WO2023221296A1

WO2023221296A1 - Connecting assembly and robot

Info

Publication number: WO2023221296A1
Application number: PCT/CN2022/108612
Authority: WO
Inventors: Qingwen ZHONG; Jialin Feng
Original assignee: Precision Robotics (Hong Kong) Limited
Priority date: 2022-05-18
Filing date: 2022-07-28
Publication date: 2023-11-23
Also published as: CN117642132A

Abstract

A connecting assembly and a robot are provided. The connecting assembly comprises a fixing seat (1) comprising a fixing base (10) and a positioning member (13); a locking member (2) rotatably connected to the fixing base (1) to rotate from a first position to a second position; and a movable seat (3) comprising a main body (30) and a blocking arm (31). In the connecting assembly, the fixing base (10) prevents the locking member (2) from being disengaged from the fixing seat (10). The positioning member realizes locking or unlocking of rotation of the locking member (2). The blocking arm (31) realizes locking or unlocking of movement of the movable seat (3) in a direction disengaging from the locking member (2). The main body (1) realizes locking or unlocking of rotation of the movable seat (3) relative to the fixing seat (10), achieving the replaceable movable seat (3).

Description

Connecting Assembly And Robot

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present disclosure relates to the technical field of robots, particularly to a connecting assembly and a robot.

2. Description of the Related Art

Surgical robots are widely used in clinical surgery. Robots can be operated by surgeons far away from the operating table, completely different from the traditional surgical concept, and thus are worthy of revolutionary surgical tools in the field of minimally invasive surgery.

Operating arms of surgical robots are used to fix and control surgical instruments, and different operating arms and instruments are required in different types of surgery. In order to adapt to different types of surgery, the operating arm must be replaced by mechanisms. The replacement should be simple, and the replaced operating arm should be firmly connected.

SUMMARY OF THE INVENTION

In order to solve or at least partially solve the above technical problems, an embodiment of the present disclosure provides a connecting assembly comprising a fixing seat comprising a fixing base and a positioning member movably connected to the fixing base; a locking member rotatably connected to the fixing base to rotate from a first position to a second position; and a movable seat comprising a main body and a blocking arm connected to the main body. Wherein when the connecting assembly is in a locking state, the locking member is located at the first position, the fixing base blocks the locking member to prevent the locking member from being disengaged from the locking member, the positioning member abuts against the locking member to prevent the locking member from rotating relative to the fixing seat, the blocking arm abuts against the locking member to prevent the movable seat from being disengaged from the locking member, and the main body is connected to the fixing base to prevent the movable seat from rotating relative to the fixing seat. When the connecting assembly is in an unlocking state, the locking member is located at the second position, the positioning member is disengaged from the locking member, the blocking arm is disengaged from the locking member, and the main body is disengaged from the fixing base.

In some embodiments of the present disclosure, the positioning member comprises a button and a positioning ball both movably connected to the fixing base, when the connecting assembly is in the locking state, the button supports the positioning ball and the positioning ball abuts against the locking member, and when the connecting assembly is in the unlocking state, the positioning ball is disengaged from the locking member.

In some embodiments of the present disclosure, when the connecting assembly is in the locking state, the positioning ball is supported on a first portion of an outside surface of the button neighboring the locking member, and when the connecting assembly is in the unlocking state, the positioning ball is supported on a second portion of the outside surface of the button away from the locking member.

In some embodiments of the present disclosure, the fixing seat further comprises a stopper connected to the fixing base, the positioning member further comprises an elastic member connected to the stopper and the button, and when the connecting assembly is in the unlocking state, the elastic member is in an elastic deformation state withelastic potential energy to reset the button.

In some embodiments of the present disclosure, the locking member comprises a body rotatably connected to the fixing base, an adjusting block connected to the body, and an adjusting member movably connected to the body, when the connecting assembly is in the locking state, the adjusting member abuts against the adjusting block, and the adjusting block is in an elastic deformation state to abuts against the blocking arm.

In some embodiments of the present disclosure, the adjusting member comprises a screw, the adjusting block comprises a fixing part and an adjusting part connected to the fixing part, the fixing part is connected to the body, the thickness of the adjusting part is less than the thickness of the fixing part, and when the connecting assembly is in the locking state, the screw abuts against the adjusting part and the adjusting part is in the elastic deformation state.

In some embodiments of the present disclosure, the fixing base comprises a bottom base and a positioning plate connected to the bottom base, the locking member is sleeved on an outer side of the bottom base and the positioning plate, and when the connecting assembly is in the locking state, the bottom base and the positioning plate block the body from being disengaged from the fixing base.

In some embodiments of the present disclosure, the button is movably mounted in the bottom base, the stopper is fixedly connected to the bottom base, the elastic member is connected between the stopper and the button, and when the connecting assembly is in the locking state, the elastic member is in an elastic compression state.

An embodiment of the present disclosure further provides a connecting assembly comprising a locking member comprising a body, an adjusting member movably connected to the body, and an adjusting block connected to the body; and amovable seat comprising a blocking arm. Wherein when the connecting assembly is in a locking state, the adjusting member abuts against the adjusting block, the adjusting block abuts against the blocking arm to prevent the movable seat from being disengaged from the locking member, and the adjusting block is in an elastic deformation state.

An embodiment of the present disclosure further provides a robot comprising a connecting assembly. The connecting assembly comprises a fixing seat comprising a fixing base and a positioning member movably connected to the fixing base; a locking member rotatably connected to the fixing base to rotate from a first position to a second position, and a movable seat comprising a main body and a blocking arm connected to the main body. Wherein when the connecting assembly is in a locking state, the locking member is located at the first position, the fixing base blocks the locking member to prevent the locking member from being disengaged from the locking member, the positioning member abuts against the locking member to prevent the locking member from rotating relative to the fixing seat, the blocking arm abuts against the locking member to prevent the movable seat from being disengaged from the locking member, and the main body is connected to the fixing base to prevent the movable seat from rotating relative to the fixing seat. When the connecting assembly is in an unlocking state, the locking member is located at the second position, the positioning member is disengaged from the locking member, the blocking arm is disengaged from the locking member, and the main body is disengaged from the fixing base.

In the connecting assembly and the robot provided in the embodiments, the fixing base prevents the locking member from being disengaged from the fixing seat. The positioning member realizes locking or unlocking of rotation of the locking member. The blocking arm realizes locking or unlocking of movement of the movable seat in a direction disengaging from the locking member. The main body realizes locking or unlocking of rotation of the movable seat relative to the fixing seat, achieving the replaceable movable seat and realizing simple replacement and firm connection.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the embodiments of the present disclosure more clearly, a brief introduction will be made to the associated drawings in the following. It can be understood that the drawings described below are only intended to illustrate some embodiments of the present disclosure, and those of ordinary skill in the art can obtain many other technical features and connection relationships not mentioned herein according to these drawings.

FIG. 1 is a perspective assembled view of a connecting assembly provided in an embodiment of the present disclosure;

FIG. 2 is a perspective exploded view of a connecting assembly provided in an embodiment of the present disclosure;

FIG. 3 is an enlarged view of portion A in FIG. 2;

FIG. 4 is an enlarged view of portion B in FIG. 2;

FIG. 5 is a perspective assembled view of a connecting assembly in a locking state provided in an embodiment of the present disclosure;

FIG. 6 is a perspective exploded view of a connecting assembly in a locking state provided in an embodiment of the present disclosure;

FIG. 7 is an enlarged view of portion C in FIG. 6;

FIG. 8 is a perspective assembled view of a connecting assembly in a middle state provided in an embodiment of the present disclosure;

FIG. 9 is a perspective exploded view of a connecting assembly in a middle state provided in an embodiment of the present disclosure;

FIG. 10 is an enlarged view of portion D in FIG. 9;

FIG. 11 is a perspective assembled view of a connecting assembly in an unlocking state provided in an embodiment of the present disclosure.

Reference signs:

1000: connecting assembly; 1: fixing seat; 10: fixing base; 101: recess; 11: bottom base; 110: first groove; 112: second groove; 113: first via hole; 114: second via hole; 12: positioning plate; 122: female probe connector; 13: positioning member; 130: button; 131: positioning ball; 132: elastic member; 133: first portion; 134: second portion; 135: oblique surface; 16: stopper; 2: locking member; 21: body; 22: adjusting block; 220: fixing part; 221: adjusting part; 23: adjusting member; 3: movable seat; 30: main body; 31: blocking arm; 311: hook; 32: male probe connector; 33: positioning part.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In combination with the attached drawings, the connecting assemblies and the robot provided in embodiments of the present disclosure are described as below.

First Embodiment

As shown in FIGs. 1 to 3, a first embodiment of the present disclosure provides a connecting assembly 1000, comprising a fixing seat 1, a locking member 2, and amovable seat 3.

The fixing seat 1 comprises a fixing base 10 and a positioning member 13 movably connected to the fixing base 10. The fixing base 10 comprises a bottom base 11 and a positioning plate 12 connected to the bottom base 11. The bottom base 11 comprises a first via hole 113 defined in an outside surface and a second via hole 114 defined in a top surface, and the first via hole 113 communicates with the second via hole 114. The positioning member 13 comprises a button 130 and a positioning ball 131. The button 130 is movably mounted in the first via hole 113 and the positioning ball 131 is movably mounted in the second via hole 114, to make the button 130 and the positioning ball 131 both movably connected to the fixing base 10.

The locking member 2 comprises a body 21 and an adjusting block 22 connected to the body 21. The body 21 is sleeved on outside of the bottom base 11 and the positioning plate, to allow the locking member 2 rotatably connected to the fixing base 10 to rotate from a first position to a second position. The adjusting block 22 can be fixedly connected to the body 21 through screws.

The movable seat 3 comprises a main body 30, a blocking arm 31 connected to the main body 30, and a positioning part 33 connected to the main body 30. Both the blocking arm 31 and the positioning part 33 can be fixedly connected to the main body 30 through screws.

Please refer to FIGs. 5 to 7, wherein when the connecting assembly 1000 is in a locking state, the locking member 2 is located at the first position. The bottom base 11 and the positioning plate 12 block the body 21 to prevent the locking member 2 from being disengaged from the fixing seat 1. An end of the button 130 protrudes from the outside surface of the bottom base 11. The positioning ball 131 is supported on a first portion 133 of an outside surface of the button 130 neighboring the locking member 2, abutting against the body 21 to make the positioning member 13 abut against the locking member 2 to prevent the locking member 2 from rotating relative to the fixing seat 1. The blocking arm 31 abuts against the adjusting block 22 of the locking member 2 to prevent the movable seat 3 from being disengaged from the locking member 2. The positioning part 33 extends through a positioning hole of the positioning plate 12, to make the main body 30 connected to the fixing base 10 to prevent the movable seat 3 from rotating relative to the fixing seat 1. Thus, the movable seat 3 is locked by the fixed seat 1.

Please refer to FIGs. 8 to 11, when the connecting assembly 1000 is in an unlocking state, the button 130 is pressed towards the outside surface of the bottom base 11, to make the locking member located at the second position. Wherein the positioning ball 131 is supported on a second portion 134 of the outside surface of the button 130 neighboring the locking member 2, and the positioning ball 131 is away from the body 21 of the locking member 2, making the positioning member 13 disengaged from the locking member 2. Then the body 21 of the locking member 2 is rotated to make the adjusting block 22 disengaged from the blocking arm 31. Further, the main body 30 of the movable seat 3 is moved and the positioning part 33 is disengaged from the positioning hole of the positioning plate 12, to make the main body 30 disengaged from the fixing base 10, thus allowing the movable seat 3 disengaged from the fixed seat 1. In the embodiment, the disengagement refers to the disengagement in a direction intersecting the rotating direction, such as the thickness direction of the connecting assembly 1000.

In the connecting assembly 1000 provided in the embodiment, the fixing base 10 prevents the locking member 2 from being disengaged from the fixing seat 1. The positioning member 13 realizes locking or unlocking of rotation of the locking member 2. The blocking arm 31 realizes locking or unlocking of movement of the movable seat 3 in a direction disengaging from the locking member 2. The main body 30 realizes locking or unlocking of rotation of the movable seat 3 relative to the fixing seat 1, achieving the replaceable movable seat 3 and realizing simple replacement and firm connection.

Second Embodiment

Please refer to FIG. 2, a second embodiment of the present disclosure provides the movable seat 3 of improved structure.

In order to ensure the stable connection between the movable seat 3 and the locking member 2, there are three blocking arms 31 evenly distributed relative to the main body 30, which respectively extend from the bottom of the main body 30 toward the direction away from the main body 30. An end of the blocking arm 31 away from the main body 30 can comprise a hook 311 configured to hook the locking member 2.

In order to ensure the stable connection between the movable seat 3 and the positioning plate 12, there are two positioning parts 33 evenly distributed relative to the main body 30. The positioning parts 33 can be positioning pins.

In order to realize the electrical connection between the movable seat 3 and the fixing seat 1, the movable seat 3 can comprise a male probe connector 32 connected to the main body 30.

Third Embodiment

Please refer to FIGs. 2 and 3, a third embodiment of the present disclosure provides the fixing base 10 of improved structure.

In order to effectively prevent the locking member 2 from being disengaged from the fixing base 10, a recess 101 can be defined in an outside surface of the bottom base 11 and the positioning plate 12. The locking member 2 is sleeved on the outside surface of the bottom base 11 and the positioning plate 12, and is received in the recess 101.

In order to realize the restriction of rotation of the movable seat 3, a first groove 110 is defined in the bottom base 11 to receive the blocking arm 31 in the locking state.

In order to realize the electrical connection between the movable seat 3 and the fixing seat 1, the positioning plate 12 comprises a female probe connector 122. When the connecting assembly 1000 is in the locking state, the female probe connector 122 is electrically connected to the male probe connector 32. When the connecting assembly 1000 is in the unlocking state, the female probe connector 122 is disengaged from the male probe connector 32.

Fourth Embodiment

Please refer to FIGs. 2 and 3, a fourth embodiment of the present disclosure provides the positioning member 13 of improved structure.

In order to achieve the smooth movement of the positioning ball 131 from the locking position to the unlocking position, an oblique surface 135 can be disposed between the first portion 133 and the second portion 134.

Please refer to FIG. 3, to make the button 130 can be reset, an elastic member 132 can be further provided, such as a coil spring. In detail, the fixing seat 1 further comprises a stopper 16 connected to the bottom base 11, the positioning member 13 further comprises the elastic member 132, and the elastic member 132 is connected between the stopper 16 and the button 130. Please refer to FIG. 10, when the connecting assembly 1000 is in the unlocking state, the elastic member 132 is in an elastic deformation state, such as an elastic compression state with elastic potential energy to reset the button 130.

Fifth Embodiment

Please refer to FIGs. 2 and 4, a fifth embodiment of the present disclosure provides the locking member 2 of improved structure.

In order to conveniently adjust the force between the blocking arm 31 of the movable seat 3 and the locking member 2, the locking member 2 further comprises an adjusting member 23 movably connected to the body 21. As shown in FIGs. 6 and 7, when the connecting assembly 1000 is in the locking state, the adjusting member 23 abuts against the adjusting block 22, and the adjusting block 22 is in an elastic deformation state to abut against the blocking arm 31. As shown in FIGs. 8 and 9, when the connecting assembly 1000 is in the unlocking state, the adjusting member 23 is disengaged from the adjusting block 22, and the adjusting block 22 is in a natural state.

In order to realize the convenient adjustment of the adjusting block 22, the adjusting member 23 comprises a screw. The adjusting block 22 comprises a fixing part 220 and an adjusting part 221 connected to the fixing part 220, the fixing part 220 is connected to the body 21, and the thickness of the adjusting part 221 is less than the thickness of the fixing part 220. As shown in FIGs. 6 and 7, when the connecting assembly 1000 is in the locking state, the screw abuts against the adjusting part 221, and the adjusting part 221 is in an elastic deformation state and abuts against the blocking arm 31 together with the fixing part 220. As shown in FIGs. 8 and 9, when the connecting assembly 1000 is in the unlocking state, the screw is far away from the adjusting block 22, and the adjusting part 221 and the fixing part 220 are in a natural state. In the embodiment, the adjusting block 22 can be an elastic metal plate, the screw can be a flat-head set screw, and the quantity of the flat-head set screws is three.

In order to realize the rotation restriction of the locking member 2, the bottom base 11 defines a second groove 112 to receive the adjusting block 22, and the length of the second groove 112 is longer than the length of the first groove 110. In order to facilitate processing, the second groove 112 communicates with the first groove 110.

Sixth Embodiment

Please refer to FIGs. 1 and 2, a sixth embodiment of the present disclosure provides a connecting assembly comprising the locking member 2 and the movable seat 3.

The locking member 2 comprises a body 21, an adjusting member 23 movably connected to the body 21, and an adjusting block 22 connected to the body 21.

The movable seat 3 comprises a blocking arm 31.

Wherein, as shown in FIGs. 6 and 7, when the connecting assembly is in a locking state, the adjusting member 23 abuts against the adjusting block 22, the adjusting block 22 abuts against the blocking arm 31 to prevent the movable seat 3 from being disengaged from the locking member 2, and the adjusting block 22 is in an elastic deformation state.

In the connecting assembly provided in the embodiment, the adjusting member 23 abuts against the adjusting block 22, making the adjusting block 22 abut against the blocking arm 31 to prevent the movable seat 3 from being disengaged from the locking member 2, thus realizing the stable connection between the movable seat and the locking member 2.

Seventh Embodiment

A seventh embodiment of the present disclosure provides a robot that can be applied in the field of surgery.

The robot comprises a mechanical arm, an operating arm and the connection assembly described above. Wherein, the main body 30 of the movable seat 3 is configured to be connected to the operating arm, and the bottom base 11 of the fixing seat 1 is configured to be connected to the mechanical arm.

In the robot provided in the embodiment of the present disclosure, the movable seat 3 is changeable to achieve the changeable operating arm. The movable seat 3 and the fixing seat 1 are stably connected to achieve the firm connection between the operating arm and the mechanical arm.

Finally, it should be noted that those of ordinary skill in the art may understand that many technical details provided in the embodiments above are only for the readers to understand better. However, the technical solutions as claimed in the claims of the present disclosure may be still implemented substantially even without these technical details or various changes and modifications of the embodiments above. Therefore, in actual applications, various alternations to the embodiments may be done in aspects of forms and details without departing from the spirit and scope of the present disclosure.

Claims

A connecting assembly comprising:

a fixing seat comprising a fixing base and a positioning member movably connected to the fixing base;

a locking member rotatably connected to the fixing base to rotate from a first position to a second position; and

a movable seat comprising a main body and a blocking arm connected to the main body;

wherein when the connecting assembly is in a locking state, the locking member is located at the first position, the fixing base blocks the locking member to prevent the locking member from being disengaged from the fixing base, the positioning member abuts against the locking member to prevent the locking member from rotating relative to the fixing seat, the blocking arm abuts against the locking member to prevent the movable seat from being disengaged from the locking member, and the main body is connected to the fixing base to prevent the movable seat from rotating relative to the fixing seat; and

when the connecting assembly is in an unlocking state, the locking member is located at the second position, the positioning member is disengaged from the locking member, the blocking arm is disengaged from the locking member, and the main body is disengaged from the fixing base.
The connecting assembly according to claim 1, wherein the positioning member comprises a button and a positioning ball both movably connected to the fixing base, when the connecting assembly is in the locking state, the button supports the positioning ball and the positioning ball abuts against the locking member, and when the connecting assembly is in the unlocking state, the positioning ball is disengaged from the locking member.
The connecting assembly according to claim 2, wherein when the connecting assembly is in the locking state, the positioning ball is supported on a first portion of an outside surface of the button neighboring the locking member, and when the connecting assembly is in the unlocking state, the positioning ball is supported on a second portion of the outside surface of the button away from the locking member.
The connecting assembly according to claim 2, wherein the fixing seat further comprises a stopper connected to the fixing base, the positioning member further comprises an elastic member connected to the stopper and the button, and when the connecting assembly is in the unlocking state, the elastic member is in an elastic deformation state with elastic potential energy to reset the button.
The connecting assembly according to claim 1, wherein the locking member comprises a body rotatably connected to the fixing base, an adjusting block connected to the body, and an adjusting member movably connected to the body, when the connecting assembly is in the locking state, the adjusting member abuts against the adjusting block, and the adjusting block is in an elastic deformation state to abut against the blocking arm.
The connecting assembly according to claim 5, wherein the adjusting member comprises a screw, the adjusting block comprises a fixing part and an adjusting part connected to the fixing part, the fixing part is connected to the body, the thickness of the adjusting part is less than the thickness of the fixing part, and when the connecting assembly is in the locking state, the screw abuts against the adjusting part and the adjusting part is in the elastic deformation state.
The connecting assembly according to claim 4, wherein the fixing base comprises a bottom base and a positioning plate connected to the bottom base, the locking member is sleeved on the outer side of the bottom base and the positioning plate, and when the connecting assembly is in the locking state, the bottom base and the positioning plate block the body from being disengaged from the fixing base.
The connecting assembly according to claim 7, wherein the button is movably mounted in the bottom base, the stopper is fixedly connected to the bottom base, the elastic member is connected between the stopper and the button, and when the connecting assembly is in the locking state, the elastic member is in an elastic compression state.
A connecting assembly comprising:

a locking member comprising a body, an adjusting member movably connected to the body, and an adjusting block connected to the body; and

a movable seat comprising a blocking arm;

wherein when the connecting assembly is in a locking state, the adjusting member abuts against the adjusting block, the adjusting block abuts against the blocking arm to prevent the movable seat from being disengaged from the locking member, and the adjusting block is in an elastic deformation state.
A robot comprising:

a connecting assembly comprising:

a fixing seat comprising a fixing base and a positioning member movably connected to the fixing base;

a locking member rotatably connected to the fixing base to rotate from a first position to a second position; and

a movable seat comprising a main body and a blocking arm connected to the main body;

wherein when the connecting assembly is in a locking state, the locking member is located at the first position, the fixing base blocks the locking member to prevent the locking member from being disengaged from the locking member, the positioning member abuts against the locking member to prevent the locking member from rotating relative to the fixing seat, the blocking arm abuts against the locking member to prevent the movable seat from being disengaged from the locking member, and the main body is connected to the fixing base to prevent the movable seat from rotating relative to the fixing seat; and

when the connecting assembly is in an unlocking state, the locking member is located at the second position, the positioning member is disengaged from the locking member, the blocking arm is disengaged from the locking member, and the main body is disengaged from the fixing base.
The robot according to claim 10, wherein the positioning member comprises a button and a positioning ball both movably connected to the fixing base, when the connecting assembly is in the locking state, the button supports the positioning ball and the positioning ball abuts against the locking member, and when the connecting assembly is in the unlocking state, the positioning ball is disengaged from the locking member.
The robot according to claim 11, wherein when the connecting assembly is in the locking state, the positioning ball is supported on a first portion of an outside surface of the button neighboring the locking member, and when the connecting assembly is in the unlocking state, the positioning ball is supported on a second portion of the outside surface of the button away from the locking member.
The robot according to claim 11, wherein the fixing seat further comprises a stopper connected to the fixing base, the positioning member further comprises an elastic member connected to the stopper and the button, and when the connecting assembly is in the unlocking state, the elastic member is in an elastic deformation state withelastic potential energy to reset the button.
The robot according to claim 10, wherein the locking member comprises a body rotatably connected to the fixing base, an adjusting block connected to the body, and an adjusting member movably connected to the body, when the connecting assembly is in the locking state, the adjusting member abuts against the adjusting block, and the adjusting block is in an elastic deformation state to abut against the blocking arm.
The robot according to claim 14, wherein the adjusting member comprises a screw, the adjusting block comprises a fixing part and an adjusting part connected to the fixing part, the fixing part is connected to the body, the thickness of the adjusting part is less than the thickness of the fixing part, and when the connecting assembly is in the locking state, the screw abuts against the adjusting part and the adjusting part is in the elastic deformation state.
The robot according to claim 13, wherein the fixing base comprises a bottom base and a positioning plate connected to the bottom base, the locking member is sleeved on an outer side of the bottom base and the positioning plate, and when the connecting assembly is in the locking state, the bottom base and the positioning plate block the body from being disengaged from the fixing base.
The robot according to claim 16, wherein the button is movably mounted in the bottom base, the stopper is fixedly connected to the bottom base, the elastic member is connected between the stopper and the button, and when the connecting assembly is in the locking state, the elastic member is in an elastic compression state.