A robot structure for assisting fracture reduction

Abstract

A robot structure for assisting fracture reduction, the present invention relates to an assistive robot, the purpose of the present invention is to solve the problem that the existing parallel structure, the motors are all installed on the branch chain, which is heavy and not conducive to patients wearing and rehabilitation in the subsequent rehabilitation process, it includes a static platform, a dynamic platform, three groups of branch chain components, multiple branch chain connecting seats, multiple tapered shaft components and multiple drive components; the static platform is arranged above the dynamic platform, the three groups of branch chain components are arranged between the static platform and the dynamic platform, each group of branch chain connecting seats is movably installed on the static platform and the dynamic platform through four branch chain connecting seats, each group of branch chain components is installed with two vibration modules, each branch chain connecting seat located on the static platform is installed with a tapered shaft component, and a drive component is installed above each tapered shaft component. The present invention is used in the field of fracture reduction technology.

Description

Technical Field

[0001] The invention relates to an auxiliary robot, in particular to a robot structure for assisting fracture reduction. The invention is used in the technical field of fracture reduction. Background Art

[0002] Fractures are common in children and the elderly. They are caused by the breakage of bone structures and need to be treated promptly. Otherwise, sequelae are likely to occur. However, the incidence of tibia fractures is high and the recovery period is long. Fracture reduction surgery requires multiple doctors to use robot-assisted fracture reduction surgery.

[0003] Because the parallel mechanism is composed of multiple branch chain closed loops, it has the advantages of small error, high stiffness, high load-bearing capacity, easy kinematic inverse solution, and fast response speed. It can be applied to micro-manipulation robots and medical fields. However, in the parallel structure of current technology, the motors are installed on the branch chains, which are heavy and not conducive to patients wearing and rehabilitation in the subsequent rehabilitation process. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that in the existing parallel structure, the motors are all installed on the branch chain, which is heavy and not conducive to patients wearing and rehabilitation in the subsequent rehabilitation process, and further provide a robot structure for assisting fracture reduction.

[0005] The technical solution of the present invention is:

[0006] A robot structure for assisting fracture reduction comprises a static platform, a dynamic platform, three groups of branch chain assemblies, a plurality of branch chain connecting seats, a plurality of tapered shaft assemblies and a plurality of drive assemblies; the static platform is arranged above the dynamic platform, the three groups of branch chain assemblies are arranged between the static platform and the dynamic platform, each group of branch chain connecting seats is movably mounted on the static platform and the dynamic platform via four branch chain connecting seats, each group of branch chain assemblies is mounted with two vibration modules, each branch chain connecting seat located on the static platform is mounted with a tapered shaft assembly, and a drive assembly is mounted above each tapered shaft assembly.

[0007] Furthermore, each group of branch chain assemblies includes two branches, and the two branches are arranged in an "eight" shape. A vibration module is installed on each branch chain. The top end of each branch chain is connected to the static platform through a branch chain connecting seat, and the bottom end of each branch chain is connected to the moving platform through a branch chain connecting seat, and the bottom end of the branch chain on a group of branch chain assemblies on each moving platform is arranged close to the bottom end of the branch chain on an adjacent group of branch chain assemblies on the moving platform.

[0008] Furthermore, the branch chain includes a branch chain locking nut, a branch chain nut, a branch chain lead screw, a lead screw limit plate, a branch chain housing, a branch chain distance sensor, a sensor fixing seat and a support adapter; the support adapter is installed on the bottom end of the branch chain housing, the branch chain distance sensor is installed inside the branch chain housing near the bottom through the sensor fixing seat, the branch chain nut is fixedly installed inside the branch chain housing near the top, the branch chain lead screw is inserted into the branch chain housing and threadedly connected with the branch chain nut, the branch chain locking nut is threadedly connected to the branch chain lead screw above the branch chain housing, the lead screw limit plate is rotatably connected and installed on the branch chain lead screw, and one end of the lead screw limit plate is slidably set in the bar hole of the branch chain housing.

[0009] Furthermore, the vibration module includes a module housing, a fixing pin, a slider, a linear motor mover, a linear motor stator, a counterweight, two pin members and two springs; the two pin members are installed on the module housing, the slider is slidably arranged in the module housing, a spring is respectively provided at both ends of the slider, the linear motor mover and the linear motor stator are arranged in the module housing and located at one end of the slider, the counterweight is arranged in the module housing and located at the other end of the slider, and the module housing is installed on the branch chain housing through the fixing pin and the two pin members.

[0010] Furthermore, the pin member includes a pin sleeve and a pin. The pin sleeve is a circular sleeve body. An arc groove is radially processed on the outer wall of the circular sleeve body. The pin sleeve is fixed to the module housing through a pin thread connection.

[0011] Furthermore, the fixing pin includes a 'T'-shaped piece and a pin shaft, the size of the 'T'-shaped piece gradually increases along the thickness direction, the vertical section of the 'T'-shaped piece is processed with a through hole along the depth direction, and the vertical section of the 'T'-shaped piece is inserted into the module housing through the pin shaft.

[0012] Furthermore, two arc-shaped protrusions are correspondingly processed on the branch chain housing, the arc-shaped groove of the pin sleeve on each pin member is slidably arranged on an arc-shaped protrusion of the housing, and the transverse section of the 'T'-shaped member is slidably fitted in the arc-shaped grooves of the two pin members.

[0013] Furthermore, the branch chain connecting seat includes an intermediate connecting 'U'-shaped seat, a fixed connecting 'U'-shaped seat, a hinge block, a hinge shaft and two pin rods; the intermediate connecting 'U'-shaped seat is movably connected to the hinge block through two pin rods, and the fixed connecting 'U'-shaped seat is movably connected to the hinge block through the hinge shaft, and the axis of the hinge shaft is vertically arranged to the axis of the pin rod. The branch chain lead screw at the top of the branch chain is fixedly connected to the upper intermediate connecting 'U'-shaped seat through bolts, and the support adapter seat at the bottom end of the branch chain is fixedly connected to the lower intermediate connecting 'U'-shaped seat through bolts, and a quick-release pin hole is processed on the fixed connecting 'U'-shaped seat, and the fixed connecting 'U'-shaped seat above the branch chain is installed on the static platform through quick-release pins, and the fixed connecting 'U'-shaped seat below the branch chain is installed on the moving platform through quick-release pins.

[0014] Furthermore, the tapered shaft assembly includes a bearing upper pressure cover, a bearing lower pressure cover, a tapered shaft, an upper pressure cover screw, a tapered shaft fixing screw and two bearings; the drive assembly includes a motor, a motor mounting plate, a motor transition shaft, a motor shaft rotating bearing, a motor adapter plate and two motor shaft fixing screws;

[0015] The upper gland of the bearing is installed on the static platform through the upper gland screws, the lower gland of the bearing is arranged below the upper gland of the bearing, and the two bearings are rotatably connected and installed on the upper gland and the lower gland of the bearing, and the tapered shaft is installed on the fixed connection 'U'-shaped seat through the tapered shaft fixing screws.

[0016] The motor housing is installed on the motor mounting plate, the top end of the motor transition shaft is fixed to the output shaft of the motor by two motor shaft fixing screws, the motor transition shaft is rotatably connected and installed on the motor adapter plate below the motor mounting plate through the motor shaft rotating bearing, a conical blind hole is processed at the bottom end of the motor transition shaft, the conical blind hole at the bottom end of the motor transition shaft is installed on the conical section of the top end of the conical shaft by interference fit, and the motor mounting plate and the motor adapter plate are installed on the static platform by bolts.

[0017] Further, the tapered shaft assembly includes a bearing upper pressure cover, a bearing lower pressure cover, a tapered shaft, an upper pressure cover screw, a tapered shaft fixing screw and two bearings; the drive assembly includes a hexagon socket set screw, a manual mounting plate, a manual transition shaft and a manual adapter plate;

[0018] The upper gland of the bearing is installed on the static platform through the upper gland screws, the lower gland of the bearing is arranged below the upper gland of the bearing, and the two bearings are rotatably connected and installed on the upper gland and the lower gland of the bearing, and the tapered shaft is installed on the fixed connection 'U'-shaped seat through the tapered shaft fixing screws.

[0019] The manual mounting plate is arranged above the manual adapter plate, the manual transition shaft is clearance-fitted in the through hole of the manual adapter plate, the hexagon socket set screws are threadedly connected with the manual adapter plate and the manual transition shaft, a tapered blind hole is processed at the bottom end of the manual transition shaft, the tapered blind hole at the bottom end of the manual transition shaft is installed on the tapered section at the top end of the tapered shaft with an interference fit, and the manual adapter plate and the manual mounting plate are installed on the static platform by bolts.

[0020] Compared with the prior art, the present invention has the following effects:

[0021] 1. In this embodiment of the present application, the hinge body adopts a cross-axis design, and the pins on both sides are screwed into the threads of the hinge block, and the hinge axis is pressed in the center position. The connection between the platform and each branch chain 40 through the branch chain connecting seat 3 needs to meet the functions of quick installation and quick disassembly. Therefore, a quick-change structure is designed to achieve the functions of quick installation and disassembly, and ensure the stability and reliability of the connection.

[0022] 2. The vibration module of the present application is mainly composed of a linear motor, a spring 414 and a counterweight 417. The linear motor stator 416 is fixed on the gland, and the linear motor mover 415 drives the slider 413 to move linearly to eliminate radial vibration. The springs 414 on both sides are always in a compressed state within the moving range of the slider 413, and push the slider to its original position after the vibration stimulation ends.

[0023] 3. According to the rehabilitation situation, the vibration amplitude can be adjusted by adjusting the counterweight 417. During installation, the fixing pin 412 is pressed to press the pin member 411 toward the linear module, and the vibration module is tightly connected with the linear module, so as to effectively transmit the vibration to the moving platform.

[0024] 4. This design reduces the weight of the branch chain by placing the motor outside, and designs a motor disassembly structure for motor disassembly and branch chain length fixation, and facilitates manual adjustment by doctors in the later rehabilitation. At the same time, in view of the subsequent rehabilitation problems that the current reset mechanism has not considered, this design proposes a scheme to apply stimulation through mechanical vibration. By installing a vibration module on the branch chain, the voice coil motor is used as the prime mover to generate the desired vibration on the dynamic platform to promote the growth of the patient's trabecular bone. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is the main view of the overall structure of the present application, in which a motor is used to control the branch chain assembly for telescopic structure;

[0026] Figure 2 This is the main view of the overall structure of the present application, in which the hexagon socket set screws are used to control the branch chain assembly to extend and retract;

[0027] Figure 3 yes Figure 1Enlarged view of point A in the middle;

[0028] Figure 4 1. It is a schematic diagram of the connection between the branch chain and the branch chain connecting seat;

[0029] Figure 5 It is a schematic diagram of a drive assembly installed above the tapered shaft assembly, and the drive assembly is a motor-driven structure;

[0030] Figure 6 It is a schematic diagram of a drive assembly installed above a tapered shaft assembly, and the drive assembly is a hexagon socket set screw drive structure. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Specific implementation method 1: Combination Figures 1 to 6 The present embodiment is described. The present embodiment is a robot structure for assisting fracture reduction, which includes a static platform 1, a dynamic platform 2, three groups of branch chain assemblies 4, a plurality of branch chain connecting seats 3, a plurality of tapered shaft assemblies 6 and a plurality of drive assemblies 5; the static platform 1 is arranged above the dynamic platform 2, the three groups of branch chain assemblies 4 are arranged between the static platform 1 and the dynamic platform 2, each group of branch chain connecting seats 3 is movably mounted on the static platform 1 and the dynamic platform 2 through four branch chain connecting seats 3, each group of branch chain assemblies 4 is installed with two vibration modules 41, each branch chain connecting seat 3 located on the static platform 1 is installed with a tapered shaft assembly 6, and a drive assembly 5 is installed above each tapered shaft assembly 6.

[0033] In this embodiment, the static platform 1 and the dynamic platform 2 are used to fix the bone needle holder and the broken bone. The structure of the static platform 1 and the structure of the dynamic platform 2 are platforms of the same structure. The platform is processed with three bosses in the radial direction. There are two through holes with a width of 6 mm and four threaded holes on the bosses. The through holes are used to install the tapered shaft assembly 6, and the threaded holes are used to connect and fix the drive assembly 5. The platform is connected to the tibia through Kirschner wires. The static platform 1 and the dynamic platform 2 are arranged at a relative rotation angle from top to bottom. The inner diameter of the platform of the static platform 1 and the dynamic platform 2 is 160 mm, which is used to pass through the tibia of the lower limb. There are 30 through holes with a diameter of 6 mm on the protrusions of the static platform 1 and the dynamic platform 2, which are used to fix the bone needle connector and the target of the optical tracker.

[0034] Specific implementation method 2: Combination Figure 1-Figure 4This embodiment is described. This embodiment is a robot structure for assisting fracture reduction. Each group of branch chain components 4 includes two branch chains 40, which are arranged in an "eight" shape. A vibration module 41 is installed on each branch chain 40. The top of each branch chain 40 is connected to the static platform 1 through a branch chain connecting seat 3, and the bottom of each branch chain 40 is connected to the dynamic platform 2 through the branch chain connecting seat 3. The bottom end of the branch chain 40 on a group of branch chain components 4 on each dynamic platform 2 is arranged close to the bottom end of the branch chain 40 on an adjacent group of branch chain components 4 on the dynamic platform 2. Other components and connection relationships are the same as those in the first embodiment.

[0035] Specific implementation method three: Combination Figure 1-Figure 4 The present embodiment is described. The present embodiment is a robot structure for assisting fracture reduction. The branch chain 40 includes a branch chain locking nut 401, a branch chain nut 402, a branch chain lead screw 403, a lead screw limiter 404, a branch chain housing 405, a branch chain distance sensor 406, a sensor fixing seat 407 and a support adapter 408. The support adapter 408 is installed on the bottom end of the branch chain housing 405, and the branch chain distance sensor 406 is installed on the branch chain outer shell 405 through the sensor fixing seat 407. The chain nut 402 is fixedly installed inside the chain housing 405 near the bottom, the chain lead screw 403 is inserted into the chain housing 405 and threadedly connected with the chain nut 402, the chain locking nut 401 is threadedly connected to the chain lead screw 403 above the chain housing 405, the lead screw limit plate 404 is rotatably connected and installed on the chain lead screw 403, and one end of the lead screw limit plate 404 is slidably set in the bar hole of the chain housing 405. Other components and connection relationships are the same as those of the second specific implementation method.

[0036] In this embodiment, the branch chain 40 has a telescopic function, and the distance is measured by the branch chain distance sensor 406. The branch chain 40 is spirally moved by the branch chain lead screw 403 and the branch chain nut 402, and the lead screw limiter 404 is made of peek material and contacts the shell to play a guiding role. The outer branch chain locking nut 401 plays a double nut loosening role when replacing the motor to keep the branch chain length unchanged. The branch chain distance sensor 406 is fixed on the sensor fixing seat 407, and the connecting line is led out from the adapter.

[0037] Specific implementation method four: Combination Figure 1 and Figure 4The present embodiment is described in detail. The present embodiment is a robot structure for assisting fracture reduction. The vibration module 41 includes a module housing, a fixing pin 412, a slider 413, a linear motor mover 415, a linear motor stator 416, a counterweight 417, two pins 411 and two springs 414. The two pins 411 are mounted on the module housing. The slider 413 is slidably arranged in the module housing. A spring 414 is provided at each end of the slider 413. The linear motor mover 415 and the linear motor stator 416 are arranged in the module housing and located at one end of the slider 413. The counterweight 417 is arranged in the module housing and located at the other end of the slider 413. The module housing is mounted on the branch chain housing 405 through the fixing pin 412 and the two pins 411. Other components and connection relationships are the same as those in the first embodiment.

[0038] In this embodiment, the vibration module 41 is installed by means of a pin 411 and a fixing pin 412. The vibration module is mainly composed of a linear motor, a spring 414 and a counterweight 417. The linear motor stator 416 is fixed on the gland, and the linear motor mover 415 drives the slider 413 to move linearly to eliminate radial vibration. At the same time, the slider 413 can increase the weight of the counterweight 417. When the slider 413 is in the center position, the springs 414 on both sides are in a compressed state. When the slider 413 moves to the limit position, the springs 414 on both sides are still compressed to ensure the fixation of the springs 414.

[0039] Specific implementation method five: Combination Figure 1 and Figure 4 This embodiment is described as a robot structure for assisting fracture reduction. The pin member 411 includes a pin sleeve and a pin. The pin sleeve is a circular sleeve body. The outer wall of the circular sleeve body is radially processed with an arc groove. The pin sleeve is fixed to the module housing through a pin thread connection. Other components and connection relationships are the same as those of the fourth embodiment.

[0040] Specific implementation method six: Combination Figure 1 and Figure 4 This embodiment is described as a robot structure for assisting fracture reduction. The fixing pin 412 includes a 'T'-shaped piece and a pin shaft. The size of the 'T'-shaped piece gradually increases along the thickness direction. The vertical section of the 'T'-shaped piece is processed with a through hole along the depth direction. The vertical section of the 'T'-shaped piece is inserted into the module housing through the pin shaft. Other components and connection relationships are the same as those of the fourth embodiment.

[0041] Specific implementation method seven: Combination Figure 1 and Figure 4To illustrate this embodiment, a robot structure for assisting fracture reduction is provided in this embodiment. Two arc-shaped protrusions are correspondingly processed on the branch chain housing 405. The arc-shaped groove of the pin sleeve on each pin member 411 is slidably set on an arc-shaped protrusion of the housing 405. The cross section of the 'T'-shaped member is slidably fitted in the arc-shaped grooves of the two pin members 411.

[0042] The two sides of the transverse section of the 'T'-shaped piece are processed with arc-shaped protrusions, and the module housing is installed on the branch housing 405 through the arc-shaped protrusions of the 'T'-shaped piece. The vibration module 41 is detachable on the branch housing 405 through the module housing. The pin member 411 is composed of a pin sleeve and a pin connecting part. The pin sleeve with a circle of grooves is fixed on the outer wall of the module housing by two pins, and inserted into the side wall of the branch housing 405 during installation. The 'T'-shaped piece with a fixing pin 412 is inserted, and the thickness of the T'-shaped piece changes from thin to wide. The protruding part of the T'-shaped piece is screwed in with the thread on the pin to press and fix the vibration module 41 and the branch housing 405. Other components and connection relationships are the same as those of the specific embodiments three, four, five or six.

[0043] Specific implementation method eight: Combination Figure 1 and Figure 4 The present embodiment is described. The present embodiment is a robot structure for assisting fracture reduction. The branch chain connecting seat 3 includes an intermediate connecting 'U'-shaped seat 31, a fixed connecting 'U'-shaped seat 32, a hinge block 35, a hinge shaft 34 and two pin rods 33. The intermediate connecting 'U'-shaped seat 31 is movably connected to the hinge block 35 through the two pin rods 33, and the fixed connecting 'U'-shaped seat 32 is movably connected to the hinge block 35 through the hinge shaft 34. The axis of the hinge shaft 34 is perpendicular to the axis of the pin rod 33. The branch chain lead screw 40 at the top of the branch chain 40 is provided. 03 is fixedly connected to the upper middle connection 'U'-shaped seat 31 by bolts, the support adapter 408 at the bottom end of the branch chain 40 is fixedly connected to the lower middle connection 'U'-shaped seat 31 by bolts, and a quick-install pin hole is processed on the fixed connection 'U'-shaped seat 32. The fixed connection 'U'-shaped seat 32 above the branch chain 40 is installed on the static platform 1 by a quick-install pin, and the fixed connection 'U'-shaped seat 32 below the branch chain 40 is installed on the dynamic platform 2 by a quick-install pin. Other components and connection relationships are the same as those in the third specific implementation method.

[0044] In this embodiment, the hinge body adopts a cross-axis design, and the pins on both sides are screwed into the threads of the hinge block, and the hinge axis is pressed at the center position. The connection between the platform and each branch chain 40 through the branch chain connecting seat 3 needs to meet the functions of quick installation and quick removal. Therefore, a quick-change structure is designed to achieve the functions of quick installation and removal, and ensure the stability and reliability of the connection.

[0045] Specific implementation method nine: Combination Figure 1-Figure 6The present embodiment is described. The present embodiment is a robot structure for assisting fracture reduction. The tapered shaft assembly 6 includes a bearing upper pressure cover 61, a bearing lower pressure cover 62, a tapered shaft 63, an upper pressure cover screw 64, a tapered shaft fixing screw 66 and two bearings 65. The driving assembly 5 includes a motor 501, a motor mounting plate 502, a motor transition shaft 503, a motor shaft rotating bearing 505, a motor adapter plate 506 and two motor shaft fixing top screws 504.

[0046] The upper bearing cover 61 is mounted on the static platform 1 by means of the upper cover screws 64, the lower bearing cover 62 is arranged below the upper bearing cover 61, and two bearings 65 are rotatably mounted on the upper bearing cover 61 and the lower bearing cover 62, and the tapered shaft 63 is mounted on the fixedly connected 'U'-shaped seat 32 by means of the tapered shaft fixing screws 66.

[0047] The motor 501 housing is mounted on the motor mounting plate 502, the top of the motor transition shaft 503 is fixed to the output shaft of the motor 501 through two motor shaft fixing screws 504, the motor transition shaft 503 is rotatably connected and mounted on the motor adapter plate 506 below the motor mounting plate 502 through the motor shaft rotating bearing 505, the bottom end of the motor transition shaft 503 is processed with a conical blind hole, the conical blind hole at the bottom end of the motor transition shaft 503 is installed on the conical section at the top end of the conical shaft 63 by interference fit, and the motor mounting plate 502 and the motor adapter plate 506 are installed on the static platform 1 by bolts. Other components and connection relationships are the same as those of the specific embodiment eight.

[0048] In this embodiment, after the six through holes of the boss on each platform are connected to the tapered shaft assembly 6, the motor mounting plate 502 and the motor adapter plate 506 are locked and fixed on the platform when the bolts are rotated in the tightening direction. The tapered surface of the tapered shaft 63 is interference-fitted with the tapered blind hole of the upper motor transition shaft 503 to realize that the motor 501 drives the motor transition shaft 503 and the tapered shaft 63 to rotate, and the branch chain 40 is driven to rotate through the tapered shaft 63 and the branch chain connecting seat 3, thereby realizing the position adjustment of the branch chain lead screw 403 on the branch chain 40 on the branch chain nut 402 to realize the telescopic function.

[0049] When the bolt is rotated in the loosening direction, the motor mounting plate 502 and the motor adapter plate 506 are separated and arranged on the platform. The conical surface of the conical shaft 63 is separated and arranged from the conical blind hole of the upper motor transition shaft 503.

[0050] In the present embodiment, the motor 501 is used as the driving source of the reset force. To facilitate the surgical process, it needs to be installed after the static platform 1, the dynamic platform 2 and the branch chain 40 are installed. In the rehabilitation stage, the motor 501 no longer plays a role, and its weight is inconvenient for the patient to perform active rehabilitation, so it needs to be removed. At the same time, it is also necessary to reserve manual adjustment space after the motor 501 is removed to meet the doctor's slight adjustment of the rod length according to the patient's rehabilitation status. On the other hand, it meets the requirement that the length of the fixed branch chain no longer changes, thereby ensuring the overall rigidity of the structure.

[0051] To this end, a layered design structure is selected for the installation and removal of the motor mounting plate 502 and the motor adapter plate 506, and the connection method of the tapered shaft 63 is used to realize the quick replacement of the motor.

[0052] The motor 501 is fixed on the motor mounting plate 502, and the motor mounting plate 502 and the motor adapter plate 506 are installed on the static platform 1 by bolts to generate pre-pressure. The motor transition shaft 503 plays the role of supporting, guiding and lubricating through the motor shaft rotating bearing 505.

[0053] Specific implementation method ten: Combination Figure 1-Figure 6 The present embodiment is described. The present embodiment is a robot structure for assisting fracture reduction. The tapered shaft assembly 6 includes a bearing upper pressure cover 61, a bearing lower pressure cover 62, a tapered shaft 63, an upper pressure cover screw 64, a tapered shaft fixing screw 66 and two bearings 65. The driving assembly 5 includes a hexagon socket set screw 511, a manual mounting plate 512, a manual transition shaft 513 and a manual adapter plate 514.

[0054] The upper bearing cover 61 is mounted on the static platform 1 by means of the upper cover screws 64, the lower bearing cover 62 is arranged below the upper bearing cover 61, and two bearings 65 are rotatably mounted on the upper bearing cover 61 and the lower bearing cover 62, and the tapered shaft 63 is mounted on the fixedly connected 'U'-shaped seat 32 by means of the tapered shaft fixing screws 66.

[0055] The manual mounting plate 512 is arranged above the manual adapter plate 514, the manual transition shaft 513 is arranged in the through hole of the manual adapter plate 514 with clearance fit, the hexagon socket set screws 511 are threadedly connected with the manual adapter plate 514 and the manual transition shaft 513, the bottom end of the manual transition shaft 513 is processed with a conical blind hole, the conical blind hole at the bottom end of the manual transition shaft 513 is installed on the conical section at the top end of the conical shaft 63 with interference fit, and the manual adapter plate 514 and the manual mounting plate 512 are installed on the static platform 1 by bolts. Other components and connection relationships are the same as those of the second specific embodiment.

[0056] In this embodiment, after the motor is disassembled, the motor 501 can be replaced by the hexagon socket set screw 511. The rotation of the hexagon socket set screw 511 controls the pressure of the anti-rotation rod and the tapered shaft, and controls the activity and fixed state of the branch chain 40. After the six through holes of the boss on each platform are connected with the tapered shaft assembly 6, the manual mounting plate 512 and the manual adapter plate 514 are locked and fixed on the platform when the bolts are rotated in the tightening direction. The tapered surface of the tapered shaft 63 and the tapered blind hole of the upper manual transition shaft 513 are made to have an interference fit to realize that the hexagon socket set screw 511 drives the manual transition shaft 513 and the tapered shaft 63 to rotate, and the branch chain 40 is driven to rotate through the tapered shaft 63 and the branch chain connecting seat 3, thereby realizing the fine adjustment of the position of the branch chain lead screw 403 on the branch chain 40 on the branch chain nut 402, and realizing the telescopic function.

[0057] When the bolt is rotated in the loosening direction, the manual mounting plate 512 and the manual adapter plate 514 are separated and arranged on the platform. The conical surface of the conical shaft 63 and the conical blind hole of the upper manual transition shaft 513 are separated and arranged.

[0058] The above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot structure for assisting fracture reduction, comprising a static platform (1), a dynamic platform (2), three groups of branch chain assemblies (4), a plurality of branch chain connecting seats (3), a plurality of tapered shaft assemblies (6) and a plurality of drive assemblies (5); the static platform (1) is arranged above the dynamic platform (2), the three groups of branch chain assemblies (4) are arranged between the static platform (1) and the dynamic platform (2), each group of branch chain connecting seats (3) is movably mounted on the static platform (1) and the dynamic platform (2) via four branch chain connecting seats (3), characterized in that: Two vibration modules (41) are installed on each group of branch chain components (4), a tapered shaft component (6) is installed on each branch chain connecting seat (3) located on the static platform (1), and a driving component (5) is installed above each tapered shaft component (6). The vibration module (41) includes a module housing, a fixing pin (412), a slider (413), a linear motor mover (415), a linear motor stator (416), a counterweight (417), two pin members (411) and two springs (414), wherein the pin member (411) includes a pin sleeve and a pin, and the fixing pin (412) includes a 'T'-shaped member and a pin shaft; Two pin members (411) are installed on the module housing, a slider (413) is slidably arranged in the module housing, a spring (414) is respectively arranged at both ends of the slider (413), a linear motor mover (415) and a linear motor stator (416) are arranged in the module housing and located at one end of the slider (413), a counterweight (417) is arranged in the module housing and located at the other end of the slider (413), the module housing is installed on the branch chain housing (405) through a fixing pin (412) and two pin members (411), and the pin sleeve is a circular sleeve body. An arc groove is processed radially on the outer wall of the 'T'-shaped sleeve body, and the pin sleeve is fixed to the module housing through a pin thread connection. The size of the 'T'-shaped piece along the thickness direction gradually increases, and the vertical section of the 'T'-shaped piece is processed with a through hole along the depth direction. The vertical section of the 'T'-shaped piece is inserted into the module housing through a pin shaft. Two arc protrusions are correspondingly processed on the branch chain housing (405). The arc groove of the pin sleeve on each pin member (411) is slidably set on an arc protrusion of the housing (405), and the horizontal section of the 'T'-shaped piece is slidably fitted on the arc grooves of the two pin members (411).

2. A robot structure for assisting fracture reduction according to claim 1, characterized in that: Each group of branch chain assemblies (4) comprises two branch chains (40), the two branch chains (40) are arranged in an "eight" shape, a vibration module (41) is installed on each branch chain (40), the top end of each branch chain (40) is connected to the static platform (1) via a branch chain connecting seat (3), the bottom end of each branch chain (40) is connected to the dynamic platform (2) via the branch chain connecting seat (3), and the bottom end of the branch chain (40) on a group of branch chain assemblies (4) on each dynamic platform (2) is arranged close to the bottom end of the branch chain (40) on an adjacent group of branch chain assemblies (4) on the dynamic platform (2).

3. A robot structure for assisting fracture reduction according to claim 2, characterized in that: The branch chain (40) comprises a branch chain locking nut (401), a branch chain nut (402), a branch chain lead screw (403), a lead screw limit plate (404), a branch chain housing (405), a branch chain distance sensor (406), a sensor fixing seat (407) and a support adapter seat (408); the support adapter seat (408) is installed on the bottom end of the branch chain housing (405), and the branch chain distance sensor (406) is installed inside the branch chain housing (405) near the bottom end through the sensor fixing seat (407). The branch chain nut (402) is fixedly installed inside the branch chain housing (405) near the top, the branch chain lead screw (403) is inserted into the branch chain housing (405) and threadedly connected to the branch chain nut (402), the branch chain locking nut (401) is threadedly connected to the branch chain lead screw (403) above the branch chain housing (405), the lead screw limit plate (404) is rotatably connected and installed on the branch chain lead screw (403), and one end of the lead screw limit plate (404) is slidably set in the bar hole of the branch chain housing (405).

4. A robot structure for assisting fracture reduction according to claim 3, characterized in that: The branch chain connecting seat (3) comprises an intermediate connecting 'U'-shaped seat (31), a fixed connecting 'U'-shaped seat (32), a hinge block (35), a hinge shaft (34) and two pin rods (33); the intermediate connecting 'U'-shaped seat (31) is movably connected to the hinge block (35) through the two pin rods (33), the fixed connecting 'U'-shaped seat (32) is movably connected to the hinge block (35) through the hinge shaft (34), the axis of the hinge shaft (34) is perpendicular to the axis of the pin rod (33), and the branch chain lead screw (403) at the top of the branch chain (40) is connected to the intermediate upper side by bolts. The connecting 'U'-shaped seat (31) is fixedly connected, and the support adapter seat (408) at the bottom end of the branch chain (40) is fixedly connected to the middle connecting 'U'-shaped seat (31) below by bolts, and a quick-install pin hole is processed on the fixed connecting 'U'-shaped seat (32). The fixed connecting 'U'-shaped seat (32) above the branch chain (40) is installed on the static platform (1) by a quick-install pin, and the fixed connecting 'U'-shaped seat (32) below the branch chain (40) is installed on the moving platform (2) by a quick-install pin.

5. A robot structure for assisting fracture reduction according to claim 4, characterized in that: The tapered shaft assembly (6) comprises an upper bearing cover (61), a lower bearing cover (62), a tapered shaft (63), an upper cover screw (64), a tapered shaft fixing screw (66) and two bearings (65); the drive assembly (5) comprises a motor (501), a motor mounting plate (502), a motor transition shaft (503), a motor shaft rotating bearing (505), a motor adapter plate (506) and two motor shaft fixing top screws (504); The upper bearing cover (61) is mounted on the static platform (1) by means of an upper cover screw (64), the lower bearing cover (62) is arranged below the upper bearing cover (61), and two bearings (65) are rotatably connected and mounted on the upper bearing cover (61) and the lower bearing cover (62), and the tapered shaft (63) is mounted on the fixedly connected 'U'-shaped seat (32) by means of a tapered shaft fixing screw (66). The housing of the motor (501) is mounted on the motor mounting plate (502); the top end of the motor transition shaft (503) is tightly fixed on the output shaft of the motor (501) by two motor shaft fixing screws (504); the motor transition shaft (503) is rotatably connected and mounted on the motor adapter plate (506) below the motor mounting plate (502) through a motor shaft rotating bearing (505); a conical blind hole is machined on the bottom end of the motor transition shaft (503); the conical blind hole at the bottom end of the motor transition shaft (503) is installed on the conical section at the top end of the conical shaft (63) by interference fit; the motor mounting plate (502) and the motor adapter plate (506) are installed on the static platform (1) by bolts.

6. A robot structure for assisting fracture reduction according to claim 4, characterized in that: The tapered shaft assembly (6) comprises an upper bearing cover (61), a lower bearing cover (62), a tapered shaft (63), an upper cover screw (64), a tapered shaft fixing screw (66) and two bearings (65); the drive assembly (5) comprises a hexagon socket set screw (511), a manual mounting plate (512), a manual transition shaft (513) and a manual adapter plate (514); The upper bearing cover (61) is mounted on the static platform (1) by means of an upper cover screw (64), the lower bearing cover (62) is arranged below the upper bearing cover (61), and two bearings (65) are rotatably connected and mounted on the upper bearing cover (61) and the lower bearing cover (62), and the tapered shaft (63) is mounted on the fixedly connected 'U'-shaped seat (32) by means of a tapered shaft fixing screw (66). The manual mounting plate (512) is arranged above the manual adapter plate (514); the manual transition shaft (513) is arranged in a clearance fit in the through hole of the manual adapter plate (514); the hexagon socket set screws (511) are threadedly connected to the manual adapter plate (514) and the manual transition shaft (513); a conical blind hole is processed at the bottom end of the manual transition shaft (513); the conical blind hole at the bottom end of the manual transition shaft (513) is installed on the conical section at the top end of the conical shaft (63) with an interference fit; the manual adapter plate (514) and the manual mounting plate (512) are installed on the static platform (1) by bolts.

Images