Interface device, robotic arm and surgical robotic system

Abstract

This application provides an interface device, a robotic arm, and a surgical robot system. The interface device includes a first docking mechanism, a second docking mechanism, and a self-locking mechanism. The first docking mechanism is disposed on the first arm of the robotic arm and includes a first mechanical connector. The second docking mechanism is disposed on the second arm of the robotic arm and includes a second mechanical connector, which is movably connected to the first mechanical connector between a separated position and a connected position and is configured to connect with the first mechanical connector. The self-locking mechanism includes a first locking member and a second locking member, the first locking member being movably disposed in the first docking mechanism and the second locking member being disposed in the second docking mechanism. The first locking member is configured to move relative to the first and second mechanical connectors to a connected position and is capable of moving from a mounted position to a locked position where it locks with the second locking member, thereby locking the connection between the first and second docking mechanisms.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to an interface device, a robotic arm, and a surgical robot system. Background Technology

[0002] The patient-side robotic arm of a surgical robotic system typically consists of an adjusting arm and a manipulator arm, with the manipulator arm fixed to the end of the adjusting arm. Different surgeries may require manipulator arms of different lengths, angles, or functions. Therefore, the manipulator arm and adjusting arm can be configured for a detachable connection.

[0003] After the initial installation of the manipulator and adjusting arm, further reinforcement procedures are often required. Therefore, after initial installation, at least one operator is needed to maintain the connection between the manipulator and adjusting arm, while other personnel are needed to assist in the subsequent reinforcement process. This not only increases the complexity of the operation but may also cause operator fatigue.

[0004] Therefore, there is a need to provide an interface device, a robotic arm, and a surgical robot system to at least partially solve the above problems. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially solve the above problems, a first aspect of this application provides an interface device for connecting two arms of a robotic arm, the interface device comprising:

[0007] A first docking mechanism is disposed on the first arm of the robotic arm, and the first docking mechanism includes a first mechanical connector; and

[0008] A second docking mechanism is disposed on the second arm of the robotic arm. The second docking mechanism includes a second mechanical connector, which is movably connected to a first mechanical connector between a separated position and a connected position, and is configured to connect to the first mechanical connector; and

[0009] A self-locking mechanism, the self-locking mechanism comprising:

[0010] A first locking element, movably disposed in the first docking mechanism; and

[0011] A second locking element is disposed on the second docking mechanism;

[0012] The first locking member is configured to move relative to the first mechanical connector and the second mechanical connector to the connection position, and to move from the installation position to the locking position where it is locked with the second locking member, so as to lock the connection between the first docking mechanism and the second docking mechanism.

[0013] According to the interface device of the first aspect of this application, after the first docking mechanism and the second docking mechanism are docked, the self-locking mechanism ensures that the first docking mechanism and the second docking mechanism are locked relative to each other, so that a single person can safely and efficiently complete the entire installation process.

[0014] Optionally, the first locking member includes a locking part and a biasing member. The locking part is translatably disposed on the first docking mechanism, and the biasing member is connected to the locking part. The biasing member provides a force to the locking part to translate toward the second docking mechanism.

[0015] Optionally, the second locking member includes a locking groove formed on the second docking mechanism. In the installed position, the biasing member is compressed by the second docking mechanism to allow the locking part to be received within the first docking mechanism; in the locked position, the locking part extends into the locking groove for locking.

[0016] Optionally, the first docking mechanism has a receiving groove, the locking part is at least partially received in the receiving groove, the receiving groove has a top wall facing the locking part, and the biasing member is connected between the locking part and the top wall.

[0017] Optionally, the first docking mechanism has a first groove and a second groove communicating with the receiving groove on the surface opposite to the first mechanical connector. The extension direction of the first groove intersects the extension direction of the second groove, and the depth of the first groove is greater than the depth of the second groove. The first locking member also includes an operating part connected to the locking part. In the installation position and the locking position, the operating part is movably received in the first groove, and the operating part is locked in the second groove to limit the first locking member to the unlocked position.

[0018] Optionally, the first locking member can move relative to the second locking member between the unlocked position and the locked position. The first docking mechanism is provided with an unlocking limiting part, which limits the first locking member to the locked position, which is closer to the second docking mechanism than the unlocked position.

[0019] Optionally, the first docking mechanism further includes a detachable anti-misalignment plate, wherein a limiting groove is formed in the anti-misalignment plate, and the anti-misalignment plate is installed such that the limiting groove communicates with the first groove to receive the operating part, thereby limiting the operating part to the locked position; or blocking at least a portion of the second groove; or preventing the operating part from being manually actuated.

[0020] Optionally, the interface device further includes a fastening mechanism for securing the first docking mechanism and the second docking mechanism, and the anti-misalignment plate is further configured to cover at least a portion of the fastening mechanism.

[0021] Optionally, the first docking mechanism further includes a first electrical connector movably connected to the first mechanical connector between the second position and the first position;

[0022] The second docking mechanism further includes a second electrical connector connected to the second mechanical connector, the second electrical connector being electrically connected to the first electrical connector located at the second position, and the second electrical connector being disconnected from the first electrical connector located at the first position;

[0023] The anti-misalignment plate is also configured to press against the first electrical connector to hold the first electrical connector in the second position.

[0024] A second aspect of this application provides a robotic arm, including a first arm, a second arm, and the aforementioned interface device, wherein the interface device is connected to the end of the first arm, and the second arm is detachably connected to the interface device.

[0025] A third aspect of this application provides a surgical robot system, the surgical robot including the robotic arm described above. Attached Figure Description

[0026] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0027] Figure 1 This is a schematic diagram of a surgical robot system;

[0028] Figure 2 A schematic diagram of the robotic arm beside the affected patient;

[0029] Figure 3 This is a three-dimensional schematic diagram of the interface device;

[0030] Figure 4 This is a front view schematic diagram of the interface device;

[0031] Figure 5A perspective view of the first docking mechanism for some embodiments of this application;

[0032] Figure 6 A perspective view of the second docking mechanism for some embodiments of this application;

[0033] Figure 7 For some embodiments of this application, along Figure 4 A schematic diagram of the cross-section intercepted by the centerline AA;

[0034] Figure 8 For some embodiments of this application, along Figure 4 A schematic diagram of the cross-section intercepted by the centerline BB;

[0035] Figure 9 For some embodiments of this application, along Figure 4 A schematic diagram of the cross-section intercepted by the centerline CC;

[0036] Figure 10 A perspective view of the first docking mechanism for some other embodiments of this application;

[0037] Figure 11 A perspective view of the second docking mechanism for some other embodiments of this application;

[0038] Figure 12 For other embodiments of this application, along Figure 4 A schematic diagram of the cross-section intercepted by the centerline AA;

[0039] Figure 13 For other embodiments of this application, along Figure 4 A schematic diagram of the cross-section intercepted by the centerline BB;

[0040] Figure 14 An exploded perspective view of an interface device for yet another embodiment of this application;

[0041] Figure 15 Some other embodiments of this application are three-dimensional exploded views of the interface device from another perspective;

[0042] Figure 16 For some other embodiments of this application, along Figure 4 A schematic diagram of the cross-section intercepted by the centerline AA;

[0043] Figure 17 For some other embodiments of this application, along Figure 4 A schematic diagram of the cross-section intercepted by the centerline CC;

[0044] Figure 18 This is a cross-sectional view of the interface device in the state of being disconnected from electrical connection, according to some other embodiments of this application.

[0045] Figure 19 This is a cross-sectional schematic diagram of the interface device in an electrically connected state for some other embodiments of this application;

[0046] Figure 20 This is a schematic diagram illustrating the installation of the interface device for some embodiments of this application;

[0047] Figure 21 for Figure 20 A schematic diagram of the interface device with the anti-faulty plate removed. Detailed Implementation

[0048] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0049] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0050] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0051] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0052] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0053] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0054] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0055] Reference Figure 1 According to the embodiments of this application, the surgical robot system can be a robot that can be remotely controlled to complete surgery, which includes a doctor's console 1, a robotic arm next to the patient 2, and an imaging system 3.

[0056] The doctor's control console 1 is the main operating device, featuring a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 1 also has other control switches that are easily accessible by hand or foot for various functional operations and human-computer interaction.

[0057] The robotic arm 2 is a slave operating device and may include at least one robotic arm 6. The robotic arm 6 has several connecting arms, and two adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm 6 can achieve multiple degrees of freedom (such as 7 degrees of freedom, which may vary depending on the surgical instrument). The end of the robotic arm 6 is used to hold surgical instruments or endoscopes.

[0058] The imaging system 3 includes a display screen, endoscope controller, system electronics, and image processor. The imaging system 3 can be set up independently or integrated into the doctor's console 1 or into the patient-side robotic arm 2.

[0059] Reference Figure 2 The robotic arm 2 beside the patient's side includes a base 4, a column 5 mounted on the base 4, and at least one robotic arm 6 that can be raised and lowered relative to the base 4 mounted on the column 5. A handle may also be mounted on the base 4, allowing the operator to assist in moving the base 4.

[0060] The robotic arm 6 includes an adjustment arm 20 and an operating arm 30. The adjustment arm 20 and the operating arm 30 are detachably connected via an interface device 10, allowing for the replacement of the appropriate operating arm 30 according to the specific needs of the surgery, thereby improving the flexibility and adaptability of the surgery. The distal segment of the operating arm 30 is a holding arm, used for mounting surgical instruments or endoscopes. The holding arm may also be equipped with an instrument drive device to drive the surgical instruments to perform insertion, clamping, and other actions.

[0061] Reference Figure 3 and Figure 4 Some embodiments of this application provide an interface device 10 capable of connecting two arm segments of a robotic arm, which can be used to connect an adjusting arm 20 and an operating arm 30. The interface device 10 includes a first docking mechanism 100 and a second docking mechanism 200. It should be noted that, for ease of explanation, Figure 3 Some parts of the interface device 10 that connect to the robotic arm 6 are omitted from the text.

[0062] The first docking mechanism 100 is disposed on the first arm, such as the operating arm 30. The first docking mechanism 100 includes a first base 101, a first mechanical connector 110 and a first electrical connector 120. The first electrical connector 120 is movably connected to the first mechanical connector 110.

[0063] The first base 101 is constructed as a columnar structure adapted to the operating arm 30. Optionally, the interior of the first base 101 is hollow. The first mechanical connector 110 is fixed to the first base 101, and optionally, the two are integrally formed. The first electrical connector 120 is movably mounted to the first base 101.

[0064] The second docking mechanism 200 is disposed on the second arm, such as the adjusting arm 20. The second docking mechanism 200 includes a second base 201, a second mechanical connector 210, and a second electrical connector 220. Optionally, the second electrical connector 220 is fixedly connected to the second mechanical connector 210. The second electrical connector 220 is fixedly mounted on the second base 201.

[0065] The second base 201 is constructed as a columnar structure adapted to the adjusting arm 20. Optionally, the interior of the second base 201 is hollow. The second mechanical connector 210 is fixed to the second base 201. Optionally, the two are integrally manufactured.

[0066] The first base 101 can mate with the second base 201 to achieve a mechanical connection between the first mechanical connector 110 and the second mechanical connector 210. The second electrical connector 220 is configured to be electrically connected to the first electrical connector 120.

[0067] The following describes in detail, with reference to the accompanying drawings, the embodiments of the docking structure of the first mechanical connector 110 and the second mechanical connector 210. The second mechanical connector 210 has a connection position that is relatively limited to the first mechanical connector 110, and a separation position that can be separated from the first mechanical connector 110.

[0068] Reference Figures 5 to 9 , Figures 14 to 16In some embodiments, the first mechanical connector 110 and the second mechanical connector 210 are connected by a snap-fit. One of the first mechanical connector 110 and the second mechanical connector 210 includes a snap-fit ​​element 211, and the other includes a snap-fit ​​groove 111. For the sake of brevity, the following description will take the example of the snap-fit ​​groove 111 being disposed on the first base 101 and the snap-fit ​​element 211 being disposed on the second base 201.

[0069] The snap-fit ​​groove 111 extends circumferentially along the first base 101. The snap-fit ​​member 211 is rotatably snapped into and positioned within the snap-fit ​​groove 111, allowing the second mechanical connector 210 to move from a separated position to a connected position. In this design, rotating the snap-fit ​​member 211 ensures it is tightly embedded within the snap-fit ​​groove 111, preventing the first and second mechanical connectors 110 from separating axially. By employing the structure of the snap-fit ​​member 211 and the snap-fit ​​groove 111, a stable connection between the first and second mechanical connectors 110 is achieved.

[0070] In some embodiments of this application, the first mechanical connector 110 further includes a mounting port 1110 communicating with the snap-fit ​​groove 111. The mounting port 1110 is used for inserting the snap-fit ​​member 211, wherein the mounting port 1110 extends along the axial direction of the first base 101, and the user can smoothly push the snap-fit ​​member 211 in this direction until it reaches the position of the snap-fit ​​groove 111. The snap-fit ​​groove 111 extends circumferentially along the first base 101, and the user can rotate the first mechanical connector 110 or the second mechanical connector 210 in this direction so that the snap-fit ​​member 211 can rotate smoothly and snap into the snap-fit ​​groove 111 after insertion.

[0071] Reference Figures 10-13 In some embodiments, the first mechanical connector 110 and the second mechanical connector 210 are connected by a snap hook. One of the first mechanical connector 110 and the second mechanical connector 210 includes a snap-fit ​​element 211, and the other includes a snap-fit ​​groove 111. For the sake of brevity, the following description will assume that the snap-fit ​​groove 111 is disposed on the first base 101 and the snap-fit ​​element 211 is disposed on the second base 201.

[0072] The snap-fit ​​groove 111 extends along the axial direction of the first base 101. During the snap-fit ​​connection between the snap-fit ​​member 211 and the snap-fit ​​groove 111, the second mechanical connector 210 moves from a separated position to a connected position. In this design, when the snap-fit ​​member 211 and the snap-fit ​​groove 111 are engaged, the first mechanical connector 110 and the second mechanical connector 210 are prevented from separating axially.

[0073] In some embodiments of this application, the first mechanical connector 110 further includes a first mounting port 1111 communicating with the snap-fit ​​groove 111. The first mounting port 1111 extends along the axial direction. The snap-fit ​​groove 111 extends along the radial and circumferential directions of the first base 101. The snap-fit ​​member 211 can be inserted from the first mounting port 1111 into the snap-fit ​​groove 111. The first mechanical connector 110 and the second mechanical connector 210 can be engaged with each other along the axial direction. When the snap-fit ​​member 211 is engaged with the snap-fit ​​groove 111, at least a portion of the snap-fit ​​member 211 is held at the periphery of the first mounting port 1111, preventing the snap-fit ​​member 211 from falling out of the snap-fit ​​groove 111, thereby limiting the movement of the first mechanical connector 110 and the second mechanical connector 210 along the axial direction. This solution effectively limits the relative axial displacement between the first mechanical connector 110 and the second mechanical connector 210, maintaining their stability in the connected state and preventing loosening or detachment due to external forces or vibrations.

[0074] The snap-fit ​​member 211 includes a connecting portion 2111 extending along the axial direction and a hook portion 2112 extending along the radial direction. When the snap-fit ​​member 211 is snapped into the snap-fit ​​groove 111, the connecting portion 2111 is located in the snap-fit ​​groove 111, and the hook portion 2112 is received in the snap-fit ​​groove 111.

[0075] In this embodiment, one of the first mechanical connector 110 and the second mechanical connector 210 includes a plug-in member 112, and the other includes a plug-in groove 212. The cross-sectional area of ​​the plug-in groove 212 is larger than that of the plug-in member 112, and the extension direction of the plug-in groove 212 is the same as that of the latching portion 2112. The plug-in member 112 is plugged into the plug-in groove 212, and during the connection process between the latching member 211 and the latching groove 111, the plug-in member 112 can move within the plug-in groove 212. In this solution, the relative cooperation between the plug-in member 112 and the plug-in groove 212 further enhances the stability and reliability of the connection. When the latching member 211 is engaged with the latching groove 111, the plug-in member 112 can also be smoothly inserted into the plug-in groove 212. When the snap-fit ​​211 is connected to the snap-fit ​​slot 111, the plug-in 112 can move within the plug-in slot 212, providing a certain degree of flexibility to ensure that the first mechanical connector 110 and the second mechanical connector 210 can be properly adjusted during the docking process, avoiding loose connections or damage due to errors.

[0076] After the snap-fit ​​component 211 engages with the snap-fit ​​groove 111 and the insertion component 112 engages with the insertion groove 212, the stable connection between the first mechanical connector 110 and the second mechanical connector 210 is ensured. The engagement of the snap-fit ​​component 211 with the snap-fit ​​groove 111 restricts the relative movement of the first mechanical connector 110 and the second mechanical connector 210 along the axial direction.

[0077] As described above, the first mechanical connector 110 and the second mechanical connector 210 move relative to each other during the docking process. During the docking process of the first mechanical connector 110 and the second mechanical connector 210, damage may be caused to the first electrical connector 120 and the second electrical connector 220.

[0078] To avoid damage to the first electrical connector 120 and the second electrical connector 220, the implementation methods of the first electrical connector 120 and the second electrical connector 220 will be described in detail below with reference to the accompanying drawings.

[0079] Reference Figures 7-9 , Figures 12-13 In some embodiments, the first electrical connector 120 may move relative to the second electrical connector 220 along the axial direction, so that the first electrical connector 120 and the second electrical connector 220 do not interfere with each other during the docking process of the first mechanical connector 110 and the second mechanical connector 210.

[0080] The first electrical connector 120 is movably connected to the first mechanical connector 110 between a first position and a second position. Optionally, the first electrical connector 120 is movable relative to the first mechanical connector 110 along an axis with respect to the first docking mechanism 100. The first electrical connector 120 in the second position is closer to the second docking mechanism 200 than the first electrical connector 120 in the first position. Specifically, the first electrical connector 120 in the first position is disconnected from the second electrical connector 220, while the first electrical connector 120 in the second position is electrically connected to the second electrical connector 220.

[0081] If the second mechanical connector 210 aligns with the first mechanical connector 110 while the first electrical connector 120 and the second electrical connector 220 are electrically connected, then during the process of the second mechanical connector 210 moving relative to the first mechanical connector 110 to the successfully connected position, the second electrical connector 220 will also move with the second mechanical connector 210, causing friction and damage between it and the first electrical connector 120. By allowing the first electrical connector 120 to move relative to the first mechanical connector 110 between a first position and a second position, during the mechanical connection process, the first electrical connector 120 and the second electrical connector 220 will disconnect. The movement of the second electrical connector 220 with the second mechanical connector 210 will not damage either electrical connector. And when the second mechanical connector 210 has moved to its position, the first electrical connector 120 can be moved to achieve an electrical connection with the second electrical connector 220.

[0082] Reference Figure 8 , Figure 13 , Figures 18-19A guide portion 102 is provided inside the first base 101. The guide portion 102 can guide the first electrical connector 120 to move along the axial direction.

[0083] Specifically, refer to Figures 7-9 , Figures 11-12 , Figure 17-18 The first electrical connector 120 includes a first support plate 121 and a first electrical connector 122 fixedly disposed on the first support plate 121. The first support plate 121 is movably connected to the guide portion 102. The first support plate 121 moves between a first position and a second position under the guidance of the guide portion 102.

[0084] Please continue to refer to Figures 7-9 , Figures 12-13 In one example of this embodiment, the guide portion 102 is a guide groove 102 disposed on the inner peripheral wall of the first base 101 and extending along the axial direction. The first support plate 121 includes a body portion 1211 and a pin 1212 fixedly connected to the body portion 1211. The pin 1212 is slidably connected to the guide groove 102 along the axial direction. Understandably, the shape and size of the pin 1212 should match the guide groove 102 to ensure a tight fit and smooth movement between them.

[0085] The main body 1211 is located on the side of the first electrical connector 122 opposite to the first mechanical connector 110 along the axial direction, while the second electrical connector 220 is located on the other side of the first electrical connector 122 along the axial direction.

[0086] Optionally, the first electrical connector 122 is disposed in the hollow portion of the first base 101, for example, coaxially disposed with the first base 101. The pin 1212 is connected to the guide portion 102 on the outer peripheral side of the first electrical connector 122.

[0087] At least a portion of the pins 1212 are located on one side of the first electrical connector 122 along the axial direction. That is, a portion of the pins 1212 and the body portion 1211 are located on the same side of the first electrical connector 122. The first electrical connector 120 and the second electrical connector 220 are disposed opposite to each other, and the pins 1212 will not interfere with the electrical contact between the first electrical connector 122 and the second electrical connector 220.

[0088] Optionally, a support rod 123 is provided between the body portion 1211 and the first electrical connector 122. The first support plate 121 provides stable support for the first electrical connector 122 through the body portion 1211 and the support rod 123. Optionally, the specific position and number of the support rods 123 can be set according to actual needs.

[0089] A first biasing member 130 is provided within the guide groove 102. The first biasing member 130 is connected between the bottom wall of the guide groove 102 and the pin 1212. The first biasing member 130 is configured to provide a force that moves the first support plate 121 away from the first base 101, thereby moving the first electrical connector 120 away from the second electrical connector 220.

[0090] The first biasing member 130 is configured to provide a force that moves the first support plate 121 away from the first base 101, thereby moving the first electrical connector 120 away from the second electrical connector 220, to provide a restoring force that allows the first electrical connector 120 to automatically return to a first position. The first biasing member 130 can be compressed to move the first electrical connector 120 from the first position to a second position. In other words, the first biasing member 130 allows the first support plate 121 to translate within the first base 101. Optionally, the first biasing member 130 is a spring.

[0091] Specifically, in the first position of the first electrical connector 120, the spring 130 is compressed or in its natural state. When the first support plate 121 is subjected to an external force, the spring 130 is compressed, allowing the first electrical connector 120 to move to the second position. When the external force is removed, the spring 130 applies a force to the first support plate 121 away from the second electrical connector 220, thereby causing the first electrical connector 120 to return to the first position.

[0092] Please continue to refer to Figures 18-19 In another example of this embodiment, to stabilize the first electrical connector 120 in the second position, the first biasing member 130 is configured to provide a force that moves the first support plate 121 away from the first base 101, causing the first electrical connector 120 to move closer to the second electrical connector 220. The first support plate 121 is located on the side of the first biasing member 130 closer to the first mechanical connector 110, and the first biasing member 130 is extendable to move the first electrical connector 120 from the first position to the second position. During the transition from the first position to the second position, the first biasing member 130 provides a force to the first electrical connector 120 toward the second electrical connector 220, thereby ensuring the stability and reliability of the electrical connection.

[0093] Optionally, the first base 101 is a split structure, including a first part 1011 and a second part 1012, wherein the second part 1012 is located at the center of the first part 1011 and is detachable relative to the first part 1011. The guide portion 102 is a guide groove 102 disposed on the second part 1012 and extending along the axial direction. The first part 1011 is located on the outer periphery of the first electrical connector 120. Optionally, the second part 1012 and the first electrical connector 120 are connected to the inner peripheral wall of the first part 1011. The first part 1011 is provided with a stepped surface, and the second part 1012 and the first electrical connector 120 can be positioned on the stepped surface. The second part 1012 is located on the side of the first electrical connector 120 facing away from the second docking mechanism 200. The opening of the guide groove 102 faces the first electrical connector 120. The first support plate 121 includes a pin 1212. The first electrical connector 120 is connected to the guide groove 102 via a pin 1212 of the first support plate 121. The first biasing member 130 is connected between the bottom wall of the guide groove 102 and the pin 1212.

[0094] In this example, the first docking mechanism 100 also includes a detachable locking member 141, which is configured to lock the first support plate 121 onto the first base 101. Specifically, the first support plate 121 can be fixedly connected to the second portion 1012 via the locking member 141. The connection between the locking member 141 and the first electrical connector 120 places the first electrical connector 120 in a first position, with the first bias member 130 in a compressed state. As the locking member 141 is removed, the first bias member 130 provides a restoring force to move the first electrical connector 120 to a second position, where the first electrical connector 120 is electrically connected to the second electrical connector 220. The locking member 141 can be a screw, bolt, etc. The second portion 1012 of the first base 101 and the first support plate 121 are provided with threaded holes, slots, etc., adapted to the locking member 141.

[0095] As described above, the first mechanical connector 110 and the second mechanical connector 210 can be connected by a screw-on connection, meaning that the first mechanical connector 110 and the second mechanical connector 210 can rotate relative to each other during the docking process. Specifically, the second mechanical connector 210 can rotate between a separated position and a connected position. (Refer to...) Figures 14 to 17 In some other embodiments, the first mechanical connector 110 rotates relative to the second mechanical connector 210 during the docking process, which in turn causes the second electrical connector 220 and the first electrical connector 120 connected to the second electrical connector 220 to rotate relative to the first mechanical connector 110. This results in the first electrical connector 120 and the second electrical connector 220 moving synchronously during the docking process of the first mechanical connector 110 and the second mechanical connector 210, and the first electrical connector 120 and the second electrical connector 220 not moving relative to each other.

[0096] The first electrical connector 120 can be electrically connected to the second electrical connector 220 as the mounting port 1110 aligns with the snap-fit ​​connector 211. Furthermore, as the snap-fit ​​connector 211 rotates within the snap-fit ​​groove 111, the first electrical connector 120 can rotate relative to the first mechanical connector 110 under the influence of the second electrical connector 220. In this design, the first electrical connector 120 automatically connects to the second electrical connector 220 as the mounting port 1110 aligns with the snap-fit ​​connector 211, automating the electrical connection, reducing the need for manual intervention, and improving connection efficiency and accuracy. When the snap-fit ​​connector 211 rotates within the snap-fit ​​groove 111, the first electrical connector 120 rotates accordingly, maintaining the continuity of the electrical connection and preventing interruptions or failures in the electrical connection caused by the relative movement of the first and second mechanical connectors 110 and 210.

[0097] In this solution, when the second mechanical connector 210 is just docked with the first mechanical connector 110 and is in the separated position, the first electrical connector 120 is electrically connected to the second electrical connector 220. As the second mechanical connector 210 moves from the separated position to the connected position, it drives the second electrical connector 220 to rotate, thereby causing the first electrical connector 120 connected to the second electrical connector 220 to rotate relative to the first mechanical connector 110. This avoids damage to the electrical connection structure caused by relative rotation between the second and first electrical connectors due to the rotation of the second mechanical connector 210. In summary, according to this solution, mechanical and electrical connections can be achieved simultaneously in one step, improving installation and disassembly efficiency. Furthermore, the two electrical connectors rotate with the moving mechanical connector during the mechanical connection process, preventing damage to the electrical structure due to relative rotation.

[0098] Please continue to refer to Figures 14-16 The first electrical connector 120 includes a first support plate 121 and a first electrical connector 122 fixedly disposed on the first support plate 121. The first support plate 121 is used for mounting to the first base 101. As the main support structure of the first electrical connector 120, the first support plate 121 connects the first electrical connector 122 and other components together, such as the first limiting member 124 (see below), and allows them to rotate as a whole.

[0099] Optionally, the first support plate 121 is rotatably mounted to the first base 101. Specifically, the first support plate 121 is mounted to the first base 101 via a bearing 190.

[0100] To ensure the stability and reliability of the rotation of the first electrical connector 120, the first docking mechanism 100 further includes a pre-positioning mechanism 150. The pre-positioning mechanism 150 is connected between the first base 101 and the first support plate 121, and is mounted on the side of the first support plate 121 opposite to the first electrical connector 120. The pre-positioning mechanism 150 applies a force to the first electrical connector 120 to move it towards an initial position and allows the first electrical connector 120 to rotate relative to the first base 101.

[0101] Specifically, in the initial state, the pre-positioning mechanism 150 keeps the first electrical connector 120 approximately in an initial position that facilitates docking with the second electrical connector 220, so that when the first mechanical connector 110 docks with the second mechanical connector 210, the first electrical connector 120 and the second electrical connector 220 are simultaneously docked. During mechanical connection, the pre-positioning mechanism 150 also allows the first electrical connector 120 to rotate within a certain range following the second electrical connector 220. After disconnecting the connection between the first electrical connector 120 and the second electrical connector 220, the pre-positioning mechanism 150 provides a restoring force to return the first electrical connector 120 to its initial position, so that the first electrical connector 120 returns to its initial position that facilitates docking with the second electrical connector 220, for the next electrical connection.

[0102] Optionally, the pre-positioning mechanism 150 includes a fixing seat 151 and a torsion spring 152. The fixing seat 151 is fixed to the first base 101. The fixing seat 151 is located on the side of the first electrical connector 120 opposite to the second docking mechanism 200.

[0103] One end of the torsion spring 152 is fixedly connected to the fixed base 151, and the other end is fixedly connected to the first electrical connector 120. The torsion spring 152 can deform as the first electrical connector 120 rotates, and provide it with a restoring force to return to its initial position.

[0104] Optionally, the torsion spring 152 is located at the center of the fixing base 151. The force on the torsion spring 152 during rotation is evenly distributed, thereby improving the service life of the torsion spring 152 and the stability of the connection. The fixing base 151 is also provided with a groove for the end of the torsion spring 152 to be engaged.

[0105] Optionally, the first support plate 121 is connected to the torsion spring 152 on the fixed base 151; specifically, the first support plate 121 is mounted to the other end of the torsion spring 152. With this configuration, the first support plate 121 and the first electrical connector 120 can rotate stably relative to the first base 101 and can return to their initial position under the elastic force of the torsion spring 152.

[0106] As can be seen from the foregoing, the first support plate 121 can be connected to other components through the first limiting member 124, specifically, it is connected to the second docking mechanism 200 so that the first electrical connector 120 can rotate with the rotation of the second docking mechanism 200.

[0107] Optionally, the second mechanical connector 210 includes a second limiting member 221, and the first limiting member 124 can be limited and connected with the second limiting member 221 to allow the first electrical connector 120 to rotate with the second mechanical connector 210. Optionally, the first limiting member 124 is disposed on the first support plate 121. The second limiting member 221 is disposed on the second base 201. The first limiting member 124 and the second limiting member 221 can be mutually limited and connected, assisting the first electrical connector 120 to rotate with the rotation of the second mechanical connector 210.

[0108] In this design, the first limiting member 124 is a pin 1212, and the second limiting member 221 is a hole, or vice versa. Optionally, the head of the pin 1212 can be a cylindrical head, a ball head, or a conical head, and the opening of the hole can be a flared opening to facilitate connection with the pin 1212.

[0109] The interface device 10 of this application also includes a self-locking mechanism for temporarily preventing detachment during installation. After the mechanical connection between the second docking mechanism 200 and the second arm with the first docking mechanism 100 and the first arm is completed, the self-locking mechanism can be used to lock the second docking mechanism 200 and the first docking mechanism 100, allowing the installer to leave the robotic arm 6 during installation to retrieve the fasteners 140. Even if someone accidentally touches the robotic arm 6 during this process, the two arms will not easily detach. Through the self-locking mechanism, after the first docking mechanism 100 and the second docking mechanism 200 complete docking, it ensures that the first docking mechanism 100 and the second docking mechanism 200 are relatively locked, allowing a single person to safely and efficiently complete the entire installation process.

[0110] Reference Figures 3 to 8 , Figures 10 to 16The self-locking mechanism includes a first locking member 160 and a second locking member 230. The first locking member 160 is movably disposed in the first docking mechanism 100. The second locking member 230 is disposed in the second docking mechanism 200. The first locking member 160 is configured to move relative to the second mechanical connector 210 and the first mechanical connector 110 to a connection position, and to move from an installation position to a locking position where it is locked with the second locking member 230, thereby locking the connection between the first docking mechanism 100 and the second docking mechanism 200. According to this solution, the first locking member 160 is installed in the first docking mechanism 100 and is movable relative to the first docking mechanism 100 between an installation position and a locking position. When the second mechanical connector 210 is in the connection position, the first locking member 160 can switch between the installation position and the locking position. The first locking member 160 in the locking position is locked with the second locking member 230.

[0111] The first locking member 160 also includes an unlocked position. During the movement of the second mechanical connector 210 between the disengaged position and the connected position, the first locking member 160 can be in either the unlocked position or the installed position. In the unlocked position, the first locking member 160 does not interfere with the second docking mechanism 200. In the installed position, the first locking member 160 interferes with the second docking mechanism 200 but does not interfere with the second locking member 230. Optionally, in the installed position, the first locking member 160 abuts against the surface of the second mechanical connector 210 and is offset from the second locking member 230.

[0112] When the second mechanical connector 210 is in the separated position, the first mechanical connector 110 and the second mechanical connector 210 are in the initial docking state, at which time the first locking member 160 can be set in the installation position. When the second mechanical connector 210 is in the connected position, the first mechanical connector 110 and the second mechanical connector 210 are docked, and the first locking member 160 can move from the installation position to the locking position. Optionally, while the second mechanical connector 210 moves to the connected position, the first locking member 160 can automatically move to the locking position to achieve self-locking, ensuring the timeliness and reliability of locking, and improving the safety and efficiency of the overall operation.

[0113] To ensure that the first locking member 160 can automatically and accurately engage with the second docking mechanism 200 during the docking process, the first locking member 160 includes a locking part 161 and a second biasing member 163. Optionally, the locking part 161 is a pin, forming a spring pin with the second biasing member 163. The locking part 161 is movably disposed on the first docking mechanism 100, and the second biasing member 163 is connected to the locking part 161, providing a force to the locking part 161 to translate towards the second docking mechanism 200. By providing a continuous translational force, the second biasing member 163 ensures that when the second docking mechanism 200 reaches the connection position, the locking part 161 can automatically and accurately translate to the locking position, thereby completing a reliable automatic locking function; at the same time, it ensures that the locking part 161 can be stably located in the locking position. In this solution, the second biasing member 163 is a spring.

[0114] The second locking member 230 includes a locking groove 230 formed on the second docking mechanism 200. In the installed position, the second biasing member 163 is compressed by the second docking mechanism 200 to allow the locking part 161 to be accommodated within the first docking mechanism 100; in the locked position, the locking part 161 extends into the locking groove 230 and locks. The connection between the first locking member 160 and the second locking member 230 is accomplished by the insertion of the locking part 161 into the locking groove 230. The insertion connection method has a strong self-positioning capability. With the assistance of the second biasing member 163, the locking part 161 of the first locking member 160 can automatically align and insert into the locking groove 230 in the second docking mechanism 200, realizing automated docking and locking. When it is necessary to disassemble or replace the parts, the operator only needs to release the pressure of the second biasing member 163 or directly pull the locking part 161 of the first locking member 160 out of the locking groove 230 to easily disconnect the connection.

[0115] Optionally, the locking groove 230 is a recess or slot provided on the second docking mechanism 200, and the locking groove 230 is a structure that matches the shape of the locking part 161 of the first locking member 160. The position and shape of the locking groove 230 ensure that the locking part 161 can only enter after full docking and can be firmly fixed in the groove.

[0116] The first docking mechanism 100 has a receiving groove 103, and the locking part 161 is at least partially received within the receiving groove 103. The receiving groove 103 has a top wall facing the locking part 161, and a second biasing member 163 is connected between the locking part 161 and the top wall. Directly placing the second biasing member 163 within the receiving groove 103 ensures precise engagement between the second biasing member 163 and the locking part 161. The top wall provides a stable support surface for the second biasing member 163, ensuring that the second biasing member 163 exerts a predetermined elastic force. Optionally, the second biasing member 163 is a spring.

[0117] Optionally, the first locking member 160 can move relative to the second locking member 230 between an unlocked position and a locked position. To prevent accidental unlocking of the first locking member 160 during use, the first docking mechanism 100 is provided with an unlocking limit part, which limits the first locking member 160 to the locked position. Optionally, the unlocking limit part allows the first locking member 160 to move between the locked position and the installation position, but restricts the first locking member 160 from moving to the unlocked position. The unlocked position is further away from the second docking mechanism 200 than the locked position.

[0118] Reference Figure 4 , Figure 7 , Figure 12 , Figure 16 and Figure 21 The first docking mechanism 100 has a first groove 1641 and a second groove 1642 communicating with the receiving groove 103 on its surface opposite to the first mechanical connector 110. The first groove 1641 is an unlocking limiting part. The extending direction of the first groove 1641 intersects the extending direction of the second groove 1642, and the depth of the first groove 1641 is greater than the depth of the second groove 1642. The first locking member 160 also includes an operating part 162 connected to the locking part 161. In the installation position and the locked position, the operating part 162 is movably accommodated in the first groove 1641, and the operating part 162 is locked in the second groove 1642 to limit the first locking member 160 in the unlocked position. The operating part 162 can translate along the first groove 1641 between the installation position and the locked position so that the locking part 161 extends into the locking groove 230. The second groove 1642 allows the operating part 162 to be locked in the unlocked position.

[0119] For example, refer to Figures 3-4 , Figures 7-9 , Figures 12-13 and Figures 20-21 The first docking mechanism 100 also includes a detachable anti-misalignment plate 170, in which a limiting groove 171 is provided. In the locked position, the anti-misalignment plate 170 is installed so that the limiting groove 171 communicates with the first groove 1641 and accommodates the operating part 162.

[0120] Optionally, the anti-misalignment plate 170 can limit the operating part 162 to a locked position. The opening of the limiting groove 171 is slightly larger than the size of the operating part 162 so that it can be inserted, but it must be tight enough to prevent loosening. That is, when the first locking member 160 is in the locked position, the anti-misalignment plate 170 can be inserted and connected to the operating part 162 through the limiting groove 171.

[0121] Optionally, the anti-misalignment plate 170 can block at least a portion of the second groove 1642. At least a portion of the limiting groove 171 is offset from the second groove 1642. That is, the opening position or direction of the limiting groove 171 should be different from the opening position or direction of the second groove 1642.

[0122] Optionally, the anti-misoperation plate 170 can prevent the operating part 162 from being manually actuated. The limiting groove 171 is disposed opposite to the first groove 1641, and their extension directions are approximately the same. When the anti-misoperation plate 170 is installed to the first docking mechanism 100, the first locking member 160 cannot be rotated into the first groove 1641.

[0123] The interface device 10 also includes a fastening mechanism for securing the first docking mechanism 100 and the second docking mechanism 200, and the anti-misalignment plate 170 is configured to cover at least a portion of the fastening mechanism. Optionally, the fastening mechanism may be a fastener 140.

[0124] Back Figures 7-9 , Figures 12-13 In the above embodiments, the first electrical connector 120 is movable relative to the second electrical connector 220 along the axial direction between a first position and a second position. Optionally, a retaining plate 170 is installed as a pressing member to press against the first support plate 121, thereby holding the first electrical connector 120 in the second position. When the second arm is detached from the first arm, the pressing member 170 can be removed to disconnect the electrical connection. Optionally, the first docking mechanism 100 also includes a limiting member. The limiting member is constructed as a stepped surface provided on the first base 101 for positioning the pressing member 170, and the pressing member 170 can be installed by directly positioning it on the stepped surface. The connection method between the pressing member 170 and the first base 101 includes, but is not limited to, bolt connection and snap-fit ​​connection.

[0125] To ensure the first electrical connector 120 can be stably positioned in the second position, continue referring to... Figures 7-9 , Figures 12-13 The first docking mechanism 100 also includes a limiting part 180. Optionally, the limiting part 180 is configured as an anti-detachment flange, which is disposed on the side of the first support plate 121 away from the first mechanical connector 110 and configured to limit the first support plate 121 on the first base 101. When the pressing member 170 is removed, the first biasing member 130 applies a force to the first support plate 121 away from the second electrical connector 220, and the anti-detachment flange 180 is used to limit the position of the first support plate 121.

[0126] Optionally, the first support plate 121 includes a protrusion 125 (e.g., a ball head). In a second position, the abutment 170 presses against the protrusion 125 across the anti-detachment flange 180 to lock the first electrical connector 120 in the second position. In a first position where the abutment 170 is removed, the protrusion 125 protrudes from the anti-detachment flange 180 away from the surface of the first support plate 121, so that the protrusion 125 is exposed on the surface of the anti-detachment flange 180. When the abutment 170 is installed, the first support plate 121 can be contacted and compressed by the abutment 170.

[0127] Optionally, the protrusion 125 is located on the surface of the first support plate 121 opposite to the first electrical connector 122 and at the center of the first support plate 121. The protrusion 125 can concentrate the force on the first support plate 121, preventing the first support plate 121 from being subjected to bending moment, which could cause the pressing member 170 to overturn during installation.

[0128] In this example, a fastener 140 is also included. The fastener 140 is configured to lock the retaining member 170 onto the first base 101. Optionally, the fastener 140 secures the first support plate 121 by fixing the retaining member 170 to the first base 101. The retaining member 170 can be removed when the fastener 140 is removed. The fastener 140 can be a screw, bolt, etc. The retaining member 170 and the first base 101 are provided with threaded holes, slots, etc., adapted to the fastener 140.

[0129] According to this solution, the adjusting arm 20 and the operating arm 30 can form a long, narrow robotic arm 6, or they can be configured as an angled robotic arm 6. Optionally, the angle between the angled robotic arms 6 and the other arm is 120°. For example, refer to... Figures 20-21 The interface device 10 shown has a base, and its left and right sides are angled to facilitate operation of the pressure member 170 / anti-fool plate 170. The left side of the interface device 10 can be connected to the adjustment arm 20, and the right side can be connected to the operating arm 30. Optionally, the right side of the interface device 10 may also have a decorative element to conceal the anti-fool plate 170 and other internal structures of the interface device 10.

[0130] Reference Figures 5-13 , Figures 18-19 The interface device 10 shown is suitable for reference. Figures 20-21 The robotic arm 6 is shown in an angled configuration. In this embodiment, the interface device 10 requires the installation or removal of the pressure member 170 during installation or removal.

[0131] Reference Figures 14-17 The interface device 10 shown is suitable for reference. Figures 1-2 The elongated robotic arm 6 shown, and the reference... Figures 20-21 The robotic arm 6 shown is positioned at an angle. In this embodiment, the interface device 10 does not require the installation or removal of the pressure member 170 during use; the installation steps are simple, and the mechanical and electrical connections are completed in the same step.

[0132] Based on the above, various connection methods between the first docking mechanism 100 and the second docking mechanism 200 are introduced.

[0133] In some embodiments, refer to Figures 5-13 , Figure 18 and Figure 19During the connection process of the first mechanical connector 110 and the second mechanical connector 210, the first electrical connector 120 and the second electrical connector 220 do not interfere with each other. After the first mechanical connector 110 and the second mechanical connector 210 are docked, the first electrical connector 120 and the second electrical connector 220 are electrically connected. In this embodiment, the installation method of the robotic arm 6 includes the following steps:

[0134] 101: Connect the first mechanical connector 110 and the second mechanical connector 210. Optionally, the first mechanical connector 110 and the second mechanical connector 210 may be connected by a swivel or a snap hook.

[0135] 102: Move the first electrical connector 120 from the first position to the second position so that the first electrical connector 120 is electrically connected to the second electrical connector 220 to mount the operating arm 30 to the adjusting arm 20. Specifically, the first electrical connector 120 moves along the direction of the guide groove 102 and makes electrical contact with the second electrical connector 220.

[0136] Since the first electrical connector 120 only begins to mate with the second electrical connector 220 after the mechanical connection is completed, the frictional force generated by the relative movement of the electrical connectors during the mechanical connection process can be avoided, thereby protecting the electrical connectors from damage.

[0137] Optionally, before step 101 and before step 301, the installation method further includes assembling the first docking mechanism 100 and the second docking mechanism 200 respectively.

[0138] Optionally, before step 101, the first locking member 160 is moved to the installation position. In step 101, as the first mechanical connector 110 and the second mechanical connector 210 successfully mate, the first locking member 160 and the second locking member 230 automatically lock. Specifically, the second mating mechanism 200 inserts a spring pin along the axial direction or axially compresses it into the locking groove for locking.

[0139] Optionally, in Figures 5-13 In this embodiment, moving the first electrical connector 120 from the first position to the second position in step 101 includes installing a retaining member 170 to compress the first biasing member 130. Specifically, the limiting groove 171 of the anti-misalignment plate 170 is aligned with the operating portion 162 of the first locking member 160 for alignment. The anti-misalignment plate 170 is installed to the first docking mechanism 100 by fasteners 140, thereby fixing the first electrical connector 120 in the second position. Before installing the retaining member 170, the first docking mechanism 100 and the second docking mechanism 200 are fixed using fasteners 140. After the retaining member 170 is installed, it partially obstructs the fasteners 140.

[0140] Optionally, in Figures 18-19 In one embodiment, in step 101, the first electrical connector 120 is moved from the first position to the second position by disassembling the locking member 141.

[0141] In this embodiment, during installation, the mechanical connection is made first, followed by the installation of the pressure member. The electrical connection is considered successful once the pressure member 170 is in place. During disassembly, the electrical connection is disconnected first, followed by the mechanical connection. The disassembly method for the corresponding robotic arm 6 includes the following steps:

[0142] 201: Move the first electrical connector 120 from the second position to the first position to disconnect the electrical connection between the first electrical connector 120 and the second electrical connector 220;

[0143] 202: Separate the first mechanical connector 110 from the second mechanical connector 210 to remove the operating arm 30 from the adjusting arm 20.

[0144] Optionally, in Figures 5-13 In one embodiment, in step 201, moving the first electrical connector 120 from the second position to the first position further includes removing the pressing member 170. Under the action of the first biasing member 130, the first support plate 121 returns to the initial position to disconnect the electrical connection.

[0145] Optionally, in Figures 18-19 In one embodiment, in step 101, the first electrical connector 120 is moved from the first position to the second position by disassembling the locking member 141.

[0146] Optionally, in step 202, separating the first mechanical connector 110 and the second mechanical connector 210 includes disassembling the fasteners 140 that fix the first docking mechanism 100 and the second docking mechanism 200, moving the first locking member 160 to the unlocked position, then separating the first mechanical connector 110 and the second mechanical connector 210, and finally disassembling the first docking mechanism 100 and the second docking mechanism 200 respectively.

[0147] In other embodiments, reference is made to Figures 14-17 When the first mechanical connector 110 and the second mechanical connector 210 establish a mechanical connection, the first electrical connector 120 and the second electrical connector 220 also establish a mechanical connection. During the connection process of the first mechanical connector 110 and the second mechanical connector 210, the first electrical connector 120 and the second electrical connector 220 rotate with the rotation of the second mechanical connector 210. In this embodiment, the installation method of the robotic arm 6 includes the following steps:

[0148] 301: Connect the first mechanical connector 110 to the second mechanical connector 210 and the first electrical connector 120 to the second electrical connector 220 respectively, so that the second mechanical connector 210 is in the separated position and the first electrical connector 120 and the second electrical connector 220 are in electrical contact;

[0149] 302: Rotate the second mechanical connector 210 to the connection position.

[0150] Optionally, before step 301, the installation method further includes connecting the pre-positioning mechanism 150, the first electrical connector 120, the first mechanical connector 110, and the first base 101 to form a first docking mechanism 100, and connecting the first docking mechanism 100 to the operating arm 30; connecting the second electrical connector 220, the second mechanical connector 210, and the second base 201 to form a second docking mechanism 200, and connecting the second docking mechanism 200 to the adjusting arm 20.

[0151] Optionally, before step 301, the first locking member 160 is moved to the installation position. In step 101, as the first electrical connector 120 successfully mates with the second electrical connector 220, the first locking member 160 and the second locking member 230 automatically lock. Specifically, the second mating mechanism 200 inserts the spring pin into the locking groove 230 along the axial direction or by axially compressing it to lock.

[0152] Optionally, in step 302, the first electrical connector 120 and the second electrical connector 220 rotate as the second mechanical connector 210 rotates.

[0153] In this embodiment, during installation, the mechanical connection is established simultaneously with the mechanical connection of the mechanical connector. After the mechanical connection is in place, the electrical connection is established. During disassembly, the electrical connection is disconnected first, followed by disconnecting the mechanical connection between the mechanical connector and the electrical connector. The corresponding disassembly method for the robotic arm 6 includes the following steps:

[0154] 401: Rotate the second mechanical connector 210 from the connected position to the disconnected position, and the first electrical connector 120 and the second electrical connector 220 rotate synchronously;

[0155] 402: Separate the first mechanical connector 110 from the second mechanical connector 210, and simultaneously separate the first electrical connector 120 from the second electrical connector 220, and remove the operating arm 30 from the adjusting arm 20.

[0156] Optionally, prior to step 401, the first locking member 160 is moved to the installation position. During the movement of the mechanical connector, the first locking member 160 rotates relative to the second locking member 230.

[0157] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0158] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. An interface device for connecting two arms of a robotic arm, characterized in that, The interface device includes: A first docking mechanism is disposed on the first arm of the robotic arm, and the first docking mechanism includes a first mechanical connector; and A second docking mechanism is disposed on the second arm of the robotic arm. The second docking mechanism includes a second mechanical connector, which is movably connected to a first mechanical connector between a separated position and a connected position, and is configured to connect to the first mechanical connector; and A self-locking mechanism, the self-locking mechanism comprising: A first locking element, movably disposed in the first docking mechanism; and A second locking element is disposed on the second docking mechanism; The first locking member is configured to move relative to the first mechanical connector and the second mechanical connector to the connection position, and to move from the installation position to the locking position where it is locked with the second locking member, so as to lock the connection between the first docking mechanism and the second docking mechanism.

2. The interface device as described in claim 1, characterized in that, The first locking member includes a locking part and a biasing member. The locking part is translatably disposed on the first docking mechanism, and the biasing member is connected to the locking part. The biasing member provides a force to the locking part to translate toward the second docking mechanism.

3. The interface device as described in claim 2, characterized in that, The second locking member includes a locking groove formed on the second docking mechanism, wherein in the installation position, the biasing member is compressed by the second docking mechanism to allow the locking portion to be received within the first docking mechanism; In the locked position, the locking part extends into the locking groove to lock.

4. The interface device according to claim 3, characterized in that, The first docking mechanism has a receiving groove, and the locking part is at least partially received in the receiving groove. The receiving groove has a top wall facing the locking part, and the biasing member is connected between the locking part and the top wall.

5. The interface device according to claim 3 or 4, characterized in that, The first docking mechanism has a first groove and a second groove communicating with the receiving groove on the surface opposite to the first mechanical connector. The extension direction of the first groove intersects the extension direction of the second groove, and the depth of the first groove is greater than the depth of the second groove. The first locking member also includes an operating part connected to the locking part. In the installation position and the locking position, the operating part is movably received in the first groove, and the operating part is locked in the second groove to limit the first locking member to the unlocked position.

6. The interface device according to claim 2, characterized in that, The first locking member can move relative to the second locking member between the unlocked position and the locked position. The first docking mechanism is provided with an unlocking limiting part, which limits the first locking member to the locked position, which is closer to the second docking mechanism than the unlocked position.

7. The interface device according to claim 5, characterized in that, The first docking mechanism further includes a detachable anti-misalignment plate, which has a limiting groove. The anti-misalignment plate is installed such that the limiting groove communicates with the first groove to receive the operating part, thereby limiting the operating part to the locked position; or blocking at least a portion of the second groove; or preventing the operating part from being manually actuated.

8. The interface device according to claim 7, characterized in that, The interface device further includes a fastening mechanism for securing the first docking mechanism and the second docking mechanism, and the anti-fouling plate is also configured to cover at least a portion of the fastening mechanism.

9. The interface device according to claim 7, characterized in that, The first docking mechanism further includes a first electrical connector movably connected to the first mechanical connector between the first position and the second position; The second docking mechanism further includes a second electrical connector connected to the second mechanical connector, the second electrical connector being electrically connected to the first electrical connector located at the second position, and the second electrical connector being disconnected from the first electrical connector located at the first position; The anti-misalignment plate is also configured to press against the first electrical connector to hold the first electrical connector in the second position.

10. A robotic arm, characterized in that, It includes a first arm, a second arm, and an interface device according to any one of claims 1-9, wherein the interface device is connected to the end of the first arm, and the second arm is detachably connected to the interface device.

11. A surgical robot system, characterized in that, The surgical robot includes the robotic arm according to claim 10.

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