Mechanical arm end quick-release safety protection assembly

Abstract

This utility model discloses a quick-release safety protection component at the end of a robotic arm, belonging to the field of safety protection technology for physiotherapy equipment. A detachable adapter block and a slanted connecting block are provided between the robotic arm and the physiotherapy tool head. The slanted connecting block connects to the physiotherapy tool head. The contact surfaces of the adapter block and the slanted connecting block are inclined and equipped with a locking device, so that when the slanted connecting block is unlocked from the adapter block, it can cause the physiotherapy tool head to tilt upwards and away from the human body. Specifically, unlocking involves releasing the locking device at the connection between the slanted connecting block and the adapter block, allowing the slanted connecting block and the adapter block to move relative to each other. Therefore, in the event of danger or malfunction, the physiotherapy tool head can be moved away from the human body in the working area, preventing harm to the user and enhancing safety.

Description

Technical Field

[0001] This utility model belongs to the field of safety protection technology for physiotherapy equipment, specifically a quick-release safety protection component for the end effector of a robotic arm. Background Technology

[0002] With the rapid development of robotics technology, the application fields of robotic arms are gradually expanding, demonstrating enormous potential in various fields such as manufacturing and medical rehabilitation. Particularly in the medical field, the emergence of physiotherapy robots has provided a completely new solution for relieving muscle soreness and simulating professional massage. However, in practical use, the safety of physiotherapy robots in contact with the human body has become a critical challenge that urgently needs to be addressed.

[0003] Physiotherapy robots need close contact with the human body to achieve precise massage and therapeutic effects. However, due to the complexity of the actual usage environment, such as differences in human muscle tissue and variations in massage intensity, robots may face various uncertainties during operation. Furthermore, different force control sensors vary in accuracy and response speed, and the need for mechanisms to handle abnormal force control sensor conditions is crucial to ensure the robot can accurately perceive and process mechanical information in various complex environments and take emergency action when it cannot perceive force control information. Therefore, there is an urgent need for a detachable physiotherapy safety mechanism that can quickly and safely detach the therapy head from the body in case of problems during the therapy process. Utility Model Content

[0004] To achieve the above objectives, the technical solution provided by this utility model is as follows: This utility model discloses a quick-release safety protection component for the end effector of a robotic arm. A detachable adapter block and a slanted connecting block are provided between the robotic arm and the physiotherapy tool head. The slanted connecting block is connected to the physiotherapy tool head. The contact surfaces of the adapter block and the slanted connecting block are inclined and equipped with a locking device, so that when the slanted connecting block is unlocked from the adapter block, it can drive the physiotherapy tool head to tilt upward and away from the human body.

[0005] Preferably, the adapter block and the inclined top connecting block are connected by interlocking clips and slots and clips and blocks, and are locked by a locking assembly.

[0006] Preferably, the contact surfaces of the adapter block and the inclined top connecting block are tilted at an angle of 20° to 70°.

[0007] Preferably, the adapter block includes an adapter block housing with an inclined surface, the inclined surface being the side surface that contacts the inclined top connecting block, the inclined surface being provided with an adapter block clip and component, and the side surface of the inclined top connecting block that contacts the adapter block being provided with a connecting block clip and groove for accommodating and fitting the adapter block clip and component, the size and shape of the connecting block clip and groove being adapted to the size and shape of the adapter block clip and component.

[0008] Preferably, the connecting block and slot are wedge-shaped structures, and the cross-section of the connecting block and slot gradually increases along the direction of the transfer block and component being pulled out.

[0009] Preferably, the locking assembly includes a connecting rod and a locking block. The connecting block locking slot is provided with a connecting block locking hole, and the corresponding area of ​​the adapter block locking component is provided with an adapter block locking hole. The locking block can be simultaneously embedded into the connecting block locking hole and the adapter block locking hole for locking.

[0010] Preferably, the inclined top connecting block is provided with a connecting block mounting hole to accommodate the locking component one, and the end of the clip and block one is provided with a spring one. The sum of the length of the spring one in its compressed state and the length of the connecting rod one is greater than the depth of the connecting block mounting hole so that one end of the connecting rod one protrudes out of the connecting block mounting hole.

[0011] Preferably, the end of the inclined top connecting block away from the adapter block is detachably connected to an end connector, and the end connector is fixedly connected to the physiotherapy tool head.

[0012] Preferably, the end of the inclined top connecting block away from the adapter block is provided with a connecting block clip and component, and the contact surface between the end connecting seat and the inclined top connecting block is provided with a connecting seat clip and groove for accommodating and fitting the connecting block clip and component. The connecting seat clip and groove is a wedge-shaped groove structure, and the cross-section of the connecting seat clip and groove gradually increases along the direction in which the connecting block clip and component is pulled out.

[0013] Preferably, the end connector includes a connector housing, the connector housing has a connector mounting hole, the connector mounting hole has a locking component two, the locking component two includes a connecting rod two and a clip and block two, the connector clip and slot has a connector locking hole, and the corresponding area of ​​the connector clip and component has a connector clip and component locking hole, the clip and block two can be simultaneously embedded into the connector locking hole and the connector clip and component locking hole for locking.

[0014] Compared with the prior art, the technical solution provided by this utility model has the following advantages: This utility model discloses a quick-release safety protection component at the end of a robotic arm. It includes a detachable adapter block and a slanted connecting block between the robotic arm and the therapeutic tool head. The slanted connecting block connects to the therapeutic tool head. The contact surfaces of the adapter block and the slanted connecting block are angled so that when the slanted connecting block is released from the adapter block, it can tilt the therapeutic tool head upwards and away from the human body. Specifically, the locking device at the connection point between the slanted connecting block and the adapter block is unlocked, allowing the slanted connecting block and the adapter block to move relative to each other. Therefore, in the event of danger or malfunction, the therapeutic tool head can be moved away from the human body in the working area, preventing harm to the user and enhancing safety. Attached Figure Description

[0015] Figure 1 This is a front view of a quick-release safety protection component at the end of a robotic arm according to the present invention. Figure 2 This is a left view of a quick-release safety protection component at the end of a robotic arm according to the present invention. Figure 3 The explosion of the inclined top connecting block and the end connecting seat of this utility model Figure 1 ; Figure 4 The explosion of the inclined top connecting block and the end connecting seat of this utility model Figure 2 ; Figure 5 This is a schematic diagram of the structure of the adapter block of this utility model.

[0016] Explanation of the labels in the diagram: 100. Torque sensor; 200. Adapter block; 210. Adapter block housing; 220. Adapter block locking hole; 230. Adapter block clip and fitting; 250. Adapter block mounting hole; 300. Human body data acquisition components; 400. Angled top connecting block; 410. Connecting block housing; 420. Connecting block clip and groove; 430. Connecting block locking hole; 440. Connecting block fixing buckle; 450. Connecting block mounting hole; 460. Connecting block clip and fitting; 500. Locking assembly 1; 510. Connecting rod 1; 520. Clip and block 1; 530. Spring 1; 700. Locking assembly two; 710. Connecting rod two; 720. Clip and block two; 730. Spring two; 800. End connector; 810. Connector housing; 820. Connector clip and slot; 830. Connector locking hole; 840. Connector fixing buckle; 850. Connector mounting hole. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises 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 such processes, methods, products, or apparatus.

[0019] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0020] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0021] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] See attached document Figure 1 -Appendix Figure 5 This embodiment provides a quick-release safety protection component for the end effector of a robotic arm. A detachable adapter block 200 and a slanted connecting block 400 are provided between the robotic arm and the physiotherapy tool head. The slanted connecting block 400 connects to the physiotherapy tool head. The contact surfaces of the adapter block 200 and the slanted connecting block 400 are angled and equipped with a locking device. This allows the physiotherapy tool head to tilt upwards and away from the human body when the slanted connecting block 400 is unlocked from the adapter block 200. Specifically, unlocking involves releasing the locking device at the connection point between the slanted connecting block 400 and the adapter block 200, allowing relative movement between them. This ensures that in case of danger or malfunction, the physiotherapy tool head can be moved away from the human body in the working area, preventing harm to the user and enhancing safety.

[0024] The contact surfaces of the adapter block 200 and the inclined top connecting block 400 are tilted at an angle of 20° to 70°. When the angle is too low, the movement path of the physiotherapy tool head is too low, which may result in secondary contact with the human body and cannot completely avoid danger. When the angle is too high, it is inconvenient to operate.

[0025] The adapter block 200 includes an adapter block housing 200 with an inclined surface, the inclined surface being the side that contacts the inclined top connecting block 400. An adapter block clip and component 230 are provided on the inclined surface. The side of the inclined top connecting block 400 that contacts the adapter block 200 is provided with a connecting block clip and groove 420 for accommodating and fitting the adapter block clip and component 230. The size and shape of the connecting block clip and groove 420 are adapted to the size and shape of the adapter block clip and component 230.

[0026] The connecting block and slot 420 have a wedge-shaped groove structure, and the cross-section of the connecting block and slot 420 gradually increases along the direction in which the adapter block and component 230 is pulled out. This effectively prevents the physiotherapy tool head from moving downwards under its own gravity and causing damage after being unlocked.

[0027] The adapter block 200 and the inclined top connecting block 400 are connected by interlocking clips and slots and clips and blocks, and are locked by locking assembly 500.

[0028] The locking assembly 500 includes a connecting rod 510 and a latch and block 520. The connecting block latch and slot 420 has a connecting block locking hole 430, and the corresponding area of ​​the adapter block latch and component 230 has an adapter block locking hole 220. The latch and block 520 can be simultaneously inserted into the connecting block locking hole 430 and the adapter block locking hole 220 for locking. The latch and block 520 has a certain curvature so that the latch and block 520 can disengage from the connecting block locking hole 430 and the adapter block locking hole 220.

[0029] The inclined top connecting block 400 is provided with a connecting block mounting hole 450 for accommodating the locking assembly 500. The end of the clip and block 520 is provided with a spring 530. The sum of the length of the spring 530 in its compressed state and the length of the connecting rod 510 is greater than the depth of the connecting block mounting hole 450 so that one end of the connecting rod 510 protrudes from the connecting block mounting hole 450.

[0030] When unlocking is required, press the connecting rod 510 and compress the spring 530. The clip and block 520 disengage from the locking hole 430 of the connecting block and the locking hole 220 of the adapter block. At this time, the adapter block 200 and the inclined connecting block 400 are locked in contact and can move freely. By applying a contact force along the inclined surface of the inclined connecting block 400, the inclined connecting block 400 is tilted upward, causing the lower physiotherapy working head to move away from the human body.

[0031] The end of the inclined connecting block 400 away from the adapter block 200 is detachably connected to an end connector 800, which is fixedly connected to the physiotherapy tool head. The connection method of the end connector 800 to the physiotherapy tool head is a common structure in the prior art, so it will not be described in detail in this application.

[0032] The inclined top connecting block 400 is provided with a connecting block clip and component 460 at one end away from the adapter block 200. The end connecting seat 800 is provided with a connecting seat clip and groove 820 on the contact surface with the inclined top connecting block 400 for accommodating and fitting the connecting block clip and component 460. The connecting seat clip and groove 820 has a wedge-shaped groove structure, and the cross-section of the connecting seat clip and groove 820 gradually increases along the direction in which the connecting block clip and component 460 is pulled out.

[0033] The end connector 800 includes a connector housing 810, on which a connector mounting hole 850 is provided. A locking component 700 is provided in the connector mounting hole 850. The locking component 700 includes a connecting rod 710 and a locking block 720. The connector locking slot 820 is provided with a connector locking hole 830. The corresponding area of ​​the connector locking component 460 is provided with a connector locking hole. The locking block 720 can be simultaneously inserted into the connector locking hole 830 and the connector locking hole for locking.

[0034] The locking assembly 700 is provided with a spring 730 at its end. The sum of the length of the spring 730 in its compressed state and the length of the connecting rod 710 is greater than the depth of the connecting seat mounting hole 850, so that one end of the connecting rod 710 protrudes from the connecting seat mounting hole 850.

[0035] By pressing the connecting rod 710, the connecting rod 710 moves and causes the card and block 720 to disengage from the locking hole 830 of the connecting seat and the locking hole of the connecting block. The shape of the card and block 720 is a common type of card and block structure with a certain curvature in the prior art, which is easy to disengage and move. After unlocking is completed, the end connecting seat 800 can move the physiotherapy worktable in the horizontal direction, and cooperate with the tilt direction for better disassembly and movement.

[0036] The connecting block locking hole 430 is provided with a connecting block fixing buckle 440. The connecting block fixing buckle 440 covers a certain area of ​​the connecting block locking hole 430 to limit the card and block 520 and prevent the card and block 520 from being too embedded in the connecting block locking hole 430.

[0037] Similarly, the mounting hole 850 of the connecting seat is provided with a connecting seat fixing buckle 840, and the locking hole 830 of the connecting seat covers a certain area of ​​the mounting hole 850 of the connecting seat to limit the position of the card and the second block 720, and prevent the card and the second block 720 from being too embedded in the locking hole 830 of the connecting seat.

[0038] This embodiment also includes a human body data acquisition component 300, which is a depth camera or other human body surface image acquisition component.

[0039] The above-described embodiments are merely illustrative of certain implementations of this utility model, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A quick-release safety protection component for the end effector of a robotic arm, characterized in that: A detachable adapter block (200) and a slanted top connecting block (400) are provided between the robotic arm and the physiotherapy tool head. The slanted top connecting block (400) connects to the physiotherapy tool head. The contact surfaces of the adapter block (200) and the slanted top connecting block (400) are inclined and equipped with a locking device so that when the slanted top connecting block (400) is unlocked from the adapter block (200), it can drive the physiotherapy tool head to tilt upward and away from the human body.

2. The quick-release safety protection component for the end effector of a robotic arm according to claim 1, characterized in that: The adapter block (200) and the inclined top connecting block (400) are connected by interlocking clips and slots and clips and blocks, and are locked by locking assembly one (500).

3. The quick-release safety protection component at the end of a robotic arm according to claim 1, characterized in that: The contact surfaces of the adapter block (200) and the inclined top connecting block (400) are tilted at an angle of 20° to 70°.

4. The quick-release safety protection component at the end of a robotic arm according to claim 2, characterized in that: The adapter block (200) includes an adapter block housing (200) with an inclined surface, the inclined surface being the side surface that contacts the inclined top connecting block (400), the inclined surface being provided with an adapter block clip and component (230), the side surface of the inclined top connecting block (400) that contacts the adapter block (200) being provided with a connecting block clip and groove (420) for accommodating and fitting the adapter block clip and component (230), the size and shape of the connecting block clip and groove (420) being adapted to the size and shape of the adapter block clip and component (230).

5. A quick-release safety protection component for the end effector of a robotic arm according to claim 4, characterized in that: The connecting block and slot (420) is a wedge-shaped slot structure, and the cross-section of the connecting block and slot (420) gradually increases along the direction in which the adapter block and part (230) is pulled out.

6. The quick-release safety protection component for the end effector of a robotic arm according to claim 4, characterized in that: The locking assembly 1 (500) includes a connecting rod 1 (510) and a clip and block 1 (520). The connecting block clip and slot (420) is provided with a connecting block locking hole (430). The corresponding area of ​​the adapter block clip and component (230) is provided with an adapter block locking hole (220). The clip and block 1 (520) can be simultaneously embedded into the connecting block locking hole (430) and the adapter block locking hole (220) for locking.

7. A quick-release safety protection component for the end effector of a robotic arm according to claim 6, characterized in that: The inclined top connecting block (400) is provided with a connecting block mounting hole (450) for accommodating the locking component (500). The end of the clip and block (520) is provided with a spring (530). The sum of the length of the spring (530) in its compressed state and the length of the connecting rod (510) is greater than the depth of the connecting block mounting hole (450) so that one end of the connecting rod (510) protrudes from the connecting block mounting hole (450).

8. The quick-release safety protection component at the end of a robotic arm according to claim 1, characterized in that: The end of the inclined top connecting block (400) away from the adapter block (200) is detachably connected to an end connector (800), and the end connector (800) is fixedly connected to the physiotherapy tool head.

9. A quick-release safety protection component for the end effector of a robotic arm according to claim 8, characterized in that: The inclined top connecting block (400) has a connecting block clip and component (460) at one end away from the adapter block (200). The end connecting seat (800) has a connecting seat clip and groove (820) on the contact surface with the inclined top connecting block (400) for accommodating and fitting the connecting block clip and component (460). The connecting seat clip and groove (820) has a wedge-shaped groove structure, and the cross-section of the connecting seat clip and groove (820) gradually increases along the direction in which the connecting block clip and component (460) is pulled out.

10. A quick-release safety protection component for the end effector of a robotic arm according to claim 8, characterized in that: The end connector (800) includes a connector housing (810), the connector housing (810) is provided with a connector mounting hole (850), the connector mounting hole (850) is provided with a locking component two (700), the locking component two (700) includes a connecting rod two (710) and a clip and block two (720), the connector clip and slot (820) is provided with a connector locking hole (830), the corresponding area of ​​the connector clip and component (460) is provided with a connector clip and component locking hole, the clip and block two (720) can be simultaneously embedded into the connector locking hole (830) and the connector clip and component locking hole for locking.

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