阅读说明：本技术 电动自锁臂 (Electric self-locking arm ) 是由 刘冰 田宝龙 于 2021-08-25 设计创作，主要内容包括：本公开提供一种电动自锁臂,其包括：至少两个关节,至少两个关节依次连接,并使得两个相邻的关节之间能够产生相对运动；其中,在所述关节内部设置有电驱动结构,当所述电驱动结构处于断电状态时,所述电驱动结构的长度增加,以此限制两个相邻的关节之间的相对运动；当所述电驱动结构处于通电状态时,所述电驱动结构的长度缩短,以此允许两个相邻的关节之间产生相对运动。(The present disclosure provides an electric self-locking arm, comprising: the at least two joints are connected in sequence and enable relative motion to be generated between two adjacent joints; wherein an electric driving structure is arranged in the joints, and when the electric driving structure is in a power-off state, the length of the electric driving structure is increased, so that the relative motion between two adjacent joints is limited; when the electric driving structure is in a power-on state, the length of the electric driving structure is shortened, so that relative movement between two adjacent joints is allowed.)

1. An electrically self-locking arm, comprising:

the at least two joints are connected in sequence and enable relative motion to be generated between two adjacent joints;

when the electric driving structure is in a power-off state, the electric driving structure is in a preset position so as to limit the relative movement between two adjacent joints; when the electric driving structure is in a power-on state, the length of the electric driving structure is shortened, so that relative movement between two adjacent joints is allowed.

2. The electrically powered self-locking arm of claim 1, wherein said knuckle comprises:

a barrel, the electrically driven structure disposed within the barrel;

the first movable part is movably arranged at one end of the barrel; and

the middle part of the first cover body is provided with a through hole, and one end of the first movable part penetrates through the through hole and is positioned outside the cylinder body;

the first cover body is used for limiting the movement of the first movable part along the direction of the cylinder body; when the electric driving structure is in a power-off state, the first movable part is limited between the first cover body and the electric driving structure.

3. The power self-locking arm as recited in claim 2, wherein the first movable portion is fixed to a cylinder of a joint adjacent to the current joint at an end thereof protruding from the first cover, so that the adjacent joints are connected to each other.

4. The electrically powered self-locking arm of claim 2, wherein said knuckle further comprises:

a second movable portion provided at the other end of the cylinder, an

A through hole is formed in the middle of the second cover body, and one end of the second movable part penetrates through the through hole and is positioned outside the cylinder body;

the second cover body is used for limiting the movement of the second movable part along the direction of the cylinder body; when the electrically driven structure is in a power-off state and the length increases, the second movable portion is confined between the second cover and the electrically driven structure.

5. The electrically operated self-locking arm as recited in claim 4, wherein the first movable portion of the current joint is connected to the second movable portion of the next joint connected to said current joint so as to facilitate interconnection between said current joint and said next joint.

6. The electric self-locking arm as recited in claim 4, wherein the first movable portion of the current joint is formed integrally with the second movable portion of the next-stage joint connected to said current joint, so that said current joint and said next-stage joint are connected to each other.

7. The electrically self-locking arm according to claim 3 or 4, wherein the portion of said first and/or second movable part inside said barrel is formed as a sphere.

8. The electrically powered self locking arm of claim 7, wherein said knuckle further comprises:

a brake part driven by the electric driving structure to provide a frictional force to the first and/or second movable parts and to restrict movement of the first and/or second movable parts relative to the cylinder by the frictional force.

9. The electrically operated self locking arm of claims 1-8, wherein said brake portion is hollow cylindrical, wherein an inner diameter of said brake portion is smaller than a diameter of said first and/or second movable portion to provide a braking force to said first and/or second movable portion by contact of an inner wall of said brake portion with an outer surface of said first and/or second movable portion;

optionally, the joint further comprises:

a push plate driven by the electric driving structure, wherein a spring is disposed between the push plate and the brake part, so that when the electric driving structure pushes the push plate, the push plate provides a driving force to the brake part through the spring;

optionally, the joint further comprises:

the pressure sensor is arranged between the electric driving structure and the push plate and used for detecting the pressure applied to the push plate by the electric driving structure;

optionally, the joint further comprises:

a slip ring disposed at the brake part or the push plate to provide electric power to the electric driving structure through the slip ring;

optionally, the method further includes:

the clamping jaw is arranged on one of the joints at the two ends so as to clamp an object to be clamped through the clamping jaw;

optionally, the clamping jaw is an electric clamping jaw, so that when the clamping jaw is supplied with electric energy, the clamping jaw clamps an object to be clamped; when the clamping jaw is in a power-off state, releasing the clamped object;

optionally, the clamping jaw is fixed to the first movable portion or the second movable portion of the joint.

10. The electrically operated self-locking arm of any one of claims 1-9, wherein said first cover body has a through hole with an inner diameter smaller than an outer diameter of said first movable portion; and/or the inner diameter of the through hole of the second cover body is smaller than the outer diameter of the second movable part.

Technical Field

The present disclosure relates to a robot arm, and more particularly, to an electric self-locking arm.

Background

Endoscopic applications have become more and more prevalent in medical examinations and procedures. For example, during the course of performing a surgery, the endoscope hard scope may be held in a preset pose for a certain time and then held in the next preset pose.

In the prior art, most of the endoscope hard lenses are kept in a certain preset pose by being held by medical care personnel, and under the condition, the medical care personnel need to keep the same pose for a long time, so that the labor intensity is high.

In the process of endoscope-assisted surgery in some hospitals, the pose of an endoscope is maintained in a mode that a mechanical arm clamps the endoscope, but the pose of an end effector of the mechanical arm is maintained by the mechanical arms through a band-type brake system, and the next preset pose is not fixed, so that the mechanical arms are difficult to control conveniently, and the popularization difficulty of the hospital is very high.

Disclosure of Invention

In order to solve one of the above technical problems, the present disclosure provides an electric self-locking arm.

According to an aspect of the present disclosure, there is provided a power self-locking arm, including:

the at least two joints are connected in sequence and enable relative motion to be generated between two adjacent joints;

when the electric driving structure is in a power-off state, the electric driving structure is in a preset position so as to limit the relative movement between two adjacent joints; when the electric driving structure is in a power-on state, the length of the electric driving structure is shortened, so that relative movement between two adjacent joints is allowed.

According to at least one embodiment of this disclosure, the electric self-locking arm, the joint comprises:

a barrel, the electrically driven structure disposed within the barrel;

the first movable part is movably arranged at one end of the barrel; and

the middle part of the first cover body is provided with a through hole, and one end of the first movable part penetrates through the through hole and is positioned outside the cylinder body;

the first cover body is used for limiting the movement of the first movable part along the direction of the cylinder body; when the electric driving structure is in a power-off state, the first movable part is limited between the first cover body and the electric driving structure.

According to the electric self-locking arm of at least one embodiment of the present disclosure, one end of the first movable part extending out of the first cover body is fixed to a cylinder of a joint adjacent to a current joint, so that the adjacent joints are connected with each other.

The power self-locking arm according to at least one embodiment of the present disclosure, the joint further includes:

a second movable portion provided at the other end of the cylinder, an

A through hole is formed in the middle of the second cover body, and one end of the second movable part penetrates through the through hole and is positioned outside the cylinder body;

the second cover body is used for limiting the movement of the second movable part along the direction of the cylinder body; when the electrically driven structure is in a power-off state and the length increases, the second movable portion is confined between the second cover and the electrically driven structure.

According to the electric self-locking arm of at least one embodiment of the present disclosure, the first movable portion of the current joint is connected to the second movable portion of the next-stage joint connected to the current joint, so that the current joint and the next-stage joint are connected to each other.

According to the electric self-locking arm of at least one embodiment of the present disclosure, the first movable portion of the current joint is formed integrally with the second movable portion of the next-stage joint connected to the current joint, so that the current joint and the next-stage joint are connected to each other.

According to the electric self-locking arm of at least one embodiment of the present disclosure, a portion of the first movable portion and/or the second movable portion inside the barrel is formed in a spherical shape.

The power self-locking arm according to at least one embodiment of the present disclosure, the joint further includes:

a brake part driven by the electric driving structure to provide a frictional force to the first and/or second movable parts and to restrict movement of the first and/or second movable parts relative to the cylinder by the frictional force.

According to at least one embodiment of the present disclosure, the brake part is a hollow cylinder, wherein an inner diameter of the brake part is smaller than a diameter of the first movable part and/or the second movable part, so as to provide a braking force to the first movable part and/or the second movable part by contact of an inner wall of the brake part with an outer surface of the first movable part and/or the second movable part.

The power self-locking arm according to at least one embodiment of the present disclosure, the joint further includes:

the push plate, the push plate is driven by the electric drive structure, wherein, be provided with the spring between push plate and the brake part to when the electric drive structure promotes the push plate, the push plate passes through the spring to provide drive power for the brake part.

The power self-locking arm according to at least one embodiment of the present disclosure, the joint further includes:

the pressure sensor is arranged between the electric driving structure and the push plate and used for detecting the pressure applied to the push plate by the electric driving structure.

The power self-locking arm according to at least one embodiment of the present disclosure, the joint further includes:

and the slip ring is arranged on the brake part or the push plate so as to provide electric energy for the electric driving structure through the slip ring.

The electric self-locking arm according to at least one embodiment of the present disclosure further includes:

the clamping jaw is arranged on one of the joints at the two ends so as to clamp the object to be clamped through the clamping jaw.

A motorized self-locking arm according to at least one embodiment of the present disclosure, the jaw being a motorized jaw to grip an object to be gripped when power is provided to the jaw; when the clamping jaws are in the power-off state, the clamped objects are released.

According to at least one embodiment of the present disclosure, the electric self-locking arm is fixed to the first movable part or the second movable part of the joint.

According to the electric self-locking arm of at least one embodiment of the present disclosure, the inner diameter of the through hole of the first cover is smaller than the outer diameter of the first movable part; and/or the inner diameter of the through hole of the second cover body is smaller than the outer diameter of the second movable part.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

FIG. 1 is a schematic diagram of a power self-locking arm, according to one embodiment of the present disclosure.

Fig. 2 is an enlarged schematic view of a portion a of fig. 1.

Figure 3 is a cross-sectional view of a joint according to one embodiment of the present disclosure.

The reference numbers in the figures are in particular:

100 electric self-locking arm

110 joint

111 cylinder

112 first movable part

113 first cover

114 second movable part

115 second cover body

116 brake part

117 push plate

118 pressure sensor

119 slip ring

120 electric driving structure

130 clamping jaws.

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.

The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.

When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., as in "side wall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.

FIG. 1 is a schematic diagram of a power self-locking arm, according to one embodiment of the present disclosure. Fig. 2 is an enlarged schematic view of a portion a of fig. 1.

As shown in fig. 1 and 2, the electric self-locking arm 100 of the present disclosure includes:

at least two joints 110, wherein the at least two joints 110 are connected in sequence and enable relative motion to be generated between two adjacent joints 110;

wherein, an electric driving structure 120 is disposed inside the joints 110, and when the electric driving structure 120 is in a power-off state, the electric driving structure 120 is in a preset position, so as to limit the relative movement between two adjacent joints 110; when the electrically driven structure 120 is in the energized state, the length of the electrically driven structure 120 is shortened, thereby allowing relative motion between two adjacent joints 110.

When the disclosed electric self-locking arm 100 is used, when the switch is pressed to supply power to the electric driving structure 120, the electric driving structure 120 contracts, so that the electric self-locking arm 100 is allowed to move freely; when the button is released, the electric driving structure 120 is de-energized, and the electric driving structure 120 returns to the predetermined state, i.e. when the electric driving structure 120 is in the energized state, the electric self-locking arm is in the locked state, and the joints are not allowed to move relatively, or a force greater than the predetermined value is applied to the joints to move the joints.

Thus, when the power self-locking arm 100 includes a plurality of joints 110, for example, more than 4 joints, the degree of freedom is good, and the end joint and the holding jaw 130 can be held in any posture. In which a power self-locking arm 100, as shown in fig. 1, includes three joints 110.

Moreover, when the electric self-locking arm is used, only electric energy is supplied to the electric self-locking arm, and the electric self-locking arm is convenient to install and use.

Figure 3 is a cross-sectional view of a joint according to one embodiment of the present disclosure.

In an alternative embodiment of the present disclosure, as shown in fig. 3, the joint 110 includes:

a barrel 111, the electrically driven structure 120 disposed within the barrel 111;

the first movable part 112, the first movable part 112 is movably arranged at one end of the cylinder 111; and

a first cover body 113, a through hole being formed in the middle of the first cover body 113, and one end of the first movable portion 112 passing through the through hole and being located outside the cylinder 111;

the first cover 113 is used for limiting the movement of the first movable part 112 along the direction of the cylinder 111; when the electric driving structure 120 is in the power-off state and in the preset position, the first movable portion 112 is confined between the first cover 113 and the electric driving structure 120.

As one implementation form of the present disclosure, as shown in fig. 3, one end of the first movable portion 112 extending out of the first cover 113 is fixed to the cylinder 111 of the joint 110 adjacent to the current joint 110, so that the adjacent joints 110 are connected to each other.

As another implementation form of the present disclosure, as shown in fig. 3, the joint 110 further includes:

a second movable portion 114, the second movable portion 114 being provided at the other end of the cylinder 111, an

A second cover body 115, a through hole being formed in the middle of the second cover body 115, and one end of the second movable portion 114 passing through the through hole and being located outside the cylinder 111;

the second cover 115 is used for limiting the movement of the second movable part 114 along the direction of the cylinder 111; when the electrically driven structure 120 is in the de-energized state and the length increases, the second movable portion 114 is trapped between the second cover 115 and the electrically driven structure 120.

The first movable portion 112 of the current joint 110 is connected to the second movable portion 114 of the next-stage joint 110 connected to the current joint 110, so that the current joint 110 and the next-stage joint 110 are connected to each other.

More preferably, the first movable portion 112 of the current joint 110 is integrally formed with the second movable portion 114 of the next-stage joint 110 connected to the current joint 110, so that the current joint 110 and the next-stage joint 110 are connected to each other.

In an alternative embodiment of the present disclosure, as shown in fig. 3, the portion of the first movable portion 112 and/or the second movable portion 114 located inside the cylinder 111 is formed in a spherical shape.

In the present disclosure, as shown in fig. 3, the joint 110 further includes:

a brake 116, wherein the brake 116 is driven by the electric driving structure 120 to provide a friction force to the first movable part 112 and/or the second movable part 114, and limit the movement of the first movable part 112 and/or the second movable part 114 relative to the cylinder 111 by the friction force.

For example, when the joint 110 includes one movable portion, that is, the first movable portion, the number of the brake portions 116 is one, and the brake portions 116 are engaged with the first movable portion.

When the joint 110 includes two movable portions, i.e., a first movable portion 112 and a second movable portion 114, correspondingly, the number of the brake portions 116 is also two, i.e., the first brake portion and the second brake portion are included, wherein the first brake portion is engaged with the first movable portion, and the second brake portion is engaged with the second movable portion, so as to provide a friction force to the first movable portion through the first brake portion, and the friction force is used to limit the movement of the first movable portion 112 relative to the cylinder 111; and a frictional force is provided to the second movable portion through the second brake portion, by which the movement of the second movable portion 114 with respect to the cylinder 111 is restricted.

In the present disclosure, the brake part 116 is a hollow cylinder, wherein an inner diameter of the brake part 116 is smaller than a diameter of the first movable part 112 and/or the second movable part 114, so as to provide a braking force to the first movable part 112 and/or the second movable part 114 by contact between an inner wall of the brake part 116 and an outer surface of the first movable part 112 and/or the second movable part 114.

In an alternative embodiment of the present disclosure, as shown in fig. 3, the joint 110 further includes:

a push plate 117, wherein the push plate 117 is driven by the electric driving structure 120, and a spring is disposed between the push plate 117 and the brake part 116, so that when the electric driving structure 120 pushes the push plate 117, the push plate 117 provides a driving force to the brake part 116 through the spring.

In the present disclosure, the number of the push plates 117 is the same as the number of the brake portions 116, for example, when the number of the brake portions 116 is 1, the number of the push plates 117 is also 1; when the number of the brake portions 116 is two, the number of the push plates 117 is also two.

In the present disclosure, as shown in fig. 3, the joint 110 further includes:

a pressure sensor 118, said pressure sensor 118 being disposed between said electrically driven structure 120 and the push plate 117 for detecting a pressure applied by said electrically driven structure 120 to said push plate 117.

In the present disclosure, as shown in fig. 3, the joint 110 further includes:

a slip ring 119, wherein the slip ring 119 is disposed on the brake portion 116 or the push plate 117 to provide power to the electric driving structure 120 through the slip ring 119.

In an alternative embodiment of the present disclosure, as shown in fig. 1, the electric self-locking arm 100 further comprises:

a clamping jaw 130, wherein the clamping jaw 130 is arranged at one of the joints 110 at two ends so as to clamp the object to be clamped through the clamping jaw 130.

Preferably, the clamping jaw 130 is a power-driven clamping jaw 130, so that when power is supplied to the clamping jaw 130, the clamping jaw 130 clamps an object to be clamped; when the jaws 130 are in the de-energized state, the gripped object is released.

In the present disclosure, the clamping jaw 130 is fixed to the first movable portion 112 or the second movable portion 114 of the joint 110.

According to at least one embodiment of the present disclosure, the inner diameter of the through hole of the first cover 113 is smaller than the outer diameter of the first movable portion 112; and/or the inner diameter of the through hole of the second cover body 115 is smaller than the outer diameter of the second movable part 114.

In the present disclosure, the electric driving structure 120 may be an electric push rod or an electric cylinder, and when the electric driving structure 120 is in a power-off state, the preset position of the electric driving structure is adjusted to control the magnitude of the pressure applied to the brake by the electric driving structure 120, so as to control the threshold of the driving force for driving the two connected joints to perform relative motion; when the electric driving structure 120 is in a power-on state, the amount of the movement of the electric driving structure is adjusted to control the pressure applied to the brake part by the electric driving structure 120, so as to control the threshold value of the driving force for driving the two connected joints to generate relative movement; preventing scatter between the joints 110.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" 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. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.