Linkage joint assembly tool

Abstract

The invention provides a linkage joint assembly tool, and relates to the technical field of medical instrument assembly tools. A linkage joint assembly tool is used for fixing a clamping sleeve to a linkage joint, and the linkage joint comprises a linkage rope. The linkage joint assembly tool comprises a fixing assembly, a jacking assembly and a traction assembly which are sequentially arranged in the first direction. The fixing assembly is used for fixing the joint assembly; the traction assembly comprises a sliding seat and a sliding part, the sliding part can be in sliding fit with the sliding seat in the first direction, and the sliding part is used for providing pulling force for the linkage rope; when the sliding piece provides pulling force for the linkage rope, the jacking assembly is used for providing pushing force for the clamping sleeve so that the clamping sleeve can be tightly attached to the joint assembly. According to the linkage joint assembly tool, the assembly efficiency of the linkage joint can be improved, the assembly precision of the linkage joint is improved, and the assembly error is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical device assembly tooling, and in particular to linkage joint assembly tooling. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses minimally invasive surgical robots and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] The linkage joint is an important part of the minimally invasive surgical robot. During the assembly of the linkage joint, the linkage rope needs to be passed through the joint assembly and a certain tension is applied to the linkage rope. However, the connection process between the linkage rope and the joint assembly is cumbersome and the assembly efficiency of the linkage joint is low. Summary of the invention

[0004] The linkage joint assembly tool provided in the embodiment of the present application is used to solve the problem of low assembly efficiency of the linkage joint.

[0005] The embodiment of the present application provides a linkage joint assembly tool, which is used to fix a jacket on a linkage joint, wherein the linkage joint includes a linkage rope;

[0006] The linkage joint assembly tool comprises a fixing assembly, a tightening assembly and a pulling assembly arranged in sequence along a first direction;

[0007] The fixing component is used to fix the joint component;

[0008] The traction assembly includes a sliding seat and a sliding member, the sliding member can slide and cooperate with the sliding seat along a first direction, and the sliding member is used to provide a pulling force to the linkage rope;

[0009] When the sliding member provides a pulling force to the linkage rope, the tightening assembly is used to provide a thrust to the jacket so that the jacket and the joint assembly are in close contact.

[0010] The linkage joint assembly tooling provided in the present application includes a fixing component, a tightening component and a traction component. The fixing component ensures that the joint component remains in a straight state, reducing the operation of readjusting the joint component due to tilting. The tightening component can tighten the jacket at the free end of the linkage rope, reducing the operation of manual fixing. The traction component applies tension by mechanical means, reducing the operation of manual force application, so that the tension application process can be adjusted faster. Therefore, the linkage joint assembly tooling improves the assembly efficiency of the linkage joint by setting a fixing component, a traction component and a tightening component. In addition, the fixing component ensures that the joint component remains stable during the assembly process. The traction component provides precise tension, and the tightening component ensures that the jacket fits tightly. The linkage joint assembly tooling can improve the assembly accuracy of the linkage joint and reduce assembly errors.

[0011] In some embodiments of the present application, the fixing assembly includes a base and a cover plate, and the cover plate is movably disposed on the base;

[0012] At least one of the base and the cover plate is provided with a receiving groove, the receiving groove extends along a first direction, and the receiving groove is at least used to receive the joint assembly.

[0013] In this way, the base and the cover can fix the joint assembly together, and at least one of the base and the cover is provided with a receiving groove, and the receiving groove receives the joint assembly. The receiving groove extends along the first direction, ensuring that its direction is consistent with the direction in which the tension is applied, so as to ensure that the linkage rope is not affected by other external forces.

[0014] In some embodiments of the present application, the fixing assembly further includes a connecting structure;

[0015] The connection structure includes a matching fixing part and a movable part; the fixing part is fixedly arranged on one of the base and the cover plate, the movable part is movably arranged on the other of the base and the cover plate, and the movable part is detachably connected to the fixing part.

[0016] Such arrangement makes it easy to put the joint assembly into or take it out of the fixed assembly. The base and the cover are connected by a connecting structure. The connecting structure includes a matching fixed part and a movable part. The movable part is detachably connected to the fixed part, so that the cover can be opened or closed faster, thereby improving assembly efficiency.

[0017] In some embodiments of the present application, the fixing member is configured as a fixing hook, the fixing hook is fixedly connected to the cover plate, and the fixing hook is provided with a fixing groove facing away from the base;

[0018] The movable part is rotatably arranged on the base; the movable part comprises a connecting rod, and when the connecting rod is located in the fixing groove, the base and the cover plate are fixed by the connecting structure.

[0019] The reliability and stability of the connection between the base and the cover plate can be improved by cooperating with the connecting rod and the fixing groove.

[0020] In some embodiments of the present application, the movable member includes a first elastic portion, a first end of the first elastic portion is rotatably connected to the base, and a second end of the first elastic portion is connected to the connecting rod;

[0021] When the connecting rod is located in the fixing groove, the first elastic portion is in a stretched state, and the first elastic portion is used to apply a pulling force to the connecting rod.

[0022] In this way, the first elastic part can apply tension to the connecting rod, so that the connecting rod can be firmly held in the fixing groove and is not easy to fall off, which helps to ensure a stable connection between the base and the cover plate, thereby improving the stability and reliability of the linkage joint assembly tooling.

[0023] In some embodiments of the present application, the base is provided with a guide rod, the guide rod extends along the first direction, and at least a portion of the guide rod is at least used to penetrate the joint assembly;

[0024] And / or, the base is provided with a limit member, the limit member is located at one end of the base facing the traction assembly, and the limit member is used to abut against the joint assembly.

[0025] The guide rod is passed through the joint assembly so that the guide rod extends along a first direction, thereby preventing the setting direction of the guide rod from being inconsistent with the first direction, causing the direction of the joint assembly to deviate.

[0026] And / or, by abutting the limiter against the joint assembly, the linkage rope is prevented from being subjected to the tension, and the linkage rope drives the joint assembly to deviate toward the traction assembly, resulting in the required tension being unable to be applied to the linkage rope.

[0027] In some embodiments of the present application, the tightening assembly includes a supporting member and a pushing member;

[0028] The support member is provided with a clearance opening, and the clearance opening is used for the linkage rope to be passed through;

[0029] The pusher is located on a side of the support member facing the fixed assembly, the first end of the pusher is connected to the support member, the second end of the pusher can approach or move away from the support member along a first direction, and the second end of the pusher is used to abut against the jacket.

[0030] During the assembly process of the linkage joint, the pusher makes the jacket always contact with the joint assembly. In this way, after the jacket is fixed, the linkage rope is prevented from loosening, thereby maintaining the stability of the jacket.

[0031] In some embodiments of the present application, the pushing member includes a pushing portion and a second elastic portion connected to each other;

[0032] The first end of the second elastic part is fixedly connected to the support member, and the second end of the second elastic part can be extended and retracted along the first direction;

[0033] The pushing part is used for being sleeved on the linkage rope, the first end of the pushing part is connected with the second elastic part, and the second end of the pushing part is used for abutting against the jacket.

[0034] The second elastic part can provide elastic force, so that the pushing part exerts a force on the jacket. The pushing part is sleeved on the linkage rope, so that the force exerted by the pushing part on the jacket is more uniform.

[0035] In some embodiments of the present application, the traction assembly includes a pulley structure, and the pulley structure includes at least one pulley;

[0036] The rotating shaft of the pulley is fixed to the sliding member, and the pulley is at least used for winding the linkage rope so that the traction force of the traction component on the two ends of the linkage rope is equal or approximately equal.

[0037] This arrangement ensures that the linkage joints are evenly stressed when they rotate freely.

[0038] In some embodiments of the present application, the sliding seat is provided with a sliding groove, the sliding groove extends along the first direction, and the sliding member can be slidably disposed in the sliding groove;

[0039] The traction assembly comprises a driving rod, which extends along a first direction, is threadedly connected to the sliding seat, and is rotationally connected to the sliding member.

[0040] The driving rod is threadedly connected to the sliding seat and extends along the first direction, so that the driving rod can move in the positive or reverse direction of the first direction. The driving rod is also rotatably connected to the sliding member, and the driving rod can drive the sliding member to move in the positive or reverse direction of the first direction, so that the tension applied to the linkage rope can reach a required value. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] Figure 1 A schematic diagram of the structure of the linkage joint provided in the embodiment of the present application;

[0043] Figure 2 A schematic diagram of the structure of the linkage joint assembly tooling provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of the structure of a fixing assembly provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of the structure of a traction assembly provided in an embodiment of the present application;

[0046] Figure 5 for Figure 1 A partial enlarged view of the pulley structure of the traction assembly at A in the middle;

[0047] Figure 6 A full cross-sectional view of the linkage joint assembly tooling provided in an embodiment of the present application;

[0048] Figure 7 for Figure 6 A partial enlarged view of the tightening assembly at B in the middle.

[0049] Reference numerals:

[0050] 2-linked joints;

[0051] 21- Joint assembly;

[0052] 210-joint body; 211-first rotation joint; 212-second rotation joint;

[0053] 22- linkage rope;

[0054] 23-jacket;

[0055] 4-Linkage joint assembly tooling;

[0056] 40-fixed component;

[0057] 410-base; 411-accommodating slot; 412-limiting member;

[0058] 420-cover plate;

[0059] 430-connecting structure; 431-fixing member; 432-movable member; 4311-fixing groove; 4321-connecting rod; 4322-first elastic part;

[0060] 440-guide rod;

[0061] 50-tightening assembly;

[0062] 510- support member;

[0063] 520-pushing member; 521-pushing portion; 522-second elastic portion;

[0064] 60-traction assembly;

[0065] 610-sliding seat; 611-sliding slot;

[0066] 620-sliding piece;

[0067] 630- pulley structure; 631- first pulley; 632- second pulley; 633- third pulley;

[0068] 640-driving rod; 641-handle.

[0069] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0070] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0071] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0072] Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the incision size, the difficulty of minimally invasive instruments in minimally invasive surgery is greatly increased, and the fatigue and trembling of doctors during long operations will be amplified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, minimally invasive surgical robot technology has emerged. Common minimally invasive surgical robots are composed of a doctor's console (master hand), a patient surgical platform (slave hand) and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient surgical platform connected to the remotely operated surgical instrument, so as to perform precise surgical operations.

[0073] The surgical robot includes a movable console and a robotic arm. The operator can control the movement of the robotic arm through the console to perform the surgical operation. The end of the robotic arm is usually connected with multiple movable linkage joints so that the actuator of the robotic arm has multiple degrees of freedom when performing the surgical operation.

[0074] Reference Figure 1 As shown, the linkage joint 2 includes a joint assembly 21, a linkage rope 22, and a jacket 23. Among them, the joint assembly 21 includes a joint body 210, a first rotating joint 211, and a second rotating joint 212. The first rotating joint 211 is rotatably connected to the joint body 210, and the second rotating joint 212 is rotatably connected to the first rotating joint 211. The rotation axis of the second rotating joint 212 is vertically arranged with the first rotating joint 211, so that the linkage joint 2 can complete multi-degree-of-freedom movements. The linkage rope 22 is inserted into the joint assembly 21 and is provided with a certain elastic force, so that the first rotating joint 211 and the second rotating joint 212 can automatically restore their original shapes after rotation. The linkage rope 22 can be made of steel wire. The jacket 23 is used to fix the linkage rope 22 so that the linkage rope 22 does not fall out of the assembly hole of the joint assembly 21. The jacket 23 can fix the linkage rope 22 by being clamped and deformed.

[0075] However, the joint assembly 21 needs to be kept straight, and a certain tension is applied to the linkage rope 22, and then the jacket 23 is clamped to complete the assembly process of the linkage joint 2. This operation makes the assembly process of the linkage joint 2 difficult and the assembly efficiency of the linkage joint 2 is low.

[0076] In view of the above problems, the linkage joint assembly tooling provided in the present application includes a fixing component, a tightening component and a traction component. The fixing component, the tightening component and the traction component are arranged along the first direction. The fixing component ensures that the joint component 21 remains in a straight state, reducing the operation of readjustment of the joint component 21 due to tilting. The tightening component can tighten the jacket 23 at the free end of the linkage rope 22, reducing the operation of manual fixing. The traction component applies tension by mechanical means, reducing the operation of manual force application, so that the tension application process can be adjusted faster. Therefore, the linkage joint assembly tooling 4 improves the assembly efficiency of the linkage joint 2 by setting a fixing component, a traction component and a tightening component. In addition, the fixing component ensures that the joint component 21 remains stable during the assembly process. The traction component provides precise tension, and the tightening component ensures that the jacket 23 fits tightly. The linkage joint assembly tooling 4 can improve the assembly accuracy of the linkage joint 2 and reduce assembly errors.

[0077] For ease of understanding, the linkage joint assembly tooling provided in the embodiment of the present application is described in detail below.

[0078] Reference Figure 2 As shown, the linkage joint assembly tool 4 is used in the assembly process of the linkage joint 2. The linkage rope 22 with a certain elastic force can be passed through the linkage joint assembly 21 through the linkage joint assembly tool 4, and the linkage rope 22 is fixed by the jacket 23. The linkage joint assembly tool 4 can improve the assembly efficiency of the linkage joint 2 and ensure the quality stability and reliability of the linkage joint 2.

[0079] The joint assembly 21 needs to be kept straight to complete the assembly. Therefore, the linkage joint assembly tool 4 includes a fixing component 40. The fixing component 40 can fix the joint assembly 21 on the linkage joint assembly tool 4 to prevent the first rotating joint 211 or the second rotating joint 212 in the joint assembly 21 from rotating, thereby facilitating subsequent pre-tightening and jacket 23 tightening operations.

[0080] Exemplarily, the fixing assembly 40 may be configured as a long special pipe clamp, by placing the joint assembly 21 into the long special pipe clamp and tightening its fasteners to clamp the joint assembly 21, so as to facilitate subsequent pre-tightening and fixing of the sleeve 23.

[0081] The linkage joint assembly tool 4 includes a tightening assembly 50. In the process of applying tension to the linkage rope 22, the tightening assembly 50 provides a thrust to ensure that the jacket 23 and the joint assembly 21 are tightly fitted. If the jacket 23 is separated from the joint assembly 21, the tension applied to the linkage rope 22 is removed after the jacket 23 clamps the linkage rope 22, and the linkage rope 22 has a tendency to return to its original state and become loose, and the linkage rope 22 cannot reach the set elastic force.

[0082] The linkage joint assembly tool 4 includes a traction assembly 60. The traction assembly 60 can apply a required pre-tightening force to the linkage rope 22, ensuring that the linkage rope 22 has a certain pre-tightening force in the joint assembly 21.

[0083] The tightening assembly 50 is located between the fixing assembly 40 and the pulling assembly 60, and the fixing assembly 40, the tightening assembly 50 and the pulling assembly 60 are arranged along a first direction. The first direction can be set as the direction in which the fixing assembly 40 extends. The arrangement along the first direction makes the direction in which the tension is applied to the linkage rope 22 consistent, reduces the tension loss and error caused by inconsistent directions, and ensures that the linkage joint 2 has a certain elastic force after assembly.

[0084] Specifically, the traction assembly 60 includes a sliding seat 610 and a sliding member 620. The sliding seat 610 provides a fixed platform for the sliding member 620. The sliding seat 610 can slide along a first direction, so that a stable and controllable pulling force can be applied to the linkage rope 22.

[0085] The sliding member 620 is disposed on the sliding seat 610 and can slide along the first direction along with the sliding seat 610. The sliding member 620 is connected to the linkage rope 22 to provide the linkage rope 22 with the required pulling force.

[0086] The sliding member 620 includes a tension gauge, which is used to measure the tension applied to the linkage rope 22. The tension can be monitored by the tension gauge to make adjustments.

[0087] For ease of description, the two ends of the joint assembly 21 are respectively defined as the first end of the joint assembly 21 and the second end of the joint assembly 21. The first end of the joint assembly 21 is the end away from the tightening assembly 50, and the second end of the joint assembly 21 is the end close to the tightening assembly 50.

[0088] During the assembly of the linkage joint, the pre-assembly process is first completed. The linkage rope 22 is inserted into the assembly hole of the joint assembly 21, and sufficient length of the linkage rope 22 is reserved at both ends of the joint assembly 21. The linkage rope 22 is inserted into the assembly hole of the first end of the joint assembly 21 and clamped with the jacket 23 so that the linkage rope 22 does not fall out of the assembly hole of the joint assembly 21. The linkage rope 22 is inserted out from the second end of the joint assembly 21 and the jacket 23 is put on without clamping.

[0089] After the pre-assembly of the linkage joint 2 is completed, the linkage joint assembly tool 4 is used to assemble the linkage joint 2. First, the pre-assembled linkage rope 22 and the joint assembly 21 are placed in the fixing assembly 40, and the fixing assembly 40 can ensure that the joint assembly 21 remains straight. Next, the linkage rope 22 at the second end of the joint assembly 21 is inserted into the tightening assembly 50, so that the tightening assembly 50 tightens the jacket 23 here, so that the jacket 23 is close to the second end of the joint assembly 21. Then, the sliding member 620 of the traction assembly 60 is connected to the linkage rope 22, and a pulling force can be applied to the linkage rope 22 through the traction assembly 60. Subsequently, the position of the sliding member 620 is adjusted by sliding along the first direction through the sliding seat 610, so that the pulling force applied to the linkage rope 22 reaches a certain value. Finally, the jacket 23 on the linkage rope 22 at the second end of the joint assembly 21 is clamped, and the excess linkage rope 22 is removed. In this way, the assembly process of the linkage joint 2 is completed.

[0090] During this process, the fixing component 40 ensures that the joint component 21 remains straight, reducing the need to readjust the joint component 21 due to tilting. The tightening component 50 can tighten the jacket 23 at the free end of the linkage rope 22, reducing the need for manual fixing. The traction component 60 applies tension mechanically, reducing the need for manual force application, allowing the tension application process to be adjusted more quickly. Therefore, the linkage joint assembly tool 4 improves the assembly efficiency of the linkage joint 2 by providing the fixing component 40, the traction component 60 and the tightening component 50.

[0091] The fixing assembly 40 ensures that the joint assembly 21 remains stable during the assembly process. The traction assembly 60 provides precise pulling force, and the tightening assembly 50 ensures that the jacket 23 fits tightly. Therefore, the linkage joint assembly tool 4 can also improve the assembly accuracy of the linkage joint 2 and reduce errors. In addition, by assembling the linkage joint 2 through the linkage joint assembly tool 4, the inconsistency of the elastic force of each linkage rope 22 caused by manual assembly is reduced, and the consistency of the linkage joint 2 can be improved.

[0092] In some embodiments, the sliding seat 610 can be set as the base 410 of the linkage joint assembly tool 4, and the fixing assembly 40, the pressing assembly 50 and the pulling assembly 60 are fixed on the sliding seat 610. This facilitates the taking and storage of the linkage joint assembly tool 4.

[0093] Reference Figure 3 As shown, the fixing assembly 40 includes a base 410 and a cover plate 420. The base 410 and the cover plate 420 are used together to fix the joint assembly 21.

[0094] In some embodiments, the base 410 is provided with a receiving groove 411 for receiving the joint assembly 21. The receiving groove 411 extends along a first direction to ensure that its direction is consistent with the direction of the tension applied to ensure that the linkage rope 22 is not affected by other external forces.

[0095] In some embodiments, the cover plate 420 is provided with a receiving groove 411, and a part or all of the receiving groove 411 can accommodate the joint assembly 21. The receiving groove 411 extends along the first direction to ensure that its direction is consistent with the direction of the tension application to ensure that the linkage rope 22 is not affected by other external forces.

[0096] In other embodiments, both the base 410 and the cover plate 420 are provided with a receiving groove 411. The receiving groove 411 is used to accommodate the joint assembly 21. The receiving groove 411 extends along a first direction to ensure that its direction is consistent with the direction in which the tension is applied, so as to ensure that the linkage rope 22 is not affected by other external forces. In addition, the receiving groove 411 is provided on both the base 410 and the cover plate 420, so that the contact area between the joint assembly 21 and the receiving groove 411 is larger, thereby preventing multi-directional forces from occurring during the assembly process and ensuring that the joint assembly 21 remains stable under the action of multi-directional forces.

[0097] In addition, the base 410 is provided with a limiter 412. The limiter 412 is located at one end of the base 410 facing the traction assembly 60, and the limiter 412 is used to abut against the joint assembly 21. During the assembly of the linkage joint 2, the traction assembly 60 needs to apply a pulling force toward the traction assembly 60 on the linkage rope 22, and the linkage rope 22 is fixed to the first end of the joint assembly 21. The limiter 412 abuts against the joint assembly 21 to prevent the linkage rope 22 from driving the joint assembly 21 to deviate toward the traction assembly 60 when the linkage rope 22 is subjected to the pulling force, resulting in the failure to apply the required pulling force on the linkage rope 22.

[0098] Exemplarily, the bottom of the limiter 412 can be detachably mounted in the receiving groove 411 by a fastener. The limiter 412 can be configured as a slender protrusion toward the cover plate 420 to avoid interference with the linkage rope 22 and affect the force transmission on the linkage rope 22.

[0099] Specifically, the receiving groove 411 can be configured as an arc shape so that the joint assembly 21 fits with the receiving groove 411 to prevent the joint assembly 21 from moving. The receiving groove 411 can also be configured as a groove with a V-shaped opening so that the receiving groove 411 can match joint assemblies 21 of different diameters, thereby improving the applicability of the linkage joint assembly tool 4.

[0100] In order to facilitate the insertion or removal of the joint assembly 21 from the fixing assembly 40, the base 410 and the cover plate 420 are configured to be movably connected. The fixing assembly 40 further includes a connecting structure 430, through which the base 410 and the cover plate 420 can be movably connected.

[0101] The connection structure 430 includes a matching fixing member 431 and a movable member 432. The movable member 432 is detachably connected to the fixing member 431, so that the cover plate 420 can be opened or fastened at a faster speed, thereby improving assembly efficiency. For example, the movable member 432 and the fixing member 431 can be configured as a snap connection. The snap connection method has a simple structure, so that the cover plate 420 can be opened or fastened at a faster speed, thereby improving assembly efficiency. The movable member 432 and the fixing member 431 can also be configured as a snap connection, which can withstand a certain external force without loosening, and can also quickly open or close the cover plate 420.

[0102] The fixing member 431 can be fixed on the cover plate 420, and the movable member 432 can be movably arranged on the base 410, so that the cover plate 420 can be quickly unlocked by operating the movable member 432 when it is opened. The movable member 432 is arranged on the base 410, and the stability of the base 410 can be utilized to reduce the shaking of the movable member 432 during the operation process (such as pressing).

[0103] Alternatively, the fixing member 431 may be fixed on the base 410 , and the movable member 432 may be movably disposed on the cover 420 , so that the cover 420 can be quickly unlocked by the movable member 432 when it is opened.

[0104] In some embodiments, a hinge is provided on one side of the cover 420 and the base 410. A fixing member 431 is provided on the other side. The hinge allows the cover 420 to be opened in a rotating manner, so that the fixing assembly 40 can be opened without completely removing the cover 420, which facilitates the opening and closing operation of the cover 420.

[0105] In some embodiments, the fixing member 431 can be configured as a fixing hook, and a portion of the fixing hook is fixedly connected to the cover plate 420 to improve the connection stability of the connection structure 430. The fixing hook is provided with a fixing groove 4311 away from the base 410, and the movable member 432 is detachably connected to the fixing groove 4311 to improve the convenience of buckling the cover plate 420 and the base 410.

[0106] The movable member 432 is rotatably disposed on the base 410, so as to facilitate the rotation of the movable member 432 to connect the movable member 432 with the fixed member 431. The movable member 432 includes a connecting rod 4321. When the connecting rod 4321 is located in the fixed groove 4311, the base 410 and the cover plate 420 are fixed by the connecting structure 430. Through the cooperation of the connecting rod 4321 and the fixed groove 4311, the reliability and stability of the connection between the base 410 and the cover plate 420 can be improved.

[0107] In some embodiments, the movable member 432 includes a first elastic portion 4322, which has a certain elasticity and can be stretched or compressed within a certain range. Therefore, the first elastic portion 4322 enables the base 410 and the cover plate 420 to adapt to joint components 21 of different sizes and shapes.

[0108] The first end of the first elastic part 4322 is rotatably connected to the base 410, and the second end of the first elastic part 4322 is connected to the connecting rod 4321. When the connecting rod 4321 is located in the fixing groove 4311, the first elastic part 4322 is in a stretched state, and the first elastic part 4322 is used to apply a pulling force to the connecting rod 4321. Therefore, the connecting rod 4321 can be firmly held in the fixing groove 4311 and is not easy to fall off, which helps to ensure a stable connection between the base 410 and the cover plate 420, thereby improving the stability and reliability of the linkage joint assembly tool 4.

[0109] In some embodiments, the base 410 is further provided with a guide rod 440, which is used to assist the assembly process of the linkage joint 2. A part or all of the guide rod 440 is passed through the joint assembly 21 to assist the joint assembly 21 to maintain a straight state.

[0110] The base 410 is provided with a limiting hole, and one end of the guide rod 440 passes through the limiting hole, so that the guide rod 440 extends along the first direction to prevent the setting direction of the guide rod 440 from being inconsistent with the first direction, causing the direction of the joint assembly 21 to be offset.

[0111] In some embodiments, the guide rod 440 can be used in the pre-assembly process of the joint assembly 21. The guide rod 440 is inserted into the joint assembly 21 to keep the joint assembly 21 in an approximately straight state, so that the linkage rope 22 can be inserted into the assembly hole of the joint assembly 21.

[0112] The fixing assembly 40 is described in detail above, and the traction assembly 60 is described in detail next.

[0113] Reference Figure 4 As shown, the sliding seat 610 is provided with a sliding groove 611, which extends along the first direction, and the sliding member 620 can be slidably arranged in the sliding groove 611. During the assembly process, it is necessary to ensure that the movement direction of the sliding member 620 is consistent with the direction of the tension applied by the linkage rope 22. By extending the sliding groove 611 along the first direction, the movement trajectory of the sliding member 620 can be limited to prevent it from deviating from the predetermined path. In addition, the sliding groove 611 can reduce friction, so that the sliding member 620 moves more smoothly, reducing the influence of the tension applied to the linkage rope 22.

[0114] The traction assembly 60 includes a driving rod 640. The driving rod 640 is provided with an external thread, and the sliding seat 610 is provided with a threaded hole, and the driving rod 640 is threadedly connected to the sliding seat 610. The driving rod 640 is threadedly connected to the sliding seat 610 and the driving rod 640 extends along the first direction, so that the driving rod 640 can move in the forward or reverse direction of the first direction. The driving rod 640 is also rotatably connected to the sliding member 620, and the driving rod 640 can drive the sliding member 620 to move in the forward or reverse direction of the first direction, so that the tension applied to the linkage rope 22 can reach a required value.

[0115] In addition, a handle 641 is provided on the outer side of the driving rod 640, and the driving rod 640 can be rotated by the handle 641 to adjust the position of the driving rod 640. This can improve the comfort and efficiency of operation.

[0116] Reference Figure 5 As shown, in order to make each linkage rope 22 bear force evenly and equally, the sliding member 620 is connected to the linkage rope 22 through a pulley structure 630 .

[0117] The traction assembly 60 also includes a pulley structure 630, which includes one or more pulleys, which are adjusted according to the number of linkage ropes 22. The pulley includes a pulley body, a bearing, a U-shaped frame, and a rotating shaft that can be detachably connected. The rotating shaft passes through the inner ring of the bearing, and the pulley body is installed on the outer ring of the bearing. The pulley can rotate relative to the rotating shaft. The rotating shaft is fixed on the U-shaped frame.

[0118] Specifically, the pulley structure 630 includes three pulleys, namely, a first pulley 631, a second pulley 632, and a third pulley 633. The sliding member 620 is fixed to the rotation axis of the first pulley 631 through a rope. The first pulley 631 is connected to the rotation axes of the second pulley 632 and the third pulley 633 through a rope. The second pulley 632 and the third pulley 633 are used to wind the linkage rope 22. The sliding member 620 can be connected to multiple linkage ropes 22 at one time through the pulley, and tension can be applied to multiple linkage ropes 22 at one time, thereby improving the installation efficiency of the linkage joint 2. In addition, the linkage member can be connected to multiple linkage ropes 22 at one time through the pulley, so that the traction force of the traction assembly 60 on the linkage rope 22 is equal or approximately equal, so as to ensure that the first rotating joint 211 and the second rotating joint 212 of the linkage joint 2 are uniformly stressed when freely rotating. At this time, the linkage rope 22 at the second end of the linkage joint 2 can be wound around the pulley by inserting a linkage rope 22 into two sets of assembly holes of the joint assembly 21.

[0119] The tightening assembly 50 is described in detail below.

[0120] Reference Figure 6 and Figure 7As shown, the tightening assembly 50 includes a support member 510 and a push member 520. The support member 510 can make the push member 520 and the linkage rope 22 at the same height, preventing the push member 520 and the linkage rope 22 from having a height difference, resulting in the loss and deviation of the tension of the linkage rope 22, and failure to ensure the correct transmission of force. The support member 510 is provided with a clearance opening, and the linkage rope 22 can pass through the clearance opening. In this way, the linkage rope 22 is prevented from being squeezed or worn at the support member 510, and the service life of the linkage rope 22 is extended.

[0121] The pusher 520 is located on the side of the support member 510 facing the fixing assembly 40, and the pusher 520 can abut the jacket 23 against the joint assembly 21. The first end of the pusher 520 is connected to the support member 510 so that the pusher 520 remains stable when a force is applied. The second end of the pusher 520 can approach or move away from the support member 510 along the first direction, and the second end of the pusher 520 is used to abut against the jacket 23. During the assembly process of the linkage joint 2, the pusher 520 makes the jacket 23 always abut against the joint assembly 21. With this arrangement, after the jacket 23 is fixed, the linkage rope 22 is prevented from loosening. The stability of the jacket 23 is maintained.

[0122] Specifically, the pusher 520 includes a pusher portion 521 and a second elastic portion 522 connected to each other. The pusher portion 521 is the execution part of the pusher 520, and is responsible for applying a force to the jacket 23. The second elastic portion 522 can provide elastic force, so that the pusher portion 521 applies a force to the jacket 23. The first end of the second elastic portion 522 is fixedly connected to the support member 510, and the second end of the second elastic portion 522 can be extended and retracted along the first direction. The first end of the pusher portion 521 is connected to the second elastic portion 522, and the second end of the pusher portion 521 is used to abut against the jacket 23. The jacket 23 is sleeved on the linkage rope 22, and the pusher portion 521 is sleeved on the linkage rope 22, so that the force applied by the pusher portion 521 to the jacket 23 is more uniform.

[0123] The following is a description of the assembly process of the linkage joint 2 using the linkage joint assembly tool 4.

[0124] First, pre-assembly is performed. The guide rod 440 is inserted into the joint assembly 21 to keep the joint assembly 21 in an approximately straight state, so that the linkage rope 22 can pass through the joint assembly 21. Then, a linkage rope 22 is passed through the joint assembly 21, and one end of the linkage rope 22 is inserted into the jacket 23 and clamped with the jacket 23 so that one end of the linkage rope 22 does not fall out of the assembly hole of the joint assembly 21. Next, the other end of the linkage rope 22 is inserted into the jacket 23, the pushing part 521, and the second elastic part 522 in sequence. Subsequently, the linkage rope 22 is inserted into the second elastic part 522, the pushing part 521, and the jacket 23 in sequence. Finally, the linkage rope 22 is passed through the joint assembly 21 (in the opposite direction to the first insertion into the joint assembly 21).

[0125] After the pre-assembly of the linkage joint 2 is completed, the pre-assembled joint assembly 21 and other components are placed in the base 410 of the fixing assembly 40 .

[0126] First, after the cover plate 420 is buckled with the base 410, the movable part 432 is connected to the fixed part 431 by operating the cover plate 420 and the base 410 to keep the joint assembly 21 in a straight state. Next, the linkage rope 22 is wound around the second pulley 632 and the third pulley 633. The second pulley 632 and the third pulley 633 are connected to the first pulley 631 through a rope. The first pulley 631 is connected to the sliding member 620 through a rope. Then, the pushing part 521 is adjusted to a good state, and the second elastic part 522 is fixed to the support member 510. Subsequently, the position of the sliding member 620 is adjusted by sliding the sliding seat 610 along the first direction so that the tension applied to the linkage rope 22 reaches a certain value. Finally, the jacket 23 at the free end of the linkage rope 22 is clamped, and the excess linkage rope 22 is removed. In this way, the assembly process of the linkage joint 2 is completed, and the linkage joint 2 is taken out from the linkage joint assembly tool 4.

[0127] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0128] In the description of the present application, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0129] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, it can also be a detachable connection, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can make the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A linkage joint assembly tool, used for fixing a jacket (23) on a linkage joint (2), wherein the linkage joint (2) comprises a linkage rope (22), characterized in that: The linkage joint assembly tool (4) comprises a fixing assembly (40), a tightening assembly (50) and a pulling assembly (60) which are sequentially arranged along a first direction; The fixing assembly (40) is used to fix the joint assembly (21); The traction assembly (60) comprises a sliding seat (610) and a sliding member (620), wherein the sliding member (620) can be slidably matched with the sliding seat (610) along the first direction, and the sliding member (620) is used to provide a pulling force to the linkage rope (22); When the sliding member (620) provides a pulling force to the linkage rope (22), the tightening assembly (50) is used to provide a pushing force to the jacket (23) so that the jacket (23) and the joint assembly (21) are in close contact.

2. The linkage joint assembly tool according to claim 1, characterized in that: The fixing assembly (40) comprises a base (410) and a cover plate (420), and the cover plate (420) is movably disposed on the base (410); At least one of the base (410) and the cover plate (420) is provided with a receiving groove (411), the receiving groove (411) extends along the first direction, and the receiving groove (411) is at least partially used to receive the joint assembly (21).

3. The linkage joint assembly tool according to claim 2, characterized in that: The fixing assembly (40) further includes a connecting structure (430); The connection structure (430) comprises a matching fixing part (431) and a movable part (432); the fixing part (431) is fixedly arranged on one of the base (410) and the cover plate (420), and the movable part (432) is movably arranged on the other of the base (410) and the cover plate (420); and the movable part (432) is detachably connected to the fixing part (431).

4. The linkage joint assembly tool according to claim 3, characterized in that: The fixing member (431) is configured as a fixing hook, the fixing hook is fixedly connected to the cover plate (420), and the fixing hook is provided with a fixing groove (4311) facing away from the base (410); The movable member (432) is rotatably disposed on the base (410); the movable member (432) includes a connecting rod (4321), and when the connecting rod (4321) is located in the fixing groove (4311), the base (410) and the cover plate (420) are fixed via the connecting structure (430).

5. The linkage joint assembly tool according to claim 4, characterized in that: The movable member (432) comprises a first elastic portion (4322), a first end of the first elastic portion (4322) is rotatably connected to the base (410), and a second end of the first elastic portion (4322) is connected to the connecting rod (4321); When the connecting rod (4321) is located in the fixing groove (4311), the first elastic portion (4322) is in a stretched state, and the first elastic portion (4322) is used to apply a pulling force to the connecting rod (4321).

6. The linkage joint assembly tool according to claim 2, characterized in that: The base (410) is provided with a guide rod (440), the guide rod (440) extends along the first direction, and at least a portion of the guide rod (440) is used to pass through the joint assembly (21); And / or, the base (410) is provided with a limiting member (412), the limiting member (412) is located at one end of the base (410) facing the traction assembly (60), and the limiting member (412) is used to abut against the joint assembly (21).

7. The linkage joint assembly tool according to claim 1, characterized in that: The tightening assembly (50) comprises a supporting member (510) and a pushing member (520); The support member (510) is provided with a clearance opening, and the clearance opening is used for the linkage rope (22) to pass through; The pushing member (520) is located on a side of the supporting member (510) facing the fixing assembly (40), the first end of the pushing member (520) is connected to the supporting member (510), the second end of the pushing member (520) can approach or move away from the supporting member (510) along the first direction, and the second end of the pushing member (520) is used to abut against the jacket (23).

8. The linkage joint assembly tool according to claim 7, characterized in that: The pushing member (520) comprises a pushing portion (521) and a second elastic portion (522) connected to each other; The first end of the second elastic portion (522) is fixedly connected to the support member (510), and the second end of the second elastic portion (522) can be extended and retracted along the first direction; The pushing portion (521) is used to be sleeved on the linkage rope (22), the first end of the pushing portion (521) is connected to the second elastic portion (522), and the second end of the pushing portion (521) is used to abut against the jacket (23).

9. The linkage joint assembly tool according to any one of claims 1 to 8, characterized in that: The traction assembly (60) includes a pulley structure (630), and the pulley structure (630) includes at least one pulley; The rotating shaft of the pulley is fixed to the sliding member (620), and the pulley is at least used to wind the linkage rope (22) so that the traction force of the traction component (60) on both ends of the linkage rope (22) is equal or approximately equal.

10. The linkage joint assembly tool according to any one of claims 1 to 8, characterized in that: The sliding seat (610) is provided with a sliding groove (611), the sliding groove (611) extends along the first direction, and the sliding member (620) can be slidably arranged in the sliding groove (611); The traction assembly (60) comprises a driving rod (640), the driving rod (640) extends along the first direction, the driving rod (640) is threadedly connected to the sliding seat (610), and the driving rod (640) is rotationally connected to the sliding member (620).

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