CN116725682A

CN116725682A - Connecting device and surgical robot

Info

Publication number: CN116725682A
Application number: CN202211084958.4A
Authority: CN
Inventors: 张春; 李卫; 张钊; 王超
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2023-09-12

Abstract

The present disclosure relates to a connection device for connecting a first device and a second device, comprising: the device comprises a first connecting piece, a second connecting piece and a locking piece, wherein one end of the first connecting piece is used for connecting a first device, and the other end of the first connecting piece is provided with a receiving part and a first limiting part; one end of the second connecting piece is used for connecting the second device, the other end of the second connecting piece is sleeved on the receiving part from the outside, the second connecting piece is provided with a second limiting part, and the first limiting part and the second limiting part are mutually abutted to limit the sleeving depth in the process of sleeving the second connecting piece on the receiving part; the locking piece is movably arranged on the second connecting piece and is configured to press the first connecting piece and the second connecting piece when moving relative to the second connecting piece so as to press between the first limiting part and the second limiting part. Through the setting of first connecting piece, second connecting piece and retaining member, make the connection of first device and second device more convenient.

Description

Connecting device and surgical robot

Technical Field

The present disclosure relates to the field of medical devices, and in particular, to a connection device and a surgical robot.

Background

In robotic-assisted surgery, the end of a robotic arm is connected to an actuator carrying a surgical tool, the robotic arm being movable autonomously or under the pushing of a doctor to move the surgical tool to a target position. In surgery, the end effector is rigidly connected to the end arm of the robotic arm and the connection needs to be stable and reliable. On the one hand, the stable and reliable rigid connection of the end effector to the robotic arm ensures that the robotic arm is able to move or position the surgical tool to the target position with greater accuracy. On the other hand, based on reliable and stable rigid connection, when the surgical tool cuts bone tissues with hard textures, the connection between the end effector and the robot arm is not easy to loose due to vibration, and the cutting precision of the surgical tool is ensured to a certain extent.

In conventional robotic systems, the end effector is typically secured to the end of the robotic arm by means of screw tightening, which is ensured by the pretension of the screw. The fastening mode needs to manually apply enough external force to the screw to generate preset pretightening force, so that the operation is laborious; in addition, a sufficiently long thread engagement section ensures that a sufficient amount of thread shares the preload, and therefore requires a large number of turns of the drive screw as the screw is tightened. If the number of screws is large, the tightening process is time-consuming.

Disclosure of Invention

The present disclosure aims to provide a new fastening means, which makes possible a time-saving and labor-saving operation.

A first aspect of the present disclosure provides a connecting device, including a first connecting member, a second connecting member, and a locking member, where one end of the first connecting member is used for connecting to the first device, and the other end has a receiving portion and a first limiting portion; one end of the second connecting piece is used for connecting the second device, the other end of the second connecting piece is sleeved on the receiving part from the outside, the second connecting piece is provided with a second limiting part, and the first limiting part and the second limiting part are mutually abutted to limit the sleeving depth in the process of sleeving the second connecting piece on the receiving part; the locking piece is movably arranged on the second connecting piece and is configured to press the first connecting piece and the second connecting piece when moving relative to the second connecting piece so as to press between the first limiting part and the second limiting part.

In a first possible embodiment, the locking member is configured to: the locking piece is transversely sleeved to the sleeving direction of the first connecting piece relative to the moving direction of the second connecting piece.

In combination with the above possible embodiments, in a second possible embodiment, the locking member and the second connecting member are configured to: the locking member is radially movable relative to the second connector member and is capable of compressing the first connector member and the second connector member when the locking member is moved in the radial direction.

In combination with the above possible embodiments, in a third possible embodiment, a through hole leading to the receiving portion is provided on a wall surface of the second connecting member, and the locking member is located in the through hole and can abut against the receiving portion when the second connecting member is sleeved with the first connecting member.

In combination with the above possible embodiments, in a fourth possible embodiment, the receiving portion of the first connecting member is provided with a locking surface for receiving the pressing of the locking member.

In combination with the above possible embodiments, in a fifth possible embodiment, the orientation of the locking surface is identical to the direction of the second connector when the second connector is fitted to the receiving portion.

In combination with the foregoing possible embodiment, in a sixth possible embodiment, the locking surface is an inclined surface for converting the pressing of the locking member into the axial force with which the first and second limiting portions are pressed.

In combination with the foregoing possible embodiments, in a seventh possible embodiment, the locking members are balls, and the plurality of locking members are distributed along the circumferential direction of the second connecting member.

In combination with the foregoing possible embodiment, in an eighth possible embodiment, the device further includes a force application assembly, where the force application assembly is movably disposed on the second connecting member, and the force application assembly can drive the locking member to press the first connecting member when moving relative to the second connecting member.

In combination with the foregoing possible embodiment, in a ninth possible embodiment, a force fixing member is provided in the force application assembly, and the force fixing member is used to make constant a force with which the force application assembly drives the locking member to press the first connecting member.

In combination with the foregoing possible embodiment, in a tenth possible embodiment, a locking force adjusting mechanism is provided in the force applying assembly, and the locking force adjusting mechanism is configured to change the amount of force applied by the force applying assembly to the locking member when the state is changed.

In combination with the foregoing possible embodiment, in an eleventh possible embodiment, the urging assembly includes a sleeve, and an inner wall surface of the sleeve is at least partially inclined for urging the locking member when the sleeve moves axially.

In combination with the above possible embodiments, in a twelfth possible embodiment, the force application assembly further includes a nut screwing mechanism including a nut member and a screw groove, the nut member being configured to be movable along the screw groove and to push the sleeve to move axially when moved.

In combination with the foregoing possible embodiment, in a thirteenth possible embodiment, the first elastic member is further included, and the first elastic member is disposed between the nut member and the sleeve.

In combination with the above possible embodiments, in a fourteenth possible embodiment, a locking force adjusting mechanism is provided between the nut member and the first elastic member or between the sleeve and the first elastic member, the locking force adjusting mechanism being configured to adjust a predetermined compression stroke of the first elastic member.

In combination with the foregoing possible embodiment, in a fifteenth possible embodiment, the device further includes a second elastic member, where the second elastic member is disposed on a side of the sleeve facing away from the first elastic member.

In combination with the above possible embodiments, in a sixteenth possible embodiment, the force application assembly further includes a cam pushing structure including a cam and a handle member, the cam pushing structure being configured such that the cam pushes the sleeve axially to move when the handle member is rotated.

In combination with the foregoing possible embodiment, in a seventeenth possible embodiment, the sleeve is screwed with the second connecting member, and when the sleeve is screwed into the second connecting member, the inclined surface of the inner wall surface of the sleeve applies a force to the locking member.

A second aspect of the present disclosure proposes a connection device for a robot for connecting an end effector to an end arm of a robot arm, including a first connection member, a second connection member, and a locking member, one end of the first connection member being for connecting to the end arm of the robot arm, the other end having a receiving portion and a first limiting portion; one end of the second connecting piece is used for connecting the end effector, the other end of the second connecting piece is sleeved on the receiving part from the outside, the second connecting piece is provided with a second limiting part, and the first limiting part and the second limiting part are abutted against each other to limit the sleeving depth in the process of sleeving the second connecting piece on the receiving part; the locking piece is movably arranged on the second connecting piece and is configured to press the first connecting piece and the second connecting piece when moving relative to the second connecting piece so as to press between the first limiting part and the second limiting part.

A third aspect of the present disclosure provides a surgical robot comprising an end effector for mounting a surgical tool, a robotic arm, and a connecting device; the robotic arm is used to hold the end effector to position or move it; the connection means is the connection means of the first or second aspect for connecting an end effector to an end arm of a robotic arm.

In the connecting device according to the first aspect of the present disclosure, the locking member is movably disposed on the second connecting member, and the locking member is configured to press the first connecting member when moving relative to the second connecting member, so as to press between the first limiting portion and the second limiting portion. The locking member can generate enough stress to press the first connecting member only by a small moving stroke after contacting with the first connecting member, so that more operations are not needed to drive the locking member to act.

Drawings

FIG. 1 is a schematic view of a surgical robotic system of an embodiment of the present disclosure;

FIG. 2 is a schematic view of an end effector of an embodiment of the present disclosure coupled to a robotic arm by a coupling device;

FIG. 3 is a schematic view of the external structure of a connecting device according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of the internal structure of a connection device according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of the external configuration of a second connector and force application assembly according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of the internal structure of a second connector and force application assembly according to an embodiment of the present disclosure;

FIG. 7 is a schematic view illustrating a contact position of a locking member with a first connecting member and a second connecting member according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a second connector structure according to an embodiment of the present disclosure;

FIG. 9 is an exploded view of a connection device of an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a lock nut of an embodiment of the present disclosure;

FIG. 11 is a schematic view of a guide of an embodiment of the present disclosure;

FIG. 12 is a perspective view of a sleeve structure according to an embodiment of the present disclosure;

FIG. 13 is a cross-sectional view of a bushing structure according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of a locking force adjustment mechanism according to an embodiment of the present disclosure;

FIG. 15 is a second schematic structural view of a locking force adjustment mechanism according to an embodiment of the present disclosure;

FIG. 16 is a schematic view of another force application assembly according to an embodiment of the present disclosure;

fig. 17 is a schematic structural view of another force application assembly according to an embodiment of the present disclosure.

Reference numerals: 1-a robotic arm, 11-a terminal arm;

2-trolley, 3-surgical tool, 4-end effector, 5-connecting device;

51-first connecting piece, A-first connecting end, B-first locking end, 511-receiving part, 5111-annular groove, locking surface-5111 a, 512-first limiting part, 5121-locating pin;

52-second connecting pieces, C-second connecting ends, D-second locking ends, 521-second limiting parts, 5211-positioning holes, 522-containing grooves and 523-mounting holes;

53-locking member, P1-first point, P2-second point, P3-third point;

54-force application components, 541-shaft sleeves, 5411-first barrel sections, 5412-second barrel sections, 5413-spacing spaces, 5421-locking nuts, 5422-guide members, 543-rotary grooves, a-first lead sections, b-second lead sections, c-third lead sections, d-fourth lead sections, 544-first elastic members, 545-second elastic members, 546-locking force adjustment mechanisms, 5461-inner rings, 5462-outer rings, 547-thrust bearings;

55-force application component, 551-shaft sleeve, 551-cam handle, 5511-cam, 553-movable disk;

o, Q-virtual apex, W-arrow, α, β -tilt angle, M, N-squeeze force, F-lock force, F0-push force.

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 an element.

It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.

Reference is made to fig. 1 and 2. Fig. 1 is a schematic view of a surgical robotic system. Fig. 2 is a schematic view of an end effector coupled to a robotic arm by a coupling device. The robot system mainly includes a robot arm 1, a carriage 2, and an end effector 4 on which a surgical tool 3 is mounted, and a connection device 5. The robot arm 1 corresponds to a doctor's arm, and is positioned or moved by gripping the surgical tool 3 by the end effector 4. The carriage 2 serves as a base of the robot arm 1, and is internally provided with a driver and a power unit for driving the robot arm 1 to move. The surgical tool 3 may be a guide, a bone drill, a bone saw, a rasp, a milling cutter, etc. that performs a predetermined action. The end effector 4 is detachably connected to the end arm 11 of the robotic arm 1 by means of the connection means 5, and the end effector 4 provides power for the surgical tool 3 to perform a predetermined action. The connecting device 5 is used as an adapter for connecting the end effector 4 and the end arm 11 of the robot arm 1, so that the end effector 4 can be conveniently assembled and disassembled, and the operation preparation time is saved. With the assistance of the surgical robot, a doctor can precisely control the movement of the surgical tool 3 to complete operations such as osteotomy, drilling, cutting or grinding.

Reference is made to fig. 3, 4 and 9. Fig. 3 is a schematic view of the external structure of the connection device 5. Fig. 4 is a schematic view of the internal structure of the connection device 5. Fig. 9 is an exploded view of the connecting device 5. The connecting device 5 comprises a first connecting piece 51, a second connecting piece 52, a locking piece 53 and a force application component 54 which are connected in an inserted mode.

The first connecting member 51 has a substantially cylindrical shape, and has a first connecting end a and a first locking end B at two axial ends thereof. The first connection end a is for fixed connection with the end arm 11 of the robot arm 1. The first locking end B includes a receiving portion 511, a first limiting portion 512, and a locking surface 5111a. The receiving portion 511 is shaft-shaped and is located at a first side of the first locking end B. The first limiting portion 512 is a flange protruding radially from the receiving portion 511, and is located on a second side of the first locking end B, where the second side and the first side are opposite sides of the first locking end B. The outer surface of the receiving portion 511 is circumferentially opened with a ring groove 5111 having an inverted trapezoidal cross section, and the width of the ring groove 5111 is gradually reduced in the radial direction of the first coupling member 51. The tapered surface of the second side of the ring groove 5111 near the first locking end B is a locking surface 5111a. In fig. 4, the direction of the connection line between the conical surface and the virtual vertex O is directed to the first connection end a. That is, the locking surface 5111a is inclined as compared with the cylindrical surface, and the locking surface 5111a is disposed facing the end surface of the first stopper 512 (the end surface on the right side of the first stopper in the drawing).

As shown in fig. 4 and 8, fig. 8 is a schematic structural view of the second connecting member 52. The second connecting piece 52 is a cylindrical sleeve, and two axial ends thereof are a second connecting end C and a second locking end D respectively. The second connecting end C is a flange connecting end which is used for being fixedly connected with the end effector 4. The second locking end D has a second limiting portion 521, and the second limiting portion 521 is an end surface of the first side of the second locking end D. The second connecting member 52 is provided with an annular receiving groove 522 at the outer circumference of the second locking end D side, and the receiving groove 522 is opened toward the second connecting end C. The outer circumference of the second locking end D is circumferentially and uniformly provided with a plurality of mounting holes 523. The mounting hole 523 is a circular through hole, and one end of the mounting hole 523, which is close to the axis of the second connecting piece 52, is provided with a check ring, and the diameter of the check ring is smaller than that of the circular through hole.

The locking members 53 are balls and are plural in number. A plurality of locking members 53 are positioned in the mounting holes 523 and at least a portion of the balls may pass through the inner wall of the second coupling member 52.

With continued reference to fig. 4, when the first connecting member 51 is connected to the second connecting member 52, the first locking end B is opposite to and plugged into the second locking end D. The receiving part 511 enters the second locking end D, and the outer circumferential surface of the receiving part 511 is attached to the inner circumferential surface of the second locking end D; the first connecting end A and the second connecting end C are away from each other. The receiving portion 511 and the second locking end D are axially inserted until the first limiting portion 512 and the second limiting portion 521 are in contact, and the locking member 53 is substantially aligned with the locking surface 5111a. For convenience of description, the direction of arrow W in the above-defined drawing is the positive direction of the axial direction, and the opposite direction of the axial direction is opposite to the direction of arrow W. When the first and second connection members 51 and 52 are connected, the locking member 53, the locking surface 5111a, the first limiting portion 512, and the second limiting portion 521 lock the first and second connection members 51 and 52. The locking member 53 moves radially of the second link 52 under force, and a portion of the locking member 53 (the locking member shown being on the side closer to the axis of the second link) passes through the inner wall of the second link 52 to press against the locking surface 5111a. When the locking member 53 receives the above-described force for radially moving it, the locking member 53 applies a force perpendicular to the locking surface 5111a. The locking member 53 receives a force such that the locking member 53 presses the sidewall of the mounting hole 523, thereby driving the second connection member 52 to press the first connection member 51, i.e., such that the second limiting portion 521 presses the first limiting portion 512. The component of the force perpendicular to the locking surface 5111a in the radial direction causes internal stress to be generated between the first connecting piece 51 and the second connecting piece 52 in the radial direction, and corresponding internal stress is generated on the contact surface of the two shaft holes. When the first connecting member 51 has a tendency to rotate relative to the second connecting member 52, the static friction force caused by the internal stress and the static friction force between the first limiting portion 512 and the second limiting portion 521 will prevent the first connecting member 51 from rotating relative to the second connecting member 52. In summary, the locking member 53 moves radially under force to press the first coupling member 51, locking the first coupling member 51 and the second coupling member 52 axially, radially and circumferentially.

In the present embodiment, the first limiting portion 512 is further provided with a positioning pin 5121, and the second limiting portion 521 is provided with a positioning hole 5211. When the first connecting member 51 is inserted into the second connecting member 52, the positioning pin 5121 is inserted into the positioning hole 5211. By the cooperation of the positioning pin 5121 and the positioning hole 5211, not only the end effector 4 can be connected with the end arm 11 of the robot arm 1 in the correct circumferential posture, but also the circumferential locking effect when the first connecting piece 51 and the second connecting piece 52 are locked is further ensured. In an alternative embodiment, the positioning pin 5121 and the positioning hole 5211 can be exchanged, that is, the positioning hole 5211 is provided at the first limiting portion 512 and the positioning pin 5121 is provided at the second limiting portion 521. In alternative embodiments, the engagement of the locating pin 5121 with the locating aperture 5211 can be replaced by a keyed connection.

In this embodiment, the second connecting member 52 is provided with a force application component 54, where the force application component 54 is used to apply force to the locking member 53, and the locking member 53 moves radially under the force to press the first connecting member 51 so as to compress the first limiting portion 512 and the second limiting portion 521.

In particular, reference is made to fig. 4 to 6. Fig. 5 is a schematic structural view of the second connecting member and the force application assembly. FIG. 6 is a schematic view of the internal structure of the second connector and the force application assembly. The biasing assembly 54 includes a sleeve 541, a nut-driving mechanism, a first elastic member 544, a second elastic member 545, a locking force adjusting mechanism 546, and a thrust bearing 547. Fig. 12 and 13 are combined. Fig. 12 is a perspective view of a sleeve structure. Fig. 13 is a cross-sectional view of a sleeve structure. The sleeve 541 is substantially a rotating body, and includes a first barrel section 5411 and a second barrel section 5412 having different radii, the first barrel section 5411 having a radius greater than the second barrel section 5412 and being spaced apart from each other by a distance. The inner and outer circumferential surfaces of the first barrel section 5411 are cylindrical surfaces. The outer circumferential surface of the second cylinder section 5412 is a cylindrical surface, and the inner circumferential surface is a conical surface, that is, the inner circumferential surface is an inclined surface compared with the cylindrical surface. The inner peripheral surface of the second barrel section is for urging the locking member 53 when the boss 541 is pushed axially. The inner circumferential surface of the second cylinder section 5412 is inclined in the opposite direction to the locking surface 5111a. In fig. 4, a line connecting the tapered surface of the inner circumferential surface of the second cylinder section 5412 and the virtual apex Q thereof is directed to the second connection end C. The inner peripheral surface of the first cylinder section 5411 and the outer peripheral surface of the second cylinder section 5412 form a space 5413.

The nut screwing mechanism comprises a nut piece and a rotary groove 543, and the nut piece rotates along the rotary groove 543 to push the shaft sleeve 541 to axially move. The nut member includes a lock nut 5421 and a guide 5422. Reference is made to fig. 10 and 11. Fig. 10 is a schematic view of a nut member. Fig. 11 is a schematic view of a guide. The lock nut 5421 is annular. The guide members 5422 protrude from the inner ring of the lock nut 5421 in the radial direction of the lock nut 5421, and the number of the guide members 5422 is two and symmetrically disposed at the inner circumference of the lock nut 5421. In this embodiment, the guide member 5422 is a guide wheel assembly, and the guide wheel assembly includes a shaft fixed to the inner ring of the lock nut 5421 and a guide wheel sleeved at the end of the shaft for matching with the rotating groove 543, where the guide wheel is rotationally connected with the shaft. The number of the rotating grooves 543 is two, and the rotating grooves are arranged on the peripheral surface of the second connecting piece 52 and are positioned between the second connecting end C and the second locking end D. And, a second connector as shown in fig. 8. The spiral groove 543 includes four segments, namely a first lead segment a, a second lead segment b, a third lead segment c and a fourth lead segment d in this order. The front three-section lead is a lift of a clockwise spiral, and based on the lift, the direction of an axial increment generated by the clockwise spiral of the front three-section lead is a direction (axial opposite direction) that the second connecting end C points to the second locking end D, namely, the front three-section lead is gradually close to the second locking end D in the spiral process. And the leads of the first lead section a, the second lead section b and the third lead section c decrease in order. The fourth lead section d is a clockwise spiral step-down, and based on the step-down, the axial increment generated by the clockwise spiral of the fourth lead section d is in the opposite direction to the axial increment in the lift range.

As shown in fig. 4 and 9. The first elastic member 544 and the second elastic member 545 are both springs. Wherein the first elastic member 544 serves as a constant force member for making the force applied to the locking member 53 by the force application assembly 54 constant.

The locking force adjustment mechanism 546 is an annular assembly of adjustable axial thickness for adjusting the predetermined compression stroke of the first resilient member 544 as the axial thickness thereof changes to adjust the amount of force applied by the force applying assembly 54 to the locking member 53. Referring to fig. 14 and 15, fig. 14 and 15 are schematic structural views of the locking force adjusting mechanism. In this embodiment, the locking force adjustment mechanism 546 includes an inner ring 5461 and an outer ring 5462. The inner circumferential surface of the inner ring 5461 is provided with a circumferential positioning surface for fixing the inner ring 5461 and the connected member (the connected member in this embodiment is the second connecting member 52) circumferentially. The outer circumferential surface of the inner ring 5461 and the inner circumferential surface of the outer ring 5462 are provided with threads. The outer ring 5462 is screwed with the inner ring 5461, and the axial thickness of the locking force adjusting mechanism 546 is adjusted by adjusting the screwing depth of the inner ring 5461 and the outer ring 5462.

Thrust bearing 547 serves to reduce internal resistance of biasing assembly 54.

With continued reference to fig. 4, the force application assembly 54 is sleeved outside the second connector 52. The lock nut 5421 of the force application assembly 54 is disposed at the position of the rotating groove 543, and the guide wheel of the guide wheel assembly is disposed in the rotating groove 543. The lock nut 5421 is provided with a thrust bearing 547, a first elastic member 544 of the locking force adjusting mechanism 546, a shaft sleeve 541 and a second elastic member 545 in sequence on a side close to the second locking end D, and the above components are all sleeved outside the second connecting member 52.

One side of the thrust bearing 547 abuts against the lock nut 5421, and the other end abuts against the side surface of the inner ring 5461. The inner ring 5461 of the locking force adjusting mechanism 546 is circumferentially fixed to the second connector 52 by a circumferential locating surface. The first elastic member 544 is a disc spring, one end of which abuts against the outer ring 5462 of the locking force adjusting mechanism 546, and the other end of which abuts against the boss 541. The first cylinder section 5411 of the sleeve 541 is partially inserted into the accommodating groove 522, and the outer circumferential surface of the first cylinder portion is fitted with a wall surface of the accommodating groove 522 having a large radius, so that the sleeve 541 can be axially moved by the guiding action of the wall surface of the accommodating groove 522 when pushed by the first elastic member 544. The second elastic member 545 is provided between the boss 541 and the accommodation groove 522, and has one end abutting against the bottom surface of the accommodation groove 522 and the other end abutting against the bottom surface of the space 5413. When the force application assembly 54 is assembled to the second connector 52, the bushing 541 is located generally above the retaining member 53.

The connection principle of the connection device 5 will be described in detail below with reference to the connection device 5 integrally formed by the first connection member 51, the second connection member 52, the locking member 53, and the urging member 54.

Before the end effector 4 is connected to the end arm 11 of the robot arm 1, the first connection end a of the first connection member 51 is fixed to the end arm 11, the second connection end C of the second connection member 52 is fixedly connected to the end effector 4, and the first locking end B and the second locking end D are in a state of being separated from each other.

When the end effector 4 is installed, the first locking end B and the second locking end D are placed in a substantially aligned position. With the positioning pin 5121 and the positioning hole 5211 as positioning references, the end effector 4 is moved to insert the positioning pin 5121 into the positioning hole 5211, and the second locking end D is inserted outside the first locking end B until the first limiting portion 512 is in contact with the second limiting portion 521. At this time, the lock nut 5421 is held by hand and the lock nut 5421 is rotated in the clockwise direction. During rotation of the lock nut 5421, the guide wheel of the guide wheel assembly rolls along the side wall of the rotary groove 543 and axially feeds the lock nut 5421 in a direction approaching the second locking end D (leftward direction in fig. 4), that is, axially feeds the lock nut 5421 in an opposite axial direction.

The lock nut 5421 pushes the bushing 541 (in the leftward direction in fig. 4) to axially move, i.e., the bushing 541 is axially fed in the opposite axial direction, by the thrust bearing 547, the locking force adjusting mechanism 546, and the first elastic member 544. Referring to fig. 7, fig. 7 is a schematic view illustrating a contact position of the locking member with the first connecting member and the second connecting member. During the axial movement of the sleeve 541, the inner circumferential surface of the second barrel section 5412 presses the locking member 53 at the first point P1 on the top of the locking member 53. The locking member 53 moves in the radial direction under the restriction of the mounting hole 523, the second point P2 at the bottom of the locking member 53 presses the locking surface 5111a, and the third point P3 at the side of the locking member 53 axially presses the wall surface of the mounting hole 523. During the pressing of the locking member 53 against the locking surface 5111a by the second point P2, a first axial force is generated on the first connecting member 51, and the direction of the first axial force is directed in the positive axial direction. In the process of pressing the wall surface of the mounting hole 523 by the third point P3, the second axial force is generated to the second connecting member 52 in the direction opposite to the axial direction. The first and second axial forces in opposite directions axially compress the first and second limiting portions 512 and 521.

In this way, the first connection member 51 and the second connection member 52 are axially fixedly connected by the pressing of the locking member 53 against the locking surface 5111a and the pressing of the first limiting portion 512 and the second limiting portion 521. In addition, the pressing force of the locking member 53 against the locking surface 5111a and the pressing force of the first and second limiting portions 512 and 521 cause the first and second connection members 51 and 52 to generate static friction forces at two places, respectively, which prevent the tendency when the first and second connection members have a tendency to rotate relative to each other, thereby achieving circumferential fixation of the first and second connection members 51 and 52. Of course, in the presence of the positioning pin 5121 and the positioning hole 5211, the positioning pin 5121 and the positioning hole 5211 circumferentially fix the first and second connection pieces 51 and 52 in a more rigid manner. The outer peripheral surface of the receiving portion 511 of the first connector 51 and the inner peripheral surface of the second connector 52 are fitted to each other to form a shaft hole, and the force component of the pressing force of the locking member 53 against the locking surface 5111a in the radial direction radially fixes the first connector 51 and the second connector 52. The axial, circumferential and radial fixing of the first and second connection elements 51, 52 by the connection of the connection device 5 thus far results in a stable and reliable locking of the end effector 4 to the end arm 11 of the robot arm 1.

It is easy to understand that since the spiral groove 543 has four consecutive steps in which the first lead step a, the second lead step b and the third lead step c are a lift and the leads are gradually reduced, the fourth lead step d is a falling step. The rotation of the lock nut 5421 continuously presses the lock member 53 against the elastic force of the first elastic member 544 and the second elastic member 545 during the sliding of the guide wheel assembly from the first lead section a to the third lead section c in the rotation groove 543. The amount of compression of the first elastic member 544 and the second elastic member 545 gradually increases, and the torque required to rotate the lock nut 5421 also continuously increases. The first elastic member 544 and the second elastic member 545 feedback the same resistance to the nut 5421 when the nut 5421 is axially fed the same distance in three lead segments where the lead is continuously decreasing by rotating the nut 5421 at a relatively uniform speed. The feedback force is not suddenly increased when the operator rotates the lock nut 5421 at a constant speed, so that the lock nut 5421 is difficult to continuously screw in, and smooth hand feeling during operation is ensured. And the descending setting of the fourth lead section d ensures that the guide wheel assembly cannot automatically retract into the first three lead sections after entering the fourth lead section d. When the nut is screwed into the fourth lead section d, the shaft sleeve 541 presses the locking member 53 so that the state in which the first limiting portion 512 and the second limiting portion 521 are compressed is not automatically released, and the connecting device 5 reliably and stably locks the first connecting member 51 and the second connecting member 52.

In this embodiment, the inclination angle α of the locking surface 5111a with respect to the axial forward direction is 45 degrees, and the inclination angle β of the tapered surface of the inner surface of the second barrel section 5412 in the boss 541 with respect to the axial reverse direction is 15 degrees. With continued reference to fig. 7, the axial direction receives a thrust force F0 when the setting boss 541 is pushed. At a first point P1 where the tapered surface of the second barrel section 5412 contacts the lock 53, the boss 541 applies a pressing force N perpendicular to the tapered surface to the lock 53. Under the action of the pressing force N, the locking member 53 generates a pressing force M pressing the locking surface 5111a at the second point P2, and generates a locking force F pressing the mounting hole 523 at the third point P3 in the opposite axial direction, where the locking force F is an axial force, and the magnitude of the locking force is a locking force that axially presses the first limiting portion 512 and the second limiting portion 521. The magnitudes of the three extrusion forces have a corresponding relationship, namely N=F0/sin 15 degrees; f=nx+mx=n×sin15° +n×cos15° 4.7F0. Wherein Nx is the axial component of the extrusion force N; mx is the axial component of the pressing force M. In this way, the locking force that finally compresses the first limiting portion 512 and the second limiting portion 521 is about 4.7 times of the initial force F0, that is, the structure of the locking member 53, the locking surface 5111a and the sleeve 541 has a reinforcing function, and the locking between the first connecting member 51 and the second connecting member 52 can be achieved by applying a smaller force to the sleeve 541 through the lock nut 5421.

In the biasing member 54, the stroke of the movement of the lock nut 5421 in the positive axial direction is fixed during the process of the lock nut 5421 reaching the end of the fourth lead section d along the first lead section a of the rotational groove 543. The amount of compression of both the first resilient member 544 and the second resilient member 545 at the completion of the fixed stroke is fixed. The force F0 and thus the locking force F exerted by the first elastic member 544 on the bushing 541 is also constant, i.e. the first elastic member 544 acts as a setting member to keep the locking force between the first and second connection members 51, 52 constant. The second elastic member 545 plays a restoring role for rebounding upon counterclockwise rotation of the lock nut 5421 to assist in restoring the boss 541 in the axial forward direction.

The locking force F can be adjusted by a locking force adjustment mechanism 546 provided in the force application assembly 54. The magnitude relation between the locking force F and the initial force F0 applied to the bushing 541 is combined: f is approximately equal to 4.7F0, and the locking force F can be adjusted by changing the size of F0. The initial force F0 is applied to the sleeve 541 by the first elastic member 544, and is the magnitude of the force that the first elastic member 544 generates by the product of the predetermined compression x and the elastic coefficient k, i.e., f0=kx. Further, the relationship between the locking force and the compression of the first resilient member 544 can be derived: f≡4.7kx. Therefore, the magnitude of the locking force can be adjusted by adjusting the compression x of the first elastic member 544. And the compression amount of the first elastic member 544 includes a precompression amount x1 of the first elastic member 544 and a stroke of the lock nut 5421 from the first lead section a to the fourth lead section d within the rotary groove 543 versus a stroke compression amount x2 of the first elastic member 544. The stroke compression amount x2 is an amount by which the lock nut 5421 is fed in the opposite axial direction, and is a fixed amount.

The magnitude of the locking force F can be adjusted by varying the amount x1 of precompression of the first resilient member 544. The specific principle is as follows: the space between the bottom of the accommodation groove 522 and the spin groove 543 is a set space of the urging member 54, and the axial length thereof is fixed. The degree of rotation of the inner and outer rings 5461, 5462 of the locking force adjustment mechanism 546 may vary the overall thickness of the locking force adjustment mechanism 546, thereby varying the amount of precompression of the first resilient member 544. For example, when it is desired that the locking force F be greater, the thickness of the locking force adjustment mechanism 546 may be increased, the pre-compression amount x1 of the first resilient member 544 may be increased, and the travel of the lock nut 5421 through one stroke may continue to compress the first resilient member 544 to produce the stroke compression amount x2. Thus, the first elastic member 544 is more compressed, and thus the initial force F0 transmitted to the bushing 541 is increased, and the final locking force is also increased. Conversely, reducing the thickness of the locking force adjustment mechanism 546 may reduce the amount of locking force F.

In an alternative embodiment, locking force adjustment mechanism 546 is a plurality of washers that can be increased or decreased in number. Thus, increasing the number of shims increases the amount x1 of pre-compression of the spring, which in turn increases the locking force F. Conversely, reducing the number of shims may reduce the amount of locking force. The specific principle is the same as that of adjusting the locking force F by adjusting the screwing degree of the inner ring 5461 and the outer ring 5462, and will not be described here.

In an alternative embodiment, thrust bearing 547 may be replaced with any structure that reduces circumferential rotational friction, such as a wear pad made of a material having a low coefficient of friction (e.g., polytetrafluoroethylene, polyetheretherketone, polyoxymethylene, copper alloy, powder metallurgy, etc.). The intention is to enable the lock nut 5421 to rotate smoothly during pushing of the sleeve 541.

In an alternative embodiment, force application assembly 54 is a bushing 541. The sleeve 541 is screwed to the second coupling member 52, and the sleeve 541 is rotatable relative to the second coupling member 52, so that the sleeve 541 can be moved in the forward or reverse direction in the axial direction. When the shaft sleeve 541 moves in the opposite axial direction, the tapered surface of the inner circumferential surface of the second cylinder section 5412 presses the locking member 53, and the locking member 53 further presses the locking surface 5111a of the first connecting member 51, so that the first limiting portion 512 and the second limiting portion 521 are pressed tightly, and the end effector 4 is rigidly connected to the robot arm 1. And by the rotation of the shaft sleeve 541, easy dismounting of the first device and the second device can be achieved.

In an alternative embodiment, referring to fig. 16 and 17, fig. 16 and 17 are schematic structural views of another force application assembly. The force application assembly 55 includes a sleeve 551 and a cam assembly for urging the sleeve 551 to move axially. The cam assembly includes a cam handle 551 and a movable plate 553. The cam handle 551 is hinged to the second link 52, and the movable plate 553 is fitted over the second link 52, with one side (right side in the drawing) contacting the cam 5511 of the cam handle 551 and the other side (left side in the drawing) being fixed to the boss 541. When the cam handle 551 is pulled, the movable plate 553 moves in the axial direction by the cam 5511. When the movable plate 553 moves in the opposite axial direction, the pushing sleeve 541 presses the locking piece 53, and the locking piece 53 presses the first coupling piece 51. And the first limiting part 512 and the second limiting part 521 are pressed tightly, so that the connection of the first connecting piece 51 and the second connecting piece 52 is realized, the control of the cam handle 551 is convenient, and the quick assembly and disassembly of the first device and the second device can be realized by simple pulling action.

In an alternative embodiment, the force application assembly 54 may not be provided, and the locking member 53 is a screw, and the wall of the mounting hole 523 is provided with threads. The screw may press the locking surface 5111a of the first coupling member 51 at the tip thereof when moving in the radial direction of the mounting hole 523 with respect to the second coupling member. The reaction force generated by the extrusion drives the screw to drive the second connecting piece to abut against the first limiting part 512, so that the second limiting part 521 presses the first limiting part 512. In this way, the first and second links 51 and 52 fix the end effector 4 to the distal end of the robot arm 1 by pressing contact of the screw with the locking surface 5111a, and pressing of the first and second stopper portions 512 and 521.

In an alternative embodiment, the first and second stoppers 512 and 521 may be provided at other positions. For example, a flange is provided in the inner hole of the second connecting member 52 as an axial limit structure (second limit portion). Correspondingly, the end surface of the first locking end B of the first connecting piece 51 forms a first limiting portion. When the second connector 52 is connected to the first connector 51, the end face of the first locking end B may abut against the flange to limit the insertion depth. When the locking member 53 presses the first connecting member 51, the reaction force causes the end surface of the first locking end B to further press the flange.

In an alternative embodiment, the locking force adjustment mechanism 546 may not be provided. I.e., the force application assembly 54 will have a fixed set value of locking force, the magnitude of which is not adjustable. The locking force of this fixed magnitude also makes it possible to achieve a fixed connection of the first device and the second device.

In an alternative embodiment, the locking force may be controlled only by moving the bushing 541 a distance without providing the force fixing member (the first elastic member 544). The more the boss 541 moves in the opposite direction in the radial direction, the greater the pressing of the boss 541 against the locking member 53, the greater the force with which the locking member 53 presses the first coupling member 51 and the locking force F. Whereas the smaller the locking force.

In an alternative embodiment, the first device and the second device may be other structures requiring a rigid fixed connection than the end effector 4 and the robotic arm 1. For example, the first device may be a binocular vision camera for identifying the position of the tracer in the navigation system, and the second device may be a stand for supporting the binocular vision camera.

On the other hand, a surgical robot is proposed, with continued reference to fig. 1 and 2, the surgical robot comprising an end effector 4, a robot arm 1 and a connecting device 5, the end effector 4 being for mounting a surgical tool 3; the robotic arm 1 is used to hold the end effector 4 for positioning or movement; the connection means 5 is the connection means 5 of the previous embodiment for connecting the end effector 4 to the end arm 11 of the robotic arm 1. Thus, when the doctor is assisted by the surgical robot, the end effector 4 can be conveniently mounted or dismounted with the end arm 11 of the robot arm 1 by the arrangement of the connecting device 5, so that the operation preparation time is saved.

While the disclosure has been described in detail with respect to the general description and the specific embodiments thereof, it will be apparent to those skilled in the art that certain modifications and improvements may be made thereto based on the present application. Accordingly, such modifications or improvements may be made without departing from the spirit of the disclosure and are intended to be within the scope of the disclosure as claimed.

Claims

1. A connection device for connecting a first device and a second device, comprising:

one end of the first connecting piece is used for connecting the first device, and the other end of the first connecting piece is provided with a receiving part and a first limiting part;

the second connecting piece is provided with a second limiting part, the first limiting part and the second limiting part are configured to abut against each other to limit the sleeving depth in the process of sleeving the second connecting piece to the receiving part;

the locking piece is movably arranged on the second connecting piece and is configured to press the first connecting piece and the second connecting piece when moving relative to the second connecting piece so as to press the first limiting part and the second limiting part.

2. The connection device of claim 1, wherein the locking member is configured to: the moving direction of the locking piece relative to the second connecting piece is transverse to the sleeving direction of the second connecting piece sleeved to the first connecting piece.

3. The connection device of claim 1, wherein the locking member and the second connection member are configured to: the locking member is radially movable relative to the second connector and is capable of compressing the first connector and the second connector when the locking member moves in the radial direction.

4. A connection device according to claim 3, wherein the wall of the second connector is provided with a through hole leading to the receiving portion, and the locking member is located in the through hole and is adapted to abut against the receiving portion when the second connector is sleeved with the first connector.

5. The connection device of claim 1, wherein the receiving portion of the first connector is provided with a locking surface for receiving compression of the locking member.

6. The connection device of claim 5, wherein the locking surface is oriented in a direction that is consistent with a nesting direction of the second connector when nested into the receiver.

7. The connection device of claim 5, wherein the locking surface is a ramp for converting compression of the locking member into an axial force of compression of the first and second stop portions.

8. The connection device of claim 1, wherein the locking member is a ball, and a plurality of the locking members are circumferentially distributed along the second connection member.

9. The connection device of claim 1, further comprising a force application assembly movably disposed on the second connector, the force application assembly driving the locking member to compress the first connector when moved relative to the second connector.

10. The connection device of claim 9, wherein a force member is provided in the force application assembly, the force member being configured to maintain constant a force with which the force application assembly drives the locking member to compress the first connection member.

11. The connection device of claim 9, wherein a locking force adjustment mechanism is provided in the force application assembly, the locking force adjustment mechanism being configured to change the amount of force applied by the force application assembly to the locking member upon a change in state.

12. The connection device of claim 9, wherein the force application assembly includes a sleeve having an inner wall surface that is at least partially sloped for applying force to the locking member when the sleeve is axially moved.

13. The connection of claim 12, wherein the force application assembly further comprises a nut threading mechanism comprising a nut member and a screw groove, the nut member configured to move along the screw groove and to urge the sleeve to move axially when moved.

14. The connection device of claim 13, further comprising a first resilient member disposed between the nut member and the sleeve.

15. The connection device according to claim 14, wherein a locking force adjusting mechanism is provided between the nut member and the first elastic member or between the sleeve and the first elastic member, the locking force adjusting mechanism being configured to adjust a predetermined compression stroke of the first elastic member.

16. The connection device of claim 15, further comprising a second resilient member disposed on a side of the sleeve facing away from the first resilient member.

17. The connection device of claim 12, wherein the force application assembly further comprises a cam pushing structure comprising a cam and a handle member, the cam pushing structure configured such that when the handle member is rotated, the cam pushes the sleeve to move axially.

18. The connection device of claim 12, wherein the sleeve is threadably coupled to the second connector, and wherein the inclined surface of the inner wall surface of the sleeve applies a force to the locking member when the sleeve is threaded relative to the second connector.

19. A connection device for a robot for connecting an end effector to an end arm of a robot arm, comprising:

one end of the first connecting piece is used for connecting with the tail end arm of the robot arm, and the other end of the first connecting piece is provided with a receiving part and a first limiting part;

a second connecting member having one end for connecting the end effector and the other end externally fitted to the receiving portion, the second connecting member having a second limiting portion, the first and second limiting portions being configured to abut against each other to define a fitting depth in a process of fitting the second connecting member to the receiving portion;

20. A surgical robot, comprising:

an end effector for mounting a surgical tool;

a robotic arm for holding the end effector to position or move it;

a connection device as claimed in any one of claims 1 to 19 for connecting an end effector to an end arm of a robotic arm.