CN219763530U - reference frame - Google Patents

Abstract

The utility model belongs to the technical field of medical treatment, and discloses a reference frame which comprises a frame body, a connecting rod and a reflecting ball, wherein a connecting hole is formed in the first side of the frame body, at least the inner end of the connecting hole is a conical hole part, and at least two grooves are formed in the wall of the outer end of the connecting hole at intervals along the circumferential direction. The connecting rod is perpendicular with the support body, and the first end of connecting rod has the frustum portion, the cone angle of frustum portion is the same with the cone angle of taper hole portion, protruding being equipped with the arch with the recess adaptation on the lateral wall of connecting rod, the tip diameter of frustum portion is greater than the tip diameter of taper hole portion, when the frustum portion inserts in the taper hole portion, the arch can imbed in arbitrary recess, and the support body is connected through the screw thread fastener who wears to locate support body second side and frustum portion terminal surface with the connecting rod, the second end of connecting rod is used for being connected with the positioner of reference frame, a plurality of reflection balls can dismantle the second side of connection in the support body. The angle of the reference frame can be adjusted, so that clinical operation requirements are met, and the operation precision of the robot operation is improved.

Description

Reference frame

Technical Field

The utility model relates to the technical field of medical treatment, in particular to a reference frame.

Background

In the process of performing operation by the orthopedic robot, the operation part must be tracked and positioned and navigated in real time. The most common mode at present is optical positioning navigation, and the position of a reflecting ball on a reference frame is captured through a navigator and converted into coordinate parameters, so that real-time tracking and navigation are realized.

The reference frame must be stably fixed near the site where the surgical operation is performed during the entire course of the surgical operation performed by the robot. In the operation process, if the reference frame is not stably installed, the reference frame is easy to loosen after being acted by external force, so that the positioning reference is changed. In addition, the reference frame in the prior art is fixedly connected with the stabilizer, so that the requirement of clinically adjusting the angle of the reference frame cannot be met, the path of the robot tail end operation device is interfered, and the operation accuracy is reduced or the operation fails.

Therefore, a reference frame is needed to solve the above problems.

Disclosure of Invention

The utility model aims to provide a reference frame, the angle of which can be adjusted, so that clinical operation requirements are met, and the operation precision of a robot operation is improved.

To achieve the purpose, the utility model adopts the following technical scheme:

a reference frame, comprising:

the frame body is provided with a connecting hole at a first side, at least the inner end of the connecting hole is a conical hole part, and at least two grooves are formed in the wall of the outer end of the connecting hole at intervals along the circumferential direction;

the connecting rod is perpendicular to the frame body, the tail end of the first end of the connecting rod is provided with a frustum portion, the cone angle of the frustum portion is the same as that of the conical hole portion, the outer side wall of the connecting rod is convexly provided with a protrusion matched with the groove, the diameter of the small end of the frustum portion is larger than that of the small end of the conical hole portion, when the frustum portion is inserted into the conical hole portion, the protrusion can be embedded into any groove, the frame body is connected with the connecting rod through a threaded fastener penetrating through the second side of the frame body and the end face of the frustum portion, and the second end of the connecting rod is used for being connected with a positioning device of the reference frame;

and the reflecting balls are detachably connected to the second side of the frame body.

As an optional technical scheme of the reference frame, the connecting hole comprises a conical hole part and a cylindrical hole part which are coaxially connected, the conical hole part is positioned at the inner side of the cylindrical hole part, the aperture of the cylindrical hole part is equal to the large end aperture of the conical hole part, and the groove is arranged at the hole wall of the cylindrical hole part;

the connecting rod has with frustum portion coaxial coupling's locating part, the external diameter of locating part equals the aperture of cylinder hole portion, the locating part epirelief is equipped with the arch.

As an optional technical scheme of the reference frame, the grooves are uniformly spaced along the circumference of the connecting hole, and the protrusions are uniformly spaced along the circumference of the connecting rod;

and/or the distance between the small end face of the frustum portion and the hole bottom of the conical hole portion is L, the depth of the groove along the axial direction of the connecting hole is H, and the thickness of the protrusion along the length direction of the connecting rod is d, wherein H-d is more than L;

and/or the cone angle of the frustum portion is 3-20 degrees.

As an optional technical scheme of the reference frame, the reference frame further comprises a fastening sleeve, a fastening threaded hole is formed in the end face of the first end of the fastening sleeve, a boss is convexly arranged at the second end of the fastening sleeve along the radial direction, a mounting hole is formed in the frame body in a penetrating manner, the fastening sleeve penetrates through the mounting hole, and the boss is abutted to the first side of the frame body;

the tail part of the reflecting ball is provided with a support nail, one end of the support nail, which is far away from the reflecting ball, is screwed in the fastening threaded hole, the support nail is provided with a limiting surface facing the fastening sleeve, and the limiting surface is abutted with the second side of the frame body.

As an optional technical scheme of the reference frame, the mounting hole is a threaded hole, a fastening external thread is arranged on the outer side of the fastening sleeve, and the fastening external thread is screwed in the mounting hole.

As an alternative technical scheme of the reference frame, the screw thread rotation direction of the fastening threaded hole is opposite to the screw thread rotation direction of the fastening external thread.

As an optional technical scheme of the reference frame, the mounting hole is a unthreaded hole, the fastening sleeve is in plug-in fit with the mounting hole, and the fastening sleeve and/or the inner wall of the mounting hole is provided with an anti-rotation structure for limiting the fastening sleeve to rotate in the mounting hole.

As an optional technical scheme of the reference frame, the anti-rotation structure comprises a limiting plane cut on the outer side wall of the boss, and the limiting plane is parallel to the axis of the fastening sleeve;

the mounting hole is a step hole, the anti-rotation structure further comprises an anti-rotation convex part protruding from the hole wall of the large hole part of the step hole, the fastening sleeve is inserted into the small hole part of the step hole, and the limiting plane is in butt joint with the anti-rotation convex part.

As an optional technical scheme of the reference frame, the material densities of the fastening sleeve, the connecting rod and the support nail are all larger than that of the frame body;

and/or the hardness of the materials of the fastening sleeve, the connecting rod and the support nail is greater than that of the frame body;

and/or the mechanical strength of the fastening sleeve, the connecting rod and the support nail is greater than that of the frame body.

As an optional technical scheme of the reference frame, at least one calibration socket point in an inverted cone shape is arranged on the frame body.

The utility model has the beneficial effects that:

according to the reference frame provided by the utility model, the conical hole part and the frustum part are arranged, so that the frustum part can be tightly inserted in the conical hole part through the matching of the conical angles of the frustum part and the conical hole part, the connection stability of the connecting rod in the connecting hole is ensured, the rigidity of the connecting rod after the connecting rod is connected with the frame body is improved, and the probability of loosening or falling off of the connecting rod and the frame body is reduced; by arranging that the diameter of the small end of the frustum portion is larger than the aperture of the lower end of the conical hole portion, the end face of the frustum portion can be prevented from being abutted against the bottom of the conical hole portion, the frustum portion can be ensured to press the hole wall of the conical hole portion tightly, and the assembly precision and the assembly reliability are improved; the frame body is clamped on two sides through the threaded matching of the threaded fastener and the end face of the frustum part, so that the frame body and the connecting rod are fixed; through set up on the connecting rod with the recess assorted arch on the support body, guarantee that support body and connecting rod can not take place relative rotation after connecting the fastening, and through being provided with a plurality of recesses for protruding card goes into different recesses, with the relative installation angle of adjusting support body and connecting rod, improves operation flexibility and convenience.

Drawings

FIG. 1 is a schematic view of a reference frame according to a first embodiment of the present utility model;

FIG. 2 is an exploded view of a connecting portion of a connecting rod and a frame according to a first embodiment of the present utility model;

FIG. 3 is a cross-sectional view of a connecting portion of a connecting rod and a frame according to a first embodiment of the present utility model;

FIG. 4 is an exploded view of a portion of a reflective ball and frame according to a first embodiment of the present utility model;

FIG. 5 is a cross-sectional view of a portion of a reflective ball and frame according to a first embodiment of the present utility model;

FIG. 6 is an exploded view of a connection portion between a reflective ball and a frame according to a second embodiment of the present utility model;

FIG. 7 is a cross-sectional view of a portion of a reflective ball and frame according to a second embodiment of the present utility model;

fig. 8 is a schematic structural view of a fastening sleeve according to a second embodiment of the present utility model.

In the figure:

1. a frame body; 11. a connection hole; 111. a groove; 112. a tapered hole portion; 12. a mounting hole; 121. an anti-rotation protrusion;

2. a connecting rod; 21. a protrusion; 22. a frustum portion; 23. a positioning part;

3. a reflective ball;

4. a threaded fastener;

5. a fastening sleeve; 51. fastening the threaded hole; 52. a boss; 521. a limit plane; 53. fastening an external thread;

6. and (5) supporting nails.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

Example 1

In order to solve the problem that the reference frame is fixedly connected with the stabilizer in the prior art, and the requirement of clinically adjusting the angle of the reference frame cannot be met, as shown in fig. 1-5, the embodiment provides a reference frame.

As shown in fig. 1, the reference frame comprises a frame body 1, a connecting rod 2 and a reflective ball 3, wherein a connecting hole 11 is formed in a first side of the frame body 1, at least the inner end of the connecting hole 11 is a conical hole 112, and at least two grooves 111 are formed in the wall of the outer end of the connecting hole 11 at intervals along the circumferential direction. The connecting rod 2 is perpendicular to the frame body 1, the tail end of the first end of the connecting rod 2 is provided with a frustum portion 22, the taper angle of the frustum portion 22 is the same as that of the taper hole portion 112, the outer side wall of the connecting rod 2 is convexly provided with a protrusion 21 matched with the groove 111, the diameter of the small end of the frustum portion 22 is larger than that of the small end of the taper hole portion 112, when the frustum portion 22 is inserted into the taper hole portion 112, the protrusion 21 can be embedded into any groove 111, the frame body 1 is connected with the connecting rod 2 through a threaded fastener 4 penetrating through the second side of the frame body 1 and the end face of the frustum portion 22, and the second end of the connecting rod 2 is used for being connected with a positioning device of a reference frame. A plurality of reflective balls 3 are detachably connected to the second side of the frame body 1.

As shown in fig. 2 to 3, in the process of installing the reference frame, firstly, a user adjusts the relative angle of the frame body 1 and the connecting rod 2 according to a required angle, so that the protrusion 21 is opposite to the groove 111 to be embedded; thereafter, the frustum portion 22 of the first end of the connecting rod 2 is inserted into the tapered hole portion 112 of the frame body 1, so that the frustum portion 22 is tightly inserted into the tapered hole portion 112, and the protrusions 21 are embedded into the corresponding grooves 111; thereafter, the frame body 1 and the connection rod 2 are locked from the second side of the frame body 1 using the screw fastener 4.

That is, in the reference frame provided in this embodiment, by providing the tapered hole portion 112 and the frustum portion 22, tight insertion of the frustum portion 22 in the tapered hole portion 112 can be achieved through the taper angle cooperation of the frustum portion 22 and the tapered hole portion 112, so as to ensure connection stability of the connecting rod 2 in the connecting hole 11, improve rigidity of the connecting rod 2 after being connected with the frame body 1, and reduce probability of loosening or falling of the connecting rod 2 and the frame body 1; by arranging the diameter of the small end of the frustum portion 22 to be larger than the aperture of the lower end of the conical hole portion 112, the abutting of the end face of the frustum portion 22 with the bottom of the conical hole portion 112 can be avoided, the frustum portion 22 can be ensured to press against the wall of the conical hole portion 112, and the assembly precision and the assembly reliability are improved; the two sides of the frame body 1 are clamped by the threaded fastener and the threaded fit of the end face of the frustum portion 22, so that the frame body 1 and the connecting rod 2 are locked and fixed; through set up on connecting rod 2 with the recess 111 assorted protruding 21 on the support body 1, guarantee that support body 1 and connecting rod 2 can not take place relative rotation after connecting the fastening, and through being provided with a plurality of recesses 111 for protruding 21 card goes into different recesses 111, with the relative installation angle of adjusting support body 1 and connecting rod 2, improves operation flexibility and convenience.

Preferably, the connection hole 11 includes a tapered hole portion 112 and a cylindrical hole portion coaxially connected, the tapered hole portion 112 being located inside the cylindrical hole portion, the diameter of the cylindrical hole portion being equal to the large end aperture of the tapered hole portion 112, the aforementioned groove 111 being provided at the hole wall of the cylindrical hole portion. The connecting rod 2 has a positioning portion 23 coaxially connected with the frustum portion 22, the positioning portion 23 is located on one side of the frustum portion 22 toward the second end of the connecting rod 2, the outer diameter of the positioning portion 23 is equal to the diameter of the cylindrical hole portion, and the positioning portion 23 is provided with a protrusion 21. The diameters of the positioning part 23 and the cylindrical hole part are the same, so that the frustum part 22 can be inserted into the conical hole part 112 along the vertical direction, the two conical surfaces are completely abutted, and the mounting stability of the frame body 1 and the connecting rod 2 is ensured; meanwhile, the arrangement can reduce the processing difficulty of the groove 111 and the bulge 21, ensure the processing precision of the groove 111 and the bulge 21, and improve the matching reliability of the groove 111 and the bulge 21.

Still further, the grooves 111 are provided with at least two grooves along the circumferential direction of the connecting hole 11 portion at equal intervals, in this embodiment, the protrusions 21 are provided with at least two grooves along the circumferential direction of the connecting rod 2 at equal intervals, and two or more protrusions 21 are provided, so that the connecting rod 2 and the frame body 1 are positioned more stably when fixed, and the possibility of slipping deflection is reduced due to multiple stress points, so that the stability of the reference frame is improved. The number of projections 21 is preferably the same as the number of recesses 111.

The groove 111 is preferably an arc-shaped groove, and the protrusion 21 is of an arc-shaped structure matched with the groove 111, so that edges of the groove 111 and the protrusion 21 are reduced, abrasion to the connecting rod 2 and the groove wall of the groove 111 is reduced, the use reliability of the reference frame is improved, and the service life is prolonged.

When the frustum portion 22 is inserted into the tapered hole portion 112, the distance between the end surface of the frustum portion 22 and the hole bottom of the tapered hole portion 112 is L, the depth of the groove 11 in the axial direction of the connecting hole 11 is H, and the thickness of the boss 21 in the longitudinal direction of the connecting rod 2 is d, H-d > L. This arrangement can avoid the problem that the frustum portion 22 is not inserted in place when the frustum portion 22 is not inserted in place, and the protrusion 21 is abutted against the groove wall of the groove 111 on one side facing the frustum hole portion 112, so that the tightness of the insertion of the frustum portion 22 in the frustum hole portion 112 is ensured.

The taper angle of the frustum portion 22 and the taper angle of the tapered hole portion 112 are preferably 3 ° to 20 °, so that the problem of loose connection due to too small taper angle is avoided, and the problem of too short and easy slipping of the frustum portion due to too large taper angle is also avoided.

Further, a counter bore coaxial with the connecting hole 11 is provided on the second side of the frame body 1, the counter bore includes a large hole portion and a small hole portion coaxial with each other, and the small hole portion is communicated between the tapered hole portion 111 and the large hole portion. The screw rod of the threaded fastener 4 passes through the small hole part and is screwed in the threaded hole of the connecting rod 2 in a threaded manner, and the screw head of the threaded fastener 4 is positioned in the large hole part, so that the threaded fastener 4 is prevented from protruding out of the frame body 1, the probability of scraping an external structure or personnel by a reference frame is reduced, and the use safety and cleaning convenience of the reference frame are improved. The shape and the size of the large hole part are the same as those of the screw head of the fastening screw 4, so that the clearance between the screw head and the large hole part is reduced after the screw head is trapped in the large hole part, and the cleaning convenience is improved.

The material density of the connecting rod 2 is greater than that of the frame body 1; and/or the hardness of the material of the connecting rod 2 is greater than that of the material of the frame body 1; and/or the connecting rod 2 and the mechanical strength are both greater than those of the frame body 1.

As shown in fig. 4-5, the reference frame further comprises a fastening sleeve 5, a fastening threaded hole 51 is formed in the end face of the first end of the fastening sleeve 5, a boss 52 is arranged at the second end of the fastening sleeve 5 in a protruding mode along the radial direction, a mounting hole 12 is formed in the frame body 1 in a penetrating mode, the fastening sleeve 5 penetrates through the mounting hole 12, and the boss 52 is in butt joint with the first side of the frame body 1; the tail of the reflecting ball 3 is provided with a support nail 6, one end of the support nail 6 far away from the reflecting ball 3 is screwed in the fastening threaded hole 51 in a threaded mode, the support nail 6 is provided with a limiting surface facing the fastening sleeve 5, and the limiting surface is abutted with the second side of the frame body 1.

The support nails 6 are in threaded fit with the fastening threaded holes 51 at the first end of the fastening sleeve 5, and the fastening sleeve 5 and the support nails 6 are respectively abutted against the frame body 1 at two sides of the frame body 1, so that the reflection ball 3 can be detachably connected; meanwhile, as the fastening sleeve 5 and the frame body 1 are arranged in a separated mode, after a period of use, fastening threads in the first end of the fastening sleeve 5 are worn, so that when the installation of the reflecting ball 3 is loosened, compared with the mode of directly connecting the support nail 6 with the frame body 1 in a threaded mode, a user can continuously keep the stable installation of the reflecting ball 3 by replacing the fastening sleeve 5, the frame body 1 does not need to be replaced, the connection tightness of a reference frame is reduced, the installation reliability of the reflecting ball 3 on the frame body 1 is ensured, and the probability of loosening and falling of the reflecting ball 3 is reduced.

Preferably, the material density of the fastening sleeve 5 is greater than that of the frame body 1, and/or the material hardness of the fastening sleeve 5 is greater than that of the frame body 1, and/or the mechanical strength of the fastening sleeve 5 is greater than that of the frame body 1, so that the problem that the connection part of the support nail 6 and the frame body 1 is easy to break due to the fact that the material density of the frame body 1 is small, the hardness is small or the mechanical strength is weak can be further avoided, the local structural strength of the reference frame at the installation part of the reflective ball 3 is enhanced, and the connection reliability of the reflective ball is improved.

Further, the material density of the stand-off nails 6 is greater than that of the frame body 1, and/or the material hardness of the stand-off nails 6 is greater than that of the frame body 1, and/or the mechanical strength of the stand-off nails 6 is greater than that of the frame body 1. The materials of the support pin 6 and the frame 1 can be selected according to the prior art, which is not the focus of the present utility model and will not be described again.

In this embodiment, the mounting hole 12 is a threaded hole, the fastening external thread 53 is provided on the outer side of the fastening sleeve 5, and the locking external thread 53 is screwed with the internal thread of the mounting hole 12, so that the fastening sleeve 5 and the frame body 1 after being mounted cannot rotate relatively, and the problem that the positioning accuracy is affected due to the rotation of the reflecting ball 3 on the frame body 1 can be avoided.

Furthermore, the screwing direction of the fastening threaded hole 51 is opposite to that of the fastening external thread 53, and by the arrangement, a user can be guaranteed to screw the fastening external thread 53 of the fastening sleeve 5 into the mounting hole 12 in the direction close to the frame body 1 when screwing the support nail 6 into the fastening threaded hole 51, the limiting surface of the support nail 6 and the boss 52 of the fastening sleeve 5 clamp the frame body 1 more tightly, so that the mounting is more stable, the condition that the reflector ball 3 cannot be loosened in the use process is guaranteed, and the positioning accuracy is prevented from being influenced.

The second end face of the fastening sleeve 5 is provided with a knife slot which is in a shape like a Chinese character 'Ying' or a shape like a Chinese character 'cross' and is convenient to screw the fastening sleeve 5 by using a screwdriver, and the screwing convenience of the fastening sleeve 5 is improved.

The limiting grooves communicated with the mounting holes 12 are formed in the two opposite sides of the frame body 1, the boss 52 is partially located in the limiting groove on the corresponding side and is in butt joint with the groove bottom of the limiting groove, and the limiting surface of the support nail 6 is in butt joint with the groove bottom of the limiting groove on the corresponding side, so that the structures of the fastening sleeve 5 and the support nail 6 exposed out of the frame body 1 can be reduced, the structural compactness of the reference frame is improved, and the positioning of the positions of the fastening sleeve 5 and the support nail 6 for clamping the frame body 1 is realized.

Be provided with at least one and be the calibration nest point of back taper form on the support body 1, in the use, use probe contact to mark the bottom of nest point to judge whether the reference frame takes place skew and specific offset parameter, proofread the reflection of light ball 3 position on the reference frame from this, guarantee positioning accuracy.

Example two

The present embodiment provides a reference frame, and the structure of the reference frame provided in the present embodiment is the same as that of the first embodiment, and only the arrangement of the fastening sleeve 5 and the mounting hole 12 is changed, so that the description of the same contents as the first embodiment will not be repeated.

As shown in fig. 6-8, the mounting hole 12 of the frame body 1 in this embodiment is a light hole, the fastening sleeve 5 is in plug-in fit with the mounting hole 12, and the fastening sleeve 5 and the inner wall of the mounting hole 12 are provided with anti-rotation structures for limiting the fastening sleeve 5 to rotate in the mounting hole 12. By such arrangement, the reflection ball 3 can be prevented from rotating on the frame body 1, thereby causing a problem of affecting positioning accuracy.

Further, the anti-rotation structure comprises a limiting plane 521 cut on the outer side wall of the boss 52, and the limiting plane 521 is parallel to the axis of the fastening sleeve 5; the mounting hole 12 is a step hole, the anti-rotation structure further comprises an anti-rotation convex part 121 protruding from the hole wall of the large hole part of the step hole, the fastening sleeve 5 is inserted into the small hole part of the step hole, and the limiting plane 521 is abutted to the anti-rotation convex part 121.

When the fastening sleeve 5 is inserted into the mounting hole 12, the limiting plane 521 is abutted with the anti-rotation convex part 121 in the mounting hole 12, so that the fastening sleeve 5 cannot rotate in the mounting hole 12, and when the support nail 6 is screwed into the fastening threaded hole 51 of the fastening sleeve 5, the reflective ball 3 is prevented from rotating relative to the bracket, and the reflective ball 3 is prevented from falling off due to looseness.

The spacing plane 521 is preferably provided with at least two spacing planes uniformly along the circumferential direction of the fastening sleeve 5, so as to ensure the rotation stopping effect, and the rotation preventing protrusions 121 are arranged in one-to-one correspondence with the spacing planes 521.

It will be appreciated that in this embodiment, the large hole portion of the stepped hole forms a limit groove on the first side of the frame body 1, and the second side of the frame body 1 is provided with another limit groove which is communicated with the mounting hole 12.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the utility model. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. A reference frame, comprising:

the novel connecting device comprises a frame body (1), wherein a connecting hole (11) is formed in the first side of the frame body (1), at least the inner end of the connecting hole (11) is a conical hole part (112), and at least two grooves (111) are formed in the wall of the outer end of the connecting hole (11) at intervals along the circumferential direction;

the connecting rod (2) is perpendicular to the frame body (1), the tail end of the first end of the connecting rod (2) is provided with a frustum portion (22), the taper angle of the frustum portion (22) is the same as that of the taper hole portion (112), a protrusion (21) matched with the groove (111) is convexly arranged on the outer side wall of the connecting rod (2), the diameter of the small end of the frustum portion (22) is larger than that of the taper hole portion (112), when the frustum portion (22) is inserted into the taper hole portion (112), the protrusion (21) can be embedded into any groove (111), the frame body (1) is connected with the connecting rod (2) through a threaded fastener (4) penetrating through the second side of the frame body (1) and the end face of the frustum portion (22), and the second end of the connecting rod (2) is used for being connected with a positioning device of the reference frame;

and the reflecting balls (3) are detachably connected to the second side of the frame body (1).

2. The reference frame according to claim 1, wherein the connecting hole (11) comprises a conical hole portion (112) and a cylindrical hole portion coaxially connected, the conical hole portion (112) being located inside the cylindrical hole portion, the bore diameter of the cylindrical hole portion being equal to the large end bore diameter of the conical hole portion (112), the groove (111) being provided at the bore wall of the cylindrical hole portion;

the connecting rod (2) is provided with a positioning part (23) coaxially connected with the frustum part (22), the outer diameter of the positioning part (23) is equal to the aperture of the cylindrical hole part, and the positioning part (23) is convexly provided with the bulge (21).

3. The reference frame according to claim 1, characterized in that said grooves (111) are provided with at least two at regular intervals along the circumference of said connecting hole (11), and said protrusions (21) are provided with at least two at regular intervals along the circumference of said connecting rod (2);

and/or the distance between the small end surface of the frustum portion (22) and the hole bottom of the conical hole portion (112) is L, the depth of the groove (111) along the axial direction of the connecting hole (11) is H, and the thickness of the bulge (21) along the length direction of the connecting rod (2) is d, wherein H-d is more than L;

and/or the cone angle of the frustum portion (22) is 3-20 degrees.

4. A reference frame according to any one of claims 1-3, further comprising a fastening sleeve (5), wherein a fastening threaded hole (51) is formed in the end face of the first end of the fastening sleeve (5), a boss (52) is radially protruding from the second end of the fastening sleeve (5), a mounting hole (12) is formed through the frame body (1), the fastening sleeve (5) passes through the mounting hole (12), and the boss (52) abuts against the first side of the frame body (1);

the tail of the reflecting ball (3) is provided with a support nail (6), one end of the reflecting ball (3) is far away from the support nail (6) and is screwed into the fastening threaded hole (51), the support nail (6) is provided with a limiting surface facing the fastening sleeve (5), and the limiting surface is abutted to the second side of the frame body (1).

5. The reference frame according to claim 4, characterized in that the mounting hole (12) is a threaded hole, a fastening external thread (53) is arranged outside the fastening sleeve (5), and the fastening external thread (53) is screwed into the mounting hole (12).

6. The reference frame according to claim 5, characterized in that the threading of the fastening screw hole (51) is counter-rotating to the threading of the fastening external thread (53).

7. The reference frame according to claim 4, characterized in that the mounting hole (12) is a light hole, the fastening sleeve (5) is in plug-in fit with the mounting hole (12), and the fastening sleeve (5) and/or the inner wall of the mounting hole (12) are provided with anti-rotation structures for limiting the fastening sleeve (5) to rotate in the mounting hole (12).

8. The frame according to claim 7, characterized in that said anti-rotation structure comprises a limit plane (521) cut on the outer lateral wall of said boss (52), said limit plane (521) being parallel to the axis of said tightening sleeve (5);

the mounting hole (12) is a step hole, the anti-rotation structure further comprises an anti-rotation protruding portion (121) protruding from the hole wall of the large hole of the step hole, the fastening sleeve (5) is inserted into the small hole of the step hole, and the limiting plane (521) is abutted to the anti-rotation protruding portion (121).

9. The reference frame according to claim 4, characterized in that the material density of the fastening sleeve (5), the connecting rod (2) and the support pin (6) is greater than the material density of the frame body (1);

and/or the hardness of the materials of the fastening sleeve (5), the connecting rod (2) and the support nail (6) is greater than that of the frame body (1);

and/or the mechanical strength of the fastening sleeve (5), the connecting rod (2) and the support nail (6) is greater than that of the frame body (1).

10. A reference frame according to any one of claims 1-3, characterized in that the frame body (1) is provided with at least one calibrated socket point in the shape of an inverted cone.