Locking structure and surgical robot

Abstract

This application provides a ground-locking structure and a surgical robot, relating to the field of robotics. The ground-locking structure of this application solves the technical problem of damage to the drive cylinder caused by excessive radial force on its telescopic rod. This application provides a ground-locking structure including a fixed base, a drive cylinder, and a ground-locking post; the drive cylinder is connected to the fixed base, and the actuating end of the telescopic rod can extend and retract relative to the fixed base along the height direction; a connecting member is provided at the actuating end of the telescopic rod, and the actuating end of the telescopic rod is connected to the connecting member; a receiving cavity is provided at the first end of the ground-locking post, and the receiving cavity accommodates a portion of the connecting member that is away from the drive cylinder, with a clearance fit between the receiving cavity and the connecting member.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a ground-locking structure and a surgical robot. Background Technology

[0002] Among related technologies, minimally invasive surgery has advantages over traditional surgical methods, such as less trauma, less pain, and faster recovery.

[0003] During minimally invasive surgery, surgical robots need to oscillate frequently to perform the surgical procedure. This generates significant inertial forces on the robot's actuators, causing it to wobble. Surgical robots are typically equipped with a grounding mechanism to enhance stability. This grounding mechanism includes a drive cylinder (e.g., an electric cylinder or a hydraulic cylinder). The extension rod of the drive cylinder extends relative to the cylinder until it abuts against the bottom surface, thus achieving grounding.

[0004] The extension rod of the drive cylinder can withstand large axial forces. However, the inertial force of the actuator of the surgical robot will cause the extension rod of the drive cylinder to be subjected to large radial forces, which can easily lead to damage to the drive cylinder. Utility Model Content

[0005] In view of the above problems, this application provides a ground-locking structure and a surgical robot, which can solve the technical problem that the drive cylinder is damaged due to the large radial force on the telescopic rod of the drive cylinder.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] In a first aspect, this application provides a grounding structure, which includes a fixed base, a drive cylinder, and a grounding post;

[0008] The drive cylinder is connected to the fixed base, and the actuator of the telescopic rod can extend and retract relative to the fixed base along the height direction;

[0009] The telescopic rod is equipped with a connector at its actuating end, and the actuating end of the telescopic rod is connected to the connector.

[0010] The first end of the grounding post is provided with a receiving cavity, which houses a part of the connecting piece that is away from the drive cylinder, and the receiving cavity and the connecting piece are fitted with a clearance fit.

[0011] The ground-locking structure provided in this application has a mounting base that can be fixed to a surgical robot or other equipment. A drive cylinder is connected to the mounting base, and the telescopic rod of the drive cylinder can move the connecting parts connected to it. Part of the connecting parts are located within the receiving cavity of the ground-locking post. The movement of the connecting parts causes the ground-locking post to move, thus realizing the locking and unlocking actions. The surgical robot generates inertial force due to the frequent oscillation of its actuator, causing the mounting base to move or vibrate the drive cylinder slightly. Through the clearance fit between the connecting parts and the receiving cavity of the ground-locking post, the rigid connection between the ground-locking post and the connecting parts is decoupled, allowing for slight relative movement between them. This avoids the telescopic rod bearing large radial forces generated by the fixed ground-locking post, preventing damage to the drive cylinder and extending its lifespan.

[0012] In some embodiments of this application, the connector includes a connecting part and a fixing part, the connecting part and the fixing part are connected, and the connecting part is disposed in the receiving cavity;

[0013] The connecting part has a side parallel to the height direction, and the receiving cavity has a first cavity wall opposite to the side, with a first gap provided between the side and the first cavity wall.

[0014] With this configuration, the grounding post provides radial movement margin. When the surgical robot's actuator generates radial inertial force, the grounding post can make a small radial displacement through the first gap, converting the radial force into relative motion within the gap, rather than directly transmitting it to the drive cylinder. This protects the sealing performance of the drive cylinder and prevents damage to the drive cylinder.

[0015] In some embodiments of this application, the size of the first gap is greater than or equal to 0.1 mm and less than or equal to 0.5 mm.

[0016] This configuration ensures the reliability of the drive cylinder and prevents the ground locking column from tilting, thus preventing the surgical robot from shaking.

[0017] In some embodiments of this application, the grounding post is provided with an opening that communicates with the receiving cavity and faces the drive cylinder;

[0018] The fixing part extends out of the opening and is connected to the actuating end of the telescopic rod;

[0019] The dimension of the fixing part in the direction perpendicular to the height is smaller than the diameter of the opening.

[0020] This avoids rigid contact between the fixing part and the opening wall, preventing the fixing part from being restricted by the opening and thus preventing the locking post from causing a small radial displacement of the opening when subjected to inertial force.

[0021] In some embodiments of this application, the connecting portion has a top surface and a bottom surface that are opposite to each other along the height direction;

[0022] The cavity has a second cavity wall opposite to the top surface, and a second gap is provided between the second cavity wall and the top surface;

[0023] Alternatively, the cavity may have a third cavity wall opposite to the bottom surface, and a third gap may be provided between the third cavity wall and the bottom surface.

[0024] The second or third gap prevents the connecting part from contacting the top surface of the receiving cavity and causing friction, thus preventing the connector from getting stuck with the locking post. In addition, the second or third gap can reduce impact noise and wear on the connector, thereby increasing the service life of the connector.

[0025] In some embodiments of this application, the ground-locking post includes a first post and a second post;

[0026] The first column is provided with a mounting cavity, and the second column is disposed inside the mounting cavity;

[0027] The first end of the second column is connected to the first column, and the end face of the second end of the second column and part of the cavity wall of the mounting cavity form a receiving cavity.

[0028] Machining a cavity on a single part requires complex processing techniques or high-end equipment. However, the cavity in this application is formed by the end face of the second end of the second column and the cavity wall of the mounting cavity of the first column, which reduces the difficulty of machining the cavity and improves machining accuracy and efficiency.

[0029] In some embodiments of this application, the second column is provided with a through hole along the axial direction.

[0030] With this configuration, during the process of assembling the second column into the mounting cavity of the first column, the air in the mounting cavity can be discharged through the through hole of the second column, which can reduce the gas resistance during the assembly of the second column and improve the assembly efficiency of the second column.

[0031] In some embodiments of this application, a guide seat is also included. The guide seat is connected to the end of the fixed seat away from the drive cylinder, and the guide seat is provided with a guide hole along the height direction.

[0032] The outer peripheral wall of the grounding post is fitted to the wall of the guide hole, allowing the grounding post to slide along the guide hole.

[0033] This design, with its guide hole allowing the locking post to slide along it, restricts the direction of movement of the locking post, preventing it from tilting or moving when the telescopic rod extends or retracts, and preventing uneven contact when the locking post comes into contact with the ground. Simultaneously, the sliding fit structure reduces vibration during the movement of the locking post, further improving the stability of the surgical robot and enhancing the precision of surgical procedures.

[0034] In some embodiments of this application, the gap between the outer peripheral wall of the grounding post and the hole wall of the guide hole is greater than or equal to 2 mm and less than or equal to 5 mm.

[0035] This design prevents excessive frictional resistance due to too small a gap, and also prevents the surgical robot from wobbling due to too large a gap, thus ensuring surgical precision.

[0036] Secondly, this application provides a surgical robot, including the grounding structure as described above, wherein the fixing seat of the grounding structure is fixed to the surgical robot.

[0037] The surgical robot provided in this application includes a grounding structure, with a mounting base for the grounding structure fixed to the surgical robot. The grounding structure prevents damage to the drive cylinder, extending its lifespan.

[0038] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions as described above, other technical problems that this application can solve, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of the surgical robot provided in the embodiments of this application;

[0041] Figure 2 A bottom view of the surgical robot provided in the embodiments of this application;

[0042] Figure 3 A schematic diagram of the ground-locking structure provided in the embodiments of this application in the unlocked state;

[0043] Figure 4 A schematic diagram of the ground-locking structure provided in the embodiments of this application in the ground-locking state;

[0044] Figure 5 This is a schematic diagram of the structure of the ground locking post provided in an embodiment of this application.

[0045] Figure label:

[0046] 010 - Surgical robot;

[0047] 100-Groundlock structure;

[0048] 110-Fixed base;

[0049] 120-Drive cylinder;

[0050] 121-Telescopic pole;

[0051] 130-Locking post;

[0052] 131-First pillar; 132-Second pillar; 133-Receiving cavity; 134-Opening; 1311-Mounting cavity; 1321-Through hole;

[0053] 140 - Connector;

[0054] 141 - Connecting part; 142 - Fixing part;

[0055] 150 - Guide seat;

[0056] 151 - Guide hole;

[0057] 200-base;

[0058] H - Height direction. Detailed Implementation

[0059] Among related technologies, minimally invasive surgery offers advantages over traditional surgical methods, including less trauma, less pain, and faster recovery. However, the limitation of incision size in minimally invasive surgery increases the difficulty of the procedure. Furthermore, during prolonged surgeries, operators may experience hand tremors or other unstable movements due to fatigue, affecting the outcome of the minimally invasive surgery. Therefore, minimally invasive surgery can utilize minimally invasive surgical robots to perform procedures inside human cavities.

[0060] Minimally invasive surgical robots typically consist of a master robot, a surgical robot, and a display device. The master robot is electrically connected to the surgical robot, and the display device shows real-time images of the surgery, assisting the operator in precise manipulation at a control console. The operator operates the master robot to input commands, which are then transmitted to the surgical robot, causing its end effector to perform surgery inside the body cavity. The master surgical robot is equipped with a rotatable locking mechanism, which allows adjustment of the surgical robot to control the position and orientation of its end effector.

[0061] During surgery, the surgical robot needs to swing frequently to perform the surgical operation. This generates significant inertial forces on the robot's actuators, causing it to wobble. This wobble not only affects surgical precision but may also increase the likelihood of surgical errors. Currently, surgical robots are typically equipped with a ground-locking structure to enhance stability. This ground-locking structure includes a drive cylinder (e.g., an electric cylinder or a hydraulic cylinder). The extension rod of the drive cylinder extends relative to the cylinder until it abuts against the bottom surface, thus achieving ground locking.

[0062] For example, the ground-locking structure includes a hydraulic pump, a hydraulic valve block, and a hydraulic cylinder. The hydraulic cylinder is fixed to the base of the surgical robot. The ground-locking process of the ground-locking structure involves the hydraulic valve block actuating, and the hydraulic pump supplying high-pressure oil to the hydraulic cylinder. The extension rod of the hydraulic cylinder extends to the ground under the drive of the hydraulic pump, thus achieving ground locking.

[0063] The telescopic rod of the drive cylinder can withstand a large axial force. However, the inertial force of the swaying actuator of the surgical robot will cause the telescopic rod of the drive cylinder to bear a large radial force from the reverse force generated by the locking pin due to its fixation, which can easily lead to damage to the drive cylinder. For example, the drive cylinder may experience problems such as seal failure or deformation of the telescopic rod.

[0064] To address the aforementioned issues, this application provides a ground-locking structure with a mounting base that can be fixed to a surgical robot. A drive cylinder is connected to the mounting base, and the extension rod of the drive cylinder can move the connecting member connected to it. Part of the connecting member is located within the receiving cavity of the ground-locking post. Movement of the connecting member causes movement of the ground-locking post, thus achieving the locking and unlocking actions. The surgical robot generates inertial force due to the frequent oscillation of its actuator, causing the mounting base to move or vibrate the drive cylinder slightly. By using a clearance fit between the connecting member and the receiving cavity of the ground-locking post, the rigid connection between the ground-locking post and the connecting member is decoupled, allowing for slight relative movement between them. This avoids the extension rod bearing a large radial force from the fixed ground-locking post, preventing drive cylinder failure and extending its lifespan.

[0065] To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0066] Combination Figure 1 and Figure 2 As shown, this application provides a surgical robot 010, which is used to perform surgical operations during minimally invasive surgery and can improve the stability of the surgical operation.

[0067] The surgical robot 010 includes a base 200, which supports the actuator of the surgical robot 010.

[0068] This application provides a ground-locking structure 100. The ground-locking structure 100 is applied to a surgical robot 010. The ground-locking structure 100 forms a support by abutting against the ground, preventing the surgical robot 010 from shaking.

[0069] The ground locking structure 100 can also be applied to other equipment. For example, the ground locking structure 100 can also be applied to handling equipment and palletizing equipment equipped with a drive cylinder.

[0070] Furthermore, multiple ground-locking structures 100 are provided, and these multiple ground-locking structures 100 are located at the bottom of the base 200 of the surgical robot 010, with the multiple ground-locking structures 100 spaced apart. The multiple ground-locking structures 100 can increase the interaction force between the surgical robot 010 and the ground, thereby improving the stability of the surgical robot 010.

[0071] For example, four ground-locking structures 100 are provided, and the four ground-locking structures 100 are located at the four corners of the base 200 to improve the stability of the surgical robot 010.

[0072] The actuators of the surgical robot 010 (such as orthopedic drilling tools and laparoscopic probes) need to swing frequently during surgery, which generates a large inertial force. Therefore, the bottom of the ground-locking structure 100 can be equipped with rubber anti-slip pads or vacuum suction cups to increase the friction or adhesion between the ground-locking structure 100 and the ground, thereby preventing the surgical robot 010 from moving.

[0073] Combination Figure 3 and Figure 4 As shown, the ground locking structure 100 includes a mounting base 110. The mounting base 110 provides support for the ground locking structure 100 and mounts the ground locking structure 100 onto the surgical robot 010. The mounting base 110 can be fixed to the surgical robot 010, thereby ensuring the stability of the locking structure.

[0074] The mounting base 110 can also be installed on other equipment to improve the applicability of the grounding lock structure 100.

[0075] For example, the fixing base 110 and the base 200 can be manufactured using an integral molding technology. The fixing base 110 and the base 200 can be manufactured separately and connected by fasteners such as bolts.

[0076] The ground locking structure 100 includes a drive cylinder 120, which provides the power for ground locking. The drive cylinder 120 can drive its telescopic rod 121 to extend or retract along the height direction H to control the ground locking state or the unlocked state of the ground locking structure 100.

[0077] For example, the drive cylinder 120 is configured as an electric cylinder, and the telescopic rod 121 of the electric cylinder extends and retracts. The electric cylinder has a fast response capability and can complete the extension and retraction action in a short time.

[0078] For example, the drive cylinder 120 is a hydraulic cylinder, and the telescopic rod 121 of the hydraulic cylinder can generate a large output force and withstand heavy loads. Furthermore, the hydraulic cylinder provides a stable pressure output through the hydraulic system, which can ensure the reliability of the grounding structure 100, thereby ensuring the stability of the surgical robot 010.

[0079] The ground-locking structure 100 includes a ground-locking post 130. The friction generated by the ground-locking post 130 contacting the ground achieves ground locking, thereby enhancing the stability of the surgical robot 010.

[0080] The drive cylinder 120 is connected to the fixed base 110. The actuator of the telescopic rod 121 can extend and retract relative to the fixed base 110 along the height direction H to control the ground-locked or unlocked state and ensure the transmission of driving force. The ground-locking post 130 has a contact surface that abuts against the ground, and the height direction H is perpendicular to the contact surface.

[0081] For example, the drive cylinder 120 is fixed to the mounting base 110 by fasteners such as bolts to ensure the stability of the drive cylinder 120.

[0082] The actuator end of the telescopic rod 121 of the drive cylinder 120 is provided with a connector 140, and the actuator end of the telescopic rod 121 is connected to the connector 140. The connector 140 is used to connect the actuator end of the telescopic rod 121 and the ground locking pin 130, so as to transmit the telescopic movement of the telescopic rod 121 of the drive cylinder 120 to the ground locking pin 130, so that the ground locking pin 130 can move accordingly with the movement of the telescopic rod 121.

[0083] For example, the drive cylinder 120 is configured as a hydraulic cylinder, and the actuating end of the telescopic rod 121 of the hydraulic cylinder is threaded along its axial direction. The connecting member 140 is configured as a bolt, which is detachably connected to the telescopic rod 121 of the hydraulic cylinder via threads. This configuration facilitates the connection between the bolt and the telescopic rod 121 of the hydraulic cylinder.

[0084] For example, the drive cylinder 120 is set as an electric cylinder, and the telescopic rod 121 of the electric cylinder is connected to the connector 140 by welding to improve the stability of the connection.

[0085] In some possible implementations, the connector 140 may be made of a high-strength alloy material (such as titanium alloy or martensitic stainless steel) to make the connector 140 strong enough to bear a large load and ensure the reliability of the grounding lock structure 100.

[0086] The first end of the locking post 130 is provided with a receiving cavity 133, which is used to accommodate the connector 140 to restrict the movement of the connector 140.

[0087] Combination Figure 3 , Figure 4 and Figure 5As shown, the grounding post 130 includes a first post 131 and a second post 132. The first post 131 is provided with a mounting cavity 1311 for accommodating the second post 132. The outer peripheral surface of the second post 132 is in contact with or has a gap with the cavity wall of the mounting cavity 1311, so that the second post 132 can be installed in the mounting cavity 1311.

[0088] For example, the second column 132 can be made of high-strength alloy material (such as titanium alloy or martensitic stainless steel) to make the second column 132 strong enough to support the surgical robot 010 with a high load and ensure the reliability of the grounding structure 100.

[0089] In some possible implementations, the first end of the second column 132 is provided with a first flange. Along the circumference of the second column 132, the first flange is provided with a plurality of mounting holes. The first column 131 is provided with a plurality of threaded holes along its axial direction. The first column 131 abuts against the first flange to achieve positioning during assembly of the first column 131 and the second column 132. The second column 132 is connected to the first column 131 by tightening bolts through the mounting holes and threaded holes. This arrangement improves the processing and installation efficiency of the first column 131 and the second column 132.

[0090] The second column 132 is disposed within the mounting cavity 1311, and the axial dimension of the second column 132 is smaller than the dimension of the mounting cavity 1311. The end face of the second end of the second column 132 and part of the cavity wall of the mounting cavity 1311 form a receiving cavity 133, providing space for the installation of the connector 140.

[0091] In addition, the end face of the first end of the second column 132 abuts against the ground, converting the torque output by the drive cylinder 120 into friction with the ground, restricting the movement of the surgical robot 010 and ensuring the precision of the surgical operation.

[0092] In some possible implementations, the outer peripheral surface of the second column 132 contacts the cavity wall of the mounting cavity 1311 (e.g., clearance fit) to prevent the second column 132 from wobbling within the mounting cavity 1311 of the first column 131, thereby improving the load-bearing capacity of the second column 132.

[0093] Furthermore, the outer peripheral surface of the second column 132 is machined with a groove, so that part of the outer peripheral surface of the second column 132 contacts the cavity wall of the mounting cavity 1311.

[0094] When the second column 132 is assembled into the mounting cavity 1311 of the first column 131, the groove can reduce the contact area between the outer peripheral surface of the second column 132 and the cavity wall of the mounting cavity 1311, thereby reducing the friction between the outer peripheral surface of the second column 132 and the cavity wall of the mounting cavity 1311, which facilitates the installation of the second column 132.

[0095] It is understandable that machining the receiving cavity 133 on a single part requires complex machining processes or high-end machining equipment. However, the receiving cavity 133 in this application is formed by the end face of the second end of the second column 132 and the cavity wall of the mounting cavity 1311 of the first column 131, which reduces the machining difficulty of the receiving cavity 133 and improves the machining accuracy and efficiency.

[0096] Meanwhile, when it is necessary to install the connector 140 into the receiving cavity 133, the first column 131 and the second column 132 are designed as two parts, which reduces the difficulty of installing the connector 140 into the receiving cavity 133, avoids installation difficulties caused by the space or structure of the receiving cavity 133, and improves the convenience and reliability of installing the connector 140 and assembling the grounding post 130.

[0097] In some possible embodiments, the second column 132 is provided with a through hole 1321 along the axial direction. The through hole 1321 extends from the end of the second column 132 away from the receiving cavity 133 to communicate with the receiving cavity 133. During the process of assembling the second column 132 into the mounting cavity 1311 of the first column 131, air in the mounting cavity 1311 can be discharged through the through hole 1321 of the second column 132, which can reduce the gas resistance during the assembly of the second column 132 and improve the assembly efficiency of the second column 132.

[0098] Understandably, the connecting piece 140, which is away from the drive cylinder 120, is housed within the receiving cavity 133. The actuator of the telescopic rod 121, through the connection piece 140 and the receiving cavity 133, drives the movement of the ground locking post 130, thereby enabling the ground locking post 130 to contact the ground when the surgical robot 010 is working, thus achieving ground locking of the ground locking structure 100. The surgical robot 010 generates inertial force due to the frequent oscillation of its actuator, causing the fixed base 110 to drive the drive cylinder 120 to move or vibrate slightly. Through the clearance fit between the connecting piece 140 and the receiving cavity 133 of the ground locking post 130, the rigid connection between the ground locking post 130 and the connecting piece 140 is decoupled, allowing for slight relative movement between them. This prevents the telescopic rod 121 from bearing large radial forces generated by the fixed ground locking post 130, thus preventing drive cylinder 120 from malfunctioning and extending its lifespan.

[0099] In some possible implementations, the connector 140 is configured as a universal joint. The universal joint includes a ball and a connecting rod, which are fixedly connected. The connecting rod of the universal joint is hinged to the actuating end of the telescopic rod 121. The ball of the universal joint is disposed within the receiving cavity 133, and the receiving cavity 133 is fitted with the ball of the universal joint. This configuration decouples the inertial force transmitted between the locking post 130 and the connector 140, thereby preventing the telescopic rod 121 of the drive cylinder 120 from bearing radial force, preventing damage to the drive cylinder 120, and extending the lifespan of the drive cylinder 120.

[0100] The connector 140 includes a fixing part 142, which is used to connect to the actuator end of the telescopic rod 121. The fixing part 142 can move with the actuator end of the telescopic rod 121.

[0101] The connector 140 includes a connecting portion 141, which is connected to a fixing portion 142. For example, the connecting portion 141 and the fixing portion 142 can be manufactured using an integral molding process.

[0102] The connecting part 141 is disposed within the receiving cavity 133. The connecting part 141 can be cylindrical, thereby reducing the machining difficulty of the connecting part 141 and the matching receiving cavity 133.

[0103] The connecting part 141 has a side side parallel to the height direction H, and the receiving cavity 133 has a first cavity wall opposite to the side side, with a first gap provided between the side side and the first cavity wall.

[0104] The grounding post 130 provides radial movement margin. When the surgical robot 010 generates radial inertial force, the grounding post 130 can make a small radial displacement through the first gap, converting the radial force into relative motion within the gap, rather than directly transmitting it to the drive cylinder 120, thereby protecting the sealing performance of the drive cylinder 120 and preventing damage to the drive cylinder 120.

[0105] When the first gap is less than 0.1mm, it is too small, and the cavity wall of the receiving cavity 133 will make rigid contact with the side of the connecting part 141, directly transmitting radial force to the drive cylinder 120 (such as the telescopic rod 121 of the drive cylinder 120). This will cause the drive cylinder 120 to bear radial pressure beyond its capacity, accelerating the damage to the drive cylinder 120. For example, this will cause wear of the hydraulic cylinder seals, leading to hydraulic oil leakage and affecting the normal operation of the grounding structure 100.

[0106] In addition, if the first gap is too small, it will increase the frictional resistance between the connecting part 141 and the receiving cavity 133. When the drive cylinder 120 drives the connecting part 140 to extend and retract along the height direction H, the side of the connecting part 141 will get stuck with the cavity wall of the receiving cavity 133, causing the locking or unlocking action to be stuck, which will affect the operation of the surgical robot 010.

[0107] If the first gap is greater than 0.5mm, it is too large, resulting in excessive radial movement space. When the drive cylinder 120 moves the locking post 130 along the height direction H, this will cause a slight deviation between the connecting part 141 and the locking post 130, or the locking post 130 will tilt. This will result in uneven force when the locking post 130 contacts the ground, and some areas will not be able to fit tightly against the ground, increasing the shaking of the surgical robot 010 and thus affecting the surgical accuracy.

[0108] The size of the first gap is greater than or equal to 0.1 mm and less than or equal to 0.5 mm, which can ensure the reliability of the drive cylinder 120 and also prevent the ground locking column 130 from tilting, thus preventing the surgical robot 010 from shaking.

[0109] The size of the first gap can be set to 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm, or any combination of both.

[0110] The ground locking post 130 is provided with an opening 134, which communicates with the receiving cavity 133 and faces the drive cylinder 120. The fixing part 142 of the connector 140 extends out of the opening 134 and is connected to the actuating end of the telescopic rod 121, so that power can be transmitted between the drive cylinder 120 and the ground locking post 130. This ensures that the extension and retraction of the drive cylinder 120 can drive the ground locking post 130 to move, and avoids the failure of the ground locking or unlocking action due to the interruption of power transmission.

[0111] For example, the outline of opening 134 can be set to a circle to facilitate the processing of opening 134.

[0112] The dimension of the fixing part 142 in the direction perpendicular to the height H is smaller than the diameter of the opening 134. This avoids rigid contact between the fixing part 142 and the wall of the opening 134, and prevents the fixing part 142 from being restricted by the opening 134. Under inertial force, the locking post 130 can drive the opening 134 to produce a small displacement in the radial direction.

[0113] There is a size difference between the fixing part 142 and the aperture 134. Similarly, the size difference is greater than or equal to 0.1 mm and less than or equal to 0.5 mm, which can ensure the reliability of the drive cylinder 120 and also prevent the locking post 130 from tilting, thus preventing the surgical robot 010 from shaking.

[0114] The size difference can be set to a size range of 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm or any combination of two.

[0115] The connecting part 141 has a top surface and a bottom surface facing away from each other along the height direction H.

[0116] In some possible embodiments, the receiving cavity 133 has a second cavity wall opposite to the top surface, and a second gap is provided between the second cavity wall and the top surface. The second gap prevents the connecting part 141 from contacting the top surface of the receiving cavity 133 and causing friction, and prevents the connector 140 from getting stuck with the locking post 130. In addition, the second gap can reduce impact noise and wear on the connector 140, and improve the service life of the connector 140.

[0117] In some possible embodiments, the receiving cavity 133 has a third cavity wall opposite to the bottom surface, and a third gap is provided between the third cavity wall and the bottom surface. The third gap prevents the connecting part 141 from contacting the top surface of the receiving cavity 133 and causing friction, and prevents the connector 140 from getting stuck with the locking post 130. In addition, the third gap can reduce impact noise and wear on the connector 140, and improve the service life of the connector 140.

[0118] The ground locking structure 100 also includes a guide seat 150, which can improve the rigidity of the ground locking structure 100 and prevent the ground locking post 130 from tilting when subjected to inertial forces.

[0119] The guide seat 150 is connected to the end of the fixed seat 110 away from the drive cylinder 120, so that the guide seat 150 remains stable when the grounding post 130 is working.

[0120] For example, the guide seat 150 is provided with a second flange. Along the circumference of the guide seat 150, the second flange is provided with multiple mounting holes. The fixed seat 110 is provided with multiple threaded holes parallel to the axial direction. The fixed seat 110 abuts against the second flange to achieve positioning during assembly of the fixed seat 110 and the guide seat 150. The fixed seat 110 and the guide seat 150 are fixedly connected by tightening bolts through the mounting holes and threaded holes.

[0121] For example, the fixed seat 110 and the guide seat 150 can be manufactured by welding.

[0122] The guide seat 150 has a guide hole 151 along the height direction H. The outer peripheral wall of the locking post 130 is fitted with the hole wall of the guide hole 151, allowing the locking post 130 to slide along the guide hole 151. The guide hole 151 allows the locking post 130 to slide along it, which restricts the direction of movement of the locking post 130, prevents the locking post 130 from tilting when it extends or retracts with the telescopic rod 121, and prevents uneven contact when the locking post 130 comes into contact with the ground. At the same time, the sliding fit structure can also reduce the vibration of the locking post 130 during movement, further improving the stability of the surgical robot 010 and increasing the precision of surgical operations.

[0123] Through the cooperation between the grounding post 130 and the guide seat 150, the grounding post 130 will contact the hole wall of the guide hole 151 of the guide seat 150 when subjected to force, which will disperse the radial inertial force borne by the grounding post 130, reduce the deformation of the grounding post 130, thereby effectively improving the rigidity of the grounding post 130 and improving the reliability of the grounding post 130.

[0124] When the gap between the outer peripheral wall of the locking post 130 and the wall of the guide hole 151 is less than 2mm, the small gap cannot provide radial movement space for the locking post 130, causing the outer peripheral wall of the locking post 130 to almost contact or come into contact with the wall of the guide hole 151. This prevents the decoupling of the force transmission between the locking post 130 and the telescopic rod 121, resulting in the drive rod telescopic rod 121 bearing radial force and damaging the drive cylinder 120. On the other hand, the small gap will increase the frictional resistance of the locking post 130 sliding along the guide hole 151, causing a delay in locking or unlocking actions.

[0125] If the gap between the outer peripheral wall of the locking post 130 and the wall of the guide hole 151 is greater than 5mm, the fit between the locking post 130 and the guide hole 151 will be weakened. When the telescopic rod 121 drives the locking post 130 to extend or retract along the height direction H, the locking post 130 is prone to tilting or shifting, resulting in uneven force when the bottom of the locking post 130 contacts the ground, and some areas cannot fit tightly against the ground, which cannot prevent the surgical robot 010 from shaking.

[0126] Therefore, the gap between the outer peripheral wall of the locking post 130 and the hole wall of the guide hole 151 is greater than or equal to 2mm and less than or equal to 5mm. This can prevent excessive frictional resistance caused by too small a gap, and can also prevent the surgical robot 010 from shaking, thus ensuring surgical precision.

[0127] The gap between the outer peripheral wall of the grounding post 130 and the hole wall of the guide hole 151 can be set to a size range of 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, 5mm or any combination of both.

[0128] As explained above, the grounding post 130 includes a first post 131 and a second post 132. The outer wall surface of the first post 131 mates with the wall surface of the guide hole 151. The first post 131 can be made of copper alloy, which can reduce the rigidity of the first post 131 and allow it to undergo slight deformation under stress, preventing the first post 131 from breaking under stress due to excessive rigidity.

[0129] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0130] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0131] 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 ground-locking structure, characterized in that, It includes a mounting base (110), a drive cylinder (120), and a grounding bolt (130); The drive cylinder (120) is connected to the fixed base (110), and the telescopic rod (121) of the drive cylinder (120) can extend and retract relative to the fixed base (110) along the height direction (H); The telescopic rod (121) is provided with a connector (140) at its actuating end, and the actuating end of the telescopic rod (121) is connected to the connector (140); The first end of the ground locking post (130) is provided with a receiving cavity (133), the receiving cavity (133) accommodates a portion of the connecting member (140) away from the drive cylinder (120), and the receiving cavity (133) and the connecting member (140) are in clearance fit.

2. The ground-locking structure according to claim 1, characterized in that, The connector (140) includes a connecting part (141) and a fixing part (142), the connecting part (141) and the fixing part (142) are connected, and the connecting part (141) is disposed in the receiving cavity (133); The connecting portion (141) has a side side parallel to the height direction (H), and the receiving cavity (133) has a first cavity wall opposite to the side side, with a first gap provided between the side side and the first cavity wall.

3. The ground-locking structure according to claim 2, characterized in that, The size of the first gap is greater than or equal to 0.1 mm and less than or equal to 0.5 mm.

4. The ground-locking structure according to claim 2, characterized in that, The ground locking post (130) is provided with an opening (134), the opening (134) is connected to the receiving cavity (133), and the opening (134) faces the drive cylinder (120); The fixing part (142) extends out of the opening (134) and is connected to the actuating end of the telescopic rod (121); The dimension of the fixing part (142) in the direction perpendicular to the height (H) is smaller than the diameter of the opening (134).

5. The ground-locking structure according to claim 2, characterized in that, The connecting portion (141) has a top surface and a bottom surface facing away from each other along the height direction (H); The receiving cavity (133) has a second cavity wall opposite to the top surface, and a second gap is provided between the second cavity wall and the top surface; Alternatively, the receiving cavity (133) has a third cavity wall opposite to the bottom surface, and a third gap is provided between the third cavity wall and the bottom surface.

6. The ground-locking structure according to any one of claims 1-5, characterized in that, The ground-locking post (130) includes a first post (131) and a second post (132); The first column (131) is provided with a mounting cavity (1311), and the second column (132) is disposed in the mounting cavity (1311); The first end of the second column (132) is connected to the first column (131), and the end face of the second end of the second column (132) and part of the cavity wall of the mounting cavity (1311) form the receiving cavity (133).

7. The ground-locking structure according to claim 6, characterized in that, The second column (132) is provided with a through hole (1321) along the axial direction.

8. The ground-locking structure according to any one of claims 1-5, characterized in that, It also includes a guide seat (150), which is connected to the end of the fixed seat (110) away from the drive cylinder (120), and the guide seat (150) is provided with a guide hole (151) along the height direction (H); The outer peripheral wall of the ground locking post (130) is fitted with the hole wall of the guide hole (151), and the ground locking post (130) can slide along the guide hole (151).

9. The ground-locking structure according to claim 8, characterized in that, The gap between the outer peripheral wall of the grounding post (130) and the hole wall of the guide hole (151) is greater than or equal to 2 mm and less than or equal to 5 mm.

10. A surgical robot, characterized in that, The device includes the ground-locking structure (100) according to any one of claims 1-9, wherein the mounting base of the ground-locking structure (100) is fixed to the surgical robot.

Images