Robot-assisted positioning device

Abstract

The utility model relates to the technical field of auxiliary positioning devices, and provides a robot auxiliary positioning device which comprises a tail end connecting rod and a front end connecting rod, an assembling groove is formed in one side of the tail end connecting rod, the front end connecting rod is connected with the inner wall of the assembling groove in a sliding mode, and a plurality of fixing grooves are formed in the side, close to the assembling groove, of the tail end connecting rod. The side, close to the assembling groove, of the front end connecting rod is provided with an annular clamping groove, the fixing grooves are circumferentially formed with the circle center of the tail end connecting rod as the center, fixing balls are arranged in the fixing grooves, and the outer surface of the tail end connecting rod is provided with a sliding mechanism which enables the fixing balls to be connected with the annular clamping groove in a clamped mode at the same time. A locking mechanism for preventing the sliding mechanism from moving is further arranged on the outer surface of the tail end connecting rod. According to the technical scheme, the risk that a fixing point is loosened when the front end connecting rod is accidentally collided can be reduced, and the problem that the front end connecting rod is accidentally detached due to misoperation in the using process is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to auxiliary positioning device technical field, specifically, relate to a robot auxiliary positioning device. BACKGROUND

[0002] The puncture surgery robot is a new intelligent medical instrument, and is used for assisting doctors to realize accurate puncture.

[0003] The existing quick dismounting and precise positioning end device comprises a front end connecting rod, an end support rod and a quick mounting mechanism arranged in a split mode, the front end connecting rod and the end support rod are detachably connected through the quick mounting mechanism, wherein the quick mounting mechanism comprises a tooth locking mechanism matched with the front end connecting rod and the end support rod and locked through the tooth locking mechanism when the front end connecting rod and the end support rod are connected.

[0004] The above technology can flexibly replace the front end connecting rod without overall dismounting.

[0005] However, the above related technology only fixes the front end connecting rod through the clamping mode of a single tooth and a clamping groove, so that the connecting rod is only supported at a single point. TECHNICAL PROBLEM

[0006] The utility model discloses a robot auxiliary positioning device, which can reduce the risk of loosening of the fixed point of the front end connection when encountering accidental collision and solve the problem of accidental dismounting of the front end connecting rod caused by misoperation during use.

[0007] The utility model discloses a technical scheme as follows: A robot auxiliary positioning device, including end connecting rod, front end connecting rod, one side of end connecting rod is equipped with assembly slot, the front end connecting rod is slippedly connected with the inner wall of assembly slot, the one side of end connecting rod close to assembly slot is equipped with a plurality of fixed groove, and fixed groove is communicated with inside assembly slot, the one side of front end connecting rod close to assembly slot is equipped with annular clamping groove, each fixed groove is set up with the center of the circle of end connecting rod as the center and is arranged in the circumference, each fixed groove inside is equipped with fixed ball, the outer surface of end connecting rod is equipped with the sliding mechanism of making each fixed ball with annular clamping groove simultaneously and is connected, the outer surface of end connecting rod still is equipped with the locking mechanism of preventing sliding mechanism and moves.

[0008] Further, the sliding mechanism includes a sliding cylinder, an annular push block, and an elastic member. The outer surface of the end connecting rod is fixedly connected with a baffle. The annular push block is arranged on the inner surface of the sliding cylinder and is fixedly connected with the sliding cylinder. The inner surface of the annular push block abuts against the surface of each fixed ball. One end of the elastic member abuts against the baffle, and the other end of the elastic member abuts against the sliding cylinder. The side of the annular push block close to the front end connecting rod is provided with an annular inclined surface in sliding connection with each fixed ball.

[0009] Further, the opposite sides of the baffle and the sliding cylinder are each provided with a mounting groove. The two ends of the elastic member are respectively fixedly connected with the side surfaces of the corresponding mounting grooves.

[0010] Further, the outer surface of the baffle is fixedly connected with a support plate. The side of the support plate close to the sliding cylinder is fixedly connected with a fixed rod. The outer surface of the sliding cylinder is fixedly connected with a sliding rod. The sliding rod is in sliding connection with the inner surface of the fixed rod.

[0011] Further, the locking mechanism includes an extrusion cylinder and a locking section integrally formed with the fixed rod. The outer surface of the locking section is provided with a first inclined surface. The inner surface of the extrusion cylinder is provided with an extrusion inclined surface extruding the first inclined surface. The inside of the extrusion cylinder is in threaded connection with the outer surface of the fixed rod.

[0012] Further, the outer surface of the locking section is provided with a plurality of deformation seams. Each deformation seam is arranged in the circumference with the center of the fixed rod as the center.

[0013] Further, the two sides of the assembly slot are each provided with a positioning block. The side of the front end connecting rod close to the assembly slot is provided with a positioning groove. The positioning block is in sliding connection with the inner wall of the positioning groove.

[0014] The working principle and beneficial effects of the utility model are as follows:

[0015] This invention features an annular groove, a sliding mechanism, and multiple fixing balls. During use, the sliding mechanism pushes the fixing balls into the annular groove on the front connecting rod, thus securing the rod. The fixing balls are circumferentially arranged around the center of the end connecting rod, providing more even support, reducing instability caused by single-point stress, enhancing the fixing effect of the front connecting rod, and lowering the risk of loosening at the fixing point in the event of an accidental collision. Simultaneously, the locking mechanism ensures that the operator cannot move the sliding mechanism without unlocking, preventing the fixing balls from dislodging from the annular groove and avoiding accidental disassembly of the front connecting rod due to misoperation, thereby improving safety. Attached Figure Description

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a partial exploded view of the structure of this utility model;

[0019] Figure 3 This is a cross-sectional view of the internal structure of the assembly slot in this embodiment;

[0020] Figure 4 This is an exploded view of the locking mechanism in this embodiment;

[0021] Figure 5 This is an exploded view of the locking mechanism in this embodiment.

[0022] In the diagram: 1. End connecting rod; 101. Assembly groove; 102. Fixing groove; 103. Fixing ball; 2. Front connecting rod; 201. Annular groove; 3. Sliding cylinder; 301. Annular push block; 302. Elastic element; 303. Baffle; 304. Annular inclined surface; 305. Mounting groove; 4. Support plate; 401. Fixing rod; 402. Sliding rod; 5. Extrusion cylinder; 501. Locking section; 502. First inclined surface; 503. Extrusion inclined surface; 504. Positioning block; 505. Positioning groove; 506. Expansion joint. Detailed Implementation

[0023] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this utility model.

[0024] refer toFigures 1-5 The utility model provides a kind of robot-assisted positioning device, including end connecting rod 1, front end connecting rod 2, one side of end connecting rod 1 is equipped with assembly slot 101, front end connecting rod 2 is slidably connected with the inner wall of assembly slot 101, end connecting rod 1 is equipped with several fixed slots 102 in the side close to assembly slot 101, and fixed slot 102 is communicated with the inside of assembly slot 101, and the side of front end connecting rod 2 close to assembly slot 101 is equipped with annular clamping groove 201, each fixed slot 102 is arranged circumferentially with the center of end connecting rod 1, each fixed slot 102 is equipped with fixed ball 103 inside, the outer surface of end connecting rod 1 is equipped with the sliding mechanism that each fixed ball 103 is simultaneously connected with annular clamping groove 201, by being equipped with annular clamping groove 201, sliding mechanism and multiple fixed balls 103, when using, multiple fixed balls 103 can be pushed into the annular clamping groove 201 on front end connecting rod 2 using sliding mechanism, so as to fix front end connecting rod 2.Multiple fixed balls 103 are arranged circumferentially with the center of end connecting rod 1, so that they are evenly distributed around front end connecting rod 2, to provide more uniform support force, reduce the instability brought by single-point force, enhance the fixing effect of front end connecting rod 2, and reduce the risk of fixed point loosening when front end connection encounters accidental collision.

[0025] Secondly, locking mechanism that prevents sliding mechanism from moving is further provided on the outer surface of end connecting rod 1.The locking mechanism can ensure that the sliding mechanism cannot be moved by the operator under the condition of being not unlocked, prevent fixed ball 103 from disengaging from annular clamping groove 201, so as to avoid accidental disassembly of front end connecting rod 2 due to misoperation, and improve the use safety.

[0026] Specifically, the sliding mechanism includes sliding cylinder 3, annular push block 301, elastic member 302 (the elastic member 302 can be selected as cylindrical compression spring), the outer surface of end connecting rod 1 is fixedly connected with baffle 303, the annular push block 301 is arranged on the inner surface of sliding cylinder 3 and is fixedly connected with sliding cylinder 3, and the annular push block 301 can be integrally formed with sliding cylinder 3 to improve the structural strength.

[0027] Further, the inner surface of annular push block 301 abuts against the surface of each fixed ball 103, one end of elastic member 302 abuts against baffle 303, the other end of elastic member 302 abuts against sliding cylinder 3, and the side of annular push block 301 close to front end connecting rod 2 is provided with annular inclined surface 304 slidably connected with each fixed ball 103.

[0028] When the operator needs to disassemble the front end connecting rod 2 for cleaning and disinfection, first hold the sliding cylinder 3 and move it in the direction of the compression elastic member 302. At this time, the sliding cylinder 3 drives the internal annular extrusion block to move, so that the annular extrusion block is separated from each fixed ball 103, thereby providing a moving space for the fixed ball 103. At this time, the operator can pull out the front end connecting rod 2 with one hand. In order to facilitate disassembly, the two sides of the annular clamping groove 201 can be designed to be inclined at a certain angle, so that the operator only needs to exert a small force to push the fixed ball 103 out of the annular clamping groove 201, thereby more easily disassembling the front end connecting rod 2.

[0029] When the operator installs, first hold the sliding cylinder 3 and move it in the direction of the compression elastic member 302. Then insert the front end connecting rod 2 into the assembly groove 101. Because the fixed ball 103 has a moving space, one end of the front end connecting rod 2 will push each fixed ball 103 out of the fixed groove 102. When the front end connecting rod 2 cannot continue to advance, the operator can release the sliding cylinder 3, and the elastic member 302 will quickly recover the deformation, drive the sliding cylinder 3 to move in the opposite direction, and the annular extrusion block moves with it. Due to the design of the annular inclined surface 304, each fixed ball 103 will gradually be clamped into the annular clamping groove 201 under the action of the annular inclined surface 304. When the inner wall of the annular extrusion block contacts the surface of the fixed ball 103, it indicates that the fixed ball 103 has firmly fixed the front end connecting rod 2. It should be noted that the diameter of the fixed ball 103 is greater than the distance between the inner surface of the sliding cylinder 3 and the outer surface of the terminal telescopic rod, so when the fixed ball 103 is stretched out of the fixed groove 102 under the action of the front end connecting rod 2, the fixed ball 103 will not fall off.

[0030] In order to facilitate the staff to quickly position the front end connecting rod 2, positioning blocks 504 are arranged on both sides of the assembly groove 101, and a positioning groove 505 is arranged on the side of the front end connecting rod 2 close to the assembly groove 101. The positioning blocks 504 and the positioning groove 505 are in sliding connection with the inner wall of the positioning groove 505. The positioning blocks 504 and the positioning groove 505 can help the staff to quickly realize the self-alignment function, thereby facilitating the staff to quickly install. Secondly, the positioning blocks 504 and the positioning groove 505 can prevent the front end connecting rod 2 from rotating radially during use, ensuring the stability of the front end connecting rod 2 during use.

[0031] Secondly, an installation groove 305 can be arranged on the side opposite to the baffle 303 and the sliding cylinder 3, and the two ends of the elastic member 302 are fixedly connected with the side of the corresponding installation groove 305. In this way, the installation groove 305 not only provides an installation position for the elastic member 302, but also facilitates the staff to install, and can also reduce the possibility of radial deformation of the elastic member 302 to a certain extent, thereby improving the service life of the elastic member 302.

[0032] Further, the support plate 4 is fixedly connected to the outer surface of the baffle 303, the fixed rod 401 is fixedly connected to one side of the support plate 4 close to the sliding cylinder 3, the sliding rod 402 is fixedly connected to the outer surface of the sliding cylinder 3, and the sliding rod 402 is in sliding connection with the inner surface of the fixed rod 401. By arranging the fixed rod 401 and the sliding rod 402, the degree of freedom of the sliding cylinder 3 can be limited, so that the sliding cylinder 3 can only move inside the fixed rod 401, and the sliding cylinder 3 is prevented from deviating or rotating radially during movement, so that the elastic member 302 is uniformly stressed, the service life of the elastic member 302 is prolonged, and the reliability and stability of the sliding mechanism during long-term use are ensured.

[0033] In the embodiment, the locking mechanism includes the extrusion cylinder 5 and the locking section 501 integrally formed with the fixed rod 401, the outer surface of the locking section 501 is provided with the first inclined surface 502, the inner surface of the extrusion cylinder 5 is provided with the extrusion inclined surface 503 extruding the first inclined surface 502, and the inner part of the extrusion cylinder 5 is in threaded connection with the outer surface of the fixed rod 401. The fixed rod 401 can be made of aluminum material. Compared with other metals, aluminum has better toughness and can quickly restore to the original state when deformed. In addition, aluminum has a relatively small density, which can maintain a relatively high strength and make the weight lighter.

[0034] In use, after the front end connecting rod 2 is inserted into the assembly groove 101 and the elastic member 302 restores the deformation, the staff can rotate the extrusion cylinder 5. Since the outer surface of the fixed rod 401 of the extrusion cylinder 5 is in threaded connection, the extrusion cylinder 5 will slowly move forward. At the same time, the first inclined surface 502 on the locking section 501 is deformed under the action of the inclined surface in the extrusion cylinder 5, so as to clamp the movable rod, prevent the movable rod from moving inside the fixed rod 401, and ensure that the sliding cylinder 3 will not move due to accidental touch of the staff.

[0035] In order to improve the clamping force of the locking section 501, a plurality of deformation seams 506 are arranged on the outer surface of the locking section 501 and are arranged in a circumferential direction with the center of the fixed rod 401 as the center. The arrangement of the deformation seams 506 makes the locking section 501 more easily deformed locally when subjected to extrusion by the extrusion inclined surface 503, so as to enhance the friction between the locking section 501 and the movable rod and improve the clamping effect.

[0036] Working principle:

[0037] When the operator needs to disassemble the front end connecting rod 2 for cleaning and disinfection, first hold the sliding cylinder 3 and move it to the direction of the compression elastic member 302. At this time, the sliding cylinder 3 drives the internal annular extrusion block to move, so that the annular extrusion block is separated from each fixed ball 103, thereby providing a moving space for the fixed ball 103. At this time, the operator can pull out the front end connecting rod 2 with one hand.

[0038] When the operator installs, first hold the sliding cylinder 3 and move it to the direction of the compression elastic member 302. Then insert the front end connecting rod 2 into the assembly groove 101. Because the fixed ball 103 has a moving space, one end of the front end connecting rod 2 will push each fixed ball 103 out of the fixed groove 102. When the front end connecting rod 2 cannot continue to advance, the operator can release the sliding cylinder 3, and the elastic member 302 will quickly recover the deformation, drive the sliding cylinder 3 to move in the opposite direction, and the annular extrusion block moves with it. Because of the design of the annular inclined surface 304, each fixed ball 103 will gradually be clamped into the annular clamping groove 201 under the action of the annular inclined surface 304. When the inner wall of the annular extrusion block contacts the surface of the fixed ball 103, it indicates that the fixed ball 103 has firmly fixed the front end connecting rod 2.

[0039] Then, the worker can rotate the extrusion cylinder 5, and because the extrusion cylinder 5 is fixed to the outer surface of the threaded connection of the fixed rod 401, the extrusion cylinder 5 will slowly move forward. At the same time, the first inclined surface 502 on the locking section 501 is deformed under the action of the inner inclined surface of the extrusion cylinder 5, thereby clamping the movable rod, preventing the movable rod from moving inside the fixed rod 401, and ensuring that the sliding cylinder 3 will not move due to accidental touch by the worker.

[0040] The above is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A robot-assisted positioning device, comprising an end connecting rod (1) and a front connecting rod (2), characterized in that, The end connecting rod (1) has an assembly groove (101) on one side. The front connecting rod (2) is slidably connected to the inner wall of the assembly groove (101). The end connecting rod (1) has several fixing grooves (102) on the side near the assembly groove (101), and the fixing grooves (102) are connected to the inside of the assembly groove (101). The front connecting rod (2) has an annular groove (201) on the side near the assembly groove (101). Each fixing groove (102) is circumferentially arranged with the center of the end connecting rod (1) as the center. Each fixing groove (102) has a fixing ball (103) inside. The outer surface of the end connecting rod (1) has a sliding mechanism that allows each fixing ball (103) to engage with the annular groove (201) at the same time. The outer surface of the end connecting rod (1) also has a locking mechanism to prevent the sliding mechanism from moving.

2. The robot-assisted positioning device according to claim 1, characterized in that: The sliding mechanism includes a sliding cylinder (3), an annular push block (301), and an elastic element (302). A baffle (303) is fixedly connected to the outer surface of the end connecting rod (1). The annular push block (301) is disposed on the inner surface of the sliding cylinder (3) and fixedly connected to the sliding cylinder (3). The inner surface of the annular push block (301) abuts against the surface of each fixed ball (103). One end of the elastic element (302) abuts against the baffle (303), and the other end of the elastic element (302) abuts against the sliding cylinder (3). The annular push block (301) has an annular inclined surface (304) on the side near the front end connecting rod (2) that is slidably connected to each fixed ball (103).

3. The robot-assisted positioning device according to claim 2, characterized in that: The baffle (303) and the sliding cylinder (3) are provided with mounting grooves (305) on opposite sides, and the two ends of the elastic element (302) are fixedly connected to the sides of the corresponding mounting grooves (305).

4. The robot-assisted positioning device according to claim 2, characterized in that: A support plate (4) is fixedly connected to the outer surface of the baffle (303). A fixed rod (401) is fixedly connected to the side of the support plate (4) near the sliding cylinder (3). A sliding rod (402) is fixedly connected to the outer surface of the sliding cylinder (3). The sliding rod (402) is slidably connected to the inner surface of the fixed rod (401).

5. The robot-assisted positioning device according to claim 4, characterized in that: The locking mechanism includes a compression cylinder (5) and a locking section (501) integrally formed with the fixing rod (401). The outer surface of the locking section (501) is provided with a first inclined surface (502), and the inner surface of the compression cylinder (5) is provided with a compression inclined surface (503) that compresses the first inclined surface (502). The inside of the compression cylinder (5) is threadedly connected to the outer surface of the fixing rod (401).

6. The robot-assisted positioning device according to claim 5, characterized in that: The outer surface of the locking section (501) is provided with a number of deformation joints (506), and each deformation joint (506) is arranged circumferentially with the center of the fixing rod (401) as the center.

7. The robot-assisted positioning device according to claim 4, characterized in that: Positioning blocks (504) are provided on both sides of the assembly groove (101), and a positioning groove (505) is provided on the side of the front connecting rod (2) near the assembly groove (101). The positioning blocks (504) are slidably connected to the inner wall of the positioning groove (505).

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