CN210843522U

CN210843522U - Plant cell-phone clamping device

Info

Publication number: CN210843522U
Application number: CN201921478117.5U
Authority: CN
Inventors: 王利峰; 孙贝; 刘洪澎; 沈晨
Original assignee: Yake Wisdom Beijing Technology Co ltd
Current assignee: Yake Wisdom Beijing Technology Co ltd
Priority date: 2019-09-06
Filing date: 2019-09-06
Publication date: 2020-06-26
Anticipated expiration: 2029-09-06

Abstract

The utility model relates to the field of medical equipment, a plant cell-phone clamping device is provided. The device includes: the outer wall of the first end of the outer cylinder is provided with a first limiting part extending outwards, and the inner wall of the first end of the outer cylinder is provided with a first connecting part; a second limiting part extending inwards is formed on the inner wall of the second end of the outer cylinder; one end of the first connecting piece is used for being connected with a mechanical arm of the robot, and a second connecting part is formed on the outer wall of the other end of the first connecting piece; the inner wall of one end of the first adapter ring is provided with a third connecting part, and the inner wall of the other end of the first adapter ring is provided with a third limiting part extending inwards; the third connecting part is used for being matched with the second connecting part so that the first connecting piece can tightly abut against the first limiting part of the outer barrel to the third limiting part; the outer wall of the abutting ring is provided with a fourth connecting part matched with the first connecting part; the abutting ring is used for abutting the motor to the second limiting part. The utility model discloses simple structure, commonality are strong, can realize planting quick installation and the dismantlement between cell-phone and the robot.

Description

Plant cell-phone clamping device

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a plant cell-phone clamping device.

Background

The implant mobile phone is a tool for drilling a jaw bone and preparing an implant cavity in a tooth implanting operation. When using the implanting mobile phone, a doctor usually directly holds the implanting mobile phone by hand to operate. Because the internal space of the oral cavity is narrow and not direct-view, and the whole treatment process is precise operation under local anesthesia, in the whole treatment process, a doctor needs to bend down and lower the head for a long time, the working intensity is high, and the operation failure rate is high for inexperienced doctors. In order to improve the success rate of the operation and reduce the working strength of doctors, researchers at home and abroad develop a planting robot.

However, the existing planting mobile phone is irregular in appearance, the mounting and dismounting process between the mechanical arm of the planting robot and the planting mobile phone is very complicated, once the situation that the planting mobile phone needs to be replaced is met in the operation process, the operation time can be greatly prolonged, and more pain is brought to a patient.

SUMMERY OF THE UTILITY MODEL

The present invention aims at least solving one of the technical problems existing in the prior art or the related art. Therefore, the utility model provides a simple structure, simple operation's planting cell-phone clamping device to realize planting the cell-phone and plant quick installation and the dismantlement between the robot.

According to the utility model discloses plant cell-phone clamping device of first aspect embodiment, include:

the outer cylinder is used for accommodating a motor of the planting mobile phone; the outer wall of the first end of the outer cylinder is provided with a first limiting part extending outwards, and the inner wall of the first end of the outer cylinder is provided with a first connecting part; a second limiting part extending inwards is formed on the inner wall of the second end of the outer barrel;

one end of the first connecting piece is used for being connected with a mechanical arm of the robot, and a second connecting part is formed on the outer wall of the other end of the first connecting piece;

the inner wall of one end of the first adapter ring is provided with a third connecting part, and the inner wall of the other end of the first adapter ring is provided with a third limiting part extending inwards; the third connecting part is used for being matched with the second connecting part so that the first connecting piece can tightly abut against the first limiting part of the outer barrel to the third limiting part;

the outer wall of the abutting ring is provided with a fourth connecting part matched with the first connecting part; the abutting ring is used for abutting the motor to the second limiting part.

According to the utility model discloses plant cell-phone clamping device can realize planting quick installation and the dismantlement between cell-phone and the robot. In addition, the planting mobile phone clamping device realizes the fixation of the planting mobile phone on the robot by restraining the axial movement of the planting mobile phone, so the planting mobile phone clamping device is not restrained by the shape of the planting mobile phone, has strong universality and is suitable for planting mobile phones in various shapes.

Additionally, according to the utility model discloses plant cell-phone clamping device can also have following additional technical characterstic:

according to the utility model discloses an embodiment, plant cell-phone clamping device still includes the second switching ring, the outer wall of urceolus second end is formed with the fifth connecting portion, the inner wall of second switching ring one end is formed with and is used for the inner wall of fifth connecting portion complex sixth connecting portion, the other end is formed with the chucking part of inside extension, the chucking part be used for with the outer wall cooperation of planting the cell-phone elbow.

According to an embodiment of the present invention, the second connecting portion is an external thread formed on an outer wall of the first connecting member, and the third connecting portion is an internal thread formed on an inner wall of the first adaptor ring; and/or the first connecting part is an internal thread formed on the inner wall of the outer barrel, and the fourth connecting part is an external thread formed on the outer wall of the abutting ring; and/or the fifth connecting part is an external thread formed on the outer wall of the outer barrel, and the sixth connecting part is an internal thread formed on the inner wall of the second adapter ring.

The utility model discloses an embodiment, first connecting piece axial runs through and sets up wired passageway, the lateral wall of first connecting piece seted up with line opening is walked to line passageway intercommunication.

According to the utility model discloses an embodiment, the outer wall of first connecting piece is formed with the installation screw hole, the installation screw hole with the second connecting portion are located respectively the both ends of first connecting piece.

The utility model discloses an embodiment according to the utility model discloses an, first connecting piece pass through force sensor with the arm of robot is connected.

According to the utility model discloses an embodiment, force sensor pass through coupling assembling with the terminal ring flange of arm is connected, coupling assembling includes:

the first end of the second connecting piece is provided with a plurality of first mounting holes, the outer wall of the second end of the second connecting piece is provided with an outer connecting part, and the plurality of first mounting holes correspond to the through holes of the tail end flange plate one to one;

the inner wall of one end of the third adapter ring is provided with an inner connecting part used for matching with the outer connecting part, and the inner wall of the other end of the third adapter ring is provided with an inner limiting part extending inwards;

the outer wall of the first end of the connecting ring is provided with an outer limiting part for the inner limiting part to be in interference fit, and the end face of the second end is provided with a second mounting hole corresponding to the threaded hole of the force sensor.

According to the utility model discloses an embodiment, the first recess that extends to its second end terminal surface is seted up to the outer wall of second connecting piece, the second recess that extends to its first end terminal surface is seted up to the outer wall of go-between, first recess with the second recess encloses jointly and establishes the holding tank that forms and be used for placing the location parallel key.

According to the utility model discloses an embodiment, outer connecting portion be for forming in the external screw thread of second connecting piece outer wall, inner connecting portion be for forming in the internal thread of third adapter ring inner wall.

According to the utility model discloses an embodiment, the terminal surface of first connecting piece set up with the third mounting hole that the screw hole of force sensor corresponds.

The embodiment of the utility model provides an in above-mentioned one or more technical scheme, one of following technological effect has at least:

the utility model can restrain the motor of the mobile phone in the outer cylinder by utilizing the second limiting part and the abutting ring of the outer cylinder, and avoid the motor from moving along the axial direction of the outer cylinder; meanwhile, the outer barrel can be constrained on a mechanical arm of the robot by utilizing the end part of the first connecting piece and the third limiting part of the first transfer ring, and the outer barrel is prevented from moving relative to the robot. Therefore, the mobile phone can be quickly fixed on the mechanical arm of the robot through the device. When the robot is disassembled, medical staff only need to disassemble the first adapter ring and the abutting ring to remove the restraint of the device on the planting mobile phone, and then the planting mobile phone can be rapidly disassembled from the mechanical arm of the robot. The device realizes the fixation of the planting mobile phone on the robot by restricting the axial movement of the planting mobile phone, so the device is not restricted by the shape of the planting mobile phone, has strong universality and is suitable for planting mobile phones with various shapes.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic longitudinal sectional view of a clamping device for a plant handset according to an embodiment of the present invention;

fig. 2 is a schematic longitudinal sectional perspective view of a clamping device for a plant handset in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a first connecting member in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a connection assembly in an embodiment of the present invention;

fig. 5 is a schematic longitudinal sectional view of a connection assembly in an embodiment of the invention;

utility model

Fig. 6 is a schematic structural view of another clamping device for a plant mobile phone in an embodiment of the present invention;

fig. 7 is a perspective view of another clamping device for a plant cell phone in an embodiment of the present invention.

Reference numerals:

1: an outer cylinder; 1.1: a first limiting part; 1.2: a second limiting part;

1.3: a first connection portion; 1.4: a fifth connecting part; 2: a first connecting member;

2.1: a second connecting portion; 2.2: a wire channel; 2.3: a wiring opening;

2.4, installing a threaded hole; 2.5: a third mounting hole; 3: a first transfer ring;

3.1: a third limiting part; 3.2: a third connecting portion; 4. a tightening ring; 4.1: a clamping hole;

5: a second adapter ring; 5.1: a clamping part; 6: a force sensor; 7: a terminal flange plate;

8: a second connecting member; 8.1: a first mounting hole; 8.2: an outer connecting portion;

8.3: a first groove; 9: a third transfer ring; 9.1: an inner limiting part; 10: a connecting ring;

10.1: an outer limit portion; 10.2: a second mounting hole; 10.3: a second groove;

11. positioning a flat key; 12.1: a motor; 12.2, an elbow.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the utility model, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the utility model.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Referring to fig. 1 to 3, the present embodiment provides a clamping device for a plant handset, which comprises an outer barrel 1, a first connecting member 2, a first adapter ring 3 and a fastening ring 4; the outer cylinder 1 is used for accommodating a motor 12.1 of the mobile phone; the outer wall of the first end of the outer cylinder 1 is provided with a first limiting part 1.1 extending outwards, and the inner wall of the first end of the outer cylinder 1 is provided with a first connecting part 1.3; a second limiting part 1.2 extending inwards is formed on the inner wall of the second end of the outer cylinder 1; one end of the first connecting piece 2 is used for being connected with a mechanical arm of the robot, and a second connecting part 2.1 is formed on the outer wall of the other end of the first connecting piece; a third connecting part 3.2 is formed on the inner wall of one end of the first adapter ring 3, and a third limiting part 3.1 extending inwards is formed on the inner wall of the other end of the first adapter ring; the third connecting part 3.2 is used for being matched with the second connecting part 2.1 so that the first connecting part 2 tightly supports the first limiting part 1.1 of the outer barrel 1 to the third limiting part 3.1; a fourth connecting part matched with the first connecting part 1.3 is formed on the outer wall of the abutting ring 4; the abutting ring 4 is used for abutting the motor 12.1 to the second limiting portion 1.2.

At present, most of the planter tools usually comprise a motor 12.1 and an elbow 12.2, wherein one end of the elbow 12.2 is connected with the motor 12.1, and the other end is provided with a drill bit. Because the elbow 12.2 is vulnerable, the elbow 12.2 and the motor 12.1 are typically removably connected to facilitate replacement of the elbow 12.2, such as by snapping the elbow 12.2 onto the motor 12.1.

Therefore, when the planting mobile phone clamping device in the embodiment is used for installing the planting mobile phone to the robot, the method comprises the following steps: s1, the elbow 12.2 of the planter hand piece is detached from the motor 12.1. S2, the motor 12.1 is inserted into the outer tube 1 from the first end of the outer tube 1. S3, the tight-resisting ring 4 is sleeved on the cable of the motor 12.1, and the tight-resisting ring 4 is gradually installed into the outer cylinder 1 from the first end of the outer cylinder 1. In the process of matching the first connecting part 1.3 with the fourth connecting part, the motor 12.1 is pushed by the tightening ring 4 to continuously move towards the second end of the outer cylinder 1. When the resisting ring 4 cannot move towards the second end of the outer cylinder 1, one end of the motor 12.1, which is far away from the resisting ring 4, abuts against the second limiting portion 1.2 of the outer cylinder 1, and at this time, the motor 12.1 cannot move along the axial direction of the outer cylinder 1 under the constraint of the resisting ring 4 and the second limiting portion 1.2. And S4, the second end of the outer cylinder 1 penetrates out of the first transfer ring 3, and the first end of the outer cylinder 1 cannot penetrate out of the first transfer ring 3 due to the existence of the first limiting part 1.1. S5, the first adapter ring 3 is sleeved on the first connecting member 2, so that the second connecting portion 2.1 of the first connecting member 2 is matched with the third connecting portion 3.2 of the first adapter ring 3. In the process that the second connecting portion 2.1 and the third connecting portion 3.2 are matched, along with the first adapter ring 3 is continuously sleeved into the first connecting member 2, the first limiting portion 1.1 of the outer barrel 1 is gradually abutted to the third limiting portion 3.1 of the first adapter ring 3 by the first connecting member 2. And S6, connecting the first connecting piece 2 with the mechanical arm of the robot. It should be noted that the first connecting member 2 may be directly welded to the robot arm of the robot, or may be detachably mounted to the robot arm of the robot by bolts, fasteners, or other components. S7, inserting the elbow 12.2 of the planter hand into the second end of the outer cylinder 1, and connecting the motor 12.1.

The method for disassembling the planted mobile phone comprises the following steps: s1, pulling the elbow 12.2 of the mobile phone out of the motor 12.1; s2, detaching the first adapter ring 3 from the first connecting piece 2; s3, the second end of the outer cylinder 1 penetrates out of the first adapter ring 3; s4, taking the abutting ring 4 out of the outer cylinder 1; s5, the motor 12.1 is simply poured out of the first end of the outer cylinder 1.

It should be noted that the sequence of mounting and dismounting the mobile phone on the robot is not limited to the sequence in the above steps, and the medical staff can adjust the sequence according to the actual situation.

From the above, when the mobile phone is installed in the mobile phone planting clamping device in the embodiment, the motor 12.1 of the mobile phone can be restrained in the outer barrel 1 by using the second limiting part 1.2 of the outer barrel 1 and the abutting ring 4, so that the mobile phone is prevented from moving along the axial direction of the outer barrel 1; meanwhile, the outer cylinder 1 can be restrained on the mechanical arm of the robot by utilizing the end part of the first connecting piece 2 and the third limiting part 3.1 of the first transfer ring 3, and the outer cylinder 1 is prevented from moving relative to the robot. Therefore, the mobile phone can be quickly fixed on the mechanical arm of the robot through the device. When the robot is disassembled, medical personnel only need to disassemble the first adapter ring 3 and the abutting ring 4 to remove the restraint of the device on the planting mobile phone, and then the planting mobile phone can be rapidly disassembled from the mechanical arm of the robot. The device realizes the fixation of the planting mobile phone on the robot by restricting the axial movement of the planting mobile phone, so the device is not restricted by the shape of the planting mobile phone, has strong universality and is suitable for planting mobile phones with various shapes.

Certainly, when the implant handpiece elbow 12.2 is stressed deeply during the operation, the motor 12.1 of the implant handpiece may be driven by the elbow 12.2 to radially shift, and in order to prevent the motor 12.1 from radially shifting in the outer barrel 1, the implant handpiece clamping device further comprises a sleeve which is arranged between the outer barrel 1 and the motor 12.1. As the shapes of the implant mobile phones with different specifications are different, sleeves with different thicknesses can be prepared in advance. When the motor 12.1 is installed, the sleeve with the corresponding thickness is sleeved on the motor 12.1, and then the motor 12.1 and the sleeve are inserted into the outer cylinder 1 together. The material of the sleeve may be, but is not limited to, plastic or rubber.

In addition, the defect of the existing processing and manufacturing process of the implant mobile phone is considered, namely, the elbow 12.2 of the implant mobile phone may slightly shake relative to the motor 12.1 after being stressed when a patient is treated, so that the accuracy of robot planting is further improved, and the firmness and stability of connection between the elbow 12.2 of the implant mobile phone and the motor 12.1 are enhanced, therefore, the implant mobile phone clamping device further comprises a second adapter ring 5, a fifth connecting part 1.4 is formed on the outer wall of the second end of the outer barrel 1, a sixth connecting part used for matching with the fifth connecting part 1.4 is formed on the inner wall of one end of the second adapter ring 5, a clamping part 5.1 extending inwards is formed on the inner wall of the other end of the second adapter ring 5, and the clamping part 5.1 is used for matching with the outer wall of the elbow 12..

Therefore, when the planting mobile phone is installed on the robot and the step S7 is executed, the method specifically includes the following steps: firstly, the top end of the elbow 12.2 penetrates out of the second adapter ring 5, and the tail end of the elbow 12.2 cannot penetrate out of the second adapter ring 5 due to the clamping part 5.1; then, the second adapter ring 5 is sleeved on the outer cylinder 1, so that the fifth connecting part 1.4 of the outer cylinder 1 is matched with the sixth connecting part of the second adapter ring 5. In the process of matching the fifth connecting part 1.4 and the sixth connecting part, the elbow 12.2 is connected with the motor 12.1 along with the continuous sleeving of the second adapter ring 5 into the outer barrel 1, and meanwhile, the elbow 12.2 is clamped by the clamping part 5.1. At this time, the elbow 12.2 is restrained by the clamping part 5.1, and cannot easily shake relative to the motor 12.1.

Further, the first connecting part 1.3 is an internal thread formed on the inner wall of the outer cylinder 1, and the fourth connecting part is an external thread formed on the outer wall of the abutting ring 4; the second connecting part 2.1 is an external thread formed on the outer wall of the first connecting part 2, and the third connecting part 3.2 is an internal thread formed on the inner wall of the first adapter ring 3; the fifth connecting part 1.4 is an external thread formed on the outer wall of the outer cylinder 1, and the sixth connecting part is an internal thread formed on the inner wall of the second adapter ring 5. The advantages of such an arrangement are: on one hand, the thread connection has high sealing performance, and can prevent cleaning fluid or impurities from entering the outer cylinder 1; on the other hand, the installation and the disassembly are convenient.

When the abutting ring 4 is connected with the outer cylinder 1 in a threaded fit manner, the abutting ring 4 can be screwed into the outer cylinder 1 in various ways, for example, at least one pair of clamping holes 4.1 symmetrical about the central axis of the abutting ring 4 is formed in the end surface of the abutting ring 4. When the abutting ring 4 needs to be screwed in, the two ends of the pliers can be inserted into the corresponding clamping holes 4.1 respectively to clamp the abutting ring 4; then the pressing ring 4 is driven to rotate by rotating the pliers. Of course, besides the clamping hole 4.1 arranged on the end face of the abutting ring 4, the inner wall of the abutting ring 4 can also be arranged as a non-circular surface. For example, the through hole of the abutting ring 4 may be provided with a polygonal hole, and an inner angle wrench with a corresponding cross-sectional shape may be inserted into the abutting ring 4 during installation, so that the inner angle wrench is rotated to drive the abutting ring 4 to rotate.

It should be noted that, the above components may be connected by a snap-fit manner, in addition to the screw-fit connection. Taking the second connecting portion 2.1 and the third connecting portion 3.2 as an example, the second connecting portion 2.1 is an outer engaging portion formed on the outer wall of the first connecting portion 2, the third connecting portion 3.2 is a plurality of inner engaging portions formed on the inner wall of the first adaptor ring 3, and the plurality of inner engaging portions are sequentially arranged at intervals along the axial direction of the first adaptor ring 3. When the first adapter ring 3 is installed, the first adapter ring 3 is gradually sleeved into the first connecting piece 2, when the outer clamping portion of the first connecting piece 2 is clamped into the specified inner clamping portion of the first adapter ring 3, the first limiting portion 1.1 of the outer cylinder 1 is abutted to the third limiting portion 3.1 of the first adapter ring 3 by the first connecting piece 2. The outer clamping part can be a bulge formed on the outer wall of the first connecting piece 2, and the inner clamping part is a plurality of grooves formed on the inner wall of the first adapter ring 3; of course, the outer engaging portion may be a groove formed on the outer wall of the first connector 2, and the inner engaging portion may be a plurality of protrusions formed on the inner wall of the first adaptor ring 3. The protruding material may be, but is not limited to, plastic or elastic material. It should be noted that the first connecting portion 1.3, the fourth connecting portion, and the fifth connecting portion 1.4 and the sixth connecting portion may also adopt the above structure, and details are not described herein.

Further, the first limiting part 1.1 and the second limiting part 1.2 are annular protrusions formed on the outer wall and the inner wall of the outer cylinder 1 respectively. The third limiting part 3.1 is an annular protrusion formed on the inner wall of the first adapter ring 3. The clamping part 5.1 is an annular bulge formed on the inner wall of the second adapter ring 5.

As shown in fig. 3, the first connecting member 2 axially penetrates through the wire passage 2.2, and the sidewall of the first connecting member 2 is provided with a wire opening 2.3 communicated with the wire passage 2.2. Therefore, after the cable of the motor 12.1 penetrates out of the abutting ring 4, the cable can penetrate out through the wiring opening 2.3 of the first connecting piece 2.

Because different treatment schemes are adopted for different patients, and other auxiliary devices may be required to be matched with optical marks in navigation operations in some operations, in order to facilitate the connection of the device and the auxiliary devices, a mounting threaded hole 2.4 is formed in the outer wall of the first connecting piece 2, and the mounting threaded hole 2.4 and the second connecting part 2.1 are respectively located at two ends of the first connecting piece 2. Further, the outer wall of the first connecting piece 2 is also formed with a pin hole, and the pin hole is arranged close to the mounting threaded hole 2.4. In this way, through holes corresponding to the pin holes and the mounting screw holes 2.4 can be formed in the auxiliary device in advance. During installation, inserting the pin into the pin hole and the through hole corresponding to the pin hole to realize positioning of the auxiliary device; then the bolt passes through the through hole corresponding to the mounting threaded hole 2.4 and then is screwed into the mounting threaded hole 2.4, and at the moment, the auxiliary device is firmly fixed on the first connecting piece 2.

Referring to fig. 4 to 7, in order to make the robot sense the acting force applied to the patient by the implant handpiece during the treatment operation, the first connecting member 2 is connected to the robot arm by the force sensor 6. Specifically, as shown in fig. 4 and 5, the force sensor 6 is connected to the end flange 7 of the robot arm through a connecting assembly, which includes a second connecting member 8, a third adapter ring 9 and a connecting ring 10; a plurality of first mounting holes 8.1 are formed in the first end of the second connecting piece 8, an outer connecting part 8.2 is formed on the outer wall of the second end, and the plurality of first mounting holes 8.1 correspond to the through holes of the tail end flange 7 one by one; an inner connecting part used for matching the outer connecting part 8.2 is formed on the inner wall of one end of the third adapter ring 9, and an inner limiting part 9.1 extending inwards is formed on the inner wall of the other end of the third adapter ring; the outer wall of the first end of the connecting ring 10 is provided with an outer limiting part 10.1 which is used for the inner limiting part 9.1 to be in interference fit, and the end surface of the second end is provided with a second mounting hole 10.2 corresponding to the threaded hole of the force sensor 6; the end face of the first connecting piece 2 is provided with a third mounting hole 2.5 corresponding to the threaded hole of the force sensor 6. The second mounting hole 10.2 and the third mounting hole 2.5 are countersunk through holes or threaded holes, and the inner limiting portion 9.1 and the outer limiting portion 10.1 are annular protrusions formed on the inner wall of the third adapter ring 9 and the outer wall of the connecting ring 10, respectively.

The installation of the force sensor 6 comprises the following steps: s1, fixing the second connecting piece 8 on the tail end flange 7 of the robot, namely, sequentially penetrating the thread section of the bolt through the first mounting hole 8.1 and the through hole of the tail end flange 7 and then screwing the bolt into the nut. S2, the connecting ring 10 is fixed on one side of the force sensor 6 through a screw, namely, the threaded section of the screw penetrates through the second mounting hole 10.2 and then is screwed into the threaded hole of the force sensor 6 from one side of the force sensor 6; and S3, fixing the first connecting piece 2 on the other side of the force sensor 6 through a screw, namely, screwing the threaded section of the screw into the threaded hole of the force sensor 6 after the threaded section of the screw passes through the third mounting hole 2.5. It should be noted that, when the threaded holes of the force sensor 6 penetrate through the force sensor 6, the second mounting holes 10.2 and the third mounting holes 2.5 may both correspond to the threaded holes of the force sensor 6 one by one, that is, the number of the second mounting holes 10.2 and the third mounting holes 2.5 is the same as the number of the threaded holes of the force sensor 6, and the positions of the threaded holes correspond to the positions of the threaded holes of the force sensor 6. In this case, the sum of the length of the screw fixing the connection ring 10 screwed into the threaded hole of the force sensor 6 and the length of the screw fixing the first connector 2 screwed into the same threaded hole of the force sensor 6 is not greater than the length of the threaded hole. Of course, the second mounting hole 10.2 may correspond to a partial threaded hole of the force sensor 6, while the third mounting hole 2.5 may correspond to the remaining threaded hole of the force sensor 6. When the threaded hole of the force sensor 6 is not penetrated through the force sensor 6 and the two sides of the force sensor 6 are both provided with threaded holes, the second mounting holes 10.2 are in one-to-one correspondence with the threaded holes on one side of the force sensor 6, and the third mounting holes 2.5 are in one-to-one correspondence with the threaded holes on the other side of the force sensor 6. S4, the connection ring 10, the force sensor 6 and the first connector 2 are integrally passed out of the third adapter ring 9, and due to the existence of the inner limiting portion 9.1, the connection ring 10 cannot pass out of the third adapter ring 9. S5, the third adapter ring 9 is sleeved on the second connecting member 8, so that the outer connecting portion 8.2 is matched with the inner connecting portion. In the process of matching the outer connecting portion 8.2 and the inner connecting portion, the second connecting member 8 gradually abuts against the outer limiting portion 10.1 of the connecting ring 10 to the inner limiting portion 9.1 of the third adapter ring 9 along with the third adapter ring 9 being continuously sleeved into the second connecting member 8.

It should be noted that the installation sequence of the force sensors 6 is not limited to the sequence of the above steps, and can be adjusted according to the actual situation.

Furthermore, the outer wall of the second connecting piece 8 is provided with a first groove 8.3 extending to the end surface of the second end thereof, the outer wall of the connecting ring 10 is provided with a second groove 10.3 extending to the end surface of the first end thereof, and the first groove 8.3 and the second groove 10.3 jointly enclose to form a receiving groove for placing the positioning flat key 11. Thus, when the force sensor 6 is installed, and the connection ring 10, the force sensor 6 and the first connector 2 as a whole pass through the third adapter ring 9, the first connector 2 may first pass through the third adapter ring 9, that is, the connection ring 10 and the first connector 2 are respectively located on both sides of the third adapter ring 9. Next, the second end of the second connector 8 is placed against the side of the connection ring 10 facing away from the force sensor 6, and the first recess 8.3 of the second connector 8 is aligned with the second recess 10.3 of the connection ring 10. At this time, the first groove 8.3 and the second groove 10.3 are communicated and jointly surrounded to form an accommodating groove. Next, the positioning flat key 11 is put into the accommodation groove. Finally, the third adapter ring 9 is sleeved on the second connecting piece 8, so that the outer connecting part 8.2 is matched with the inner connecting part.

As shown in fig. 4, the external connection portion 8.2 is an external thread formed on the outer wall of the second connection member 8, and the internal connection portion is an internal thread formed on the inner wall of the third adapter ring 9. It should be noted that the second connecting member 8 and the third adapter ring 9 can be connected in a snap-fit manner, besides being connected in a screw-fit manner. For example, the outer connecting portion 8.2 is a protrusion formed on the outer wall of the second connecting member 8, the inner connecting portion is a plurality of grooves formed on the inner wall of the third adapter ring 9, and the plurality of grooves are sequentially arranged at intervals along the axial direction of the third adapter ring 9. Or, the outer connecting portion 8.2 is a groove formed in the outer wall of the second connecting portion 2.1, the inner connecting portion is a plurality of protrusions formed on the inner wall of the third adapter ring 9, and the plurality of protrusions are sequentially arranged at intervals along the axial direction of the third adapter ring 9.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a plant cell-phone clamping device which characterized in that includes:

2. The handset implanting clamping device according to claim 1, further comprising a second adapter ring, wherein a fifth connecting portion is formed on an outer wall of the second end of the outer cylinder, a sixth connecting portion for fitting with the fifth connecting portion is formed on an inner wall of one end of the second adapter ring, a clamping portion extending inwards is formed on an inner wall of the other end of the second adapter ring, and the clamping portion is used for fitting with an outer wall of the elbow of the handset implanting.

3. The cellphone planting clamping device according to claim 2, wherein the second connecting portion is an external thread formed on an outer wall of the first connecting member, and the third connecting portion is an internal thread formed on an inner wall of the first adaptor ring;

and/or the first connecting part is an internal thread formed on the inner wall of the outer barrel, and the fourth connecting part is an external thread formed on the outer wall of the abutting ring;

and/or the fifth connecting part is an external thread formed on the outer wall of the outer barrel, and the sixth connecting part is an internal thread formed on the inner wall of the second adapter ring.

4. The cellphone planting clamping device according to claim 1, wherein the first connector has a wire passage extending axially therethrough, and a side wall of the first connector has a wire opening communicating with the wire passage.

5. The cellphone planting clamping device according to claim 1, wherein the outer wall of the first connecting piece is formed with a threaded mounting hole, and the threaded mounting hole and the second connecting part are respectively located at two ends of the first connecting piece.

6. The cellphone planting gripping apparatus according to any one of claims 1 to 5, wherein the first link is connected to a robotic arm of the robot via a force sensor.

7. The phone clamp of claim 6, wherein the force sensor is coupled to the end flange of the robotic arm by a coupling assembly, the coupling assembly comprising:

8. The mobile phone planting clamping device according to claim 7, wherein the outer wall of the second connecting piece is provided with a first groove extending to the end surface of the second end of the second connecting piece, the outer wall of the connecting ring is provided with a second groove extending to the end surface of the first end of the connecting ring, and the first groove and the second groove together enclose a receiving groove for placing the positioning flat key.

9. The cellphone planting clamping device according to claim 7, wherein the external connection part is an external thread formed on the outer wall of the second connecting piece, and the internal connection part is an internal thread formed on the inner wall of the third adapter ring.

10. The cellphone planting clamping device according to claim 6, wherein the end face of the first connector is provided with a third mounting hole corresponding to the threaded hole of the force sensor.