Connection adapter

Abstract

The embodiment of the invention provides a connecting adapter. The connecting adapter is used for connecting a slave hand wrist, a sheath and a clamp of a manipulator. The connecting adapter comprises a connecting assembly, and the two opposite ends of the connecting assembly are detachably connected with the slave hand wrist and the clamp correspondingly. The connecting assembly is provided with a mounting groove which is used for mounting the sheath. According to the embodiment of the invention, the connection mode of the connection adapter is simple.

Description

Technical Field

[0001] The present application relates to the technical field of manipulator equipment, and in particular to a connection adapter. Background Art

[0002] The manipulator is a tool used for remote isolation operation and has been widely used in workplaces with toxic, harmful or explosive hazards such as nuclear industry laboratories. In these environments, the hot cell is a radioactive space, and the operation of its internal equipment mainly depends on the manipulator. However, the manipulator's slave hand will inevitably be contaminated with radioactive contaminants when used in the hot cell. In view of this, a sheath structure is designed on the outer surface of the manipulator. The sheath structure can isolate the manipulator's arm from the hot cell environment and prevent the internal structural components of the manipulator from being corroded by chemical reagents and radioactive contamination. When the manipulator fails and is lifted out of the hot cell, it is necessary to remove the clamp, sheath and sheath connection joint, and then perform basic decontamination on the upper part of the manipulator.

[0003] However, in the related art, the connection method between the wrist, sheath and clamp of the robot is relatively complicated. Summary of the invention

[0004] In view of this, the main purpose of the embodiments of the present application is to provide a connection adapter with a simple connection method.

[0005] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0006] The embodiment of the present application provides a connection adapter, which is used to connect the slave wrist, sheath and clamp of a manipulator, and the connection adapter includes:

[0007] A connecting assembly, two opposite ends of which are detachably connected to the slave wrist and the clamp respectively;

[0008] The connecting component has an installation groove, and the installation groove is used for installing the sheath.

[0009] In one embodiment, the connecting assembly includes a connecting part and a rotating part, the opposite ends of the connecting part are respectively detachably connected to the slave wrist and the clamp, the rotating part has a mounting hole and the mounting groove, the connecting part is inserted into the mounting hole, and the rotating part can rotate relative to the connecting part.

[0010] In one embodiment, the rotating part is a sealed bearing, and the mounting groove is located on the outer peripheral surface of the sealed bearing and extends along the circumferential direction of the sealed bearing.

[0011] In one embodiment, the connecting adapter includes a connecting shaft, the connecting assembly has a accommodating cavity, at least a partial area of ​​the connecting shaft is arranged in the accommodating cavity, and can move along the extension direction of the accommodating cavity, the connecting shaft is connected to the telescopic part of the clamp at one end close to the clamp, and the slave wrist is drivingly connected to the end of the connecting shaft away from the clamp, and the slave wrist drives the connecting shaft to move to drive the clamp to switch between opening and clamping.

[0012] In one embodiment, the end of the connecting shaft away from the clamp is connected to the wire rope in the slave wrist through a transmission screw buckle, and the wire rope drives the connecting shaft to move toward the side away from the clamp to drive the clamp to clamp.

[0013] In one embodiment, the connecting adapter includes a sealing sleeve, which is arranged in the accommodating cavity. The two ends of the sealing sleeve respectively have a first port and a second port, and the second port is located on the side of the first port away from the clamp. The connecting shaft passes through the first port and blocks the first port, and the end wall of the second port is circumferentially sealed with the cavity wall of the accommodating cavity.

[0014] In one embodiment, the connecting adapter includes an elastic member, and at one end of the connecting shaft close to the clamp, a partial area of ​​the outer circumferential surface of the connecting shaft protrudes to form a limiting portion, the connecting shaft is inserted into the elastic member, and both ends of the elastic member are respectively abutted against the connecting component and the limiting portion.

[0015] In one embodiment, a partial area of ​​the cavity wall of the accommodating cavity extends into the accommodating cavity to form an abutment portion, and two ends of the elastic member abut against the abutment portion and the limiting portion respectively.

[0016] In one embodiment, the end of the connecting shaft away from the clamp is connected to the wire rope in the slave wrist through a transmission screw buckle, and when the slave wrist withdraws the driving force on the connecting shaft, the elastic member is in a compressed state, and the wire rope is in a tensioned state; and / or,

[0017] In the area from the abutment portion to the clamp, at least a partial area of ​​the connecting shaft has a symmetrical section, the abutment portion has an axial hole, the connecting shaft is inserted into the axial hole, and the cross-sectional shape of the axial hole is consistent with the cross-sectional shape of the symmetrical section.

[0018] In one embodiment, the connection adapter comprises a fastener, and the connection adapter is fastened to the wrist via the fastener; and / or,

[0019] A portion of the outer peripheral surface of the connecting component on one side close to the clamp is protruding to form a connecting protrusion, and the clamp is detachably connected to the connecting protrusion; and / or,

[0020] One end of the sheath is connected to the mounting groove, and the other end of the sheath extends toward an end away from the clamp to seal the connection between the slave wrist and the connection assembly.

[0021] The embodiment of the present application provides a connection adapter, which is used to connect the slave wrist, sheath and clamp of the manipulator. The connection adapter includes a connection component, and the opposite ends of the connection component are detachably connected to the slave wrist and the clamp respectively. The connection component has a mounting groove, and the mounting groove is used to install the sheath. Therefore, on the one hand, by setting the mounting groove, the sheath can be accurately installed on the connection adapter, so as to better play the protective role of the sheath on the slave, effectively prevent the slave from being corroded by chemical reagents and radioactive contamination in the hot chamber, and then extend the service life of the slave, and ensure the reliable operation of the manipulator in harsh environments. On the other hand, by connecting the slave wrist, sheath and clamp of the manipulator at the same time through the connection adapter, the connection adapter has the functions of the sheath adapter sleeve and the connector at the same time, thereby simplifying the connection structure and the connection process, reducing the number of components, reducing the production cost and installation difficulty, and avoiding the separation between the sheath connector and the slave wrist connector, which causes the manipulator to be unusable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural schematic diagram of a connection adapter according to an embodiment of the present application;

[0023] Figure 2 for Figure 1 Cross-sectional view of the connection adapter.

[0024] Description of Reference Numerals

[0025] 10. Connecting assembly; 10a. Accommodating cavity; 11. Connecting portion; 12. Rotating portion; 12a. Mounting groove; 13. Abutting portion; 14. Connecting protrusion; 20. Connecting shaft; 21. Limiting portion; 30. Sealing sleeve; 40. Elastic member; 50. Fastener. DETAILED DESCRIPTION

[0026] An embodiment of the present application provides a connection adapter, which is used to connect the wrist, sheath and clamp of the manipulator. Figure 1 and Figure 2 , the connection adapter includes a connection component 10.

[0027] The opposite ends of the connecting assembly 10 are detachably connected to the slave wrist and the clamp respectively.

[0028] The connecting assembly 10 has a mounting groove 12a, and the mounting groove 12a is used for mounting the sheath.

[0029] Specifically, the sheath refers to a component that isolates the arm of the manipulator from the external environment (such as a radioactive environment), which can prevent the internal structure of the manipulator from being corroded by chemical reagents and contaminated by radioactivity.

[0030] The material type of the sheath is not limited, as long as it can isolate the external environment from the robot.

[0031] For example, the material type of the sheath is special rubber or high polymer composite material, so that the sheath has better corrosion resistance, radiation resistance and high temperature resistance, and can adapt to different working environments.

[0032] The clamp refers to the part of the manipulator that is used to grasp, hold or operate a workpiece. When the need arises to replace or repair the clamp, it can be removed from the connecting assembly 10 of the manipulator.

[0033] The connecting assembly 10 refers to a component for connecting the slave wrist and the clamp of the manipulator. One end of the connecting assembly 10 is detachably connected to the slave wrist, and the other end is detachably connected to the clamp. Thus, the clamp can be quickly replaced or repaired without disassembling the entire manipulator.

[0034] The connection method between the connection assembly 10 and the clamp is not limited.

[0035] Exemplarily, a portion of the outer peripheral surface of the connecting component 10 near the clamp is protruding to form a connecting protrusion 14, and the clamp is detachably connected to the connecting protrusion 14. Thus, the clamp can be quickly replaced, which improves work efficiency.

[0036] Specifically, the connection protrusion 14 is formed in any manner.

[0037] For example, a portion of the outer peripheral surface of the connecting component 10 on one side close to the clamp protrudes to form an annular boss structure, and the boss structure is the connecting protrusion 14.

[0038] For another example, a portion of the outer circumferential surface of the connecting component 10 on one side close to the clamp protrudes at intervals to form protrusions, which are the connecting protrusions 14 , and adjacent connecting protrusions 14 are arranged at intervals in the circumferential direction of the connecting component 10 .

[0039] The structural type of the connecting component 10 is not limited, as long as it can simultaneously connect the slave wrist, sheath and clamp of the manipulator.

[0040] The mounting groove 12a refers to a groove on the connection component 10 for mounting the sheath, thereby ensuring that the sheath can be firmly mounted on the connection component 10 and play a protective role.

[0041] The manner in which the sheath is disposed in the mounting groove 12a is not limited.

[0042] Exemplarily, one end of the sheath is connected to the mounting groove 12a, and the other end of the sheath extends toward the end away from the clamp to seal the connection between the slave wrist and the connection assembly 10. In this way, harmful substances such as chemical reagents or radioactive substances can be prevented from entering the connection, protecting the structural integrity and performance stability of the slave wrist and the connection assembly 10.

[0043] In the related art, the manipulator includes a sheath adapter sleeve and two connecting parts. Among them, the two connecting parts are respectively connected to the slave wrist and the clamp of the manipulator, and the sheath adapter sleeve is connected to one of the connecting parts, and then the two connecting parts are connected to each other to realize the connection of the slave wrist, sheath and clamp of the manipulator. Although the sheath provides good protection for the manipulator and reduces the workload of decontamination during maintenance, however, this connection method will cause the clamp to be unable to connect normally if the connection between the sheath connector and the slave wrist separates during operation when the clamp has problems and needs to be replaced. At this time, it is necessary to lift the entire slave out for maintenance. This not only increases the workload, difficulty and cost of maintenance, but also reduces work efficiency.

[0044] The connection adapter of the embodiment of the present application is used to connect the slave wrist, sheath and clamp of the manipulator. The connection adapter includes a connection component 10, and the opposite ends of the connection component 10 are detachably connected to the slave wrist and the clamp respectively. The connection component 10 has a mounting groove 12a, and the mounting groove 12a is used to install the sheath. Therefore, on the one hand, by providing the mounting groove 12a, the sheath can be accurately installed on the connection adapter, so as to better play the protective role of the sheath on the slave, effectively prevent the slave from being corroded by chemical reagents and radioactive contamination in the hot chamber, and then extend the service life of the slave, and ensure the reliable operation of the manipulator in harsh environments. On the other hand, by connecting the slave wrist, sheath and clamp of the manipulator at the same time through the connection adapter, the connection adapter has the functions of the sheath adapter sleeve and the connector at the same time, thereby simplifying the connection structure and the connection process, reducing the number of components, reducing the production cost and installation difficulty, and avoiding the separation between the sheath connector and the slave wrist connector, which causes the manipulator to be unusable.

[0045] In one embodiment, please refer to Figure 2 The connecting assembly includes a connecting portion 11 and a rotating portion 12. The two opposite ends of the connecting portion 11 are detachably connected to the wrist and the clamp, respectively. The rotating portion 12 has a mounting hole and a mounting groove 12a. The connecting portion 11 is inserted into the mounting hole, and the rotating portion 12 can rotate relative to the connecting portion 11. Therefore, when the position of the manipulator clamp rotates, the sheath does not need to be twisted accordingly, thereby reducing the risk of wear and damage to the sheath and effectively extending the service life of the sheath.

[0046] Specifically, the rotating portion 12 refers to a component in the connecting assembly 10 having a mounting hole and a mounting groove 12 a, which is used to install the sheath and allows the sheath to rotate freely relative to the connecting portion 11 .

[0047] The mounting hole is a hole on the rotating portion 12 for allowing the connecting portion 11 to pass through, so that the rotating portion 12 can rotate around the connecting portion 11 .

[0048] The connection method between the two opposite ends of the connecting part 11 and the slave wrist and the clamp is not limited, as long as it is convenient to disassemble the slave wrist and the clamp. For example, the two opposite ends of the connecting part 11 are connected to the slave wrist and the clamp through buckles.

[0049] In a specific embodiment, the mounting slot 12a is an adjustable structure, thereby being able to accommodate sheaths of different sizes.

[0050] In a specific embodiment, a buffer material or a sealing structure is disposed in the installation groove 12a, thereby improving the installation stability and sealing performance of the sheath.

[0051] The structural type of the rotating portion 12 is not limited, as long as it can rotate relative to the connecting portion 11 .

[0052] In one embodiment, please refer to Figure 2 The rotating part is a sealed bearing, and the mounting groove 12a is located on the outer peripheral surface of the sealed bearing and extends along the circumference of the sealed bearing. On the one hand, the sealed bearing as the rotating part 12 has good rotation performance and can achieve smooth and flexible rotation. It can make the manipulator more convenient to adjust the position of the clamp during operation and improve work efficiency. On the other hand, the sheath is installed on the sealed bearing, and together with the sealed bearing, it realizes the sealed isolation of the wrist from the external environment, thereby effectively preventing external impurities from entering the interior of the connecting component 10 and protecting the internal structure from damage.

[0053] Specifically, the extension length of the installation groove 12a along the circumferential direction of the sealed bearing is not limited as long as the sleeve can be fixed.

[0054] In one embodiment, please refer to Figure 2 The connecting adapter includes a connecting shaft 20, and the connecting assembly 10 has a receiving cavity 10a. At least part of the connecting shaft 20 is arranged in the receiving cavity 10a and can move along the extension direction of the receiving cavity 10a. The end of the connecting shaft 20 close to the clamp is connected to the telescopic part of the clamp, and the slave wrist is driven and connected to the end of the connecting shaft 20 away from the clamp. The slave wrist drives the connecting shaft 20 to drive the clamp to switch between opening and clamping. Therefore, the slave wrist drives the clamp through the connecting shaft 20 to realize the transmission of the clamping operation between the slave wrist and the clamp, thereby realizing precise control of the clamp.

[0055] Specifically, the movement of the connecting shaft 20 is adjusted from the wrist according to different work requirements, thereby controlling the opening and clamping force of the clamp, thereby improving the operating accuracy of the manipulator.

[0056] The connecting shaft 20 refers to a component that connects the slave wrist and the clamp in the connecting adapter and transmits motion through movement.

[0057] At least a partial area of ​​the connecting shaft 20 is disposed in the accommodating chamber 10 a means that a partial area of ​​the connecting shaft 20 may be located in the accommodating chamber 10 a , or the entire connecting shaft 20 may be located in the accommodating chamber 10 a .

[0058] The telescopic part refers to the telescopic or adjustable length part in the clamp, which is used to adjust the opening and closing distance of the clamp.

[0059] The shape and size of the accommodation cavity 10a are not limited.

[0060] For example, the accommodation cavity 10a has a guide structure in it, thereby ensuring the stability and accuracy of the connecting shaft 20 during movement.

[0061] The connection method between the slave wrist and the connecting shaft 20 is not limited, as long as the slave wrist can drive the connecting shaft 20 to move along the extension direction of the accommodating cavity 10a.

[0062] Exemplarily, the end of the connecting shaft away from the clamp is connected to the wire rope from the wrist through a transmission screw buckle, and the wire rope drives the connecting shaft 20 to move toward the side away from the clamp to drive the clamp to clamp.

[0063] Specifically, the transmission screw buckle connects the connecting shaft 20 and the wire rope in the slave wrist. By pulling the wire rope in the slave wrist, the connecting shaft 20 moves away from the clamp, thereby realizing the clamping action of the clamp.

[0064] In one embodiment, please refer to Figure 2 The connection adapter includes a sealing sleeve 30, which is arranged in the accommodating cavity 10a. The two ends of the sealing sleeve 30 have a first port and a second port respectively. The second port is located on the side of the first port away from the clamp. The connecting shaft 20 passes through the first port and blocks the first port. The end wall of the second port is circumferentially sealed with the cavity wall of the accommodating cavity 10a. By arranging the sealing sleeve 30 in the accommodating cavity 10a, a part of the connecting shaft 20 is located in the sealing sleeve 30 and moves relative to the first port. Therefore, the sealing sleeve 30 effectively prevents the external impurities from entering the accommodating cavity 10a and affecting the connecting shaft 20, thereby ensuring the normal operation of the connecting shaft 20 and the internal components of the sealing sleeve 30.

[0065] Specifically, the sealing sleeve 30 refers to a component for preventing the intrusion of pollutants and the leakage of internal substances.

[0066] The connecting shaft 20 passes through the first port and can move relative to the first port.

[0067] The connecting shaft 20 blocks the first port to prevent external impurities from entering from the first port.

[0068] The shape and size of the first port are not limited, as long as the connecting shaft 20 can pass through it.

[0069] The shape and size of the second port are not limited, as long as the end wall of the second port is in close contact and sealed with the cavity wall of the accommodating cavity 10a along the circumferential direction.

[0070] In one embodiment, please refer to Figure 2 The connection adapter includes an elastic member 40. At one end of the connecting shaft 20 close to the clamp, a portion of the outer peripheral surface of the connecting shaft 20 protrudes to form a limit portion 21. The connecting shaft 20 is inserted into the elastic member 40, and the two ends of the elastic member 40 are respectively in contact with the connecting assembly 10 and the limit portion 21. Therefore, the elastic member 40 can provide a reset force after the connecting shaft 20 moves, so that the connecting shaft 20 returns to the initial position. This helps to ensure that the clamp can accurately return to the initial state after clamping and releasing the object, thereby improving the operating accuracy and repeatability of the manipulator.

[0071] Specifically, the limiting portion 21 refers to a structure formed by protruding from a partial area of ​​the outer circumferential surface of the connecting shaft 20, which is used to limit or control the position of the elastic member 40 to ensure that the elastic member 40 is correctly installed and functions.

[0072] The limiting portion 21 may be formed in any manner.

[0073] For example, a portion of the outer circumferential surface of the connecting shaft 20 protrudes to form an annular boss structure, and the boss structure is the limiting portion 21 .

[0074] For another example, some areas of the outer circumferential surface of the connecting shaft 20 are protruded at intervals to form protrusions, which are the limiting portions 21 , and adjacent protrusions are arranged at intervals along the circumference of the connecting shaft 20 .

[0075] The structural type of the elastic member 40 is not limited. For example, the elastic member 40 is a spring.

[0076] In one embodiment, please refer to Figure 2 , a part of the cavity wall of the accommodating cavity 10a extends into the accommodating cavity 10a to form the abutting portion 13, and the two ends of the elastic member 40 abut against the abutting portion 13 and the limiting portion 21 respectively. Thus, the two ends of the elastic member 40 can be stably supported by the elastic member 40 abutting against the abutting portion 13 and the limiting portion 21 respectively, reducing the shaking and displacement of the elastic member 40 during the working process, thereby improving the working stability of the elastic member 40.

[0077] Specifically, the formation method of the abutting portion 13 is not limited.

[0078] For example, a partial area of ​​the cavity wall of the accommodating cavity 10 a extends into the accommodating cavity 10 a to form an annular boss structure, and the boss structure is the abutting portion 13 .

[0079] For another example, part of the interval area of ​​the cavity wall of the accommodating cavity 10 a extends into the accommodating cavity 10 a to form protrusions that are spaced apart and distributed along the circumference of the cavity wall of the accommodating cavity 10 a , and these protrusions are the abutting portions 13 .

[0080] In one embodiment, please refer to Figure 2 The end of the connecting shaft 20 away from the clamp is connected to the wire rope in the slave wrist through a transmission screw buckle. When the driving force on the connecting shaft 20 is withdrawn from the slave wrist, the elastic member 40 is in a compressed state and the wire rope is in a tensioned state. In this way, the wire rope of the slave wrist can be prevented from slackening and jumping.

[0081] Specifically, the wire rope in the slave wrist pulls the connecting shaft 20 to move away from the clamp, thereby achieving the clamping action of the clamp, and the elastic member 40 is compressed. When the wire rope in the slave wrist loses the force acting on the connecting shaft 20, the elastic member 40 drives the connecting shaft 20 to move toward the clamp under the action of the elastic force, so that the clamp opens.

[0082] It can be understood that when the driving force on the connecting shaft 20 is withdrawn from the wrist, the elastic member 40 stores elastic potential energy and the steel wire rope has tension.

[0083] In one embodiment, within the region from the abutment portion 13 to the clamp, at least a portion of the connecting shaft 20 has a symmetrical section, the abutment portion 13 has an axial hole, the connecting shaft 20 is inserted into the axial hole, and the cross-sectional shape of the axial hole is consistent with the cross-sectional shape of the symmetrical section. Thus, through the cooperation of the axial hole and the symmetrical section, the connecting shaft 20 is limited in the rotation direction, so that the connecting shaft 20 can only move along the extension direction of the accommodating cavity 10a and cannot rotate, thereby preventing the connection between the connecting shaft 20 and the clamp from being disconnected due to the rotation of the connecting shaft 20 during use.

[0084] Specifically, the shaft hole refers to a hole opened on the abutting portion 13 for the connecting shaft 20 to pass through, so that the connecting shaft 20 can move therein along the extending direction of the accommodating cavity but cannot rotate.

[0085] In one embodiment, please refer to Figure 2 The connection adapter includes a fastener 50, and the connection adapter is fastened to the slave wrist by the fastener 50. Thus, by fastening the connection adapter to the slave wrist by the fastener 50, the firmness and stability of the connection between the connection adapter and the slave wrist can be improved, and the situation of loose connection or falling off of the manipulator during operation can be prevented, thereby improving the working reliability of the manipulator.

[0086] Specifically, the structural type of the fastener 50 is not limited. For example, the fastener 50 is a fastening screw.

[0087] In the description of the present application, the description with reference to the terms "in one embodiment", "in some embodiments", "in a specific embodiment", or "exemplary" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the present application, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0088] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A connection adapter, characterized in that: The connecting adapter is used to connect the slave wrist, sheath and clamp of the manipulator, and the connecting adapter includes: A connecting assembly, two opposite ends of which are detachably connected to the slave wrist and the clamp respectively; The connecting component has an installation groove, and the installation groove is used for installing the sheath.

2. The connection adapter according to claim 1, characterized in that: The connecting assembly includes a connecting part and a rotating part. The opposite ends of the connecting part are respectively detachably connected to the slave wrist and the clamp. The rotating part has a mounting hole and the mounting groove. The connecting part is inserted into the mounting hole, and the rotating part can rotate relative to the connecting part.

3. The connection adapter according to claim 2, characterized in that: The rotating part is a sealed bearing, and the mounting groove is located on the outer peripheral surface of the sealed bearing and extends along the circumferential direction of the sealed bearing.

4. The connection adapter according to claim 1, characterized in that: The connecting adapter includes a connecting shaft, and the connecting component has a accommodating cavity. At least a partial area of ​​the connecting shaft is arranged in the accommodating cavity and can move along the extension direction of the accommodating cavity. The end of the connecting shaft close to the clamp is connected to the telescopic part of the clamp, and the slave wrist is drivingly connected to the end of the connecting shaft away from the clamp. The slave wrist drives the connecting shaft to move to drive the clamp to switch between opening and clamping.

5. The connection adapter according to claim 4, characterized in that: One end of the connecting shaft away from the clamp is connected to the wire rope in the slave wrist through a transmission screw buckle, and the wire rope drives the connecting shaft to move toward the side away from the clamp to drive the clamp to clamp.

6. The connection adapter according to claim 4 or 5, characterized in that: The connecting adapter includes a sealing sleeve, which is arranged in the accommodating cavity. The two ends of the sealing sleeve respectively have a first port and a second port. The second port is located on the side of the first port away from the clamp. The connecting shaft passes through the first port and blocks the first port. The end wall of the second port is circumferentially sealed with the cavity wall of the accommodating cavity.

7. The connection adapter according to claim 4, characterized in that: The connecting adapter comprises an elastic member, and at one end of the connecting shaft close to the clamp, a partial area of ​​the outer peripheral surface of the connecting shaft protrudes to form a limiting portion, the connecting shaft is passed through the elastic member, and both ends of the elastic member are respectively in contact with the connecting assembly and the limiting portion.

8. The connection adapter according to claim 7, characterized in that: A partial area of ​​the cavity wall of the accommodating cavity extends into the accommodating cavity to form an abutting portion, and two ends of the elastic member abut against the abutting portion and the limiting portion respectively.

9. The connection adapter according to claim 7 or 8, characterized in that: The end of the connecting shaft away from the clamp is connected to the wire rope in the slave wrist through a transmission screw buckle. When the slave wrist withdraws the driving force on the connecting shaft, the elastic member is in a compressed state and the wire rope is in a tensioned state; and / or, In the area from the abutment portion to the clamp, at least a partial area of ​​the connecting shaft has a symmetrical section, the abutment portion has an axial hole, the connecting shaft is inserted into the axial hole, and the cross-sectional shape of the axial hole is consistent with the cross-sectional shape of the symmetrical section.

10. The connection adapter according to any one of claims 1 to 5, characterized in that: The connection adapter comprises a fastener, and the connection adapter is fastened to the slave wrist via the fastener; and / or, A portion of the outer peripheral surface of the connecting component on one side close to the clamp is protruding to form a connecting protrusion, and the clamp is detachably connected to the connecting protrusion; and / or, One end of the sheath is connected to the mounting groove, and the other end of the sheath extends toward an end away from the clamp to seal the connection between the slave wrist and the connection assembly.

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