A quick-change interface and surgical robot

Abstract

This invention provides a quick-change interface and a surgical robot, including a housing, a latch, an unlocking mechanism, and an elastic element. The housing has an inner cavity and an opening. When a target object enters the inner cavity through the opening, the latch is driven by the target object to move in the direction of exiting the inner cavity. The unlocking mechanism includes a push-button switch and a transmission part. The push-button switch is partially disposed in the inner cavity and is used to receive external force. The transmission part is disposed in the inner cavity and is used to transmit power between the push-button switch and the latch. When the push-button switch moves in the direction of entering the inner cavity under the action of external force, the push-button switch drives the latch to move in the direction of exiting the inner cavity through the transmission part. The quick-change interface is mounted on a robotic arm and connected to the connector of the target instrument. During operation, the operator supports the robotic arm with one hand and aligns the opening of the quick-change interface with the connector, while supporting the target instrument with the other hand and inserting the connector into the opening. There is no need to press any buttons on the quick-change interface, making operation simple and convenient.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a quick-change interface and a surgical robot. Background Technology

[0002] When performing surgical procedures using a surgical robot system, a trocar is mounted at the end of a robotic arm. In practice, the trocar is first manually inserted into the patient's surgical site, and then the robotic arm is adjusted to align with the trocar. The end of the robotic arm has a connection port, through which the trocar is connected to the end of the robotic arm. In existing technology, when aligning the connection port with the trocar, the operator holds the trocar with one hand to insert it into the connection port, while simultaneously holding the robotic arm with the other hand and pressing an operation button, which is inconvenient for the alignment operation. Furthermore, the limited range of motion of the trocar on the patient further increases the difficulty of alignment. Summary of the Invention

[0003] The purpose of this invention is to provide a quick-change interface and a surgical robot, which aims to reduce the difficulty of docking the target instrument with the robotic arm and shorten the docking time.

[0004] To achieve the above objectives, the present invention provides a quick-swap interface, comprising:

[0005] A housing having an inner cavity, wherein the housing has an opening communicating with the inner cavity;

[0006] A latch, at least partially disposed within the cavity; the latch is configured to be driven by the target object as it enters the cavity through the opening, moving in a direction of exiting the cavity; and...

[0007] The unlocking mechanism includes a push switch and a transmission part; the push switch is partially disposed in the inner cavity and is used to receive external force; the transmission part is disposed in the inner cavity and is configured to drive between the push switch and the latch; when the push switch moves in the direction of entering the inner cavity under the action of external force, the push switch drives the latch to move in the direction of exiting the inner cavity through the transmission part.

[0008] Optionally, the latch extends along an axis perpendicular to the opening, and at least part of the end face of the latch facing the axis of the opening is formed as a first inclined surface. The distance from the first inclined surface to the axis of the opening gradually decreases along the direction from the opening to the inner cavity. The first inclined surface contacts the target object when the target object enters the inner cavity through the opening.

[0009] Optionally, the target object is provided with a locking groove, the locking groove having an inclined sidewall; when the target object is located in the inner cavity, the groove opening of the locking groove is parallel to the axis of the opening, and the inclined sidewall is arranged inclined relative to the axis of the opening.

[0010] The latch extends along an axis perpendicular to the opening and is used to partially insert into the locking groove; the latch has a second inclined surface for abutting against the inclined sidewall, the distance from the second inclined surface to the axis of the latch gradually increases along an axis away from the opening, and the acute angle formed by the second inclined surface and the axis of the latch is greater than the self-locking angle between the latch and the target object.

[0011] Optionally, the roughness of the second inclined surface is greater than the roughness of the area of ​​the latch other than the second inclined surface.

[0012] Optionally, the quick-change interface further includes an elastic element disposed between the unlocking mechanism and the latch; the elastic element is configured to store elastic potential energy when the latch moves in the direction of exiting the inner cavity; the elastic element is also configured to drive the latch to move in the direction of entering the inner cavity and drive the unlocking mechanism to reset when the elastic potential energy is released.

[0013] Optionally, the quick-change interface further includes a first base and a second base, both of which are located in the inner cavity and connected to the housing;

[0014] The push switch is movably connected to the second base, the transmission part is movably connected to the first base, one end of the elastic element is connected to the push switch, and the other end is connected to the latch, which is movably connected to the first base.

[0015] Optionally, the transmission part is rotatably connected to the first base via a central shaft, and the transmission part contacts the push switch and the latch respectively;

[0016] The quick-change interface is configured such that when the push switch moves in the direction of entering the inner cavity, the push switch drives the transmission part to rotate in a first direction, and the transmission part pushes the latch to move in the direction of exiting the inner cavity; when the latch moves in the direction of entering the inner cavity, the latch pushes the transmission part to rotate in a second direction opposite to the first direction.

[0017] Optionally, the push switch has a force-transmitting surface located in the inner cavity; the latch is provided with a force-transmitting groove; the transmission part has a first end and a second end opposite to each other, the end face of the first end is in contact with the force-transmitting surface, and the second end is inserted into the force-transmitting groove;

[0018] The projection of the force-transmitting surface onto a plane parallel to the axis of the latch is a straight line, and the distance from the straight line to the axis of the latch gradually increases along the direction away from the opening; or,

[0019] The projection of the force-transmitting surface onto a plane parallel to the axis of the latch is a curve, and the distance from the chord of the curve to the axis of the latch gradually increases along the direction away from the opening.

[0020] Optionally, the transmission unit is configured to remain relatively stationary with respect to the first base in a direction parallel to the axis of the latch, and is capable of moving relative to the first base in a direction perpendicular to the axis of the latch;

[0021] The quick-change interface is configured such that when the push switch moves in the direction of entry under the action of external force, the push switch drives the transmission part to move in the direction close to the reference plane and pushes the latch to move in the direction of exiting the inner cavity; when the latch moves in the direction of entering the inner cavity, the latch pushes the transmission part to move in the direction away from the reference plane; the reference plane passes through the axis of the latch and is perpendicular to the direction of movement of the transmission part.

[0022] Optionally, the push switch is sleeved on a portion of the outer surface of the latch, and the push switch has a third inclined surface, the distance of the third inclined surface to the axis of the latch gradually decreasing in the direction away from the axis of the opening; the latch has a fourth inclined surface, the distance of the fourth inclined surface to the axis of the latch gradually increasing in the direction away from the axis of the opening;

[0023] The transmission part has a fifth inclined surface and a sixth inclined surface opposite each other. The distance from the fifth inclined surface to the reference plane gradually decreases along the axis away from the opening, and the fifth inclined surface is at least partially in contact with the third inclined surface. The distance from the sixth inclined surface to the reference plane gradually increases along the axis away from the opening, and the sixth inclined surface is at least partially in contact with the fourth inclined surface.

[0024] Optionally, the quick-change interface further includes a magnetic element disposed in the inner cavity and opposite to the opening.

[0025] Compared with the prior art, the quick-change interface and surgical robot of the present invention have the following advantages:

[0026] The aforementioned quick-change interface includes a housing, a latch, and an unlocking mechanism. The housing has an inner cavity, and an opening communicating with the inner cavity is also provided on the housing. The latch is at least partially disposed in the inner cavity, and the latch is configured to be driven by the target object to move in the direction of exiting the inner cavity when the target object enters the inner cavity through the opening. The unlocking mechanism is partially disposed in the inner cavity and connected to the latch, and the unlocking mechanism is configured to drive the latch to move in the direction of exiting the inner cavity when it moves under the action of an external force. The quick-change interface can be mounted on a robotic arm and used to connect to a connector of a target device, that is, the connector of the target device constitutes the target object. The connector has a locking groove, and when the connector is located in the inner cavity, the opening of the locking groove is parallel to the axis of the opening. During the process of the connector entering the inner cavity, the latch moves in the direction of exiting the inner cavity under the drive of the connector, so that the latch can be partially inserted into the locking groove to lock the connector. When the latch is locked onto the connector, when the unlocking mechanism moves under external force, the unlocking mechanism drives the latch to move in the direction of exiting the inner cavity, allowing the latch to disengage from the locking groove and release the locking of the connector. Thus, when the quick-connect interface is connected to the target device, the operator can support the robotic arm with one hand to align the opening of the quick-connect interface with the connector of the target device, and support the target device with the other hand to insert the connector into the opening and into the inner cavity, without needing to press any buttons on the quick-connect interface, simplifying the docking operation, reducing docking difficulty, and shortening docking time. Attached Figure Description

[0027] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0028] Figure 1 This is a partial structural schematic diagram of a surgical robot system provided according to an embodiment of the present invention. In the diagram, the target instrument is disposed at the end of the robotic arm via a quick-change interface.

[0029] Figure 2 This is a partial structural schematic diagram of a surgical robot system provided according to an embodiment of the present invention. The robotic arm is not shown in the figure, and the target instrument is not connected to the quick-change interface.

[0030] Figure 3 This is a schematic diagram of the overall structure of the quick-change interface of the surgical robot system provided by the present invention according to an embodiment;

[0031] Figure 4 This is an exploded view of the quick-change interface of a surgical robot system according to an embodiment of the present invention;

[0032] Figure 5 This is a partial cross-sectional view of the quick-change interface of the surgical robot system provided according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the joint of the target instrument in a surgical robot system according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the joint of the target instrument in a surgical robot system according to an embodiment of the present invention. Figure 7 and Figure 6 The observation directions are different;

[0035] Figure 8 yes Figure 7 A cross-sectional view (AA) of the junction of the target instrument in the surgical robot system shown.

[0036] Figure 9 This is a partial sectional view of a surgical robot system provided according to an embodiment of the present invention, showing a quick-change interface and a target instrument;

[0037] Figure 10 yes Figure 9 A magnified schematic diagram of section B of the surgical robot system shown;

[0038] Figure 11 This is a partial cross-sectional view of the quick-change interface of the surgical robot system provided according to an embodiment of the present invention, wherein the housing is not shown in the figure;

[0039] Figure 12 This is a partial cross-sectional view of the quick-change interface of a surgical robot system according to an embodiment of the present invention. The housing is not shown in the figure. Figure 12 and Figure 11 The difference lies in the fact that the latch moves a certain distance along an axis away from the opening;

[0040] Figure 13 This is a schematic diagram of the locking buckle and the limiting protrusion on the quick-change interface of the surgical robot system provided by the present invention according to an embodiment;

[0041] Figure 14 yes Figure 13 A cross-sectional view of the latch of the quick-change interface of the surgical robot system shown.

[0042] Figure 15 This is a schematic diagram of the structure of the first base of the quick-change interface of the surgical robot system provided according to an embodiment of the present invention;

[0043] Figure 16 This is a partial schematic diagram of the quick-change interface of a surgical robot system according to another embodiment of the present invention, where the housing and push switch are not shown.

[0044] Figure 17 This is a partial schematic diagram of the quick-change interface of a surgical robot system according to another embodiment of the present invention, where the housing is not shown.

[0045] Figure 18 yes Figure 17 A cross-sectional view of the quick-change interface CC of the surgical robot system shown.

[0046] Figure 19 This is a partial schematic diagram of the quick-change interface of the surgical robot system provided by the present invention according to another embodiment. The housing is not shown in the figure. Figure 19 and Figure 18 The observation directions are different;

[0047] Figure 20 This is a partial structural schematic diagram of the quick-change interface of the surgical robot system provided by the present invention according to another embodiment. The housing is not shown in the figure. Figure 20 and Figure 19 , Figure 18 The observation positions are all different;

[0048] Figure 21 This is a schematic diagram of the transmission part of the quick-change interface of the surgical robot system provided by the present invention according to another embodiment;

[0049] Figure 22 This is a schematic diagram of the transmission section of the quick-change interface of the surgical robot system provided by the present invention according to another embodiment. Figure 22 and Figure 21 The observation directions are different;

[0050] Figure 23 This is a schematic diagram of the transmission section of the quick-change interface of the surgical robot system provided by the present invention according to another embodiment. Figure 23 and Figure 21 and Figure 22 The observation positions are all different;

[0051] Figure 24 This is a partial structural diagram of the quick-change interface of the surgical robot system provided by the present invention according to another embodiment. In the diagram, each unlocking mechanism includes four transmission parts.

[0052] Figure 25 This is a partial structural schematic diagram of the quick-change interface of the surgical robot system provided by the present invention according to another embodiment. In the figure, each unlocking mechanism includes two transmission parts, and the two transmission parts are arranged axially symmetrically.

[0053] Figure 26This is a partial structural schematic diagram of the quick-change interface of the surgical robot system provided by the present invention according to another embodiment. In the figure, each unlocking mechanism includes two transmission parts, and the two transmission parts are arranged centrally symmetrically rather than axially symmetrically.

[0054] Figure 27 This is a partial structural schematic diagram of the quick-change interface of a surgical robot system according to another embodiment of the present invention. In the diagram, each unlocking mechanism includes two transmission parts, and the two transmission parts are arranged centrally symmetrically rather than axially symmetrically. Figure 27 and Figure 26 The difference lies in the different orientations of the two transmission parts within the same unlocking mechanism;

[0055] Figure 28 This is a schematic diagram of the housing of the quick-change interface of the surgical robot system provided according to an embodiment of the present invention;

[0056] Figure 29 This is a schematic diagram of the housing structure of the quick-change interface of the surgical robot system according to an embodiment of the present invention. Figure 29 and Figure 28 The observation directions are different;

[0057] Figure 30 yes Figure 29 DD cross-sectional view of the housing of the quick-change interface of the surgical robot system shown;

[0058] Figure 31 yes Figure 29 The EE cross-sectional view of the housing of the quick-change interface of the surgical robot system shown. Detailed Implementation

[0059] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0060] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0061] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “multiple” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “installed,” “connected,” and “linked” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can be internal communication between two elements or an interaction between two elements. Relational terms such as “first,” “second,” etc., are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor do they indicate or imply relative importance or implicitly specify the number of indicated technical features. It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0062] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0063] Figure 1 and Figure 2A partial structural schematic diagram of the surgical robot system provided by the present invention is shown. For example... Figure 1 and Figure 2 As shown, the surgical robot system includes a surgical robot, which includes a robotic arm 100 and a quick-change interface 200 located at the end of the robotic arm 100. The surgical robot system also includes a target instrument 300, which typically includes a cannula 310 and a connector 320. The connector 320 is disposed on the cannula 310 and includes a connecting plate 321 and a connector 322. The connecting plate 321 connects the cannula 310 and the connector 322, which extends in a direction perpendicular to the axis of the cannula 310. When the connector 322 is inserted into and locked by the quick-change interface 200, the target instrument 300 is securely mounted at the end of the robotic arm 100. When the connector 322 disengages from the quick-change interface 200, the target instrument 300 is no longer connected to the robotic arm 100. In addition, the cross-section of the connector 322 gradually decreases in the direction away from the connecting plate 321, and the edge of the connector 322 away from the connecting plate 321 has a guide rounded corner, which facilitates the smooth insertion of the connector 322 into the quick-change interface 200.

[0064] Figures 3 to 5 A structural schematic diagram of the quick-switch interface 200 is shown. (See attached diagram.) Figures 3 to 5 As shown, the quick-change interface 200 includes a housing 1000, a latch 2000, and an unlocking mechanism 3000. The housing 1000 is a hollow structure with an inner cavity (not shown in the figure), and an opening 1001 communicating with the inner cavity. The latch 2000 is at least partially disposed within the inner cavity, and is configured to be driven by an object entering the inner cavity through the opening 1001, moving in a direction of exiting the inner cavity. The unlocking mechanism 3000 is partially disposed within the inner cavity and connected to the latch 2000. Figure 5 , Figure 9 , Figure 11 and Figure 12 As shown, the unlocking mechanism 3000 includes a push-button switch 3100 and a transmission part 3200. The push-button switch 3100 is partially disposed in the inner cavity and is used to receive external force. The transmission part 3200 is disposed in the inner cavity and is configured to drive between the push-button switch 3100 and the latch 2000. When the push-button switch 3100 moves in the direction of entering the inner cavity under the action of external force, the push-button switch 3100 can drive the latch 2000 to move in the direction of exiting the inner cavity through the transmission part 3200.

[0065] In practice, the target instrument 300 can be a guiding device such as a puncture device. For example... Figure 2 , Figures 6 to 8As shown, the connector 322 has a locking groove 323 on its side, so the opening of the locking groove 323 is parallel to the extending direction of the connector 322. During operation, the connector 322 of the target device 300 is inserted into the inner cavity through the opening 1001; in other words, the connector 322 of the target device 300 is the aforementioned target object. Hereafter, the connector 322 will be used directly to refer to the target object. It should be understood that when the connector 322 is inserted into the inner cavity, the opening of the locking groove 323 is parallel to the axis of the opening 1001.

[0066] In this embodiment of the invention, when the connector 322 is inserted into the inner cavity and the latch 2000 locks the connector 322, when the push switch 3100 of the unlocking mechanism 3000 moves under the action of external force, the push switch 3100 provides force to the latch 2000 through the transmission part 3200, and drives the latch 2000 to move in the direction of exiting the inner cavity, so that the latch 2000 disengages from the locking groove 323, thereby releasing the locking of the connector 322. After the latch 2000 releases the locking of the connector 322, the operator can pull the connector 322 out from the opening 1001, so that the target instrument 300 is no longer connected to the quick-change interface 200. In this way, the operation of disconnecting the quick-change interface 200 and the connector 322 is extremely simple and more convenient.

[0067] Furthermore, the quick-change interface 200 also includes an elastic element 4000, which is configured to store elastic potential energy during the movement of the latch 2000 in the direction of exiting the inner cavity. Additionally, the elastic element 4000 is also configured to, upon releasing the elastic potential energy, drive the latch 2000 in the direction of entering the inner cavity and to drive the unlocking mechanism 3000 to reset.

[0068] In other words, during the insertion of the connector 322 into the inner cavity, the connector 322 applies a force to the latch 2000, causing the latch 2000 to move in the direction of exiting the inner cavity under the force provided by the connector 322. During this movement, the elastic element 4000 stores elastic potential energy. When the connector 322 moves to the position corresponding to the latch 2000 and the locking groove 323, the connector 322 instantly stops applying force to the latch 2000 and stops driving the latch 2000 to move along the axis away from the opening 1001. Simultaneously, the elastic element 4000 releases some elastic potential energy to drive the latch 2000 to move in the direction of entering the inner cavity, causing the latch 2000 to partially insert into the locking groove 323 and lock the connector 322. Thus, the connector 322 cannot detach from the inner cavity, and the target instrument 300 is stably connected to the quick-change interface 200. In practice, each latch 2000 is partially inserted into a locking groove 323. When a latch 2000 is partially inserted into the corresponding locking groove 323, the latch 2000 collides with the groove wall of the locking groove 323, producing a "click" sound. This serves as a notification to the operator that the latch 2000 has locked the connector 322. Once the external force applied to the unlocking mechanism 3000 is released, the elastic element 4000 releases its stored elastic potential energy, driving the latch 2000 to move in the direction of entering the inner cavity until it resets, and driving the unlocking mechanism 3000 to move and reset.

[0069] In other words, when the quick-change interface 200 provided in this embodiment of the invention is applied to the robotic arm 100 and connected to the target device 300, one hand can support the robotic arm 100 and the other hand can support the target device 300. By aligning the connector 322 of the target device 300 with the opening 1001 and applying external force to the target device 300, the connector 322 can be pushed into the opening 1001. No additional buttons need to be operated, simplifying the docking operation, reducing the difficulty of docking, and shortening the docking time. To unlock, simply apply force to the press switch 3100 and pull out the connector 322; the operation is extremely simple and convenient. In addition, the elastic element 4000 not only ensures that the latch 2000 can effectively lock the connector 322, but also allows the quick-change interface 200 to be reused.

[0070] It should be noted that the "external force" mentioned in this article refers to a force originating from all components of the quick-change interface 200, typically provided by the operator. It should also be noted that each quick-change interface 200 may include at least one latch 2000, and an unlocking mechanism 3000 is provided in a one-to-one correspondence with each latch 2000, such that each unlocking mechanism 3000 is used to release the latch 2000 from locking the connector 322.

[0071] Next, this document will describe the detailed structure and engagement of the unlocking mechanism 3000, the latch 2000, and the elastic element 4000 with reference to specific embodiments. It should be noted that the following description only describes the preferred structure and engagement of each component; these structures and engagements are not essential and therefore should not be construed as unduly limiting the present invention.

[0072] In a preferred embodiment, such as Figure 5 and Figure 9 As shown, the latch 2000 extends along the axis perpendicular to the opening 1001. The axis S of the latch 2000 can intersect with the axis of the opening 1001. Thus, the movement of the latch 2000 in the direction of exiting the inner cavity can be considered as the movement in the direction away from the axis of the opening 1001, and the movement of the latch 2000 in the direction of entering the inner cavity can be considered as the movement in the direction close to the axis of the opening 1001.

[0073] Preferably, such as Figure 9 and Figure 10 As shown, the end face of the latch 2000 facing the axis of the opening 1001 at least partially forms a first inclined surface 2001. The distance from the first inclined surface 2001 to the axis of the opening 1001 gradually decreases along the direction from the opening 1001 to the inner cavity. During the process of the connector 322 of the target instrument 300 entering the inner cavity through the opening 1001, the connector 322 contacts the first inclined surface 2001 and applies a force to it to drive the latch 2000 to move in the direction of exiting the inner cavity. Simultaneously, the connector 322 moves along the first inclined surface 2001 until the latch 2000 corresponds to the locking groove 323. That is, the first inclined surface 2001 acts as a guide, guiding the latch 2000 to partially insert into the locking groove 323. Optionally, the acute angle β formed by the first inclined surface 2001 and the axis of the opening 1001 is selected within the range of 15°-45°. Generally, when space permits, the smaller the acute angle β, the more advantageous it is to drive the latch 2000 to move in the direction of exiting the inner cavity.

[0074] Please return to the reference. Figure 8 The locking groove 323 has an inclined sidewall 324. For example... Figure 9 and Figure 10As shown, when the connector 322 enters the inner cavity, the inclined sidewall 324 is arranged at an angle relative to the axis of the opening 1001, so that when the connector 322 is locked by the latch 2000, the distance from the inclined sidewall 324 to the axis S of the latch 2000 gradually increases in the direction away from the axis of the opening 1001. A second inclined surface 2002 is formed on the sidewall of the latch 2000. The second inclined surface 2002 is used to at least partially abut against the inclined sidewall 324. Therefore, the distance from the second inclined surface 2002 to the latch 2000 in the axial direction gradually increases in the direction away from the axis of the opening 1001. In this embodiment, the second inclined surface 2002 is located on the side of the latch 2000 away from the opening 1001. The acute angle γ formed by the second inclined surface 2002 and the axis S of the latch 2000 is greater than the self-locking angle between the latch 2000 and the connector 322. Thus, when the second inclined surface 2002 is at least partially abutting against the inclined sidewall 324, the latch 2000 can effectively lock the connector 322. Furthermore, the second inclined surface 2002 can guide the latch 2000, facilitating the smooth insertion of the end of the latch 2000 near the axis of the opening 1001 into the locking groove 323.

[0075] The larger the acute angle γ, the better the guiding effect of the second inclined surface 2002 on the latch 2000, allowing the latch 2000 to be inserted into the locking groove 323 more smoothly. This makes it desirable for the self-locking angle between the latch 2000 and the connector 322 to have a larger value. Those skilled in the art know that the self-locking angle between the latch 2000 and the connector 322 is related to the coefficient of friction of the second inclined surface 2002 and the inclined sidewall 324. Therefore, it is preferable to treat the second inclined surface 2002, for example, with sanding during the production of the latch 2000, to give the second inclined surface 2002 a larger roughness, and thus a larger coefficient of friction. Typically, the coefficient of friction of the second inclined surface 2002 is greater than the roughness of other areas of the latch 2000 besides the second inclined surface 2002. Of course, when producing the target device 300, the inclined sidewall 324 can also be sanded to improve its roughness.

[0076] Furthermore, such as Figures 11 to 14 As shown, the end of the latch 2000 away from the axis of the opening 1001 is provided with a first receiving groove 2003, and the opening of the first receiving groove 2003 is chamfered. Furthermore, the side wall of the latch 2000 is also provided with a limiting protrusion 5000 protruding radially outward along the latch 2000. Here, "radial" refers to a direction perpendicular to the axis S of the latch 2000.

[0077] Optionally, such as Figure 4 , Figure 5 , Figure 11 and Figure 12As shown, the quick-change interface 200 also includes a first base 6000. The first base 6000 is disposed within the inner cavity and connected to the housing 1000 in any suitable manner. (Reference) Figure 15 and join Figure 5 , Figure 11 and Figure 12 The first base 6000 has a first through hole 6100 for the latch 2000 to pass through, and the latch 2000 can slide within the first through hole 6100. The wall of the first through hole 6100 also has a first limiting groove 6101 for accommodating the limiting protrusion 5000. The length of the first limiting groove 6101 in the axial direction of the latch 2000 is the maximum distance the latch 2000 can move along the axis near the opening 1001. That is, when the limiting protrusion 5000 abuts against the side wall of the first limiting groove 6101 near the axis of the opening 1001, the latch 2000 cannot continue to move in the direction of entering the inner cavity.

[0078] Optionally, the push switch 3100 is at least partially located on the side of the latch 2000 away from the axis of the opening 1001. The push switch 3100 is partially located outside the housing 1000, and the push switch 3100 has a second receiving groove 3101 facing the first receiving groove 2003 of the latch 2000. The elastic element 4000, for example, is a spring, with one end disposed in the first receiving groove 2003 and the other end disposed in the second receiving groove 3101. The chamfer at the opening of the first receiving groove 2003 can prevent the elastic element 4000 from getting stuck during extension and retraction.

[0079] Optionally, the quick-change interface 200 also includes a second base 7000. The second base 7000 is disposed in the inner cavity and connected to the housing 1000 in any suitable manner. The push switch 3100 is movably connected to the second base 7000 so that the push switch 3100 can move relative to the housing 1000. In one possible implementation, the second base 7000 is provided with a second through hole 7100, and a second limiting groove (not shown) is provided on the side wall of the second through hole 7100. The push switch 7000 is partially disposed in the second through hole 7100 and can slide within the second through hole 7100 in the direction of entering or exiting the inner cavity, and the second limiting groove limits the maximum distance that the push switch 3100 slides in the direction of exiting the inner cavity. The transmission part 3200 is movably connected to the first base 6000.

[0080] It is understandable that through the cooperation between the first base 6000, the second base 7000, the latch 2000, the transmission part 3200, the push switch 3100, the elastic element 3400 and the housing 1000, the entire quick-change interface 200 is formed into an integrated structural component, which has the characteristics of being small and compact, and is also easy to maintain.

[0081] In a non-limiting embodiment, such as Figure 11 and Figure 12 As shown, the transmission unit 3200 is rotatably connected to the first base 6000 via a central shaft (not labeled in the figure), and the transmission unit 3200 contacts both the push switch 3100 and the latch 2000. The quick-change interface 200 is configured such that when the push switch 3100 moves in the direction of entering the inner cavity, the push switch 3100 drives the transmission unit 3200 to rotate in a first direction, causing the transmission unit 3200 to push the latch 2000 to move in the direction of entering the inner cavity. When the latch 2000 moves in the direction of entering the inner cavity, the latch 2000 pushes the transmission unit 3200 to move in a second direction opposite to the first direction. One of the first and second directions is clockwise, and the other is counterclockwise. Figure 11 and Figure 12 Taking the directions shown as an example, the first direction is clockwise and the second direction is counterclockwise.

[0082] In detail, at least a portion of the end face of the push switch 3100 facing the axis of the opening 1001 constitutes a force-transmitting surface 3102, which is disposed in the inner cavity. A force-transmitting groove 2004 is provided on the side wall of the latch 2000. The transmission part 3200 has a first end 3210 and a second end 3220, with the end face of the first end 3210 contacting the force-transmitting surface 3102, and the second end 3220 inserted into the force-transmitting groove 2004 of the latch 2000. Thus, when the push switch 3100 moves in the direction of entering the inner cavity, the push switch 3100 pushes the transmission part 3200 to rotate in a first direction via the force-transmitting surface 3102 and the end face of the first end 3210, and then the second end 3220 of the transmission part 3200 and the force-transmitting groove 2004 push the latch 2000 to move in the direction of exiting the inner cavity. Simultaneously, the push switch 3100 and the latch 2000 jointly compress the elastic element 4000, causing the elastic element 4000 to store elastic potential energy. Conversely, when the elastic element 4000 releases its elastic potential energy, it pushes the push switch 3100 to move in the direction of exiting the inner cavity and pushes the latch 2000 to move in the direction of entering the inner cavity. At the same time, the latch 2000 also pushes the transmission part 3200 to rotate in the second direction to reset through the force transmission groove 2004 and the second end 3220 of the transmission part 3200. In other words, the unlocking mechanism 3000 in this embodiment uses a rocker arm drive to drive the latch 2000 to move in the direction of exiting the inner cavity.

[0083] Preferably, the projection of the force-transmitting surface 3102 onto a plane parallel to the axis S of the latch 2000 is a straight line, and this straight line is arranged at an angle relative to the axis S of the latch 2000, such that the distance from this straight line to the axis S of the latch 2000 gradually increases along the direction of exiting the inner cavity. In this text, the acute angle formed by the projection of the force-transmitting surface 3102 onto the plane parallel to the axis S of the latch 2000 and the axis S of the latch 2000 is called the acute angle α.

[0084] Those skilled in the art will know that forces are reciprocal. When the transmission part 3200 drives the latch 2000 to move under the action of the push switch 3100, the second end 3220 of the transmission part 3200 is subjected to a reaction force from the latch 2000. Figure 11 The diagram shows the force F1 acting on the first end 3210 of the transmission unit 3200 at the first moment, the reaction force F2 acting on the second end 3220 of the transmission unit 3200 at the first moment, the main power arm L1 of the transmission unit 3200 corresponding to the force F1, and the driven power arm L2 of the transmission unit 3200 corresponding to the reaction force F2. Figure 11 The diagram also shows that when the projection of the force transmission surface 3102 onto a plane parallel to the axis S of the latch 2000 is perpendicular to the axis S of the latch 2000, the force F3 acting on the first end 3210 of the transmission unit 3200 and the corresponding driving arm L3 can be obtained according to the balance formula F2×L2=F3×L3: F3=F2×(L2 / L3). Since L2 is much larger than L3, with the reaction force F2 fixed, the force F3 will be much larger than the reaction force F2. This requires the operator to provide a larger external force to push the latch 2000 to move. When there is an acute angle α, according to the force balance, F1×L1=F2×L2. By reasonably setting the angle of the acute angle α, L1 and L2 can be made approximately equal. In other words, the arrangement of the force transmission surface 3102 in this embodiment can improve the transmission efficiency of the transmission unit 3200. Thus, the operator only needs to apply a small external force to move the latch 2000 in the direction of exiting the inner cavity, completing the unlocking operation of the connector 322. It should be understood that when setting the acute angle α, the active lever arm should be maximized as much as possible while taking into account the spatial layout.

[0085] Figure 12The diagram shows the force F1' acting on the first end 3210 of the transmission unit 3200 at a second moment, the reaction force F2' acting on the second end 3220 of the transmission unit 3200 at the second moment, the main power arm L1' of the transmission unit 3200 corresponding to the force F'1, and the driven power arm L2' of the transmission unit 3200 corresponding to the reaction force F2'. Similarly, according to the force balance, F1′×L1′=F2′×L2′. In this embodiment, L1' and L2' are approximately equal, therefore, F1' and F2' are also approximately equal. In other words, the transmission efficiency of the transmission unit 3200 is basically stable, and the movement of the latch 2000 under the drive of the push switch 3100 is relatively smooth.

[0086] During the process of the push switch 3100 driving the latch 2000 to move via the transmission part 3200, the contact position between the force transmission surface 3102 and the transmission part 3200 is dynamically changing. When the projection of the force transmission surface 3102 onto the plane parallel to the axis S of the latch 2000 is a straight line, the driving force arm changes within a certain range with the change of the contact position, which inevitably leads to fluctuations in transmission efficiency. In view of this, it is further preferable that the projection of the force transmission surface 3102 onto the axis S parallel to the latch 2000 is a curve, and the distance from the chord of the curve to the axis S of the latch 2000 gradually increases along the direction away from the axis of the opening 1001. This helps to maximize the driving force arm and keep the driving force arm constant, thus maintaining the stability of the transmission efficiency.

[0087] Furthermore, the end face of the first end 3210 of the transmission part 3200 is configured as a curved surface, and the end face of the second end 3220 is also configured as a curved surface. The reason for this configuration is that if the end face of the first end 3210 and the end face of the second end 3220 were both flat, the operator would experience a jerky feeling when applying external force to the push switch 3100 as the contact position between the force transmission surface 3102 and the transmission part 3200 changes, resulting in an unsmooth operation.

[0088] In another non-limiting embodiment, such as Figures 16 to 20As shown, the transmission unit 3200 is configured to remain relatively stationary with respect to the first base 6000 in a direction parallel to the axis S of the latch 2000, and is capable of moving relative to the first base 6000 in a direction perpendicular to the axis S of the latch 2000. A reference plane M is defined, which passes through the axis of the latch 2000 and is perpendicular to the direction of movement of the transmission unit 3200. In this case, the quick-change interface 200 is configured such that when the push switch 3100 moves in the direction of entering the inner cavity under the action of an external force, the push switch 3100 drives the transmission unit 3200 to move in a direction close to the reference plane M and pushes the latch 2000 to move in a direction of exiting the inner cavity; when the latch 2000 moves in the direction of entering the inner cavity, the latch 2000 pushes the transmission unit 3200 to move in a direction away from the reference plane M.

[0089] In detail, such as Figures 21 to 23 As shown, the transmission unit 3200 includes a limiting guide block 3230 and a force transmission block 3240 connected to each other. The limiting guide block 3230 is connected to the first base 6000, and the force transmission block 3240 cooperates with the push switch 3100 and the latch 2000 to perform transmission.

[0090] The limiting guide block 3230 includes a connecting block 3231 and a limiting block 3232. The connecting block 3231 is disposed in the middle of the limiting block 3232 and extends in a direction perpendicular to the limiting block 3232, such that the projection of the limiting guide block 3230 on a plane parallel to the connecting block 3131 and perpendicular to the limiting block 3232 has a T-shaped structure. Correspondingly, the first base 6000 is provided with a limiting guide groove 6200 extending in a direction perpendicular to the axis S of the latch 2000. The limiting guide groove 6200 has a T-shaped cross section and includes a first groove portion 6210 for accommodating the connecting block 3231 and a second groove portion 6220 for accommodating the limiting block 3232. Alternatively, the projection of the limiting guide block 3230 on a plane parallel to the connecting block 3131 and perpendicular to the limiting block 3232 can also have a cross-shaped structure, and correspondingly, the cross section of the limiting guide groove 6200 also has a cross-shaped structure. Alternatively, in other implementations, a guide rail extending along the axis S perpendicular to the latch 2000 can be provided on the first base 6000, and the limiting guide block can be directly set on the guide rail and can move along the guide rail.

[0091] Continue to refer to Figures 21 to 23 and combined Figure 18 and Figure 19 , Figure 18In this configuration, the axis S of the latch 2000 coincides with the reference plane M. The force transmission block 3240 has opposing fifth inclined surfaces 3241 and sixth inclined surfaces 3422. The distance from the fifth inclined surface 3241 to the reference plane M gradually decreases along the axis away from the opening 1001. The distance from the sixth inclined surface 3422 to the reference plane M gradually increases along the axis away from the opening 1001. One end of the force transmission block 3240 near the axis of the opening 1001 is connected to the engaging block 3231 of the limiting guide block 3230.

[0092] Please continue to refer to this. Figure 18 and Figure 19 A push-button switch 3100 is sleeved on a portion of the outer surface of the latch 2000, and the push-button switch 3100 has a third inclined surface 3103. The distance from the third inclined surface 3103 to the axis S of the latch 2000 gradually decreases in the direction away from the opening 1001, and the third inclined surface 3103 is at least partially in contact with the fifth inclined surface 3241. The latch 2000 has a fourth inclined surface 2005, the distance from the fourth inclined surface 2005 to the axis S of the latch 2000 gradually increases in the direction away from the axis of the opening 1001, and the fourth inclined surface 2005 is at least partially in contact with the sixth inclined surface 3422. That is to say, in this embodiment, the unlocking mechanism 3000 uses a double wedge driving principle to drive the latch 2000 to move in the direction of exiting or entering the inner cavity. In this embodiment, a force-receiving groove can be formed on the side wall of the latch 2000, and a portion of the side wall of the force-receiving groove can be set as the fourth inclined surface 2005.

[0093] Figure 20 The diagram shows the force F4 exerted on the fifth inclined plane 3241 by the push switch 3100, the reaction force F5 exerted on the sixth inclined plane 3242 by the latch 2000, and the acute angles δ and ε formed by the fifth inclined plane 3241 and the axis of the opening 1001, respectively. According to the force balance condition, F4 × sinδ = F5 × sinε. Different operating feels can be obtained by adjusting the angles δ and ε. When δ > ε, the push switch 3100 is a force-saving mechanism, requiring only a small external force from the operator to push the latch 2000 in the direction of exiting the inner cavity. When δ < ε, the push switch 3100 is a force-requiring mechanism, requiring a larger external force from the operator to push the latch 2000 in the direction of exiting the inner cavity.

[0094] In this embodiment, an unlocking mechanism 3000 includes at least one transmission part 3200. Preferably, as Figures 24 to 27As shown, an unlocking mechanism 3000 includes two or more transmission parts 3200, and the two or more transmission parts 3200 are arranged symmetrically around the center of the latch 2000. When an unlocking mechanism 3000 includes two or more transmission parts 3200, the push switch 3100 includes two oppositely arranged third inclined surfaces 3103, and the latch 2000 includes two oppositely arranged fourth inclined surfaces 2005.

[0095] Please refer to Figure 24 When an unlocking mechanism 3000 includes four transmission parts 3200, each fourth inclined surface 2005 engages with two sixth inclined surfaces 3242, and each third inclined surface 3103 engages with two fifth inclined surfaces 3241. Figure 24 (Not shown in the image). This configuration provides the operator with a more comfortable operating experience.

[0096] Please refer to Figures 25 to 27 When an unlocking mechanism 3000 includes two transmission parts 3200, each third inclined surface 3103 engages with a fifth inclined surface 3241, and each fourth inclined surface 2005 engages with a sixth inclined surface 3242. Optionally, the two transmission parts 3200 can be configured as follows: Figure 25 Arranging them symmetrically like that can also be done as follows: Figure 26 and Figure 27 Such an asymmetric arrangement. When the two transmission units 3200 are arranged in a non-axisymmetric manner, such as Figure 26 As shown, one transmission unit 3200 applies a force F6 to the latch 2000, with a corresponding active lever arm L6. The other transmission unit 3200 applies a force F7 to the latch 2000, with a corresponding active lever arm L7. At this time, the latch 2000 experiences a deflection torque M: M = F6 × L6 + F7 + L7. To prevent the latch 2000 from deflecting under the deflection torque M, the latch 2000 and the first base 6000 should be configured to remain relatively stationary in the circumferential direction of the latch 2000. "Circumferential direction of the latch 2000" refers to the direction around the axis S of the latch 2000. To achieve this, the cross-section of the first through hole 6100 is set to a non-circular shape, such as an elongated shape (e.g.,...). Figure 15 As shown in the diagram, the cross-section of the latch 2000 (e.g., polygon) matches the shape and size of the cross-section of the first through hole 6100. The straight portion of the wall of the first through hole 6100 prevents the latch 2000 from rotating circumferentially relative to the first base 6000. Of course, in other embodiments, the latch 2000 and the first base 6000 can also be configured to remain relatively stationary in the circumferential direction of the latch 2000.

[0097] Furthermore, at least a portion of the material used to manufacture the connector 322 is a ferromagnetic material. To further improve the docking speed between the target instrument 300 and the quick-connect interface 200, and to reduce the external force applied by the operator when pushing the connector 322 into the cavity, preferably, as follows: Figure 4 As shown, the quick-connect interface 200 also includes a magnetic element 8000, which is disposed in the inner cavity and positioned opposite the opening 1001. Thus, when the connector 322 enters the inner cavity through the opening 1001, it is also subjected to a magnetic force from the magnetic element 8000. This magnetic force serves as at least part of the driving force for the connector 322 to enter the inner cavity, thereby attracting the connector 322 into the inner cavity.

[0098] Furthermore, the quick-change interface 200 can be fixedly connected to the robotic arm 100, or it can be detachably connected. The quick-change interface 200 is provided with a robotic arm connection part 9000, and the structure of the robotic arm connection part 9000 is not particularly limited in this embodiment of the invention.

[0099] Further, please refer to Figures 28 to 31 The inner cavity of the housing 1000 is divided into multiple interconnected sub-cavities: a first sub-cavity 1002, a second sub-cavity 1003, a third sub-cavity 1004, a fourth sub-cavity 1005, a fifth sub-cavity 1006, and a sixth sub-cavity 1007. Specifically, the first sub-cavity 1002 houses the magnetic component 8000; the second sub-cavity 1003 houses the connector 322 of the target instrument 300; the third sub-cavity 1004 houses at least a portion of the robotic arm connection 9000; the fourth sub-cavity 1005 houses the second base 7000; the fifth sub-cavity 1006 houses the latch 2000; and the sixth sub-cavity 1007 houses the first base 6000. Preferably, the cross-section of the latch 2000 is non-circular. Correspondingly, the cross-section of the fifth sub-cavity 1006 matches the shape and size of the cross-section of the latch 2000 to prevent the latch 2000 from rotating circumferentially relative to the housing 1000. Furthermore, when the second base 7000 is connected to the housing 1000 by screws, the inner cavity also includes a seventh sub-cavity 1008, which accommodates the screws. Additionally, the housing 1000 has a chamfer at the opening 1001, which serves two purposes: firstly, to prevent gaps when aligning with the connector 322 of the target instrument 300, and secondly, to guide the connector 322 into the opening 1001.

[0100] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A quick-switch interface, characterized in that, include: A housing having an inner cavity, wherein the housing has an opening communicating with the inner cavity; The latch is at least partially disposed within the cavity; The latch is configured to be driven by the target object as it enters the cavity through the opening, moving in a direction of exiting the cavity; and... The unlocking mechanism includes a push switch and a transmission part; the push switch is partially disposed in the inner cavity and is used to receive external force; the transmission part is disposed in the inner cavity and is configured to drive between the push switch and the latch; when the push switch moves in the direction of entering the inner cavity under the action of external force, the push switch drives the latch to move in the direction of exiting the inner cavity through the transmission part; The quick-change interface further includes an elastic element, a first base, and a second base; the elastic element is disposed between the unlocking mechanism and the latch; the elastic element is configured to store elastic potential energy when the latch moves in the direction of exiting the inner cavity; the elastic element is also configured to drive the latch to move in the direction of entering the inner cavity and drive the unlocking mechanism to reset when the elastic potential energy is released; the first base and the second base are both located in the inner cavity and connected to the housing; the push switch is movably connected to the second base, the transmission part is movably connected to the first base, one end of the elastic element is connected to the push switch, and the other end is connected to the latch, and the latch is movably connected to the first base.

2. The quick-change interface according to claim 1, characterized in that, The latch extends along an axis perpendicular to the opening, and at least part of the end face of the latch facing the axis of the opening is formed as a first inclined surface. The distance from the first inclined surface to the axis of the opening gradually decreases along the direction from the opening to the inner cavity. The first inclined surface contacts the target object when the target object enters the inner cavity through the opening.

3. The quick-change interface according to claim 1, characterized in that, The target object is provided with a locking groove, and the locking groove has an inclined sidewall; when the target object is located in the inner cavity, the groove opening of the locking groove is parallel to the axis of the opening, and the inclined sidewall is arranged at an inclination relative to the axis of the opening. The latch extends along an axis perpendicular to the opening and is used to partially insert into the locking groove; the latch has a second inclined surface for abutting against the inclined sidewall, the distance from the second inclined surface to the axis of the latch gradually increases along an axis away from the opening, and the acute angle formed by the second inclined surface and the axis of the latch is greater than the self-locking angle between the latch and the target object.

4. The quick-change interface according to claim 3, characterized in that, The roughness of the second inclined surface is greater than the roughness of the area of ​​the latch other than the second inclined surface.

5. The quick-change interface according to claim 1, characterized in that, The transmission part is rotatably connected to the first base via a central shaft, and the transmission part is in contact with the push switch and the latch respectively; The quick-change interface is configured such that when the push switch moves in the direction of entering the inner cavity, the push switch drives the transmission part to rotate in a first direction, and the transmission part pushes the latch to move in the direction of exiting the inner cavity; when the latch moves in the direction of entering the inner cavity, the latch pushes the transmission part to rotate in a second direction opposite to the first direction.

6. The quick-change interface according to claim 5, characterized in that, The push switch has a force-transmitting surface located in the inner cavity; the latch has a force-transmitting groove; the transmission part has a first end and a second end opposite to each other, the end face of the first end is in contact with the force-transmitting surface, and the second end is inserted into the force-transmitting groove; The projection of the force-transmitting surface onto a plane parallel to the axis of the latch is a straight line, and the distance from the straight line to the axis of the latch gradually increases along the direction away from the opening; or, The projection of the force-transmitting surface onto a plane parallel to the axis of the latch is a curve, and the distance from the chord of the curve to the axis of the latch gradually increases along the direction away from the opening.

7. The quick-change interface according to claim 1, characterized in that, The transmission unit is configured to remain relatively stationary with respect to the first base in a direction parallel to the axis of the latch, and is capable of moving relative to the first base in a direction perpendicular to the axis of the latch. The quick-change interface is configured such that when the push switch moves in the direction of entering the inner cavity under the action of external force, the push switch drives the transmission part to move in the direction close to the reference plane and pushes the latch to move in the direction of exiting the inner cavity; when the latch moves in the direction of entering the inner cavity, the latch pushes the transmission part to move in the direction away from the reference plane; the reference plane passes through the axis of the latch and is perpendicular to the direction of movement of the transmission part.

8. The quick-change interface according to claim 7, characterized in that, The push switch is sleeved on the outer side of the latch portion, and the push switch has a third inclined surface, the distance of the third inclined surface to the axis of the latch gradually decreases in the direction away from the axis of the opening; the latch has a fourth inclined surface, the distance of the fourth inclined surface to the axis of the latch gradually increases in the direction away from the axis of the opening; The transmission part has a fifth inclined surface and a sixth inclined surface opposite each other. The distance from the fifth inclined surface to the reference plane gradually decreases along the axis away from the opening, and the fifth inclined surface is at least partially in contact with the third inclined surface. The distance from the sixth inclined surface to the reference plane gradually increases along the axis away from the opening, and the sixth inclined surface is at least partially in contact with the fourth inclined surface.

9. The quick-change interface according to claim 1, characterized in that, The quick-change interface also includes a magnetic component, which is disposed in the inner cavity and is positioned opposite to the opening.

10. A surgical robot, characterized in that, It includes a robotic arm and a quick-change interface as described in any one of claims 1-9, the quick-change interface being disposed at the end of the robotic arm.

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