CN215471280U - Quick assembly disassembly accurate positioning end device and puncture robot - Google Patents
Quick assembly disassembly accurate positioning end device and puncture robot Download PDFInfo
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- CN215471280U CN215471280U CN202121865569.6U CN202121865569U CN215471280U CN 215471280 U CN215471280 U CN 215471280U CN 202121865569 U CN202121865569 U CN 202121865569U CN 215471280 U CN215471280 U CN 215471280U
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Abstract
The utility model discloses a quick-dismounting and accurate-positioning tail end device and a puncture robot, wherein the device comprises a front end connecting rod, a tail end supporting rod and a quick-mounting mechanism, wherein the front end connecting rod and the tail end supporting rod are detachably connected through the quick-mounting mechanism; the quick assembly mechanism comprises a latch locking mechanism, is matched with the front end connecting rod and the tail end supporting rod, and is locked by the latch locking mechanism when the front end connecting rod is connected with the tail end supporting rod. This kind of dismantled and assembled puncture equipment can realize changing the front end connecting rod in a flexible way under the prerequisite of not wholly dismantling, like this when actually adopting the puncture robot to carry out the operation, whenever done a puncture operation, only need to disinfect and change the front end connecting rod can, terminal bracing piece can be fixed at the arm end, need not additionally disinfect again and replace, has reduced sterile scope and work load like this.
Description
Technical Field
The utility model relates to the technical field, in particular to a quick-dismounting and accurate-positioning tail end device and a puncture robot.
Background
The puncture operation robot is a novel intelligent medical instrument and is used for assisting doctors in realizing accurate puncture. In the use process of the puncture robot, a tail end positioning device needs to be designed at the tail end of a mechanical arm of the puncture surgical robot, and the tail end positioning device has the following functions: on one hand, the device can be identified by a navigation system in real time, and on the other hand, the device can guide the puncture needle in real time and fix the needle inserting direction of the puncture.
The existing puncture needle tail end positioning device generally adopts an integrated design and is too heavy when in use; during disinfection, the connecting rod connected with the puncture needle on the device needs to be disinfected in a whole rod mode, and the disinfection range and workload are large.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a quick-dismounting and accurate-positioning tail end device and a puncture robot, so as to solve the current problems.
In order to achieve the above object, the present invention provides the following techniques:
the utility model provides a quick, dismounting and accurate positioning terminal device, which comprises a front end connecting rod, a terminal supporting rod and a quick assembly mechanism which are arranged in a split manner, wherein the front end connecting rod and the terminal supporting rod are detachably connected through the quick assembly mechanism; wherein the quick-assembling mechanism comprises
And the latch locking mechanism is matched with the front end connecting rod and the tail end supporting rod, and is locked by the latch locking mechanism when the front end connecting rod is connected with the tail end supporting rod.
As an embodiment of the present invention, preferably, the quick-assembly mechanism further includes
The quick assembly part is fixedly arranged on one of the tail end surface of the front end connecting rod and the front end surface of the tail end supporting rod;
the quick-mounting hole is fixedly arranged on the other of the tail end face of the front end connecting rod and the front end face of the tail end supporting rod;
the quick assembly part and the quick assembly hole are connected in a matched mode through the clamping tooth locking mechanism, and the quick assembly part is locked through the clamping tooth locking mechanism after being inserted into the quick assembly hole.
As an embodiment of the present invention, preferably, the latch locking mechanism includes
The clamping teeth are fixedly arranged on one of the quick assembly piece and the quick assembly hole;
the clamping groove is fixedly arranged on the other of the quick assembly part and the quick assembly hole;
and the locking component is matched with the clamping teeth and the clamping grooves, and after the fast-assembly piece is inserted into the fast-assembly hole, the clamping teeth are matched with the clamping grooves and are locked by the locking component.
As an embodiment of the present invention, preferably, the cross-sectional structure of the clamping groove is a trapezoidal groove.
As an embodiment of the present invention, preferably, the latch locking mechanism further includes
And the mounting hole is formed in the side wall of the fast-assembly hole and communicated with the fast-assembly hole, and the locking assembly is mounted in the mounting hole.
As an embodiment of the present invention, preferably, the locking assembly comprises
The spring locking piece is arranged in the mounting hole in a matched mode through a pin shaft, and the latch is arranged on the bottom surface of the spring locking piece;
and the elastic button mechanism is matched with the spring locking piece and is unlocked through the elastic button mechanism when the latch is separated from the clamping groove.
As an embodiment of the present invention, preferably, the elastic button mechanism includes a knob spring, a cover and a button, the cover is fixed on the top of the seating hole by a screw, the knob spring is fitted between the cover and the right portion of the spring lock, and the button is fitted on the cover and the bottom thereof is pressed against the left portion of the spring lock.
As an embodiment of the present invention, preferably, a limiting groove is provided on a left surface of the spring locking member, and the bottom of the button moves in the limiting groove.
As an embodiment of the present invention, preferably, the latch locking mechanism further includes a retainer ring that is fitted on a button located inside the buckle cover.
The utility model provides a puncture robot in a second aspect, and the puncture robot comprises the quick-dismounting and accurate positioning terminal device provided in the first aspect.
Compared with the prior art, the utility model can bring the following technical effects:
the utility model designs a non-integrated tail end positioning device which comprises a front end connecting rod, a tail end supporting rod and a quick assembly mechanism, wherein the front end connecting rod and the tail end supporting rod are detachably connected through the quick assembly mechanism; the quick-assembly mechanism comprises a latch locking mechanism, is matched with the front end connecting rod and the tail end supporting rod, and is locked by the latch locking mechanism when the front end connecting rod is connected with the tail end supporting rod. This kind of dismantled and assembled puncture equipment can realize changing the front end connecting rod in a flexible way under the prerequisite of not wholly dismantling, like this when actually adopting the puncture robot to carry out the operation, whenever done a puncture operation, only need to disinfect and change the front end connecting rod can, terminal bracing piece can be fixed at the arm end, need not additionally disinfect again and replace, has reduced sterile scope and work load like this.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the utility model and to enable other features, objects and advantages of the utility model to be more fully apparent. The drawings and their description illustrate the utility model by way of example and are not intended to limit the utility model. In the drawings:
FIG. 1 is a schematic illustration of an explosive structure according to the present invention;
FIG. 2 is a schematic view of the structure of the assembly of the present invention;
FIG. 3 is a schematic view of the mounting structure of the quick-mount mechanism of the present invention;
in the figure: 1. front end connecting rod, 2, terminal bracing piece, 3, spring locking piece, 4, buckle closure, 5, button, 6, screw, 7, retaining ring, 8, knob spring, 9, round pin axle, 10, spacing groove, 11, arrangement hole, 12, draw-in groove, 13, fast-assembling spare, 14, latch.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the utility model herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the utility model and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
The embodiment provides a terminal positioning device of a puncture robot capable of being detachably connected, which can be quickly installed and is convenient for puncture operation of the puncture robot.
Specifically, the utility model provides a quick-dismounting and accurate-positioning terminal device, which comprises a front-end connecting rod 1, a terminal supporting rod 2 and a quick-mounting mechanism which are arranged in a split manner, wherein the front-end connecting rod 1 and the terminal supporting rod 2 are detachably connected through the quick-mounting mechanism; wherein the quick-assembling mechanism comprises
And the latch locking mechanism is matched with the front end connecting rod 1 and the tail end supporting rod 2, and is locked by the latch locking mechanism when the front end connecting rod 1 is connected with the tail end supporting rod 2.
This application has still designed a latch locking mechanical system, latch locking mechanical system be used for when connecting, with the front end connecting rod 1 of connecting with terminal support pole 2 locks, during release both, through latch locking mechanical system's button, press can separate front end connecting rod 1 with terminal support pole 2's connection.
The latch locking mechanism is matched with the front end connecting rod 1 and the tail end supporting rod 2, and is locked by the latch locking mechanism when the front end connecting rod 1 is connected with the tail end supporting rod 2.
As shown in attached drawings 1 and 2, the front end connecting rod 1 and the tail end supporting rod 2 are connected through the quick-mounting mechanism, the detachable connection is achieved, the front end connecting rod can be flexibly replaced on the premise that the device is not integrally detached, and therefore when a puncture robot is actually adopted for operation, only the front end connecting rod needs to be disinfected and replaced after one puncture operation is finished, the tail end supporting rod can be fixed at the tail end of the mechanical arm, additional disinfection and replacement are not needed, and the range and the workload which need to be disinfected are reduced.
Example 2
On the basis of example 1, as shown in FIGS. 1 and 3,
as an embodiment of the present invention, preferably, the quick-assembly mechanism further includes
The quick-mounting part 13 is fixedly arranged on one of the tail end surface of the front end connecting rod 1 and the front end surface of the tail end supporting rod 2;
the quick-mounting hole is fixedly arranged on the other of the tail end face of the front end connecting rod 1 and the front end face of the tail end supporting rod 2;
the quick-mounting piece 13 and the quick-mounting hole are respectively arranged on the tail end face of the front end connecting rod 1 and the front end face of the tail end supporting rod 2, or the quick-mounting piece 13 and the quick-mounting hole are respectively arranged on the front end face of the tail end supporting rod 2 and the tail end face of the front end connecting rod 1, as long as the quick-mounting piece 13 and the quick-mounting hole are oppositely provided with two different parts, and the front end connecting rod 1 and the tail end supporting rod 2 are in quick-mounting connection through the matching of the quick-mounting piece 13 and the quick-mounting hole;
as an embodiment of the present invention, it is preferable that the quick-assembly piece 13 is integrally and vertically formed on a front end surface of the end support rod 2, and the quick-assembly hole is formed on a tail end surface of the front end connecting rod 1.
As shown in fig. 1, in this embodiment, the quick-assembling member 13 is integrally and vertically formed on the front end surface of the terminal supporting rod 2, and the quick-assembling member 13 is a half cylindrical structure and integrally and vertically arranged on the front end surface of the terminal supporting rod 2;
the quick-mounting hole is integrally formed on the tail end face of the front end connecting rod 1;
during connection, the quick-mounting part 13 is matched and inserted into the quick-mounting hole of the front end connecting rod 1, and locking of the latch locking mechanism is waited.
As an embodiment of the present invention, preferably, the latch locking mechanism includes
The latch 14 is fixedly arranged on one of the quick-mounting part 13 and the quick-mounting hole;
the clamping groove 12 is fixedly arranged on the other of the quick assembly part 13 and the quick assembly hole;
and the locking component is matched with the latch 14 and the clamping groove 12, and after the fast assembling piece 13 is inserted into the fast assembling hole, the latch 14 is matched with the clamping groove 12 and locked by the locking component.
In this embodiment, the latch 14 is selectively disposed on the quick-assembly member 13, the engaging groove 12 is disposed on the quick-assembly hole, and the locking member is disposed on the front end connecting rod 1 for locking the latch 14.
As shown in fig. 1 and 3, the technology uses a latch locking mechanism to lock the quick-assembly member 13 and the quick-assembly hole, and needs to install a locking assembly and a button 5 on the front end connecting rod 1, and lock the quick-assembly member 13 through the locking assembly.
When the front end connecting rod 1 and the tail end supporting rod 2 need to be separated, the button 5 is pressed to release the locking assembly, so that the quick-mounting part 13 is released, and the front end connecting rod 1 and the tail end supporting rod 2 are quickly separated.
As an embodiment of the present invention, preferably, the latch locking mechanism further includes
And the mounting hole 11 is formed in the side wall of the quick-assembly hole and communicated with the quick-assembly hole, and the locking assembly is mounted in the mounting hole 11.
Specifically, as shown in fig. 1, a placing hole 11 is formed in the top of the front end connecting rod 1 of the side wall of the quick-assembly hole for placing the spring locking piece 3, wherein the placing hole 11 is communicated with the quick-assembly hole, so that the quick-assembly piece 13 can be conveniently locked by the spring locking piece 3 in the placing hole 11 after entering the quick-assembly hole;
as an embodiment of the present invention, preferably, the locking assembly comprises
The spring locking piece 3 is installed in the placing hole 11 in a matched mode through a pin shaft 9, and the latch 14 is arranged on the bottom face of the spring locking piece 3;
the spring locking piece 3 is arranged in a placing hole 11 through the pin shaft 9, and the latch 14 is matched and locked with the clamping groove 12 after the quick assembly piece 13 is inserted into the quick assembly hole;
the spring locking piece 3 can swing in the placing hole 11 around the pin shaft 9 through a lever principle, and when a button is pressed down, the button props against one side and the other side of the spring locking piece 3 and is lifted up to release a latch 14 on the spring locking piece;
the latch 14 is integrally formed on the bottom surface of the spring locking piece 3, is positioned at the right part of the spring locking piece 3, and forms a left point and a right point of a lever with the button 5 of the elastic button mechanism; when the button 5 is pressed down, the left part of the spring locking piece 3 is pressed, and the right part of the spring locking piece 3 is lifted up, so that the matching of the latch and the clamping groove can be released;
as shown in fig. 3, the locking assembly includes a resilient button mechanism by which the latch is controlled. The elastic button mechanism is engaged with the spring locking member 3 and is unlocked by the elastic button mechanism when the latch 14 and the catch groove 12 are separated. An elastic button mechanism.
As an embodiment of the present invention, it is preferable that the cross-sectional structure of the card slot 12 is a trapezoidal groove.
As shown in fig. 3, the snap groove 12 on the quick-mounting part 13 is a trapezoidal groove, when connecting, the quick-mounting part 13 of the end support rod 2 enters the quick-mounting hole, contacts with the latch 3, moves along the inclined surface of the latch 3, pushes open the latch 3, and after the end support rod 2 enters a certain depth, the latch 3 is snapped into the groove of the end support rod 2, so as to complete the limit of the end support rod 2; when the terminal supporting rod 2 needs to be detached, only the button 5 needs to be pressed, the button 5 moves downwards, and the latch 3 is jacked up through the lever principle, so that the limiting state of the terminal supporting rod 2 is relieved, the front-end connecting rod 1 can be withdrawn along the hole position, detachment is completed, and meanwhile, the latch 3 resets to the original state under the action of the knob spring 8.
In order to release the spring lock 3, as shown in fig. 1, as an embodiment of the present invention, it is preferable that the elastic button mechanism further includes a knob spring 8, a cover 4 and a button 5, the cover 4 is fixed on the top of the seating hole 11 by a screw 6, the cover 4 is used for closing the spring lock 3 in the seating hole 11, and the cover 4 is used as a support for the button 5; the latch 13 is released by pressing the button 5 of the resilient button mechanism.
In order to fix the button 5, as an embodiment of the present invention, it is preferable that the locking structure further includes a collar 7, and the collar 7 is fitted on the button 5 inside the buckle cover 4.
The top of the buckle cover 4 is provided with an opening for matching with the installation of the button 5, and the button 5 passes through the opening and is clamped by a retainer ring 7; as shown in fig. 3, the button 5 and the knob spring 8 correspond to the left and right portions of the spring locking member 3, respectively, a groove for placing the knob spring 8 is formed in the upper surface of the right portion of the spring locking member 3, the knob spring 8 is fitted between the cover 4 and the right portion of the spring locking member 3, and the button 5 is fitted on the cover 4 and the bottom thereof abuts against the left portion of the spring locking member 3.
When the tail end support rod 2 is connected, the front end of the tail end support rod 2 is contacted with the latch 3 and moves along the inclined surface of the latch 3 to jack the latch 3, and the latch 3 is clamped into the groove of the tail end support rod 2 after the tail end support rod 2 enters a certain depth to complete the limit of the tail end support rod 2;
during the separation, press button 5, button 5 downstream will block 3 jack-ups of tooth through lever principle to relieve the spacing state of terminal support pole 2, can withdraw from front end connecting rod 1 along the hole site, accomplish the dismantlement, the while latch 3 resets to the original condition under the effect of knob spring 8.
As an embodiment of the present invention, it is preferable that a limiting groove 10 is provided on a left surface of the spring locking member 3, and a bottom of the button 5 is movable in the limiting groove 10.
As shown in fig. 3, in order to avoid the occurrence of slippage and uneven stress when the bottom of the button 5 abuts against the spring locking member 3, a limiting groove 10 is formed on the left surface of the spring locking member 3, the left side of the limiting groove 10 is open, and the bottom of the button 5 moves in the limiting groove 10; when the button 5 is pressed down, the bottom of the button 5 can move along the limiting groove 10, and the situation that the button cannot be pressed normally due to limited stroke is avoided.
Example 3
A second aspect of the present invention provides a piercing robot including the quick-release and accurate-positioning tip device provided in embodiment 1 or embodiment 2.
The puncture robot adopts the detachable terminal positioning device, and the terminal positioning device is fixed at the tail end of the mechanical arm without additional disinfection and replacement, so that the disinfection range and workload are reduced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A quick-dismounting and accurate-positioning terminal device is characterized by comprising a front-end connecting rod (1), a terminal supporting rod (2) and a quick-mounting mechanism which are arranged in a split manner, wherein the front-end connecting rod (1) and the terminal supporting rod (2) are detachably connected through the quick-mounting mechanism; wherein the quick-assembling mechanism comprises
The latch locking mechanism is matched with the front end connecting rod (1) and the tail end supporting rod (2), and is locked by the latch locking mechanism when the front end connecting rod (1) is connected with the tail end supporting rod (2).
2. The quick release precision positioning end device of claim 1 wherein the quick mount mechanism further comprises
The quick-mounting part (13) is fixedly arranged on one of the tail end surface of the front end connecting rod (1) and the front end surface of the tail end supporting rod (2);
the quick-mounting hole is fixedly arranged on the other of the tail end face of the front end connecting rod (1) and the front end face of the tail end supporting rod (2);
the quick-assembly part (13) and the quick-assembly hole are connected in a matched mode through the clamping tooth locking mechanism, and the quick-assembly part (13) is locked through the clamping tooth locking mechanism after being inserted into the quick-assembly hole.
3. The quick release precision positioning tip device of claim 2, wherein the latch locking mechanism comprises
The clamping teeth (14) are fixedly arranged on one of the quick-mounting part (13) and the quick-mounting hole;
the clamping groove (12) is fixedly arranged on the other of the quick-mounting piece (13) and the quick-mounting hole;
and the locking component is matched with the latch (14) and the clamping groove (12), and after the quick assembly part (13) is inserted into the quick assembly hole, the latch (14) and the clamping groove (12) are matched and locked by the locking component.
4. A quick-release precision positioning end device according to claim 3, characterized in that the cross-sectional structure of the clamping groove (12) is a trapezoidal groove.
5. The quick release precision positioning tip device of claim 3, wherein the latch locking mechanism further comprises
And the mounting hole (11) is formed in the side wall of the quick-assembly hole and communicated with the quick-assembly hole, and the locking assembly is mounted in the mounting hole (11).
6. The quick release precision positioning tip device of claim 5, wherein the locking assembly comprises
The spring locking piece (3) is installed in the placing hole (11) in a matched mode through a pin shaft (9), and the latch (14) is arranged on the bottom face of the spring locking piece (3);
and the elastic button mechanism is matched with the spring locking piece (3) and is unlocked through the elastic button mechanism when the latch (14) is separated from the clamping groove (12).
7. Quick-release precision positioning end device according to claim 6, characterized in that the elastic button mechanism comprises a knob spring (8), a cover (4) and a button (5), the cover (4) is fixed on the top of the placement hole (11) by a screw (6), the knob spring (8) is fitted between the cover (4) and the right part of the spring lock (3), the button (5) is fitted on the cover (4) and the bottom of the button is against the left part of the spring lock (3).
8. The quick-mounting and dismounting accurate positioning terminal device according to claim 7, characterized in that a limiting groove (10) is arranged on the left surface of the spring locking piece (3), and the bottom of the button (5) moves in the limiting groove (10).
9. Quick-release precision positioning end device according to claim 8, characterized in that the latch locking mechanism further comprises a collar (7), the collar (7) fitting over a button (5) located inside the cover (4).
10. A piercing robot, characterized in that it comprises a quick-release precision positioning tip device according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121865569.6U CN215471280U (en) | 2021-08-11 | 2021-08-11 | Quick assembly disassembly accurate positioning end device and puncture robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121865569.6U CN215471280U (en) | 2021-08-11 | 2021-08-11 | Quick assembly disassembly accurate positioning end device and puncture robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215471280U true CN215471280U (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121865569.6U Active CN215471280U (en) | 2021-08-11 | 2021-08-11 | Quick assembly disassembly accurate positioning end device and puncture robot |
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| Country | Link |
|---|---|
| CN (1) | CN215471280U (en) |
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2021
- 2021-08-11 CN CN202121865569.6U patent/CN215471280U/en active Active
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