CN116439837B - Quick connection device and method for mechanical arm tail end application module - Google Patents
Quick connection device and method for mechanical arm tail end application module Download PDFInfo
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- CN116439837B CN116439837B CN202310722720.8A CN202310722720A CN116439837B CN 116439837 B CN116439837 B CN 116439837B CN 202310722720 A CN202310722720 A CN 202310722720A CN 116439837 B CN116439837 B CN 116439837B
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- mechanical arm
- end application
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000009471 action Effects 0.000 claims abstract description 17
- 230000002265 prevention Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000005802 health problem Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention provides a quick connecting device and a quick connecting method for an end application module of a mechanical arm. According to the device provided by the invention, through the threaded fit of the sliding block and the locking piece, the wedge-shaped inclined plane fit of the sliding block and the adapter realizes the fixation of the application module at the tail end of the mechanical arm; the screw thread looseness prevention of the sliding block is realized through the pretightening force action of the looseness prevention spring; through the protruding structure of anticreep spare, the recess structure of adaptor and the effect of the pretightning force of anticreep spring, realize the anticreep protection of the terminal application module of arm and install and dismantle fast. In addition, the device provided by the invention has the advantages of simple structure, convenience in operation and secondary anti-falling structure.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a device and a method for quickly connecting an application module at the tail end of a mechanical arm.
Background
As people's attention to their health problems continues to increase, the need for robotic assisted surgery in certain settings is increasing. The surgical robot needs the cooperation of the mechanical arm and the surgical end instrument to be used in the use process to help doctors to finish the surgery, however, most surgical instruments cannot be directly assembled at the tail end of the mechanical arm and corresponding adapter fittings are needed to be used in a cooperation mode.
Therefore, there is a need for a quick connection device that enables quick installation and removal of the manipulator end of a surgical robot from the manipulator end application module.
Disclosure of Invention
The invention aims to solve the defects of the prior art described in the background art, and provides a device and a method for quickly connecting an end application module of a mechanical arm.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme: the quick connecting device comprises a mechanical arm, an end application module and a connecting component for connecting and fixing the mechanical arm and the end application module, wherein the connecting component comprises an end application module fixing bolt, an adapter, an end fixing piece bolt, a locking piece, a sliding block, a locking spring, a limiting piece, an anti-falling spring and an anti-falling piece;
the end fixing piece is fixed on the mechanical arm through the end fixing piece bolt, and the end application module is fixed with the adapter through the end application module fixing bolt;
the adaptor is matched with the wedge-shaped inclined plane of the adaptor through the threaded matching of the locking piece and the sliding block, the pretightening force action of the anti-loosening spring, the wedge-shaped inclined plane matching of the sliding block and the adaptor, and the matching of the limiting piece, the anti-loosening spring and the anti-loosening piece is used for fixing the terminal fixing piece, so that the mechanical arm is quickly connected with the terminal application module.
Further, a round hole is formed in the tail end fixing piece, a cylindrical structure is arranged at one end of the anti-falling piece, and the cylindrical structure is used for being matched with the round hole in the tail end fixing piece.
Further, a hole groove is formed in the bottom of the anti-falling piece, one end of the anti-falling spring is limited in the hole groove of the anti-falling piece, the other end of the anti-falling spring abuts against the inner structure of the tail end fixing piece, and the anti-falling piece abuts against the inside of the tail end fixing piece under the action of the anti-falling spring.
Further, through holes are formed in the side faces of the tail end fixing pieces, limit grooves and threaded holes are formed in the middle of the sliding block, the locking pieces penetrate through the through holes of the tail end fixing pieces and are matched with the sliding block through threads, the locking springs are installed between the locking pieces and the sliding block, one ends of the locking springs are abutted to the locking pieces, the other ends of the locking springs are limited in the limit grooves of the sliding block, and the locking springs are compressed and then provided with pretightening force to support the sliding block, so that the sliding block threads are prevented from loosening.
Further, the locking member passes through the through hole of the terminal fixing member and is fixed with the limiting member, so that the locking member is prevented from falling out along the direction of the through hole of the terminal fixing member, and the limiting member can rotate together with the locking member.
Further, protruding structures are further arranged on two sides of the sliding block, a first wedge-shaped inclined plane is arranged on the protruding structures, and a second wedge-shaped inclined plane matched with the first wedge-shaped inclined plane of the sliding block is arranged on the adapter piece relative to the direction of the sliding block.
Further, the side surface of the anti-falling piece is provided with a protruding structure, the protruding structure is provided with a first guiding surface, and the adapter piece is provided with a second guiding surface and a groove matched with the protruding structure.
In a second aspect, the present invention further provides a method for quickly connecting end application modules of a mechanical arm, including the following steps:
step 1: fixing the tail end fixing piece on the mechanical arm through the tail end fixing piece bolt, and fixing the tail end application module with the adapter through the tail end application module fixing bolt;
step 2: under the action of the second guide surface of the adapter, the first guide surface of the anti-falling piece and the anti-falling spring, the protruding structure of the anti-falling piece is clamped into the groove of the adapter, and at the moment, the terminal application module completes primary fixation and cannot fall off from the mechanical arm;
step 3: after the end application module is initially fixed, the locking piece is screwed tightly, the sliding block slides towards the direction of the limiting piece, the first wedge-shaped inclined surface of the sliding block is clamped into the second wedge-shaped inclined surface opposite to the first wedge-shaped inclined surface on the adapter piece, and finally the locking piece is clamped, so that the purpose of fixing the end application module is achieved, the locking spring is tightly propped against the sliding block, the threaded fit of the sliding block and the locking piece is not easy to loosen, and the quick connection of the mechanical arm end application module is realized;
step 4: when the mechanical arm tail end application module is required to be disassembled, only the locking piece is required to be unscrewed, so that the first wedge-shaped inclined surface of the sliding block exits from the second wedge-shaped inclined surface opposite to the first wedge-shaped inclined surface on the adapter piece, the cylindrical structure of the anti-falling piece is pressed, under the action of the anti-falling spring, the protruding structure of the anti-falling piece is tripped from the groove of the adapter piece, and the tail end application module can be disassembled quickly.
The invention provides a quick connecting device and a quick connecting method for an application module at the tail end of a mechanical arm, wherein the device realizes the fixation of the application module at the tail end of the mechanical arm through a wedge-shaped inclined plane matching structure of a sliding block and a locking piece through the threaded matching of the sliding block and the locking piece, and realizes the threaded looseness prevention of the sliding block through the pretightening force of a looseness prevention spring; through the protruding structure of anticreep spare, the recess structure of adaptor and the effect of the pretightning force of anticreep spring, realize the anticreep protection of the terminal application module of arm and install and dismantle fast. In addition, the quick connecting device for the mechanical arm tail end application module is simple in structure, convenient to operate and has a secondary anti-falling structure.
Drawings
Features, advantages, and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a quick connection device for an end application module of a mechanical arm according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating connection between a terminal fixture and a mechanical arm according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating connection between an end application module and an adapter according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating connection between an anti-release member and an end fixing member according to an embodiment of the present invention;
FIG. 5 is a schematic view of an anti-disengagement member according to an embodiment of the present invention;
FIG. 6 is a schematic view of the internal structure of an end fitting according to an embodiment of the present invention;
FIG. 7 is a schematic view of a slider provided by an embodiment of the present invention;
FIG. 8 is a schematic cross-sectional view of an end fitting through-hole according to an embodiment of the present invention;
FIG. 9 is a schematic view of a screw-on locking member provided in an embodiment of the present invention when an adaptor is not installed;
FIG. 10 is a schematic view of an adapter at an angle according to an embodiment of the present invention;
FIG. 11 is a schematic view of an adapter at another angle provided by an embodiment of the present invention;
FIG. 12 is a cross-sectional view of an adapter, end mount and end application module connection provided by an embodiment of the present invention;
FIG. 13 is an enlarged schematic view of the connection of the adapter and the anti-drop member according to the embodiment of the present invention;
FIG. 14 is a schematic view of an embodiment of the invention after the adaptor is installed and the locking member is not tightened;
FIG. 15 is a schematic view of a process for tightening a locking member after installing an adapter according to an embodiment of the present invention;
description of the drawings: 1. a mechanical arm; 2. a module fixing bolt is applied to the tail end; 3. an adapter; 4. a terminal fixing member; 5. a terminal anchor bolt; 6. a locking member; 7. a slide block; 8. a locking spring; 9. a limiting piece; 10. an anti-drop spring; 11. an anti-falling member; 12. an end application module;
301. a second wedge-shaped inclined surface; 302. a second guide surface; 303. a groove; 401. a round hole; 701. a limit groove; 702 threaded holes; 703. a first wedge-shaped inclined surface; 1101. a cylindrical structure; 1102. a hole groove; 1103. a protruding structure; 1104. a first guide surface.
Detailed Description
Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the present disclosure and not limiting. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by showing examples of the present disclosure.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
In this context, it should also be noted that the terms "mounted," "connected," and "assembled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or defined otherwise; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
For a better understanding of the present invention, embodiments of the present invention are described in detail below with reference to the drawings.
Fig. 1 is a schematic diagram of a quick connection device for an end application module of a mechanical arm according to an embodiment of the present invention.
As shown in fig. 1, the invention provides a quick connection device for an end application module of a mechanical arm, which comprises a mechanical arm 1, an end application module 12 and a connection part for connecting and fixing the mechanical arm 1 and the end application module 12, wherein the connection part comprises an end application module fixing bolt 2, an adapter 3, an end fixing piece 4, an end fixing piece bolt 5, a locking piece 6, a sliding block 7, a locking spring 8, a limiting piece 9, a locking spring 10 and a locking piece 11.
As shown in fig. 2, the end fixing member 4 is fixed to the robot arm 1 by the end fixing member bolt 5.
As shown in fig. 3, the end application module 12 is fixed to the adapter 3 by the end application module fixing bolt 2;
the adaptor 3 is fixed with the tail end fixing piece 4 through the threaded fit of the locking piece 6 and the sliding block 7, the pretightening force action of the anti-loose spring 8, the wedge-shaped inclined plane fit of the sliding block 7 and the adaptor 3, and the fit of the limiting piece 9, the anti-loose spring 10 and the anti-loose piece 11, so that the mechanical arm 1 and the tail end application module 12 are quickly connected.
As shown in fig. 4, the end fixing member 4 is provided with a circular hole 401, one end of the anti-falling member 11 is provided with a cylindrical structure 1101, and the cylindrical structure 1101 is used for being matched with the circular hole 401 on the end fixing member 4.
As shown in fig. 5, the bottom of the anti-falling member 11 is provided with a hole 1102, one end of the anti-falling spring 10 is limited in the hole 1102 of the anti-falling member, the other end of the anti-falling spring abuts against the inner structure of the terminal fixing member 4, and the anti-falling member 11 abuts against the inside of the terminal fixing member 4 under the action of the anti-falling spring 10.
As shown in fig. 6, the side surface of the end fixing member 4 is provided with a through hole.
As shown in fig. 7, a limiting groove 701 and a threaded hole 702 are provided in the middle of the slider 7.
As shown in fig. 6 and 8, the locking member 6 is engaged with the slider 7 through a through hole of the end fixing member 4 by threads, the locking spring 8 is mounted between the locking member 6 and the slider 7, one end of the locking spring abuts against the locking member 6, the other end of the locking spring is limited in a limiting groove 701 of the slider, and the locking spring 8 is compressed and then has a pretightening force to abut against the slider 7, so that the thread release of the slider 7 is prevented.
Further, the locking member 6 is fixed to the limiting member 9 through the through hole of the end fixing member 4, so as to prevent the locking member 6 from being separated along the direction of the through hole of the end fixing member 4, and the limiting member 9 can rotate together with the locking member 6.
As shown in fig. 9, the locking member 6 is screwed in the direction C, the slider 7 slides in the direction a under the action of the through hole of the end fixing member and the screw engagement, and the release preventing member 11 can be automatically reset after being pressed in the direction B under the action of the release preventing spring 10.
As shown in fig. 7, protruding structures are further disposed on two sides of the slider 7, and a first wedge-shaped inclined plane 703 is disposed on the protruding structures, and as shown in fig. 10, the adaptor 3 has a second wedge-shaped inclined plane 301 that matches the first wedge-shaped inclined plane 703 of the slider 7 with respect to the direction of the slider 7.
As shown in fig. 5, the side surface of the anti-falling member 11 has a protruding structure 1103, the protruding structure 1103 is provided with a first guiding surface 1104, as shown in fig. 11, and the adaptor 3 has a second guiding surface 302 and a groove 303 matched with the protruding structure 1103.
In a second aspect, the present invention further provides a method for quickly connecting end application modules of a mechanical arm, including the following steps:
step 1: as shown in fig. 2 and 3, the end fixing member 4 is fixed to the mechanical arm 1 by the end fixing member bolt 5, and the end application module 12 is fixed to the adapter 3 by the end application module fixing bolt 2;
step 2: as shown in fig. 12 and 13, under the action of the second guiding surface 302 of the adaptor, the first guiding surface 1104 of the anti-drop member, and the anti-drop spring 10, the protrusion structure 1103 of the anti-drop member is snapped into the groove 303 of the adaptor, and at this time, the end application module 12 completes initial fixation and does not drop from the mechanical arm 1;
step 3: as shown in fig. 14 and 15, after the end application module 12 is initially fixed, the locking member 6 is screwed in the C direction, the sliding block 7 slides in the a direction, the first wedge-shaped inclined surface 703 of the sliding block is clamped into the second wedge-shaped inclined surface 301 opposite to the first wedge-shaped inclined surface 703 of the adapting piece 3, and finally clamped, so that the purpose of fixing the end application module 12 is achieved, and the locking spring 8 pushes against the sliding block 7, so that the threaded fit between the sliding block 7 and the locking member 6 is not easy to loosen, and the quick connection of the mechanical arm end application module is realized;
step 4: when the mechanical arm end application module needs to be disassembled, only the locking piece 6 needs to be reversely unscrewed, so that the first wedge-shaped inclined plane 703 of the sliding block withdraws from the second wedge-shaped inclined plane 301 opposite to the first wedge-shaped inclined plane 703 on the adapter 3, and presses the cylindrical structure 1101 of the anti-falling piece, under the action of the anti-falling spring 10, the protruding structure 1103 of the anti-falling piece is tripped from the groove 303 of the adapter, and the end application module 12 can be disassembled quickly.
The invention provides a quick connecting device and a quick connecting method for an application module at the tail end of a mechanical arm, wherein the device realizes the fixation of the application module at the tail end of the mechanical arm through a wedge-shaped inclined plane matching structure of a sliding block and a locking piece through the threaded matching of the sliding block and the locking piece, and realizes the threaded looseness prevention of the sliding block through the pretightening force of a looseness prevention spring; through the protruding structure of anticreep spare, the recess structure of adaptor and the effect of the pretightning force of anticreep spring, realize the anticreep protection of the terminal application module of arm and install and dismantle fast. In addition, the quick connecting device for the mechanical arm tail end application module is simple in structure, convenient to operate and has a secondary anti-falling structure.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (6)
1. The quick connecting device for the mechanical arm end application module comprises a mechanical arm (1), an end application module (12) and a connecting part for connecting and fixing the mechanical arm (1) and the end application module (12), and is characterized in that the connecting part comprises an end application module fixing bolt (2), an adapter (3), an end fixing piece (4), an end fixing piece bolt (5), a locking piece (6), a sliding block (7), an anti-loosening spring (8), a limiting piece (9), an anti-loosening spring (10) and an anti-loosening piece (11);
the end fixing piece (4) is fixed on the mechanical arm (1) through the end fixing piece bolt (5), and the end application module (12) is fixed with the adapter piece (3) through the end application module fixing bolt (2);
the adapter (3) is matched with the end fixing piece (4) through threads of the locking piece (6) and the sliding block (7), the pretightening force of the anti-loosening spring (8), wedge-shaped inclined planes of the sliding block (7) and the adapter (3), and the limiting piece (9), the anti-loosening spring (10) and the anti-loosening piece (11) are matched, so that the mechanical arm (1) and the end application module (12) are quickly connected;
the side of the tail end fixing piece (4) is provided with a through hole, the middle of the sliding block (7) is provided with a limit groove (701) and a threaded hole (702), the locking piece (6) penetrates through the through hole of the tail end fixing piece (4) and is matched with the sliding block (7) through threads, the locking spring (8) is installed between the locking piece (6) and the sliding block (7), one end of the locking spring is abutted against the locking piece (6), the other end of the locking spring is limited in the limit groove (701) of the sliding block, and the locking spring (8) is compressed and then provided with a pretightening force to prop against the sliding block (7), so that the sliding block (7) is prevented from loosening through threads;
the locking piece (6) passes through the through hole of the tail end fixing piece (4) and is fixed with the limiting piece (9), so that the locking piece (6) is prevented from falling out along the direction of the through hole of the tail end fixing piece (4), and the limiting piece (9) can rotate along with the locking piece (6).
2. The quick connecting device for the mechanical arm tail end application module according to claim 1, wherein a round hole (401) is formed in the tail end fixing piece (4), a cylindrical structure (1101) is arranged at one end of the anti-falling piece (11), and the cylindrical structure (1101) is used for being matched with the round hole (401) in the tail end fixing piece (4).
3. The quick connecting device for the mechanical arm tail end application module according to claim 1, wherein a hole groove (1102) is formed in the bottom of the anti-falling piece (11), one end of the anti-falling spring (10) is limited in the hole groove (1102) of the anti-falling piece, the other end of the anti-falling spring is abutted to the inner structure of the tail end fixing piece (4), and the anti-falling piece (11) is abutted to the inner part of the tail end fixing piece (4) under the action of the anti-falling spring (10).
4. The quick connection device for the end application module of the mechanical arm according to claim 1, wherein protruding structures are further arranged on two sides of the sliding block (7), first wedge-shaped inclined planes (703) are arranged on the protruding structures, and the adapter (3) is provided with second wedge-shaped inclined planes (301) matched with the first wedge-shaped inclined planes (703) of the sliding block (7) relative to the direction of the sliding block (7).
5. The quick connection device for the end application module of the mechanical arm according to claim 1, wherein the side surface of the anti-falling piece (11) is provided with a protruding structure (1103), the protruding structure (1103) is provided with a first guiding surface (1104), and the adapter piece (3) is provided with a second guiding surface (302) and a groove (303) matched with the protruding structure (1103).
6. A method for quickly connecting end application modules of a mechanical arm, based on the device for quickly connecting end application modules of a mechanical arm according to any one of claims 1 to 5, characterized by comprising the following steps:
step 1: fixing the tail end fixing piece (4) on the mechanical arm (1) through the tail end fixing piece bolt (5), and fixing the tail end application module (12) with the adapter piece (3) through the tail end application module fixing bolt (2);
step 2: under the action of the second guide surface (302) of the adapter, the first guide surface (1104) of the anti-falling member and the anti-falling spring (10), the protruding structure (1103) of the anti-falling member is clamped into the groove (303) of the adapter, and at the moment, the end application module (12) completes initial fixation and cannot fall off from the mechanical arm (1);
step 3: after the end application module (12) is initially fixed, the locking piece (6) is screwed, the sliding block (7) slides towards the direction of the limiting piece (9), the first wedge-shaped inclined surface (703) of the sliding block is clamped into the second wedge-shaped inclined surface (301) opposite to the first wedge-shaped inclined surface on the adapter piece (3), and finally clamped, the purpose of fixing the end application module (12) is achieved, the locking spring (8) tightly pushes the sliding block (7), so that the threaded fit of the sliding block (7) and the locking piece (6) is not easy to loosen, and the quick connection of the mechanical arm end application module is realized;
step 4: when the mechanical arm tail end application module is required to be disassembled, only the locking piece (6) is required to be unscrewed, so that the first wedge-shaped inclined surface (703) of the sliding block is withdrawn from the second wedge-shaped inclined surface (301) opposite to the first wedge-shaped inclined surface on the adapter piece (3), the cylindrical structure (1101) of the anti-falling piece is pressed, under the action of the anti-falling spring (10), the protruding structure (1103) of the anti-falling piece is tripped from the inside of the groove (303) of the adapter piece, and the tail end application module (12) can be disassembled quickly.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310722720.8A CN116439837B (en) | 2023-06-19 | 2023-06-19 | Quick connection device and method for mechanical arm tail end application module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310722720.8A CN116439837B (en) | 2023-06-19 | 2023-06-19 | Quick connection device and method for mechanical arm tail end application module |
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| CN116439837B true CN116439837B (en) | 2023-09-29 |
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| CN114711967A (en) * | 2022-03-23 | 2022-07-08 | 杭州键嘉机器人有限公司 | Quick one-way installation connecting device |
| CN217186425U (en) * | 2022-05-06 | 2022-08-16 | 无锡艾米特智能医疗科技有限公司 | Mechanical arm end connecting device for medical instrument |
| CN115737128A (en) * | 2022-12-12 | 2023-03-07 | 上海微创医疗机器人（集团）股份有限公司 | Quick change device and surgical robot |
| CN115946144A (en) * | 2023-01-04 | 2023-04-11 | 艾博智能科技(山东)有限公司 | Mechanical arm tail end clamp |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116439837A (en) | 2023-07-18 |
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