WO2022165963A1 - Interlocking mechanical arm - Google Patents

Abstract

An interlocking mechanical arm, comprising a first rotating arm (11), a second rotating arm (12) and a first lockable joint (21). A first end of the first rotating arm (11) is rotatably connected to a first end of the second rotating arm (12) by means of the first lockable joint (21); the first rotating arm (11) is provided with a first rotating arm locking lever (111) which is movable in the axial direction of the first rotating arm (11); a second end of the first rotating arm (11) is further provided with a second lockable joint (22); and the first lockable joint (21) is locked to drive the first rotating arm locking lever (111) to move towards the second end of the first rotating arm (11), such that a second end of the first rotating arm locking lever (111) locks the second lockable joint (22). Synchronous unlocking and locking of a plurality of joints can be realized merely by operating one rotation handle, and the interlocking mechanical arm has a compact structure, is convenient to use and flexible to operate, and prevents injuries to a patient or a doctor in a locking process.

Description

An interlocking robotic arm technical field

The invention relates to the technical field of machinery, in particular to an interlocking mechanical arm.

Background technique

In the existing multi-arm structure, for example, in the multi-arm structure used for prostate puncture, when the degree of freedom of each arm is adjusted, an independent locking mechanism is usually provided between the two sections of the arms, so as to adjust the degree of freedom of the two arms. The segment arm is locked in position. When there are multiple independent locking mechanisms in the multi-arm structure, the operator needs to operate the multiple independent locking mechanisms respectively, and the locking or unlocking operation is cumbersome and inconvenient to use, and the locking mechanisms cannot be linked together. Adjustment, less flexibility.

SUMMARY OF THE INVENTION

In order to solve the technical problem that the above-mentioned multiple locking mechanisms cannot be adjusted in linkage, the present invention proposes an interlocking mechanical arm, which includes a first rotating arm, a second rotating arm and a first lockable joint. The first end is rotatably connected with the first end of the second rotating arm through the first lockable joint, and the first rotating arm is provided with a first rotating arm that can move along the axial direction of the first rotating arm. A rotating arm locking lever, a second lockable joint is also provided at the second end of the first rotating arm, and the first lockable joint is locked to drive the first rotating arm locking lever Moving toward the second end of the first boom causes the second end of the first boom locking lever to lock the second lockable joint.

In one embodiment, the first lockable joint includes a locking operation member, a first locking mechanism and a first rotating shaft, the first rotating shaft is connected to the first end and the second rotating arm of the first rotating arm The first end of the rotating arm, the locking operating member and the first locking mechanism are arranged on the first rotating shaft, and the first locking mechanism has a pressing slope,

The first lockable joint is locked, so that the pressing slope of the first locking mechanism presses the first end of the first arm locking lever, and drives the first arm locking lever toward The second end of the first swing arm moves, and the second end of the first swing arm locking lever locks the second lockable joint.

In one embodiment, the second rotating arm is further provided with a second rotating arm locking lever that can move along the axial direction of the second rotating arm, and a second end of the second rotating arm is further provided with Third lockable joint,

The first lockable joint is locked, so that the pressing slope of the first locking mechanism presses the first end of the second arm locking lever, and drives the second arm locking lever toward the The second end of the second swing arm moves, and the second end of the second swing arm locking lever locks the third lockable joint.

In one embodiment, the first locking mechanism includes a first locking disc and a second locking disc, and the first end of the first arm locking rod is connected to the first locking disc The side parts of the second rotating arm are oppositely arranged in the first rotating arm, and the first end of the locking rod of the second rotating arm is arranged in the second rotating arm opposite to the side part of the second locking disc.

In one embodiment, a first pressing slope is provided on the peripheral edge of the first locking disc, a second pressing slope is arranged on the peripheral edge of the second locking disc, and the second locking The center of the disc is fixedly connected with the first end of the first rotating shaft, the center of the first locking disc is provided with a first through hole, and the first locking disc is sleeved through the first through hole. On the first rotating shaft, the first pressing slope is arranged opposite to the second pressing slope.

In one embodiment, the locking operation member includes a rotary handle and a protruding shaft hole portion on the rotary handle, the shaft hole portion is provided with a shaft hole with a first thread, the first The rotating shaft is provided with a second thread, and the first thread of the shaft hole part engages with the second thread,

Rotate the rotary handle, the end of the shaft hole portion presses the first locking disk toward the second locking disk, and clamps the first rotating arm 11 and the second rotating arm 12 At the same time of locking the first lockable joint 21, the first pressing slope of the first locking disc drives the locking rod of the first arm toward the second arm of the first arm. and the second pressing slope of the second locking disc drives the locking rod of the second arm to move toward the second end of the second arm.

In one embodiment, a rotation locking key is provided on the second locking disc and/or the first rotating shaft to prevent the second locking disc and the first rotating shaft from rotating.

In one embodiment, the first end of the first arm locking lever has a third pressing slope matching and abutting with the first pressing slope of the first locking disc, and/or , the first end of the second arm locking rod has a fourth pressing slope that matches and abuts with the second pressing slope of the second locking disc.

In one embodiment, the interlocking mechanical arm further includes a telescopic arm, the axis of the telescopic arm intersects with the axis of the first rotating arm, and the first end of the telescopic arm is connected to the first end of the first rotating arm. The two ends are rotatably connected through the second lockable joint,

The second lockable joint includes a third locking disc, the third locking disc is fixedly connected to the first end of the telescopic arm, and the third locking disc is connected to the telescopic arm. The connecting part has a first annular snap groove;

The third locking disc extends into the second end of the first rotating arm, and the first end of the telescopic arm and the second end of the first rotating arm pass through the first annular slot rotatable connection;

The side of the third locking disc is opposite to the second end of the first arm locking lever.

In one embodiment, the second lockable joint further includes a fourth locking disc and a second rotating shaft, the fourth locking disc is disposed in the second end of the first rotating arm, so The first end of the second rotating shaft is fixedly arranged at the center of the fourth locking disc;

The center of the third locking disc is provided with a second through hole;

the second rotating shaft passes through the second through hole, the second end of the second rotating shaft extends into the first end of the telescopic arm, and is connected to the drive mechanism of the telescopic arm;

The third locking disc is disposed adjacent to the fourth locking disc, and the side of the fourth locking disc is opposite to the second end of the first arm locking rod.

In one embodiment, a fifth pressing slope is provided on the peripheral edge of the fourth locking disc, a sixth pressing slope is arranged on the peripheral edge of the third locking disc, and the fifth pressing slope is The inclined plane is arranged opposite to the sixth pressing inclined plane,

The second end of the first arm locking lever has a pair of seventh pressing slopes matching the fifth pressing slope and the sixth pressing slope.

In one embodiment, the telescopic arm has a first telescopic support arm and a second telescopic support arm, a rack is provided along the axial direction of the first telescopic support arm, and a rack is provided on the second telescopic support arm A synchronizing spur gear and a synchronizing bevel gear, the synchronizing spur gear having a coaxially connected first spur tooth segment and a second spur tooth segment, the synchronizing bevel gear having a coaxially connecting third spur tooth segment and a bevel tooth segment, The first spur gear segment and the third spur gear segment are connected by a timing belt, and the second spur gear segment is engaged with the rack;

A coaxial first bevel gear is fixed on the second end of the second rotating shaft, and the first bevel gear meshes with the bevel gear segment of the synchronous bevel gear.

In one embodiment, the interlocking mechanical arm further includes a third rotating arm, the axis of the third rotating arm intersects the axis of the second rotating arm, and the first end of the third rotating arm is aligned with the axis of the second rotating arm. The second end of the second rotating arm is rotatably connected by the third lockable joint,

The third lockable joint includes a fifth locking disc, the fifth locking disc is fixedly connected to the first end of the third rotating arm, and the fifth locking disc is connected to the first end of the third rotating arm. The connecting part of the three rotating arms has a second annular clamping groove;

The fifth locking disc extends into the second end of the second rotating arm, and the first end of the third rotating arm and the second end of the second rotating arm pass through the second ring Rotary connection of the card slot;

The side of the fifth locking disc is opposite to the second end of the second arm locking lever.

In one embodiment, the third lockable joint further includes a sixth locking disc and a third rotating shaft, the sixth locking disc is disposed in the second end of the second rotating arm, so The first end of the third rotating shaft is fixedly arranged at the center of the sixth locking disc;

A pair of rotating shaft support arms extending along the axial direction of the third rotating arm are provided on the second end of the third rotating arm, and a fourth rotating shaft is supported between the pair of rotating shaft support arms;

The interlocking mechanical arm further includes an object table, and the object table is rotatably arranged on the fourth rotating shaft through the connecting portion;

A third through hole is opened in the fifth locking disc and the third rotating arm along the central axis;

The third rotating shaft passes through the third through hole and is connected to the connecting portion of the storage platform;

The fifth locking disc is adjacent to the sixth locking disc, and the sides of the fifth locking disc and the sixth locking disc and the second arm locking rod opposite the second end.

In one embodiment, the connecting part of the object table includes a shaft sleeve and a second bevel gear, the shaft sleeve is sleeved on the fourth rotating shaft, and the second bevel gear is coaxially arranged on the shaft sleeve superior,

A coaxial third bevel gear is fixed on the second end of the third rotating shaft, and the second bevel gear meshes with the third bevel gear.

Beneficial effects of the present invention: The interlocking robotic arm proposed in the embodiment of the present invention can realize synchronous unlocking and locking of multiple joints by operating only one locking operating component, and has a compact structure, convenient use and flexible operation.

Description of drawings

1 is a rear view of the structure of the interlocking robot arm (connecting the puncturing device) proposed by an embodiment of the present invention;

2 is a front view of the structure of the interlocking robotic arm (connected to the puncturing device) proposed by an embodiment of the present invention;

3 is a cross-sectional view of an interlocking robot arm proposed by an embodiment of the present invention;

4 and 5 are partial cross-sectional views of the interlocking manipulator proposed by the embodiment of the present invention;

6a and 6b are schematic structural diagrams of the first arm locking lever of the interlocking manipulator according to the embodiment of the present invention;

7a and 7b are schematic structural diagrams of the second arm locking lever of the interlocking manipulator according to the embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a locking operation component of a chain manipulator according to an embodiment of the present invention;

9 is a schematic structural diagram of the second locking disc and the first rotating shaft of the interlocking mechanical arm proposed by the embodiment of the present invention;

10 is a schematic structural diagram of the first locking disc of the interlocking robot arm proposed by the embodiment of the present invention;

FIG. 11 is a schematic structural diagram of the third locking disc and the telescopic arm 13 of the interlocking manipulator according to the embodiment of the present invention;

12 is a schematic structural diagram of the fourth locking disc of the interlocking manipulator according to the embodiment of the present invention;

13 is a schematic structural diagram of a first telescopic support arm of an interlocking manipulator according to an embodiment of the present invention;

14 is a schematic structural diagram of a synchronous spur gear of an interlocking manipulator according to an embodiment of the present invention;

15 is a schematic structural diagram of a synchronous bevel gear of an interlocking manipulator according to an embodiment of the present invention;

16 is a schematic structural diagram of the fifth locking disc and the third rotating arm of the interlocking manipulator according to the embodiment of the present invention;

17 is a schematic structural diagram of the sixth locking disc and the third rotating shaft of the interlocking manipulator according to the embodiment of the present invention;

FIG. 18 is a schematic diagram of the use state of the interlocking manipulator provided by the embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. However, those skilled in the art know that the present invention is not limited to the accompanying drawings and the following embodiments.

The embodiment of the present invention proposes an interlocking robotic arm, as shown in Figures 1-5, including a first rotating arm 11, a second rotating arm 12, a telescopic arm 13, a third rotating arm 14, a storage table 15, a first adjustable arm The locking joint 21 , the second lockable joint 22 and the third lockable joint 23 .

Wherein, the first end of the first rotating arm 11 is rotatably connected with the first end of the second rotating arm 12 through the first lockable joint 21 . The first rotating arm 11 is provided with a first rotating arm locking lever 111 that can move along the axial direction of the first rotating arm 11 , and a second lockable lever 111 is also provided at the second end of the first rotating arm 11 . Joint 22. The first lockable joint 21 is locked to drive the first arm locking lever 111 to move toward the second end of the first arm 11 so that the second The end locks the second lockable joint 22 .

Therefore, in the technical solution of the embodiment of the present invention, the first turning arm locking rod 111 is limited on the first turning arm 11 by the first turning arm locking rod pressing strip 112, so that the first turning arm locking rod 111 can only move along the length direction of the rod, so as to realize the linkage between the first lockable joint 21 and the second lockable joint 22, and while locking the first lockable joint 21, the second lockable joint is locked. while unlocking the first lockable joint 21, the second lockable joint 22 is also unlocked.

Specifically, as shown in FIG. 3 , FIG. 5 , and FIGS. 8-10 , the first lockable joint 21 includes a locking operation member 211 , a first locking mechanism and a first rotating shaft 212 , and the first rotating shaft 212 Connected to the first end of the first rotating arm 11 and the first end of the second rotating arm 12, the locking operation member 211 and the first locking mechanism are arranged on the first rotating shaft 212, and the locking operation The component 211 is arranged on the outer side of the first rotating arm 11 and the second rotating arm 12 , and the first locking mechanism has a pressing slope. When in use, the first lockable joint 21 is locked, so that the pressing slope of the first locking mechanism presses the first end of the first arm locking lever 111 to drive the first arm locking lever 111 moves toward the second end of the first rotating arm 11 along the rod length direction, and the second end of the first rotating arm locking lever 111 locks the second lockable joint 22 .

Moreover, in the embodiment of the present invention, as shown in FIGS. 3 and 5 , the second rotating arm 12 is further provided with a second rotating arm locking rod 121 that can move along the axial direction of the second rotating arm 12 . , the second turning arm locking lever 121 is limited to the second turning arm 12 by the second turning arm locking rod pressing bar 122, so that the second turning arm locking rod 121 can only move along the length of the rod , a third lockable joint 23 is also provided at the second end of the second rotating arm 12 . Similarly, since the second arm locking lever 121 is provided, the first lockable joint 21 and the third lockable joint 23 are linked together, and the first lockable joint 21 and the third lockable joint 21 are linked together. The joints 23 are unlocked or locked at the same time, wherein the first lockable joint 21 is locked, so that the pressing slope of the first locking mechanism presses the first end of the second arm locking rod 121 , The second arm locking lever 121 is driven to move toward the second end of the second arm 12 along the rod length direction, and the second end of the second arm locking lever 121 locks the third arm The joint 23 is lockable.

As shown in FIG. 3 and FIG. 5 , the first end of the first rotating arm 11 and the first end of the second rotating arm 12 are arranged side by side. The first locking mechanism includes a first locking disc 213 and a second locking disc 214 , and the first end of the first arm locking rod 111 is opposite to the side of the first locking disc 213 is arranged in the first rotating arm 11 . The first end of the second arm locking rod 121 is disposed in the second arm 12 opposite to the side of the second locking disc 214 .

As shown in FIG. 9 and FIG. 10 , a first pressing inclined surface 2131 is provided on the periphery of the first locking disc 213 , and a second pressing inclined surface 2141 is provided on the periphery of the second locking disc 214 . The center of the second locking disk 214 is fixedly connected with the first end of the first rotating shaft 212 , the first rotating shaft 212 is provided with a second thread 2121 , and the center of the first locking disk 213 is provided with a second thread 2121 . The first through hole 2132 . The first locking disc 213 is sleeved on the first rotating shaft 212 through the first through hole 2132 , and the first pressing slope 2131 and the second pressing slope 2141 are disposed opposite to each other, as shown in FIG. 5 .

As shown in FIG. 8 , the locking operation member 211 includes a rotating handle 2111 and a protruding shaft hole portion 2112 on the rotating handle 2111 . A plurality of grooves are provided along the side circumferential surface of the rotating handle 2111 , which can increase the friction coefficient of the handle surface and facilitate the operator to rotate the rotating handle 2111 . The shaft hole portion 2112 is provided with a shaft hole 2113 having a first thread, and the second thread 2121 is engaged with the first thread of the shaft hole portion 2112 .

As shown in FIG. 9 , on the first rotating shaft 212, a rotation locking key 2142 is provided, and the rotating locking key 2142 is clamped on the first rotating arm 11 and/or the second rotating arm 12, The second locking disc 214 and the first rotating shaft 212 are prevented from rotating relative to the first rotating arm 11 and the second rotating arm 12 .

When in use, when the rotating handle 2111 is rotated, the shaft hole portion 2112 rotates on the first rotating shaft 212 along the meshing thread. The second rotating arm 12 is fixed, so that the end of the shaft hole portion 2112 can quickly press the first locking disk 213 toward the second locking disk 214 , and then clamp the first rotating arm 11 . At the same time as the second arm 12 to lock the first lockable joint 21, the first pressing slope 2131 of the first locking disc 213 drives the first arm locking lever 111 toward the first The second end of the rotating arm 11 moves to lock the second lockable joint 22, and the second pressing slope 2141 of the second locking disc 214 drives the second rotating arm locking lever 121 toward the The second end of the second rotating arm 12 moves to lock the third lockable joint 23 .

Further, as shown in FIGS. 3 , 5 , 6 a and 6 b , the first end of the first arm locking rod 111 has a first pressing slope 2131 that matches with the first pressing inclined surface 2131 of the first locking disc 213 and is The abutting third pressing slopes 1111 . As shown in FIGS. 3 , 5 , 7 a and 7 b , the first end of the second arm locking lever 121 has a second pressing slope 2141 of the second locking disc 214 that matches and abuts against the first end. The fourth pressing slope 1211 . Therefore, during the locking process, the first locking disc 213 can smoothly push the first arm locking rod 111 to move toward the second end of the first arm 11, and the second locking disc 214 can smoothly push the locking lever 121 of the second rotating arm to move toward the second end of the second rotating arm 12 .

3 and 4 , the axis of the telescopic arm 13 intersects with the axis of the first rotating arm 11 . In this embodiment, the axis of the telescopic arm 13 is perpendicular to the axis of the first rotating arm 11 . The first end of the telescopic arm 13 is rotatably connected to the second end of the first rotating arm 11 through a second lockable joint 22 .

Specifically, the second lockable joint 22 includes a third locking disc 131 , as shown in FIG. 11 , the third locking disc 131 is fixedly connected to the first end of the telescopic arm 13 . The connection portion between the three locking discs 131 and the telescopic arm 13 has a first annular slot 132 . As shown in FIGS. 3 and 4 , the third locking disc 131 extends into the second end of the first rotating arm 11 , and the first end of the telescopic arm 13 is connected to the second end of the first rotating arm 11 . The ends are rotatably connected through the first annular slot 132 , and the side of the third locking disc 131 is opposite to the second end of the first arm locking rod 111 . When in use, rotate the rotating handle 2111, while clamping the first rotating arm 11 and the second rotating arm 12 to lock the first lockable joint 21, the first rotating arm locking lever 111 is locked by It is driven to move toward the second end of the first rotating arm 11 along the rod length direction, and is in contact with the side of the third locking disc 131, so that there is no relative rotation between the telescopic arm 13 and the first rotating arm 11 .

Further, referring to FIG. 3 , FIG. 4 , and FIG. 13 , the telescopic arm 13 has a first telescopic support arm 133 , a second telescopic support arm 134 and a driving mechanism, and the driving mechanism includes a rack 135 , a synchronous spur gear 136 , Synchronous bevel gear 137 and timing belt 138. The rack 135 is arranged on the rack mount 1331 along the axial direction of the first telescopic arm 133 , and the second telescopic arm 134 is provided with a synchronous spur gear 136 and a synchronous bevel gear 137 . As shown in FIG. 14 , the synchronous spur gear 136 has a first spur gear segment 1361 and a second spur gear segment 1362 that are coaxially connected. As shown in FIG. 15 , the synchronous bevel gear 137 has a third spur tooth segment 1371 and a bevel tooth segment 1372 that are coaxially connected. The first spur gear segment 1361 and the third spur gear segment 1371 are connected by a timing belt 138 , and the second spur gear segment 1362 meshes with the rack 135 . In addition, the first telescopic arm 133 is also provided with a hook member 139 for installing the interlocking mechanical arm on the operating table.

Corresponding to the structure of the telescopic arm 13, the second lockable joint 22 further includes a fourth locking disc 221 and a second rotating shaft 222, and the fourth locking disc 221 is arranged at the first rotation. In the second end of the arm 11 , the first end of the second rotating shaft 222 is fixedly arranged at the center of the fourth locking disc 221 . A second through hole 1311 is formed in the center of the third locking disc 131 . The second rotating shaft 222 passes through the second through hole 1311 , and the second end of the second rotating shaft 222 extends into the first end of the telescopic arm 13 and is connected to the driving mechanism of the telescopic arm 13 . Specifically, in this embodiment, a coaxial first bevel gear 223 is fixed at the second end of the second rotating shaft 222 , and the first bevel gear 223 meshes with the bevel gear segment 1372 of the synchronous bevel gear 137 . The third locking disc 131 is disposed adjacent to the fourth locking disc 221 , and the side of the fourth locking disc 221 is opposite to the second end of the first arm locking rod 111 .

When in use, rotate the rotating handle 2111, while clamping the first rotating arm 11 and the second rotating arm 12 to lock the first lockable joint 21, the first rotating arm locking lever 111 is locked by It is driven to move toward the second end of the first rotating arm 11, and abuts with the sides of the third locking disc 131 and the fourth locking disc 221, so that there is no gap between the telescopic arm 13 and the first rotating arm 11. Relative rotation will be performed, and the fourth locking disc 221 will not be rotated. Because the fourth locking disc 221 is fixedly connected with the second rotating shaft 222, the second end of the second rotating shaft 222 is fixed with the first bevel gear 223, and the first bevel gear 223 meshes with the bevel gear segment 1372 of the synchronizing bevel gear 137, Therefore, in this state, the drive mechanism of the telescopic arm 13 is locked, and the telescopic movement cannot be performed.

In the embodiment of the present invention, in order to make the first arm locking rod 111 abut against the third locking disc 131 and the fourth locking disc 221 stably and effectively, as shown in FIG. 12 , A fifth pressing slope 2211 is provided on the peripheral edge of the fourth locking disc 221; as shown in FIG. 11, a sixth pressing slope 1312 is arranged on the peripheral edge of the third locking disc 131. The fifth pressing slope 2211 is disposed opposite to the sixth pressing slope 1312 . A pair of seventh pressing slopes 1112 matching the fifth pressing slope 2211 and the sixth pressing slope 1312 are provided at the second end of the first arm locking lever 111, as shown in FIGS. 3 and 4 . , Figure 6a, Figure 6b.

Referring to FIG. 3 , FIG. 5 , and FIG. 16 , the interlocking mechanical arm further includes a third rotating arm 14 , the axis of the third rotating arm 14 intersects with the axis of the second rotating arm 12 . In this embodiment, the axis of the third rotating arm 14 is perpendicular to the axis of the second rotating arm 12 . The first end of the third rotating arm 14 is rotatably connected with the second end of the second rotating arm 12 through the third lockable joint 23 ,

The third lockable joint 23 includes a fifth locking disc 141 , as shown in FIG. 16 . The fifth locking disc 141 is fixedly connected to the first end of the third rotating arm 14 , and the connection portion between the fifth locking disc 141 and the third rotating arm 14 has a second annular slot 145. The fifth locking disc 141 protrudes into the second end of the second rotating arm 12, and the first end of the third rotating arm 14 and the second end of the second rotating arm 12 pass through each other. The second annular slot 145 is rotatably connected. The side of the fifth locking disc 141 is opposite to the second end of the second arm locking rod 121 . When in use, rotate the rotating handle 2111, while clamping the first rotating arm 11 and the second rotating arm 12 to lock the first lockable joint 21, the second rotating arm locking lever 121 is locked by It is driven to move toward the second end of the second rotating arm 12 and abuts against the side of the fifth locking disc 141 , so that the third rotating arm 14 and the second rotating arm 12 do not rotate relative to each other.

Further, as shown in FIG. 17 , the third lockable joint 23 further includes a sixth locking disc 231 and a third rotating shaft 232 , and the sixth locking disc 231 is disposed on the second rotating arm In the second end of 12 , the first end of the third rotating shaft 232 is fixedly arranged at the center of the sixth locking disc 231 . As shown in FIG. 16 , a pair of rotating shaft support arms 142 extending along the axial direction of the third rotating arm 14 are provided on the second end of the third rotating arm 14 . A fourth rotating shaft 143 is supported between 142 .

The interlocking robotic arm further includes an object table 15 , and the object table 15 is rotatably disposed on the fourth rotating shaft 143 through the connecting portion. As shown in FIG. 5 and FIG. 16 , a third through hole 144 is opened in the fifth locking disc 141 and the third rotating arm 14 along the central axis, and the third rotating shaft 232 extends from the third rotating shaft 232 . The three through holes 144 pass through and are connected to the connecting portion of the storage table 15 . The fifth locking disc 141 and the sixth locking disc 231 are arranged adjacent to each other, and the sides of the fifth locking disc 141 and the sixth locking disc 231 and the second The second ends of the arm locking levers 121 are opposite.

In the embodiment of the present invention, the connecting portion of the storage table 15 includes a shaft sleeve 151 and a second bevel gear 152, the shaft sleeve 151 is sleeved on the fourth rotating shaft 143, and the second bevel gear 152 is the same as the second bevel gear 152. The shaft is arranged on the shaft sleeve 151 . A coaxial third bevel gear 233 is fixed to the second end of the third rotating shaft 232 through the protruding shaft 234 , and the second bevel gear 152 meshes with the third bevel gear 233 .

When in use, rotate the rotating handle 2111, while clamping the first rotating arm 11 and the second rotating arm 12 to lock the first lockable joint 21, the second rotating arm locking lever 121 is locked by It is driven to move toward the second end of the second rotating arm 12 , and abuts with the sides of the fifth locking disc 141 and the sixth locking disc 231 , so that the third rotating arm 14 and the second rotating arm 12 are in contact with each other. There is no relative rotation between them, and the sixth locking disc 231 will not rotate. Since the sixth locking disc 231 is fixedly connected with the third rotating shaft 232 , the second end of the third rotating shaft 232 is fixed with the third bevel gear 233 , and the third bevel gear 233 is in turn connected with the second part of the connecting part of the storage table 15 . The bevel gear 152 meshes, and therefore, in this state, the connection portion of the table 15 is locked and cannot be rotated.

FIG. 8 shows a schematic diagram of the use state of the interlocking manipulator provided by the embodiment of the present invention. Wherein, a puncturing mechanism with a handle 16 is installed on the platform 15 of the shown interlocking robot arm, and the shown interlocking robot arm is installed on the operating table through the hook member 139 on the telescopic arm 13 . Rotate the rotating handle 2111 to unlock the first lockable joint 21, and the first lockable joint 21 is linked with other joints, so that the other joints are also in the unlocked state, the arm can be rotated and the length of the telescopic arm can be adjusted; After the puncture mechanism is set to the working position, the rotating handle 2111 is tightened, the first lockable joint 21 is locked, and other joints are interlocked so that the other joints are in the locked state, thereby maintaining the current state of the interlocking mechanical arm.

The interlocking robotic arm of the embodiment of the present invention can realize the synchronous unlocking and locking of multiple joints only by operating a rotating handle, which is convenient to use, flexible to operate, and will not cause harm to patients or doctors during the locking process; all locking mechanisms are It is set inside the robotic arm and has a compact structure.

At the same time, those skilled in the art should understand that a driving device can be installed at each joint of the interlocking mechanical arm in the embodiment of the present invention, instead of manual adjustment, to realize the function of the active mechanical arm, and the expansibility is good.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (15)

An interlocking manipulator includes a first rotating arm, a second rotating arm and a first lockable joint, wherein the first end of the first rotating arm and the first end of the second rotating arm pass through the first rotating arm A lockable joint rotatable connection, characterized in that: The first rotating arm is provided with a first rotating arm locking rod that can move along the axial direction of the first rotating arm, and a second lockable joint is also provided at the second end of the first rotating arm, The first lockable joint is locked to drive the first arm locking lever to move toward the second end of the first arm, so that the second end of the first arm locking lever is locked stop the second lockable joint. The interlocking manipulator of claim 1, wherein: The first lockable joint includes a locking operation member, a first locking mechanism and a first rotating shaft, and the first rotating shaft is connected to the first end of the first rotating arm and the first end of the second rotating arm , the locking operating member and the first locking mechanism are arranged on the first rotating shaft, and the first locking mechanism has a pressing slope, The first lockable joint is locked, so that the pressing slope of the first locking mechanism presses the first end of the first arm locking lever, and drives the first arm locking lever toward The second end of the first swing arm moves, and the second end of the first swing arm locking lever locks the second lockable joint. The interlocking manipulator according to claim 2, wherein the second rotating arm is further provided with a second rotating arm locking lever that can move along the axial direction of the second rotating arm, and the second rotating arm is further provided with a second rotating arm locking lever that can move along the axial direction of the second rotating arm The second end of the rotating arm is also provided with a third lockable joint, The first lockable joint is locked, so that the pressing slope of the first locking mechanism presses the first end of the second arm locking lever, and drives the second arm locking lever toward the The second end of the second swing arm moves, and the second end of the second swing arm locking lever locks the third lockable joint. The interlocking manipulator of claim 3, wherein: The first locking mechanism includes a first locking disc and a second locking disc, and the first end of the first arm locking rod is arranged opposite to the side of the first locking disc In the first rotating arm, the first end of the second rotating arm locking rod is disposed in the second rotating arm opposite to the side portion of the second locking disc. The interlocking manipulator of claim 4, wherein: The peripheral edge of the first locking disc is provided with a first pressing slope, the peripheral edge of the second locking disc is provided with a second pressing slope, and the center of the second locking disc is connected to the The first end of the first rotating shaft is fixedly connected, the center of the first locking disc is provided with a first through hole, and the first locking disc is sleeved on the first rotating shaft through the first through hole , the first pressing slope is arranged opposite to the second pressing slope. The interlocking manipulator of claim 5, wherein: The locking operation member includes a rotating handle and a protruding shaft hole portion on the rotating handle, the shaft hole portion is provided with a shaft hole with a first thread, and the first rotating shaft is provided with a second shaft hole. a thread, the first thread of the shaft hole part engages with the second thread, Rotate the rotary handle, the end of the shaft hole portion presses the first locking disk toward the second locking disk, and clamps the first rotating arm 11 and the second rotating arm 12 At the same time of locking the first lockable joint 21, the first pressing slope of the first locking disc drives the locking rod of the first arm toward the second arm of the first arm. and the second pressing slope of the second locking disc drives the locking rod of the second arm to move toward the second end of the second arm. The interlocking robot arm according to claim 6, wherein a rotation locking key is provided on the second locking disc and/or the first rotating shaft to prevent the second locking disc and the first shaft rotates. The interlocking mechanical arm according to claim 6, wherein the first end of the first arm locking lever has a first end that matches and abuts against the first pressing slope of the first locking disc. The third pressing slope, and/or, the first end of the second arm locking lever has a fourth pressing slope that matches and abuts with the second pressing slope of the second locking disc . The interlocking manipulator according to any one of claims 1 to 8, wherein the interlocking manipulator further comprises a telescopic arm, the axis of the telescopic arm intersects with the axis of the first rotating arm, and the telescopic arm The first end of the swivel arm is rotatably connected with the second end of the first rotating arm through the second lockable joint, The second lockable joint includes a third locking disc, the third locking disc is fixedly connected to the first end of the telescopic arm, and the third locking disc is connected to the telescopic arm. The connecting part has a first annular snap groove; The third locking disc extends into the second end of the first rotating arm, and the first end of the telescopic arm and the second end of the first rotating arm pass through the first annular slot rotatable connection; The side of the third locking disc is opposite to the second end of the first arm locking lever. The interlocking mechanical arm according to claim 9, wherein the second lockable joint further comprises a fourth locking disc and a second rotating shaft, the fourth locking disc is disposed on the first In the second end of the rotating arm, the first end of the second rotating shaft is fixedly arranged at the center of the fourth locking disc; The center of the third locking disc is provided with a second through hole; the second rotating shaft passes through the second through hole, the second end of the second rotating shaft extends into the first end of the telescopic arm, and is connected to the drive mechanism of the telescopic arm; The third locking disc is disposed adjacent to the fourth locking disc, and the side of the fourth locking disc is opposite to the second end of the first arm locking rod. The interlocking robot arm according to claim 10, wherein a fifth pressing slope is provided on the periphery of the fourth locking disc, and a sixth pressing surface is provided on the periphery of the third locking disc. a tightening slope, the fifth tightening slope is arranged opposite to the sixth tightening slope, The second end of the first arm locking lever has a pair of seventh pressing slopes matching the fifth pressing slope and the sixth pressing slope. The interlocking mechanical arm according to claim 10, wherein the telescopic arm has a first telescopic support arm and a second telescopic support arm, a rack is provided along the axial direction of the first telescopic support arm, The second telescopic support arm is provided with a synchronous spur gear and a synchronous bevel gear, the synchronous spur gear has a coaxially connected first spur gear segment and a second spur gear segment, and the synchronous bevel gear has a coaxially connected first spur gear. Three spur gear segments and bevel gear segments, the first spur gear segment and the third spur gear segment are connected by a timing belt, and the second spur gear segment meshes with the rack; A coaxial first bevel gear is fixed on the second end of the second rotating shaft, and the first bevel gear meshes with the bevel gear segment of the synchronous bevel gear. The interlocking robot arm according to any one of claims 1-8, characterized in that, The interlocking mechanical arm further includes a third rotating arm, the axis of the third rotating arm intersects with the axis of the second rotating arm, and the first end of the third rotating arm and the first end of the second rotating arm. The two ends are rotatably connected through the third lockable joint, The third lockable joint includes a fifth locking disc, the fifth locking disc is fixedly connected to the first end of the third rotating arm, and the fifth locking disc is connected to the first end of the third rotating arm. The connecting part of the three rotating arms has a second annular clamping groove; The fifth locking disc extends into the second end of the second rotating arm, and the first end of the third rotating arm and the second end of the second rotating arm pass through the second ring Rotary connection of the card slot; The side of the fifth locking disc is opposite to the second end of the second arm locking lever. The interlocking robotic arm of claim 13, wherein: The third lockable joint further includes a sixth locking disc and a third rotating shaft, the sixth locking disc is arranged in the second end of the second rotating arm, and the third rotating shaft has a third rotating shaft. One end is fixedly arranged at the center of the sixth locking disc; A pair of rotating shaft support arms extending along the axial direction of the third rotating arm are provided on the second end of the third rotating arm, and a fourth rotating shaft is supported between the pair of rotating shaft support arms; The interlocking mechanical arm further includes an object table, and the object table is rotatably arranged on the fourth rotating shaft through the connecting portion; A third through hole is opened in the fifth locking disc and the third rotating arm along the central axis; The third rotating shaft passes through the third through hole and is connected to the connecting portion of the storage platform; The fifth locking disc is adjacent to the sixth locking disc, and the sides of the fifth locking disc and the sixth locking disc and the second arm locking rod opposite the second end. The interlocking robot arm according to claim 14, wherein the connecting part of the object table comprises a shaft sleeve and a second bevel gear, the shaft sleeve is sleeved on the fourth rotating shaft, and the second bevel gear coaxially arranged on the shaft sleeve, A coaxial third bevel gear is fixed on the second end of the third rotating shaft, and the second bevel gear is meshed with the third bevel gear.

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