WO2023115782A1 - 一种机械臂 - Google Patents

一种机械臂 Download PDF

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Publication number
WO2023115782A1
WO2023115782A1 PCT/CN2022/090970 CN2022090970W WO2023115782A1 WO 2023115782 A1 WO2023115782 A1 WO 2023115782A1 CN 2022090970 W CN2022090970 W CN 2022090970W WO 2023115782 A1 WO2023115782 A1 WO 2023115782A1
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WO
WIPO (PCT)
Prior art keywords
force
joint
locking member
mechanical arm
joint head
Prior art date
Application number
PCT/CN2022/090970
Other languages
English (en)
French (fr)
Inventor
朱罡
穆克文
许珂
田伟
赵向蕊
Original Assignee
北京罗森博特科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京罗森博特科技有限公司 filed Critical 北京罗森博特科技有限公司
Priority to US18/546,443 priority Critical patent/US20240116197A1/en
Publication of WO2023115782A1 publication Critical patent/WO2023115782A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms

Definitions

  • the invention belongs to the field of medical technology, and relates to a mechanical arm for surgery.
  • the joint locking mechanism mainly adopts several driving methods such as hydraulic, pneumatic, electric, and mechanical.
  • the purely mechanical locking joint locking mechanism needs to be manually locked, and when the state of the mechanical arm needs to be adjusted, it also needs to be manually unlocked, which increases the operating intensity of the doctor.
  • the locking force of other methods is not high, and the load of the mechanical arm after locking is not high, which cannot meet the application requirements of larger loads.
  • the present invention provides a mechanical arm, including:
  • a second joint structure disposed at the end of said upper arm and/or forearm;
  • the first joint structure includes a first force releasing device and a first locking member
  • the second joint structure includes a second force releasing device and a second locking member
  • the first driving mechanism and the second driving mechanism mechanism applying force to the first locking member and/or the second locking member through the first force releasing device and/or the second force releasing device.
  • the first joint structure includes:
  • a hinge shaft, the first joint head and the second joint head are connected by a hinge shaft;
  • the first locking member is arranged between the first joint head and the second joint head, and is used for locking the first joint head and the second joint head;
  • the first force releasing device is arranged on one side and/or both sides of the first locking member, and is used for applying an enlarged force to the first locking member.
  • the second joint structure includes:
  • a third joint head arranged in the joint housing
  • the second locking member is arranged in contact with the third joint head for locking the third joint head
  • the second force releasing device is arranged at one end of the second locking member, and is used for applying an amplified force to the second locking member.
  • one end of the third joint head has an at least partially spherical structure
  • one end of the second locking member has a partially concave spherical structure, which cooperates with the contacting part of the third joint head.
  • first force releasing device and/or the second force releasing device is a lever structure.
  • the first force release device includes a first rotating shaft and a first force releasing rod, the first force releasing rod is arranged on the first rotating shaft, and the force receiving end of the first force releasing rod is far from the first rotating shaft The distance is greater than the distance between the force applying end and the first rotating shaft.
  • the second force release device includes two second force release rods, the two second force release rods are connected together through the second rotating shaft, and the distance between the force end of the second force releasing rod and the second rotating shaft The distance is greater than the distance between the force applying end and the second rotating shaft.
  • the first locking member includes more than two friction plates sleeved on the hinge shaft.
  • the other end of the third joint head has a ball stud protruding from the joint shell.
  • the driving mechanism is one of telescopic rods, electric push rods, lead screws, hydraulic cylinders and pneumatic cylinders.
  • the mechanical arm of the present invention amplifies the locking force by arranging the force release device in the joint structure, so that the mechanical arm can meet the application requirements of large load under the miniature condition.
  • the force release device can adopt the lever method, the distance from the force receiving end to the hinge point is greater than the distance from the hinge point to the force applying end, which can amplify the force received by the force receiving end, thereby exerting greater force on the locking part at the force applying end, Good locking effect.
  • Fig. 1 is a schematic structure diagram of the robot arm of the present invention.
  • Fig. 2 is a cross-sectional view of the first joint structure of the embodiment of the present invention.
  • Fig. 3 is a schematic diagram of a second force releasing device according to an embodiment of the present invention.
  • Fig. 4 is a sectional view of the second joint structure according to the embodiment of the present invention, showing a sectional view of the connection between the second force releasing device and the driving device.
  • connection and “connected” should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary.
  • the invention provides a mechanical arm comprising:
  • a second joint structure disposed at the end of said upper arm and/or forearm;
  • the first joint structure includes a first force releasing device and a first locking member
  • the second joint structure includes a second force releasing device and a second locking member
  • the first driving mechanism and the second driving mechanism mechanism applying force to the first locking member and/or the second locking member through the first force releasing device and/or the second force releasing device.
  • the mechanical arm of the present invention is respectively equipped with a force release device in the joint structure.
  • the driving device applies the same locking force
  • the force release device by adding the force release device, the locking force of the mechanical arm is greatly improved, and the large load can be satisfied. application requirements.
  • the first driving mechanism is arranged in the upper arm, and the first driving mechanism can provide driving force to both ends at the same time, for example, it can apply force to the force receiving end of the first force release device in the first joint structure at one end, and at the same time Apply force to the force receiving end of the second force release device in the second joint structure at the other end.
  • the second driving mechanism is arranged in the forearm, and the second driving mechanism can also provide driving force to both ends at the same time, for example, it can apply force to the force receiving end of the first force release device in the first joint structure at one end, At the same time, a force is applied to the force-bearing end of the second force release device in the second joint structure at the other end.
  • both the first driving mechanism and the second driving mechanism apply force to the force receiving end of the first force releasing device in the first joint structure
  • two first force releasing devices are arranged in the first joint structure, They are respectively arranged on both sides of the first locking member.
  • a first force releasing device is arranged in the first joint structure, and On one side of the first locking member, close to the side of the driving device that provides the driving force.
  • the first joint structure includes: a first joint head and a second joint head; a hinge shaft, the first joint head and the second joint head are connected through the hinge shaft; wherein, the first locking member is arranged on the Between the first joint head and the second joint head, it is used to lock the first joint head and the second joint head; the first force release device is arranged on one side of the first locking member and/or or both sides, for applying an enlarged force to the first locking member.
  • the first joint structure of the present invention is used to connect two arms as a joint between the two arms.
  • first loosen the first joint structure and after the mechanical arm is adjusted to a suitable position, the mechanical arm is quickly locked through the action of the driving mechanism, and a large locking load can be provided.
  • Compared with the traditional mechanical connection lock it has the advantages of more convenient installation and positioning, and faster locking.
  • the first force releasing device may be a lever structure.
  • the lever-type power release device has a simple structure, and by setting the proportional relationship of the force arm, it is easy to adjust the multiple of the force release, and the force release effect is remarkable.
  • the first force releasing device may include a first rotating shaft and a first force releasing rod, the distance between the force receiving end of the first rod and the first rotating shaft is greater than the distance between the force applying end and the first rotating shaft. Therefore, the force on the force-receiving end can be amplified at the force-applying end and applied to the first locking member.
  • a first force releasing device may be provided on one side of the first locking member, the force-applying end of the first force releasing device abuts against one side of the first locking member, and the force receiving end of the first force releasing device Connect to the drive unit.
  • a first force releasing device may be respectively provided on both sides of the first locking member, and the force receiving end of each first force releasing device is respectively connected with the first driving device or the second driving device.
  • the force receiving end of one of the first force releasing devices is connected to the driving device, and the force receiving end of the other first force releasing device leans against the inner wall of the joint head.
  • the first locking member includes a plurality of friction plates sleeved on the hinge shaft.
  • the friction plate can be made of rubber material, and the friction coefficient of the material and the number of friction plates can be selected according to the load to be borne.
  • one end of the hinge shaft can be fixed on one of the first joint head and the second joint head, and the other joint head is hinged on the hinge shaft, so that the relative movement between the first joint head and the second joint head can be realized.
  • both the first and second joint heads are hinged on the hinge shaft, the two joint heads can rotate around the hinge shaft, and the two joint heads can rotate relative to each other.
  • the first joint structure includes a stopper, sleeved on the end of the hinge shaft, and embedded in the end of the first and/or second joint head.
  • the connection mode of the blocking plate allows relative rotation between the first and second joint heads, and at the same time prevents the two joint heads from detaching from the ends of the hinge shaft.
  • the first joint structure further includes a slider, sleeved on the hinge shaft, and located between the first locking member and the first force releasing device.
  • the slide block can move along the hinge shaft, and the force application end of the first force release device abuts against the slide block, so as to apply force evenly on the first locking member.
  • the force-applying end does not directly exert force on the first locking member, which can prevent the first locking member from being damaged due to excessive local force.
  • the force application end of the first force release rod has an outwardly protruding arc-shaped end surface.
  • the arc-shaped end surface is in contact with the slide block, so it is easier to generate relative movement, and it is convenient to apply force to push the slide block to move along the hinge axis, thereby compressing the first locking member.
  • the first joint structure further includes a top block, which is slidably arranged in the cavity of the first and/or second joint head.
  • the bottom end of the top block is in contact with the driving device, and the top end is in contact with the force receiving end of the first force release device.
  • the jacking block is mainly used to transmit the force of the driving device to the force receiving end of the first force releasing device.
  • the top end of the top block is in point contact with the force receiving end of the first force releasing device.
  • the top of the top block is spherical, and the force-receiving end of the first force release device has an arc-shaped end surface, so that a point contact can be formed between the two.
  • the spherical structure is in contact with the arc-shaped end surface, and the two are prone to relative movement, so that the force-receiving end of the first force release device rotates around the rotating shaft, and drives the force-applying end to move toward the slider or the first locking member to apply force.
  • the second joint structure includes: a joint shell; a third joint head, arranged in the joint shell; wherein the second locking member is arranged in contact with the third joint head, and is used to lock the first joint head.
  • a three-joint joint; the second force releasing device is arranged at one end of the second locking member, and is used to apply an enlarged force to the second locking member.
  • the second force release device is a lever structure.
  • the lever-type power release device has a simple structure, and by setting the proportional relationship of the force arm, it is easy to adjust the multiple of the force release, and the force release effect is remarkable.
  • the second force release device includes a second rotating shaft and a second force releasing rod
  • the second force releasing rod is arranged on the second rotating shaft
  • the distance between the force receiving end of the second force releasing rod and the second rotating shaft is greater than the distance between the force applying end and the second rotating shaft.
  • the second rotating shaft can be arranged on the casing, so that the second force release lever can rotate around the second rotating shaft.
  • the distance from the force-bearing end to the hinge point is greater than the distance from the hinge point to the force-applying end, which can amplify the force received by the force-bearing end, thereby exerting a greater force on the locking member at the force-applying end, and the locking effect is good.
  • the second force release device includes two second force release rods, and the two second force release rods are connected together through a second rotating shaft.
  • the two second force releasing rods are connected together through the second rotating shaft to form a structure similar to scissors, and at this time the second rotating shaft does not need to be arranged on the housing.
  • the force receiving end of the second force releasing rod has an arc-shaped end surface.
  • the part of the drive mechanism in contact with the force receiving end of the second force release rod also has an arc-shaped end surface, and the two can form a point contact to facilitate relative movement.
  • the arc-shaped end surface can have a certain inclination angle, or have a concave radian, which can make the end of the driving mechanism move along the force receiving end of the second force releasing rod in a preset relative movement, so that the second force releasing rod A preset rotation occurs at the end of the rod under force.
  • the force application end of the second force release rod has an outwardly protruding arc-shaped end surface.
  • the relative movement between the force applying end and the second locking member is facilitated, so that the amplified force is applied to the second locking member.
  • the force applying end presses the second locking member.
  • one end of the third joint head has an at least partially spherical structure.
  • One end of the second locking member has a partially concave spherical structure, which cooperates with the contacting part of the third joint head.
  • the other end of the third joint head has a ball stud protruding from the joint shell.
  • Ball studs can be used to attach aids or fix tools.
  • the side wall of the joint housing has a plurality of U-shaped openings.
  • the ball stud can be turned into the U-shaped opening, thereby expanding the movement range and degree of freedom of the ball stud.
  • the second joint structure of the present invention amplifies the locking force of the joint through the second force release device, so it can be used in passive mechanical arms and also in mechanical arms of surgical robots.
  • the first driving device and the second driving device respectively provide locking force for the third joint structures at the two ends.
  • the robotic arm has at least six degrees of freedom, so that the robotic arm can provide flexible movement of the surgical tool in any degree of freedom in space.
  • the fast locking of the entire mechanical arm can be realized through the action of the driving mechanism, and a large locking load can be provided.
  • it has the advantages of more convenient installation and positioning, and faster locking.
  • the above third joint structure can also be provided only at one end of the mechanical arm.
  • the driving mechanism may be one of telescopic rods, electric push rods, lead screws, hydraulic cylinders and pneumatic cylinders. It is preferably an electric push rod, which is convenient for users to manipulate.
  • the first and second drive mechanism can be controlled via an external switch.
  • a controller can be connected to the outside of the mechanical arm, and an external signal can be sent to control the drive mechanism by setting a switch (foot switch, key switch or more complex switch).
  • the driving mechanism can provide thrust to the joint structures at both ends, and the locking force can be amplified by the force release device to push the joint structure to lock quickly; the switch can also control the retraction of the driving mechanism, and the thrust reduction makes the joints of the mechanical arm loosen.
  • Fig. 1 is a schematic structural diagram of a mechanical arm.
  • the mechanical arm 1 includes an upper arm 11 and a forearm 12 , and the upper arm 11 and the forearm 12 are hinged to each other through a first joint structure 13 .
  • the two ends of the mechanical arm 1 are respectively provided with second joint structures 14 .
  • the upper arm 11 of the robotic arm 1 is used to be fixed on equipment such as an operating bed, an operating trolley, and the forearm 12 is used to connect surgical tools or fix limbs.
  • the upper arm 11 and the forearm 12 respectively include an upper arm body and a forearm body, and the upper arm body and the forearm body respectively include a first driving mechanism and a second driving structure for providing locking force for the joint structure.
  • the driving mechanism in this embodiment can be an electric or pneumatic mechanism, preferably an electric push rod. Compared with the mechanical arm with mechanical joint locking, the joints of the mechanical arm are locked electrically, which is easier to operate.
  • the first joint structure 13 of this embodiment is arranged between the upper arm 11 and the forearm 12, the end of the upper arm 11 is provided with a first joint head 20, and the end of the forearm 12 is provided with a second joint.
  • Two joint joints 21 are hinged together through the hinge shaft 22 , so that the first joint head 20 and the second joint head 21 can rotate relative to each other.
  • the hinge shaft 22 is fixedly arranged on the first joint head 20, the second joint head 21 is hinged on the hinge shaft 22, and a catch 27 is arranged at the end of the hinge shaft 22, and the catch 27 is embedded in the second joint.
  • the grooves at the ends of the two joint heads 21 are used to prevent the second joint head 21 from falling off from the hinge shaft 22 .
  • a spring 30 is provided at the end of the hinge shaft 22 .
  • the spring 30 is sheathed on the hinge shaft 22, and the two ends respectively abut against the end of the blocking plate 27 and the second joint head 21, which can provide a preload between the first joint head 20 and the second joint head 21, so that the joint There is no excessive slack in the unlocked state.
  • a first locking member 23 is provided between the first joint head 20 and the second joint head 21.
  • a plurality of friction plates are used as the first locking member 23, and the plurality of friction plates are sleeved on the hinge shaft. 22 on.
  • the first joint structure 13 of the present embodiment also includes a first force release device.
  • the first force release device is a lever structure, including a first force release rod 25 and a first rotating shaft 24, and the two ends of the first rotating shaft 24 The end can be arranged on the inner wall of the joint head, and the first force releasing rod 25 can rotate around the first rotating shaft 24 .
  • the distance from the force receiving end of the first force releasing rod 25 to the first rotating shaft 24 is greater than the distance from the force applying end of the first force releasing rod 25 to the first rotating shaft 24 .
  • a first force release device is provided inside the first joint head 20 .
  • the first joint structure 13 of this embodiment further includes a sliding block 26 sleeved on the hinge shaft 22 and located between the first force releasing device and the first locking member 23 .
  • the force applying end of the first force releasing rod 25 abuts against the slider 26 , and the force is applied to the first locking member 23 through the slider 26 .
  • a first driving device 29 is disposed inside the upper arm 11 , and in this embodiment, an electric push rod is used as the first driving device 29 .
  • the top of the driving device 29 is provided with a top block 28 , and the top of the top block 28 is spherical and leans against the force receiving end of the first force releasing rod 25 .
  • the driving device 29 rotates, and the top block 28 moves to the stressed end of the first force releasing rod 25.
  • the rotating shaft 24 rotates, and the force end of the first force release rod 25 applies an enlarged active force at the end of the slide block 26, and the slide block 26 moves along the hinge shaft 22 (does not rotate), and applies a force on the surface of the first locking member 23.
  • the locking force locks the first joint structure 13 , and at this moment, no rotation occurs between the first joint head 20 and the second joint head 21 .
  • the electric push rod rotates in the opposite direction, and the top block 28 moves away from the force-bearing end of the first force release rod 25, thereby reducing or canceling the force exerted on the first force release rod 25.
  • the active force at the force end further reduces or cancels the active force at the end of the slider 26, so that the first joint head 20 and the second joint head 21 are unlocked and can rotate relative to each other.
  • the first force release rod 25 is a sheet structure, and the force receiving end may have a concave arc-shaped end surface.
  • the end of the top block 28 is a spherical surface, so that the top block 28 and the force receiving end of the first force releasing rod 25 can form a point contact, so as to facilitate relative movement.
  • the end face of the stressed end of the first force release rod 25 can have a certain angle of inclination, so that when the end of the top block 28 moves toward the first force release rod 25, it can easily follow the direction of the stressed end of the first force release rod 25. Relative movement occurs.
  • the force application end of the first force releasing rod 25 may have an outwardly protruding arc-shaped end surface. By setting the arc-shaped end face, the relative movement between the force application end and the slider 26 is facilitated, so that the amplified force is applied to the first locking member 23 .
  • the second joint structure 14 of the present embodiment is arranged on the end of upper arm 11 and forearm 12, comprises ball joint shell 2 and ball joint 3, and the spherical end of ball joint 3 is rotatably arranged on Inside the ball shell 2, the other end of the ball 3 is provided with a ball pin 4 for connecting surgical tools or fixing tools.
  • the ball stud shell 2 is provided with an opening for the ball stud 4 to pass through, and has a U-shaped opening, which increases the range of movement of the ball stud 4 .
  • the joint structure also includes a ball bowl 5 , which is arranged on the spherical end of the ball head 3 .
  • the ball bowl 5 has a partially concave spherical surface and matches the shape of the ball head 3 .
  • the second joint structure 14 of this embodiment also includes a second force release device.
  • the second force release device is a lever structure, including a pair of second force release rods 6 , which are hinged together through the second rotating shaft 7 .
  • the force application end of the second force release rod 6 is close to the end of the ball bowl 5 and is used to apply force to the ball bowl 5 .
  • the stressed end of the second force releasing rod 6 is in contact with the protruding head 9 of the driving device.
  • the driving device is an electric push rod, which is arranged in the housing 8 of the mechanical arm.
  • the electric push rod rotates, and the protruding head 9 moves to the stressed end of the second force release rod 6, and after the force end of the second force release rod 6 is subjected to the active force, it is amplified by the lever , the force end of the second force release rod 6 exerts an enlarged force on the end of the ball bowl 5, and the ball bowl 5 exerts a locking force on the surface of the ball head 3, thereby locking the second joint structure 14.
  • the electric push rod rotates in the opposite direction, and the protruding head 9 moves away from the stressed end of the second force releasing rod 6, thereby reducing or canceling the pressure exerted on the second force releasing rod 6.
  • the active force at the force end and then reduce or cancel the active force at the end of the ball bowl 5, so that the ball head 3 can move relative to the ball bowl 5.
  • the second force release rod 6 is a sheet structure, and the force receiving end has a concave arc-shaped end surface.
  • the end of the protruding head 9 of the electric push rod is a spherical surface, so that the protruding head 9 and the force receiving end of the second force release rod 6 can form a point contact, so as to facilitate relative movement.
  • the end face of the stressed end of the second force release rod 6 can have a certain angle of inclination, so that when the end of the protruding head 9 moves towards the second force release rod 6, it can easily follow the occurrence of the second force release rod 6 force end.
  • the force application end of the second force releasing rod 6 has an outwardly protruding arc-shaped end surface.
  • the robotic arm 1 is a passive arm for surgery
  • the second spherical joint structure 14 has three degrees of freedom. Therefore, when the passive arm for surgery provided with the second joint structure 14 is used for connecting surgical tools or fixing limbs, its operation is flexible.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
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Abstract

一种机械臂（1），包括：上臂（11）和前臂（12）；第一关节结构（13），上臂（11）和前臂（12）通过第一关节结构（13）铰接在一起；第二关节结构（14），设置在上臂（11）和/或前臂（12）的端部；第一驱动机构，设置在上臂（11）内；第二驱动机构，设置在前臂（12）内；其中，第一关节结构（13）包括第一力放装置和第一锁紧件（23），第二关节结构（14）包括第二力放装置和第二锁紧件，第一驱动机构和第二驱动机构，通过第一力放装置和/或第二力放装置向第一锁紧件（23）和/或第二锁紧件施加作用力。该机械臂（1）在关节结构中设置了力放装置，放大了锁紧力，使得机械臂（1）在微型条件下能够满足大负载应用要求。

Description

一种机械臂 技术领域
本发明属于医疗技术领域，涉及一种手术用的机械臂。
背景技术
近几年，随着国内外医疗机器人技术的不断发展，医疗机器人已发展成为机器人领域的一个重要分支，在生物医学工程领域也是一个重要的研究方向。在医疗领域，尤其是手术机器人领域，手术机器人通过精准地控制机械臂操作，能够完成一些复杂的手术动作。此外，医疗领域也存在对肢体、手术工具等的固定把持需求，且把持力需求较高，因此现有医疗器械依据不同的把持需求设计了不同的被动臂。无论是主动式机械臂还是被动机械臂，通常具有多个关节，从而能够实现多自由度调节。
机械臂的核心技术之一在于关节锁紧机构，目前关节锁紧机构主要采用液压的、气动的、电动的、机械的等几种驱动方式。纯机械锁紧的关节锁紧机构需要手动锁紧，需要调整机械臂状态时，还需要手动解锁，增加了医生的操作强度。但是，在微型条件下，其他方式的锁紧力不高，锁紧后机械臂的负载不高，不能满足较大负载的应用需求。
发明内容
为了提高机械臂的锁紧力，满足较大负载的应用需求，本发明提供了一种机械臂，包括：
上臂和前臂；
第一关节结构，所述上臂和前臂通过第一关节结构铰接在一起；
第二关节结构，设置在所述上臂和/或前臂的端部；
第一驱动机构，设置在所述上臂内；
第二驱动机构，设置在所述前臂内；
其中，所述第一关节结构包括第一力放装置和第一锁紧件，所述第二关节结构包括第二力放装置和第二锁紧件，所述第一驱动机构和第二驱动机构，通过所述第一力放装置和/或第二力放装置向所述第一锁紧件和/或第二锁紧件施加作用力。
进一步地，所述第一关节结构包括：
第一关节头和第二关节头；
铰接轴，所述第一关节头和第二关节头通过铰接轴连接；
其中，所述第一锁紧件设置在所述第一关节头和第二关节头之间，用于锁紧所述第一关节头和第二关节头；
所述第一力放装置设置在所述第一锁紧件的一侧和/或两侧，用于向所述第一锁紧件施加放大的作用力。
进一步地，所述第二关节结构包括：
关节外壳；
第三关节头，设置在所述关节外壳内；
其中所述第二锁紧件与所述第三关节头接触设置，用于锁紧所述第三关节头；
所述第二力放装置设置在所述第二锁紧件的一端，用于向所述第二锁紧件施加放大的作用力。
进一步地，所述第三关节头的一端具有至少部分球形的结构，所述第二锁紧件的一端具有部分内凹的球形结构，与所述第三关节头接触的部分配合。
进一步地，所述第一力放装置和/或第二力放装置为杠杆式结构。
进一步地，所述第一力放装置包括第一转轴和第一力放杆，所述第一力放杆设置在第一转轴上，所述第一力放杆的受力端距离第一转轴的距离大于施力端距离第一转轴的距离。
进一步地，所述第二力放装置包括两个第二力放杆，两个第二力放杆通过第二转轴连接在一起，所述第二力放杆的受力端距离第二转轴的距离大于施力端距离第二转轴的距离。
进一步地，所述第一锁紧件包括套设在所述铰接轴上的两个以上的摩擦片。
进一步地，所述第三关节头的另一端具有球头销，伸出所述关节外壳。
进一步地，所述驱动机构为伸缩杆、电推杆、丝杠、液压缸和气压缸中的一种。
本发明的机械臂，通过在关节结构中设置力放装置，放大了锁紧力，使得机械臂在微型条件下能够满足大负载应用要求。
力放装置可采用杠杆方式，受力端到铰接点的距离大于铰接点到施力端的距离，能够对受力端受到的作用力进行放大，从而在施力端对锁紧件施加更大的力，锁紧效果好。
除了上面所描述的本发明解决的技术问题、构成的技术方案的技术特征以及有这些技术方案的技术特征所带来的优点之外，本发明的其他技术特征及这些技术特征带来的优点，将结合附图作出进一步说明。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明机械臂的示意性结构图。
图2是本发明实施例的第一关节结构的剖面图。
图3是本发明实施例的第二力放装置示意图。
图4是本发明实施例的第二关节结构的剖面图，示出了第二力放装置与驱动装置连接的剖面图。
图中：
1、机械臂，11、上臂，12、前臂，13、第一关节结构，14、第二关节结构，2、球头外壳，3、球头，4、球头销，5、球碗，6、第二力放杆，7、第二转轴，8、机械臂外壳，9、凸头，20、第一关节头，21、第二关节头，22、铰接轴，23、第一锁紧件，24、第一转轴，25、第一力放杆，26、滑块，27、挡片，28、顶块，29、第一驱动装置，30、弹簧。
具体实施方式
在本发明实施例的描述中，需要说明的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明实施例的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明实施例中的具体含义。
本发明提供了一种机械臂包括：
上臂和前臂；
第一关节结构，所述上臂和前臂通过第一关节结构铰接在一起；
第二关节结构，设置在所述上臂和/或前臂的端部；
第一驱动机构，设置在所述上臂内；
第二驱动机构，设置在所述前臂内；
其中，所述第一关节结构包括第一力放装置和第一锁紧件，所述第二关节结构包括第二力放装置和第二锁紧件，所述第一驱动机构和第二驱动机构，通过所述第一力放装置和/或第二力放装置向所述第一锁紧件和/或第二锁紧件施加作用力。
本发明的机械臂分别在关节结构中设置了力放装置，在驱动装置施加同等锁紧力的情况下，通过增加力放装置，极大地提高了机械臂的锁紧力，满足了较大负载的应用需求。尤其是在机械臂微型条件下，能够实现利用电动或者气动的方式锁紧机械臂，相比于机械式锁紧方式，提高了操作者使用的便利性。
可选地，第一驱动机构设置在上臂内，第一驱动机构可以同时向两端提供驱动力，例如可以向一端的第一关节结构内第一力放装置的受力端施加作用力，同时向另一端的第二关节结构内第二力放装置的受力端施加作用力。可选地，第二驱动机构设置在前臂内，第二驱动机构也可以同时向两端提供驱动力，例如可以向一端的第一关节结构内第一力放装置的受力端施加作用力，同时向另一端的第二关节结构内第二力放装置的受力端施加作用力。当第一驱动机构和第二驱动机构都向第一关节结构内第一力放装置的受力端施加作用力时，此种情况下第一关节结构内设置有两个第一力放装置，分别设置在第一锁紧件的两侧。当第一驱动机构或第二驱动机构之一向第一关节结构内第一力放装置的受力端施加作用力时，此种情况下第一关节结构内设置有一个第一力放装置，设置在第一锁紧件的一侧，靠近提供驱动力的驱动装置一侧。
进一步地，第一关节结构包括：第一关节头和第二关节头；铰接轴，所述第一关节头和第二关节头通过铰接轴连接；其中，所述第一锁紧件设置在所述第一关节头和第二关节头之间，用于锁紧所述第一关节头和第二关节头；所述第一力放装置设置在所述第一锁紧件的一侧和/或两侧，用于向所述第一锁紧件施加放大的作用力。
本发明的第一关节结构用于连接两个臂，作为两个臂之间的关节。使用时，先松开第一关节结构，在机械臂调整到达合适位置后，通过驱动机构的作用，快速锁紧机械臂，并可提供较大的锁定负载。相较传统的机械连接锁定，拥有安装和定位更方便，锁定更快速的优点。
优选地，第一力放装置可以为杠杆式结构。杠杆式力放装置，结构简单，通过设置力臂的比例关系，容易调整力放的倍数，力放效果显著。
第一力放装置可包括第一转轴和第一力放杆，第一杆的受力端距离第一转轴的距离大于施力端距离第一转轴的距离。因此，可以将受力端所受的作用力在施力端放大后施加到第一 锁紧件上。
可选地，可以在第一锁紧件的一侧设置一个第一力放装置，第一力放装置的施力端抵靠在第一锁紧件的一侧，第一力放装置的受力端与驱动装置连接。或者，可以在第一锁紧件的两侧分别设置一个第一力放装置，每个第一力放装置的受力端分别与第一驱动装置或第二驱动装置连接。或者可选地，其中一个第一力放装置的受力端与驱动装置连接，另一个第一力放装置的受力端抵靠在关节头的内壁上。
优选地，第一锁紧件包括多个摩擦片，套设在铰接轴上。摩擦片可以采用橡胶材料制成，可以根据需要承受的负载选择材料的摩擦系数和摩擦片的数量。
可选地，铰接轴的一端可以固设在第一关节头和第二关节头其中之一上，另一个关节头铰接在铰接轴上，从而可以实现第一和第二关节头之间的相对转动。或者，第一和第二关节头都铰接在铰接轴上，两个关节头都可以围绕铰接轴转动，两个关节头之间可以相对转动，本领域技术人员可以根据需要选择具体的安装形式。
优选地，第一关节结构包括挡片，套设在铰接轴的端部，并嵌设在第一和/或第二关节头的端部。挡片的连接方式允许第一和第二关节头之间相对转动，同时阻止两个关节头从铰接轴的端部脱离。
可选地，第一关节结构还包括滑块，套设在铰接轴上，位于第一锁紧件与第一力放装置之间。滑块可以沿着铰接轴移动，第一力放装置的施力端抵靠在滑块上，便于在第一锁紧件上均匀的施加作用力。施力端不直接在第一锁紧件上施加作用力，可防止第一锁紧件局部受力过大而损坏。
优选地，第一力放杆的施力端具有向外突出的弧形端面。弧形端面与滑块接触，更容易产生相对移动，便于施加作用力，推动滑块沿着铰接轴移动，从而压紧第一锁紧件。
进一步地，第一关节结构还包括顶块，滑动地设置在第一和/或第二关节头的空腔内。顶块的底端与驱动装置接触，顶端与第一力放装置的受力端接触。顶块主要用于向第一力放装置的受力端传递驱动装置的作用力。优选地，顶块的顶端与第一力放装置的受力端为点接触。例如，顶块的顶端为球形结构，第一力放装置的受力端具有弧形端面，从而可在二者间形成点接触。球形的结构与弧形端面接触，二者容易产生相对运动，从而使得第一力放装置的受力端围绕转轴转动，带动施力端向滑块或第一锁紧件移动从而施加作用力。
进一步地，第二关节结构包括：关节外壳；第三关节头，设置在所述关节外壳内；其中所述第二锁紧件与所述第三关节头接触设置，用于锁紧所述第三关节头；所述第二力放装置设置在所述第二锁紧件的一端，用于向所述第二锁紧件施加放大的作用力。
进一步地，所述第二力放装置为杠杆式结构。杠杆式力放装置，结构简单，通过设置力臂的比例关系，容易调整力放的倍数，力放效果显著。
优选地，第二力放装置包括第二转轴和第二力放杆，第二力放杆设置在第二转轴上，第二力放杆的受力端距离第二转轴的距离大于施力端距离第二转轴的距离。第二转轴可以设置在外壳上，使得第二力放杆可以围绕第二转轴转动。受力端到铰接点的距离大于铰接点到施力端的距离，能够对受力端受到的作用力进行放大，从而在施力端对锁紧件施加更大的作用力，锁紧效果好。
更优选地，第二力放装置包括两个第二力放杆，两个第二力放杆通过第二转轴连接在一起。例如，两个第二力放杆通过第二转轴连接在一起，形成类似剪刀形式结构，此时第二转轴并不需要设置在外壳上。
优选地，第二力放杆的受力端具有弧形的端面。相配合地，驱动机构与第二力放杆的受力端接触的部分也具有弧形的端面，二者可形成点接触，便于发生相对移动。此外，弧形的端面可具有一定的倾斜角度，或者具有内凹的弧度，可以使得驱动机构的端部能够沿着第二力放杆受力端的发生预设的相对移动，因此第二力放杆的受力端会发生预设的转动。
优选地，第二力放杆的施力端具有向外突出的弧形端面。通过设置弧形端面，便于施力端与第二锁紧件之间发生相对移动，从而将放大的作用力施加到第二锁紧件。而且，通过设置向外突出的弧形端面，可以使得施力端与第二锁紧件之间发生相对移动时，施力端压紧第二锁紧件。
优选地，第三关节头的一端具有至少部分球形的结构。第二锁紧件的一端具有部分内凹的球形结构，与第三关节头接触的部分配合。
优选地，第三关节头的另一端具有球头销，伸出关节外壳。球头销可用于连接辅助工具或固定工具。
优选地，关节外壳的侧壁具有多个U型开口。球头销可以转动到U型开口内，从而扩大了球头销的移动范围和自由度。
本发明的第二关节结构通过第二力放装置放大关节的锁紧力，因此可以用于被动式机械臂，也可用于手术机器人的机械臂。
当在机械臂的两端均设置本发明的第三关节结构时，第一驱动装置和第二驱动装置分别为两端的第三关节结构提供锁紧力。此时机械臂具有至少六个自由度，使得机械臂可以提供手术工具在空间中任意自由度的灵活运动。在机械臂到达合适位置后，通过驱动机构的作用，可以实现整个机械臂的快速锁定，并提供较大的锁定负载。相较传统的机械连接锁定，拥有 安装和定位更方便，锁定更快速的优点。
当然，也可以仅在机械臂的其中一端设置以上第三关节结构。
进一步地，驱动机构可以为伸缩杆、电推杆、丝杠、液压缸和气压缸中的一种。优选地为电推杆，方便使用者操控。
此外，可以通过外部的开关控制第一和第二驱动机构。可以在机械臂外部连接有控制器，通过设置开关(脚踏开关、按键开关或者更复杂的开关)发出外部信号控制驱动机构。驱动机构可以向两端的关节结构提供推力，并通过力放装置放大锁紧力，推动关节结构快速锁紧；开关同样可以控制驱动机构回缩，推力减小使得机械臂关节松开。
为了能够更清楚地理解本发明的上述目的、特征和优点，下面结合附图和具体实施方式对本发明进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
图1是一种机械臂的示意性结构图。如图1所示，机械臂1包括上臂11和前臂12，上臂11和前臂12通过第一关节结构13互相铰接。
在本实施例中，机械臂1的两端分别设置了第二关节结构14。实际应用中，机械臂1上臂11用于固定在手术床、手术台车等设备上，前臂12用于连接手术工具、或固定肢体等。在本实施例中，上臂11和前臂12分别包括上臂本体和前臂本体，上臂本体和前臂本体内分别包括第一驱动机构和第二驱动结构，用于为关节结构提供锁紧力。本实施例中的驱动机构可以为电动或气动机构，优选为电推杆。相较于机械式关节锁定的机械臂，采用电动方式锁定机械臂的关节，更容易操作。
如图1和图2所示，本实施例的第一关节结构13设置在上臂11与前臂12从而之间，上臂11的端部设置有第一关节头20，前臂12的端部设置有第二关节头21。第一关节头20和第二关节头21通过铰接轴22铰接在一起，从而第一关节头20和第二关节头21之间可以相对转动。
本实施例中，铰接轴22固定设置在第一关节头20上，第二关节头21铰接在铰接轴22上，在铰接轴22的端部设置有挡片27，挡片27嵌设在第二关节头21端部的凹槽内，用于阻止第二关节头21从铰接轴22脱落。
本实施例中，在铰接轴22的端部设置有弹簧30。弹簧30套设在铰接轴22上，两端分别抵靠在挡片27和第二关节头21的端部，能够在第一关节头20和第二关节头21之间提供预压力，使得关节在解锁状态下不会过分松弛。
在第一关节头20和第二关节头21之间设置有第一锁紧件23，本实施例中，采用多个摩 擦片作为第一锁紧件23，多个摩擦片套设在铰接轴22上。
本实施例的第一关节结构13还包括第一力放装置，本实施例中第一力放装置为杠杆式结构，包括第一力放杆25和第一转轴24，第一转轴24的两端可以设置在关节头的内壁上，第一力放杆25可围绕第一转轴24转动。第一力放杆25的受力端到第一转轴24的距离大于第一力放杆25的施力端到第一转轴24的距离。本实施例中设置了一个第一力放装置，设置于第一关节头20内。
本实施例的第一关节结构13还包括滑块26，套设在铰接轴22上，位于第一力放装置与第一锁紧件23之间。第一力放杆25的施力端抵在滑块26上，通过滑块26将作用力施加到第一锁紧件23上。
上臂11内设置有第一驱动装置29，本实施例中，采用电推杆作为第一驱动装置29。驱动装置29的顶端设置有顶块28，顶块28的顶部为球形，抵靠在第一力放杆25的受力端。
当需要锁紧第一关节结构13时，驱动装置29转动，顶块28向第一力放杆25的受力端运动，第一力放杆25的受力端受到作用力后，围绕第一转轴24转动，第一力放杆25的施力端在滑块26的端部施加放大的作用力，滑块26沿着铰接轴22移动(不发生转动)，在第一锁紧件23的表面施加锁紧力，从而锁紧第一关节结构13，此时第一关节头20和第二关节头21之间不发生转动。当需要松开第一关节结构13时，电推杆反向转动，顶块28向远离第一力放杆25的受力端方向运动，从而减小或取消施加在第一力放杆25受力端的作用力，进而减小或取消滑块26端部的作用力，使得第一关节头20和第二关节头21之间解锁，可以相对转动。
优选地，第一力放杆25为片状结构，受力端可具有内凹的弧形端面。相配合地，顶块28的端部为球面，使得顶块28和第一力放杆25的受力端可形成点接触，便于发生相对移动。而且第一力放杆25的受力端的端面可具有一定的倾斜角度，使得顶块28的端部朝向第一力放杆25运动时，能够容易沿着第一力放杆25的受力端的发生相对移动。优选地，第一力放杆25的施力端可具有向外突出的弧形端面。通过设置弧形端面，便于施力端与滑块26之间发生相对移动，从而将放大的作用力施加到第一锁紧件23。
如图3和图4所示，本实施例的第二关节结构14设置在上臂11和前臂12的端部，包括球头外壳2和球头3，球头3的球形一端可转动地设置在球头外壳2内，球头3的另一端设置有球头销4，用于连接手术工具或者固定工具。球头外壳2上开设有供球头销4穿出的开口，且具有U型开口，增大了球头销4的活动范围。关节结构还包括球碗5，设置在球头3的球形端部上，球碗5具有部分内凹的球形表面，与球头3的形状相配合。
本实施例的第二关节结构14还包括第二力放装置，本实施例中第二力放装置为杠杆式结构，包括一对第二力放杆6，通过第二转轴7铰接在一起。第二力放杆6的施力端靠近球碗5的端部，用于向球碗5施加作用力。第二力放杆6的受力端与驱动装置的凸头9接触。驱动装置为电推杆，设置在机械臂外壳8内。
当需要锁紧第二关节结构14时，电推杆转动，凸头9向第二力放杆6的受力端运动，第二力放杆6的受力端受到作用力后，通过杠杆放大，第二力放杆6的施力端在球碗5的端部施加放大的作用力，球碗5在球头3的表面施加锁紧力，从而锁紧第二关节结构14。当需要松开第二关节结构14时，电推杆反向转动，凸头9向远离第二力放杆6的受力端方向运动，从而减小或取消施加在第二力放杆6受力端的作用力，进而减小或取消球碗5端部的作用力，使得球头3能够相对于球碗5运动。
在本实施例中，如图所示，第二力放杆6为片状结构，受力端具有内凹的弧形端面。相配合地，电推杆的凸头9的端部为球面，使得凸头9和第二力放杆6的受力端可形成点接触，便于发生相对移动。而且第二力放杆6的受力端的端面可具有一定的倾斜角度，使得凸头9的端部朝向第二力放杆6运动时，能够容易沿着第二力放杆6受力端的发生相对移动，使得两个第二力放杆6的受力端互相远离，从而在两个第二力放杆6的施力端产生更加靠近球碗5的运动，向球碗5施加放大的作用力。本实施例中，第二力放杆6的施力端具有向外突出的弧形端面。通过设置弧形端面，便于施力端与球碗5之间发生相对移动，从而将放大的作用力施加到球碗5。
本实施例中，机械臂1为手术用被动臂，球头性的第二关节结构14拥有三个自由度。因此当设置有第二关节结构14的手术用被动臂用于连接手术工具、或固定肢体的时候，其操作灵活。
以上实施方式仅用于说明本发明，而非对本发明的限制。尽管参照实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，对本发明的技术方案进行各种组合、修改或者等同替换，都不脱离本发明技术方案的精神和范围，均应涵盖在本发明的权利要求范围当中。

Claims (10)

  1. 一种机械臂，其特征在于，包括：
    上臂和前臂；
    第一关节结构，所述上臂和前臂通过第一关节结构铰接在一起；
    第二关节结构，设置在所述上臂和/或前臂的端部；
    第一驱动机构，设置在所述上臂内；
    第二驱动机构，设置在所述前臂内；
    其中，所述第一关节结构包括第一力放装置和第一锁紧件，所述第二关节结构包括第二力放装置和第二锁紧件，所述第一驱动机构和第二驱动机构，通过所述第一力放装置和/或第二力放装置向所述第一锁紧件和/或第二锁紧件施加作用力。
  2. 根据权利要求1所述的机械臂，其特征在于，所述第一关节结构包括：
    第一关节头和第二关节头；
    铰接轴，所述第一关节头和第二关节头通过铰接轴连接；
    其中，所述第一锁紧件设置在所述第一关节头和第二关节头之间，用于锁紧所述第一关节头和第二关节头；
    所述第一力放装置设置在所述第一锁紧件的一侧和/或两侧，用于向所述第一锁紧件施加放大的作用力。
  3. 根据权利要求1所述的机械臂，其特征在于，所述第二关节结构包括：
    关节外壳；
    第三关节头，设置在所述关节外壳内；
    其中所述第二锁紧件与所述第三关节头接触设置，用于锁紧所述第三关节头；
    所述第二力放装置设置在所述第二锁紧件的一端，用于向所述第二锁紧件施加放大的作用力。
  4. 根据权利要求1所述的机械臂，其特征在于，所述第三关节头的一端具有至少部分球形的结构，所述第二锁紧件的一端具有部分内凹的球形结构，与所述第三关节头接触的部分配合。
  5. 根据权利要求1所述的机械臂，其特征在于，所述第一力放装置和/或第二力放装置为杠杆式结构。
  6. 根据权利要求5所述的机械臂，其特征在于，所述第一力放装置包括第一转轴和第 一力放杆，所述第一力放杆设置在第一转轴上，所述第一力放杆的受力端距离第一转轴的距离大于施力端距离第一转轴的距离。
  7. 根据权利要求5所述的机械臂，其特征在于，所述第二力放装置包括两个第二力放杆，两个第二力放杆通过第二转轴连接在一起，所述第二力放杆的受力端距离第二转轴的距离大于施力端距离第二转轴的距离。
  8. 根据权利要求2所述的机械臂，其特征在于，所述第一锁紧件包括套设在所述铰接轴上的两个以上的摩擦片。
  9. 根据权利要求3所述的机械臂，其特征在于，所述第三关节头的另一端具有球头销，伸出所述关节外壳。
  10. 根据权利要求1所述的机械臂，其特征在于，所述驱动机构为伸缩杆、电推杆、丝杠、液压缸和气压缸中的一种。
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