CN218870473U - Rotary joint locking mechanism and surgical robot - Google Patents

Abstract

The utility model provides a rotary joint locking mechanism and surgical robot. The rotary joint locking mechanism comprises a locking piece and a driving assembly used for being arranged on a first arm of the rotary joint; the driving assembly comprises an elastic clamping piece, a return spring and a position regulator which is movably connected with the first arm; one of the position adjuster and the return spring is used for driving the locking piece to move to be clamped into a tooth groove of a fluted disc linked with the second arm of the rotary joint, and the other one of the position adjuster and the return spring is used for driving the locking piece to move to be separated from the fluted disc; the elastic clamping piece is used for clamping the position regulator when the position regulator moves to one or more positions. The utility model discloses can compromise the demand of rotary joint locking mechanism's locking reliability and improve life's demand, can improve rotary joint's reliability to a certain extent.

Description

Rotary joint locking mechanism and surgical robot

Technical Field

The utility model relates to the technical field of robots, particularly, relate to a rotary joint locking mechanism and surgical robot.

Background

In a rotary joint of a robot arm of a surgical robot, for example, it is common to lock or unlock the relative positions at which the two arms rotate by holding a lock mechanism.

At present, an electromagnetic band-type brake is adopted as a locking mechanism in some technologies, the electromagnetic band-type brake mainly utilizes friction force to realize locking, and when a tail end load is large or external impact is large, the problem of heating caused by friction is easy to generate, so that the service life and the reliability are influenced. In other technologies, a ratchet-pawl mechanism is used as a locking mechanism, and the pawl is kept in contact with a ratchet wheel all the time by spring force so as to keep locking. In other technologies, a ratchet wheel and pawl mechanism is also used as a locking mechanism, the pawl is separated from the ratchet wheel by spring force, and the pawl is clamped into the gear teeth of the ratchet wheel by pressing the pawl by a cam when locking is needed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses how to improve rotary joint locking reliability and life's problem in aiming at solving the correlation technique to a certain extent.

To address at least one of the above concerns to at least some extent, in a first aspect, the present invention provides a rotary joint locking mechanism comprising a locking member and a drive assembly for mounting to a first arm of a rotary joint;

the driving assembly comprises an elastic clamping piece, a return spring and a position regulator which is movably connected with the first arm; one of the position adjuster and the return spring is used for driving the locking piece to move to be clamped into a tooth groove of a fluted disc linked with the second arm of the rotary joint, and the other one of the position adjuster and the return spring is used for driving the locking piece to move to be separated from the fluted disc;

the elastic clamping piece is used for clamping the position regulator when the position regulator moves to one or more positions.

Optionally, one end of the locking member is configured to be rotatably connected to the first arm, and the other end of the locking member is provided with a tooth portion configured to engage with the toothed disc; the return spring is used for being connected with the first arm and the locking piece respectively and driving the locking piece to be separated from the fluted disc.

Optionally, a clamping groove is formed in the position regulator, the elastic clamping piece comprises an elastic piece, one end of the elastic piece is used for being connected with the first arm, a clamping column is arranged at the other end of the elastic piece, and the clamping column is used for being clamped with the clamping groove.

Optionally, the elastic member is a spring plate, a fixed end of the spring plate is used for being connected with the first arm, and the clamping column is arranged at a movable end of the spring plate.

Optionally, the side wall of the clamping groove is set to be an inclined surface or an arc surface, and/or the side wall of the clamping column, which is used for being in contact with the clamping groove, is set to be an inclined surface or an arc surface.

Optionally, the position adjuster is adapted to be in rotational connection with the first arm.

Optionally, the driving assembly further comprises a handle, the handle is arranged outside the first arm and connected with the rotating shaft of the position regulator;

or, the driving assembly further comprises a motor and a transmission structure, the motor is used for being installed on the first arm, and the motor is connected with the position regulator through the transmission structure.

Optionally, the drive assembly further comprises a ram;

one end of the ejector rod is connected with the position regulator, and the other end of the ejector rod is used for abutting against the locking piece;

or, the one end of ejector pin with position regulator connects, the other end of ejector pin extends to locking piece department, the ejector pin is provided with butt portion and stopper at extending direction interval, wherein the stopper for the butt portion is close to the locking piece sets up, on the ejector pin the butt portion with the cover is equipped with compression spring and pressure head between the stopper, the pressure head passes through compression spring with butt portion connects, the stopper is used for the restriction the pressure head breaks away from the ejector pin, the ejector pin passes through the pressure head with the locking piece butt.

Optionally, the fluted disc is fixedly connected with the second arm, or the fluted disc is in transmission connection with the second arm.

In a second aspect, the present invention provides a surgical robot including a rotary joint and a rotary joint locking mechanism as described above in the first aspect.

Compared with the prior art, in the rotary joint locking mechanism, the locking piece can be switched between the locking state of being clamped into the tooth groove of the fluted disc and the unlocking state of being separated from the fluted disc through the driving component, and the locking piece can obtain certain state holding force through the driving component in the locking state and the unlocking state; for example, the joint through elasticity joint spare and position regulator provides the locking piece in the position holding power of locking state, it can be when keeping the locking piece to the locking of fluted disc, avoid contacting with the locking piece totally hard (for example the cam contacts with the locking piece and provides the position holding power when being totally hard contact), when the effort that leads to the relative rotation that second arm and first arm received because of the external impact is too big and is close or even surpass above-mentioned position holding power, can cushion to a certain extent through the elasticity performance of elasticity joint spare, avoid leading to life to reduce and avoid first arm and second arm to break because of being forced too big with the locking piece hard contact under extreme condition. The utility model discloses can compromise the demand of rotary joint locking mechanism's locking reliability and improve life's demand, can also improve rotary joint's reliability to a certain extent. The locking mode for the electromagnetism band-type brake can not produce a large amount of heats, for providing locking power for the locking piece all the time through the torsional spring and make the locking piece compress tightly the mode on the fluted disc all the time, can avoid taking place abnormal sound and influence life because of locking piece and fluted disc break away from repeatedly when second arm and first arm relative rotation.

Drawings

Fig. 1 is a schematic structural view of a rotary joint locking mechanism in an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is another schematic structural view of the rotary joint locking mechanism according to the embodiment of the present invention;

fig. 4 is a partially enlarged view of fig. 3 at B.

Description of reference numerals:

100-a locking element; 200-a drive assembly; 210-an elastic clip; 211-an elastic member; 212-a snap post; 2111-avoiding holes; 220-a position adjuster; 221-card slot; 230-a return spring; 240-top rod; 241-an abutment; 242-a stopper; 250-a compression spring; 260-pressure head; 270-a handle; 280-axial limit piece; 290-a rotating shaft; 300-a first arm; 400-a second arm; 500-fluted disc.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In the drawings, the Z-axis represents the vertical, i.e., up-down, position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents a horizontal direction and is designated as a left-right position, and a positive direction of the X-axis (i.e., an arrow direction of the X-axis) represents a right side and a negative direction of the X-axis (i.e., a direction opposite to the positive direction of the X-axis) represents a left side; in the drawings, the Y-axis indicates the front-rear position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the front side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the rear side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

As shown in fig. 1 to 3, the embodiment of the present invention provides a rotary joint locking mechanism, which includes a locking member 100 and a driving assembly 200 for mounting to a first arm 300 of a rotary joint;

the driving assembly 200 includes an elastic clip 210, a return spring 230, and a position adjuster 220 for movably connecting with the first arm 300; one of the position adjuster 220 and the return spring 230 is used to drive the locking member 100 to move to be caught in a tooth groove of the toothed disc 500 linked with the second arm 400 of the rotary joint, and the other one of the position adjuster 220 and the return spring 230 is used to drive the locking member 100 to move to be separated from the toothed disc 500;

the elastic snap 210 is used to snap the position adjuster 220 when the position adjuster 220 moves to one or more positions.

The present specification will describe the case where the rotary joint locking mechanism is used for the rotary joint of the surgical robot, and the position adjuster 220 is used to drive the locking member 100 to move into the tooth groove clamped in the toothed disc 500, and the return spring 230 is used to drive the locking member 100 to move away from the toothed disc 500, but it should be understood that the present invention can be used for other rotary joints without violating the design concept of the present invention.

Illustratively, the toothed disc 500 is in transmission connection with the second arm 400, for example, the toothed disc 500 is a first gear, a second gear is fixedly connected to the second arm 400, the first gear and the second gear are engaged, and the driver of the rotary joint is mounted on the first arm 300 and is in driving connection with the first gear, that is, the first gear is used for driving the second arm 400 to rotate relative to the first arm 300, at this time, the locking member 100 can be engaged with the first gear, so as to reduce the requirement for the mounting position of the toothed disc 500, and the toothed disc 500 can be formed by using the self-driving structure (the first gear) of the rotary joint.

Illustratively, toothed plate 500 is fixedly coupled to second arm 400, and toothed plate 500 may be an attachment attached to second arm 400, and may be formed as the second gear described above when toothed plate 500 is engaged by locking member 100 with the teeth on toothed plate 500 to limit the rotation of toothed plate 500 relative to first arm 300, and thus second arm 400 and first arm 300, and will not be described in detail herein.

It should be noted that, the elastic clip 210 has a certain elasticity, when the elastic clip 210 is clipped to the position adjuster 220, the position of the position adjuster 220 can be kept locked to a certain extent, and if the first arm 300 and the second arm 400 move relatively in the locked state due to, for example, a violent collision, the elastic performance of the elastic clip 210 can be utilized to buffer, so as to avoid damage to the locking member 100 and the toothed disc 500 due to an excessive acting force.

Thus, in the rotary joint locking mechanism of the present invention, the locking member 100 can be driven by the driving assembly 200 to switch between the locking state of being clamped into the tooth groove of the toothed disc 500 and the unlocking state of being separated from the toothed disc 500, and the locking member 100 can obtain a certain state holding force by the driving assembly 200 in both the locking state and the unlocking state; for example, the position holding force of the locking member 100 in the locking state is provided by the engagement of the elastic engaging member 210 and the position adjuster 220, which can prevent the locking member 100 from being in full hard contact with the locking member 100 (for example, the cam is in contact with the locking member 100 to provide the position holding force), while maintaining the locking of the locking member 100 to the gear plate 500. When the force of the relative rotation received by the second arm 400 and the first arm 300 due to the external collision is too large to approach or even exceed the position holding force, the elastic property of the elastic engaging member 210 can buffer to a certain extent, thereby preventing the reduction of the service life due to the hard contact with the locking member 100 and preventing the first arm 300 and the second arm 400 from being broken due to the excessive force in extreme cases. The utility model discloses can compromise the demand of rotary joint locking mechanism's locking reliability and improve life's demand, can also improve rotary joint's reliability to a certain extent. Compared with the mode of locking the electromagnetic band-type brake, a large amount of heat cannot be generated, and compared with the mode of providing the locking member 100 with the locking force through the torsion spring all the time so that the locking member 100 is pressed on the fluted disc 500 all the time, the abnormal noise and the influence on the service life caused by the repeated separation and locking of the locking member 100 and the fluted disc 500 when the second arm 400 and the first arm 300 rotate relatively can be avoided.

As shown in fig. 2 to 4, one end of the locking member 100 is used for being rotatably connected to the first arm 300, and the other end of the locking member 100 is provided with a tooth portion for engaging with the toothed plate 500; the return spring 230 is a torsion spring for coupling with the first arm 300 and the locking member 100, respectively, and driving the locking member 100 to be separated from the toothed plate 500.

So, for set up locking piece 100 as with first arm 300 sliding connection's mode, its rotation connected mode is favorable to realizing the installation of locking piece 100, and its mounting structure is simple, utilizes the torsional spring to realize the separation of locking piece 100 and fluted disc 500, is convenient for keep relatively great position holding power through the joint of elasticity joint spare 210 with position regulator 220.

As shown in fig. 2 and 3, optionally, a clamping groove 221 is disposed on the position adjuster 220, the elastic clamping member 210 includes an elastic member 211, one end of the elastic member 211 is used for being connected to the first arm 300, and the other end of the elastic member 211 is provided with a clamping post 212, and the clamping post 212 is used for being clamped with the clamping groove 221.

It should be noted that the elastic clip 210 is a component that has certain elasticity and can be clipped with the position adjuster 220, so that it can be clipped with the position adjuster 220, and it has certain position holding ability.

For example, the position adjuster 220 is slidably connected to the first arm 300 in the X-axis direction in the figure, and a plurality of slots 221 are formed in a side wall in the Y-axis positive direction, and notches of the slots 221 face the Y-axis positive direction, the elastic clamping member 210 is mounted on the first arm 300 and located on one side of the position adjuster 220 in the Y-axis positive direction, and a mounting groove is formed corresponding to the elastic clamping member 210, the elastic member 211 of the elastic clamping member 210 is accommodated in the mounting groove, a portion of the clamping column 212 thereof is exposed out of the mounting groove, and is slidably connected to the mounting groove through the clamping column 212, a portion of the clamping column 212 for contacting the slots 221 may be configured to include an arc surface or an inclined surface structure, when the position adjuster 220 slides in the X-axis direction, the clamping column 212 thereof is clamped to the position adjuster 220, and at least two slots 221 may be formed in the position adjuster 220 in the sliding direction (this embodiment is not shown in the figure).

Thus, the clamping column 212 is clamped with the clamping groove 221, and the elastic piece 211 is not directly connected with the clamping groove 221, so that the structural limitation on the elastic piece 211 can be reduced, the position of the position regulator 220 can be locked, and the position retaining force of the position regulator 220 can be provided by the elastic force of the elastic piece 211.

In the present specification, the content of the present invention will be described later by taking as an example that the position adjuster 220 is rotatably connected to the first arm 300, and the rotation axis is the same as the Y-axis direction.

As shown in fig. 2, the position adjuster 220 is mounted on the first arm 300 through the rotating shaft 290, an opening of the locking slot 221 on the position adjuster 220 is axially disposed toward the second arm 400, the rotating shaft 290 can penetrate through a sidewall of the first arm 300 in the Y-axis direction and is connected to the handle 270, the rotating shaft 290 can avoid axial movement of the rotating shaft 290 through the axial limiting member 280 (for example, the axial limiting member 280 is a limiting pin, and the limiting pin is mounted on the first arm 300 and is inserted into a positioning slot circumferentially disposed with the rotating shaft 290), the position adjuster 220 can be driven to rotate by the handle 270, and the position of the position adjuster 220 can be locked by engaging the elastic engaging member 210 with the position adjuster 220. Of course, the position adjuster 220 may be driven by a motor connected to the position adjuster 220 through a transmission structure.

As shown in fig. 2 and fig. 3, optionally, the elastic member 211 is a spring, a fixed end of the spring is used for connecting with the first arm 300, and the locking post 212 is disposed at a movable end of the spring.

As shown in fig. 2, at this time, one end of the elastic sheet upper clamping column 212 extends along the axial direction of the second arm 400 to a side far away from the second arm 400, and the extending direction forms an included angle with respect to both the X-axis direction and the Z-axis direction, so as to form an elastic energy storage structure.

Optionally, the side wall of the clamping groove 221 is set to be an inclined surface or an arc surface; and/or the side wall of the clamping column 212, which is used for being in contact with the clamping groove 221, is set to be an inclined surface or an arc surface.

As shown in fig. 2, the side walls of the locking groove 221 in the rotation direction of the position adjuster 220 are both provided with an inclined surface or an arc surface, and the inclined surface or the arc surface can guide the locking column 212 to enter or leave the locking groove 221.

Illustratively, the cross-sectional shape of the portion of the latching post 212 for contacting the latching groove 221 is circular, and the movable end of the resilient piece is provided with an avoiding hole 2111 (see fig. 2) for avoiding the latching groove 221, which will not be described in detail herein.

When the cross-sectional shape of the snap legs 212 is circular, they may be at least partially provided as rolling bodies. For example, the locking post 212 may include a post body connected to the elastic piece and a roller installed on the post body and rotatably connected to the post body, the roller being configured to be received in the locking slot 221. For example, the posts 212 may be configured to rotatably couple with the spring.

As shown in fig. 3, optionally, the driving assembly 200 further comprises a top bar 240, one end of the top bar 240 is connected to the position adjuster 220, and the other end of the top bar 240 is used for abutting against the locking member 100.

Thus, the structural limitation on the position adjuster 220 can be reduced on the basis of satisfying the abutting demand for the locking member 100.

As shown in fig. 3 to 4, further, one end of the push rod 240 is connected to the position adjuster 220, the push rod 240 is provided with an abutting portion 241 and a limit block 242 at an interval in the extending direction, wherein the limit block 242 is disposed close to the locking piece 100 relative to the abutting portion 241, a compression spring 250 and a ram 260 are sleeved on the push rod 240 between the abutting portion 241 and the limit block 242, the ram 260 is connected to the abutting portion 241 through the compression spring 250, the limit block 242 is used for limiting the ram 260 to be disengaged from the push rod 240, and the push rod 240 abuts against the locking piece 100 through the ram 260.

Illustratively, the abutting portion 241 may be a retainer ring connected to the top bar 240, and the limiting block 242 is connected to the top bar 240 through a riveting process after the compression spring 250 and the pressing head 260 are sleeved on the top bar 240 from one end in the positive direction of the X axis.

At this moment, the one end that lies in the positive direction of X axle on the pressure head 260 is provided with the storage tank that is used for holding stopper 242, perhaps, locking piece 100 and pressure head 260 butt and locking piece 100 are provided with the groove of keeping away that is used for holding stopper 242 and partial ejector pin 240 to ejector pin 240 passes through pressure head 260 and locking piece 100 butt, and not direct and locking piece 100 butt, has avoided ejector pin 240 and locking piece 100 direct contact, thereby influences the life's of ejector pin 240 problem.

The principle of the invention is illustrated in connection with the situation of fig. 2 and 3:

when the handle 270 is rotated, the position adjuster 220 can rotate relative to the first arm 300, the locking post 212 at the movable end of the elastic piece contacts the position adjuster 220, and the locking post 212 can be limited in the locking groove 221 of the position adjuster 220 by the elastic deformation of the elastic piece.

Taking the number of the slots 221 as an example, when the position adjuster 220 rotates clockwise in the XZ plane, the latching post 212 at the movable end of the resilient plate moves forward along the X axis relative to the position adjuster 220 until moving into the rightmost slot 221, in the process, the ejector rod connected to the position adjuster 220 moves leftward, the compression spring 250 extends, the pressing head 260 also moves leftward and is no longer in contact with the locking member 100, the locking member 100 is separated from the fluted disc 500 under the action of the return spring 230, and at this time, the second arm 400 and the first arm 300 can rotate relatively (as shown in fig. 2).

When the position adjuster 220 rotates counterclockwise in the XZ plane, the catch 212 at the movable end of the resilient plate moves in the negative direction of the X axis relative to the position adjuster 220 until moving into the catch groove 221 at the leftmost side, in the process, the plunger rod connected to the position adjuster 220 moves rightward, the compression spring 250 compresses, the pressing head 260 abuts against the locking member 100, the locking member 100 overcomes the force of the return spring 230 to engage with the fluted disc 500, and at this time, the second arm 400 and the first arm 300 can keep relative position locking (as shown in fig. 3).

Another embodiment of the present invention provides a surgical robot, which includes a rotary joint and the rotary joint locking mechanism of the above embodiment.

The surgical robot has the beneficial effects of the rotary joint locking mechanism.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. 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 description herein, references to the terms "an embodiment," "one embodiment," "some embodiments," "exemplary" and "one embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or embodiment of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.

Claims (10)

1. A rotary joint locking mechanism comprising a lock (100) and a drive assembly (200) for mounting to a first arm (300) of a rotary joint;

the driving assembly (200) comprises an elastic clamping piece (210), a return spring (230) and a position regulator (220) movably connected with the first arm (300); one of the position adjuster (220) and the return spring (230) is used for driving the locking piece (100) to move to be clamped into a tooth groove of a fluted disc (500) linked with the second arm (400) of the rotary joint, and the other one of the position adjuster (220) and the return spring (230) is used for driving the locking piece (100) to move to be separated from the fluted disc (500);

the elastic clamping piece (210) is used for clamping the position regulator (220) when the position regulator (220) moves to one or more positions.

2. The knuckle lock mechanism according to claim 1, wherein one end of the locking member (100) is adapted to be rotatably connected to the first arm (300), and the other end of the locking member (100) is provided with a tooth portion adapted to engage with the toothed plate (500); the return spring (230) is used for being connected with the first arm (300) and the locking piece (100) respectively and driving the locking piece (100) to be separated from the fluted disc (500).

3. The rotary joint locking mechanism according to claim 1 or 2, wherein a locking groove (221) is provided on the position adjuster (220), the elastic locking member (210) includes an elastic member (211), one end of the elastic member (211) is used for being connected with the first arm (300), the other end of the elastic member (211) is provided with a locking post (212), and the locking post (212) is used for being locked with the locking groove (221).

4. The rotary joint locking mechanism according to claim 3, wherein the elastic member (211) is a spring, a fixed end of the spring is used for connecting with the first arm (300), and the locking post (212) is disposed at a movable end of the spring.

5. The rotary joint locking mechanism according to claim 3, wherein the side wall of the locking groove (221) is provided with an inclined surface or an arc surface, and/or the side wall of the locking column (212) for contacting with the locking groove (221) is provided with an inclined surface or an arc surface.

6. The rotary joint locking mechanism according to claim 1 or 2, wherein the position adjuster (220) is adapted to be rotatably connected to the first arm (300).

7. The rotary joint locking mechanism according to claim 6, wherein the driving assembly (200) further comprises a handle (270), the handle (270) being adapted to be disposed outside the first arm (300) and connected to the rotary shaft (290) of the position adjuster (220);

or, the driving assembly (200) further comprises a motor and a transmission structure, the motor is used for being installed on the first arm (300), and the motor is connected with the position regulator (220) through the transmission structure.

8. The rotary joint locking mechanism of claim 6, wherein the drive assembly (200) further comprises a push rod (240);

one end of the ejector rod (240) is connected with the position regulator (220), and the other end of the ejector rod (240) is used for abutting against the locking piece (100);

or, one end of the push rod (240) is connected with the position regulator (220), the other end of the push rod (240) extends to the locking piece (100), the push rod (240) is provided with an abutting part (241) and a limiting block (242) at intervals in the extending direction, the limiting block (242) is arranged close to the locking piece (100) relative to the abutting part (241), a compression spring (250) and a pressure head (260) are sleeved between the abutting part (241) and the limiting block (242) on the push rod (240), the pressure head (260) is connected with the abutting part (241) through the compression spring (250), the limiting block (242) is used for limiting the separation of the pressure head (260) from the push rod (240), and the push rod (240) abuts against the locking piece (100) through the pressure head (260).

9. The rotary joint locking mechanism according to claim 1, wherein the toothed plate (500) is fixedly connected to the second arm (400), or wherein the toothed plate (500) is drivingly connected to the second arm (400).

10. A surgical robot comprising a rotary joint and a rotary joint locking mechanism according to any one of claims 1 to 9.

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