Connecting mechanism and medical robot with same

Abstract

A connecting mechanism is used for connecting a mechanical arm and an executing mechanism and comprises a first connecting part arranged at the tail end of the mechanical arm and electrically connected with a power source and a signal source to which the mechanical arm is connected; the second connecting part is arranged at the tail end of the actuating mechanism and is electrically connected with an actuator and a signal receiver of the actuating mechanism; one of the first connecting part and the second connecting part comprises at least two telescopic conductors, the other comprises at least two contact conductors, and when the executing mechanism is installed at the tail end of the mechanical arm, the telescopic conductors are compressed and abut against the contact conductors respectively, so that the power source can be electrically connected with the executing mechanism, and the power source is electrically connected with the mechanical arm. The signal source can be electrically connected with the signal receiver. According to the connecting mechanism, rapid electrical connection between the mechanical arm and the executing mechanism can be achieved, and manual operation of operators is not needed. The utility model further provides the medical robot, the mechanical arm of the medical robot is connected with the executing mechanism through the connecting mechanism, and the medical robot can quickly disassemble and assemble different executing mechanisms.

Description

Technical Field

[0001] This utility model relates to a connection mechanism for connecting, for example, a robotic arm of a robot to an actuator.

[0002] This utility model also relates to a medical robot having the connecting mechanism. Background Technology

[0003] Medical robots typically have a robotic arm, at the end of which various end effectors can be mounted to perform different medical procedures. Therefore, in medical robots, the end effector is usually detachably connected to the end of the robot's robotic arm. This allows for the performance of different medical procedures depending on the application by removing or replacing the end effector.

[0004] When installing different end effectors, in addition to establishing a robust mechanical connection between the robot body and the end effector, it is also necessary to establish electrical and signal connections between them. The electrical connection allows the power supply in the robot body to power the actuators of the end effector, thereby driving the end effector to perform actions. The signal connection allows the control mechanism of the robot body to transmit signals to the control mechanism of the end effector, thereby controlling the actions performed by the end effector.

[0005] In existing medical robots, the electrical and signal connections between the robot body and the end effector are generally achieved through direct wire connections between the robotic arm and the end effector. However, it has been found that with this approach, the wires need to be rewired every time the end effector is replaced, which is not conducive to the rapid replacement of the end effector in medical robots. Furthermore, the connecting wires may become tangled when the end effector performs movements such as rotation.

[0006] Currently, another solution is to use plug-in terminals to achieve electrical and signal connections between the robotic arm's end effector and the end effector. However, even with plug-in terminals, technicians still need to perform plugging and unplugging operations each time the robot's end effector is replaced, which still affects the efficiency of end effector replacement.

[0007] Therefore, it is still desirable in the art to propose an electrical and signal connection mechanism for medical robots that not only facilitates the quick disassembly and replacement of the end effector installed at the end of the robotic arm of the medical robot, but also ensures a stable power supply and signal transmission between the medical robot body and the end effector. Utility Model Content

[0008] This utility model was made in view of the above-mentioned technical problems. Its purpose is to provide a connection mechanism for connecting a robotic arm and an actuator. With the help of this connection mechanism, an electrical connection can be realized between the robotic arm and the actuator, and power transmission and signal transmission can be realized between the robotic arm and the actuator.

[0009] In the context of this utility model, unless otherwise stated, "electrical connection" or "electrical connection" refers to a connection within the range of low voltage.

[0010] According to the present invention, a connecting mechanism is used to connect a robotic arm and an actuator, wherein the robotic arm is connected to a power source and a signal source, and the actuator has an actuator and a signal receiver. The connecting mechanism includes:

[0011] A first connecting portion is disposed at the end of the robotic arm, and the first connecting portion is electrically connected to the power supply and the signal source, respectively.

[0012] A second connecting portion is disposed at the end of the actuator, and the second connecting portion is electrically connected to the actuator and the signal receiver respectively.

[0013] Wherein, one of the first connecting portion and the second connecting portion includes at least two retractable conductors, and the other connecting portion includes at least two contact conductors.

[0014] When the actuator is installed at the end of the robotic arm, the at least two retractable conductors are compressed and abut against the at least two contact conductors, so that the power supply can be electrically connected to the actuator of the actuator, and the signal source can be electrically connected to the signal receiver of the actuator.

[0015] In this application of the present invention, when connecting the actuator and the robotic arm, the pressure exerted by the second connecting portion at the end of the actuator on the first connecting portion at the end of the robotic arm causes at least two retractable conductors in one connecting portion of the connecting mechanism to compress and deform, abutting against at least two contact conductors in the other connecting portion. This creates an electrical connection between the at least two retractable conductors and the at least two contact conductors, enabling power transmission and signal transmission between the robotic arm and the actuator. In this process, only the actuator needs to be installed at the end of the robotic arm, unlike the prior art mentioned at the beginning of this document, where operators need to additionally plug, unplug, or handle wires connected to different actuators as the actuator is replaced or installed.

[0016] Therefore, the connection mechanism according to this utility model helps to achieve a fast and efficient connection between the robotic arm and the actuator, and does not require the operator to manually plug or unplug the electrical interface when detaching the actuator from the end of the robotic arm to which it is connected.

[0017] In an optional embodiment of this invention, the first connecting portion of the connecting mechanism has at least two retractable conductors, including a first retractable conductor and a second retractable conductor. The first retractable conductor is electrically connected to the power source, and the second retractable conductor is electrically connected to the signal source. The second connecting portion of the connecting mechanism has at least two contact conductors, including a first contact conductor and a second contact conductor. The first contact conductor is electrically connected to the actuator of the actuator, and the second contact conductor is electrically connected to the signal receiver of the actuator.

[0018] When the actuator is installed at the end of the robotic arm, the first retractable conductor is compressed and contacts the first contact conductor, while the second retractable conductor is compressed and contacts the second contact conductor.

[0019] Here, the first and second stretchable conductors are used to transmit electricity and transmit signals, respectively.

[0020] Optionally, the retractable conductor for transmitting power and the retractable conductor for transmitting signals are arranged at a certain distance apart. This ensures that the retractable conductor carrying a higher voltage for transmitting power is not positioned too close to the retractable conductor carrying a lower voltage for transmitting signals, thus guaranteeing electrical connection safety when the first connecting part and the second connecting part are electrically connected in the connecting mechanism.

[0021] In another optional embodiment of the present invention, when neither the first nor the second stretchable conductor is compressed, the length of the first stretchable conductor is shorter than the length of the second stretchable conductor.

[0022] In the connection mechanism according to this invention, the original length of the first retractable conductor for power transmission, i.e., its uncompressed length, is shorter than the original length of the second retractable conductor for signal transmission. This causes the second retractable conductor located at the end of the robotic arm or the end of the actuator to first contact the second contact conductor located at the end of the actuator or the end of the robotic arm as the actuator gradually approaches and is installed at the end of the robotic arm. Therefore, the signal source and signal receiver to which they are respectively connected will first be electrically connected, forming a loop for signal transmission. Then, the first retractable conductor with the shorter original length will contact the corresponding first contact conductor, allowing the power source and actuator to be electrically connected to each other, forming a loop for power transmission.

[0023] The above configuration ensures that during the connection of the robotic arm and the actuator, the circuit for signal transmission will conduct before the circuit for power transmission. Otherwise, if the circuit for power transmission conducts before the circuit for signal transmission, an electric arc may be generated in the circuit for signal transmission, which would have an adverse effect on the safety of the electrical connection.

[0024] In an optional embodiment of the present invention, both the first retractable conductor and the second retractable conductor include a sleeve, a conductive needle body, and a spring, wherein the conductive needle body is retractably disposed in the sleeve by means of the spring.

[0025] Here, when the conductive needle comes into contact with the contact conductor, an electrical contact is formed, and the circuit is completed. After the conductive needle is subjected to pressure from the connection part where the contact conductor is located, the spring connected to it is compressed and deformed, causing the conductive needle to move downward under the guidance of the sleeve. When the actuator is removed from the robotic arm, the connection mechanism according to this invention is disconnected, the connection part where the contact conductor is located no longer applies pressure to the conductive conductor, and the conductive needle, under the restoring force of the spring, is guided back to its original position by the sleeve. The sleeve guides and protects the conductive needle, preventing it from deforming under pressure, and increases the probability of the conductive needle aligning with the corresponding contact conductor, thereby ensuring the success rate of the electrical connection of the connection mechanism according to this invention.

[0026] In another optional embodiment of this utility model, both the first contact conductor and the second contact conductor are conductive materials obtained by means of welding, riveting, fastening, material attachment, material conversion, etc., or include conductive surfaces obtained by such means.

[0027] In a non-limiting embodiment of this invention, both the first and second contact conductors are configured as conductive pads. Conductive pads are readily available and can be easily applied to the end of an actuator or robotic arm, enabling convenient use of the connection mechanism according to this invention.

[0028] Optionally, the size of the conductive pad can be customized according to the size of the spring pin in the first and second retractable conductors that are to be contacted for conduction.

[0029] In another optional embodiment of the present invention, the first connecting part of the connecting mechanism is detachably mounted at the end of the robotic arm, and the second connecting part is detachably mounted at the end of the actuator.

[0030] The detachable mounting configuration between the first connecting part and the robotic arm, and between the second connecting part and the actuator, allows the two connecting parts of the connecting mechanism according to this invention to be easily applied to the ends of existing robotic arms and actuators, and also enables a modular design. If any part of the connecting mechanism malfunctions or fails, the operator can replace the entire connecting part involving the malfunctioning or failed component. This replacement process is simple and does not damage the structure of the robotic arm and actuator, thereby improving the efficiency of maintenance and troubleshooting of the connecting mechanism according to this invention in the event of a malfunction.

[0031] In a non-limiting example of this utility model, the first connecting part is detachably mounted at the end of the robotic arm by means of bolts, while the second connecting part is detachably mounted at the end of the actuator by means of bolts.

[0032] In another optional embodiment of this invention, the connecting mechanism further includes a locking mechanism for connecting and locking the first connecting portion to the second connecting portion. This locking mechanism of the connecting mechanism securely connects the actuator to the end of the robotic arm, thereby ensuring the reliability of the connection between the actuator and the robotic arm during various actions, such as rotational movements relative to the robotic arm.

[0033] In particular, the locking mechanism can also ensure stable contact between the first connecting part and the second connecting part by applying pressure, thereby ensuring reliable and stable power transmission and signal transmission between the robotic arm and the actuator.

[0034] In another optional embodiment of the present invention, the first connecting portion of the connecting mechanism includes a first substrate, a first retractable conductor and a second retractable conductor are both disposed on the first substrate, and the first connecting portion further includes a stepped portion disposed on the first substrate, the stepped portion having at least two through holes through which the first retractable conductor and the second retractable conductor respectively pass and extend.

[0035] Here, during the fixing (e.g., welding, for example, soldering) of the retractable conductor in the first connecting part, the stepped portion with through holes serves to position each retractable conductor, preventing positional displacement during welding. The latter would prevent the welded retractable conductor from aligning with the corresponding contact conductor in the second connecting part. This would result in the misaligned retractable conductor failing to align and abut with the corresponding contact conductor when the first and second connecting parts come into contact, affecting the electrical connection of the corresponding electrical interface between the first and second connecting parts, and consequently affecting the power transmission and / or signal transmission between the robotic arm and the actuator.

[0036] In another optional embodiment of the present invention, the first connecting part of the connecting mechanism includes a first substrate, the at least two retractable conductors are disposed on the first substrate, and the first substrate is also provided with at least one first positioning hole, while the robotic arm is provided with at least one first positioning post at its end. When the first connecting part is installed at the end of the robotic arm, the first positioning post is aligned with the first positioning hole.

[0037] Additionally or alternatively, the second connecting portion of the connecting mechanism includes a second substrate, the at least two contact conductors are disposed on the second substrate, and the second substrate is further provided with at least one second positioning hole, while the actuator is provided with at least one second positioning post at its end, and when the second connecting portion is installed at the end of the actuator, the second positioning post and the second positioning hole are respectively aligned.

[0038] Since the components on the robotic arm and actuator are assembled with the external mechanical structure, their positions are relatively fixed. Therefore, the arrangement of the various retractable conductors and contact conductors on the first and second connecting parts is also relatively fixed with the positions of these components. Thus, when installing the first and second connecting parts, especially when the first and second base plates of the first and second connecting parts are constructed in a rotationally symmetrical or axisymmetric shape, the positions of the first connecting part relative to the robotic arm and the second connecting part relative to the actuator need to be aligned and cannot be rotated arbitrarily.

[0039] Here, by means of the positioning holes provided in each connecting part of the connecting mechanism and the positioning pins provided at the ends of the actuator and the robotic arm, installation can be carried out efficiently and with precise positioning during the process of installing the first connecting part to the end of the robotic arm and the second connecting part to the end of the actuator.

[0040] This also ensures that after the installation of the connecting mechanism is completed, when the first connecting part contacts the second connecting part, each contact conductor can align and contact the corresponding compressed and stretchable conductor, thereby forming a corresponding circuit for power transmission or signal transmission.

[0041] Optionally, the first substrate of the first connecting portion of the connecting mechanism is provided with two first positioning holes, which are configured to be non-centrally symmetrical with respect to the first substrate.

[0042] Alternatively, the second substrate of the second connecting portion of the connecting mechanism is provided with two second positioning holes, which are configured to be non-centrally symmetrical with respect to the second substrate.

[0043] The non-centrally symmetrical arrangement of the first positioning hole relative to the first substrate and the non-centrally symmetrical arrangement of the second positioning hole relative to the second substrate is particularly advantageous when the first and / or second substrates are constructed with a centrally symmetrical geometry, such as a disk. This arrangement provides a foolproof protection when installing the first and second connecting parts. In other words, when the first and second connecting parts are installed to the ends of the robotic arm and actuator, because the positioning holes need to mate with positioning posts, and due to the aforementioned arrangement, even if the first and second substrates are constructed with, for example, circular shapes, there is only one correct orientation for the first and second connecting parts. Only under this orientation can they be installed to the ends of the robotic arm and actuator, respectively. This arrangement thus enhances the positioning guidance effect.

[0044] This utility model also proposes a medical robot, which includes a power source, a signal source, a robotic arm, an actuator, and a connection mechanism for connecting the robotic arm to the actuator. The robotic arm is connected to the power source and the signal source. The actuator has an actuator and a signal receiver. The connection mechanism is as described in any of the above embodiments.

[0045] With the help of the connection mechanism claimed by this utility model as described above, different actuators can be quickly disassembled, replaced and installed at the end of the robotic arm of a medical robot according to different medical scenarios, and power transmission and signal transmission between the different installed actuators and the power and signal sources in the robot can be quickly realized, thereby ensuring that the actuators work normally without the need for additional plugging and unplugging of terminals or handling of the actuator wire connections.

[0046] Optionally, at the end of the robotic arm of the medical robot according to the present invention, a recess is provided on its circumferential surface, i.e., the side surface. When the actuator is connected to the robotic arm by means of the connecting mechanism, the protrusion provided on the circumferential surface of the end of the actuator engages in the recess.

[0047] Here, the actuator can only be installed into the robotic arm if the recessed part on the circumferential surface of the robotic arm is aligned with the protruding part on the circumferential surface of the actuator. This ensures the correct mechanical installation of the robotic arm and actuator in the medical robot, and also ensures the electrical connection between the two connecting parts of the robotic arm and actuator achieved by the connecting mechanism.

[0048] Additional features and advantages described herein will be set forth in the detailed description below, and will be recognized by those skilled in the art as will be apparent from the following description or as a result of practice of the embodiments described herein, including the detailed description below, the claims, and the accompanying drawings. Attached Figure Description

[0049] With reference to the above objectives, the technical features of this utility model are clearly described in the following claims, and its advantages will be apparent from the following detailed description with reference to the accompanying drawings, which illustrate preferred embodiments of the utility model by way of example, without limiting the scope of the inventive concept.

[0050] Figure 1 A perspective view shows the robotic arm of the medical robot according to the present invention in a separated state, and the actuator to be connected to the end of the robotic arm.

[0051] Figure 2 The connection is shown in a 3D diagram. Figure 1 The connecting mechanism according to this utility model is used in the robotic arm and actuator shown;

[0052] Figure 3 Shown in detailed stereoscopic view Figure 1 The end effector and actuator of the robotic arm shown;

[0053] Figure 4 It shows Figure 3 An exploded perspective view of the end effector and first connecting part of the robotic arm shown.

[0054] Figure 5 It shows Figure 3 An exploded perspective view of the actuator and the second connection shown; and

[0055] Figure 6A and Figure 6B The spring pins used in the connecting mechanism are shown in their original and compressed states.

[0056] List of reference numerals

[0057] AC Executive Agency

[0058] CM connecting mechanism

[0059] C1, C2, C3, C4 cables

[0060] F1, F2, F3, F4 pins

[0061] RA robotic arm

[0062] 100 First connecting part

[0063] 101 The first ontology

[0064] 102A, 102B, 102C, 102D First Spring Pin

[0065] 1021 Needle Body

[0066] 1022 Sleeve

[0067] 103A, 103B, 103C, 103D, 103E, 103F, 103G, 103H Second Spring Pin

[0068] 104 bolts

[0069] 105 threaded hole

[0070] 108 positioning holes

[0071] 109 Steps

[0072] 1091 Through Hole

[0073] 200 Second connecting part

[0074] 201 Second Body

[0075] 202A, 202B, 202C, 202D First Conductive Pads

[0076] 203A, 203B, 203C, 203D, 203E, 203F, 203G, 203H Second conductive pads

[0077] 204 bolts

[0078] 205 threaded hole

[0079] 208 positioning holes

[0080] 301 Circumferential protrusion

[0081] 302 Short Column

[0082] 303 threaded hole

[0083] 401 Circumferential Depression

[0084] 402 Short Column

[0085] 403 Threaded hole. Detailed Implementation

[0086] Reference will now be made in detail to various embodiments of the present invention, examples of which are shown in the accompanying drawings and described below. Although the present invention will be described in conjunction with exemplary embodiments, it should be understood that this specification is not intended to limit the present invention to those exemplary embodiments. Rather, the present invention is intended to cover not only these exemplary embodiments, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the present invention as defined by the appended claims.

[0087] For ease of interpretation and precise definition in the appended claims, the terms “upper,” “lower,” “inner,” and “outer” are used to describe features with reference to their location in the exemplary embodiments shown in the figures.

[0088] Figure 1 The diagram shows a robotic arm RA of a medical robot and an actuator AC to be connected to the end of the robotic arm RA. A first connecting portion 100 is provided at the end of the robotic arm RA. A second connecting portion 200 is provided in the actuator AC. The first connecting portion 100 and the second connecting portion 200 together constitute a connecting mechanism CM for connecting the end-effector AC to the robotic arm RA.

[0089] The medical robot is equipped with a power source (not shown), such as a battery, and also with a signal source (not shown), such as a control unit, for sending various control signals. Figure 2 As shown, the power supply and signal source of the medical robot are electrically connected to the feet F1 and F2 of the first connection part 100 via cables C1 and C2, respectively.

[0090] The actuator AC is used to perform various medical procedures, such as surgical or examination procedures. The actuator AC also includes an actuator (not shown), which performs the aforementioned operations after being electrically driven. The actuator AC also includes a signal receiver operably connected to the actuator. The signal receiver is configured to receive signals and instruct the actuator to perform corresponding operations. As shown in the figure, the signal receiver and actuator in the actuator AC are electrically connected to the legs F3 and F4 of the second connection part 200 via cables C3 and C4.

[0091] In the illustrated embodiment, feet F1 and F3 are used to connect to the power supply of the medical robot and the actuator of the actuator AC via cables C1 and C3, respectively, for power supply. Feet F2 and F4 are used to connect to the signal source of the medical robot and the signal receiver of the actuator AC via cables C2 and C4, respectively, for signal transmission. Therefore, feet F1 and F3 are larger than feet F2 and F4, and cables C1 and C3 are thicker than cables C2 and C4.

[0092] In embodiments not shown, the size of the corresponding feet of the first and second connecting parts and the thickness of the cables may differ from the design of the embodiments shown in the figures, depending on the electrical components to which the feet of the first and second connecting parts are connected via corresponding cables and the voltage they need to withstand.

[0093] When the actuator AC is connected to the robotic arm RA via the connecting mechanism CM, the actuator of the actuator AC is electrically connected to the power supply of the medical robot through the abutting contact between the first connecting part 100 and the second connecting part 200, thereby realizing the power supply to the actuator of the actuator AC. At the same time, the signal receiver of the actuator AC is also electrically connected to the signal source of the medical robot, thereby realizing the signal transmission between the medical robot and the actuator AC.

[0094] like Figure 3 As can be seen, the robotic arm RA has a circumferential recess 401 extending in the axial direction on its circumferential side at its end. The circumferential recess 401 opens toward the end of the robotic arm RA. Correspondingly, the actuator AC has a circumferential protrusion 301 extending in the axial direction on its outer circumferential side. The circumferential recess 401 at the end of the robotic arm RA and the circumferential protrusion 301 on the outer circumferential side of the actuator AC are configured such that the actuator AC can only be connected to the end of the robotic arm RA by means of the connecting mechanism CM when the circumferential protrusion 301 of the actuator AC is inserted into the circumferential recess 401 of the robotic arm in the axial direction. This allows the first connecting part 100 and the second connecting part 200 of the connecting mechanism CM to contact and be electrically connected to each other, so that the power supply and signal source in the medical robot can be connected to the signal receiver and actuator of the actuator AC via the robotic arm RA and the connecting mechanism CM, respectively.

[0095] By utilizing the unique shape fit between the circumferential recess 401 of the robotic arm RA and the circumferential protrusion 301 of the actuator AC, the robotic arm RA and the actuator AC can be easily aligned during connection. This arrangement facilitates quick alignment of the actuator AC with the robotic arm RA for installation and replacement. Furthermore, once the robotic arm RA and the actuator AC are connected in a shape-fitting manner, the electrical interfaces between the first connecting portion 100 and the second connecting portion 200 in the connecting mechanism CM, which will be discussed below, can be aligned. Accordingly, the corresponding conductors in each connecting portion can reliably contact and conduct with each other.

[0096] With the help of a locking mechanism (not shown in the figure), after the actuator AC is connected to the end of the robotic arm RA, the actuator AC can be locked to the robotic arm RA by means of the locking mechanism. Thus, when the actuator AC moves relative to the robotic arm RA to perform a medical operation, the actuator AC remains firmly connected to the robotic arm RA and will not move relative to it. This also ensures that a stable contact is maintained between the first connection part 100 and the second connection part 200.

[0097] Figure 3 , Figure 4 and Figure 5 The first connecting part 100 and the second connecting part 200 of the connecting mechanism CM are shown in detail.

[0098] First go to Figure 3 and Figure 4 As can be seen from the figure, the first connecting portion 100 of the connecting mechanism CM has a first body 101. In the illustrated embodiment, the first body 101 is constructed as a disc-shaped CPB. Two sets of retractable conductors spaced apart from each other are provided on the first body 101: first spring pins 102A to 102D for signal transmission, electrically connected to a support F2 provided on the lower side of the first body 101, and second spring pins 103A to 103H for power transmission, electrically connected to the support F1.

[0099] In the illustrated embodiment, the groups of first spring pins 102A to 102D and the groups of second spring pins 103A to 103H are arranged in 1x4 and 2x4 matrices, respectively. These two matrices are spaced apart from each other to prevent the power conductors carrying higher voltages (i.e., the second spring pins 103A to 103H) from being placed too close to other conductors (e.g., the first spring pins 102A to 102D).

[0100] In the illustrated embodiment, since the medical robot uses an 8-core network cable to transmit signals, the first spring pins 102A to 102D are arranged in a 1x4 matrix as shown in the figure, and the first connecting part 100 has eight second spring pins 103A to 103H which are redundantly set according to the rated current of the first spring pins 102A to 102D.

[0101] Figure 6A and Figure 6B The structure of the first spring needle 102A is shown in detail. The first spring needle 102A includes a needle body 1021, a sleeve 1022, and a spring (not shown) sleeved on the needle body 1021. One end of the spring is connected to the needle body 1021, and the other end is fixedly connected to the first body 101. The needle body 1021 is made of conductive material.

[0102] exist Figure 6A , Figure 6B In the orientation shown, when the actuator AC is to be installed onto the robotic arm RA, the second connecting part 200 moves toward the first connecting part 100. The second connecting part 200 moves downwards until it contacts the upper end of the needle body 1021, and then continues to move downwards, applying downward pressure to the needle body 1021. Under this pressure, the spring sleeved on the needle body 1021 is compressed, causing the needle body 1021 to move downwards and retract into the sleeve 1022, as shown. Figure 6B As shown.

[0103] Figure 6A The diagram shows the first spring needle 102A in its uncompressed state, at which point it has its original length. When, for example, the actuator AC is replaced or disassembled, the second connection 200 is disengaged from the first connection 100, and the spring in the first spring needle 102A tends to return to its original length. The needle body 1021 then extends from the sleeve 1022 under the restoring force of the spring and returns to its original position. Figure 6A The position shown. At this time, the second connecting part 200 is disengaged from the first connecting part 100, and the electrical connection for signal transmission and power transmission realized by the connecting mechanism CM is also broken.

[0104] The remaining first spring pins 102B to 102D and second spring pins 103A to 103H of the first connecting portion 100 have the same structure, and will not be described in detail here for clarity. The only difference is that the first spring pins have a different original length than the second spring pins.

[0105] Specifically, within each set of spring pins, the spring pins have the same original length or uncompressed length; that is, the first spring pins 102A to 102D each have the same original length, and the second spring pins 103A to 103H each have the same original length. The original lengths of the first spring pins 102A to 102D are longer than those of the second spring pins 103A to 103H. This arrangement ensures that when the second connecting portion 200 moves toward the first connecting portion 100, the contact conductor of the second connecting portion 200 first contacts the longer first spring pins 102A to 102D in their uncompressed state. Therefore, the circuit between the first spring pins 102A to 102D and their respective contact conductors is established first, thus forming a circuit for signal transmission. In contrast, the second spring pins 103A to 103H, used for power transmission, contact the contact conductor of the second connecting portion 200 later. Consequently, the circuit between them is established later. If the second spring pins 103A to 103H first contact the corresponding contact conductor on the second connection portion 200, thereby causing the circuit for circuit transmission to be formed first, an electric arc may be generated during the later formation of the circuit for signal transmission, which may damage the circuit.

[0106] For example from Figure 3 and Figure 4 As can be seen, a stepped portion 109 is provided on the first body 101 of the first connecting portion 100. First spring pins 102A to 102D and second spring pins 103A to 103H, fixed to the first body 101, extend through through holes 1091 in the stepped portion 109. During the welding of the first spring pins 102A to 102D and the second spring pins 103A to 103H to the first body 101, these through holes 1091 in the stepped portion 109 can position each spring pin, preventing the welding position of the spring pins from shifting. Otherwise, such a shift would cause the spring pins in the first connecting portion 100 of the connecting mechanism MC to fail to align with the corresponding contact conductors in the second connecting portion 200 when the actuator AC is installed at the end of the robotic arm RA. This would prevent the electrical interface between the first connecting portion 100 and the second connecting portion 200 from making contact, and the electrical circuit would not be able to conduct. Ultimately, this would adversely affect the efficiency of the electrical connection achieved by the connecting mechanism MC.

[0107] Further reference Figure 4 The outer periphery of the disc-shaped first body 101 is provided with three threaded holes 105 that are evenly spaced apart from each other in the circumferential direction. The first body 101 is detachably connected to the end of the robotic arm RA by three bolts 104 passing through the threaded holes 105 and engaging with the threaded holes 403 provided on the robotic arm RA, thereby detachably providing the first connecting part 100 at the end of the robotic arm RA.

[0108] Although the first body 101 is disc-shaped, its spring pins have a fixed connection with the electrical components at the robotic arm RA. Therefore, the first body 101 cannot be arbitrarily rotated and installed at the end of the robotic arm RA; instead, it must adhere to a fixed connection position, especially its relative angular position to the robotic arm RA. Therefore, two positioning holes 108 are provided on the outer periphery of the disc-shaped first body 101. During the installation of the first body 101 at the end of the robotic arm RA, by aligning the two positioning holes 108 with the two short posts 402 located at the end of the robotic arm RA, it can be quickly determined that the first body 101 is positioned at the correct angle, thus further securing it to the robotic arm RA and improving the ease of installing the first connecting part 100.

[0109] like Figure 4 As can be seen, the two positioning holes 108 are not centrally symmetrical.

[0110] Figure 3 and Figure 5 The second connecting portion 200 is also shown in detail. Corresponding to the first connecting portion 100, on the side of the second body 201 of the second connecting portion 200 facing the first connecting portion 100, that is, the second body 201 is... Figure 5 The lower side of the device has two sets of conductive pads arranged in the form of contact conductors: first conductive pads 202A to 202D arranged in a 1x4 matrix and second conductive pads 203A to 203H arranged in a 2x4 matrix. The first conductive pads 202A to 202D are electrically connected to the support F4 located on the other side of the second body 201, and are used to transmit signals to the signal receiver of the actuator AC. The second conductive pads 203A to 203H are electrically connected to the support F3 located on the other side of the second body 201, and are used to transmit power to the actuator of the actuator AC.

[0111] Similar to the first connecting part 100, three threaded holes 205 are provided on the outer periphery of the second body 201, which is constructed in the shape of a disc, and are evenly spaced apart from each other in the circumferential direction. These holes are used for bolts 204 to pass through and engage with threaded holes 303 provided at the end of the actuator AC, so that the second body 201 can be detachably fastened to the end of the actuator AC, thereby completing the detachable installation of the second connecting part 200 at the actuator AC.

[0112] To ensure that the second body 201 is installed at the end of the actuator AC with the correct relative angle, two positioning holes 208 are provided on the outer periphery of the second body 201 for aligning with the two short posts 302 provided at the end of the actuator AC for positioning. Similar to the two positioning holes 108 in the first body 101, these two positioning holes 208 are also provided on the chord of the disc shape of the disc-shaped or near-disc-shaped second body 201, rather than on the diameter of the disc shape, and therefore these two positioning holes 208 are also non-centrally symmetrical.

[0113] The following describes the installation method of the connecting mechanism CM: Align the positioning hole 108 in the first body 101 of the first connecting part 100 of the connecting mechanism CM with the short post 402 at the end of the robotic arm RA of the medical robot; fasten the first body 101 of the first connecting part 100 to the end of the robotic arm RA of the medical robot with bolts 104; align the positioning hole 208 in the second body 201 of the second connecting part 200 of the connecting mechanism CM with the short post 302 at the end of the actuator AC; fasten the second body 201 of the second connecting part 200 to the end of the actuator AC with bolts 204, thereby installing the two connecting parts of the connecting mechanism CM to the ends of the robotic arm RA and the actuator AC respectively.

[0114] When the first connecting part 100 or the second connecting part 200 malfunctions, the connecting mechanism CM can be put back into use simply by loosening the corresponding bolts 104 or 204, removing the corresponding first connecting part 100 or second connecting part 200 from the end of the robotic arm RA or the actuator AC, and replacing it with a new first connecting part or second connecting part.

[0115] The following explains the use of the connecting mechanism CM during the installation of the actuator AC onto the robotic arm RA: Align the circumferential protrusion 301 of the actuator AC to be installed with the circumferential recess 401 of the robotic arm RA, and insert the actuator AC into the robotic arm RA in this direction; as the actuator AC moves toward the end of the robotic arm RA, the first conductive pads 202A to 202D in the second connecting portion 200 of the actuator AC first align with and contact the first spring pins 102A to 102D in the first connecting portion 100 of the robotic arm RA, compressing the springs and connecting the pin bodies, thereby establishing an electrical connection for transmitting signals between the signal source of the medical robot and the signal receiver of the actuator AC; during this process, the first conductive pad 202A aligns with the first spring pin 102A, and the remaining first conductive pads align with the first spring pins one by one, that is, the first conductive pad 202B aligns with the first spring pin 102A. Alignment is performed as follows: 2B is aligned; the first conductive pad 202C is aligned with the first spring pin 102C; the first conductive pad 202D is aligned with the first spring pin 102D. As the actuator AC continues to be inserted, the second conductive pads 203A to 203H in the second connection portion 200 of the actuator AC align with and contact the first spring pins 103A to 103H in the first connection portion 100 of the robotic arm RA, compressing the springs and connecting the pin bodies. An electrical connection for transmitting power between the power supply of the medical robot and the actuator of the actuator AC is thus established. During this process, the second conductive pads and the second spring pins are aligned one by one. Finally, the circumferential protrusion 301 of the actuator AC fully fits into the circumferential recess 401 of the robotic arm RA, completing the connection between the actuator AC and the robotic arm RA. The conductors in the first connection portion 100 and the second connection portion 200 of the connecting mechanism CM maintain stable contact and conduction. If necessary, an additional locking mechanism is used to secure and lock the actuator AC to the robotic arm RA.

[0116] The following explains the removal and replacement of the actuator AC: When the actuator AC needs to be replaced for different operations, simply remove the actuator AC from the robotic arm RA along the axial direction. If the actuator AC is locked to the end of the robotic arm RA by a locking mechanism, unlock the locking mechanism first, then move the actuator AC axially away from the robotic arm RA. As the actuator AC gradually moves away from the end of the robotic arm RA, the conductive pads in the second connection 200 gradually disengage from the needle body of the spring pin in the first connection 100. Thus, the electrical connection for power transmission established by the second spring pin and the second conductive pad, and the electrical connection for signal transmission established by the first spring pin and the first conductive pad, are sequentially disconnected; until the actuator AC is completely detached from the robotic arm RA, all electrical connections achieved by the connecting mechanism CM are also disconnected. Afterwards, if a new actuator AC needs to be installed, simply repeat the steps described above for installing the actuator AC at the end of the robotic arm RA, and connect the new actuator AC to the end of the robotic arm RA using the connecting mechanism CM.

[0117] [Other Embodiments]

[0118] In the above embodiments, a first connecting portion having a spring pin as a retractable conductor is provided at the end of the robotic arm, and a second connecting portion having a conductive pad as a contact conductor is provided at the end of the actuator, but the present invention is not limited thereto.

[0119] Specifically, the first connecting portion having a spring pin as a retractable conductor can also be located at the end of the actuator, while the second connecting portion having a conductive pad as a contact conductor can also be located at the end of the robotic arm. In both configurations, only structural protection of the spring pin is required, such as providing an additional protective cover or sleeve for the spring pin, to prevent damage to the spring pin from external forces during disengagement from the actuator at the end of the robotic arm.

[0120] In the above embodiments, the specific arrangement of the first and second spring pins was described. In the illustrated embodiment, the first spring pins for signal transmission are arranged in a 1x4 matrix, that is, there is one column of first spring pins with four rows, while the second spring pins for power transmission are arranged in a 2x4 matrix, that is, there are two columns of second spring pins, each of which has four rows.

[0121] However, this invention is not limited to this. In different embodiments, depending on the type of signal transmitted and the operating voltage of the power supply, first and second spring pins with different matrix arrangements can be provided for power transmission and signal transmission, respectively. For example, the number of first spring pins used for signal transmission can be set to be greater than the number of second spring pins used for power transmission, depending on the actual situation. For another example, the array of spring pins may not be arranged in a rectangular array as described in the above embodiment, but rather in a concentric circle arrangement, for example. Furthermore, if the rated current of the second spring pins can be satisfied, only two second spring pins can be provided for power transmission, one of which is electrically connected to the positive terminal of the power supply, and the other is electrically connected to the negative terminal of the power supply.

[0122] In the above embodiments, the contact conductor disposed in the second connection portion is implemented in the form of a conductive pad. However, the present invention is not limited thereto. The contact conductor disposed in the second connection portion or the first connection portion may also include other forms. For example, the contact conductor is a conductive body obtained by means known in the art such as welding, riveting, fastening, material attachment, material conversion, etc., or includes a conductive surface obtained by such means known in the art.

[0123] Within the scope of this invention, various embodiments can be freely combined, or appropriately modified or omitted.

Claims

1. A connection mechanism for connecting a robotic arm and an actuator, wherein the robotic arm is connected to a power source and a signal source, and the actuator has an actuator and a signal receiver. Its features are, The connecting mechanism includes: A first connecting portion is disposed at the end of the robotic arm, and the first connecting portion is electrically connected to the power supply and the signal source, respectively. A second connecting portion is disposed at the end of the actuator, and the second connecting portion is electrically connected to the actuator and the signal receiver respectively. Wherein, one of the first connecting portion and the second connecting portion includes at least two retractable conductors, and the other of the first connecting portion and the second connecting portion includes at least two contact conductors. When the actuator is installed at the end of the robotic arm, the at least two retractable conductors are compressed and abut against the at least two contact conductors, so that the power supply can be electrically connected to the actuator of the actuator, and the signal source can be electrically connected to the signal receiver of the actuator.

2. The connecting mechanism as described in claim 1, characterized in that, The first connection portion includes at least two retractable conductors, including a first retractable conductor and a second retractable conductor. The first retractable conductor is electrically connected to the power source, and the second retractable conductor is electrically connected to the signal source. The second connection portion includes at least two contact conductors, namely a first contact conductor and a second contact conductor. The first contact conductor is electrically connected to the actuator of the actuator, while the second contact conductor is electrically connected to the signal receiver of the actuator. When the actuator is installed at the end of the robotic arm, the first retractable conductor is compressed and contacts the first contact conductor, while the second retractable conductor is compressed and contacts the second contact conductor.

3. The connecting mechanism as described in claim 2, characterized in that, When uncompressed, the length of the first stretchable conductor is shorter than the length of the second stretchable conductor.

4. The connecting mechanism as described in claim 3, characterized in that, The first retractable conductor and the second retractable conductor are arranged at a distance apart.

5. The connecting mechanism as described in claim 4, characterized in that, The retractable conductor includes a sleeve, a conductive needle, and a spring, with the conductive needle retractably disposed within the sleeve via the spring.

6. The connecting mechanism as described in claim 5, characterized in that, The contact conductor includes a conductive body or conductive surface obtained by any of the following methods: fastening, material attachment, and material conversion.

7. The connecting mechanism as described in claim 5, characterized in that, The contact conductor includes a conductive body or conductive surface obtained by riveting or welding.

8. The connecting mechanism as described in claim 5, characterized in that, The contact conductor is constructed as a conductive pad.

9. The connecting mechanism as described in claim 6, characterized in that, The first connecting part is detachably mounted at the end of the robotic arm, while the second connecting part is detachably mounted at the end of the actuator.

10. The connecting mechanism as described in any one of claims 1 to 9, characterized in that, The connecting mechanism also has a locking mechanism for connecting and locking the first connecting part and the second connecting part.

11. The connecting mechanism as described in any one of claims 4 to 9, characterized in that, The first connecting portion includes a first substrate, and the first retractable conductor and the second retractable conductor are disposed on the first substrate. The first connecting portion also includes a stepped portion disposed on the first substrate, the stepped portion having at least two through holes through which the first retractable conductor and the second retractable conductor respectively extend.

12. The connecting mechanism as described in any one of claims 1 to 9, characterized in that, The first connecting portion includes a first substrate, the at least two retractable conductors are disposed on the first substrate, and the first substrate also has at least one first positioning hole. The robotic arm has at least one first positioning post at its end. When the first connecting portion is installed at the end of the robotic arm, the first positioning post and the first positioning hole are respectively aligned, and / or The second connecting part includes a second substrate, the at least two contact conductors are disposed on the second substrate, and the second substrate is also provided with at least one second positioning hole, while the actuator is provided with at least one second positioning post at its end. When the second connecting part is installed at the end of the actuator, the second positioning post and the second positioning hole are respectively aligned.

13. The connecting mechanism as described in claim 12, characterized in that, The first substrate of the first connecting portion is provided with two first positioning holes, the two first positioning holes being configured to be non-centrally symmetrical with respect to the first substrate, and / or The second substrate of the second connecting part is provided with two second positioning holes, and the two second positioning holes are configured to be non-centrally symmetrical with respect to the second substrate.

14. A medical robot, characterized in that, The medical robot includes a power source, a signal source, a robotic arm, an actuator, and a connection mechanism for connecting the robotic arm to the actuator. The robotic arm is connected to the power supply and the signal source. The actuator has an actuator and a signal receiver, and The connecting mechanism is the connecting mechanism as described in any one of claims 1 to 13.

15. The medical robot as described in claim 14, characterized in that, The robotic arm has a recessed portion on the circumferential surface of its end. When the actuator is connected to the robotic arm via the connecting mechanism, the protrusion on the circumferential surface of the end of the actuator engages in the recessed portion.

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