along with the movable end, the connecting seat faces one end of the connecting shaft and is in spherical contact with the connecting shaft, the other end of the connecting shaft extends out of the second end and is fixedly connected with the adjacent pneumatic shaft, and the connecting shaft swings around the cone of the second end.

In one possible implementation mode, the connecting shaft comprises a shaft body and a ball head part, the ball head part is connected to one end of the shaft body facing the connecting seat, and the other end of the shaft body penetrates through the second end to be fixedly connected with the adjacent pneumatic shaft;

one side of the ball head part, which is away from the shaft body, is provided with a convex spherical surface, one end of the connecting seat, which faces the connecting shaft, is provided with a concave spherical surface, and the curvature of the convex spherical surface is consistent with that of the concave spherical surface.

In one possible embodiment, the second end is provided with a joint bearing, the shaft body is arranged in the joint bearing in a penetrating way, and the spherical center of the convex spherical surface coincides with the center of the joint bearing.

In one possible embodiment, the cylinder comprises a cylinder barrel, a piston and a piston rod;

the axial direction of the cylinder barrel is along the axial direction of the shell, the piston is positioned in the cylinder barrel and moves along the axial direction of the cylinder barrel, the piston rod is connected to one side of the piston, which faces the second end, and the piston rod extends out of the cylinder barrel to be connected with the connecting seat;

The first air inlet pipe and the second air inlet pipe are communicated with the inside of the cylinder barrel, the air outlet end of the first air inlet pipe is close to the first end, and the air outlet end of the second air inlet pipe is close to the second end.

In one possible embodiment, a telescopic element is connected between the cylinder and the side of the piston facing away from the piston rod, the telescopic element acting on its own to press the connecting seat against the connecting shaft.

In one possible embodiment, the mechanical adjusting part comprises a first mounting part, an adjustable part and a second mounting part, and the first mounting part, the adjustable part and the second mounting part are sequentially connected between the fixed part and the pneumatic shaft;

the adjustable part comprises one adjusting section or more than two adjusting sections which are sequentially connected, and the adjusting section and the first installation part, the adjusting section and the second installation part and the adjacent adjusting sections can relatively rotate and can relatively fix.

In one possible embodiment, the fixing portion includes a socket and a shaft;

The sleeve joint piece comprises a shaft sleeve part and a first clamping plate, the top end of the shaft sleeve part is connected with the mechanical adjusting part, and the first clamping plate is connected to the bottom end of the shaft sleeve part; the shaft connector comprises a shaft rod part and a second clamping plate, wherein the shaft rod part stretches into the shaft sleeve part and is in threaded connection with the shaft sleeve part, and the second clamping plate is connected to the bottom end of the shaft rod part.

In a second aspect, the present application provides a regulating device, comprising a clamping head and a pneumatic support arm as described above, wherein the clamping head is connected to the top end of the pneumatic support arm, and the clamping head is used for clamping a device.

In a third aspect, the present application provides a regulating system comprising a sensing device and a regulating device as described above;

the control device comprises a receiving module, the sensing device is used for receiving external instructions and sending control signals to the receiving module according to the external instructions, and the receiving module is used for controlling the clamping holder of the control device to move according to the control signals.

According to the pneumatic support arm, the regulating device and the regulating system, the regulating device supports and fixes the clamping holder through the pneumatic support arm, the pneumatic support arm takes the fixing part as a supporting and fixing foundation, the mechanical regulating part and at least two pneumatic shafts are sequentially connected to the top end of the fixing part, the position and bending height of the mechanical regulating part are regulated, the approximate position of the tail end of the pneumatic support arm is regulated, the position of the pneumatic shaft is regulated in the release state of the pneumatic shaft, the pneumatic shaft swings around the adjacent pneumatic shaft cone to realize the omnibearing movement of the tail end of the pneumatic support arm, all the pneumatic shafts are switched to the locking state after the tail end of the pneumatic support arm is accurately positioned, the fixing of the tail end of the pneumatic support arm is realized, the regulating mode is simple, and the positioning precision is high.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application. Other figures may be derived from these figures without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a block diagram of a control system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a pneumatic support arm according to an embodiment of the present application;

FIG. 3 is an exploded view of the pneumatic support arm of FIG. 2;

fig. 4 is a schematic structural view of a fixing portion according to an embodiment of the present application;

Fig. 5 is a schematic structural view of a mechanical adjusting part according to an embodiment of the present application;

FIG. 6 is an exploded view of the mechanical adjustment of FIG. 5;

FIG. 7 is an exploded view of the pneumatic shaft of FIG. 3 attached to the tip of the mechanical adjustment portion;

FIG. 8 is a schematic structural diagram of a pneumatic shaft according to an embodiment of the present application;

FIG. 9 is an exploded view of the pneumatic shaft of FIG. 8;

FIG. 10 is a cross-sectional view taken at A-A of FIG. 8;

FIG. 11 is a cross-sectional view of two adjacent pneumatic shaft connections provided by an embodiment of the present application;

FIG. 12 is a cross-sectional view of a pneumatic shaft according to an embodiment of the present application in a released state;

FIG. 13 is a cross-sectional view of a pneumatic shaft in a locked state according to an embodiment of the present application;

Fig. 14 is another cross-sectional view of a pneumatic shaft according to an embodiment of the present application in a locked state.

Reference numerals illustrate:

1-a regulatory system; 2-an endoscope;

10-a regulating device; 20-sensing means;

100-pneumatic support arms; 200-clamping a cradle head;

110-a fixing part;

111-socket; 112-a shaft joint;

1111-boss; 1112-a first cleat; 1121—a shaft portion; 1122-a second cleat;

120-a mechanical adjustment;

121-a first mounting portion; 122-adjustable part; 122 a-a modulating segment; 123-a second mounting portion; 124-fasteners;

130-an air shaft;

131-a valve body; 132-a first air inlet pipe; 133-a second air inlet pipe; 134-a protective cover;

1311-a housing; 1312-cylinder; 1313-a connecting shaft; 1314-connecting seats; 1315-knuckle bearings; 1316-an adapter;

13111-barrels; 13112-a first end cap; 13113-a second end cap; 13121-cylinder; 13122-pistons; 13123-piston rod; 13124—telescoping; 13131-a shaft; 13132-a bulb section; 13141-concave sphere;

13111 a-a avoidance opening; 13111 b-locating holes; 13113 a-dodging holes; 13132 a-convex spherical surface.

Detailed Description

When a doctor performs precise surgery, an endoscope is needed to be used as an aid in many cases, the endoscope can enter the body through natural pore canals such as ears, noses and oral cavities, and the endoscope is used for observing organs, cavities, channels and tissues in the body, so that the pathological change position can be positioned more quickly and accurately, and the doctor can be helped to complete the surgery.

As described above, when performing a surgical operation, a doctor is required to hold the endoscope with one hand for a long time and hold the surgical instrument with the other hand for the operation; or two doctors are needed to cooperate, one doctor holds the endoscope, the other doctor holds the surgical instrument to operate, and two persons rely on language communication to cooperate to complete the operation. However, when one doctor holds the endoscope and the surgical instrument by both hands respectively for operation, the operation is extremely inconvenient, the labor intensity is high, the doctor is extremely easy to fatigue, and a certain risk is brought to the smooth operation; the doctor who is equipped with a special holding endoscope performs the operation, which causes the waste of manpower, and gives instructions to the doctor who operates the endoscope through the doctor of the main knife, thus affecting the operation process due to the phenomenon of inadvertence or incorrect viewing angle transfer.

With the continuous development of medical instrument technology, mechanical clamping mechanisms for endoscopes have been developed to clamp and fix the endoscopes, liberate hands of doctors, and relieve the operating burden of the doctors. The existing endoscope mechanical clamping mechanism mainly depends on a fixed mechanical arm to support a holder, so that an endoscope is clamped on the holder. However, the fixed mechanical arm only has a fixing function, cannot adjust the azimuth of the cradle head, needs manual adjustment by a doctor, often needs hundred times of movement adjustment in one operation, takes too much time, and seriously affects the operation process; in addition, the traditional cradle head has low precision and poor freedom degree, and cannot be applied to precise operations.

In view of the above, the embodiment of the application provides a pneumatic support arm, a control device and a control system, the control device supports and fixes a clamping holder through the pneumatic support arm, the pneumatic support arm takes a fixing part as a supporting and fixing foundation, a mechanical adjusting part and at least two pneumatic shafts are sequentially connected to the top end of the fixing part, the general position of the tail end of the pneumatic support arm is adjusted through adjusting the azimuth and bending height of the mechanical adjusting part, the azimuth of the pneumatic shaft is adjusted in a release state of the pneumatic shaft, the pneumatic shaft swings around the adjacent pneumatic shaft cone to realize the omnibearing movement of the tail end of the pneumatic support arm, all the pneumatic shafts are switched to a locking state after the tail end of the pneumatic support arm is accurately positioned, the adjustment mode is simple, and the positioning precision is high.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Fig. 1 is a block diagram of a regulation system according to an embodiment of the present application. Referring to fig. 1, an embodiment of the present application provides a regulation and control system 1, where the regulation and control system 1 includes a regulation and control device 10 and a sensing device 20, the regulation and control device 10 is provided with a receiving module (not shown in the figure), the sensing device 20 is in communication connection with the receiving module, the sensing device 20 can receive an external instruction (for example, a control instruction sent by a doctor), and send a control signal to the receiving module according to the received external instruction, and the regulation and control device 10 generates a corresponding action according to the control signal received by the receiving module.

The adjusting and controlling device 10 includes a pneumatic support arm 100 and a clamping holder 200, wherein the bottom end of the pneumatic support arm 100 can be fixed on an installation foundation, the clamping holder 200 is installed at the top end of the pneumatic support arm 100, the clamping holder 200 is used for clamping a device (for example, an endoscope 2), and the device is driven to move by moving the clamping holder 200. After the receiving module on the regulating device 10 receives the control signal, the control signal controls the clamping holder 200 to move so as to drive the device to perform corresponding actions.

The following description will take the application of the control system 1 in the medical field, specifically taking the control device 10 for supporting and fixing the endoscope 2, and the holder 200 for holding the endoscope 2 and driving the endoscope 2 to move as an example. It should be understood that the regulation system 1 may be applied to other fields of industry, etc., and the regulation device 10 may also be used for supporting and fixing other devices that need to be precisely positioned and moved.

The control device 10 may be installed in an operating room or a ward, etc., the bottom end of the pneumatic support arm 100 may be fixed on the ground, or the bottom end of the pneumatic support arm 100 may be fixed on an operating table or a ward, for example, the bottom end of the pneumatic support arm 100 may be clamped or locked on the operating table or the ward. The clamp head 200 mounted on the top end of the pneumatic support arm 100 supports the endoscope 2 in a suitable position for easy operation so that the endoscope 2 can be inserted into a corresponding portion of the human body (on an operating table or a hospital bed).

On the basis of supporting and fixing the regulating device 10 on an installation foundation, the pneumatic support arm 100 can also adjust the top end direction, the pneumatic support arm 100 is provided with a pneumatic shaft, the pneumatic shaft can be switched by utilizing gas pressure (locked or loosened), the pitching bending state of the pneumatic support arm 100 can be adjusted, when the pneumatic shaft is in a loose state, the top end of the pneumatic support arm 100 can be adjusted to a proper position (above an operating table or a sickbed and close to the corresponding part of a patient), and then the pneumatic shaft is locked to fix the pneumatic support arm 100 at the current position. Then, the direction of the clamping holder 200 arranged at the top end of the pneumatic support arm 100 is adjusted, and the endoscope 2 is driven to move by the clamping holder 200, so that the corresponding part in the human body can be observed in all directions by the endoscope 2.

For receiving external instructions through the sensing device 20 and sending control signals to the regulation device 10 to control the movement of the clamping holder 200, in some embodiments, the sensing device 20 may be, for example, a detector (e.g., a laser radar) installed indoors (in an operating room or a ward), an operator (doctor) may wear a sensor (e.g., wear a head), the operator sends control instructions through limb movements (e.g., rotating the head), the detector monitors limb movements of the operator, and sends corresponding control signals to a receiving module of the regulation device 10, and the regulation device 10 controls the movement of the clamping holder 200 according to the control signals.

In other embodiments, the sensing device 20 may be a somatosensory device (e.g., somatosensory glove or somatosensory helmet, etc.) that is worn by an operator, and the somatosensory device may be in direct communication with a receiving module provided on the regulating device 10. The operator sends corresponding control signals to the receiving module through the motion sensing device according to control instructions sent by the limb motions, and the regulating and controlling device 10 controls the clamping holder 200 to move according to the control signals.

For example, a control module (not shown in the figure) may be disposed in the adjusting and controlling device 10 to control the movement of the clamping holder 200, the control signal received by the receiving module may be transmitted to the control module, the control module controls the movement of the clamping holder 200 according to the control signal, or the control module itself has a function of receiving the signal, that is, the receiving module may be integrated on the control module, and the control module receives the control signal sent by the sensing device 20 and controls the movement of the clamping holder 200 according to the control signal.

In practical applications, the endoscope 2 moves in vivo by a small extent, but an operator cannot generally control the movement of the limb by a small extent, so that when the operator controls the clamping holder 200 to move correspondingly through the movement of the limb, an amplification coefficient can be provided between the displacement of the limb and the displacement of the clamping holder 200, and the displacement of the operator can be multiplied by the displacement of the clamping holder 200. For example, the operator's head rotates 50 °, and the holder head 200 is offset 15 ° or 20 ° to the corresponding orientation; or the head of the operator moves forward 5cm, and the holding pan-tilt 200 moves forward 0.5cm or 1cm.

In addition, during the whole operation period, the limbs of the operator (the part where the sensor or the somatosensory device is worn) inevitably generate actions in other periods besides the actions when the control command is transmitted, and in order to avoid the occurrence of the misoperation, a control switch (not shown in the figure) may be provided to the control device 10 to control the communication connection state between the sensing device 20 and the receiving module.

For example, the control switch may be a foot pedal mounted on the pneumatic support arm 100, and in a normal state (when the endoscope 2 does not need to be moved), the foot pedal is kept in a natural state, the sensing device 20 and the receiving module are disconnected, and the clamping holder 200 is kept stationary; when the endoscope 2 needs to be moved, the operator presses the foot pedal to switch on the sensing device 20 and the receiving module, and at this time, the operator can control the clamping holder 200 to move correspondingly through the limb action.

The pneumatic support arm 100 of the control device 10 is described in detail below.

Fig. 2 is a schematic structural diagram of a pneumatic support arm according to an embodiment of the present application; fig. 3 is an exploded view of the pneumatic support arm of fig. 2.

Referring to fig. 2 and 3, the pneumatic support arm 100 provided in this embodiment includes a fixing portion 110, a mechanical adjusting portion 120, and at least two pneumatic shafts 130. The fixing portion 110 is located at the lower portion of the pneumatic support arm 100, the bottom end of the mechanical adjusting portion 120 is connected to the top end of the fixing portion 110, each pneumatic shaft 130 is sequentially connected to the top end of the mechanical adjusting portion 120, and the clamping head 200 is mounted at the end of the pneumatic support arm 100, for example, the clamping head 200 is connected to the endmost pneumatic shaft 130 through a support plate.

It should be noted that, in this embodiment, the top end of the pneumatic support arm 100 is used to mount and clamp the cradle head 200, and in other embodiments, the pneumatic support arm 100 may also be used to support and fix other devices that need to be flexibly set and adjusted, which is not limited in this embodiment.

The fixing portion 110 serves as a base support of the pneumatic support arm 100 for connecting the pneumatic support arm 100 to a mounting base, for example, the fixing portion 110 may be mounted to a mounting base of a hospital bed, an operating table, or the like. The mechanical adjusting part 120 connected to the top end of the fixing part 110 may swing in a first plane (a plane in which the X direction and the Z direction in fig. 2) corresponding to, for example, a plane in which the front-rear direction of the pneumatic support arm 100 is located, so as to adjust the approximate position of the end of the pneumatic support arm 100 and ensure the stability of the pneumatic support arm 100 supporting the clamping head 200. As for each of the pneumatic shafts 130 connected in turn to the top end of the mechanical adjusting part 120, the adjacent pneumatic shafts 130 may be rotated to achieve fine adjustment of the orientation of the end of the pneumatic support arm 100, and after the positions of each of the pneumatic shafts 130 are adjusted, each of the pneumatic shafts 130 is locked to fix the pneumatic support arm 100 at the current position.

The pneumatic shaft 130 has a locked state and a released state, and the state of the pneumatic shaft 130 can be switched by changing the direction of feeding the high-pressure gas into the pneumatic shaft 130. When the orientation of the pneumatic shaft 130 needs to be adjusted, the pneumatic shaft 130 is switched to a release state, no pressure acts between adjacent pneumatic shafts 130, and the pneumatic shaft 130 can be rotated to adjust the pneumatic shaft 130 to the required orientation; when the pneumatic shafts 130 are adjusted in place, the pneumatic shafts 130 are switched to a locking state, and a large pressure is generated between the adjacent pneumatic shafts 130 due to the air pressure, so that the pneumatic shafts 130 can be locked to fix each pneumatic shaft 130 in the current direction.

In order to more accurately position the end of the pneumatic support arm 100, in this embodiment, the pneumatic shaft 130 may be conically swung around the adjacent pneumatic shafts 130 during the relative rotation between the adjacent pneumatic shafts 130. In this way, after the position of the distal end of the pneumatic support arm 100 is positioned substantially by the mechanical adjustment unit 120, that is, after the bending direction and the bending degree of the pneumatic support arm 100 are determined substantially, the pneumatic shaft 130 is rotated to deflect the pneumatic shaft 130 by a certain angle in the current substantially direction, and the distal end of the pneumatic support arm 100 can be finely adjusted in all directions in the front-rear direction, the left-right direction, the up-down direction (the X direction, the Y direction, and the Z direction as shown in fig. 1) by the respective pneumatic shafts 130 connected in sequence so as to position the pneumatic support arm 100 accurately.

In addition, the pneumatic shaft 130 can be rapidly switched between the release state and the locking state, taking the clamping holder 200 for clamping an endoscope by using the pneumatic support arm 100 as an example, in the operation process, when the position of the clamping holder 200 needs to be adjusted, an operator (doctor) can rapidly adjust the position of the pneumatic shaft 130 by rotating the state of the pneumatic shaft 130 so as to adjust the end position of the pneumatic support arm 100, so that rapid and flexible adjustment can be realized, and the adjustment mode is simple and easy to operate.

In this embodiment, when adjusting the orientation of the pneumatic support arm 100, after the mechanical adjustment portion 120 is adjusted, the mechanical adjustment portion 120 is fixed, and then only the orientation of each pneumatic shaft 130 needs to be adjusted, and only the direction of the high-pressure gas flowing into the pneumatic shaft 130 needs to be changed, so that the pneumatic shaft 130 can be switched between the release state and the locking state, and the adjustment and the fixing of the pneumatic shaft 130 are simple and easy to operate. Coarse positioning is performed by adjusting the detachable adjustable part 122, fine positioning is performed by adjusting each pneumatic shaft 130, and positioning accuracy of the pneumatic support arm 100 can be improved; in addition, the mechanical adjusting part 120 and the pneumatic shaft 130 are matched with each other, so that the control mode of the pneumatic support arm 100 is simpler and the cost is lower.

In practical application, the clamping cradle head 200 may be first mounted on the top end of the pneumatic support arm 100, the fixing portion 110 of the pneumatic support arm 100 is mounted on the mounting base, then the mechanical adjusting portion 120 is adjusted, after the approximate position of the end of the pneumatic support arm 100 is adjusted, the mechanical adjusting portion 120 is fixed, then the pneumatic shafts 130 are switched to the release state, the pneumatic shafts 130 are adjusted, the position of the end of the pneumatic support arm 100 is finely adjusted, and after the positioning is completed, the pneumatic shafts 130 are switched to the locking state, so as to complete the positioning of the pneumatic support arm 100. Alternatively, the orientation of the pneumatic support arm 100 may be adjusted first, that is, the mechanical adjusting part 120 and the pneumatic shaft 130 may be sequentially adjusted and fixed, and then the clamping head 200 may be mounted on the top end of the pneumatic support arm 100 after the orientation of the pneumatic support arm 100 is adjusted.

Fig. 4 is a schematic structural diagram of a fixing portion according to an embodiment of the present application. Referring to fig. 4, as an embodiment, the fixing portion 110 may be clamped and fixed on the installation base by means of a clamping plate, the fixing portion 110 may include a socket 111 and a shaft connector 112, the socket 111 may be fixedly connected with the mechanical adjusting portion 120, and the shaft connector 112 is screwed into the socket 111 to be connected with the socket 111 in a matching manner. The socket 111 may include a boss 1111 and a first clamping plate 1112, the shaft 112 may include a shaft portion 1121 and a second clamping plate 1122, the shaft portion 1121 being screwed into the boss 1111, the space between the first clamping plate 1112 and the second clamping plate 1122 being adjusted by adjusting the amount of screwing of the shaft portion 1121 to clamp the fixing portion 110 on the mounting base by the first clamping plate 1112 and the second clamping plate 1122.

As shown in fig. 3 and 4, the socket 111 may be an integrally formed part, the top end of the boss 1111 is fixedly connected to the bottom end of the mechanical adjusting part 120, and the first clamping plate 1112 may be located at the bottom end of the boss 1111. Similarly, the shaft 112 may be an integral piece, the shaft 1121 is screwed into the boss 1111, the second clamping plate 1122 is positioned at the bottom end of the shaft 1121 exposed outside the boss 1111, and the distance between the first clamping plate 1112 and the second clamping plate 1122 is adjusted by adjusting the length of the shaft 1121 screwed into the boss 1111 to adapt to the installation base. The inner wall surface of the shaft sleeve 1111 is provided with an internal thread, the outer wall surface of the shaft portion 1121 is provided with an external thread, the internal thread and the external thread are matched, the shaft portion 1121 and the shaft sleeve 1111 can be connected and fastened, and the acting force between the shaft portion 1121 and the shaft sleeve 1111 can ensure that the first clamping plate 1112 and the second clamping plate 1122 firmly clamp the fixing portion 110 on the installation basis.

In addition to sandwiching the fixing portion 110 on the mounting base with a clamping plate, in some embodiments, the bottom end of the fixing portion 110 may be directly supported on the plane of the mounting base, and at this time, the contact area between the bottom end of the fixing portion 110 and the plane of the mounting base may be increased, so that a certain weight of the bottom of the fixing portion 110 is ensured, so that the fixing portion 110 is stably supported on the plane. In other embodiments, the fixing portion 110 may be mounted on the mounting base by means of a lock, an adhesive, or the like, and the present embodiment is not particularly limited.

Fig. 5 is a schematic structural view of a mechanical adjusting part according to an embodiment of the present application; fig. 6 is an exploded view of the mechanical adjustment part of fig. 5. Referring to fig. 5, the mechanical adjusting part 120 may include a first mounting part 121, an adjustable part 122, and a second mounting part 123, and as shown in fig. 3, the first mounting part 121 is fixedly connected to the top end of the fixed part 110, the second mounting part 123 is fixedly connected to the pneumatic shaft 130, the adjustable part 122 is connected between the first mounting part 121 and the second mounting part 123, and the bending direction and the bending degree of the mechanical adjusting part 120 in the first plane are adjusted by adjusting the rotation state of the adjustable part 122 between the first mounting part 121 and the second mounting part 123 to approximately position the end position of the pneumatic support arm 100.

Referring to fig. 5, in some embodiments, the adjustable portion 122 may include only one adjusting section 122a, two ends of the adjusting section 122a are respectively connected to the first mounting portion 121 and the second mounting portion 123, and the adjusting section 122a and the first mounting portion 121 and the adjusting section 122a and the second mounting portion 123 can rotate relatively, so as to adjust the rotation direction of the adjusting section 122a and the rotation direction of the second mounting portion 123, and adjust the bending direction and the bending height of the mechanical adjusting section 122 a. After the adjustment is completed, the adjustment section 122a is relatively fixed to the first mounting portion 121 and the adjustment section 122a is relatively fixed to the second mounting portion 123 to position the mechanical adjustment portion 120 in the current state.

Since the first mounting portion 121 is fixed to the top end of the fixing portion 110, the lower end (the end connected to the first mounting portion 121) of the adjustment section 122a is fixed while the adjustment section 122a is rotated, and the upper end (the end connected to the second mounting portion 123) of the adjustment section 122a changes position according to the swing of the adjustment section 122a in the first plane. After the rotation angle of the adjustment section 122a is adjusted, the rotation angle of the second mounting portion 123 can also be adjusted by rotating the second mounting portion 123. Thus, the first mounting portion 121 is fixed, the adjusting section 122a can rotate around the top end of the first mounting portion 121, and the second mounting portion 123 can also rotate around the top end (the end connected to the second mounting portion 123) of the adjusting section 122a, thereby adjusting the bending orientation and the bending height of the mechanical adjusting portion 120.

In other embodiments, the adjustable portion 122 may include more than two adjusting sections 122a on the basis of ensuring the stability of the mechanical adjusting portion 120, each adjusting section 122a being sequentially connected between the first mounting portion 121 and the second mounting portion 123, and similarly, the first mounting portion 121 and the adjacent adjusting section 122a, the second mounting portion 123 and the adjacent adjusting section 122a, and the adjacent adjusting section 122a may be relatively rotated to adjust the bending orientation and the bending height of the mechanical adjusting portion 120. After the adjustment is completed, the first mounting portion 121 is relatively fixed to the adjacent adjustment section 122a, the second mounting portion 123 is relatively fixed to the adjacent adjustment section 122a, and the adjacent adjustment section 122a, so as to position the mechanical adjustment portion 120 in the current state.

It will be appreciated that, in the case where one adjustment section 122a is connected between the first mounting portion 121 and the second mounting portion 123, the mechanical adjustment portion 120 coarsely adjusts the orientation of the pneumatic support arm 100, and the orientation of each pneumatic shaft 130 is adjusted, so that the positional accuracy of the distal end of the pneumatic support arm 100 can be ensured. By connecting two or more adjusting sections 122a in sequence between the first mounting portion 121 and the second mounting portion 123, the mechanical adjusting portion 120 can be adjusted to a greater degree of bending, the angle adjustable range of the mechanical adjusting portion 120 is enlarged, and the position accuracy of the end of the pneumatic supporting arm 100 can be further improved by adjusting each pneumatic shaft 130.

Referring to fig. 6, as an example, the adjusting sections 122a and the first mounting portion 121 and the adjusting sections 122a and the second mounting portion 123 are connected by a rotatable fastener 124, and in the case that the adjusting portion includes a plurality of adjusting sections 122a connected in sequence, adjacent adjusting sections 122a may be connected by a rotatable fastener 124, such as a bolt or a screw, when the mechanical adjusting portion 120 needs to be adjusted, the fasteners 124 connected between the adjusting sections 122a and the first mounting portion 121, between the adjusting sections 122a and the second mounting portion 123, and between the adjacent adjusting sections 122a are loosened, the adjusting sections 122a and the second mounting portion 123 are rotated, and after the adjustment is completed, the fasteners 124 between the adjusting sections 122a and the first mounting portion 121, between the adjusting sections 122a and the second mounting portion 123, and between the adjacent adjusting sections 122a are tightened, so that the mechanical adjusting portion 120 is fixed in the current state.

Fig. 7 is an exploded view of the pneumatic shaft of fig. 3 attached to the tip of the mechanical adjustment portion. As for the pneumatic shaft 130 connected to the top end of the mechanical adjustment portion 120, as shown in fig. 3 and 7, it is understood that the pneumatic shaft 130 adjacent to the mechanical adjustment portion 120 is fixedly connected to the second mounting portion 123, and thus the orientation of the pneumatic shaft 130 cannot be adjusted, and the orientation of the distal end of the pneumatic support arm 100 is finely adjusted by adjusting the orientation of each pneumatic shaft 130 connected to the rear end of the pneumatic shaft 130.

According to practical requirements, two pneumatic shafts 130 may be sequentially connected to the top end of the mechanical adjusting portion 120, and among the two pneumatic shafts 130, the pneumatic shaft 130 fixedly connected to the second mounting portion 123 is fixed in position, and by adjusting the position of the other pneumatic shaft 130, the position of the end of the pneumatic support arm 100 is adjusted, and in addition, the position of the clamping cradle head 200 connected to the other pneumatic shaft 130 is also adjusted, so that the accuracy of positioning the clamping cradle head 200 can be ensured.

In order to improve the positioning accuracy of the distal end of the pneumatic support arm 100, the tip of the mechanical adjustment portion 120 may be sequentially connected to more than three pneumatic shafts 130, and referring to fig. 7, the tip of the mechanical adjustment portion 120 is sequentially connected to three pneumatic shafts 130, so that the position adjustment range of each pneumatic shaft 130 to the distal end of the pneumatic support arm 100 is wider and the adjustment accuracy is higher.

The pneumatic shaft 130 is described in detail below.

FIG. 8 is a schematic structural diagram of a pneumatic shaft according to an embodiment of the present application; FIG. 9 is an exploded view of the pneumatic shaft of FIG. 8; FIG. 10 is a cross-sectional view taken at A-A of FIG. 8; FIG. 11 is a cross-sectional view of two adjacent pneumatic shaft connections provided by an embodiment of the present application.

Referring to fig. 8, the pneumatic shaft 130 includes a valve body 131, a first air inlet pipe 132 and a second air inlet pipe 133, an air inlet end of the first air inlet pipe 132 and an air inlet end of the second air inlet pipe 133 are both communicated with a high-pressure air source, and an air outlet end of the first air inlet pipe 132 and an air outlet end of the second air inlet pipe 133 are both communicated with the inside of the valve body 131. The first air inlet pipe 132 and the second air inlet pipe 133 are used for feeding high-pressure air into the valve body 131, and the working state of the valve body 131 is changed by switching the air inlet states of the first air inlet pipe 132 and the second air inlet pipe 133, so that the pneumatic shaft 130 is in a locking state or a releasing state, and the orientation of the pneumatic shaft 130 is adjusted or the pneumatic shafts 130 are connected and fastened.

Illustratively, the high pressure gas source is provided, for example, by a high pressure gas pump, and the gas pressure provided by the high pressure gas source may be stabilized between 0.4MPa and 0.7MPa, for example, the gas pressure of the high pressure gas source is 0.45MPa, 0.5MPa, 0.55MPa, 0.6MPa, 0.65MPa, or the like. Pneumatic directional valves may be provided between the high-pressure air pump and the first and second air inlet pipes 132 and 133, and the intake states of the first and second air inlet pipes 132 and 133 may be switched by the pneumatic directional valves.

When high-pressure gas is fed into the valve body 131 through the first gas inlet pipe 132, the valve bodies 131 of the adjacent pneumatic shafts 130 are connected and fastened due to gas pressure, and the pneumatic shafts 130 are in a locking state; when high-pressure gas is fed into the valve body 131 through the second gas inlet pipe 133, the valve bodies 131 of the adjacent pneumatic shafts 130 are in a movable state, the pneumatic shafts 130 are in a release state, and the pneumatic shafts 130 can be conically swung around the adjacent pneumatic shafts 130 to adjust the orientation of the pneumatic shafts 130.

Taking the holding pan-tilt 200 of the endoscope being held by the pneumatic support arm 100 as an example, when the position of the holding pan-tilt 200 needs to be adjusted, an operator (doctor) can quickly switch the pneumatic shafts 130 to a release state through the pneumatic reversing valve, such as a manual valve, then, the operator manually adjusts the positions of the pneumatic shafts 130, and after the adjustment is completed, the pneumatic shafts 130 are quickly switched to a locking state through the pneumatic reversing valve, so that the pneumatic shafts 130 are positioned in the current state. In this manner, a quick adjustment of the pneumatic shaft 130 may be achieved.

Referring to fig. 9 and 10, the valve body 131 may include a housing 1311, a cylinder 1312, a connection seat 1314, and a connection shaft 1313, the cylinder 1312, the connection seat 1314, and the connection shaft 1313 being all disposed within the housing 1311, and the first and second intake pipes 132 and 133 passing through the housing 1311 of the valve body 131 and communicating with the interior of the cylinder 1312. Referring to fig. 3, taking an end of the housing 1311 close to the mechanical adjustment portion 120 as a first end thereof and an end of the housing 1311 far from the mechanical adjustment portion 120 as a second end thereof, for example, the cylinder 1312, the connection seat 1314, and the connection shaft 1313 are sequentially disposed from the first end to the second end of the housing 1311.

Wherein, one end of the cylinder 1312 facing the connecting seat 1314 is a movable end thereof, the movable end of the cylinder 1312 is fixedly connected with the connecting seat 1314, the connecting shaft 1313 is mounted at the second end of the housing 1311, one end of the connecting shaft 1313 is located in the housing 1311, one end of the connecting shaft 1313 extends out of the second end of the housing 1311, and one end of the connecting shaft 1313 extending out of the housing 1311 is fixedly connected with the first end of the valve body 131 adjacent to the pneumatic shaft 130.

The connection seat 1314 and the connection shaft 1313 have no fixed connection, and the movable end of the air cylinder 1312 moves along the axial direction of the housing 1311 to drive the connection seat 1314 to move towards the connection shaft 1313 or move away from the connection shaft 1313, so that the connection seat 1314 contacts the connection shaft 1313 or a gap exists between the connection seat 1314 and the connection shaft 1313. Specifically, when the first air inlet pipe 132 feeds high-pressure air into the valve body 131, the movable end of the air cylinder 1312 moves under the action of air pressure to make the connection seat 1314 contact with the connection shaft 1313, and the connection seat 1314 and the connection shaft 1313 are connected and fastened due to the strong pressure of the high-pressure air and cannot move relatively, at this time, the pneumatic shaft 130 is in a locked state; when the second air inlet pipe 133 feeds high pressure air into the valve body 131, the movable end of the air cylinder 1312 is reversely moved by the air pressure to provide a gap between the connection seat 1314 and the connection shaft 1313, and the connection shaft 1313 is rotatable about the second end of the housing 1311, so that the adjacent air shaft 130 fixedly connected to the connection shaft 1313 is rotatable about the air shaft 130.

Note that, in fig. 8 to 10, in order to facilitate the connection of the connection shaft 1313 of the air shaft 130 to the second end of the housing 1311 of the adjacent air shaft 130, the connection shaft 1313 of the adjacent air shaft 130 is shown in addition to the connection shaft 1313 of the air shaft 130 itself, and the connection shaft 1313 of the adjacent air shaft 130 is fixedly connected to the second end of the housing 1311 of the air shaft 130. The same is true in the subsequent drawings, and the description is omitted.

Referring to fig. 11, two adjacent pneumatic shafts 130 are shown, and when the pneumatic shafts 130 are in a locked state, a connection shaft 1313 penetrating a second end of the housing 1311 is fixed in a current orientation and cannot rotate, so that the orientation between the adjacent pneumatic shafts 130 is fixed; when the air shaft 130 is in the released state, the connecting shaft 1313 penetrating the second end of the housing 1311 may rotate around the second end of the housing 1311, and the other air shaft 130 fixedly connected to the connecting shaft 1313 rotates along with the rotation of the connecting shaft 1313, so as to realize the azimuth adjustment of the air shaft 130.

It should be noted that, since the connection shaft 1313 can swing around the second end cone of the housing 1311, in order to ensure the contact stability between the connection seat 1314 and the connection shaft 1313, in this embodiment, the end of the connection seat 1314 facing the connection shaft 1313 may be in spherical contact with the connection shaft 1313, so, no matter how the connection shaft 1313 rotates to any direction, the connection shaft 1313 is in arc surface fit with the connection seat 1314, and a larger contact area is always provided between the connection shaft 1313 and the connection seat 1314, so that the contact stability and reliability between the connection shaft 1313 and the connection seat 1314 can be ensured.

Specifically, referring to fig. 10, the coupling shaft 1313 may include a shaft body 13131 and a ball head 13132, and the shaft body 13131 and the ball head 13132 may be integrally formed in order to secure structural strength of the coupling shaft 1313. The shaft body 13131 is disposed through the second end of the housing 1311, and the ball head 13132 is located at an end of the shaft body 13131 facing the connection seat 1314, where the other end of the shaft body 13131 is exposed outside the housing 1311 and fixedly connected to the housing 1311 of the adjacent pneumatic shaft 130. To ensure stable contact between the shaft 1313 and the hub 1314, there should be sufficient contact area between the shaft 1313 and the hub 1314, and thus the ball head 13132 is typically larger in volume than the shaft 13131.

The ball head 13132 has a convex spherical surface 13132a on a side (a side facing the connecting seat 1314) away from the shaft body 13131, and correspondingly, a concave spherical surface 13141 is provided on a side facing the connecting seat 1314 of the connecting seat 1314, the curvature of the convex spherical surface 13132a of the ball head 13132 is consistent with the curvature of the concave spherical surface 13141 of the connecting seat 1314, that is, the convex spherical surface 13132a of the ball head 13132 is completely matched with the concave spherical surface 13141 of the connecting seat 1314, the convex spherical surface 13132a of the ball head 13132 can be completely jointed with the concave spherical surface 13141 of the connecting seat 1314 no matter the connecting seat 1313 rotates to any orientation, and the contact stability of the ball head 13132 and the connecting seat 1314 is ensured through the gas pressure and the friction between the convex spherical surface 13132a and the concave spherical surface 13141, and the service life of the pneumatic shaft 130 can be prolonged.

Further, as shown in fig. 10, in order to realize conical oscillation of the shaft body 13131 of the connection shaft 1313 around the second end of the housing 1311, the second end of the housing 1311 may be mounted with a joint bearing 1315, the shaft body 13131 is inserted into the joint bearing 1315, and the shaft body 13131 is conical oscillated in the joint bearing 1315, for example, the maximum oscillation angle of the shaft body 13131 in the joint bearing 1315 may be 45 °, 40 °, 35 °, 30 °,25 °, or the like. Specifically, the knuckle bearing 1315 is composed of an inner ring and an outer ring, the outer ring is sleeved outside the inner ring, the inner ring has an outer spherical surface, the outer ring has an inner spherical surface, any angle rotation swing can be realized between the inner ring and the outer ring, the shaft body 13131 is fixed in the inner ring, and the shaft body 13131 is supported to swing stably through rotation swing of the inner ring.

Illustratively, the center of the convex spherical surface 13132a of the connecting shaft 1313 may coincide with the center of the knuckle bearing 1315. In this way, the pressure applied to the connecting shaft 1313 faces the center of the convex spherical surface 13132a of the ball head 13132, and the center of the convex spherical surface 13132a coincides with the center of the joint bearing 1315, so that the pressure can be uniformly transmitted to each part of the joint bearing 1315, and even if the ball head 13132 of the connecting shaft 1313 is pressed by the connecting seat 1314, the ball head 13132 will not rotate, so that the pneumatic shafts 130 can be stably and firmly connected when the pneumatic shafts 130 are in a locked state. Referring to fig. 9 or 10, to facilitate assembly of the pneumatic shaft 130, the housing 1311 of the valve body 131 may include a cylinder 13111, a first end cap 13112 and a second end cap 13113, the first end cap 13112 being detachably connected to a first end of the cylinder 13111, and the second end cap 13113 being detachably connected to a second end of the cylinder 13111. Cylinder 1312 and connecting seat 1314 are disposed in barrel 13111, and cylinder 1312 is close to the one side that first end cap 13112 was located, and dodge opening 13111a has been seted up to the region that corresponds cylinder 1312 on barrel 13111's the lateral wall, and first intake pipe 132 and second intake pipe 133 stretch into barrel 13111 through dodging opening 13111a and communicate with the inside of cylinder 1312 to, in order to support and protect first intake pipe 132 and second intake pipe 133, dodge opening 13111a department can also install safety cover 134, and first intake pipe 132 and second intake pipe 133 are located safety cover 134.

The end of the connecting shaft 1313 of the adjacent pneumatic shaft 130 may be fixedly connected to the first end cap 13112, enabling a fixed connection of the connecting shaft 1313 with the housing 1311 of the adjacent pneumatic shaft 130. As shown in fig. 11, since the ball end 13132 of the connecting shaft 1313 is clamped in the housing 1311 of the valve body 131, when assembling the adjacent pneumatic shafts 130, the connecting shaft 1313 of one pneumatic shaft 130 may be fixedly connected to the first end cap 13112 of the other pneumatic shaft 130, and then the first end cap 13112 of the other pneumatic shaft 130 may be mounted on the cylinder 13111, so as to achieve connection between the two adjacent pneumatic shafts 130.

Referring to fig. 9 and 10, a second end of the cylinder 13111 may be provided with a positioning hole 13111b, a joint bearing 1315 is installed in the positioning hole 13111b, and a connection shaft 1313 is penetrated in the joint bearing 1315. By connecting the second end cover 13113 to the second end of the cylinder 13111, the second end cover 13113 has a relief hole 13113a, the relief hole 13113a corresponds to the positioning hole 13111b, and the shaft body 13131 of the connecting shaft 1313 extends out through the relief hole 13113 a. The joint bearing 1315 can be limited through the second end cover 13113, so that the joint bearing 1315 is limited through the second end of the cylinder 13111 and the second end cover 13113 under the condition that the joint bearing 1315 is not required to be fixedly connected in the positioning hole 13111b, the joint bearing 1315 is prevented from being separated, and the joint bearing 1315 is also convenient to assemble and disassemble.

As for the cylinder 1312 installed in the cylinder body 13111, continuing to refer to fig. 10, the cylinder 1312 may include a cylinder 13121, a piston 13122 and a piston rod 13123, where the cylinder 13121 is axially disposed along the housing 1311, the first air inlet pipe 132 and the second air inlet pipe 133 are both in communication with the interior of the cylinder 13121, the piston 13122 is located in the cylinder 13121, the pressure of the high-pressure gas introduced into the cylinder 13121 may push the piston 13122 to move along the axial direction of the cylinder 13121, the piston rod 13123 is connected to a side of the piston 13122 facing the second end of the housing 1311, and the piston rod 13123 extends out of the cylinder 13121 to connect with the connection seat 1314, the piston rod 13123 and the piston 13122 may be in an integrally formed structure, and the movement of the piston 13122 drives the movement of the piston rod 13123, and the movement of the connection seat 1314 by the piston rod 13123.

Wherein, the air outlet end of the first air inlet pipe 132 is close to the first end of the housing 1311, and the air outlet end of the second air inlet pipe 133 is close to the second end of the housing 1311. In this way, by introducing the high-pressure gas into the first gas inlet pipe 132, the pressure of the high-pressure gas in the cylinder 13121 drives the piston rod 13123 to move toward the connecting shaft 1313, and the piston rod 13123 drives the connection seat 1314 to abut against the connecting shaft 1313, and at this time, the pneumatic shaft 130 reaches the locked state. By introducing high-pressure gas into the second gas inlet pipe 133, the pressure of the high-pressure gas in the cylinder 13121 drives the piston rod 13123 to move towards the first end of the housing 1311, the piston rod 13123 drives the connecting seat 1314 away from the connecting shaft 1313, a gap is formed between the connecting seat 1314 and the connecting shaft 1313, and at this time, the pneumatic shaft 130 reaches a released state, and the connecting shaft 1313 can rotate around the second end of the housing 1311.

In addition, as mentioned above, in order to provide a sufficient contact area between the connection seat 1314 and the connection shaft 1313, the volume of the connection seat 1314 is generally large, and the volume of the piston rod 13123 protruding out of the cylinder 13121 is generally small due to the volume limitation of the cylinder 13121, so that the connection seat 1314 can withstand a large gas pressure to ensure stable connection between the connection seat 1314 and the piston rod 13123, and in some embodiments, an adaptor 1316 may be connected between the connection seat 1314 and the piston rod 13123, so that the connection area with the connection seat 1314 is increased by the adaptor 1316, and the connection strength between the connection seat 1314 and the piston rod 13123 is enhanced.

FIG. 12 is a cross-sectional view of a pneumatic shaft according to an embodiment of the present application in a released state; FIG. 13 is a cross-sectional view of a pneumatic shaft in a locked state according to an embodiment of the present application; fig. 14 is another cross-sectional view of a pneumatic shaft according to an embodiment of the present application in a locked state.

Referring to fig. 12, when the pneumatic shaft 130 is required to be rotated, high-pressure gas is introduced into the cylinder 13121 through the second gas inlet pipe 133, the high-pressure gas is located at a side where the piston 13122 is connected to the piston rod 13123, the piston 13122 drives the piston rod 13123 to move toward a side where the first end cap 13112 is located under the action of the gas pressure, the connection seat 1314 moves along with the piston rod 13123, and a gap is provided between the ball head portion 13132 of the connection shaft 1313 and the concave spherical surface 13141 of the connection seat 1314. At this time, the pneumatic shaft 130 is in a released state, and the connection shaft 1313 is rotatable to adjust the orientation of the adjacent pneumatic shaft 130.

Referring to fig. 13 or 14, when the orientation of the adjacent pneumatic shaft 130 is adjusted, high-pressure gas is introduced into the cylinder 13121 through the first air inlet pipe 132, the high-pressure gas is located at one side of the piston 13122 away from the piston rod 13123, the piston 13122 drives the piston rod 13123 to move toward the side where the connecting shaft 1313 is located under the action of the gas pressure, the connecting seat 1314 moves along with the piston rod 13123, and the concave spherical surface 13141 of the connecting seat 1314 abuts against the convex spherical surface 13132a of the spherical head 13132. At this time, the pneumatic shaft 130 is in a locked state, and the pneumatic shaft 130 is firmly fixed by the pressure of the high-pressure gas and the frictional force of the contact between the coupling seat 1314 and the ball head 13132.

In order to ensure that the pneumatic shafts 130 can still be connected and fastened under abnormal conditions such as air leakage of the first air inlet pipe 132 or incapability of normal operation of the high-pressure air pump, and the like, as shown in fig. 14, in some embodiments, a telescopic piece 13124 may be connected between one side of the piston 13122, which is away from the piston rod 13123, and the cylinder 13121, and under the condition that the first air inlet pipe 132 cannot provide enough high-pressure air, even does not enter air, the telescopic piece 13124 may push the piston 13122 by virtue of self acting force, so that the piston rod 13123 drives the connecting seat 1314 to push the connecting shaft 1313.

Illustratively, in fig. 14, the telescoping member 13124 is illustrated as a spring that may rely on its own compressive spring force to provide sufficient preload force to urge the hub 1314 against the shaft 1313. In other embodiments, the telescoping member 13124 may also be a hydraulic lever that relies on hydraulic pressure to urge the hub 1314 against the connecting shaft 1313.

It is to be understood that terms indicating orientations such as up, down, above, below, upper, lower, top, bottom, top end face, bottom end face, and the like in this embodiment are based on positional relationships of installation and use states of the apparatus or device.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solution of the present application, and not limiting thereof; while the application has been described in detail with reference to the foregoing embodiments, it will be appreciated by those skilled in the art that variations may be made in the techniques described in the foregoing embodiments, or equivalents may be substituted for in part or in whole; such modifications and substitutions do not depart from the spirit of the application.

Claims (10)

1. A pneumatic support arm, comprising: the device comprises a fixing part, a mechanical adjusting part and at least two pneumatic shafts;

The fixed part is used for being connected to the installation foundation, the bottom end of the mechanical adjusting part is connected with the top end of the fixed part, the mechanical adjusting part swings in a first plane, and each pneumatic shaft is sequentially connected to the top end of the mechanical adjusting part;

the pneumatic shafts are in a locking state and a releasing state, when the pneumatic shafts are in the locking state, the pneumatic shafts are fixedly connected by means of air pressure, and when the pneumatic shafts are in the releasing state, the pneumatic shafts swing around adjacent pneumatic shaft cones.

2. The pneumatic support arm of claim 1, wherein the pneumatic shaft comprises a valve body, a first air inlet tube, and a second air inlet tube;

the air inlet end of the first air inlet pipe and the air inlet end of the second air inlet pipe are communicated with a high-pressure air source, and the air outlet end of the first air inlet pipe and the air outlet end of the second air inlet pipe are communicated with the inside of the valve body;

When the first air inlet pipe feeds high-pressure air into the valve body, the pneumatic shaft is in a locking state; when the second air inlet pipe feeds high-pressure air into the valve body, the pneumatic shaft is in a release state.

3. The pneumatic support arm of claim 2, wherein the valve body comprises a housing and a cylinder, a connection seat, and a connection shaft disposed within the housing;

the end, close to the mechanical adjusting part, of the shell is a first end, the end, far away from the mechanical adjusting part, of the shell is a second end, and the air cylinder, the connecting seat and the connecting shaft are sequentially arranged from the first end to the second end;

the movable end of the air cylinder faces the connecting seat and is connected with the connecting seat, the connecting seat moves along with the movable end in the axial direction of the shell, the connecting seat faces one end of the connecting shaft and is in spherical contact with the connecting shaft, the other end of the connecting shaft extends out of the second end and is fixedly connected with the adjacent pneumatic shaft, and the connecting shaft swings around the cone of the second end.

4. A pneumatic support arm according to claim 3, wherein the connecting shaft comprises a shaft body and a ball head part, the ball head part is connected to one end of the shaft body facing the connecting seat, and the other end of the shaft body is fixedly connected with the adjacent pneumatic shaft through the second end;

One side of the ball head part, which is away from the shaft body, is provided with a convex spherical surface, one end of the connecting seat, which faces the connecting shaft, is provided with a concave spherical surface, and the curvature of the convex spherical surface is consistent with that of the concave spherical surface.

5. A pneumatic support arm as claimed in claim 4, wherein the second end is provided with a knuckle bearing, the shaft body is threaded in the knuckle bearing, and the centre of sphere of the convex spherical surface coincides with the centre of the knuckle bearing.

6. A pneumatic support arm according to any one of claims 3 to 5, wherein the cylinder comprises a cylinder barrel, a piston and a piston rod;

The piston is positioned in the cylinder barrel and moves along the axial direction of the cylinder barrel, the piston rod is connected to one side of the piston, which faces the second end, and the piston rod extends out of the cylinder barrel to be connected with the connecting seat;

The first air inlet pipe and the second air inlet pipe are communicated with the inside of the cylinder barrel, the air outlet end of the first air inlet pipe is close to the first end, and the air outlet end of the second air inlet pipe is close to the second end.

7. A pneumatic support arm according to claim 6, wherein a telescopic member is connected between the cylinder and the side of the piston facing away from the piston rod, the telescopic member acting on its own to urge the connection socket against the connection shaft.

8. The pneumatic support arm of any one of claims 1-5, wherein the mechanical adjustment portion comprises a first mounting portion, an adjustable portion, and a second mounting portion, the first mounting portion, the adjustable portion, and the second mounting portion being connected in sequence between the fixed portion and the pneumatic shaft;

The adjustable part comprises one adjusting section or more than two adjusting sections which are sequentially connected, and the adjusting sections can relatively rotate and can relatively fix with the first mounting part, the adjusting sections and the second mounting part and the adjacent adjusting sections.

9. A pneumatic support arm according to any one of claims 1 to 5, wherein the securing portion comprises a socket and a spindle;

The sleeve joint piece comprises a shaft sleeve part and a first clamping plate, the top end of the shaft sleeve part is connected with the mechanical adjusting part, and the first clamping plate is connected to the bottom end of the shaft sleeve part; the shaft connector comprises a shaft rod part and a second clamping plate, wherein the shaft rod part stretches into the shaft sleeve part and is in threaded connection with the shaft sleeve part, and the second clamping plate is connected to the bottom end of the shaft rod part.

10. A regulating device comprising a clamping head and the pneumatic support arm of any one of claims 1-10, the clamping head being connected to the top end of the pneumatic support arm, the clamping head being for clamping a device.