CN210589375U - Mechanical arm locking mechanism and mechanical arm - Google Patents

Abstract

The utility model discloses a mechanical arm locking mechanical system and mechanical arm, which belongs to the technical field of medical apparatus and instruments, wherein the mechanical arm locking mechanical system comprises a first matching body and a second matching body, the first matching body comprises a first turntable and a first locking pin connected with the first turntable in a sliding way, and the end part of the first locking pin is provided with a working surface; the second matching body comprises a first clamping and locking disc, a first clamping and locking groove is formed in the first clamping and locking disc, the end portion of the first clamping and locking pin can be inserted into the first clamping and locking groove, and the working face is in surface contact with the inner wall of the first clamping and locking groove. The robot arm includes a robot arm locking mechanism as described above. In the tip through first kayser round pin inserted first kayser recess, can realize locking mechanism's locking, surface to surface contact between the working face of first kayser round pin and the inner wall of first kayser recess has increased area of contact, guarantees the stability of locking, prevents to rock and shift in the use, has improved the security.

Description

Mechanical arm locking mechanism and mechanical arm

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a arm locking mechanical system and arm.

Background

The medical robotic arm includes a plurality of rigid holders and a plurality of joints connecting the holders together. In normal use of the arm, the holder and the joint are rigidly interconnected, and in this state the arm forms a rigid unit stably supporting a part of the patient. When the spatial position of the part supporting the patient needs to be changed, each joint of the mechanical arm needs to be unlocked, and the joint and the holding piece are allowed to move relatively.

Generally, a fixing device is arranged at one end part of a mechanical arm, and the fixing device is used for mounting the mechanical arm on an operating table; an unlocking device is provided on the other end of the robot arm, and is manually operated by a user to unlock the robot arm. The joint of the holding piece and the joint is provided with a locking mechanism, the locking mechanism is in a locking state, the holding piece and the joint are controlled to be rigidly connected, the locking mechanism is in an unlocking state, and the holding piece and the joint are controlled to be rotatably connected.

When the locking mechanism is used, the locking mechanism is exchanged between the locking state and the unlocking state according to the requirement, higher requirements are provided for the locking stability of the locking mechanism, and the locking mechanism is prevented from shaking or shifting in the locking state to influence the normal operation of the operation process.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical arm locking mechanical system and arm to guarantee blocked mechanical system's locking stability, avoid taking place to rock or shift under the block state, improve the security.

As the conception, the utility model adopts the technical proposal that:

a mechanical arm locking mechanism comprising:

the first matching body comprises a first rotating disc and a first clamping lock pin connected with the first rotating disc in a sliding mode, and a working surface is arranged at the end part of the first clamping lock pin;

the second matching body comprises a first clamping and locking disc, a first clamping and locking groove is formed in the first clamping and locking disc, the end portion of the first clamping and locking pin can be inserted into the first clamping and locking groove, and the working face is in surface-to-surface contact with the inner wall of the first clamping and locking groove.

The working surface comprises two working arc surfaces which are symmetrically distributed relative to the axis of the first clamping lock pin, a matching surface is formed between the two working arc surfaces, and a gap is formed between the matching surface and the inner wall of the first clamping lock groove.

Wherein, the fitting surface is the arcwall face.

Wherein, the matching surface is a plane.

The first turntable is axially provided with a plurality of through holes, and the first locking pin is in sliding fit with the through holes.

The first matching body further comprises a first force application element, and the first force application element is clamped with the first latch pin and used for driving the first latch pin to move.

The first matching body further comprises a pre-tightening disc, the pre-tightening disc and the first rotating disc are arranged at intervals, and the first clamping lock pin is elastically connected with the pre-tightening disc.

And a limiting column is arranged between the pre-tightening disc and the first rotating disc, one end of the limiting column is fixedly connected with the first rotating disc, and the other end of the limiting column is fixedly connected with the pre-tightening disc.

A robot arm comprising a robot arm locking mechanism as described above.

The utility model has the advantages that:

the utility model provides an arm locking mechanical system, in the tip through first kayser round pin inserted first kayser recess, can realize locking mechanical system's locking, the face-to-face contact between the working face of first kayser round pin and the inner wall of first kayser recess has increased area of contact, guarantees the stability of locking, prevents to rock and shift in the use, has improved the security.

Drawings

Fig. 1 is a schematic structural diagram of a robot arm according to a first embodiment of the present invention;

fig. 2 is a schematic partial structural view of a robot arm according to a first embodiment of the present invention;

fig. 3 is a schematic structural diagram of a mechanical arm locking mechanism according to a first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a first latch pin of a mechanical arm locking mechanism according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a first locking disk of a mechanical arm locking mechanism according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a safety mechanism according to an embodiment of the present invention;

fig. 7 is a schematic view of a safety mechanism according to an embodiment of the present invention in a locked position;

fig. 8 is a schematic view of a safety mechanism according to an embodiment of the present invention in a release position;

fig. 9 is a partial schematic structural view of a mechanical arm locking mechanism provided in the second embodiment of the present invention;

fig. 10 is a schematic structural view of a first latch pin of a mechanical arm locking mechanism according to a second embodiment of the present invention.

In the figure:

10. a holder;

20. a joint;

30. a fixing mechanism;

41. a force application rod; 42. fixing the rod; 43. a slider; 44. a trigger lever; 45. a handle; 46. a spring;

51. a housing; 52. a baffle plate; 53. a security pane; 54. an elastic member; 55. a safety button;

1. a first mating body; 11. a first turntable; 12. a first latch pin; 121. a working surface; 122. a mating surface; 13. a first force application element; 14. pre-tightening the disc; 15. a limiting column;

2. a second mating body; 21. a first latch plate; 22. a first latch recess.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Example one

Referring to fig. 1 to 8, a robot arm according to an embodiment of the present invention includes a plurality of holding members 10, and adjacent holding members 10 are connected by joints 20. A fixing mechanism 30 is arranged at one end part of the mechanical arm, and the fixing mechanism 30 is used for mounting the mechanical arm on a slide rail of an operating table; an unlocking mechanism is provided at the other end of the robot arm, which can be manually operated by a user in order to unlock the robot arm. The mechanical arm can be used in the medical field and can also be used in other fields needing support, and the mechanical arm is not limited in the application.

The mechanical arm locking mechanism is positioned at the joint of the holding piece 10 and the joint 20, the locking mechanism is in a locking state, the holding piece 10 and the joint 20 are controlled to be rigidly connected, the locking mechanism is in an unlocking state, and the holding piece 10 and the joint 20 are controlled to be rotatably connected; the unlocking mechanism is connected with a locking mechanism at one end of the mechanical arm and can be operated by external force so as to control the locking mechanism to be unlocked or locked. The adjacent locking mechanisms are connected by a link mechanism, and the structure of the link mechanism is not described in detail herein, and reference can be made to the prior art.

The unlocking mechanism comprises a force application rod 41, a conversion mechanism and a trigger rod 44, the conversion mechanism comprises a fixed rod 42 and a sliding block 43 connected with the fixed rod 42 in a sliding mode, and one end of the force application rod 41 is connected with the sliding block 43 in a rotating mode; one end of the trigger lever 44 is rotatably connected to the slider 43, and the other end is connected to the lock mechanism. When an external force is applied to the force application rod 41, the force application rod 41 drives the sliding block 43 to slide along the fixing rod 42, and further drives the trigger rod 44 to move, so that the locking mechanism is triggered to be unlocked; when no external force is applied to the force application rod 41, the force application rod 41 is reset, and the trigger rod 44 is driven by the slider 43 to lock the locking mechanism.

The unlocking mechanism further comprises a handle 45, and one end of the force application rod 41 far away from the sliding block 43 is rotatably connected with the handle 45. When an external force is applied to the handle 45, that is, the force applying lever 41. The unlocking mechanism further comprises a spring 46, the spring 46 is sleeved on the fixing rod 42, one end of the spring 46 is connected with the sliding block 43, and the other end of the spring 46 is connected with the end portion of the fixing rod 42.

When external force is applied to the handle 45, the force application rod 41 rotates to drive the sliding block 43 to move, and further drive the trigger rod 44 to move, so that the locking mechanism is triggered to be unlocked; when external force is separated from the handle 45, the force application rod 41 automatically resets under the action of the spring 46, and drives the trigger rod 44 and the handle 45 to reset, so that the locking mechanism is restored to the locking state from the unlocking state.

The unlocking mechanism is connected with the safety mechanism, and the safety mechanism is used for ensuring the safety of the mechanical arm in the using process. The safety mechanism comprises a shell 51, a baffle plate 52, a safety plate 53 and an elastic piece 54, wherein the baffle plate 52 is connected with a handle 45 of the unlocking mechanism, and the handle 45 is rotatably connected with the shell 51; the safety plate 53 is slidably connected with the shell 51, the safety plate 53 has a locking position and a releasing position, and the safety plate 53 in the locking position abuts against the baffle plate 52 to limit the rotation of the handle 45; the elastic member 54 is disposed between the safety plate 53 and the housing 51. Of course, the housing 51 is shared by the unlocking mechanism and the safety mechanism.

When the mechanical arm is in a locked state, the safety plate 53 is in a locked position, the safety plate 53 abuts against the baffle plate 52 to limit the rotation of the handle 45, and at this time, even if the handle 45 is pressed, the handle 45 cannot rotate due to the blocking effect of the safety plate 53; only after the safety plate 53 slides to the release position, the handle 45 can be pressed to unlock the mechanical arm, so that the mechanical arm in a locking state has a safety protection function, the phenomenon that the mechanical arm is suddenly unlocked due to mistaken collision or misoperation of the handle 45 is prevented, and the use safety is improved.

When the safety plate 53 is slid to the release position, the elastic member 54 is compressed, and the handle 45 can be pressed to unlock the robot arm; after the mechanical arm is unlocked, the mechanical arm is moved to a proper position, the handle 45 is loosened, and the handle 45 is reset, so that the mechanical arm is restored to a locking state; the safety plate 53 is released, and at the same time, the safety plate 53 is reset under the action of the elastic piece 54, so that the safety plate 53 is in a locking position, and the locking state of the mechanical arm is safely protected.

In order to facilitate the control of the sliding of the safety plate 53, a safety button 55 is provided, and the safety button 55 is fixedly connected to the safety plate 53. The housing 51 is provided with a sliding groove, and the safety button 55 is positioned in the sliding groove. A safety button 55 is provided on the surface of the housing 51 for easy operation.

The robot arm lock mechanism includes a first fitting body 1 and a second fitting body 2 which are selectively connectable, one of the first fitting body 1 and the second fitting body 2 being connected to a holder 10, and the other being connected to a joint 20. In the locked state, the first and second fitting bodies 1, 2 are connected so that the holding element 10 is rigidly connected to the joint 20; in the unlocked state, the first fitting body 1 and the second fitting body 2 are disconnected so that the holder 10 and the joint 20 can rotate relative to each other.

The first matching body 1 comprises a first rotating disc 11, a first clamping lock pin 12 and a first force application element 13, wherein the first rotating disc 11 is connected with the holder 10, and a plurality of through holes are formed in the first rotating disc 11 in the axial direction; the first latch pin 12 is slidably connected to the through hole and selectively connectable to the second engaging body 2; the first force application element 13 is connected to the unlocking mechanism and is clamped to the first latch pin 12, so as to drive the first latch pin 12 to move axially.

The second matching body 2 comprises a first locking disc 21, the first locking disc 21 is connected with the joint 20, and a plurality of first locking grooves 22 are formed in the first locking disc 21 in the axial direction, so that the first locking pin 12 can be conveniently inserted into the first locking grooves 22. Of course, the first engaging body 1 may be connected to the joint 20, and the second engaging body 2 may be connected to the holder 10, which is not limited herein. In the present embodiment, the axial direction is the direction of the axis of the first rotating disk 11, and the holder 10 and the knuckle 20 can relatively rotate around the axial direction.

The tip of first kayser round pin 12 is provided with working face 121, and in the tip of first kayser round pin 12 inserted first kayser recess 22, the face-to-face contact between working face 121 and the inner wall of first kayser recess 22 has increased area of contact, guarantees the stability of locking, prevents to rock and shift in the use, has improved the security.

The working surface 121 includes two working arc surfaces symmetrically distributed with respect to the axis of the first locking pin 12, a mating surface 122 is formed between the two working arc surfaces, and a gap is provided between the mating surface 122 and the inner wall of the first locking recess 22. Both working arc surfaces are in surface contact with the inner wall surface of the first locking groove 22, so that the two contact surfaces form blocking surfaces for locking the clockwise relative torsion and the anticlockwise relative torsion of the first matching body 1 and the second matching body 2 respectively. That is, the arrangement of the two working arcs ensures that the first and second fitting bodies 1, 2 are locked in both clockwise and counterclockwise opposite rotational directions even if only one first detent 12 is engaged with the first detent recess 22. A gap is formed between the matching surface 122 and the inner wall of the first locking groove 22, so that the function of abdicating is achieved, and the working arc surface is in surface-to-surface contact with the inner wall of the first locking groove 22 conveniently.

In the present embodiment, the mating surface 122 is an arc surface, and specifically, the mating surface 122 is a tapered surface to achieve an abdicating function, so that the first lock pin 12 can be inserted into the first lock recess 22. The arc of the engagement surface 122 may be different from the arc of the working surface 121 according to actual requirements.

The first matching body 1 further comprises a pre-tightening disc 14, the pre-tightening disc 14 and the first rotating disc 11 are arranged at intervals, and the first clamping lock pin 12 is elastically connected with the pre-tightening disc 14. The pre-tightening disc 14 has a limiting effect on one end of the first locking pin 12, and the elastic connection is arranged, so that when the first locking pin 12 is separated from the first locking groove 22 in an inserted manner, the first locking pin 12 is abutted against the pre-tightening disc 14, and the elastic force is convenient for the first locking pin 12 to be inserted when the first locking pin 12 is opposite to the first locking groove 22.

A limiting column 15 is arranged between the pre-tightening disc 14 and the first rotating disc 11, one end of the limiting column 15 is inserted into the first rotating disc 11, and the other end of the limiting column is fixedly connected with the pre-tightening disc 14. The limiting column 15 is arranged to limit the pre-tightening disc 14, so that the distance between the pre-tightening disc 14 and the first rotating disc 11 is fixed.

When the first force application element 13 applies a force to the first locking pin 12 in the axial direction, so that the first locking pin 12 is disengaged from the first locking recess 22, the first rotating disc 11 and the first locking disc 21 can rotate relatively, i.e. the holder 10 and the joint 20 can rotate relatively. When the first locking pin 12 is acted by a force in the opposite direction, so that the first locking pin 12 is inserted into the first locking recess 22, the first rotary disk 11 is fixedly connected to the first locking disk 21, i.e. the holder 10 is rigidly connected to the knuckle 20.

Example two

Fig. 9 and 10 show a second embodiment, wherein the same or corresponding parts as the first embodiment are provided with the same reference numerals as the first embodiment. For the sake of simplicity, only the differences between the second embodiment and the first embodiment will be described. The difference is that the matching surface 122 is a plane, so that the distance between the matching surface 122 and the inner wall of the first locking groove 22 is larger, the abdicating function is more obvious, and the plane is easier to process and produce. When the first lock pin 12 is inserted into the first lock recess 22, a gap is formed between the mating surface 122 and the inner wall of the first lock recess 22, so that the mating surface 122 does not impact the inner wall of the first lock recess 22, and vibration and noise are reduced.

The above embodiments have been described only the basic principles and features of the present invention, and the present invention is not limited by the above embodiments, and is not departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. A mechanical arm locking mechanism, comprising:

the first matching body (1) comprises a first rotating disc (11) and a first clamping lock pin (12) connected with the first rotating disc (11) in a sliding mode, and a working surface (121) is arranged at the end portion of the first clamping lock pin (12);

the second matching body (2) comprises a first locking disc (21), a first locking groove (22) is formed in the first locking disc (21), the end portion of the first locking pin (12) can be inserted into the first locking groove (22), and the working surface (121) is in surface-to-surface contact with the inner wall of the first locking groove (22).

2. The mechanical arm locking mechanism as claimed in claim 1, wherein the working face (121) comprises two working arcs symmetrically distributed with respect to the axis of the first latch pin (12), a mating face (122) is formed between the two working arcs, and a gap is provided between the mating face (122) and the inner wall of the first latch recess (22).

3. The mechanical arm locking mechanism of claim 2, wherein the mating surface (122) is an arcuate surface.

4. The mechanical arm locking mechanism of claim 2, wherein the mating surface (122) is planar.

5. The mechanical arm locking mechanism as claimed in claim 1, wherein the first rotary plate (11) has a plurality of through holes formed therein in an axial direction, and the first locking pin (12) is slidably engaged with the through holes.

6. The mechanical arm locking mechanism as claimed in any one of claims 1 to 5, wherein the first mating body (1) further comprises a first force application element (13), and the first force application element (13) is engaged with the first latch pin (12) for moving the first latch pin (12).

7. The mechanical arm locking mechanism as claimed in any one of claims 1 to 5, wherein the first mating body (1) further comprises a pre-tightening disk (14), the pre-tightening disk (14) is arranged at a distance from the first rotating disk (11), and the first locking pin (12) is elastically connected with the pre-tightening disk (14).

8. The mechanical arm locking mechanism as claimed in claim 7, wherein a limiting column (15) is arranged between the pre-tightening disc (14) and the first rotating disc (11), one end of the limiting column (15) is fixedly connected with the first rotating disc (11), and the other end is fixedly connected with the pre-tightening disc (14).

9. A robot arm comprising a robot arm locking mechanism according to any one of claims 1 to 8.

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