Connecting device, end tool and surgical robot

Abstract

The application belongs to the technical field of medical apparatus and instruments, and specifically provides a connecting device, a terminal tool and a surgical robot. The connecting device comprises a fixed seat, a movable seat, a locking assembly, an adapter flange and a detection assembly. The movable seat is rotationally arranged at one end of the fixed seat, and is used for mounting an executor. The locking assembly can limit the rotation of the movable seat relative to the fixed seat. The adapter flange is detachably connected to the other end of the fixed seat, and is used for connecting a mechanical arm. The detection assembly is arranged on the adapter flange, and can detect the position state of the locking assembly. The fixed seat is mounted at the terminal end of the mechanical arm through the adapter flange, so that the fixed seat can be disassembled from the mechanical arm by disassembling the adapter flange. Since the detection assembly is arranged on the adapter flange, the detection assembly does not need to be disassembled during the disassembly of the fixed seat and the mechanical arm, and thus the cable of the detection assembly does not affect the disassembly process, thereby improving the disassembly efficiency.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and more specifically, relates to a connection device, end effector, and surgical robot. Background Technology

[0002] Surgical robots require end effectors to be installed at the end of the robotic arm. The actuators within these end effectors (such as bone saws and other surgical instruments) often require oscillations or, in some cases, position locking during use. Technicians desire to monitor the positional status of these actuators. In existing technologies, monitoring components are directly mounted on the connector near the actuator. However, this requires cabling, which can cause interference between the monitoring components and the actuator, making disassembly, assembly, and use extremely inconvenient. Summary of the Invention

[0003] The purpose of this application is to provide a connection device, an end effector, and a surgical robot to solve the technical problem of low assembly and disassembly efficiency of end effectors and robotic arms in the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] On one hand, a connecting device is provided, the connecting device comprising:

[0006] Fixed base;

[0007] A movable base is rotatably disposed at one end of the fixed base, and the movable base is used to mount the actuator.

[0008] A locking assembly is movable between a first position and a second position. In the first position, the locking assembly engages with the movable seat and restricts rotation of the movable seat relative to the fixed seat. In the second position, the locking assembly disengages from the movable seat and allows rotation of the movable seat relative to the fixed seat.

[0009] An adapter flange is detachably connected to the other end of the fixed base, and the adapter flange is used to connect the robotic arm;

[0010] A detection component is disposed on the transition flange, and the detection component is capable of detecting the position status of the locking component.

[0011] On the one hand, by setting up the locking component and the detection component, and by having the detection component detect the position state of the locking component (i.e., monitoring whether the movable seat can rotate), this design can not only mechanically lock the movable seat but also monitor its rotational capability. This allows the rotational capability to be converted from a mechanical signal to an electrical signal, enabling the control system to provide timely warnings based on the electrical signal. This further improves the locking reliability of the movable seat and the operational reliability of the connecting device. On the other hand, by detachably connecting the adapter flange to the fixed seat, and mounting the fixed seat at the end of the robotic arm via the adapter flange, the fixed seat can be detached from the robotic arm by detaching from the adapter flange. Since the detection component is located on the adapter flange, it does not need to be disassembled during the detachment process, and its cable will not affect this process. This effectively simplifies the detachment process and improves efficiency.

[0012] In one embodiment, the fixed base has a locking mounting hole, the movable base has a locking limiting hole, the locking component is slidably connected to the locking mounting hole, the locking component is inserted into the locking limiting hole in the first position state, and the locking component is disengaged from the locking limiting hole in the second position state.

[0013] The locking assembly engages with the locking limit hole to lock the movable seat, resulting in a simple structure, convenient operation, and easy application in products. Furthermore, in the first position, the movable seat cannot rotate relative to the fixed seat; in the second position, the movable seat can rotate relative to the fixed seat.

[0014] Preferably, the locking component extends through the locking mounting hole.

[0015] In one embodiment, the locking assembly includes a locking body and a locking elastic element. One end of the locking body can be inserted into the locking limiting hole, and the other end of the locking body is located in the locking mounting hole and connected to one end of the locking elastic element. The other end of the locking elastic element is connected to the fixing seat. The locking elastic element provides an elastic force to drive the locking body into the locking limiting hole.

[0016] By setting the locking elastic element, the locking body is driven to insert into the locking limiting hole through the locking elastic element. This allows the locking body to tend to switch to the first position state and remain in the first position state without external force intervention. This helps the movable seat and the fixed seat to remain relatively stationary, thereby improving the convenience and reliability of positioning the actuator on the movable seat during routine operations and increasing the efficiency of routine operations.

[0017] In one embodiment, the locking assembly further includes a locking knob and a locking protrusion. The locking knob is connected to the end of the locking body away from the movable seat. The locking protrusion is disposed on the periphery of the locking knob. The fixed seat is provided with a locking retaining sleeve. The locking retaining sleeve has a first groove and a second groove. The locking protrusion is operably confined in the first groove and the second groove.

[0018] By setting the locking protrusion and the locking retaining sleeve that cooperate with each other, the locking component can be switched to the first position state, and the locking component can be reliably held in the second position state, thereby improving the ease of use of the connecting device.

[0019] In one embodiment, the connecting device further includes a triggering component, which is slidably disposed in the fixed base. One end of the triggering component is in kinetic contact with the locking component, and the other end of the triggering component faces the detection component. The locking component drives the triggering component to abut against the detection component during the process of moving from the first position to the second position.

[0020] By setting the trigger component, the position state of the locking component can be effectively transmitted to the detection component, thereby eliminating the need for the locking component to be located at the end of the fixed seat near the adapter flange. This increases the freedom of the locking component's installation position on the fixed seat, thereby reducing the overall design difficulty of the connecting device and making it easier to avoid interference between the movable seat and the fixed seat or the adapter flange.

[0021] In one embodiment, the triggering component includes a triggering body and a triggering elastic element. The triggering body is slidably connected to the fixed base. One end of the triggering elastic element is connected to the fixed base, and the other end of the triggering elastic element is connected to the triggering body. The triggering elastic element provides an elastic force to drive the triggering body to slide away from the detection component. The locking component includes a triggering groove. In the first position, one end of the triggering body is inserted into the triggering groove, and the other end of the triggering body is disengaged from the detection component. In the second position, one end of the triggering body is disengaged from the triggering groove, and the other end of the triggering body abuts against the detection component.

[0022] By setting the trigger body as a transmission structure and connecting the trigger body to the locking component and the trigger elastic element respectively, the trigger body can slide in different directions during the switching state of the locking component, thereby realizing the phased triggering of the detection component, and thus using the detection component to monitor the position state of the locking component.

[0023] In one embodiment, the fixed seat has a bearing mounting hole, the movable seat includes a movable disk and a bearing mounting shaft disposed on the movable disk, the bearing mounting shaft is inserted into the bearing mounting hole, and the connecting device further includes a bearing connecting assembly, the bearing connecting assembly includes a first bearing and a second bearing, the first bearing and the second bearing are disposed along the axial direction of the bearing mounting shaft, the outer rings of the first bearing and the second bearing are both connected to the bearing mounting hole, and the inner rings of the first bearing and the second bearing are both connected to the bearing mounting shaft.

[0024] The movable seat and the fixed seat are rotatably connected by the bearing connection assembly with two bearings, which can better prevent the bearing mounting shaft from tilting, thereby effectively improving the rotational stability and positional accuracy of the movable seat.

[0025] In one embodiment, a rotation limiting groove is provided on the side of the movable seat near the fixed seat, and a rotation limiting post is provided on the side of the fixed seat near the movable seat. The rotation limiting post is inserted into the rotation limiting groove, and the rotation limiting post can slide along the rotation limiting groove when the movable seat rotates relative to the fixed seat.

[0026] By setting the rotating limiting post and the rotating limiting groove that cooperate with each other, the maximum rotation angle of the movable seat relative to the fixed seat can be limited.

[0027] On the other hand, an end-effector is provided, which includes an actuator and a connection device according to any of the above, wherein the actuator is mounted on the movable seat of the connection device.

[0028] By mounting the actuator on the movable base, the locking reliability and operational reliability of the actuator can be improved. Furthermore, by detachably connecting the adapter flange to the fixed base, and mounting the fixed base at the end of the robotic arm via the adapter flange, the fixed base can be detached from the robotic arm by detaching from the adapter flange. Since the detection component is located on the adapter flange, it does not need to be disassembled during the detachment process between the fixed base and the robotic arm. Therefore, the detection component's cable will not affect this process, effectively simplifying the detachment process and improving the efficiency of detaching the actuator from the robotic arm.

[0029] On the other hand, a surgical robot is provided, which includes a robotic arm and the aforementioned end effector, the end effector being mounted at the end of the robotic arm.

[0030] The end effector is connected to the robotic arm via the adapter flange, which effectively simplifies the assembly and disassembly process between the end effector and the robotic arm and improves the assembly and disassembly efficiency.

[0031] The advantages of the connection device, end effector, and surgical robot provided in this application are as follows:

[0032] On the one hand, by setting up the locking component and the detection component, and with the detection component capable of detecting the state of the locking component (i.e., monitoring whether the movable seat can rotate), this design can not only mechanically lock the movable seat but also monitor its rotational capability. This allows the rotational capability to be converted from a mechanical signal to an electrical signal, facilitating the control system to provide timely warnings based on the electrical signal. This further improves the locking reliability of the movable seat and the operational reliability of the connecting device. On the other hand, by detachably connecting the adapter flange to the fixed seat, and mounting the fixed seat at the end of the robotic arm via the adapter flange, the fixed seat can be detached from the robotic arm by detaching from the adapter flange. Since the detection component is located on the adapter flange, it does not need to be disassembled during the detachment process, and its cable will not affect this process. This effectively simplifies the detachment process and improves efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 Schematic diagram of the end effector provided in the embodiments of this application Figure 1 ;

[0035] Figure 2 A cross-sectional schematic diagram of the end effector provided in an embodiment of this application;

[0036] Figure 3 for Figure 2 A magnified view of a portion of location A shown;

[0037] Figure 4 Schematic diagram of the end effector provided in the embodiments of this application Figure 1 ;

[0038] Figure 5 for Figure 4 A magnified view of a portion of location B shown;

[0039] Figure 6 This is a top view of the movable seat provided in an embodiment of this application.

[0040] The following are the labeling elements in the figure:

[0041] 100. Connecting device;

[0042] 1. Fixed base; 11. Locking mounting hole; 12. Locking retaining sleeve; 121. First groove; 122. Second groove; 13. Bearing mounting hole; 14. Bearing support boss; 15. Rotation limit post; 16. Connecting flange; 17. Locking limit boss;

[0043] 2. Movable seat; 21. Locking limit hole; 22. Movable plate; 23. Bearing mounting shaft; 24. Rotation limit groove;

[0044] 3. Locking assembly; 31. Locking body; 311. Trigger groove; 32. Locking elastic element; 33. Locking knob; 34. Locking protrusion;

[0045] 4. Adapter flange; 41. Switch mounting hole;

[0046] 5. Detection components;

[0047] 61. Locating pin; 62. Locating bolt;

[0048] 7. Trigger component; 71. Trigger body; 72. Trigger elastic element; 73. Trigger cover plate;

[0049] 8. Bearing connection assembly; 81. First bearing; 82. Second bearing; 83. Locking washer; 84. Lock nut; 85. Bearing cover plate;

[0050] 200. Actuating devices;

[0051] 201. Mounting plate; 202. Oscillating saw; 203. Saw blade; 204. Positioning array assembly. Detailed Implementation

[0052] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0053] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0054] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0056] This application provides a connecting device 100, such as... Figures 1 to 3As shown, the connecting device 100 includes a fixed base 1, a movable base 2, a locking assembly 3, a transition flange 4, and a detection assembly 5. The movable base 2 is rotatably disposed at one end of the fixed base 1 and is used to mount the actuator 200. The locking assembly 3 is movable between a first position and a second position. In the first position, the locking assembly 3 engages with the movable base 2 and restricts the movable base 2 from rotating relative to the fixed base 1. In the second position, the locking assembly 3 disengages from the movable base 2 and allows the movable base 2 to rotate relative to the fixed base 1. The transition flange 4 is detachably connected to the other end of the fixed base 1 and is used to connect a robotic arm. The detection assembly 5 is disposed on the transition flange 4 and is capable of detecting the position status of the locking assembly 3.

[0057] On the one hand, by setting a locking component 3 and a detection component 5, and the detection component 5 being able to detect the position state of the locking component 3, that is, the detection component 5 being able to monitor whether the movable seat 2 can rotate, this design can not only mechanically lock the movable seat 2, but also monitor whether the movable seat 2 can rotate, so as to convert the rotation status from a mechanical signal to an electrical signal, thereby facilitating the control system to provide timely warning information based on the electrical signal, thereby further improving the locking reliability of the movable seat 2 and the working reliability of the connecting device 100. On the other hand, by detachably connecting the adapter flange 4 to the fixed seat 1, and installing the fixed seat 1 at the end of the robotic arm through the adapter flange 4, the fixed seat 1 can be detached from the robotic arm by detaching from the adapter flange 4. Since the detection component 5 is set in the adapter flange 4, the detection component 5 does not need to be disassembled during the disassembly and assembly of the fixed seat 1 and the robotic arm, and the cable of the detection component 5 will not affect the disassembly and assembly process, thereby effectively simplifying the disassembly and assembly process of the fixed seat 1 and improving the disassembly and assembly efficiency.

[0058] In one embodiment, such as Figure 3 As shown, a rotation limiting groove 24 is provided on the side of the movable seat 2 near the fixed seat 1, and a rotation limiting post 15 is provided on the side of the fixed seat 1 near the movable seat 2. The rotation limiting post 15 is inserted into the rotation limiting groove 24, and the rotation limiting post 15 can slide along the rotation limiting groove 24 when the movable seat 2 rotates relative to the fixed seat 1. By setting the mutually cooperating rotation limiting post 15 and rotation limiting groove 24, the maximum rotation angle of the movable seat 2 relative to the fixed seat 1 can be limited. Further, as... Figure 6 As shown, the rotation limiting groove 24 is an arc-shaped groove with the rotation axis of the movable seat 2 as the center. The starting and ending positions and length of the rotation limiting groove 24 can be designed according to the rotation angle range required by the actuator 200 in actual use.

[0059] In one embodiment, the fixed base 1 includes a base body and a connecting flange 16, the base body being detachably connected to the adapter flange 4 via the connecting flange 16.

[0060] In one embodiment, such as Figures 1 to 3 As shown, the connecting flange 16 and the transition flange 4 are locked and fixedly connected by locating pins 61 and locating bolts 62. There are two or more locating pins 61, and the diameters of the locating pins 61 are different or the positions of the locating pins 61 are different. This ensures that the connecting flange 16 is installed on the transition flange 4 in a preset direction, thereby ensuring the accuracy of the orientation of the fixed seat 1 and the movable seat 2. On the other hand, it can reduce the axial deviation of the movable seat 2 on its own rotating shaft and improve the axial installation accuracy of the movable seat 2. The locating screws are used to lock the connecting flange 16 and the transition flange 4, which can reduce the radial deviation of the movable seat 2 on its own rotating shaft and improve the radial installation accuracy of the movable seat 2, thereby improving the overall installation accuracy of the movable seat 2.

[0061] In one embodiment, such as Figure 3 As shown, the fixed base 1 has a locking mounting hole 11, and the movable base 2 has a locking limiting hole 21. The locking component 3 is slidably connected to the locking mounting hole 11. In the first position, the locking component 3 is inserted into the locking limiting hole 21; in the second position, the locking component 3 is disengaged from the locking limiting hole 21. The locking of the movable base 2 is achieved by the cooperation of the locking component 3 and the locking limiting hole 21. The structure is simple, the operation is convenient, and it is easy to promote and apply in products. Furthermore, in the first position, the movable base 2 cannot rotate relative to the fixed base 1; in the second position, the movable base 2 can rotate relative to the fixed base 1. In specific implementation, the locking component 3 passes through the locking mounting hole 11.

[0062] In one embodiment, such as Figure 3 As shown, the locking assembly 3 includes a locking body 31 and a locking elastic member 32. One end of the locking body 31 can be inserted into the locking limiting hole 21, and the other end of the locking body 31 is located in the locking mounting hole 11 and connected to one end of the locking elastic member 32. The other end of the locking elastic member 32 is connected to the fixing seat 1. The locking elastic member 32 provides an elastic force to drive the locking body 31 to be inserted into the locking limiting hole 21.

[0063] By setting a locking elastic element 32, the locking body 31 is driven by the locking elastic element 32 to insert into the locking limiting hole 21. This allows the locking body 31 to tend to switch to and remain in the first position without external force intervention. This helps the movable seat 2 and the fixed seat 1 remain relatively stationary, thereby improving the convenience and reliability of positioning the actuator 200 on the movable seat 2 during routine operations and increasing the efficiency of routine operations. In some unconventional operations, it is necessary to switch the locking component 3 to the second position, which allows the movable seat 2 to rotate relative to the fixed seat 1. The operator can then manually control the angle of the actuator 200 to achieve special positions and angles to meet operational requirements, thereby improving the operational flexibility of the actuator 200 and its applicability to various scenarios.

[0064] In one embodiment, the locking elastic element 32 is a compression spring, and the locking body 31 is a pin structure. The locking elastic element 32 is sleeved on the locking body 31. In a specific implementation, the locking body 31 includes a sleeve portion, a trigger portion, and a plug portion that are fixedly connected in sequence. The diameter of the trigger portion is larger than the diameters of the sleeve portion and the plug portion. The locking elastic element 32 is sleeved on the sleeve portion, with one end of the locking elastic element 32 abutting against the trigger portion. The plug portion is used to insert into the locking limiting hole 21. The fixed base 1 includes a locking limiting boss 17 disposed at the end of the locking mounting hole 11 away from the movable base 2. The other end of the locking elastic element 32 abuts against the locking limiting boss 17.

[0065] In one embodiment, such as Figures 3 to 5 As shown, the locking assembly 3 also includes a locking knob 33 and a locking protrusion 34. The locking knob 33 is connected to the end of the locking body 31 away from the movable seat 2. The locking protrusion 34 is disposed on the periphery of the locking knob 33. The fixed seat 1 is provided with a locking retaining sleeve 12. The locking retaining sleeve 12 has a first groove 121 and a second groove 122. The locking protrusion 34 can be operably confined in the first groove 121 and the second groove 122. In specific implementation, the depth of the first groove 121 along the axial direction of the locking mounting hole 11 is greater than the depth of the second groove 122 along the axial direction of the locking mounting hole 11. When the locking protrusion 34 is confined in the first groove 121, the locking assembly 3 is in a first position state. When the locking protrusion 34 is confined in the second groove 122, the locking assembly 3 is in a second position state.

[0066] By setting the locking protrusion 34 and locking retaining sleeve 12 that cooperate with each other, the locking component 3 can be switched to the first position state, and the locking component 3 can be reliably held in the second position state, thereby improving the ease of use of the connecting device 100.

[0067] In the specific implementation process, such as Figure 5As shown, the locking retaining sleeve 12 has a circular structure. The first groove 121 and the second groove 122 are spaced apart along the circumference. After the operator holds the locking knob 33 and pulls the locking assembly 3 outward, the locking retaining sleeve 12 can be moved into the first groove 121 or the second groove 122 by rotating the locking knob 33, thereby switching the locking assembly 3 to the first position state or the second position state, thereby realizing the control of the rotation state of the movable seat 2.

[0068] In one embodiment, such as Figure 5 As shown, the locking retaining sleeve 12 is provided with two first grooves 121 and two second grooves 122. The two first grooves 121 are spaced 180 degrees apart in the circumferential direction, and the two second grooves 122 are spaced 180 degrees apart in the circumferential direction. The first grooves 121 and the second grooves 122 are spaced 90 degrees apart in the circumferential direction. By providing two first grooves 121 and two second grooves 122, the locking component 3 can switch to another state after rotating 90 degrees in different directions. That is, when the locking component 3 is originally in the first position, it can switch to the second position after rotating 90 degrees in any direction. Conversely, when the locking component 3 is originally in the second position, it can switch to the first position after rotating 90 degrees in any direction. This effectively improves the efficiency of the switching action of the locking component 3 and enhances the ease of use of the connecting device 100.

[0069] In one embodiment, such as Figure 3 As shown, the end of the locking body 31 away from the movable seat 2 extends out of the fixed seat 1 and is inserted into the locking knob 33. The locking knob 33 and the locking body are detachably connected by bolts.

[0070] In one embodiment, such as Figure 3 As shown, the connecting device 100 also includes a trigger component 7, which is slidably disposed in the fixed base 1. One end of the trigger component 7 is in transmission contact with the locking component 3, and the other end of the trigger component 7 faces the detection component 5. The locking component 3 drives the trigger component 7 to contact the detection component 5 during the process of moving from the first position to the second position.

[0071] By setting the trigger component 7, the position state of the locking component 3 can be effectively transmitted to the detection component 5. This eliminates the need for the locking component 3 to be positioned near the adapter flange 4 on the fixed base 1, increasing the freedom of the locking component 3's installation position on the fixed base 1. This reduces the overall design complexity of the connecting device 100 and makes it easier to avoid interference between the movable base 2 and the fixed base 1 or adapter flange 4. In practice, when the locking component 3 moves from the first position to the second position, it presses the trigger component 7, causing the trigger component 7 to move closer to the detection component 5. This causes the trigger component 7 to abut against and trigger the detection component 5, converting the mechanical state of the locking component 3 disengaging from the locking limit hole 21 into an electrical signal. When the locking component moves from the second position to the first position, it releases the pressure on the trigger component 7, allowing the trigger component to move away from the detection component 5. This causes the trigger component 7 to disengage from the detection component 5, at which point the trigger signal of the detection component 5 is released.

[0072] In the specific implementation process, such as Figure 3 As shown, the adapter flange 4 has a switch mounting hole 41, and the detection component 5 is installed inside the switch mounting hole 41. The detection component 5 is a micro switch.

[0073] In one embodiment, such as Figure 3 As shown, the trigger assembly 7 includes a trigger body 71 and a trigger elastic element 72. The trigger body 71 is slidably connected to the fixed base 1. One end of the trigger elastic element 72 is connected to the fixed base 1, and the other end of the trigger elastic element 72 is connected to the trigger body 71. The trigger elastic element 72 provides an elastic force to drive the trigger body 71 to slide away from the detection assembly 5. The locking assembly 3 includes a trigger groove 311. In the first position, one end of the trigger body 71 is inserted into the trigger groove 311, and the other end of the trigger body 71 is disengaged from the detection assembly 5. In the second position, one end of the trigger body 71 is disengaged from the trigger groove 311, and the other end of the trigger body 71 abuts against the detection assembly 5. In a specific implementation, the trigger elastic element 72 is a compression spring.

[0074] By setting the trigger body 71 as a transmission structure and connecting the trigger body 71 to the locking component 3 and the trigger elastic element 72 respectively, the trigger body 71 can slide in different directions during the switching state of the locking component 3, thereby realizing the staged triggering of the detection component 5, and thus using the detection component 5 to monitor the position state of the locking component 3. Further, in the first position, one end of the trigger body 71 is inserted into the trigger groove 311, and the other end of the trigger body 71 is disengaged from the detection component 5, and the detection component 5 has no trigger signal; in the second position, one end of the trigger body 71 is disengaged from the trigger groove 311, and the other end of the trigger body 71 abuts against the detection component 5, and the detection component 5 generates a trigger signal.

[0075] In the specific implementation process, such as Figure 3 As shown, the trigger groove 311 is an annular groove surrounding the locking body 31, and the trigger groove 311 smoothly transitions to the peripheral surface of the locking body 31 through an inclined surface; and / or, the end of the trigger body 71 away from the detection component 5 is a spherical end face. This design of the inclined surface and the spherical end face allows the trigger body 71 to smoothly and reliably insert into and disengage from the trigger groove 311, thereby improving the monitoring accuracy of the detection component 5 on the position state of the locking component 3. In specific implementations, the annular groove is a V-shaped groove or an arc-shaped groove. Furthermore, the trigger groove 311 is provided in the trigger portion.

[0076] In the specific implementation process, such as Figure 3 As shown, the trigger assembly 7 also includes a trigger cover plate 73, which is fixedly mounted in the fixed seat 1 by bolts. A trigger limiting boss is provided in the middle of the trigger body 71. One end of the trigger elastic member 72 abuts against the trigger cover plate 73, and the other end of the trigger elastic member 72 abuts against the trigger limiting boss.

[0077] In one embodiment, such as Figure 3 As shown, the fixed seat 1 has a bearing mounting hole 13, and the movable seat 2 includes a movable disk 22 and a bearing mounting shaft 23 disposed on the movable disk 22. The bearing mounting shaft 23 is inserted into the bearing mounting hole 13. The connecting device 100 also includes a bearing connecting assembly 8, which includes a first bearing 81 and a second bearing 82. The first bearing 81 and the second bearing 82 are arranged along the axial direction of the bearing mounting shaft 23. The outer rings of the first bearing 81 and the second bearing 82 are both connected to the bearing mounting hole 13, and the inner rings of the first bearing 81 and the second bearing 82 are both connected to the bearing mounting shaft 23. The movable seat 2 and the fixed seat 1 are rotatably connected by the bearing connecting assembly 8 with two bearings, which can better prevent the bearing mounting shaft 23 from tilting, thereby effectively improving the rotational stability and positional accuracy of the movable seat 2.

[0078] In the specific implementation process, such as Figure 3 As shown, the bearing connection assembly 8 also includes a bearing cover plate 85, which is disposed at the end of the bearing mounting shaft 23 away from the movable disk 22. The bearing cover plate 85 is used to close the end of the bearing mounting hole 13 away from the movable disk 22.

[0079] In one embodiment, such as Figure 3As shown, a bearing support boss 14 is provided in the bearing mounting hole 13. The outer rings of the first bearing 81 and the second bearing 82 abut against the two sides of the bearing support boss 14, respectively. The inner ring of the first bearing 81 abuts against the movable disc 22. The bearing connection assembly 8 also includes a retaining washer 83 and a locking nut 84. The retaining washer 83 is sleeved on the bearing mounting shaft 23 and located on the side of the second bearing 82 away from the first bearing 81. The locking nut 84 is threaded to the bearing mounting shaft 23 and located on the side of the retaining washer 83 away from the first bearing 81. The locking nut 84 allows the retaining washer 83 to abut against the inner ring of the second bearing 82. By setting the retaining washer 83 and the locking nut 84, the axial clearance can be effectively eliminated, the axial movement of the movable seat 2 can be reduced, and the axial accuracy of the movable seat 2 during operation can be improved, thereby improving the operating accuracy of the actuator 200.

[0080] This application also provides an end-effector tool, such as... Figure 1 As shown, the end effector includes an actuator 200 and a connecting device 100 as described above. The actuator 200 is mounted on the movable seat 2 of the connecting device 100. By mounting the actuator 200 on the movable seat 2, the locking reliability and operational reliability of the actuator 200 can be improved. Furthermore, by detachably connecting the adapter flange 4 to the fixed seat 1, and mounting the fixed seat 1 to the end of the robotic arm via the adapter flange 4, the fixed seat 1 can be detached from the robotic arm by detaching from the adapter flange 4. Since the detection component 5 is located on the adapter flange 4, it does not need to be disassembled during the detachment process between the fixed seat 1 and the robotic arm. Therefore, the cable of the detection component 5 will not affect the detachment process, effectively simplifying the detachment process of the fixed seat 1 and improving the detachment efficiency between the actuator 200 and the robotic arm.

[0081] In one embodiment, the actuator 200 includes an actuator mounting plate 201, and a oscillating saw 202, a saw blade 203, and a positioning array assembly 204 disposed on the actuator mounting plate 201. By setting the positioning array assembly 204, the position and orientation of the saw blade 203 can be effectively monitored. By mounting the actuator 200 on the connecting device 100, the saw blade 203 can adjust its orientation while keeping its plane unchanged in a specific scenario, so as to perform operations from different directions, thereby improving the versatility of the end effector.

[0082] This application also provides a surgical robot, which includes a robotic arm and the aforementioned end effector, the end effector being mounted at the end of the robotic arm. The end effector is connected to the robotic arm via an adapter flange 4, which effectively simplifies the assembly and disassembly process between the end effector and the robotic arm, and improves the efficiency of the assembly and disassembly.

[0083] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A connecting device, characterized in that, include: Fixed base (1); Movable seat (2), which is rotatably disposed at one end of the fixed seat (1), and is used to mount the actuator (200); A locking assembly (3) is movable between a first position and a second position. In the first position, the locking assembly (3) engages with the movable seat (2) and restricts the movable seat (2) from rotating relative to the fixed seat (1). In the second position, the locking assembly (3) disengages from the movable seat (2) and allows the movable seat (2) to rotate relative to the fixed seat (1). The adapter flange (4) is detachably connected to the other end of the fixed base (1), and the adapter flange (4) is used to connect the robotic arm; The detection component (5) is disposed on the transition flange (4) and is capable of detecting the position status of the locking component (3); A trigger component (7) is slidably disposed in the fixed base (1). One end of the trigger component (7) is in transmission contact with the locking component (3), and the other end of the trigger component (7) faces the detection component (5). The locking component (3) drives the trigger component (7) to abut against the detection component (5) during the process of moving from the first position to the second position.

2. The connecting device as described in claim 1, characterized in that, The fixed base (1) has a locking mounting hole (11), and the movable base (2) has a locking limiting hole (21). The locking component (3) is slidably connected to the locking mounting hole (11). In the first position state, the locking component (3) is inserted into the locking limiting hole (21). In the second position state, the locking component (3) is disengaged from the locking limiting hole (21).

3. The connecting device as described in claim 2, characterized in that, The locking assembly (3) includes a locking body (31) and a locking elastic element (32). One end of the locking body (31) can be inserted into the locking limiting hole (21). The other end of the locking body (31) is located in the locking mounting hole (11) and connected to one end of the locking elastic element (32). The other end of the locking elastic element (32) is connected to the fixing seat (1). The locking elastic element (32) provides an elastic force to drive the locking body (31) to be inserted into the locking limiting hole (21).

4. The connecting device as described in claim 3, characterized in that, The locking assembly (3) further includes a locking knob (33) and a locking protrusion (34). The locking knob (33) is connected to the end of the locking body (31) away from the movable seat (2). The locking protrusion (34) is disposed on the periphery of the locking knob (33). The fixed seat (1) is provided with a locking retaining sleeve (12). The locking retaining sleeve (12) has a first groove (121) and a second groove (122). The locking protrusion (34) can be operably confined in the first groove (121) and the second groove (122).

5. The connecting device as claimed in claim 1, characterized in that, The triggering component (7) includes a triggering body (71) and a triggering elastic element (72). The triggering body (71) is slidably connected to the fixed base (1). One end of the triggering elastic element (72) is connected to the fixed base (1), and the other end of the triggering elastic element (72) is connected to the triggering body (71). The triggering elastic element (72) provides an elastic force to drive the triggering body (71) to slide away from the detection component (5). The locking component (3) includes a triggering groove (311). In the first position state, one end of the triggering body (71) is inserted into the triggering groove (311), and the other end of the triggering body (71) is disengaged from the detection component (5). In the second position state, one end of the triggering body (71) is disengaged from the triggering groove (311), and the other end of the triggering body (71) abuts against the detection component (5).

6. The connecting device as claimed in claim 1, characterized in that, The fixed seat (1) has a bearing mounting hole (13). The movable seat (2) includes a movable plate (22) and a bearing mounting shaft (23) disposed on the movable plate (22). The bearing mounting shaft (23) is inserted into the bearing mounting hole (13). The connecting device (100) also includes a bearing connecting assembly (8). The bearing connecting assembly (8) includes a first bearing (81) and a second bearing (82). The first bearing (81) and the second bearing (82) are disposed along the axial direction of the bearing mounting shaft (23). The outer rings of the first bearing (81) and the second bearing (82) are connected to the bearing mounting hole (13), and the inner rings of the first bearing (81) and the second bearing (82) are connected to the bearing mounting shaft (23).

7. The connecting device as claimed in claim 1, characterized in that, The movable seat (2) has a rotation limiting groove (24) on the side near the fixed seat (1), and the fixed seat (1) has a rotation limiting post (15) on the side near the movable seat (2). The rotation limiting post (15) is inserted into the rotation limiting groove (24). When the movable seat (2) rotates relative to the fixed seat (1), the rotation limiting post (15) can slide along the rotation limiting groove (24).

8. An end-effector tool, characterized in that, It includes an actuator (200) and a connecting device (100) as described in any one of claims 1 to 7, wherein the actuator (200) is mounted on the movable seat (2) of the connecting device (100).

9. A surgical robot, characterized in that, It includes a robotic arm and the end effector of claim 8, wherein the end effector is mounted on the end of the robotic arm.

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