Linkage joint assembly tooling

Abstract

The linkage joint assembly tool provided by the application relates to the technical field of medical instrument assembly tools. The linkage joint assembly tool is used for fixing a sleeve on a linkage joint. The linkage joint comprises a linkage rope. The linkage joint assembly tool comprises, in sequence along a first direction, a fixing assembly, a pressing assembly and a traction assembly. The fixing assembly is used for fixing a joint assembly. The traction assembly comprises a sliding seat and a sliding piece. The sliding piece is in sliding fit with the sliding seat along the first direction. The sliding piece is used for providing a pulling force to the linkage rope. When the sliding piece provides the pulling force to the linkage rope, the pressing assembly is used for providing a pushing force to the sleeve, so that the sleeve is tightly attached to the joint assembly. The linkage joint assembly tool provided by the application can improve the assembly efficiency of the linkage joint, improve the assembly precision of the linkage joint and reduce assembly errors.

Description

Technical Field

[0001] This application relates to the technical field of medical device assembly tooling, and more particularly to joint assembly tooling. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using minimally invasive surgical robots and related equipment. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0003] Linkage joints are an important component of minimally invasive surgical robots. During the assembly of linkage joints, linkage cables need to be threaded through the joint components and a certain tension needs to be applied to the cables. However, the connection process between the linkage cables and the joint components is cumbersome, resulting in low assembly efficiency for linkage joints. Summary of the Invention

[0004] The linkage joint assembly fixture provided in this application is used to solve the problem of low assembly efficiency of linkage joints.

[0005] This application provides a linkage joint assembly fixture for fixing a clip onto a linkage joint, the linkage joint including a linkage rope;

[0006] The linkage assembly fixture includes a fixing component, a clamping component, and a traction component arranged sequentially along the first direction;

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

[0008] The traction assembly includes a sliding seat and a sliding member. The sliding member can slide and engage with the sliding seat in a first direction. The sliding member is used to provide tension to the linkage rope.

[0009] When the sliding member provides tension to the linkage rope, the clamping assembly is used to provide thrust to the clamp so that the clamp is pressed tightly against the joint assembly.

[0010] The linkage assembly fixture provided in this application includes a fixing component, a clamping component, and a traction component. The fixing component ensures that the joint assembly remains straight, reducing the need for readjustment due to tilting. The clamping component clamps the free end of the linkage rope, reducing manual fixing. The traction component applies tension mechanically, reducing manual force application and allowing for faster adjustment during tension application. Therefore, the linkage assembly fixture, by incorporating the fixing, traction, and clamping components, improves the assembly efficiency of the linkage joint. Furthermore, the fixing component ensures the stability of the joint assembly during assembly. The traction component provides precise tension, and the clamping component ensures a tight fit of the clamps. The linkage assembly fixture can improve the assembly accuracy of the linkage joint and reduce assembly errors.

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

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

[0013] With this configuration, the base and cover plate can jointly secure the joint assembly. At least one of the base and cover plate is provided with a receiving groove to accommodate the joint assembly. The receiving groove extends along a 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 this application, the fixing component further includes a connection structure;

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

[0016] This design facilitates the insertion and removal of the joint assembly from the fixed assembly. The base and cover are connected by a connecting structure. The connecting structure includes mating fixed and movable parts. The movable part is detachably connected to the fixed part, allowing for faster opening or closing of the cover and improving assembly efficiency.

[0017] In some embodiments of this application, the fixing member is configured as a fixing hook, which 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 mounted on the base; the movable part includes a connecting rod, and when the connecting rod is in the fixed groove, the base and the cover plate are fixed by a connecting structure.

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

[0020] In some embodiments of this application, the movable part includes a first elastic part, a first end of which is rotatably connected to the base, and a second end of which is connected to the connecting rod.

[0021] When the connecting rod is located in the fixed groove, the first elastic part is in a stretched state and is used to apply tension to the connecting rod.

[0022] With this configuration, the first elastic part can apply tension to the connecting rod. The connecting rod can be held firmly 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 assembly tooling.

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

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

[0025] The guide rod passes through the joint assembly, extending along the first direction to prevent the direction of the guide rod from being inconsistent with the first direction, which would cause the direction of the joint assembly to deviate.

[0026] And / or, by abutting against the joint assembly with a limiting member, to prevent the linkage rope from shifting towards the traction assembly when subjected to this tension, thus preventing the required tension from being applied to the linkage rope.

[0027] In some embodiments of this application, the clamping assembly includes a support member and a pusher member;

[0028] The support component is provided with a clearance opening for the linkage rope to be threaded through;

[0029] The pusher is located on the side of the support facing the fixed assembly. The first end of the pusher is connected to the support, and the second end of the pusher can move closer to or further away from the support in the first direction. The second end of the pusher is used to abut against the clip.

[0030] During the assembly of the linkage joint, the pusher ensures that the clamp remains in contact with the joint assembly. This design prevents the linkage rope from loosening after the clamp is secured, thus maintaining the stability of the clamp.

[0031] In some embodiments of this application, the pusher includes a push portion and a second elastic portion connected together;

[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 extend and retract along the first direction.

[0033] The pushing part is used to be sleeved on the linkage rope. The first end of the pushing part is connected to the second elastic part, and the second end of the pushing part is used to abut against the sleeve.

[0034] The second elastic section provides elastic force, allowing the pushing part to apply force to the clamp. The pushing part is sleeved on the linkage rope, thus ensuring a more uniform force applied to the clamp by the pushing part.

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

[0036] The pulley's rotation axis is fixed to the sliding component, and the pulley is used at least to wind the linkage rope so that the traction force of the traction assembly on both ends of the linkage rope is equal or approximately equal.

[0037] This design ensures that the linkage joints are subjected to uniform force during free rotation.

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

[0039] The traction assembly includes a drive rod that extends along a first direction, is threadedly connected to a sliding seat, and is rotatably connected to a sliding element.

[0040] The drive rod is threadedly connected to the sliding seat and extends along a first direction, allowing it to move in either the forward or reverse direction. The drive rod is also rotatably connected to a sliding member, enabling the drive rod to move the sliding member in either the forward or reverse direction, thereby allowing the applied tension on the linkage rope to reach the desired value. Attached Figure Description

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

[0042] Figure 1 This is a schematic diagram of the linkage joint provided in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of the structure of the linkage joint assembly tooling provided in the embodiments of this application;

[0044] Figure 3 This is a schematic diagram of the structure of the fixing component provided in the embodiments of this application;

[0045] Figure 4 This is a schematic diagram of the structure of the traction assembly provided in the embodiments of this application;

[0046] Figure 5 for Figure 2 A partially enlarged view of the pulley structure of the traction assembly at point A in the middle;

[0047] Figure 6 A full sectional view of the linkage joint assembly fixture provided in the embodiments of this application;

[0048] Figure 7 for Figure 6 A magnified view of the clamping component at point B.

[0049] Figure label:

[0050] 2-Linkage joint;

[0051] 21-Joint assembly;

[0052] 210 - Joint body; 211 - First rotary joint; 212 - Second rotary joint;

[0053] 22-Linkage Rope;

[0054] 23-Cladle;

[0055] 4-Joint assembly fixture;

[0056] 40 - Fixed components;

[0057] 410 - Base; 411 - Receiving groove; 412 - Limiting component;

[0058] 420 - Cover plate;

[0059] 430 - Connecting structure; 431 - Fixing component; 432 - Moving component; 4311 - Fixing groove; 4321 - Connecting rod; 4322 - First elastic part;

[0060] 440 - Guide rod;

[0061] 50-Tightening assembly;

[0062] 510 - Support component;

[0063] 520 - Pushing component; 521 - Pushing part; 522 - Second elastic part;

[0064] 60 - Traction assembly;

[0065] 610 - Sliding seat; 611 - Sliding groove;

[0066] 620 - Slider;

[0067] 630 - Pulley structure; 631 - First pulley; 632 - Second pulley; 633 - Third pulley;

[0068] 640 - Drive lever; 641 - Handle.

[0069] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0070] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0071] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0072] Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure. Furthermore, the fatigue and tremors experienced by the surgeon during prolonged operations are amplified, becoming a key factor restricting the development of minimally invasive surgical techniques. With the advancement of robotics, minimally invasive surgical robots have emerged. A typical minimally invasive surgical robot consists of a surgeon's console (master hand), a patient surgical platform (slave hand), and a display device. The surgeon operates the input device on the console and transmits the input to the patient surgical platform, which is connected to remotely operated surgical instruments, enabling precise surgical procedures.

[0073] Surgical robots consist of a movable control console and a robotic arm. Operators can control the robotic arm's movement via the console to perform surgical procedures. The end effector of the robotic arm typically has multiple interconnected joints, giving the robotic arm's actuators multiple degrees of freedom during surgical operations.

[0074] Reference Figure 1 As shown, the linkage joint 2 includes a joint assembly 21, a linkage rope 22, and a clamp 23. The joint assembly 21 includes a joint body 210, a first rotary joint 211, and a second rotary joint 212. The first rotary joint 211 is rotatably connected to the joint body 210, and the second rotary joint 212 is rotatably connected to the first rotary joint 211. The rotation axis of the second rotary joint 212 is perpendicular to the first rotary joint 211, enabling the linkage joint 2 to perform multi-degree-of-freedom movements. The linkage rope 22 is threaded through the joint assembly 21 and has a certain elasticity, allowing the first rotary joint 211 and the second rotary joint 212 to automatically return to their original shape after rotation. The linkage rope 22 can be made of steel wire. The clamp 23 is used to fix the linkage rope 22, preventing it from coming out of the mounting hole of the joint assembly 21. The clamp 23 can be deformed by clamping to fix the linkage rope 22.

[0075] However, the joint assembly 21 needs to be kept straight, and a certain tension needs to be applied to the linkage rope 22 before clamping the sleeve 23 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 low.

[0076] In view of the above problems, the linkage assembly fixture provided in this application includes a fixing component, a clamping component, and a traction component. The fixing component, clamping component, and traction component are arranged along a first direction. The fixing component ensures that the joint assembly 21 remains straight, reducing the readjustment operation required due to tilting of the joint assembly 21. The clamping component can clamp the sleeve 23 at the free end of the linkage rope 22, reducing the manual fixing operation. The traction component applies tension mechanically, reducing the manual force application operation and making the tension application process quicker. Therefore, the linkage assembly fixture 4 improves the assembly efficiency of the linkage joint 2 by setting the fixing component, traction component, and clamping component. Furthermore, the fixing component ensures that the joint assembly 21 remains stable during assembly. The traction component provides precise tension, and the clamping component ensures that the sleeve 23 fits tightly. The linkage assembly fixture 4 can improve the assembly accuracy of the linkage joint 2 and reduce assembly errors.

[0077] For ease of understanding, the linkage joint assembly fixture provided in the embodiments of this application will be described in detail below.

[0078] Reference Figure 2 As shown, the linkage assembly fixture 4 is used in the assembly process of the linkage joint 2. The linkage assembly fixture 4 allows the elastic linkage rope 22 to be threaded onto the joint assembly 21, and the linkage rope 22 is fixed by the clamp 23. The linkage assembly fixture 4 improves the assembly efficiency of the linkage joint 2 and ensures the quality stability and reliability of the linkage joint 2.

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

[0080] For example, the fixing component 40 can be configured as a long special tube clamp, which clamps the joint component 21 by placing the joint component 21 into the long special tube clamp and tightening its fasteners, facilitating subsequent pre-tightening and clamping 23 fixation.

[0081] The linkage assembly fixture 4 includes a clamping component 50. During the application of tension to the linkage rope 22, the clamping component 50 provides thrust to ensure a tight fit between the clamp 23 and the joint assembly 21. If the clamp 23 disengages from the joint assembly 21, and the tension applied to the linkage rope 22 is removed after the clamp 23 has clamped it, the linkage rope 22 tends to return to its original state, thus becoming loose, and the linkage rope 22 will not reach the set elastic force.

[0082] The linkage assembly tooling 4 includes a traction component 60. The traction component 60 can apply the required preload to the linkage rope 22 to ensure that the linkage rope 22 has a certain preload in the joint assembly 21.

[0083] The clamping assembly 50 is located between the fixing assembly 40 and the traction assembly 60, and the fixing assembly 40, clamping assembly 50, and traction 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 ensures that the direction of the tension applied to the linkage rope 22 is consistent, reducing tension loss and error caused by inconsistent directions, and ensuring that the linkage joint 2 has a certain elasticity 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 in a first direction, thereby applying a stable and controllable tension to the linkage rope 22.

[0085] The slider 620 is mounted on the slider 610 and can slide along the first direction with the slider 610. The slider 620 is connected to the linkage rope 22 and is used to provide the required tension to the linkage rope 22.

[0086] The slider 620 includes a force gauge, which measures the tension in the linkage rope 22. Adjustments can be made by monitoring the tension using the force gauge.

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

[0088] During the assembly of the linkage joint, a pre-assembly process is first completed. The linkage rope 22 is threaded through the assembly hole of the joint component 21, with sufficient length reserved at both ends of the linkage rope 22. The linkage rope 22 is then threaded through the assembly hole at the first end of the joint component 21 and clamped with the sleeve 23 to prevent it from slipping out of the assembly hole. The linkage rope 22 exits from the second end of the joint component 21 and is then threaded through the sleeve 23 without being clamped.

[0089] After the pre-assembly of the linkage joint 2 is completed, the linkage joint assembly fixture 4 is used for subsequent assembly of the linkage joint 2. First, the pre-assembled linkage rope 22 and joint assembly 21 are placed in the fixing component 40, which ensures that the joint assembly 21 remains straight. Next, the linkage rope 22 located at the second end of the joint assembly 21 is threaded into the tightening component 50, so that the tightening component 50 presses against the clamp 23 at this point, making the clamp 23 close to the second end of the joint assembly 21. Then, the sliding member 620 of the traction component 60 is connected to the linkage rope 22, and the traction component 60 can apply tension to the linkage rope 22. Subsequently, the position of the sliding member 620 is adjusted by sliding the sliding seat 610 in the first direction, so that the tension applied to the linkage rope 22 reaches a certain value. Finally, the clamp 23 on the linkage rope 22 located at the second end of the joint assembly 21 is clamped, and the excess linkage rope 22 is removed. This completes the assembly process of the linkage joint 2.

[0090] During this process, the fixing component 40 ensures that the joint component 21 remains straight, reducing the need for readjustment due to tilting. The clamping component 50 clamps the sleeve 23 at the free end of the linkage rope 22, reducing manual fixing. The traction component 60 applies tension mechanically, reducing manual force application and allowing for faster adjustment during tension application. Therefore, the linkage joint assembly fixture 4, by incorporating the fixing component 40, traction component 60, and clamping component 50, improves the assembly efficiency of the linkage joint 2.

[0091] The fixing component 40 ensures the stability of the joint component 21 during assembly. The traction component 60 provides precise tension, and the clamping component 50 ensures a tight fit of the clamp 23. Therefore, the linkage joint assembly fixture 4 can also improve the assembly accuracy of the linkage joint 2 and reduce errors. In addition, assembling the linkage joint 2 using the linkage joint assembly fixture 4 reduces the inconsistency in the elasticity of the various linkage ropes 22 caused by manual assembly, thus improving the consistency of the linkage joint 2.

[0092] In some embodiments, the sliding seat 610 can be configured as the base 410 of the linkage assembly fixture 4, with the fixing component 40, the clamping component 50, and the traction component 60 fixed on the sliding seat 610. This facilitates the removal and storage of the linkage assembly fixture 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 together serve to fix the joint assembly 21.

[0094] In some embodiments, the base 410 is provided with a receiving groove 411 for accommodating 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.

[0095] In some embodiments, the cover plate 420 is provided with a receiving groove 411, which can accommodate part or all of 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.

[0096] In other embodiments, both the base 410 and the cover plate 420 are provided with receiving grooves 411. The receiving grooves 411 are used to accommodate the joint assembly 21. The receiving grooves 411 extend along a first direction, ensuring that their 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. Furthermore, by providing receiving grooves 411 on both the base 410 and the cover plate 420, the contact area between the joint assembly 21 and the receiving grooves 411 is larger, preventing multi-directional forces during assembly and ensuring that the joint assembly 21 remains stable under the action of multi-directional forces.

[0097] Furthermore, the base 410 is provided with a limiting member 412. The limiting member 412 is located at the end of the base 410 facing the traction assembly 60, and 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 tension force towards the linkage rope 22, which is fixed to the first end of the joint assembly 21. By abutting against the joint assembly 21 with the limiting member 412, it prevents the linkage rope 22 from being subjected to this tension force, thus preventing the linkage rope 22 from causing the joint assembly 21 to shift towards the traction assembly 60, which would prevent the required tension force from being applied to the linkage rope 22.

[0098] For example, the bottom of the limiting member 412 can be detachably installed in the receiving groove 411 by fasteners. The portion of the limiting member 412 that serves to limit the movement can be configured as an elongated protrusion facing the cover plate 420 to avoid interference with the linkage rope 22 and affecting 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 into the receiving groove 411 and prevents 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 fixture 4.

[0100] To facilitate the insertion or removal of the joint assembly 21 from the fixed assembly 40, the base 410 and the cover plate 420 are movably connected. The fixed assembly 40 also includes a connecting structure 430, through which the base 410 and the cover plate 420 can be movably connected.

[0101] The connecting structure 430 includes a mating fastener 431 and a movable element 432. The movable element 432 is detachably connected to the fastener 431, allowing the cover plate 420 to open or close quickly, thus improving assembly efficiency. For example, the movable element 432 and the fastener 431 can be configured as a snap-fit ​​connection. Snap-fit ​​connections are simple in structure and allow the cover plate 420 to open or close quickly, improving assembly efficiency. Alternatively, the movable element 432 and the fastener 431 can be configured as a latching connection. Latching connections can withstand a certain amount of external force without loosening and also allow for quick opening or closing of the cover plate 420.

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

[0103] Alternatively, the fixing member 431 can be fixed to the base 410, and the movable member 432 can be movably set on the cover plate 420 so that the cover plate 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 plate 420 and the base 410. A fastener 431 is provided on the other side. The hinge allows the cover plate 420 to be opened in a rotating manner, so that the fastening assembly 40 can be opened without completely removing the cover plate 420, facilitating the opening and closing operation of the cover plate 420.

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

[0106] The movable component 432 is rotatably mounted on the base 410, facilitating its connection with the fixed component 431. The movable component 432 includes a connecting rod 4321. When the connecting rod 4321 is positioned in the fixed groove 4311, the base 410 and the cover plate 420 are fixed together via the connecting structure 430. The cooperation between the connecting rod 4321 and the fixed groove 4311 improves the reliability and stability of the connection between the base 410 and the cover plate 420.

[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 assemblies 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 tension 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 fixture 4.

[0109] In some embodiments, the base 410 is also provided with a guide rod 440, which is used to assist in the assembly process of the linkage joint 2. Part or all of the guide rod 440 passes through the joint assembly 21 to help keep the joint assembly 21 in a straight position.

[0110] The base 410 is provided with a limiting hole. One end of the guide rod 440 passes through this limiting hole, so that the guide rod 440 extends along the first direction, preventing the setting direction of the guide rod 440 from being inconsistent with the first direction, which would cause the direction of the joint assembly 21 to shift.

[0111] In some embodiments, the guide rod 440 can be used during 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 fixed component 40 has been described in detail above. The traction component 60 will be described in detail next.

[0113] Reference Figure 4 As shown, the sliding seat 610 is provided with a sliding groove 611, which extends along a first direction. The sliding member 620 is slidably disposed within the sliding groove 611. During assembly, it must be ensured 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 restricted, preventing it from deviating from the predetermined path. Furthermore, the sliding groove 611 can reduce friction, making the movement of the sliding member 620 more stable and reducing the impact on the tension applied to the linkage rope 22.

[0114] The traction assembly 60 includes a drive rod 640. The drive rod 640 has an external thread, and the sliding seat 610 has a threaded hole; the drive rod 640 is threadedly connected to the sliding seat 610. Because the drive rod 640 is threadedly connected to the sliding seat 610 and extends along a first direction, it can move in either the forward or reverse direction of the first direction. The drive rod 640 is also rotatably connected to a sliding member 620, which can drive the sliding member 620 to move in either the forward or reverse direction of the first direction, thereby allowing the tension applied to the linkage rope 22 to reach the required value.

[0115] In addition, a handle 641 is provided on the outer side of the drive rod 640, which can be used to rotate the drive rod 640 and adjust its position. This can improve the comfort and efficiency of operation.

[0116] Reference Figure 5 As shown, in order to ensure that each linkage rope 22 is subjected to uniform and equal force, the sliding member 620 is connected to the linkage rope 22 through the pulley structure 630.

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

[0118] Specifically, the pulley structure 630 includes three pulleys: 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 via a rope. The first pulley 631 is connected to the rotation axes of the second pulley 632 and the third pulley 633 via a rope. The second pulley 632 and the third pulley 633 are used to wind the linkage rope 22. The pulleys allow the sliding member 620 to connect multiple linkage ropes 22 at once, applying tension to multiple linkage ropes 22 simultaneously, thus improving the installation efficiency of the linkage joint 2. Furthermore, by connecting multiple linkage ropes 22 at once via the pulleys, the traction force exerted by the traction component 60 on the linkage ropes 22 can be equal or approximately equal, ensuring uniform force on the first rotation joint 211 and the second rotation joint 212 of the linkage joint 2 during free rotation. At this time, the linkage rope 22 located at the second end of the linkage joint 2 can be wound around the pulley by passing a single linkage rope 22 through two sets of mounting holes in the joint component 21.

[0119] The clamping assembly 50 will be described in detail below.

[0120] Reference Figure 6 and Figure 7As shown, the clamping assembly 50 includes a support member 510 and a pusher member 520. The support member 510 ensures that the pusher member 520 and the linkage rope 22 are at the same height, preventing a height difference between them that could lead to tension loss and misalignment in the linkage rope 22, thus ensuring proper force transmission. The support member 510 has a clearance opening through which the linkage rope 22 can pass. This prevents the linkage rope 22 from being squeezed or worn at the support member 510, extending its service life.

[0121] The pusher 520 is located on the side of the support 510 facing the fixing assembly 40, and the pusher 520 abuts the clamp 23 against the joint assembly 21. A first end of the pusher 520 is connected to the support 510 to ensure stability when a force is applied. A second end of the pusher 520 can move closer to or further away from the support 510 along a first direction, and is used to abut against the clamp 23. During the assembly of the linkage joint 2, the pusher 520 ensures that the clamp 23 is always abutting against the joint assembly 21. This arrangement prevents the linkage rope 22 from loosening after the clamp 23 is fixed, thus maintaining the stability of the clamp 23.

[0122] Specifically, the pushing member 520 includes a pushing part 521 and a second elastic part 522 connected together. The pushing part 521 is the actuating part of the pushing member 520, responsible for applying force to the clamp 23. The second elastic part 522 can provide elastic force, so that the pushing part 521 applies force to the clamp 23. The first end of the second elastic part 522 is fixedly connected to the support member 510, and the second end of the second elastic part 522 can extend and retract in a first direction. The first end of the pushing part 521 is connected to the second elastic part 522, and the second end of the pushing part 521 is used to abut against the clamp 23. The clamp 23 is sleeved on the linkage rope 22, and the pushing part 521 is sleeved on the linkage rope 22, so that the force applied by the pushing part 521 to the clamp 23 is more uniform.

[0123] The assembly process of the linkage joint 2 using the linkage joint assembly fixture 4 is described below.

[0124] First, pre-assembly is performed. The guide rod 440 is inserted into the joint assembly 21, keeping the joint assembly 21 approximately straight to facilitate the passage of the linkage rope 22. Then, one end of the linkage rope 22 is passed through the joint assembly 21, and then inserted into the clamp 23 and clamped, ensuring that one end of the linkage rope 22 does not protrude from the assembly hole of the joint assembly 21. Next, the other end of the linkage rope 22 is sequentially passed through the clamp 23, the pushing part 521, and the second elastic part 522. Subsequently, the linkage rope 22 is then sequentially passed through the second elastic part 522, the pushing part 521, and the clamp 23. Finally, the linkage rope 22 is passed through the joint assembly 21 (in the opposite direction to the initial insertion).

[0125] After completing the pre-assembly of the linkage joint 2, the pre-assembled joint components 21 and other components are placed into the base 410 of the fixed component 40.

[0126] First, after fastening the cover plate 420 to the base 410, connect the movable part 432 to the fixed part 431 to keep the joint assembly 21 straight. Next, wind the linkage rope 22 around the second pulley 632 and the third pulley 633. Connect the second pulley 632 and the third pulley 633 to the first pulley 631 via ropes. Connect the first pulley 631 to the sliding part 620 via ropes. Then, adjust the pushing part 521 to the desired position, and fix the second elastic part 522 to the support part 510. Subsequently, adjust the position of the sliding part 620 by sliding the sliding seat 610 along the first direction to apply a certain tension to the linkage rope 22. Finally, clamp the sleeve 23 at the free end of the linkage rope 22 and remove the excess linkage rope 22. This completes the assembly process of the linkage joint 2, and the linkage joint 2 is removed from the linkage joint assembly fixture 4.

[0127] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0128] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0129] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying 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 this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A linkage assembly fixture for fixing a sleeve (23) to a linkage joint (2), the linkage joint (2) including a linkage rope (22), characterized in that, The linkage assembly fixture (4) includes a fixing component (40), a clamping component (50) and a traction component (60) arranged sequentially along the first direction. The fixing component (40) is used to fix the joint component (21); The traction assembly (60) includes a sliding seat (610) and a sliding member (620). The sliding member (620) is slidably engaged with the sliding seat (610) along the first direction. The sliding member (620) is used to provide tension to the linkage rope (22). When the sliding member (620) provides tension to the linkage rope (22), the clamping assembly (50) is used to provide thrust to the clamp (23) so that the clamp (23) is pressed against the joint assembly (21); The clamping assembly (50) includes a support (510) and a pusher (520); The support member (510) is provided with a clearance opening for the linkage rope (22) to be threaded through; The pusher (520) is located on the side of the support (510) facing the fixing assembly (40). The first end of the pusher (520) is connected to the support (510), and the second end of the pusher (520) can move closer to or further away from the support (510) along the first direction. The second end of the pusher (520) is used to abut against the clip (23). The pusher (520) includes a pusher portion (521) and a second elastic portion (522) connected to each other. The first end of the second elastic part (522) is fixedly connected to the support member (510), and the second end of the second elastic part (522) can extend and retract along the first direction; The pushing part (521) is used to be sleeved on the linkage rope (22). The first end of the pushing part (521) is connected to the second elastic part (522), and the second end of the pushing part (521) is used to abut against the clip (23).

2. The linkage joint assembly fixture according to claim 1, characterized in that, The fixing component (40) includes a base (410) and a cover plate (420), the cover plate (420) being 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) extending along the first direction, the receiving groove (411) being at least partially used to accommodate the joint assembly (21).

3. The linkage joint assembly fixture according to claim 2, characterized in that, The fixing component (40) also includes a connecting structure (430); The connection structure (430) includes a cooperating fixing member (431) and a movable member (432); the fixing member (431) is fixedly disposed on one of the base (410) and the cover plate (420), and the movable member (432) is movably disposed on the other of the base (410) and the cover plate (420), and the movable member (432) is detachably connected to the fixing member (431).

4. The linkage joint assembly fixture according to claim 3, characterized in that, The fixing member (431) is configured as a fixing hook, which 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 component (432) is rotatably mounted on the base (410); the movable component (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 by the connecting structure (430).

5. The linkage joint assembly fixture according to claim 4, characterized in that, The movable part (432) includes a first elastic part (4322), 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 tension to the connecting rod (4321).

6. The linkage joint assembly fixture according to claim 2, characterized in that, The base (410) is provided with a guide rod (440) that 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) located at one end of the base (410) facing the traction assembly (60), the limiting member (412) being used to abut against the joint assembly (21).

7. The linkage joint assembly fixture according to any one of claims 1-6, characterized in that, The traction assembly (60) includes a pulley structure (630), which includes at least one pulley; The rotation axis of the pulley is fixed to the sliding member (620), and the pulley is used at least to wind the linkage rope (22) so that the traction force of the traction assembly (60) on both ends of the linkage rope (22) is equal or approximately equal.

8. The linkage joint assembly fixture according to any one of claims 1-6, 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) is slidably disposed in the sliding groove (611); The traction assembly (60) includes a drive rod (640) that extends along the first direction, is threadedly connected to the sliding seat (610), and is rotatably connected to the sliding member (620).

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