Knob type rapid replacement device

Abstract

The utility model discloses a knob type quick replacement device which is used for replacing equipment on an end effector manually. The upper combination seat is fixedly connected to the tail end of the mechanical arm and provided with a pressure sensor assembly, the locking base is fixedly installed on an end effector, and the upper combination seat is provided with a guide structure used for being matched with the locking base and a locking component. The guide structure and the pressure sensor assembly are located on the center line of the end effector. The tail end executor has the advantages that various targeted physical therapy devices can be conveniently and flexibly replaced at the tail end of the same mechanical arm, one or more physical therapy devices which do not need to work at the same time can be detached, and therefore the weight of the tail end executor is reduced, and control over the load of the mechanical arm is effectively reduced; when the upper combination base and the locking base are connected, friction force is increased so as to improve stability, and certain anti-seismic and noise-reducing effects are achieved.

Description

Technical Field

[0001] The utility model relates to a component structure on the end effector of a medical robot, in particular to a knob-type quick replacement device for manually replacing equipment on the end effector, belonging to the technical field of medical robots. Background Art

[0002] With the development of medical technology, medical robots are increasingly widely used. To meet different physical therapy requirements, one or more different physical therapy devices are usually installed at the end of the robotic arm of the medical robot. As a result, the end effector is heavy and the load on the robotic arm is large. If the load on the robotic arm needs to be reduced, the physical therapy device at the end of the robotic arm needs to be disassembled. The existing installation method has a complex structural design, is very difficult to disassemble and assemble, is time-consuming and laborious, greatly causing a waste of human resources, and at the same time, the flexibility of the robotic arm is also poor. Summary of the Invention

[0003] The technical problem to be solved by the utility model is to provide a knob-type quick replacement device with a simple structural design, quick and convenient disassembly and assembly, which can reduce the load on the robotic arm and improve the flexibility of the robotic arm.

[0004] To solve the above technical problem, the knob-type quick replacement device of the utility model includes an upper joint seat fixedly connected to the end of the robotic arm and provided with a pressure sensor assembly, and a locking base fixedly installed on the end effector. The upper joint seat is provided with a guiding structure and a locking component for cooperating with the locking base, and the guiding structure and the pressure sensor assembly are on the center line of the end effector.

[0005] The guiding structure includes an installation sleeve arranged on the top of the upper joint seat and a positioning post arranged at the bottom of the upper joint seat and coaxially arranged with the installation sleeve.

[0006] The locking component is a knob lock with a knob operating part and a locking part. The knob operating part of the knob lock is arranged on the upper joint seat and the locking part extends below the upper joint seat.

[0007] The locking base includes a base body with a guiding hole and a locking groove and a connecting rod connected to the bottom of the base body. The guiding hole is on the center line of the end effector, and the locking groove can cooperate with the knob lock to lock the base and the upper joint seat.

[0008] A silica gel sheet is arranged between the upper joint seat and the locking base.

[0009] The pressure sensor assembly includes an installation shell with a plugging post and a pressure sensor installed in the installation shell. A connecting plate for encapsulating the pressure sensor in the installation shell is installed on the top of the installation shell.

[0010] The connecting plate has a mounting surface for mounting with the robotic arm, and the connecting plate can be connected to the robotic arm through the mounting surface.

[0011] Both the upper coupling seat and the locking base are in a runway-shaped structure.

[0012] The advantages of the present utility model are as follows:

[0013] By providing an upper coupling seat fixedly connected to the end of the robotic arm and equipped with a pressure sensor assembly, and a locking base fixedly installed on different end effectors, it is thus convenient to flexibly replace a variety of targeted physiotherapy devices at the end of the same robotic arm. One or several physiotherapy devices that do not need to work simultaneously can be removed, thereby reducing the weight of the end effector and effectively reducing the control of the load on the robotic arm. In particular, the upper coupling seat and the locking base can be used as standard parts for connecting different physiotherapy devices, increasing the flexibility of using different physiotherapy devices at the end of the same robotic arm. In addition, a silica gel sheet is arranged between the upper coupling seat and the locking base, which increases the friction when the upper coupling seat and the locking base are connected to increase stability and has a certain anti-seismic and noise-reducing effect. Description of the Drawings

[0014] Figure 1 It is a schematic diagram of the use state of the knob-type quick replacement device of the present utility model;

[0015] Figure 2 It is an exploded structural schematic diagram of the knob-type quick replacement device of the present utility model. Detailed Embodiment

[0016] The following further elaborates on the knob-type quick replacement device of the present utility model in conjunction with the drawings and specific embodiments.

[0017] As shown in the figure, the knob-type quick replacement device of the present utility model includes an upper coupling seat 3 fixedly connected to the end of the robotic arm 1 and equipped with a pressure sensor assembly 2, and a locking base 5 fixedly installed on different end effectors 4. That is to say, the upper coupling seat 3 and the locking base 5 can be used as standard parts. The outer contour shapes of the upper coupling seat 3 and the locking base 5 are both in a runway-shaped structure. Thus, through the upper coupling seat 3, it can be matched with the locking base on different end effectors 4 to achieve replaceable installation. Regarding the specific structures of the upper coupling seat 3 and the locking base 5, among them, the upper coupling seat 3 is provided with a guiding structure 6 and a locking component 7 for cooperating with the locking base 5. Figure 2It can be seen that the said guiding structure 6 includes a mounting sleeve 8 provided at the top of the upper joint seat 3 and a positioning post 9 provided at the bottom of the upper joint seat and coaxially arranged with the mounting sleeve. The said locking member 7 is a knob lock with a knob operating portion 10 and a locking portion 11. The knob operating portion 10 of the knob lock is arranged on the upper joint seat and the locking portion 11 extends below the upper joint seat. The said locking base 5 includes a base body having a guiding hole 12 and a locking groove 13 and a connecting rod 14 connected to the bottom of the base body. The guiding hole 12 is on the center line of the end effector. The positioning post 9 can be inserted into the guiding hole 12 to achieve guiding and positioning. The locking groove 13 can cooperate with the knob lock to lock the base and the upper joint seat, so that the guiding structure 6 and the pressure sensor assembly 2 are on the center line of the end effector and can drive the end effector to act reliably under the drive of the robotic arm 1, and its action reliability is very good. When in use, when the upper joint seat 3 is inserted into the locking base 5, the knob lock is rotated to "OFF" for stable connection. When the knob is rotated to "ON", the locking base 5 is removed, and finally the function of quickly replacing and connecting various physiotherapy devices at the end of the robotic arm (such as fascia guns, shock waves, etc.) is realized, thereby achieving the purpose of quick connection and separation.

[0018] Furthermore, a silica gel sheet 15 can also be arranged between the upper joint seat 3 and the locking base 5, that is, a silica gel sheet is fixed on the contact surface between the upper joint seat 3 and the locking base 5, so as to increase the friction when the upper joint seat 3 and the locking base 5 are connected to increase stability and have a certain anti-seismic and noise-reducing effect.

[0019] Still further, the said pressure sensor assembly 2 includes a mounting shell 17 having a plug-in post 16 and a pressure sensor 18 arranged in the mounting shell. A connecting plate 19 for encapsulating the pressure sensor 18 in the mounting shell is installed at the top of the mounting shell 17. The connecting plate 19 has a mounting surface 20 for mounting with the robotic arm, and the connecting plate 19 can be connected to the robotic arm through the mounting surface.

[0020] Certainly, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. A rotary quick replacement device, characterized in that: It includes an upper joint seat (3) fixedly connected to the end of a robotic arm (1) and provided with a pressure sensor assembly (2), and a locking base (5) fixedly installed on an end effector (4). A guiding structure (6) and a locking component (7) for cooperating with the locking base (5) are arranged on the upper joint seat (3). The guiding structure (6) and the pressure sensor assembly (2) are on the center line of the end effector.

2. The knob-type quick replacement device according to claim 1, wherein: The guiding structure (6) includes a mounting sleeve (8) arranged on the top of the upper joint seat (3) and a positioning post (9) arranged at the bottom of the upper joint seat and coaxially arranged with the mounting sleeve.

3. The knob-type quick replacement device according to claim 1 or 2, characterized in that: The locking component (7) is a knob lock with a knob operating part (10) and a locking part (11). The knob operating part (10) of the knob lock is arranged on the upper joint seat and makes the locking part (11) extend below the upper joint seat.

4. The knob-type quick replacement device according to claim 3, wherein: The locking base (5) includes a base body with a guiding hole (12) and a locking groove (13) and a connecting rod (14) connected to the bottom of the base body. The guiding hole (12) is on the center line of the end effector, and the locking groove (13) can cooperate with the knob lock to lock the base and the upper joint seat.

5. The knob-type quick replacement device according to claim 1, 2 or 4, characterized in that: A silica gel sheet (15) is arranged between the upper joint seat (3) and the locking base (5).

6. The knob-type quick replacement device according to claim 5, wherein: The pressure sensor assembly (2) includes a placement shell (17) with a plug-in post (16) and a pressure sensor (18) placed inside the placement shell. A connecting plate (19) that encapsulates the pressure sensor (18) inside the placement shell is installed on the top of the placement shell (17).

7. The knob-type quick replacement device according to claim 6, characterized in that: The connecting plate (19) has a mounting surface (20) for mounting with the robotic arm, and the connecting plate (19) can be connected to the robotic arm through the mounting surface.

8. The knob-type quick replacement device according to claim 7, characterized in that: Both the upper joint seat (3) and the locking base (5) are in a runway-shaped structure.

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